From 5a86c41e92134be17a76f09d8a83a0e96ce134c0 Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Sun, 25 Feb 2024 19:45:28 +0300
Subject: [PATCH] feat(tier4_autoware_utils): add published time debug class
 into utils

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
 .../ros/published_time_publisher.hpp          | 106 ++++++++++++++++++
 common/tier4_autoware_utils/package.xml       |   2 +
 2 files changed, 108 insertions(+)
 create mode 100644 common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp

diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
new file mode 100644
index 0000000000000..08aebbd81d80a
--- /dev/null
+++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
@@ -0,0 +1,106 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// 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 TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_optional_msgs/msg/published_time.hpp>
+
+#include <functional>
+#include <map>
+#include <string>
+
+namespace tier4_autoware_utils
+{
+using autoware_optional_msgs::msg::PublishedTime;
+
+struct GidHash
+{
+  size_t operator()(const rmw_gid_t & gid) const noexcept
+  {
+    // Hashing function that computes a hash value for the GID
+    std::hash<std::string> hasher;
+    return hasher(std::string(reinterpret_cast<const char *>(gid.data), RMW_GID_STORAGE_SIZE));
+  }
+};
+
+struct GidEqual
+{
+  bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const noexcept
+  {
+    return std::memcmp(lhs.data, rhs.data, RMW_GID_STORAGE_SIZE) == 0;
+  }
+};
+
+class PublishedTimePublisher
+{
+public:
+  static std::unique_ptr<PublishedTimePublisher> create(
+    rclcpp::Node * node, const std::string & end_name = "/debug/published_time",
+    const rclcpp::QoS & qos = rclcpp::QoS(1))
+  {
+    const bool use_published_time = node->declare_parameter<bool>("use_published_time", false);
+    if (use_published_time) {
+      return std::unique_ptr<PublishedTimePublisher>(
+        new PublishedTimePublisher(node, end_name, qos));
+    } else {
+      return nullptr;
+    }
+  }
+
+  void publish(
+    const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & header_stamp)
+  {
+    const auto & gid = publisher->get_gid();
+    const auto & topic_name = publisher->get_topic_name();
+
+    // if the publisher is not in the map, create a new publisher for published time
+    if (publishers_.find(gid) == publishers_.end()) {
+      publishers_[gid] = node_->create_publisher<PublishedTime>(
+        static_cast<std::string>(topic_name) + end_name_, qos_);
+    }
+
+    const auto & pub_published_time_ = publishers_[gid];
+
+    // Check if there are any subscribers, otherwise don't do anything
+    if (pub_published_time_->get_subscription_count() > 0) {
+      PublishedTime published_time;
+
+      published_time.header_stamp = header_stamp;
+      published_time.published_stamp = rclcpp::Clock().now();
+
+      pub_published_time_->publish(published_time);
+    }
+  }
+
+private:
+  explicit PublishedTimePublisher(
+    rclcpp::Node * node, const std::string & end_name, const rclcpp::QoS & qos)
+  : node_(node), end_name_(end_name), qos_(qos)
+  {
+  }
+
+  rclcpp::Node * node_;
+  std::string end_name_;
+  rclcpp::QoS qos_;
+
+  // store them for each different publisher of the node
+  std::unordered_map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidHash, GidEqual>
+    publishers_;
+};
+}  // namespace tier4_autoware_utils
+
+#endif  // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml
index 04a07b88edf4e..d968451b1605b 100644
--- a/common/tier4_autoware_utils/package.xml
+++ b/common/tier4_autoware_utils/package.xml
@@ -15,6 +15,8 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_common_msgs</depend>
+  <depend>autoware_optional_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>