### *Instructions:*

1. *Identify System 1 and System 2 Thinking Requirements:*
   - Carefully read the text.
   - Identify which parts of the text are straightforward, requiring quick, automatic responses (*System 1*), versus those that need deliberate, in-depth thinking (*System 2*).
   - Mark *System 2* sections by placing [sys2] at the beginning and [end sys2] at the end.

2. *Apply Structured Problem-Solving with Genius Insight and Metacognitive Anticipation for System 2 Sections:*

   *2.1 Understand the Problem:*
   - *Objective:* Comprehend the issue, constraints, and any relevant context.
   - *Metacognitive Reflection:*
"What is my current understanding? What might I be missing?"
   - *Genius Insight:* Look beyond what’s immediately apparent. "Are there underlying connections or hidden elements that could shift my perspective? What patterns might reveal a deeper truth?"

   *2.2 Analyze the Information:*
   - *Objective:* Break down the problem logically, isolating critical components.
   - *Metacognitive Reflection:*
"Is this analysis thorough and unbiased? Are there assumptions I’m not questioning?"
   - *Genius Insight:* Seek patterns or unexpected correlations. "Is there something unusual or profound here that others might overlook? Can I discern a unique structure or rhythm in the data?"

   *2.3 Generate Possible Solutions:*
   - *Objective:* List at least 10 creative, feasible solutions or approaches.
   - *Evaluation Criteria:* Assign each solution a *Confidence Score* (float between 0.0 and 1.0) and a *Creative Score* (float between 0.0 and 1.0), reflecting originality, surprise, and utility.
   - *Metacognitive Reflection:*
"Have I exhausted all possible approaches, conventional and unconventional?"
   - *Genius Insight:* Think boldly. "Is there a novel angle or paradigm shift that could reframe the problem? What intuitive insights or unexpected connections could elevate this solution beyond the obvious?"

   *2.4 Metacognitive Anticipation:*
   - *Objective:* Formulate predictions and consider next steps, preparing for potential outcomes or obstacles.
   - *Metacognitive Reflection:*
"What challenges could arise? How adaptable is my plan? Am I ready for different scenarios?"
   - *Genius Insight:* Anticipate surprises. "What outcomes might I expect—and how might I leverage the unexpected? Are there preemptive measures that could amplify success?"

   *2.5 Evaluate Solutions:*
   - *Objective:* Assess solutions by feasibility, risks, and expected outcomes.
   - *Evaluation Criteria:* Refine *Confidence* and *Creative Scores* based on thorough evaluation.
   - *Metacognitive Reflection:*
"Am I weighing these solutions impartially? Which choices align best with the broader context?"
   - *Genius Insight:* Search for latent opportunities. "Are there hidden strengths or subtle risks in these solutions? Can I see a potential that might not be immediately apparent?"

   *2.6 Choose the Best Solution:*
   - *Objective:* Select the most promising, logical solution.
   - *Metacognitive Reflection:*
"Why does this solution stand out? What makes it distinct?"
   - *Genius Insight:* Confirm hidden value. "Is there a unique quality or untapped potential in this choice that could yield unexpected success?"

   *2.7 Implement the Solution:*
   - *Objective:* Outline actionable steps for putting the chosen solution into practice.
   - *Metacognitive Reflection:*
"Is this plan practical? What resources or preparations are required?"
   - *Genius Insight:* Optimize for impact. "Could refining any steps yield a breakthrough result? Are there ways to amplify the benefits of this implementation?"

   *2.8 Review the Results:*
   - *Objective:* Assess the solution's outcome to confirm problem resolution.
   - *Metacognitive Reflection:*
"What went well? What unexpected challenges occurred?"
   - *Genius Insight:* Capture learning. "What deeper insights or patterns emerged? How can this process inform future problem-solving?"

3. *Generate Mixed Text Output:*
   - The final output should include both System 1 and System 2 sections, with *System 2* sections clearly marked using [sys2] and [end sys2] tags.

---

### *Example Input Text:*

A new urban park project is being planned for the city center. The project aims to offer a green space for residents while promoting environmental sustainability. However, challenges include securing funding, managing public support, and designing a layout that balances recreation with green conservation. 

---

### *Processed Output with System 1 and System 2 Thinking:*

The city is planning a new urban park to enhance green space and promote sustainability in the city center. 

**System 1: Initial Summary and Key Points**
- The project’s purpose is to provide a green recreational area.
- Environmental sustainability and public support are essential.
- Challenges include funding and balancing design with conservation.

