/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * 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
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 */

/** \file
 *  \brief Author: Wim Meeussen
 */

#ifndef TF2_ROS__BUFFER_HPP_
#define TF2_ROS__BUFFER_HPP_

#include <future>
#include <memory>
#include <mutex>
#include <string>
#include <utility>
#include <unordered_map>

#include "tf2_ros/async_buffer_interface.hpp"
#include "tf2_ros/buffer_interface.hpp"
#include "tf2_ros/create_timer_interface.hpp"
#include "tf2_ros/visibility_control.hpp"
#include "tf2/buffer_core.hpp"
#include "tf2/time.hpp"

#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/srv/frame_graph.hpp"
#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
#include "rclcpp/node_interfaces/get_node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/rclcpp.hpp"

namespace tf2_ros
{

/** \brief Standard implementation of the tf2_ros::BufferInterface abstract data type.
 *
 * Inherits tf2_ros::BufferInterface and tf2::BufferCore.
 * Stores known frames and offers a ROS service, "tf_frames", which responds to client requests
 * with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames.
 */
class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::BufferCore
{
public:
  using tf2::BufferCore::lookupTransform;
  using tf2::BufferCore::canTransform;
  using SharedPtr = std::shared_ptr<tf2_ros::Buffer>;

  /** \brief  Constructor for a Buffer object
   * \param clock A clock to use for time and sleeping
   * \param cache_time How long to keep a history of transforms
   * \param node If passed advertise the view_frames service that exposes debugging information from the buffer
   * \param  qos If passed change the quality of service of the frames_server_ service
   */
  template<typename NodeT = rclcpp::Node::SharedPtr>
  Buffer(
    rclcpp::Clock::SharedPtr clock,
    tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME),
    NodeT && node = NodeT(),
    const rclcpp::QoS & qos = rclcpp::ServicesQoS())
  : BufferCore(cache_time), clock_(clock), timer_interface_(nullptr)
  {
    if (nullptr == clock_) {
      throw std::invalid_argument("clock must be a valid instance");
    }

    auto post_jump_cb = [this](const rcl_time_jump_t & jump_info) {onTimeJump(jump_info);};

    rcl_jump_threshold_t jump_threshold;
    // Disable forward jump callbacks
    jump_threshold.min_forward.nanoseconds = 0;
    // Anything backwards is a jump
    jump_threshold.min_backward.nanoseconds = -1;
    // Callback if the clock changes too
    jump_threshold.on_clock_change = true;

    jump_handler_ = clock_->create_jump_callback(nullptr, post_jump_cb, jump_threshold);

    if (node) {
      node_logging_interface_ = rclcpp::node_interfaces::get_node_logging_interface(node);

      frames_server_ = rclcpp::create_service<tf2_msgs::srv::FrameGraph>(
        rclcpp::node_interfaces::get_node_base_interface(node),
        rclcpp::node_interfaces::get_node_services_interface(node),
        "tf2_frames", std::bind(
          &Buffer::getFrames, this, std::placeholders::_1,
          std::placeholders::_2), qos, nullptr);
    }
  }

  /** \brief Get the transform between two frames by frame ID.
   * \param target_frame The frame to which data should be transformed
   * \param source_frame The frame where the data originated
   * \param time The time at which the value of the transform is desired. (0 will get the latest)
   * \param timeout How long to block before failing
   * \return The transform between the frames
   *
   * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
   * tf2::ExtrapolationException, tf2::InvalidArgumentException
   */
  TF2_ROS_PUBLIC
  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame, const std::string & source_frame,
    const tf2::TimePoint & time, const tf2::Duration timeout) const override;

  /** \brief Get the transform between two frames by frame ID.
   * \sa lookupTransform(const std::string&, const std::string&, const tf2::TimePoint&,
   *                     const tf2::Duration)
   */
  TF2_ROS_PUBLIC
  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame, const std::string & source_frame,
    const rclcpp::Time & time,
    const rclcpp::Duration timeout = rclcpp::Duration::from_nanoseconds(0)) const
  {
    return lookupTransform(target_frame, source_frame, fromRclcpp(time), fromRclcpp(timeout));
  }

