diagnostics.h

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/*-*-C++-*-*/
#ifndef SPINNAKER_CAMERA_DRIVER_DIAGNOSTICS_H
#define SPINNAKER_CAMERA_DRIVER_DIAGNOSTICS_H
 
#include "spinnaker_camera_driver/SpinnakerCamera.h"
#include "spinnaker_camera_driver/diagnostics.h"
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_msgs/AddDiagnostics.h>
#include <ros/ros.h>
#include <bondcpp/bond.h>
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
namespace spinnaker_camera_driver
{
class DiagnosticsManager
{
public:
  DiagnosticsManager(const std::string name, const std::string serial,
                      std::shared_ptr<ros::Publisher> const& pub,
                      const ros::NodeHandle& nh);
  ~DiagnosticsManager();
 
  void processDiagnostics(SpinnakerCamera* spinnaker);
 
  template <typename T>
  void addDiagnostic(const Spinnaker::GenICam::gcstring name);
 
  void addDiagnostic(const Spinnaker::GenICam::gcstring name, bool check_ranges = false,
                     std::pair<int, int> operational = std::make_pair(0, 0), int lower_bound = 0, int upper_bound = 0);
  void addDiagnostic(const Spinnaker::GenICam::gcstring name, bool check_ranges = false,
                     std::pair<float, float> operational = std::make_pair(0.0, 0.0), float lower_bound = 0,
                     float upper_bound = 0);
 
  void addAnalyzers();
 
private:
  /*
   * diagnostic_params is aData Structure to represent a parameter and its
   * bounds
   */
  template <typename T>
  struct diagnostic_params
  {
    Spinnaker::GenICam::gcstring parameter_name;  // This should be the same as written in the User Manual
    bool check_ranges;
    std::pair<T, T> operational_range;  // Normal operatinal range
    T warn_range_lower;
    T warn_range_upper;
  };
 
  template <typename T>
  diagnostic_msgs::DiagnosticStatus getDiagStatus(const diagnostic_params<T>& param, const T value);
 
  // constuctor parameters
  std::string camera_name_;
  std::string serial_number_;
  std::shared_ptr<ros::Publisher> diagnostics_pub_;
  ros::NodeHandle nh_;
  std::shared_ptr<bond::Bond> bond_ = nullptr;
 
  // vectors to keep track of the items to publish
  std::vector<diagnostic_params<int>> integer_params_;
  std::vector<diagnostic_params<float>> float_params_;
  // Information about the device model, firmware, etc
  // TODO(mlowe): Allow these to be configured
  // clang-format off
  const std::vector<std::string> manufacturer_params_
  {
    "DeviceVendorName", "DeviceModelName", "SensorDescription", "DeviceFirmwareVersion"
  };
  // clang-format on
};
}  // namespace spinnaker_camera_driver
 
#endif  // SPINNAKER_CAMERA_DRIVER_DIAGNOSTICS_H