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#ifndef FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_
#define FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_

#include <string>

#include <fuse_core/async_publisher.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/throttled_callback.hpp>
#include <fuse_core/transaction.hpp>
#include <rclcpp/rclcpp.hpp>

#include <fuse_msgs/msg/serialized_graph.hpp>
#include <fuse_msgs/msg/serialized_transaction.hpp>


namespace fuse_publishers
{

class SerializedPublisher : public fuse_core::AsyncPublisher
{
public:
  FUSE_SMART_PTR_DEFINITIONS(SerializedPublisher)


  SerializedPublisher();

  virtual ~SerializedPublisher() = default;

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

  void onInit() override;

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

protected:
  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Clock,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Parameters,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  void graphPublisherCallback(
    fuse_core::Graph::ConstSharedPtr graph,
    const rclcpp::Time & stamp) const;

  std::string frame_id_;
  rclcpp::Publisher<fuse_msgs::msg::SerializedGraph>::SharedPtr graph_publisher_;
  rclcpp::Publisher<fuse_msgs::msg::SerializedTransaction>::SharedPtr transaction_publisher_;

  using GraphPublisherCallback =
    std::function<void (fuse_core::Graph::ConstSharedPtr, const rclcpp::Time &)>;
  using GraphPublisherThrottledCallback = fuse_core::ThrottledCallback<GraphPublisherCallback>;
  GraphPublisherThrottledCallback graph_publisher_throttled_callback_;
};

}  // namespace fuse_publishers

#endif  // FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_