transformation_manager.hpp

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// Copyright 2024 Kotaro Uetake.
//
// 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 AWVIZ_COMMON__TRANSFORMATION_MANAGER_HPP_
#define AWVIZ_COMMON__TRANSFORMATION_MANAGER_HPP_
 
#include "awviz_common/transformation/tf_tree.hpp"
 
#include <rclcpp/rclcpp.hpp>
#include <rerun.hpp>
 
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <unordered_map>
 
namespace awviz_common
{
class TransformationManager
{
public:
  TransformationManager(
    rclcpp::Node::SharedPtr node, std::shared_ptr<rerun::RecordingStream> stream);
 
  const std::shared_ptr<std::unordered_map<std::string, std::string>> entities()
  {
    std::lock_guard lock(entities_mtx_);
    return entities_;
  }
 
private:
  void timer_callback();
 
  void update_tree();
 
  void update_entity(const TfFrame & frame);
 
  void log_transform(const TfFrame & frame);
 
private:
  rclcpp::Node::SharedPtr node_;                             
  std::shared_ptr<rerun::RecordingStream> stream_;           
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;               
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;  
  rclcpp::TimerBase::SharedPtr timer_;                       
  std::unique_ptr<TfTree> tf_tree_;                          
  std::shared_ptr<std::unordered_map<std::string, std::string>>
    entities_;  
  std::unordered_map<std::string, double> last_log_stamps_;  
 
  std::mutex tf_tree_mtx_;   
  std::mutex entities_mtx_;  
};
}  // namespace awviz_common
#endif  // AWVIZ_COMMON__TRANSFORMATION_MANAGER_HPP_