/*
 * Copyright (C) 2018 Fabio D'Urso <durso@dmi.unict.it>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZUAV_CAMERABUFFERPLUGIN_HH_
#define GZUAV_CAMERABUFFERPLUGIN_HH_

#include <gazebo/plugins/CameraPlugin.hh>

namespace gazebo
{
namespace GzUav
{
  class GAZEBO_VISIBLE CameraBufferPlugin : public CameraPlugin
  {
    /// \brief Constructor.
    public: CameraBufferPlugin();

    /// \brief Destructor.
    public: ~CameraBufferPlugin();

    // Documentation Inherited.
    public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    public: virtual void OnNewFrame(const unsigned char *_image,
                              unsigned int _width, unsigned int _height,
                              unsigned int _depth, const std::string &_format);

    private: void ServerThread();

    private: static void *ThreadFunc(void *me);

    private: void SendBlock(const void *data, size_t len);

    private: pthread_mutex_t lastDataMutex;

    private: common::Time lastDataTimestamp;

    private: std::vector<unsigned char> lastData;

    private: pthread_t serverThread;

    private: int serv, sock;
  };
}
}
#endif
