diagnostics_specific.hpp

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#ifndef _DIAGNOSTIC_SPECIFIC_HPP_
#define _DIAGNOSTIC_SPECIFIC_HPP_

#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/ptr_container/ptr_map.hpp>
#include <boost/variant.hpp>
#include <sstream>
#include <ros/ros.h>

#include "sr_self_test/diagnostics_parser/diagnostics_common.hpp"

namespace shadow_robot
{
  class RTLoopDiagnostics
    : public MinMaxDiagnostics
  {
  public:
    RTLoopDiagnostics(std::string name, self_test::TestRunner* test_runner)
      : MinMaxDiagnostics(name, test_runner)
    {
      values_.reset(new DiagMap() );
      DiagnosticTest jitter;
      jitter.min_max = std::make_pair(0.0, 100.0); //min and max acceptable jitter
      values_->insert( std::pair<std::string, DiagnosticTest>("Avg Loop Jitter (us)", jitter) );
    }

    virtual ~RTLoopDiagnostics()
    {}

    virtual std::auto_ptr<BaseDiagnostics> shallow_clone(std::string name)
    {
      std::auto_ptr<BaseDiagnostics> tmp( new RTLoopDiagnostics(name, test_runner_) );
      return tmp;
    };

  private:
    double avg_jitter;
    int control_loop_overruns;
  };

  class EtherCATMasterDiagnostics
    : public MinMaxDiagnostics
  {
  public:
    EtherCATMasterDiagnostics(std::string name, self_test::TestRunner* test_runner)
      : MinMaxDiagnostics(name, test_runner)
    {
      values_.reset(new DiagMap() );
      DiagnosticTest dropped_packet;
      dropped_packet.min_max = std::make_pair(0, 200); //min and max acceptable dropped packets
      //max  (TODO: this should be a ratio dropped/sent packets??)
      values_->insert( std::pair<std::string, DiagnosticTest>("Dropped Packets", dropped_packet) );
    }

    virtual ~EtherCATMasterDiagnostics()
    {};

    virtual std::auto_ptr<BaseDiagnostics> shallow_clone(std::string name)
    {
      std::auto_ptr<BaseDiagnostics> tmp( new EtherCATMasterDiagnostics(name, test_runner_) );
      return tmp;
    };
  };


  class MotorDiagnostics
    : public MinMaxDiagnostics
  {
  public:
    MotorDiagnostics(std::string name, self_test::TestRunner* test_runner)
      : MinMaxDiagnostics(name, test_runner)
    {
      values_.reset(new DiagMap() );
      DiagnosticTest voltage;
      voltage.min_max = std::make_pair(23.5, 24.5); //min and max acceptable voltage
      values_->insert( std::pair<std::string, DiagnosticTest>("Measured Voltage", voltage) );

      DiagnosticTest temperature;
      temperature.min_max = std::make_pair(20.0, 50.0); //min and max acceptable temperature
      values_->insert( std::pair<std::string, DiagnosticTest>("Temperature", temperature) );
    };

    virtual ~MotorDiagnostics() {};

    virtual std::auto_ptr<BaseDiagnostics> shallow_clone(std::string name)
    {
      std::auto_ptr<BaseDiagnostics> tmp( new MotorDiagnostics(name, test_runner_) );
      return tmp;
    };
  };
}

  /* For the emacs weenies in the crowd.
     Local Variables:
     c-basic-offset: 2
     End:
  */

#endif /* _DIAGNOSTIC_SPECIFIC_HPP_ */