#ifndef IMAGE_TO_RTSP_H
#define IMAGE_TO_RTSP_H

namespace image2rtsp {
	class Image2RTSPNodelet : public nodelet::Nodelet {
		public:
			GstRTSPServer *rtsp_server;
			void onInit();
			void url_connected(std::string url);	
			void url_disconnected(std::string url);
			void print_info(char *s);
			void print_error(char *s);

		private:
			std::map<std::string, ros::Subscriber> subs;
			std::map<std::string, GstAppSrc*> appsrc;
			std::map<std::string, int> num_of_clients;
			GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg);
			void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
			void video_mainloop_start();
			void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
			GstRTSPServer *rtsp_server_create();
	};
}

#endif