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// Copyright (c) 2009, Willow Garage, Inc.
//
// 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.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef IMAGE_TRANSPORT__PUBLISHER_HPP_
#define IMAGE_TRANSPORT__PUBLISHER_HPP_

#include <memory>
#include <string>

#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"

#include "sensor_msgs/msg/image.hpp"

#include "image_transport/exception.hpp"
#include "image_transport/loader_fwds.hpp"
#include "image_transport/single_subscriber_publisher.hpp"
#include "image_transport/visibility_control.hpp"

namespace image_transport
{

class Publisher
{
public:
  IMAGE_TRANSPORT_PUBLIC
  Publisher() = default;

  IMAGE_TRANSPORT_PUBLIC
  Publisher(
    rclcpp::Node * nh,
    const std::string & base_topic,
    PubLoaderPtr loader,
    rmw_qos_profile_t custom_qos);

  IMAGE_TRANSPORT_PUBLIC
  size_t getNumSubscribers() const;

  IMAGE_TRANSPORT_PUBLIC
  std::string getTopic() const;

  IMAGE_TRANSPORT_PUBLIC
  void publish(const sensor_msgs::msg::Image & message) const;

  IMAGE_TRANSPORT_PUBLIC
  void publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const;

  IMAGE_TRANSPORT_PUBLIC
  void shutdown();

  IMAGE_TRANSPORT_PUBLIC
  operator void *() const;

  IMAGE_TRANSPORT_PUBLIC
  bool operator<(const Publisher & rhs) const {return impl_ < rhs.impl_;}

  IMAGE_TRANSPORT_PUBLIC
  bool operator!=(const Publisher & rhs) const {return impl_ != rhs.impl_;}

  IMAGE_TRANSPORT_PUBLIC
  bool operator==(const Publisher & rhs) const {return impl_ == rhs.impl_;}

private:
  struct Impl;
  std::shared_ptr<Impl> impl_;
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__PUBLISHER_HPP_