.. _program_listing_file_include_soar_ros_Interface.hpp:

Program Listing for File Interface.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Interface.hpp>` (``include/soar_ros/Interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2024 Moritz Schmidt
   //
   // 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.
   
   #ifndef SOAR_ROS__INTERFACE_HPP_
   #define SOAR_ROS__INTERFACE_HPP_
   
   
   #include <string>
   
   #include "SafeQueue.hpp"
   
   #include "sml_Client.h"
   
   namespace soar_ros
   {
   class Interface
   {
   public:
     virtual std::string getTopic() = 0;
   
     virtual sml::Agent * getAgent() = 0;
   };
   
   class OutputBase
   {
   public:
     virtual void process_s2r(sml::Identifier * id) = 0;
   };
   
   class InputBase
   {
   public:
     virtual void process_r2s() = 0;
   };
   
   template<typename T>
   class Output : public OutputBase
   {
   protected:
     SafeQueue<T> m_s2rQueue;
   
   public:
     Output() {}
     ~Output() {}
   
     void process_s2r(sml::Identifier * id) override
     {
       m_s2rQueue.push(parse(id));
     }
   
     virtual T parse(sml::Identifier * id) = 0;
   };
   
   template<typename T>
   class Input : public InputBase
   {
   protected:
     SafeQueue<T> m_r2sQueue;
   
   public:
     Input() {}
     ~Input() {}
   
     virtual void parse(T msg) = 0;
   
     void process_r2s() override
     {
       auto res = this->m_r2sQueue.tryPop();
       if (res.has_value()) {
         this->parse(res.value());
       }
     }
   };
   
   }  // namespace soar_ros
   #endif  // SOAR_ROS__INTERFACE_HPP_