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include/j7s_zenoh_bridge/ZenohBridge.hpp

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+//
+// Copyright 2026 James Pace
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+//
+// This Source Code Form is "Incompatible With Secondary Licenses", as
+// defined by the Mozilla Public License, v. 2.0.
+//
+#pragma once
+#include <rclcpp/rclcpp.hpp>
+
+#include "zenoh.hxx"
+
+namespace j7s
+{
+
+class Config
+{
+public:
+    Config(rclcpp::Node & node, const std::string & prefix);
+
+    // TODO: Should we specify QoS here?
+    std::string m_rosTopic;
+    std::string m_zenohKeyExpr;
+    std::string m_rosType;
+};
+
+class ZenohSource
+{
+public:
+    ZenohSource(
+        rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config);
+
+private:
+    std::shared_ptr<rclcpp::GenericPublisher> m_publisher;
+    std::shared_ptr<zenoh::Subscriber<void>> m_subscriber;
+};
+
+class RosSource
+{
+public:
+    RosSource(
+        rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config);
+
+private:
+    std::shared_ptr<zenoh::Publisher> m_publisher;
+    std::shared_ptr<rclcpp::GenericSubscription> m_subscriber;
+};
+
+class ZenohBridge : public rclcpp::Node
+{
+public:
+    ZenohBridge(const rclcpp::NodeOptions & options);
+
+private:
+    std::vector<ZenohSource> m_zenohSources;
+    std::vector<RosSource> m_rosSources;
+
+    std::shared_ptr<zenoh::Session> m_zenohSession;
+};
+
+}  // namespace j7s