aggregator.h

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#ifndef DIAGNOSTIC_AGGREGATOR_H
#define DIAGNOSTIC_AGGREGATOR_H

#include <ros/ros.h>
#include <string>
#include <map>
#include <vector>
#include <set>
#include <boost/shared_ptr.hpp>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_msgs/KeyValue.h>
#include "XmlRpcValue.h"
#include "diagnostic_aggregator/analyzer.h"
#include "diagnostic_aggregator/analyzer_group.h"
#include "diagnostic_aggregator/status_item.h"
#include "diagnostic_aggregator/other_analyzer.h"


namespace diagnostic_aggregator {

class Aggregator
{ 
public:
  Aggregator();

  ~Aggregator();

  void publishData();

  bool ok() const { return n_.ok(); }

  double getPubRate() const { return pub_rate_; }

private:
  ros::NodeHandle n_;
  ros::Subscriber diag_sub_; 
  ros::Publisher agg_pub_;  
  ros::Publisher toplevel_state_pub_;  
  double pub_rate_;

  void diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);

  AnalyzerGroup* analyzer_group_;

  OtherAnalyzer* other_analyzer_;

  std::string base_path_; 
  std::set<std::string> ros_warnings_;  
  /*
   *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
   */
  void checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);

};

}

#endif // DIAGNOSTIC_AGGREGATOR_H