context.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <utility>
 
#include "requirement_flags.hpp"
 
namespace px4_ros2
{
 
class SetpointBase;
 
class Context
{
public:
  explicit Context(rclcpp::Node & node, std::string topic_namespace_prefix = "")
  : _node(node), _topic_namespace_prefix(std::move(topic_namespace_prefix)) {}
 
  rclcpp::Node & node() {return _node;}
  const std::string & topicNamespacePrefix() const {return _topic_namespace_prefix;}
 
  virtual void addSetpointType(SetpointBase * setpoint) {}
  virtual void setRequirement(const RequirementFlags & requirement_flags) {}
 
private:
  rclcpp::Node & _node;
  const std::string _topic_namespace_prefix;
};
 
} // namespace px4_ros2