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#ifndef FUSE_VARIABLES__STAMPED_HPP_
#define FUSE_VARIABLES__STAMPED_HPP_

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/node_interfaces/node_interfaces.hpp>

#include <boost/serialization/access.hpp>

#include <rclcpp/time.hpp>

namespace fuse_variables
{

class Stamped
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(Stamped)


  Stamped() = default;

  explicit Stamped(
    const rclcpp::Time & stamp,
    const fuse_core::UUID & device_id = fuse_core::uuid::NIL)
  : device_id_(device_id),
    stamp_(stamp)
  {}

  virtual ~Stamped() = default;

  const rclcpp::Time & stamp() const {return stamp_;}

  const fuse_core::UUID & deviceId() const {return device_id_;}

private:
  fuse_core::UUID device_id_;
  rclcpp::Time stamp_{0, 0, RCL_ROS_TIME};

  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & device_id_;
    archive & stamp_;
  }
};

fuse_core::UUID loadDeviceId(
  fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Parameters> interfaces);

}  // namespace fuse_variables

#endif  // FUSE_VARIABLES__STAMPED_HPP_