ComponentInterface.cpp

#include "modulo_components/ComponentInterface.hpp"
 
#include <console_bridge/console.h>
#include <tf2_msgs/msg/tf_message.hpp>
 
#include <modulo_core/translators/message_readers.hpp>
#include <modulo_core/translators/message_writers.hpp>
 
using namespace modulo_core;
 
namespace modulo_components {
 
ComponentInterface::ComponentInterface(
    const std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>>& interfaces)
    : node_base_(interfaces->get_node_base_interface()),
      node_clock_(interfaces->get_node_clock_interface()),
      node_logging_(interfaces->get_node_logging_interface()),
      node_parameters_(interfaces->get_node_parameters_interface()),
      node_services_(interfaces->get_node_services_interface()),
      node_timers_(interfaces->get_node_timers_interface()),
      node_topics_(interfaces->get_node_topics_interface()) {
  // register the parameter change callback handlers
  this->pre_set_parameter_cb_handle_ = this->node_parameters_->add_pre_set_parameters_callback(
      [this](std::vector<rclcpp::Parameter>& parameters) { return this->pre_set_parameters_callback(parameters); });
  this->on_set_parameter_cb_handle_ = this->node_parameters_->add_on_set_parameters_callback(
      [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
        return this->on_set_parameters_callback(parameters);
      });
  this->add_parameter("rate", 10.0, "The rate in Hertz for all periodic callbacks", true);
 
  this->assignment_publisher_ = rclcpp::create_publisher<modulo_interfaces::msg::Assignment>(
      this->node_parameters_, this->node_topics_, "/assignments", this->qos_);
 
  this->predicate_publisher_ = rclcpp::create_publisher<modulo_interfaces::msg::PredicateCollection>(
      this->node_parameters_, this->node_topics_, "/predicates", this->qos_);
  this->predicate_message_.node = this->node_base_->get_fully_qualified_name();
  this->predicate_message_.type = modulo_interfaces::msg::PredicateCollection::COMPONENT;
 
  this->rate_ = this->get_parameter_value<double>("rate");
  this->period_ = 1.0 / this->rate_;
  this->step_timer_ = rclcpp::create_wall_timer(
      std::chrono::nanoseconds(static_cast<int64_t>(1e9 * this->period_)),
      [this] {
        if (this->step_mutex_.try_lock()) {
          this->step();
          this->step_mutex_.unlock();
        }
      },
      nullptr, this->node_base_.get(), this->node_timers_.get());
}
 
ComponentInterface::~ComponentInterface() {
  this->step_mutex_.lock();
}
 
double ComponentInterface::get_rate() const {
  return this->rate_;
}
 
template<>
double ComponentInterface::get_period() const {
  return this->period_;
}
 
template<>
std::chrono::nanoseconds ComponentInterface::get_period() const {
  return std::chrono::nanoseconds(static_cast<int64_t>(1e9 * this->period_));
}
 
template<>
rclcpp::Duration ComponentInterface::get_period() const {
  return rclcpp::Duration::from_seconds(this->period_);
}
 
void ComponentInterface::step() {}
 
void ComponentInterface::on_step_callback() {}
 
void ComponentInterface::add_parameter(
    const std::shared_ptr<state_representation::ParameterInterface>& parameter, const std::string& description,
    bool read_only) {
  rclcpp::Parameter ros_param;
  try {
    ros_param = translators::write_parameter(parameter);
  } catch (const exceptions::ParameterTranslationException& ex) {
    throw exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
  }
  if (!this->node_parameters_->has_parameter(parameter->get_name())) {
    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding parameter '" << parameter->get_name() << "'.");
    this->parameter_map_.set_parameter(parameter);
    this->read_only_parameters_.insert_or_assign(parameter->get_name(), false);
    try {
      rcl_interfaces::msg::ParameterDescriptor descriptor;
      descriptor.description = description;
      descriptor.read_only = read_only;
      // since the pre_set_parameters_callback is not called on parameter declaration, this has to be true
      this->set_parameters_result_.successful = true;
      this->set_parameters_result_.reason = "";
      if (parameter->is_empty()) {
        descriptor.dynamic_typing = true;
        descriptor.type = translators::get_ros_parameter_type(parameter->get_parameter_type());
        this->node_parameters_->declare_parameter(parameter->get_name(), rclcpp::ParameterValue{}, descriptor);
      } else {
        this->node_parameters_->declare_parameter(parameter->get_name(), ros_param.get_parameter_value(), descriptor);
      }
      std::vector<rclcpp::Parameter> ros_parameters{this->node_parameters_->get_parameters({parameter->get_name()})};
      this->pre_set_parameters_callback(ros_parameters);
      auto result = this->on_set_parameters_callback(ros_parameters);
      if (!result.successful) {
        this->node_parameters_->undeclare_parameter(parameter->get_name());
        throw exceptions::ParameterException(result.reason);
      }
      this->read_only_parameters_.at(parameter->get_name()) = read_only;
    } catch (const std::exception& ex) {
      this->parameter_map_.remove_parameter(parameter->get_name());
      this->read_only_parameters_.erase(parameter->get_name());
      throw exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
    }
  } else {
    RCLCPP_DEBUG_STREAM(
        this->node_logging_->get_logger(), "Parameter '" << parameter->get_name() << "' already exists.");
  }
}
 
