/*
 * 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 the 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */


/** \author Tully Foote */

#ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_

#include <memory>
#include <vector>

#include "tf2_ros/visibility_control.h"

#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"

namespace tf2_ros
{

/** \brief This class provides an easy way to publish coordinate frame transform information.
 * It will handle all the messaging and stuffing of messages.  And the function prototypes lay out all the
 * necessary data needed for each message.  */

class StaticTransformBroadcaster
{
public:
  /** \brief Node constructor */
  template<class NodeT, class AllocatorT = std::allocator<void>>
  StaticTransformBroadcaster(
    NodeT && node,
    const rclcpp::QoS & qos = StaticBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
      rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
      options.qos_overriding_options = rclcpp::QosOverridingOptions{
        rclcpp::QosPolicyKind::Depth,
        rclcpp::QosPolicyKind::History,
        rclcpp::QosPolicyKind::Reliability};
      return options;
    } ())
    : StaticTransformBroadcaster(
      rclcpp::node_interfaces::get_node_parameters_interface(node),
      rclcpp::node_interfaces::get_node_topics_interface(node),
      qos,
      options)
  {}

  /** \brief Node interfaces constructor */
  template<class AllocatorT = std::allocator<void>>
  StaticTransformBroadcaster(
    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
    const rclcpp::QoS & qos = StaticBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
      rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
      options.qos_overriding_options = rclcpp::QosOverridingOptions{
        rclcpp::QosPolicyKind::Depth,
        rclcpp::QosPolicyKind::History,
        rclcpp::QosPolicyKind::Reliability};
      return options;
    } ())
  {
    publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
      node_parameters, node_topics, "/tf_static", qos, options);
  }

  /** \brief Send a TransformStamped message
   * The stamped data structure includes frame_id, and time, and parent_id already.  */
  TF2_ROS_PUBLIC
  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);

  /** \brief Send a vector of TransformStamped messages
   * The stamped data structure includes frame_id, and time, and parent_id already.  */
  TF2_ROS_PUBLIC
  void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> & transforms);

private:
  /// Internal reference to ros::Node
  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
  tf2_msgs::msg::TFMessage net_message_;
};

}  // namespace tf2_ros

#endif  // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
