Program Listing for File twist_mux_diagnostics.hpp

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// 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"
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/*
 * @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_