std::shared_ptr<state_representation::ParameterInterface>
ComponentInterface::get_parameter(const std::string& name) const {
  try {
    return this->parameter_map_.get_parameter(name);
  } catch (const state_representation::exceptions::InvalidParameterException& ex) {
    throw exceptions::ParameterException("Failed to get parameter '" + name + "': " + ex.what());
  }
}
 
void ComponentInterface::pre_set_parameters_callback(std::vector<rclcpp::Parameter>& parameters) {
  if (this->pre_set_parameter_callback_called_) {
    this->pre_set_parameter_callback_called_ = false;
    return;
  }
  rcl_interfaces::msg::SetParametersResult result;
  result.successful = true;
  for (auto& ros_parameter : parameters) {
    try {
      auto parameter = parameter_map_.get_parameter(ros_parameter.get_name());
      if (this->read_only_parameters_.at(ros_parameter.get_name())) {
        RCLCPP_DEBUG_STREAM(
            this->node_logging_->get_logger(), "Parameter '" << ros_parameter.get_name() << "' is read only.");
        continue;
      }
 
      // convert the ROS parameter into a ParameterInterface without modifying the original
      auto new_parameter = translators::read_parameter_const(ros_parameter, parameter);
      if (!this->validate_parameter(new_parameter)) {
        result.successful = false;
        result.reason += "Validation of parameter '" + ros_parameter.get_name() + "' returned false!";
      } else if (!new_parameter->is_empty()) {
        // update the value of the parameter in the map
        translators::copy_parameter_value(new_parameter, parameter);
        ros_parameter = translators::write_parameter(new_parameter);
      }
    } catch (const std::exception& ex) {
      result.successful = false;
      result.reason += ex.what();
    }
  }
  this->set_parameters_result_ = result;
}
 
rcl_interfaces::msg::SetParametersResult
ComponentInterface::on_set_parameters_callback(const std::vector<rclcpp::Parameter>&) {
  auto result = this->set_parameters_result_;
  this->set_parameters_result_.successful = true;
  this->set_parameters_result_.reason = "";
  return result;
}
 
bool ComponentInterface::validate_parameter(
    const std::shared_ptr<state_representation::ParameterInterface>& parameter) {
  if (parameter->get_name() == "rate") {
    auto value = parameter->get_parameter_value<double>();
    if (value <= 0 || !std::isfinite(value)) {
      RCLCPP_ERROR(this->node_logging_->get_logger(), "Value for parameter 'rate' has to be a positive finite number.");
      return false;
    }
  }
  return this->on_validate_parameter_callback(parameter);
}
 
bool ComponentInterface::on_validate_parameter_callback(
    const std::shared_ptr<state_representation::ParameterInterface>&) {
  return true;
}
 
void ComponentInterface::add_predicate(const std::string& predicate_name, bool predicate_value) {
  this->add_predicate(predicate_name, [predicate_value]() { return predicate_value; });
}
 
