.. _program_listing_file__tmp_ws_src_twist_mux_include_twist_mux_twist_mux_diagnostics.hpp:

Program Listing for File twist_mux_diagnostics.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_twist_mux_include_twist_mux_twist_mux_diagnostics.hpp>` (``/tmp/ws/src/twist_mux/include/twist_mux/twist_mux_diagnostics.hpp``)

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

.. code-block:: cpp

   // Copyright 2020 PAL Robotics S.L.
   //
   // 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 PAL Robotics S.L. 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 HOLDER 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.
   
   /*
    * @author Enrique Fernandez
    * @author Jeremie Deray
    * @author Brighten Lee
    */
   
   #ifndef TWIST_MUX__TWIST_MUX_DIAGNOSTICS_HPP_
   #define TWIST_MUX__TWIST_MUX_DIAGNOSTICS_HPP_
   
   #include <twist_mux/twist_mux_diagnostics_status.hpp>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   
   #include <memory>
   
   namespace twist_mux
   {
   class TwistMuxDiagnostics
   {
   public:
     typedef TwistMuxDiagnosticsStatus status_type;
   
     static constexpr double MAIN_LOOP_TIME_MIN = 0.2;   // [s]
     static constexpr double READING_AGE_MIN = 3.0;     // [s]
   
     explicit TwistMuxDiagnostics(TwistMux * mux);
     virtual ~TwistMuxDiagnostics() = default;
   
     void diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat);
   
     void update();
   
     void updateStatus(const status_type::ConstPtr & status);
   
   private:
     enum
     {
       OK = diagnostic_msgs::msg::DiagnosticStatus::OK,
       WARN = diagnostic_msgs::msg::DiagnosticStatus::WARN,
       ERROR = diagnostic_msgs::msg::DiagnosticStatus::ERROR
     };
   
     std::shared_ptr<diagnostic_updater::Updater> diagnostic_;
     std::shared_ptr<status_type> status_;
   };
   }  // namespace twist_mux
   
   #endif  // TWIST_MUX__TWIST_MUX_DIAGNOSTICS_HPP_