BasicSubscriber.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include <memory>
#include <vector>
 
#include "CarlaSubscriber.h"
#include "carla/ros2/ROS2CallbackData.h"
 
namespace carla {
namespace ros2 {
 
  struct BasicSubscriberImpl;
 
  class BasicSubscriber : public CarlaSubscriber {
    public:
      BasicSubscriber(void* actor, const char* ros_name = "", const char* parent = "");
      ~BasicSubscriber();
      BasicSubscriber(const BasicSubscriber&);
      BasicSubscriber& operator=(const BasicSubscriber&);
      BasicSubscriber(BasicSubscriber&&);
      BasicSubscriber& operator=(BasicSubscriber&&);
 
      bool HasNewMessage();
      bool IsAlive();
      const char* GetMessage();
      void* GetActor();
 
      bool Init();
      // bool Read();
      const char* type() const override { return "basic_subscriber"; }
 
      //Do not call, for internal use only
      void ForwardMessage(const std::string& message);
      void DestroySubscriber();
 
    private:
      std::shared_ptr<BasicSubscriberImpl> _impl;
  };
}
}