void ComponentInterface::add_predicate(
    const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
  if (predicate_name.empty()) {
    RCLCPP_ERROR(this->node_logging_->get_logger(), "Failed to add predicate: Provide a non empty string as a name.");
    return;
  }
  if (this->predicates_.find(predicate_name) != this->predicates_.end()) {
    RCLCPP_WARN_STREAM(
        this->node_logging_->get_logger(),
        "Predicate with name '" << predicate_name << "' already exists, overwriting.");
  } else {
    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding predicate '" << predicate_name << "'.");
  }
  try {
    this->predicates_.insert_or_assign(predicate_name, Predicate(predicate_function));
  } catch (const std::exception& ex) {
    RCLCPP_ERROR_STREAM_THROTTLE(
        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
        "Failed to add predicate '" << predicate_name << "': " << ex.what());
  }
}
 
bool ComponentInterface::get_predicate(const std::string& predicate_name) const {
  auto predicate_it = this->predicates_.find(predicate_name);
  if (predicate_it == this->predicates_.end()) {
    RCLCPP_ERROR_STREAM_THROTTLE(
        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
        "Failed to get predicate '" << predicate_name << "': Predicate does not exist, returning false.");
    return false;
  }
  try {
    return predicate_it->second.get_value();
  } catch (const std::exception& ex) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(),
        "Failed to evaluate callback of predicate '" << predicate_it->first << "', returning false: " << ex.what());
  }
  return false;
}
 
void ComponentInterface::set_predicate(const std::string& predicate_name, bool predicate_value) {
  this->set_predicate(predicate_name, [predicate_value]() { return predicate_value; });
}
 
void ComponentInterface::set_predicate(
    const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
  auto predicate_it = this->predicates_.find(predicate_name);
  if (predicate_it == this->predicates_.end()) {
    RCLCPP_ERROR_STREAM_THROTTLE(
        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
        "Failed to set predicate '" << predicate_name << "': Predicate does not exist.");
    return;
  }
  predicate_it->second.set_predicate(predicate_function);
  if (auto new_predicate = predicate_it->second.query(); new_predicate) {
    this->publish_predicate(predicate_name, *new_predicate);
  }
}
 
void ComponentInterface::add_trigger(const std::string& trigger_name) {
  if (trigger_name.empty()) {
    RCLCPP_ERROR(this->node_logging_->get_logger(), "Failed to add trigger: Provide a non empty string as a name.");
    return;
  }
  if (std::find(this->triggers_.cbegin(), this->triggers_.cend(), trigger_name) != this->triggers_.cend()) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(),
        "Failed to add trigger: there is already a trigger with name '" << trigger_name << "'.");
    return;
  }
  if (this->predicates_.find(trigger_name) != this->predicates_.end()) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(),
        "Failed to add trigger: there is already a predicate with name '" << trigger_name << "'.");
    return;
  }
  this->triggers_.push_back(trigger_name);
  this->add_predicate(trigger_name, false);
}
 
void ComponentInterface::trigger(const std::string& trigger_name) {
  if (std::find(this->triggers_.cbegin(), this->triggers_.cend(), trigger_name) == this->triggers_.cend()) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(),
        "Failed to trigger: could not find trigger with name  '" << trigger_name << "'.");
    return;
  }
  this->set_predicate(trigger_name, true);
  // reset the trigger to be published on the next step
  this->predicates_.at(trigger_name).set_predicate([]() { return false; });
}
 
void ComponentInterface::declare_input(
    const std::string& signal_name, const std::string& default_topic, bool fixed_topic) {
  this->declare_signal(signal_name, "input", default_topic, fixed_topic);
}
 
void ComponentInterface::declare_output(
    const std::string& signal_name, const std::string& default_topic, bool fixed_topic) {
  this->declare_signal(signal_name, "output", default_topic, fixed_topic);
}
 
