image_transport_codec_plugin.h

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#pragma once

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

#include <string>

#include <dynamic_reconfigure/Config.h>
#include <sensor_msgs/Image.h>
#include <topic_tools/shape_shifter.h>

#include <cras_cpp_common/log_utils.h>
#include <image_transport_codecs/image_transport_codec.h>

namespace image_transport_codecs
{

class ImageTransportCodecPlugin
{
public:
  typedef boost::shared_ptr<ImageTransportCodecPlugin> Ptr;

  typedef boost::shared_ptr<const ImageTransportCodecPlugin> ConstPtr;

  virtual ~ImageTransportCodecPlugin() = default;

  virtual void setLogHelper(const cras::LogHelperPtr& logHelper) = 0;

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

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

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

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

template<typename Codec>
class ImageTransportCodecPluginBase : public ImageTransportCodecPlugin
{
public:
  void setLogHelper(const cras::LogHelperPtr& logHelper) override
  {
    this->codec.setCrasLogger(logHelper);
  }

  std::string getTransportName() const override
  {
    return this->codec.getTransportName();
  }

  ImageTransportCodec::EncodeResult encode(const sensor_msgs::Image& raw,
                                           const dynamic_reconfigure::Config& config) const override
  {
    return this->codec.encode(raw, config);
  }

  ImageTransportCodec::DecodeResult decode(const topic_tools::ShapeShifter& compressed,
                                           const dynamic_reconfigure::Config& config) const override
  {
    return this->codec.decode(compressed, config);
  }

  ImageTransportCodec::GetCompressedContentResult getCompressedImageContent(
    const topic_tools::ShapeShifter& compressed, const std::string& matchFormat) const override
  {
    return this->codec.getCompressedImageContent(compressed, matchFormat);
  }

private:
  Codec codec;  
};

}