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// Copyright 2018, Bosch Software Innovations GmbH.
// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROSBAG2_CPP__READER_HPP_
#define ROSBAG2_CPP__READER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/serialization.hpp"
#include "rclcpp/serialized_message.hpp"

#include "rosbag2_cpp/bag_events.hpp"
#include "rosbag2_cpp/converter_options.hpp"
#include "rosbag2_cpp/readers/sequential_reader.hpp"
#include "rosbag2_cpp/visibility_control.hpp"

#include "rosbag2_storage/bag_metadata.hpp"
#include "rosbag2_storage/serialized_bag_message.hpp"
#include "rosbag2_storage/storage_filter.hpp"
#include "rosbag2_storage/storage_options.hpp"
#include "rosbag2_storage/topic_metadata.hpp"

// This is necessary because of using stl types here. It is completely safe, because
// a) the member is not accessible from the outside
// b) there are no inline functions.
#ifdef _WIN32
# pragma warning(push)
# pragma warning(disable:4251)
#endif

namespace rosbag2_cpp
{
namespace reader_interfaces
{
class BaseReaderInterface;
}  // namespace reader_interfaces

class ROSBAG2_CPP_PUBLIC Reader final
{
public:
  explicit Reader(
    std::unique_ptr<reader_interfaces::BaseReaderInterface> reader_impl =
    std::make_unique<readers::SequentialReader>());

  ~Reader();

  void open(const std::string & uri);

  void open(
    const rosbag2_storage::StorageOptions & storage_options,
    const ConverterOptions & converter_options = ConverterOptions());

  void close();

  bool has_next();

  std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next();

  template<class MessageT>
  MessageT read_next()
  {
    MessageT msg;
    auto bag_message = read_next();
    rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
    rclcpp::Serialization<MessageT> serialization;
    serialization.deserialize_message(&extracted_serialized_msg, &msg);

    return msg;
  }

  const rosbag2_storage::BagMetadata & get_metadata() const;

  std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() const;

  void set_filter(const rosbag2_storage::StorageFilter & storage_filter);

  void reset_filter();

  void seek(const rcutils_time_point_value_t & timestamp);

  reader_interfaces::BaseReaderInterface & get_implementation_handle() const
  {
    return *reader_impl_;
  }

  void add_event_callbacks(bag_events::ReaderEventCallbacks & callbacks);

private:
  std::unique_ptr<reader_interfaces::BaseReaderInterface> reader_impl_;
};

}  // namespace rosbag2_cpp

#ifdef _WIN32
# pragma warning(pop)
#endif

#endif  // ROSBAG2_CPP__READER_HPP_