.. _program_listing_file__tmp_ws_src_diagnostics_diagnostic_aggregator_include_diagnostic_aggregator_aggregator.hpp:

Program Listing for File aggregator.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_diagnostics_diagnostic_aggregator_include_diagnostic_aggregator_aggregator.hpp>` (``/tmp/ws/src/diagnostics/diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2009, Willow Garage, Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of the Willow Garage nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *********************************************************************/
   
   #ifndef DIAGNOSTIC_AGGREGATOR__AGGREGATOR_HPP_
   #define DIAGNOSTIC_AGGREGATOR__AGGREGATOR_HPP_
   
   #include <map>
   #include <memory>
   #include <set>
   #include <string>
   #include <vector>
   
   #include "diagnostic_aggregator/analyzer.hpp"
   #include "diagnostic_aggregator/analyzer_group.hpp"
   #include "diagnostic_aggregator/other_analyzer.hpp"
   #include "diagnostic_aggregator/status_item.hpp"
   #include "diagnostic_aggregator/visibility_control.hpp"
   
   #include "diagnostic_msgs/msg/diagnostic_array.hpp"
   #include "diagnostic_msgs/msg/diagnostic_status.hpp"
   #include "diagnostic_msgs/msg/key_value.hpp"
   #include "diagnostic_msgs/srv/add_diagnostics.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace diagnostic_aggregator
   {
   class Aggregator
   {
   public:
     DIAGNOSTIC_AGGREGATOR_PUBLIC
     Aggregator();
   
     DIAGNOSTIC_AGGREGATOR_PUBLIC
     virtual ~Aggregator();
   
     DIAGNOSTIC_AGGREGATOR_PUBLIC
     void publishData();
   
     DIAGNOSTIC_AGGREGATOR_PUBLIC
     rclcpp::Node::SharedPtr get_node() const;
   
   private:
     rclcpp::Node::SharedPtr n_;
   
     rclcpp::Logger logger_;
     rclcpp::TimerBase::SharedPtr publish_timer_;
   
     rclcpp::Service<diagnostic_msgs::srv::AddDiagnostics>::SharedPtr add_srv_;
     rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diag_sub_;
     rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr agg_pub_;
     rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr toplevel_state_pub_;
     std::mutex mutex_;
     double pub_rate_;
     int history_depth_;
     rclcpp::Clock::SharedPtr clock_;
   
     void diagCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr diag_msg);
   
     std::unique_ptr<AnalyzerGroup> analyzer_group_;
     std::unique_ptr<OtherAnalyzer> other_analyzer_;
   
     std::string base_path_; 
     bool critical_;
   
     std::uint8_t last_top_level_state_;
   
     std::set<std::string> ros_warnings_;
   
     /*
      *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
      */
     void checkTimestamp(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr diag_msg);
   };
   
   }  // namespace diagnostic_aggregator
   
   #endif  // DIAGNOSTIC_AGGREGATOR__AGGREGATOR_HPP_