diagnostic_parser.hpp

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#ifndef _DIAGNOSTIC_PARSER_HPP_
#define _DIAGNOSTIC_PARSER_HPP_

#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/ptr_container/ptr_map.hpp>
#include <boost/variant.hpp>
#include <sstream>
#include <ros/ros.h>
#include <self_test/self_test.h>

#include "sr_self_test/diagnostics_parser/diagnostics_specific.hpp"

namespace shadow_robot
{
  class DiagnosticParser
  {
  public:
    DiagnosticParser(self_test::TestRunner* test_runner);
    ~DiagnosticParser()
    {};

  private:
    ros::NodeHandle nh_;

    self_test::TestRunner* test_runner_;

    ros::Subscriber diag_sub_;

    void run_tests_();

    void diagnostics_agg_cb_(const diagnostic_msgs::DiagnosticArray::ConstPtr& msg);

    boost::ptr_vector<BaseDiagnostics> diagnostics_;

    typedef boost::ptr_map<std::string, BaseDiagnostics> DiagnosticsMap;
    DiagnosticsMap all_diagnostics_;
  };
}

  /* For the emacs weenies in the crowd.
     Local Variables:
     c-basic-offset: 2
     End:
  */

#endif /* _DIAGNOSTIC_PARSER_HPP_ */