refactored project structure

src/microros/microros_node.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <zephyr/sys/slist.h>
+#include <rcl/rcl.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <zephyr/kernel.h>
+
+class MicrorosExecutor {
+private:
+    const char *node_name;
+
+    rcl_allocator_t allocator;
+    rclc_executor_t executor;
+    rcl_node_t node;
+    rclc_support_t support;
+
+    sys_slist_t publishers_head;
+    sys_slist_t subscribers_head;
+
+    struct publisher_node {
+        rcl_publisher_t publisher;
+        sys_snode_t node;  // embedded Zephyr list node
+    };
+
+    struct subscription_node {
+        rcl_subscription_t subscription;
+        sys_snode_t node;  // embedded Zephyr list node
+    };
+
+public:
+    MicrorosExecutor(const char *name);
+    ~MicrorosExecutor(void);
+
+    bool connect(void);
+    bool execute(void);
+    rcl_publisher_t* add_publisher(const rosidl_message_type_support_t *type_support, const char *topic_name);
+    rcl_subscription_t* add_subscription(const rosidl_message_type_support_t *type_support, const char *topic_name, void* msg, rclc_callback_t callback);
+};