/*
 * Copyright (c) 2018, Bosch Software Innovations GmbH.
 * 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 copyright holder 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
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_
#define RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_

#include <memory>
#include <string>
#include <thread>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/clock.hpp"
#include "std_msgs/msg/header.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_ros/static_transform_broadcaster.h"
#include "internal/transform_message_creator.hpp"

struct StaticTransform
{
  StaticTransform(
    std::string origin_frame, std::string destination_frame,
    int x, int y, int z, int roll, int pitch, int yaw)
  : origin_frame(origin_frame),
    destination_frame(destination_frame),
    x(x),
    y(y),
    z(z),
    roll(roll),
    pitch(pitch),
    yaw(yaw)
  {}

  std::string origin_frame;
  std::string destination_frame;
  int x;
  int y;
  int z;
  int roll;
  int pitch;
  int yaw;

  geometry_msgs::msg::TransformStamped createStaticTransformMessage()
  {
    return createStaticTransformMessageFor(
      origin_frame, destination_frame, x, y, z, roll, pitch, yaw);
  }
};

class TransformPublisher
{
public:
  TransformPublisher(std::string frame_name, int x, int y, int z, int roll, int pitch, int yaw)
  : TransformPublisher({StaticTransform("map", frame_name, x, y, z, roll, pitch, yaw)})
  {}

  explicit TransformPublisher(std::vector<StaticTransform> transforms)
  {
    nodes_spinning_ = true;
    transforms_ = transforms;
    publisher_thread_ = std::thread(
      &TransformPublisher::publishOnFrame, this);
  }

  ~TransformPublisher()
  {
    nodes_spinning_ = false;
    publisher_thread_.join();
  }

private:
  void publishOnFrame()
  {
    auto transformer_publisher_node = std::make_shared<rclcpp::Node>("static_transform_publisher");
    tf2_ros::StaticTransformBroadcaster broadcaster(transformer_publisher_node);

    rclcpp::WallRate loop_rate(0.2);
    rclcpp::executors::SingleThreadedExecutor executor;
    executor.add_node(transformer_publisher_node);

    while (nodes_spinning_) {
      for (auto transform : transforms_) {
        broadcaster.sendTransform(transform.createStaticTransformMessage());
      }
      executor.spin_some();
      loop_rate.sleep();
    }
  }

  std::vector<StaticTransform> transforms_;
  std::atomic<bool> nodes_spinning_;
  std::thread publisher_thread_;
};

#endif  // RVIZ_VISUAL_TESTING_FRAMEWORK__TRANSFORM_PUBLISHER_HPP_
