aggregator.h
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00034 
00039 #ifndef DIAGNOSTIC_AGGREGATOR_H
00040 #define DIAGNOSTIC_AGGREGATOR_H
00041 
00042 #include <ros/ros.h>
00043 #include <string>
00044 #include <map>
00045 #include <vector>
00046 #include <set>
00047 #include <boost/shared_ptr.hpp>
00048 #include <diagnostic_msgs/DiagnosticArray.h>
00049 #include <diagnostic_msgs/DiagnosticStatus.h>
00050 #include <diagnostic_msgs/KeyValue.h>
00051 #include "XmlRpcValue.h"
00052 #include "diagnostic_aggregator/analyzer.h"
00053 #include "diagnostic_aggregator/analyzer_group.h"
00054 #include "diagnostic_aggregator/status_item.h"
00055 #include "diagnostic_aggregator/other_analyzer.h"
00056 
00057 
00058 namespace diagnostic_aggregator {
00059 
00101 class Aggregator
00102 { 
00103 public:
00107   Aggregator();
00108 
00109   ~Aggregator();
00110 
00114   void publishData();
00115 
00119   bool ok() const { return n_.ok(); }
00120 
00124   double getPubRate() const { return pub_rate_; }
00125 
00126 private:
00127   ros::NodeHandle n_;
00128   ros::Subscriber diag_sub_; 
00129   ros::Publisher agg_pub_;  
00130   ros::Publisher toplevel_state_pub_;  
00131   double pub_rate_;
00132 
00136   void diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);
00137 
00138   AnalyzerGroup* analyzer_group_;
00139 
00140   OtherAnalyzer* other_analyzer_;
00141 
00142   std::string base_path_; 
00144   std::set<std::string> ros_warnings_;  
00146   /*
00147    *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
00148    */
00149   void checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);
00150 
00151 };
00152 
00153 }
00154 
00155 #endif // DIAGNOSTIC_AGGREGATOR_H


diagnostic_aggregator
Author(s): Kevin Watts
autogenerated on Fri Jan 3 2014 11:19:06