twist_mux_diagnostics.h
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00001 /*********************************************************************
00002  * Software License Agreement (CC BY-NC-SA 4.0 License)
00003  *
00004  *  Copyright (c) 2014, PAL Robotics, S.L.
00005  *  All rights reserved.
00006  *
00007  *  This work is licensed under the Creative Commons
00008  *  Attribution-NonCommercial-ShareAlike 4.0 International License.
00009  *
00010  *  To view a copy of this license, visit
00011  *  http://creativecommons.org/licenses/by-nc-sa/4.0/
00012  *  or send a letter to
00013  *  Creative Commons, 444 Castro Street, Suite 900,
00014  *  Mountain View, California, 94041, USA.
00015  *********************************************************************/
00016 
00017 /*
00018  * @author Enrique Fernandez
00019  */
00020 
00021 #ifndef TWIST_MUX_DIAGNOSTICS_H
00022 #define TWIST_MUX_DIAGNOSTICS_H
00023 
00024 #include <twist_mux/twist_mux_diagnostics_status.h>
00025 
00026 #include <diagnostic_updater/diagnostic_updater.h>
00027 #include <ros/ros.h>
00028 
00029 #include <boost/shared_ptr.hpp>
00030 
00031 namespace twist_mux
00032 {
00033 
00034 class TwistMuxDiagnostics
00035 {
00036   public:
00037     typedef TwistMuxDiagnosticsStatus status_type;
00038 
00039     static constexpr double MAIN_LOOP_TIME_MIN = 0.2; // [s]
00040     static constexpr double READING_AGE_MIN    = 3.0; // [s]
00041 
00042     TwistMuxDiagnostics();
00043     virtual ~TwistMuxDiagnostics();
00044 
00045     void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat);
00046 
00047     void update();
00048 
00049     void updateStatus(const status_type::ConstPtr& status);
00050 
00051   private:
00052 
00056     enum
00057     {
00058       OK    = diagnostic_msgs::DiagnosticStatus::OK,
00059       WARN  = diagnostic_msgs::DiagnosticStatus::WARN,
00060       ERROR = diagnostic_msgs::DiagnosticStatus::ERROR
00061     };
00062 
00063     diagnostic_updater::Updater diagnostic_;
00064     status_type                 status_;
00065 };
00066 
00067 } // namespace twist_mux
00068 
00069 #endif // TWIST_MUX_DIAGNOSTICS_H


twist_mux
Author(s): Enrique Fernandez , Siegfried-A. Gevatter Pujals
autogenerated on Fri Aug 28 2015 13:25:02