/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, 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 products 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
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef ROSBAG_QUERY_H
#define ROSBAG_QUERY_H

#include "ros/time.h"

#include <vector>
#include <map>
#include <set>

#include <boost/function.hpp>
#include "rosbag/macros.h"
#include "rosbag/structures.h"

namespace rosbag {

class Bag;

class ROSBAG_STORAGE_DECL Query
{
public:
    //! The base query takes an optional time-range
    /*!
     * param start_time the beginning of the time_range for the query
     * param end_time   the end of the time_range for the query
     */
    Query(boost::function<bool(ConnectionInfo const*)>& query,
    	  ros::Time const& start_time = ros::TIME_MIN,
          ros::Time const& end_time   = ros::TIME_MAX);

    boost::function<bool(ConnectionInfo const*)> const& getQuery() const;  //!< Get the query functor

    ros::Time const& getStartTime() const; //!< Get the start-time
    ros::Time const& getEndTime()   const; //!< Get the end-time

private:
    boost::function<bool(ConnectionInfo const*)> query_;
    ros::Time start_time_;
    ros::Time end_time_;
};

class ROSBAG_STORAGE_DECL TopicQuery
{
public:
    TopicQuery(std::string const& topic);
    TopicQuery(std::vector<std::string> const& topics);

    bool operator()(ConnectionInfo const*) const;

private:
    std::vector<std::string> topics_;
};

class ROSBAG_STORAGE_DECL TypeQuery
{
public:
    TypeQuery(std::string const& type);
    TypeQuery(std::vector<std::string> const& types);

    bool operator()(ConnectionInfo const*) const;

private:
    std::vector<std::string> types_;
};

//! Pairs of queries and the bags they come from (used internally by View)
struct ROSBAG_STORAGE_DECL BagQuery
{
    BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);

    Bag const* bag;
    Query      query;
    uint32_t   bag_revision;
};

struct ROSBAG_STORAGE_DECL MessageRange
{
    MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                 std::multiset<IndexEntry>::const_iterator const& _end,
                 ConnectionInfo const* _connection_info,
                 BagQuery const* _bag_query);

    std::multiset<IndexEntry>::const_iterator begin;
    std::multiset<IndexEntry>::const_iterator end;
    ConnectionInfo const* connection_info;
    BagQuery const* bag_query;           //!< pointer to vector of queries in View
};

//! The actual iterator data structure
struct ROSBAG_STORAGE_DECL ViewIterHelper
{
    ViewIterHelper(std::multiset<IndexEntry>::const_iterator _iter, MessageRange const* _range);

    std::multiset<IndexEntry>::const_iterator iter;
    MessageRange const* range;  //!< pointer to vector of ranges in View
};

struct ROSBAG_STORAGE_DECL ViewIterHelperCompare
{
    bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
};

} // namespace rosbag

#endif
