image_transport_codec.h

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#pragma once

// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague

#include <string>
#include <vector>

#include <dynamic_reconfigure/Config.h>
#include <ros/node_handle.h>
#include <sensor_msgs/Image.h>
#include <topic_tools/shape_shifter.h>
#include <xmlrpcpp/XmlRpc.h>

#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/optional.hpp>
#include <cras_topic_tools/shape_shifter.h>

namespace image_transport_codecs
{

struct CompressedImageContent
{
  std::string format;

  std::vector<uint8_t> data;
};

class ImageTransportCodec : public cras::HasLogger
{
public:
  typedef boost::shared_ptr<ImageTransportCodec> Ptr;

  typedef boost::shared_ptr<const ImageTransportCodec> ConstPtr;

  // There has to be cras::ShapeShifter instead of topic_tools::ShapeShifter to avoid Melodic memory corruption issues.
  typedef cras::expected<cras::ShapeShifter, std::string> EncodeResult;

  typedef cras::expected<sensor_msgs::Image, std::string> DecodeResult;

  typedef cras::expected<cras::optional<CompressedImageContent>, std::string> GetCompressedContentResult;

  explicit ImageTransportCodec(const cras::LogHelperPtr& logHelper);

  virtual ~ImageTransportCodec();

  virtual std::string getTransportName() const = 0;

  virtual EncodeResult encode(const sensor_msgs::Image& raw, const dynamic_reconfigure::Config& config) const = 0;

  virtual DecodeResult decode(const topic_tools::ShapeShifter& compressed,
                              const dynamic_reconfigure::Config& config) const = 0;

  virtual GetCompressedContentResult getCompressedImageContent(
    const topic_tools::ShapeShifter& compressed, const std::string& matchFormat) const = 0;

  GetCompressedContentResult getCompressedImageContent(const topic_tools::ShapeShifter& compressed) const;

  EncodeResult encode(const sensor_msgs::Image& raw) const;

  DecodeResult decode(const topic_tools::ShapeShifter& compressed) const;

  EncodeResult encode(const sensor_msgs::Image& raw, const XmlRpc::XmlRpcValue& config) const;

  DecodeResult decode(const topic_tools::ShapeShifter& compressed, const XmlRpc::XmlRpcValue& config) const;

  EncodeResult encode(const sensor_msgs::Image& raw, const ros::NodeHandle& nh, const std::string& param) const;

  DecodeResult decode(const topic_tools::ShapeShifter& compressed, const ros::NodeHandle& nh,
                      const std::string& param) const;

  template<typename Config>
  EncodeResult encode(const sensor_msgs::Image& raw, const Config& config) const
  {
    dynamic_reconfigure::Config configMsg;
    config.__toMessage__(configMsg);
    return this->encode(raw, configMsg);
  }

  template<typename Config>
  DecodeResult decode(const topic_tools::ShapeShifter& compressed, const Config& config) const
  {
    dynamic_reconfigure::Config configMsg;
    config.__toMessage__(configMsg);
    return this->decode(compressed, configMsg);
  }
};

}