timered_diagnostic_updater.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/timered_diagnostic_updater.h"

namespace jsk_topic_tools
{
  TimeredDiagnosticUpdater::TimeredDiagnosticUpdater(
    ros::NodeHandle& nh,
    const ros::Duration& timer_duration):
    diagnostic_updater_(new diagnostic_updater::Updater)
  {
    timer_ = nh.createTimer(
      timer_duration, boost::bind(
        &TimeredDiagnosticUpdater::timerCallback,
        this,
        _1));
    timer_.stop();
  }
  
  void TimeredDiagnosticUpdater::start()
  {
    timer_.start();
  }

  TimeredDiagnosticUpdater::~TimeredDiagnosticUpdater()
  {
  }

  void TimeredDiagnosticUpdater::setHardwareID(const std::string& name)
  {
    diagnostic_updater_->setHardwareID(name);
  }
  
  void TimeredDiagnosticUpdater::add(const std::string& name,
                                     diagnostic_updater::TaskFunction f)
  {
    diagnostic_updater_->add(name, f);
  }
  
  // void TimeredDiagnosticUpdater::add(diagnostic_updater::DiagnosticTask task)
  // {
  //   diagnostic_updater_->add(task);
  // }

  void TimeredDiagnosticUpdater::update()
  {
    diagnostic_updater_->update();
  }
  
  void TimeredDiagnosticUpdater::timerCallback(const ros::TimerEvent& event)
  {
    update();
  }

}