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// Copyright 2020 PAL Robotics S.L.
//
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// modification, are permitted provided that the following conditions are met:
//
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//      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.
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//    * Neither the name of the PAL Robotics S.L. nor the names of its
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//      this software without specific prior written permission.
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// 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_STATUS_HPP_
#define TWIST_MUX__TWIST_MUX_DIAGNOSTICS_STATUS_HPP_

#include <twist_mux/twist_mux.hpp>
#include <twist_mux/topic_handle.hpp>

#include <rclcpp/rclcpp.hpp>

#include <memory>

namespace twist_mux
{
struct TwistMuxDiagnosticsStatus
{
  typedef std::shared_ptr<TwistMuxDiagnosticsStatus> Ptr;
  typedef std::shared_ptr<const TwistMuxDiagnosticsStatus> ConstPtr;

  double reading_age;
  rclcpp::Time last_loop_update;
  double main_loop_time;

  LockTopicHandle::priority_type priority;

  std::shared_ptr<TwistMux::velocity_topic_container> velocity_hs;
  std::shared_ptr<TwistMux::lock_topic_container> lock_hs;

  TwistMuxDiagnosticsStatus()
  : reading_age(0),
    last_loop_update(rclcpp::Clock().now()),
    main_loop_time(0),
    priority(0)
  {
    velocity_hs = std::make_shared<TwistMux::velocity_topic_container>();
    lock_hs = std::make_shared<TwistMux::lock_topic_container>();
  }
};

typedef TwistMuxDiagnosticsStatus::Ptr TwistMuxDiagnosticsStatusPtr;
typedef TwistMuxDiagnosticsStatus::ConstPtr TwistMuxDiagnosticsStatusConstPtr;

}  // namespace twist_mux

#endif  // TWIST_MUX__TWIST_MUX_DIAGNOSTICS_STATUS_HPP_