o3de-extras/Gems/ROS2/Code/Source/Clients/ROS2SystemComponent.h

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */
#pragma once

#include <AzCore/Component/Component.h>
#include <AzCore/Component/TickBus.h>
#include <AzCore/std/smart_ptr/unique_ptr.h>
#include <ROS2/ROS2Bus.h>
#include <ROS2/ROS2NamesBus.h>
#include <ROS2/TF/TransformInterface.h>
#include <builtin_interfaces/msg/time.hpp>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

/**
 * \mainpage
 *
 * Welcome to the **Open 3D Engine (O3DE)** API Reference for the **ROS 2 Gem**!
 *
 * The Components and Classes of this Gem support direct interaction with the ROS 2 ecosystem.
 * The Robot Operating System (ROS) middleware documentation links in this API Reference point to the most recent ROS distribution. If you
 * are using an older version, you might need to navigate to the corresponding documentation pages for the distribution which you have
 * installed.
 *
 * For the overview, features and usage of this Gem, please refer to [ROS 2 Gem
 * Documentation](https://development--o3deorg.netlify.app/docs/user-guide/gems/reference/robotics/ros2/).
 *
 * o3de-doxygen-insert-table
 *
 */

namespace ROS2
{
    //! Central singleton-like System Component for ROS2 Gem.
    class ROS2SystemComponent
        : public AZ::Component
        , public AZ::TickBus::Handler
        , protected ROS2Requests
        , protected ROS2NamesRequestBus::Handler
        , protected TFInterfaceBus::Handler
    {
    public:
        AZ_COMPONENT_DECL(ROS2SystemComponent);

        static void Reflect(AZ::ReflectContext* context);

        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
        static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent);

        ROS2SystemComponent();
        ~ROS2SystemComponent();

    protected:
        ////////////////////////////////////////////////////////////////////////
        // ROS2RequestBus interface implementation
        std::shared_ptr<rclcpp::Node> GetNode() const override;
        void ConnectOnNodeChanged(NodeChangedEvent::Handler& handler) override;
        void BroadcastTransform(const geometry_msgs::msg::TransformStamped& t, bool isDynamic) override;
        ////////////////////////////////////////////////////////////////////////

        ////////////////////////////////////////////////////////////////////////
        // ROS2NamesRequestBus handler implementation
        AZStd::string GetNamespacedName(const AZStd::string& ns, const AZStd::string& name) override;
        AZStd::string RosifyName(const AZStd::string& input) override;
        AZ::Outcome<void, AZStd::string> ValidateNamespace(const AZStd::string& ros2Namespace) override;
        AZ::Outcome<void, AZStd::string> ValidateNamespaceField(void* newValue, const AZ::Uuid& valueType) override;
        AZ::Outcome<void, AZStd::string> ValidateTopic(const AZStd::string& topic) override;
        AZ::Outcome<void, AZStd::string> ValidateTopicField(void* newValue, const AZ::Uuid& valueType) override;
        ////////////////////////////////////////////////////////////////////////

        ////////////////////////////////////////////////////////////////////////
        // AZ::Component interface implementation
        void Init() override;
        void Activate() override;
        void Deactivate() override;
        ////////////////////////////////////////////////////////////////////////

        ////////////////////////////////////////////////////////////////////////
        // AZ::TickBus handler implementation
        void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
        ////////////////////////////////////////////////////////////////////////

        ////////////////////////////////////////////////////////////////////////
        // TFInterface implementation
        AZ::Outcome<AZ::Transform, AZStd::string> GetTransform(
            const AZStd::string& source, const AZStd::string& target, const builtin_interfaces::msg::Time& time) override;
        AZ::Transform GetLatestTransform(const AZStd::string& source, const AZStd::string& target) override;
        void PublishTransform(const AZStd::string& source, const AZStd::string& target, const AZ::Transform& transform, bool isDynamic) override;
        ////////////////////////////////////////////////////////////////////////

    private:
        std::vector<geometry_msgs::msg::TransformStamped> m_frameTransforms;
        std::shared_ptr<rclcpp::Node> m_ros2Node;
        AZStd::shared_ptr<rclcpp::executors::SingleThreadedExecutor> m_executor;
        AZStd::unique_ptr<tf2_ros::TransformBroadcaster> m_dynamicTFBroadcaster;
        AZStd::unique_ptr<tf2_ros::StaticTransformBroadcaster> m_staticTFBroadcaster;
        AZStd::shared_ptr<tf2_ros::Buffer> m_tfBuffer;
        AZStd::shared_ptr<tf2_ros::TransformListener> m_tfListener;
        NodeChangedEvent m_nodeChangedEvent;
    };
} // namespace ROS2