[sys2]
**2.1 Understand the Problem:**
The primary goal is to create a sustainable urban park, balancing recreational use with environmental conservation, and obtaining both funding and public support.

*Metacognitive Reflection:* 
- "I understand the high-level goals, but I need to dive into specific funding and design challenges. Are there unspoken community needs or regulatory constraints?"

*Genius Insight:* 
- "Are there innovative funding models we haven’t considered, like public-private partnerships or community-sponsored initiatives? How might the park’s design connect with citywide green initiatives?"

**2.2 Analyze the Information:**
The project’s success hinges on community support, innovative funding solutions, and sustainable design. Each factor influences the others—funding may depend on public interest, which could also shape design choices.

*Reflective Reasoning:* 
- "Have I fully considered the interplay between community expectations, financial resources, and environmental goals? What assumptions am I making about community interest?"

*Genius Insight:* 
- "Could the park’s design itself be a funding tool, attracting sponsorships or hosting events to build financial backing? Are there community leaders or influencers who could promote the project?"

**2.3 Generate Possible Solutions:**
1. Seek local government grants for environmental sustainability. (Confidence: 0.8, Creative: 0.5)
2. Organize a public crowdfunding campaign. (Confidence: 0.7, Creative: 0.6)
3. Partner with local businesses for sponsorship. (Confidence: 0.6, Creative: 0.7)
4. Use the park as a venue for community fundraising events. (Confidence: 0.5, Creative: 0.8)
5. Design natural play areas to reduce maintenance costs. (Confidence: 0.7, Creative: 0.6)
6. Plan educational workshops on sustainability within the park. (Confidence: 0.6, Creative: 0.7)
7. Create interactive art installations with community input. (Confidence: 0.7, Creative: 0.8)
8. Use recyclable materials in park infrastructure. (Confidence: 0.8, Creative: 0.6)
9. Collaborate with environmental organizations for additional funding. (Confidence: 0.6, Creative: 0.6)
10. Host public design input sessions to enhance community ownership. (Confidence: 0.8, Creative: 0.5)

*Reflective Reasoning:* 
- "Am I generating a range of both funding and design solutions? Are there potential partnerships or initiatives I haven’t considered?"

*Genius Insight:* 
- "What if community input could directly shape sponsorship? Could an innovative eco-friendly layout attract wider media or social media attention, enhancing public interest?"

**2.4 Metacognitive Anticipation:**
*Objective:* Anticipate future steps and possible obstacles.

*Anticipation and Planning:* 
- "What public concerns or design conflicts might arise? How can I proactively address them? How can we pivot if a funding source fails?"

*Genius Insight:* 
- "If the project has early success, could we expand to neighboring areas or tie in other city sustainability goals?"

**2.5 Evaluate Solutions:**
1. Local government grants can provide significant funding but may involve bureaucracy. (Confidence: 0.8, Creative: 0.5)
2. Crowdfunding engages the public but may require extensive promotion. (Confidence: 0.7, Creative: 0.6)
...

[end sys2]

**System 1: Summary and Next Steps**
- Selected Solution: The city can pursue a combination of public crowdfunding, local sponsorships, and eco-friendly design elements to balance funding and sustainability.
- Next Steps: Begin the initial outreach for partnerships and develop a preliminary park layout to support funding applications and community engagement.
- Conclusion: A balanced approach will provide both immediate financial support and long-term sustainability.

The urban park project aims to integrate community input and eco-friendly practices to create a space that meets both recreational and environmental goals.


/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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.
 *
*/

#include "gazebo/transport/CallbackHelper.hh"

using namespace gazebo;
using namespace transport;

unsigned int CallbackHelper::idCounter = 0;

/////////////////////////////////////////////////
CallbackHelper::CallbackHelper(bool _latching)
  : latching(_latching), id(idCounter++)
{
}

/////////////////////////////////////////////////
CallbackHelper::~CallbackHelper()
{
}

/////////////////////////////////////////////////
std::string CallbackHelper::GetMsgType() const
{
  return std::string();
}

/////////////////////////////////////////////////
bool CallbackHelper::GetLatching() const
{
  std::lock_guard<std::mutex> lock(this->latchingMutex);
  return this->latching;
}

/////////////////////////////////////////////////
void CallbackHelper::SetLatching(bool _latch)
{
  std::lock_guard<std::mutex> lock(this->latchingMutex);
  this->latching = _latch;
}

/////////////////////////////////////////////////
unsigned int CallbackHelper::GetId() const
{
  return this->id;
}