corobot_analyzer.h

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#ifndef COROBOT_ANALYZER_H
#define COROBOT_ANALYZER_H

#include <map>
#include <ros/ros.h>
#include <vector>
#include <string>
#include <sstream>
#include <boost/shared_ptr.hpp>
#include <boost/regex.hpp>
#include <pluginlib/class_list_macros.h>
#include "diagnostic_msgs/DiagnosticStatus.h"
#include "diagnostic_msgs/KeyValue.h"
#include "diagnostic_aggregator/analyzer.h"
#include "diagnostic_aggregator/status_item.h"
#include "diagnostic_aggregator/generic_analyzer_base.h"
#include "XmlRpcValue.h"
#include "std_msgs/String.h"

#undef DEBUG

namespace diagnostic_aggregator
{
inline bool getParamVals(XmlRpc::XmlRpcValue param, std::vector<std::string> &output)
{
  XmlRpc::XmlRpcValue::Type type = param.getType();
  if (type == XmlRpc::XmlRpcValue::TypeString)
  {
    std::string find = param;
    output.push_back(find);
    return true;
  }
  else if (type == XmlRpc::XmlRpcValue::TypeArray)
  {
    for (int i = 0; i < param.size(); ++i)
    {
      if (param[i].getType() != XmlRpc::XmlRpcValue::TypeString)
      {
        ROS_ERROR("Parameter is not a list of strings, found non-string value. XmlRpcValue: %s", param.toXml().c_str());
        output.clear();
        return false;
      }

      std::string find = param[i];
      output.push_back(find);
    }
    return true;
  }

  ROS_ERROR("Parameter not a list or string, unable to return values. XmlRpcValue:s %s", param.toXml().c_str());
  output.clear();
  return false;
}


struct processErrors
{
    std::string processName;
    std::string error;
    int level;
};


class CorobotAnalyzer : public GenericAnalyzerBase
{
public:
  CorobotAnalyzer();
  
  virtual ~CorobotAnalyzer();

  // Move to class description above
  bool init(const std::string base_path, const ros::NodeHandle &n);

  virtual std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report();

  virtual bool match(const std::string name);

private:
  std::vector<std::string> chaff_; 
  std::vector<std::string> expected_;
  std::vector<std::string> startswith_;
  std::vector<std::string> contains_;
  std::vector<std::string> name_;
  std::vector<boost::regex> regex_; 
  std::vector<struct processErrors> processErrorsList;
  
  ros::Publisher removeError_pub, newError_pub;

  void processLCD(boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> processed);
};

}
#endif //COROBOT _ANALYZER_H