publisher.h

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// Author: Blaise Gassend
#ifndef __DIAGNOSTIC_UPDATER__DRIVER_H__
#define __DIAGNOSTIC_UPDATER__DRIVER_H__

#include <ros/publisher.h>
#include <ros/subscription.h>
#include <diagnostic_updater/update_functions.h>

namespace diagnostic_updater
{
     
class HeaderlessTopicDiagnostic : public CompositeDiagnosticTask
{
public:
        HeaderlessTopicDiagnostic(
      std::string name,
      diagnostic_updater::Updater &diag,
      const diagnostic_updater::FrequencyStatusParam &freq) :
    CompositeDiagnosticTask(name + " topic status"), 
    freq_(freq)
  {
    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) : 
    HeaderlessTopicDiagnostic(name, diag, freq), 
    stamp_(stamp)
  {
    addTask(&stamp_);
  }
  
  virtual ~TopicDiagnostic()
  {}
  
        virtual void tick() { ROS_FATAL("tick(void) has been called on a TopicDiagnostic. This is never correct. Use tick(ros::Time &) instead."); }

  virtual void tick(const ros::Time &stamp)
  {
    stamp_.tick(stamp);
    HeaderlessTopicDiagnostic::tick();
  }
  
private:
  TimeStampStatus stamp_;
};

template<class T>
class DiagnosedPublisher : public TopicDiagnostic
{
public:
  DiagnosedPublisher(const ros::Publisher &pub,
      diagnostic_updater::Updater &diag, 
      const diagnostic_updater::FrequencyStatusParam &freq, 
      const diagnostic_updater::TimeStampStatusParam &stamp) : 
    TopicDiagnostic(pub.getTopic(), diag, freq, stamp),
    publisher_(pub)
  {}

  virtual ~DiagnosedPublisher()
  {}
  
        virtual void publish(const boost::shared_ptr<T>& message) {
                tick(message->header.stamp); publisher_.publish(message); }
 
        virtual void publish(const T& message) { tick(message.header.stamp);
                publisher_.publish(message); }

  ros::Publisher getPublisher() const
  {
    return publisher_;
  }

  void setPublisher(ros::Publisher pub)
  {
    publisher_ = pub;
  }

private:
  ros::Publisher publisher_;
};

}

#endif