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#ifndef STCAMERA_STCAMERA_NODE_H
#define STCAMERA_STCAMERA_NODE_H

#include <rclcpp/rclcpp.hpp>

#include "visibility_control.h"

#include "stparameter.hpp"
#include "stcamera_interface.hpp"

#include "stcamera_msgs/msg/gen_tl_info.hpp"
#include "stcamera_msgs/msg/device_connection.hpp"

#include "stcamera_msgs/srv/get_device_list.hpp"
#include "stcamera_msgs/srv/get_module_list.hpp"
#include "stcamera_msgs/srv/get_sdk_info.hpp"

namespace stcamera
{
  class StCameraNodeImpl;
  typedef std::map<std::string, stcamera_msgs::msg::DeviceConnection>
      MapDeviceConnection;

  class StCameraNode: public rclcpp::Node
  {
    public:

      COMPOSITION_PUBLIC
      explicit StCameraNode(const rclcpp::NodeOptions& options);

      virtual ~StCameraNode();

    protected:
      StParameter param_;

      rclcpp::Publisher<stcamera_msgs::msg::DeviceConnection>::SharedPtr msg_device_connection_;

      rclcpp::Service<stcamera_msgs::srv::GetDeviceList>::SharedPtr       srv_get_device_list_;
      rclcpp::Service<stcamera_msgs::srv::GetModuleList>::SharedPtr      srv_get_module_list_;
      rclcpp::Service<stcamera_msgs::srv::GetSDKInfo>::SharedPtr      srv_get_sdk_info_;
    private:
      rclcpp::TimerBase::SharedPtr timer_;

      StCameraNodeImpl* st_camera_node_impl_;
      friend StCameraNodeImpl;
    protected:

      virtual void init();
      void initServices();
      void initPublishers();

  };
}
#endif