  /** \brief Get the transform between two frames by frame ID assuming fixed frame.
   * \param target_frame The frame to which data should be transformed
   * \param target_time The time to which the data should be transformed. (0 will get the latest)
   * \param source_frame The frame where the data originated
   * \param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
   * \param fixed_frame The frame in which to assume the transform is constant in time.
   * \param timeout How long to block before failing
   * \return The transform between the frames
   *
   * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
   * tf2::ExtrapolationException, tf2::InvalidArgumentException
   */
  TF2_ROS_PUBLIC
  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame, const tf2::TimePoint & target_time,
    const std::string & source_frame, const tf2::TimePoint & source_time,
    const std::string & fixed_frame, const tf2::Duration timeout) const override;

  /** \brief Get the transform between two frames by frame ID assuming fixed frame.
   * \sa lookupTransform(const std::string&, const tf2::TimePoint&,
   *                     const std::string&, const tf2::TimePoint&,
   *                     const std::string&, const tf2::Duration)
   */
  TF2_ROS_PUBLIC
  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame, const rclcpp::Time & target_time,
    const std::string & source_frame, const rclcpp::Time & source_time,
    const std::string & fixed_frame,
    const rclcpp::Duration timeout = rclcpp::Duration::from_nanoseconds(0)) const
  {
    return lookupTransform(
      target_frame, fromRclcpp(target_time),
      source_frame, fromRclcpp(source_time),
      fixed_frame, fromRclcpp(timeout));
  }

  /** \brief Test if a transform is possible
   * \param target_frame The frame into which to transform
   * \param source_frame The frame from which to transform
   * \param target_time The time at which to transform
   * \param timeout How long to block before failing
   * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
   * \return True if the transform is possible, false otherwise
   */
  TF2_ROS_PUBLIC
  bool
  canTransform(
    const std::string & target_frame, const std::string & source_frame,
    const tf2::TimePoint & target_time, const tf2::Duration timeout,
    std::string * errstr = NULL) const override;

  /** \brief Test if a transform is possible
   * \sa canTransform(const std::string&, const std::string&,
   *                  const tf2::TimePoint&, const tf2::Duration, std::string*)
   */
  TF2_ROS_PUBLIC
  bool
  canTransform(
    const std::string & target_frame, const std::string & source_frame,
    const rclcpp::Time & time,
    const rclcpp::Duration timeout = rclcpp::Duration::from_nanoseconds(0),
    std::string * errstr = NULL) const
  {
    return canTransform(target_frame, source_frame, fromRclcpp(time), fromRclcpp(timeout), errstr);
  }

  /** \brief Test if a transform is possible
   * \param target_frame The frame into which to transform
   * \param target_time The time into which to transform
   * \param source_frame The frame from which to transform
   * \param source_time The time from which to transform
   * \param fixed_frame The frame in which to treat the transform as constant in time
   * \param timeout How long to block before failing
   * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
   * \return True if the transform is possible, false otherwise
   */
  TF2_ROS_PUBLIC
  bool
  canTransform(
    const std::string & target_frame, const tf2::TimePoint & target_time,
    const std::string & source_frame, const tf2::TimePoint & source_time,
    const std::string & fixed_frame, const tf2::Duration timeout,
    std::string * errstr = NULL) const override;

  /** \brief Test if a transform is possible
   * \sa
   *   canTransform(const std::string&, const tf2::TimePoint&,
   *                const std::string&, const tf2::TimePoint&,
   *                const std::string&, const tf2::Duration, std::string*)
   */
  TF2_ROS_PUBLIC
  bool
  canTransform(
    const std::string & target_frame, const rclcpp::Time & target_time,
    const std::string & source_frame, const rclcpp::Time & source_time,
    const std::string & fixed_frame,
    const rclcpp::Duration timeout = rclcpp::Duration::from_nanoseconds(0),
    std::string * errstr = NULL) const
  {
    return canTransform(
      target_frame, fromRclcpp(target_time),
      source_frame, fromRclcpp(source_time),
      fixed_frame, fromRclcpp(timeout),
      errstr);
  }

