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#include "ros/node.h"
#include <string>
#include <map>

#include "rosrecord/Player.h"
#include "rosrecord/AnyMsg.h"
#include "std_msgs/String.h"

using namespace std;

void all_handler(string name, ros::Message* m, ros::Time t, ros::Time t_no_use, void* n)
{
  int* counter = (int*)(n);

  cout << "all_handler saw a message named " << name << " with datatype: " << m->__getDataType() << " Count at: " << (*counter)++ << endl;
}

void string_handler(string name, std_msgs::String* str, ros::Time t, ros::Time t_no_use, void* n)
{
  cout << "string_handler saw a message named " << name << " with datatype: " << str->__getDataType() << " and value: " << str->data << endl;
}

class Handler
{
public:
  int counter;

  Handler() : counter(0) {}

  void all_handler(string name, ros::Message* m, ros::Time t, ros::Time t_no_use, void* n)
  {
    cout << "Handler::all_handler saw a message named " << name << " with datatype: " << m->__getDataType() << " Count at: " << counter++ << endl;
  }

  void string_handler(string name, std_msgs::String* str, ros::Time t, ros::Time t_no_use, void* n)
  {
    cout << "Handler::string_handler saw a message named " << name << " with  datatype: " << str->__getDataType() << " and value: " << str->data << endl;
  }
};

int main(int argc, char **argv)
{
  if (argc != 2)
  {
    cout << endl << "usage:" << endl <<  " demo BAG" << endl;
    return 1;
  }

  ros::record::Player player;
  Handler handler;

  int counter = 0;

  if (player.open(string(argv[1]), ros::Time()))
  {
    player.addHandler<AnyMsg>(string("*"), &all_handler, &counter, false);
    player.addHandler<std_msgs::String>(string("chatter"), &string_handler, NULL);
    player.addHandler<AnyMsg>(string("babble"), &Handler::all_handler, &handler, &counter, false);
    player.addHandler<std_msgs::String>(string("*"), &Handler::string_handler, &handler, NULL);
  }

  while(player.nextMsg())
  {
  }

  return 0;
}
