subscriber.h

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// Copyright 2019-2021:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MIDDLEWARE_TRANSPORT_SUBSCRIBER_H
#define GOBY_MIDDLEWARE_TRANSPORT_SUBSCRIBER_H
 
#include "goby/middleware/group.h"
#include "goby/middleware/protobuf/transporter_config.pb.h"
#include "goby/middleware/transport/publisher.h"
 
namespace goby
{
namespace middleware
{
template <typename Data> class Subscriber
{
  public:
    using group_func_type = std::function<Group(const Data&)>;
    using subscribed_func_type =
        typename Publisher<intervehicle::protobuf::Subscription>::acked_func_type;
    using subscribe_expired_func_type =
        typename Publisher<intervehicle::protobuf::Subscription>::expired_func_type;
    using set_link_data_func_type =
        std::function<void(Data&, const intervehicle::protobuf::Header&)>;
 
    Subscriber(const goby::middleware::protobuf::TransporterConfig& cfg =
                   goby::middleware::protobuf::TransporterConfig(),
               group_func_type group_func = group_func_type(),
               subscribed_func_type subscribed_func = subscribed_func_type(),
               subscribe_expired_func_type subscribe_expired_func = subscribe_expired_func_type(),
               set_link_data_func_type set_link_data_func = set_link_data_func_type())
        : cfg_(cfg),
          group_func_(group_func),
          subscribed_func_(subscribed_func),
          subscribe_expired_func_(subscribe_expired_func),
          set_link_data_func_(set_link_data_func)
    {
    }
 
    Subscriber(const goby::middleware::protobuf::TransporterConfig& cfg,
               subscribed_func_type subscribed_func,
               subscribe_expired_func_type subscribe_expired_func = subscribe_expired_func_type(),
               set_link_data_func_type set_link_data_func = set_link_data_func_type())
        : Subscriber(cfg, group_func_type(), subscribed_func, subscribe_expired_func,
                     set_link_data_func)
    {
    }
 
    ~Subscriber() {}
 
    const goby::middleware::protobuf::TransporterConfig& cfg() const { return cfg_; }
 
    Group group(const Data& data) const
    {
        if (group_func_)
            return group_func_(data);
        else
            return Group(Group::broadcast_group);
    }
 
    subscribed_func_type subscribed_func() const { return subscribed_func_; }
    subscribe_expired_func_type subscribe_expired_func() const { return subscribe_expired_func_; }
 
    bool has_group_func() const { return bool(group_func_); }
 
    void set_link_data(Data& data, const intervehicle::protobuf::Header& header) const
    {
        if (set_link_data_func_)
            set_link_data_func_(data, header);
    };
 
  private:
    goby::middleware::protobuf::TransporterConfig cfg_;
    group_func_type group_func_;
    subscribed_func_type subscribed_func_;
    subscribe_expired_func_type subscribe_expired_func_;
    set_link_data_func_type set_link_data_func_;
};
} // namespace middleware
} // namespace goby
 
#endif