  /** \brief Wait for a transform between two frames to become available.
   *
   * Before this method can be called, a tf2_ros::CreateTimerInterface must be registered
   * by first calling setCreateTimerInterface.
   * If no tf2_ros::CreateTimerInterface is set, then a tf2_ros::CreateTimerInterfaceException
   * is thrown.
   *
   * \param target_frame The frame into which to transform.
   * \param source_frame The frame from which to tranform.
   * \param time The time at which to transform.
   * \param timeout Duration after which waiting will be stopped.
   * \param callback The function to be called when the transform becomes available or a timeout
   *   occurs. In the case of timeout, an exception will be set on the future.
   * \return A future to the requested transform. If a timeout occurs a `tf2::LookupException`
   *   will be set on the future.
   */
  TF2_ROS_PUBLIC
  TransformStampedFuture
  waitForTransform(
    const std::string & target_frame, const std::string & source_frame,
    const tf2::TimePoint & time, const tf2::Duration & timeout,
    TransformReadyCallback callback) override;

  /** \brief Wait for a transform between two frames to become available.
   * \sa waitForTransform(const std::string &, const std::string &, const tf2::TimePoint &,
   *                      const tf2::Duration &, TransformReadyCallback);
   */
  TF2_ROS_PUBLIC
  TransformStampedFuture
  waitForTransform(
    const std::string & target_frame, const std::string & source_frame,
    const rclcpp::Time & time,
    const rclcpp::Duration & timeout, TransformReadyCallback callback)
  {
    return waitForTransform(
      target_frame, source_frame,
      fromRclcpp(time), fromRclcpp(timeout),
      callback);
  }

  /**
   * \brief Cancel the future to make sure the callback of requested transform is clean.
   * \param ts_future The future to the requested transform.
   */
  TF2_ROS_PUBLIC
  void
  cancel(const TransformStampedFuture & ts_future) override;

  TF2_ROS_PUBLIC
  inline void
  setCreateTimerInterface(CreateTimerInterface::SharedPtr create_timer_interface)
  {
    timer_interface_ = create_timer_interface;
  }

private:
  void timerCallback(
    const TimerHandle & timer_handle,
    std::shared_ptr<std::promise<geometry_msgs::msg::TransformStamped>> promise,
    TransformStampedFuture future,
    TransformReadyCallback callback);

  TF2_ROS_PUBLIC
  bool getFrames(
    const tf2_msgs::srv::FrameGraph::Request::SharedPtr req,
    tf2_msgs::srv::FrameGraph::Response::SharedPtr res);

  TF2_ROS_PUBLIC
  void onTimeJump(const rcl_time_jump_t & jump);

  // conditionally error if dedicated_thread unset.
  bool checkAndErrorDedicatedThreadPresent(std::string * errstr) const;

  /// Get the logger to use for calls to RCLCPP log macros.
  rclcpp::Logger getLogger() const;

  // framegraph service
  rclcpp::Service<tf2_msgs::srv::FrameGraph>::SharedPtr frames_server_;

  /// \brief A clock to use for time and sleeping
  rclcpp::Clock::SharedPtr clock_;

  /// \brief A node logging interface to access the buffer node's logger
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;

  /// \brief Interface for creating timers
  CreateTimerInterface::SharedPtr timer_interface_;

  /// \brief A map from active timers to BufferCore request handles
  std::unordered_map<TimerHandle, tf2::TransformableRequestHandle> timer_to_request_map_;

  /// \brief A mutex on the timer_to_request_map_ data
  std::mutex timer_to_request_map_mutex_;

  /// \brief Reference to a jump handler registered to the clock
  rclcpp::JumpHandler::SharedPtr jump_handler_;
};

static const char threading_error[] = "Do not call canTransform or lookupTransform with a timeout "
  "unless you are using another thread for populating data. Without a dedicated thread it will "
  "always timeout.  If you have a separate thread servicing tf messages, call "
  "setUsingDedicatedThread(true) on your Buffer instance.";

}  // namespace tf2_ros

#endif  // TF2_ROS__BUFFER_HPP_
