timered_diagnostic_updater.h

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// -*- mode: c++ -*-
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#ifndef JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_
#define JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_

#include <ros/ros.h>
#include <diagnostic_updater/diagnostic_updater.h>

namespace jsk_topic_tools
{
  // TimeredDiagnosticUpdater
  //   useful wrapper of DiagnosticUpdater.
  class TimeredDiagnosticUpdater
  {
  public:
    typedef boost::shared_ptr<TimeredDiagnosticUpdater> Ptr;
    TimeredDiagnosticUpdater(ros::NodeHandle& nh,
                             const ros::Duration& timer_duration);
    virtual ~TimeredDiagnosticUpdater();
    // wrapper methods of diagnostic_updater::Updater
    virtual void add(const std::string& name,
                     diagnostic_updater::TaskFunction f);
    //virtual void add(diagnostic_updater::DiagnosticTask task);
    virtual void start();
    virtual void setHardwareID(const std::string& name);
    virtual void update();
  protected:
    virtual void timerCallback(const ros::TimerEvent& event);
    ros::Timer timer_;
    boost::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
  private:
    
  };
}

#endif