Program Listing for File publisher.hpp
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// Author: Blaise Gassend
#ifndef DIAGNOSTIC_UPDATER__PUBLISHER_HPP_
#define DIAGNOSTIC_UPDATER__PUBLISHER_HPP_
#include <memory>
#include <string>
#include <utility>
#include "diagnostic_msgs/msg/diagnostic_array.hpp"
#include "diagnostic_updater/update_functions.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/subscription.hpp"
namespace
{
template<typename T, typename = void>
struct has_header : public std::false_type
{};
template<typename T>
struct has_header<T,
typename std::enable_if<std::is_same<std_msgs::msg::Header,
decltype(std::declval<T>().header)>::value>::type>
: public std::true_type
{};
} // namespace
namespace diagnostic_updater
{
class HeaderlessTopicDiagnostic : public CompositeDiagnosticTask
{
public:
HeaderlessTopicDiagnostic(
std::string name, diagnostic_updater::Updater & diag,
const diagnostic_updater::FrequencyStatusParam & freq,
const rclcpp::Clock::SharedPtr & clock = std::make_shared<rclcpp::Clock>())
: CompositeDiagnosticTask(name + " topic status"), freq_(freq, clock)
{
addTask(&freq_);
diag.add(*this);
}
virtual ~HeaderlessTopicDiagnostic() {}
virtual void tick() {freq_.tick();}
virtual void clear_window() {freq_.clear();}
private:
diagnostic_updater::FrequencyStatus freq_;
};
class TopicDiagnostic : public HeaderlessTopicDiagnostic
{
public:
TopicDiagnostic(
std::string name, diagnostic_updater::Updater & diag,
const diagnostic_updater::FrequencyStatusParam & freq,
const diagnostic_updater::TimeStampStatusParam & stamp,
const rclcpp::Clock::SharedPtr & clock = std::make_shared<rclcpp::Clock>())
: HeaderlessTopicDiagnostic(name, diag, freq, clock),
stamp_(stamp, clock),
error_logger_(rclcpp::get_logger("TopicDiagnostic_error_logger"))
{
addTask(&stamp_);
}
virtual ~TopicDiagnostic() {}
virtual void tick()
{
std::string error_msg = "tick(void) has been called on a TopicDiagnostic.";
error_msg += " This is never correct. Use tick(rclcpp::Time &) instead.";
RCLCPP_FATAL(error_logger_, "%s", error_msg.c_str());
}
virtual void tick(const rclcpp::Time & stamp)
{
stamp_.tick(stamp);
HeaderlessTopicDiagnostic::tick();
}
private:
TimeStampStatus stamp_;
rclcpp::Logger error_logger_;
};
template<typename MessageT, typename AllocatorT = std::allocator<void>>
class DiagnosedPublisher : public TopicDiagnostic
{
public:
using PublisherT = rclcpp::Publisher<MessageT, AllocatorT>;
DiagnosedPublisher(
const typename PublisherT::SharedPtr & pub,
diagnostic_updater::Updater & diag,
const diagnostic_updater::FrequencyStatusParam & freq,
const diagnostic_updater::TimeStampStatusParam & stamp,
const rclcpp::Clock::SharedPtr & clock = std::make_shared<rclcpp::Clock>())
: TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp, clock),
publisher_(pub)
{
static_assert(has_header<MessageT>::value, "Message type has to have a header.");
}
virtual ~DiagnosedPublisher() {}
virtual void publish(typename PublisherT::MessageUniquePtr message)
{
tick(message->header.stamp);
publisher_->publish(std::move(message));
}
virtual void publish(const MessageT & message)
{
tick(message.header.stamp);
publisher_->publish(message);
}
typename PublisherT::SharedPtr
getPublisher() const
{
return publisher_;
}
void setPublisher(typename PublisherT::SharedPtr pub)
{
publisher_ = pub;
}
private:
typename PublisherT::SharedPtr publisher_;
};
} // namespace diagnostic_updater
#endif // DIAGNOSTIC_UPDATER__PUBLISHER_HPP_