optional_diagnosed_publisher.h

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#ifndef SWRI_ROSCPP_OPTIONAL_DIAGNOSED_PUBLISHER_H_
#define SWRI_ROSCPP_OPTIONAL_DIAGNOSED_PUBLISHER_H_
 
#include <diagnostic_updater/publisher.h>
 
namespace swri
{
  template<class T>
  class OptionalDiagnosedPublisher : public diagnostic_updater::DiagnosedPublisher<T>
  {
  public:
    OptionalDiagnosedPublisher(const ros::Publisher& pub,
                               diagnostic_updater::Updater& diag,
                               const diagnostic_updater::FrequencyStatusParam& freq,
                               const diagnostic_updater::TimeStampStatusParam& stamp) :
        diagnostic_updater::DiagnosedPublisher<T>(pub, diag, freq, stamp),
        is_diagnostic_enabled_(true)
    {}
 
    virtual ~OptionalDiagnosedPublisher()
    {}
 
    virtual void run(diagnostic_updater::DiagnosticStatusWrapper& stat)
    {
      if (is_diagnostic_enabled_)
      {
        diagnostic_updater::CompositeDiagnosticTask::run(stat);
      }
      else
      {
        diagnostic_updater::DiagnosticStatusWrapper wrapper;
        wrapper.level = 0;
        wrapper.message = "Diagnostic disabled.";
        stat.summary(wrapper);
      }
    }
 
    virtual void setEnabled(bool enabled)
    {
      is_diagnostic_enabled_ = enabled;
    }
 
  private:
    bool is_diagnostic_enabled_;
  };
}
 
#endif