diagnostics.hpp

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/*
 * Copyright 2016 SoftBank Robotics Europe
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef DIAGNOSTICS_H
#define DIAGNOSTICS_H

// NAOqi Headers
#include <qi/session.hpp>

#include <diagnostic_updater/DiagnosticStatusWrapper.h>

class Diagnostics
{
public:
  Diagnostics(const qi::SessionPtr& session,
              ros::Publisher *pub,
              const std::vector<std::string> &joints_all_names,
              const std::string &robot);

  virtual ~Diagnostics() {}

  bool publish();

  void setMessageFromStatus(diagnostic_updater::DiagnosticStatusWrapper &status);

  void setAggregatedMessage(diagnostic_updater::DiagnosticStatusWrapper &status);

  std::string getStatusMsg();

private:
  ros::Publisher *pub_;

  qi::AnyObject memory_proxy_;

  std::vector <std::string> joints_all_names_;

  std::vector <float> joints_current_;

  std::vector <std::string> keys_tocheck_;

  float temperature_warn_level_;

  float temperature_error_level_;

  diagnostic_updater::DiagnosticStatusWrapper status_;
};

#endif // DIAGNOSTICS_H