.. _program_listing_file__tmp_ws_src_micro_ros_diagnostics_micro_ros_diagnostic_updater_include_micro_ros_diagnostic_updater_micro_ros_diagnostic_updater.h:

Program Listing for File micro_ros_diagnostic_updater.h
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_micro_ros_diagnostics_micro_ros_diagnostic_updater_include_micro_ros_diagnostic_updater_micro_ros_diagnostic_updater.h>` (``/tmp/ws/src/micro_ros_diagnostics/micro_ros_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h``)

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

.. code-block:: cpp

   // Copyright (c) 2020 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository
   // https://github.com/micro-ROS/micro_ros_diagnostics.
   //
   // 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.
   #ifndef MICRO_ROS_DIAGNOSTIC_UPDATER__MICRO_ROS_DIAGNOSTIC_UPDATER_H_
   #define MICRO_ROS_DIAGNOSTIC_UPDATER__MICRO_ROS_DIAGNOSTIC_UPDATER_H_
   
   #include <rcl/types.h>
   #include <std_msgs/msg/empty.h>
   #include <rclc/publisher.h>
   #include <rclc/subscription.h>
   #include <rclc/executor.h>
   #include <micro_ros_diagnostic_msgs/msg/micro_ros_diagnostic_status.h>
   #include "micro_ros_diagnostic_updater/config.h"
   
   typedef struct diagnostic_value_t
   {
     int8_t value_type;
     uint16_t key;
   
     bool bool_value;
     int32_t int_value;
     float double_value;
     int16_t value_id;
   
     int8_t level;
     bool value_has_changed;
   } diagnostic_value_t;
   
   typedef struct diagnostic_task_t
   {
     uint8_t number_of_values;
     diagnostic_value_t values[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK];
     int16_t hardware_id;
     int16_t updater_id;
     rcl_ret_t (* function)(
       diagnostic_value_t[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK],
       uint8_t * number_of_values);
   } diagnostic_task_t;
   
   typedef struct diagnostic_updater_t
   {
     int16_t id;
     uint8_t num_tasks;
     diagnostic_task_t * tasks[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_TASKS_PER_UPDATER];
     rcl_publisher_t diag_pub;
     micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticStatus diag_status;
     rcl_subscription_t force_update_subscriber;
     bool force_update;
     std_msgs__msg__Empty empty_msg;
   } diagnostic_updater_t;
   
   void rclc_diagnostic_value_set_int(
     diagnostic_value_t * kv,
     int32_t value);
   
   void rclc_diagnostic_value_set_float(
     diagnostic_value_t * kv,
     float value);
   
   void rclc_diagnostic_value_set_bool(
     diagnostic_value_t * kv,
     bool value);
   
   void rclc_diagnostic_value_lookup(
     diagnostic_value_t * kv,
     int16_t value_id);
   
   void rclc_diagnostic_value_set_level(
     diagnostic_value_t * kv,
     int8_t level);
   
   rcl_ret_t
   rclc_diagnostic_task_init(
     diagnostic_task_t * task,
     int16_t hardware_id,
     int16_t updater_id,
     rcl_ret_t (* function)(
       diagnostic_value_t[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK],
       uint8_t * number_of_values));
   
   // Added to work with force update, it's very important to call spin
   // or spin_some before updater_update
   void force_update_callback(const void *, void * updater_ptr);
   
   rcl_ret_t
   rclc_diagnostic_updater_init(
     diagnostic_updater_t * updater,
     rcl_node_t * node,
     rclc_executor_t * executor);
   
   rcl_ret_t
   rclc_diagnostic_updater_fini(
     diagnostic_updater_t * updater,
     rcl_node_t * node,
     rclc_executor_t * executor);
   
   rcl_ret_t
   rclc_diagnostic_updater_add_task(
     diagnostic_updater_t * updater,
     diagnostic_task_t * task);
   
   rcl_ret_t
   rclc_diagnostic_call_task(
     diagnostic_task_t * task);
   
   rcl_ret_t
   rclc_diagnostic_updater_update(
     diagnostic_updater_t * updater);
   
   #endif  // MICRO_ROS_DIAGNOSTIC_UPDATER__MICRO_ROS_DIAGNOSTIC_UPDATER_H_