void ComponentInterface::declare_signal(
    const std::string& signal_name, const std::string& type, const std::string& default_topic, bool fixed_topic) {
  std::string parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
  if (parsed_signal_name.empty()) {
    throw exceptions::AddSignalException(modulo_utils::parsing::topic_validation_warning(signal_name, type));
  }
  if (signal_name != parsed_signal_name) {
    RCLCPP_WARN_STREAM(
        this->node_logging_->get_logger(),
        "The parsed name for " + type + " '" + signal_name + "' is '" + parsed_signal_name
            + "'. Use the parsed name to refer to this " + type);
  }
  if (this->inputs_.find(parsed_signal_name) != this->inputs_.cend()) {
    throw exceptions::AddSignalException("Signal with name '" + parsed_signal_name + "' already exists as input.");
  }
  if (this->outputs_.find(parsed_signal_name) != this->outputs_.cend()) {
    throw exceptions::AddSignalException("Signal with name '" + parsed_signal_name + "' already exists as output.");
  }
  std::string topic_name = default_topic.empty() ? "~/" + parsed_signal_name : default_topic;
  auto parameter_name = parsed_signal_name + "_topic";
  if (this->node_parameters_->has_parameter(parameter_name) && this->get_parameter(parameter_name)->is_empty()) {
    this->set_parameter_value<std::string>(parameter_name, topic_name);
  } else {
    this->add_parameter(
        parameter_name, topic_name, "Signal topic name of " + type + " '" + parsed_signal_name + "'", fixed_topic);
  }
  RCLCPP_DEBUG_STREAM(
      this->node_logging_->get_logger(),
      "Declared signal '" << parsed_signal_name << "' and parameter '" << parameter_name << "' with value '"
                          << topic_name << "'.");
}
 
void ComponentInterface::publish_output(const std::string& signal_name) {
  auto parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
  if (this->outputs_.find(parsed_signal_name) == this->outputs_.cend()) {
    throw exceptions::CoreException("Output with name '" + signal_name + "' doesn't exist.");
  }
  if (this->periodic_outputs_.at(parsed_signal_name)) {
    throw exceptions::CoreException("An output that is published periodically cannot be triggered manually.");
  }
  try {
    this->outputs_.at(parsed_signal_name)->publish();
  } catch (const exceptions::CoreException& ex) {
    RCLCPP_ERROR_STREAM_THROTTLE(
        this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
        "Failed to publish output '" << parsed_signal_name << "': " << ex.what());
  }
}
 
void ComponentInterface::remove_input(const std::string& signal_name) {
  if (!this->remove_signal(signal_name, this->inputs_)) {
    auto parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
    if (!this->remove_signal(parsed_signal_name, this->inputs_)) {
      RCLCPP_DEBUG_STREAM(
          this->node_logging_->get_logger(),
          "Unknown input '" << signal_name << "' (parsed name was '" << parsed_signal_name << "').");
    }
  }
}
 
void ComponentInterface::remove_output(const std::string& signal_name) {
  if (!this->remove_signal(signal_name, this->outputs_)) {
    auto parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
    if (!this->remove_signal(parsed_signal_name, this->outputs_)) {
      RCLCPP_DEBUG_STREAM(
          this->node_logging_->get_logger(),
          "Unknown output '" << signal_name << "' (parsed name was '" << parsed_signal_name << "').");
    }
  }
}
 
void ComponentInterface::add_service(
    const std::string& service_name, const std::function<ComponentServiceResponse(void)>& callback) {
  try {
    std::string parsed_service_name = this->validate_service_name(service_name, "empty");
    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding empty service '" << parsed_service_name << "'.");
    auto service = rclcpp::create_service<modulo_interfaces::srv::EmptyTrigger>(
        this->node_base_, this->node_services_, "~/" + parsed_service_name,
        [callback](
            const std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Request>,
            std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Response> response) {
          try {
            auto callback_response = callback();
            response->success = callback_response.success;
            response->message = callback_response.message;
          } catch (const std::exception& ex) {
            response->success = false;
            response->message = ex.what();
          }
        },
        this->qos_, nullptr);
    this->empty_services_.insert_or_assign(parsed_service_name, service);
  } catch (const std::exception& ex) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(), "Failed to add service '" << service_name << "': " << ex.what());
  }
}
 
void ComponentInterface::add_service(
    const std::string& service_name,
    const std::function<ComponentServiceResponse(const std::string& string)>& callback) {
  try {
    std::string parsed_service_name = this->validate_service_name(service_name, "string");
    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding string service '" << parsed_service_name << "'.");
    auto service = rclcpp::create_service<modulo_interfaces::srv::StringTrigger>(
        this->node_base_, this->node_services_, "~/" + parsed_service_name,
        [callback](
            const std::shared_ptr<modulo_interfaces::srv::StringTrigger::Request> request,
            std::shared_ptr<modulo_interfaces::srv::StringTrigger::Response> response) {
          try {
            auto callback_response = callback(request->payload);
            response->success = callback_response.success;
            response->message = callback_response.message;
          } catch (const std::exception& ex) {
            response->success = false;
            response->message = ex.what();
          }
        },
        this->qos_, nullptr);
    this->string_services_.insert_or_assign(parsed_service_name, service);
  } catch (const std::exception& ex) {
    RCLCPP_ERROR_STREAM(
        this->node_logging_->get_logger(), "Failed to add service '" << service_name << "': " << ex.what());
  }
}
 
