diagnostics.hpp

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/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef KOBUKI_NODE_DIAGNOSTICS_HPP_
#define KOBUKI_NODE_DIAGNOSTICS_HPP_

/*****************************************************************************
** Includes
*****************************************************************************/

#include <kobuki_driver/packets/cliff.hpp>
#include <kobuki_driver/modules/battery.hpp>
#include <kobuki_driver/packets/core_sensors.hpp>
#include <diagnostic_updater/diagnostic_updater.h>

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace kobuki {

/*****************************************************************************
** Interfaces
*****************************************************************************/


class BatteryTask : public diagnostic_updater::DiagnosticTask {
public:
  BatteryTask() : DiagnosticTask("Battery") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const Battery &battery) { status = battery; }

private:
  Battery status;
};

class WatchdogTask : public diagnostic_updater::DiagnosticTask {
public:
  WatchdogTask() : DiagnosticTask("Watchdog"), alive(false) {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const bool &is_alive) { alive = is_alive; }
  bool isAlive() const { return alive; }

private:
  bool alive;
};

class CliffSensorTask : public diagnostic_updater::DiagnosticTask {
public:
  CliffSensorTask() : DiagnosticTask("Cliff Sensor") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const uint8_t &new_status, const Cliff::Data &new_values) {
    status = new_status; values = new_values;
  }

private:
  uint8_t     status;
  Cliff::Data values;
};

class WallSensorTask : public diagnostic_updater::DiagnosticTask {
public:
  WallSensorTask() : DiagnosticTask("Wall Sensor") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const uint8_t &new_status) { status = new_status; }

private:
  uint8_t status;
};

class WheelDropTask : public diagnostic_updater::DiagnosticTask {
public:
  WheelDropTask() : DiagnosticTask("Wheel Drop") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const uint8_t &new_status) { status = new_status; }

private:
  uint8_t status;
};

class MotorCurrentTask : public diagnostic_updater::DiagnosticTask {
public:
  MotorCurrentTask() : DiagnosticTask("Motor Current") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const std::vector<uint8_t> &new_values) { values = new_values; }

private:
  std::vector<uint8_t> values;
};

class MotorStateTask : public diagnostic_updater::DiagnosticTask {
public:
  MotorStateTask() : DiagnosticTask("Motor State") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(bool new_state) { state = new_state; };

private:
  bool state;
};

class GyroSensorTask : public diagnostic_updater::DiagnosticTask {
public:
  GyroSensorTask() : DiagnosticTask("Gyro Sensor") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(int16_t new_heading) { heading = new_heading; }

private:
  int16_t heading;
};

class DigitalInputTask : public diagnostic_updater::DiagnosticTask {
public:
  DigitalInputTask() : DiagnosticTask("Digital Input") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(uint16_t new_status) { status = new_status; }

private:
  uint16_t status;
};

class AnalogInputTask : public diagnostic_updater::DiagnosticTask {
public:
  AnalogInputTask() : DiagnosticTask("Analog Input") {}
  void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
  void update(const std::vector<uint16_t> &new_values) { values = new_values; }

private:
  std::vector<uint16_t> values;
};

} // namespace kobuki

#endif /* KOBUKI_NODE_DIAGNOSTICS_HPP_ */