.. _program_listing_file__tmp_ws_src_micro_ros_diagnostics_micro_ros_diagnostic_bridge_include_micro_ros_diagnostic_bridge_micro_ros_diagnostic_bridge.hpp:

Program Listing for File micro_ros_diagnostic_bridge.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_micro_ros_diagnostics_micro_ros_diagnostic_bridge_include_micro_ros_diagnostic_bridge_micro_ros_diagnostic_bridge.hpp>` (``/tmp/ws/src/micro_ros_diagnostics/micro_ros_diagnostic_bridge/include/micro_ros_diagnostic_bridge/micro_ros_diagnostic_bridge.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2021 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/microros/system_modes
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   #pragma once
   
   #include <climits>
   #include <map>
   #include <memory>
   #include <string>
   #include <tuple>
   #include <utility>
   
   #include "rclcpp/rclcpp.hpp"
   
   #include "diagnostic_msgs/msg/diagnostic_array.hpp"
   #include "micro_ros_diagnostic_msgs/msg/micro_ros_diagnostic_status.hpp"
   
   
   static const char UROS_DIAGNOSTICS_BRIDGE_TOPIC_IN[] = "diagnostics_uros";
   static const char UROS_DIAGNOSTICS_BRIDGE_TOPIC_OUT[] = "diagnostics";
   
   namespace uros_diagnostic_msg = micro_ros_diagnostic_msgs::msg;
   namespace diagnostic_msg = diagnostic_msgs::msg;
   
   constexpr int UNIQUE_POLYNOM = 4567;
   
   struct MicroROSDiagnosticUpdater
   {
     std::string name;
     std::string description;
   };
   
   struct MicroROSDiagnosticKey
   {
     int updater_id;
     int key_id;
   
     bool operator<(const MicroROSDiagnosticKey & rhs) const
     {
       return (updater_id * UNIQUE_POLYNOM + key_id) < (rhs.updater_id * UNIQUE_POLYNOM + rhs.key_id);
     }
   };
   
   struct MicroROSDiagnosticValue
   {
     MicroROSDiagnosticKey task;
     int value_id;
   
     bool operator<(const MicroROSDiagnosticValue & rhs) const
     {
       return (task.updater_id * UNIQUE_POLYNOM * UNIQUE_POLYNOM + task.key_id * UNIQUE_POLYNOM +
              value_id) <
              (rhs.task.updater_id * UNIQUE_POLYNOM * UNIQUE_POLYNOM + rhs.task.key_id *
              UNIQUE_POLYNOM + rhs.value_id);
     }
   };
   
   typedef std::map<int, std::string> HardwareMap;
   typedef std::map<int, MicroROSDiagnosticUpdater> UpdaterMap;
   typedef std::map<MicroROSDiagnosticKey, std::string> KeyMap;
   typedef std::map<MicroROSDiagnosticValue, std::string> ValueMap;
   
   class MicroROSDiagnosticBridge : public rclcpp::Node
   {
   public:
     explicit MicroROSDiagnosticBridge(const std::string & path = "");
   
     std::string lookup_hardware(
       int hardware_id);
     const MicroROSDiagnosticUpdater lookup_updater(
       int updater_id);
     std::string lookup_key(
       int updater_id,
       int key);
     std::string lookup_value(
       int updater_id,
       int key,
       int value_id);
   
   private:
     void read_lookup_table(const std::string & path);
   
     rclcpp::Logger logger_;
     rclcpp::Subscription<uros_diagnostic_msg::MicroROSDiagnosticStatus>::SharedPtr
       uros_diagnostics_sub_;
     rclcpp::Publisher<diagnostic_msg::DiagnosticArray>::SharedPtr ros2_diagnostics_pub_;
   
     HardwareMap hardware_map_;
     UpdaterMap updater_map_;
     KeyMap key_map_;
     ValueMap value_map_;
   };