NddsListener.h

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#ifndef _MADARA_NDDS_LISTENER_H_
#define _MADARA_NDDS_LISTENER_H_


#include <string>

#include "madara/knowledge/ThreadSafeContext.h"
#include "madara/transport/Transport.h"

#include <ndds/ndds_cpp.h>

#include "madara/transport/ndds/Ndds_Knowledge_Update.h"
#include "madara/transport/ndds/Ndds_Knowledge_UpdateSupport.h"

namespace madara
{
  namespace transport
  {
    class NDDSListener: public DDSDataReaderListener
    {
    public:
      NDDSListener(
        const TransportSettings & settings, const std::string & id,
        knowledge::ThreadSafeContext & context,
        BandwidthMonitor & send_monitor,
        BandwidthMonitor & receive_monitor,
        PacketScheduler & packet_scheduler);

      NDDSListener(const NDDSListener &ref);

      ~NDDSListener();

      void on_subscription_matched (DDSDataReader * reader,
                        const DDS_SubscriptionMatchedStatus & status);
      
      void rebroadcast (
        const char * print_prefix,
        MessageHeader * header,
        const knowledge::KnowledgeMap & records);

      void on_data_available(DDSDataReader* reader);
    private:
      
      const QoSTransportSettings settings_;

      // NDDS variables
      const std::string id_;

      // context for updating variables from network
      knowledge::ThreadSafeContext * context_;
      
      knowledge::CompiledExpression  on_data_received_;
      
      utility::ScopedArray <char>      buffer_;

      BandwidthMonitor   &   send_monitor_;
      
      BandwidthMonitor   &   receive_monitor_;

      PacketScheduler    &   packet_scheduler_;
    };  // End of class NDDSListener
  }
}

#endif // _MADARA_NDDS_LISTENER_H_