/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef IMAGE_TRANSPORT_SUBSCRIBER_H
#define IMAGE_TRANSPORT_SUBSCRIBER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "image_transport/transport_hints.h"
#include "image_transport/exception.h"
#include "image_transport/loader_fwds.h"

namespace image_transport {

/**
 * \brief Manages a subscription callback on a specific topic that can be interpreted
 * as an Image topic.
 *
 * Subscriber is the client-side counterpart to Publisher. By loading the
 * appropriate plugin, it can subscribe to a base image topic using any available
 * transport. The complexity of what transport is actually used is hidden from the user,
 * who sees only a normal Image callback.
 *
 * A Subscriber should always be created through a call to ImageTransport::subscribe(),
 * or copied from one that was.
 * Once all copies of a specific Subscriber go out of scope, the subscription callback
 * associated with that handle will stop being called. Once all Subscriber for a given
 * topic go out of scope the topic will be unsubscribed.
 */
class Subscriber
{
public:
  Subscriber() {}

  /**
   * \brief Returns the base image topic.
   *
   * The Subscriber may actually be subscribed to some transport-specific topic that
   * differs from the base topic.
   */
  std::string getTopic() const;

  /**
   * \brief Returns the number of publishers this subscriber is connected to.
   */
  uint32_t getNumPublishers() const;

  /**
   * \brief Returns the name of the transport being used.
   */
  std::string getTransport() const;
  
  /**
   * \brief Unsubscribe the callback associated with this Subscriber.
   */
  void shutdown();

  operator void*() const;
  bool operator< (const Subscriber& rhs) const { return impl_ <  rhs.impl_; }
  bool operator!=(const Subscriber& rhs) const { return impl_ != rhs.impl_; }
  bool operator==(const Subscriber& rhs) const { return impl_ == rhs.impl_; }
  
private:
  Subscriber(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
             const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
             const ros::VoidPtr& tracked_object, const TransportHints& transport_hints,
             const SubLoaderPtr& loader);
  
  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
  
  ImplPtr impl_;

  friend class ImageTransport;
};

} //namespace image_transport

#endif