// FIXME: use enum for service type
std::string ComponentInterface::validate_service_name(const std::string& service_name, const std::string& type) const {
  std::string parsed_service_name = modulo_utils::parsing::parse_topic_name(service_name);
  if (parsed_service_name.empty()) {
    throw exceptions::AddServiceException(
        modulo_utils::parsing::topic_validation_warning(service_name, type + " service"));
  }
  if (service_name != parsed_service_name) {
    RCLCPP_WARN_STREAM(
        this->node_logging_->get_logger(),
        "The parsed name for service '" + service_name + "' is '" + parsed_service_name
            + "'. Use the parsed name to refer to this service");
  }
  if (empty_services_.find(parsed_service_name) != empty_services_.cend()) {
    throw exceptions::AddServiceException(
        "Service with name '" + parsed_service_name + "' already exists as an empty service.");
  }
  if (string_services_.find(parsed_service_name) != string_services_.cend()) {
    throw exceptions::AddServiceException(
        "Service with name '" + parsed_service_name + "' already exists as a string service.");
  }
  RCLCPP_DEBUG(this->node_logging_->get_logger(), "Adding %s service '%s'.", type.c_str(), parsed_service_name.c_str());
  return parsed_service_name;
}
 
void ComponentInterface::add_periodic_callback(const std::string& name, const std::function<void()>& callback) {
  if (name.empty()) {
    RCLCPP_ERROR(
        this->node_logging_->get_logger(), "Failed to add periodic function: Provide a non empty string as a name.");
    return;
  }
  if (this->periodic_callbacks_.find(name) != this->periodic_callbacks_.end()) {
    RCLCPP_WARN_STREAM(
        this->node_logging_->get_logger(), "Periodic function '" << name << "' already exists, overwriting.");
  } else {
    RCLCPP_DEBUG_STREAM(this->node_logging_->get_logger(), "Adding periodic function '" << name << "'.");
  }
  this->periodic_callbacks_.insert_or_assign(name, callback);
}
 
void ComponentInterface::add_tf_broadcaster() {
  if (this->tf_broadcaster_ == nullptr) {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "Adding TF broadcaster.");
    console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
    this->tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(
        this->node_parameters_, this->node_topics_, tf2_ros::DynamicBroadcasterQoS());
  } else {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "TF broadcaster already exists.");
  }
}
 
void ComponentInterface::add_static_tf_broadcaster() {
  if (this->static_tf_broadcaster_ == nullptr) {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "Adding static TF broadcaster.");
    console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
    tf2_ros::StaticBroadcasterQoS qos;
    rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
    this->static_tf_broadcaster_ =
        std::make_shared<tf2_ros::StaticTransformBroadcaster>(this->node_parameters_, this->node_topics_, qos, options);
  } else {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "Static TF broadcaster already exists.");
  }
}
 
void ComponentInterface::add_tf_listener() {
  if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "Adding TF buffer and listener.");
    console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
    this->tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->node_clock_->get_clock());
    this->tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
        *this->tf_buffer_, this->node_base_, this->node_logging_, this->node_parameters_, this->node_topics_);
  } else {
    RCLCPP_DEBUG(this->node_logging_->get_logger(), "TF buffer and listener already exist.");
  }
}
 
void ComponentInterface::send_transform(const state_representation::CartesianPose& transform) {
  this->send_transforms(std::vector<state_representation::CartesianPose>{transform});
}
 
void ComponentInterface::send_transforms(const std::vector<state_representation::CartesianPose>& transforms) {
  this->publish_transforms(transforms, this->tf_broadcaster_);
}
 
void ComponentInterface::send_static_transform(const state_representation::CartesianPose& transform) {
  this->send_static_transforms(std::vector<state_representation::CartesianPose>{transform});
}
 
void ComponentInterface::send_static_transforms(const std::vector<state_representation::CartesianPose>& transforms) {
  this->publish_transforms(transforms, this->static_tf_broadcaster_, true);
}
 
