controller_diagnostics.h

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#ifndef _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
#define _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <pr2_mechanism_msgs/ControllerStatistics.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <boost/shared_ptr.hpp>

namespace pr2_mechanism_diagnostics
{

class ControllerStats
{
private:
  ros::Time updateTime;
  
  std::string name;
  ros::Time timestamp;
  bool running;
  ros::Duration max_time;
  ros::Duration mean_time;
  ros::Duration variance_time;
  int num_overruns;
  ros::Time last_overrun_time;

  bool disable_warnings_;

public:
  ControllerStats(std::string nam, bool disable_warnings); 
    
  ~ControllerStats() {}

  bool update(const pr2_mechanism_msgs::ControllerStatistics &cs);

  bool shouldDiscard() const { return (ros::Time::now() - updateTime).toSec() > 3; }

  boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;

};


}

#endif // _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_