naoqi_joints_analyzer.h

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#ifndef NAO_JOINTS_ANALYZER_H
#define NAO_JOINTS_ANALYZER_H

#include <ros/ros.h>
#include <diagnostic_aggregator/analyzer.h>
#include <diagnostic_aggregator/status_item.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <pluginlib/class_list_macros.h>
#include <string>
#include <map>

namespace diagnostic_aggregator {

class NaoqiJointsAnalyzer: public Analyzer {
public:
        NaoqiJointsAnalyzer();
        ~NaoqiJointsAnalyzer();
        bool init(const std::string base_name, const ros::NodeHandle &n);
        bool match(const std::string name);
        bool analyze(const boost::shared_ptr<StatusItem> item);
        std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report();
        std::string getPath() const {
                return m_path;
        }
        std::string getName() const {
                return m_niceName;
        }

private:
        std::string m_path, m_niceName;
        boost::shared_ptr<StatusItem> m_jointsMasterItem;
        boost::shared_ptr<StatusItem> m_statusItems;
        ros::Time m_lastSeen;

        struct JointData {
            std::string name;
                double temperature, stiffness;
                boost::shared_ptr<diagnostic_aggregator::StatusItem> status;
        };
        typedef std::map<std::string, JointData> JointsMapType;
        JointsMapType m_joints;

        template<typename T> void addValue(boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> joint_stat, const std::string& key, const T& value) const;
        static bool compareByTemperature(const NaoqiJointsAnalyzer::JointData& a, const NaoqiJointsAnalyzer::JointData& b);
};

}
#endif //NAO_JOINTS_ANALYZER_H