state_representation::CartesianPose ComponentInterface::lookup_transform(
    const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
    const tf2::Duration& duration) {
  auto transform = this->lookup_ros_transform(frame, reference_frame, time_point, duration);
  state_representation::CartesianPose result(frame, reference_frame);
  translators::read_message(result, transform);
  return result;
}
 
state_representation::CartesianPose ComponentInterface::lookup_transform(
    const std::string& frame, const std::string& reference_frame, double validity_period,
    const tf2::Duration& duration) {
  auto transform =
      this->lookup_ros_transform(frame, reference_frame, tf2::TimePoint(std::chrono::microseconds(0)), duration);
  if (validity_period > 0.0
      && (this->node_clock_->get_clock()->now() - transform.header.stamp).seconds() > validity_period) {
    throw exceptions::LookupTransformException("Failed to lookup transform: Latest transform is too old!");
  }
  state_representation::CartesianPose result(frame, reference_frame);
  translators::read_message(result, transform);
  return result;
}
 
geometry_msgs::msg::TransformStamped ComponentInterface::lookup_ros_transform(
    const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
    const tf2::Duration& duration) {
  if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
    throw exceptions::LookupTransformException("Failed to lookup transform: To TF buffer / listener configured.");
  }
  try {
    return this->tf_buffer_->lookupTransform(reference_frame, frame, time_point, duration);
  } catch (const tf2::TransformException& ex) {
    throw exceptions::LookupTransformException(std::string("Failed to lookup transform: ").append(ex.what()));
  }
}
 
rclcpp::QoS ComponentInterface::get_qos() const {
  return this->qos_;
}
 
void ComponentInterface::set_qos(const rclcpp::QoS& qos) {
  this->qos_ = qos;
}
 
void ComponentInterface::raise_error() {
  RCLCPP_ERROR(this->node_logging_->get_logger(), "An error was raised in the component.");
}
 
modulo_interfaces::msg::Predicate ComponentInterface::get_predicate_message(const std::string& name, bool value) const {
  modulo_interfaces::msg::Predicate message;
  message.predicate = name;
  message.value = value;
  return message;
}
 
void ComponentInterface::publish_predicate(const std::string& name, bool value) const {
  auto message(this->predicate_message_);
  message.predicates.push_back(this->get_predicate_message(name, value));
  this->predicate_publisher_->publish(message);
}
 
void ComponentInterface::publish_predicates() {
  auto message(this->predicate_message_);
  for (auto predicate_it = this->predicates_.begin(); predicate_it != this->predicates_.end(); ++predicate_it) {
    if (auto new_predicate = predicate_it->second.query(); new_predicate) {
      message.predicates.push_back(this->get_predicate_message(predicate_it->first, *new_predicate));
    }
  }
  if (message.predicates.size()) {
    this->predicate_publisher_->publish(message);
  }
}
 
void ComponentInterface::publish_outputs() {
  for (const auto& [signal, publisher] : this->outputs_) {
    try {
      if (this->periodic_outputs_.at(signal)) {
        publisher->publish();
      }
    } catch (const exceptions::CoreException& ex) {
      RCLCPP_ERROR_STREAM_THROTTLE(
          this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
          "Failed to publish output '" << signal << "': " << ex.what());
    }
  }
}
 
void ComponentInterface::evaluate_periodic_callbacks() {
  for (const auto& [name, callback] : this->periodic_callbacks_) {
    try {
      callback();
    } catch (const std::exception& ex) {
      RCLCPP_ERROR_STREAM_THROTTLE(
          this->node_logging_->get_logger(), *this->node_clock_->get_clock(), 1000,
          "Failed to evaluate periodic function callback '" << name << "': " << ex.what());
    }
  }
}
 
void ComponentInterface::finalize_interfaces() {
  RCLCPP_DEBUG(this->node_logging_->get_logger(), "Finalizing all interfaces.");
  this->inputs_.clear();
  this->outputs_.clear();
  this->predicate_publisher_.reset();
  this->empty_services_.clear();
  this->string_services_.clear();
  if (this->step_timer_ != nullptr) {
    this->step_timer_->cancel();
  }
  this->step_timer_.reset();
  this->tf_buffer_.reset();
  this->tf_listener_.reset();
  this->tf_broadcaster_.reset();
  this->static_tf_broadcaster_.reset();
}
}// namespace modulo_components