parkspace_module/lidar_locate/Locate_communicator.h

//
// Created by zx on 2020/6/18.
//

#ifndef NNXX_TESTS_LOCATE_COMMUNICATOR_H
#define NNXX_TESTS_LOCATE_COMMUNICATOR_H

#include <mutex>
#include "communication_socket_base.h"
#include "singleton.h"

#include "measure_message.pb.h"
#include "error_code.h"

#include "thread_safe_map.h"

class Locate_communicator: public Singleton<Locate_communicator>, public Communication_socket_base
{
    friend Singleton<Locate_communicator>;
public:
    virtual ~Locate_communicator();
    Error_manager locate_request(message::Measure_request_msg& request,message::Measure_response_msg& result);


protected:
    Locate_communicator();
    virtual Error_manager encapsulate_msg(Communication_message* message);
    virtual Error_manager execute_msg(Communication_message* p_msg);

protected:

    thread_safe_map<int,message::Measure_response_msg>         m_response_table;
};


#endif //NNXX_TESTS_LOCATE_COMMUNICATOR_H