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#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_