#ifndef ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
#define ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_

#include <iostream>
#include <memory>

#include "rclcpp/rclcpp.hpp"

namespace env_manager
{
namespace component_manager
{

const std::string DEFAULT_SUB_NODE_NAME = "env_manager_sub_node";
const std::string DEFAULT_SUB_TOPIC_NAME = "sub_topic";

template <typename MessageT>
class SubscriberComponent : public rclcpp::Node
{
public:
    explicit SubscriberComponent(const rclcpp::NodeOptions& options)
        : Node(DEFAULT_SUB_NODE_NAME, options)
    {
        _sub = create_subscription<MessageT>(
                    DEFAULT_SUB_TOPIC_NAME, 10, this->callback);
        auto ret = rcutils_logging_set_logger_level(
            get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL);
        if (ret != RCUTILS_RET_OK) 
        {
            RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
            rcutils_reset_error();
        }
    }

    virtual void callback(const MessageT& msg) = 0;

private:
    typename rclcpp::Subscription<MessageT>::SharedPtr _sub;
};

} // namespace component_manager
} // namespace env_manager

#endif // ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_