vital_checker.h

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

#include <ros/time.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/min.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/variance.hpp>

#include <boost/timer.hpp>

#include <boost/thread.hpp>
#include <boost/format.hpp>

namespace jsk_topic_tools
{
  // multi-thread safe
  class VitalChecker
  {
  public:
    typedef boost::shared_ptr<VitalChecker> Ptr;
    VitalChecker(const double dead_sec);
    virtual ~VitalChecker();
    void poke();
    bool isAlive();
    double deadSec();
    double lastAliveTimeRelative();
    void registerStatInfo(diagnostic_updater::DiagnosticStatusWrapper &stat,
                          const std::string& prefix = std::string("last_poked_time"));
  protected:
    ros::Time last_alive_time_;
    double dead_sec_;
    boost::mutex mutex_;
  private:
  };
}

#endif