nrp_ros_proxy.h

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/* * NRP Core - Backend infrastructure to synchronize simulations
 *
 * Copyright 2020-2023 NRP Team
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * This project has received funding from the European Union’s Horizon 2020
 * Framework Programme for Research and Innovation under the Specific Grant
 * Agreement No. 945539 (Human Brain Project SGA3).
 */
 
#ifndef ROS_PROXY_H
#define ROS_PROXY_H
 
#include "ros/ros.h"
#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>
#include <functional>
 
class NRPROSProxy {
 
public:
 
    // Delete move and copy operators. This ensures this class is a singleton
    NRPROSProxy(const NRPROSProxy &) = delete;
    NRPROSProxy(NRPROSProxy &&) = delete;
 
    NRPROSProxy &operator=(const NRPROSProxy &) = delete;
    NRPROSProxy &operator=(NRPROSProxy &&) = delete;
 
    static NRPROSProxy &getInstance();
 
    static NRPROSProxy &resetInstance();
 
    template<class MSG_TYPE>
    void subscribe(const std::string& address, const boost::function<void (const boost::shared_ptr<MSG_TYPE const>&)>& callback, size_t queueSize = 10)
    { _subscribers.push_back(_node->subscribe<MSG_TYPE>(address, queueSize, callback)); }
 
    template<class MSG_TYPE>
    void publish(const std::string& address, const MSG_TYPE& msg, size_t queueSize = 10)
    {
        if(!_publishers.count(address))
            _publishers.emplace(address, _node->advertise<MSG_TYPE>(address, queueSize));
 
        _publishers[address].publish(msg);
    }
 
private:
 
    std::shared_ptr<ros::NodeHandle> _node;
    std::map<std::string, ros::Publisher> _publishers;
    std::vector<ros::Subscriber> _subscribers;
 
    NRPROSProxy()
    { _node.reset(new ros::NodeHandle()); }
 
    static std::unique_ptr<NRPROSProxy> _instance;
 
};
 
#endif //ROS_PROXY_H