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#ifndef FUSE_CORE__ASYNC_PUBLISHER_HPP_
#define FUSE_CORE__ASYNC_PUBLISHER_HPP_

#include <functional>
#include <memory>
#include <string>
#include <utility>

#include <fuse_core/callback_wrapper.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/node_interfaces/node_interfaces.hpp>
#include <fuse_core/publisher.hpp>
#include <fuse_core/transaction.hpp>
#include <rclcpp/rclcpp.hpp>

namespace fuse_core
{

class AsyncPublisher : public Publisher
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(AsyncPublisher)


  virtual ~AsyncPublisher();

  void initialize(
    node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name) override;

  const std::string & name() const override {return name_;}

  void notify(Transaction::ConstSharedPtr transaction, Graph::ConstSharedPtr graph) override;

  void start() override;

  void stop() override;

protected:
  std::shared_ptr<fuse_core::CallbackAdapter> callback_queue_;

  std::string name_;
  rclcpp::CallbackGroup::SharedPtr cb_group_;

  node_interfaces::NodeInterfaces<node_interfaces::Base, node_interfaces::Waitables> interfaces_;

  rclcpp::Executor::SharedPtr executor_;
  size_t executor_thread_count_{1};
  std::thread spinner_;
  std::atomic<bool> initialized_ = false;

  explicit AsyncPublisher(size_t thread_count = 1);

  virtual void onInit() {}

  virtual void notifyCallback(
    Transaction::ConstSharedPtr /*transaction*/,
    Graph::ConstSharedPtr /*graph*/) {}

  virtual void onStart() {}

  virtual void onStop() {}

private:
  void internal_stop();
};

}  // namespace fuse_core

#endif  // FUSE_CORE__ASYNC_PUBLISHER_HPP_