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#ifndef ROSBAG_STRUCTURES_H
#define ROSBAG_STRUCTURES_H

#include <map>
#include <vector>

#include "ros/message.h"
#include "ros/time.h"
#include "ros/ros.h"

namespace rosbag {

struct ConnectionInfo
{
    ConnectionInfo() : id(-1) { }

    uint32_t    id;
    std::string topic;
    std::string datatype;
    std::string md5sum;
    std::string msg_def;

    boost::shared_ptr<ros::M_string> header;
};

ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size);

struct ChunkInfo
{
    ros::Time   start_time;    //! earliest timestamp of a message in the chunk
    ros::Time   end_time;      //! latest timestamp of a message in the chunk
    uint64_t    pos;           //! absolute byte offset of chunk record in bag file

    std::map<uint32_t, uint32_t> connection_counts;   //! number of messages in each connection stored in the chunk
};

struct ChunkHeader
{
    std::string compression;          //! chunk compression type, e.g. "none" or "bz2" (see constants.h)
    uint32_t    compressed_size;      //! compressed size of the chunk in bytes
    uint32_t    uncompressed_size;    //! uncompressed size of the chunk in bytes
};

struct IndexEntry
{
    ros::Time time;            //! timestamp of the message
    uint64_t  chunk_pos;       //! absolute byte offset of the chunk record containing the message
    uint32_t  offset;          //! relative byte offset of the message record (either definition or data) in the chunk

    bool operator<(IndexEntry const& b) const { return time < b.time; }
};

struct IndexEntryCompare
{
    bool operator()(ros::Time const& a, IndexEntry const& b) const { return a < b.time; }
    bool operator()(IndexEntry const& a, ros::Time const& b) const { return a.time < b; }
};

} // namespace rosbag

#endif
