aggregator.h

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#ifndef DIAGNOSTIC_AGGREGATOR_H
#define DIAGNOSTIC_AGGREGATOR_H

#include <ros/ros.h>
#include <string>
#include <map>
#include <vector>
#include <set>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <bondcpp/bond.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_msgs/KeyValue.h>
#include <diagnostic_msgs/AddDiagnostics.h>
#include "XmlRpcValue.h"
#include "diagnostic_aggregator/analyzer.h"
#include "diagnostic_aggregator/analyzer_group.h"
#include "diagnostic_aggregator/status_item.h"
#include "diagnostic_aggregator/other_analyzer.h"


namespace diagnostic_aggregator {

class Aggregator
{ 
public:
  Aggregator();

  ~Aggregator();

  void publishData();

  bool ok() const { return n_.ok(); }

  double getPubRate() const { return pub_rate_; }

private:
  ros::NodeHandle n_;
  ros::ServiceServer add_srv_; 
  ros::Subscriber diag_sub_; 
  ros::Publisher agg_pub_;  
  ros::Publisher toplevel_state_pub_;  
  boost::mutex mutex_;
  double pub_rate_;

  void diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);

  bool addDiagnostics(diagnostic_msgs::AddDiagnostics::Request &req,
                      diagnostic_msgs::AddDiagnostics::Response &res);

  AnalyzerGroup* analyzer_group_;

  OtherAnalyzer* other_analyzer_;

  std::vector<boost::shared_ptr<bond::Bond> > bonds_; 
  /*
   *!\brief called when a bond between the aggregator and a node is broken
   *
   * Modifies the contents of added_analyzers_ and analyzer_group, removing the
   * diagnostics that had been brought up by that bond.
   *!\param bond_id The bond id (namespace) from which the analyzer was created
   *!\param analyzer Shared pointer to the analyzer group that was added
   */
  void bondBroken(std::string bond_id,
                  boost::shared_ptr<Analyzer> analyzer);

  /*
   *!\brief called when a bond is formed between the aggregator and a node.
   * Actually adds the analyzergroup to the main analyzer group. Before this
   * function is called, the added diagnostics will not be analyzed by the
   * aggregator.
   *!\param group Shared pointer to the analyzer group that is to be added,
   *  which was created in the addDiagnostics function
   */
  void bondFormed(boost::shared_ptr<Analyzer> group);

  std::string base_path_; 
  std::set<std::string> ros_warnings_;  
  /*
   *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
   */
  void checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);

};

/*
 *!\brief Functor for checking whether a bond has the same ID as the given string
 */
struct BondIDMatch
{
  BondIDMatch(const std::string s) : s(s) {}
  bool operator()(const boost::shared_ptr<bond::Bond>& b){ return s == b->getId(); }
  const std::string s;
};

}

#endif // DIAGNOSTIC_AGGREGATOR_H