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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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 Willow Garage, Inc. nor the names of its
 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROS_SUBSCRIBER_H_
#define ROS_SUBSCRIBER_H_

#include "rosserial_msgs/TopicInfo.h"

namespace ros {

  /* Base class for objects subscribers. */
  class Subscriber_
  {
    public:
      virtual void callback(unsigned char *data)=0;
      virtual int getEndpointType()=0;

      // id_ is set by NodeHandle when we advertise
      int id_;

      virtual const char * getMsgType()=0;
      virtual const char * getMsgMD5()=0;
      const char * topic_;
  };

  /* Bound function subscriber. */
  template<typename MsgT, typename ObjT=void>
  class Subscriber: public Subscriber_
  {
    public:
      typedef void(ObjT::*CallbackT)(const MsgT&);
      MsgT msg;

      Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
        cb_(cb),
        obj_(obj),
        endpoint_(endpoint)
      {
        topic_ = topic_name;
      };

      virtual void callback(unsigned char* data)
      {
        msg.deserialize(data);
        (obj_->*cb_)(msg);
      }

      virtual const char * getMsgType() { return this->msg.getType(); }
      virtual const char * getMsgMD5() { return this->msg.getMD5(); }
      virtual int getEndpointType() { return endpoint_; }

    private:
      CallbackT cb_;
      ObjT* obj_;
      int endpoint_;
  };

  /* Standalone function subscriber. */
  template<typename MsgT>
  class Subscriber<MsgT, void>: public Subscriber_
  {
    public:
      typedef void(*CallbackT)(const MsgT&);
      MsgT msg;

      Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
        cb_(cb),
        endpoint_(endpoint)
      {
        topic_ = topic_name;
      };

      virtual void callback(unsigned char* data)
      {
        msg.deserialize(data);
        this->cb_(msg);
      }

      virtual const char * getMsgType() { return this->msg.getType(); }
      virtual const char * getMsgMD5() { return this->msg.getMD5(); }
      virtual int getEndpointType() { return endpoint_; }

    private:
      CallbackT cb_;
      int endpoint_;
  };

}

#endif