offline_diag_updater.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <string>
 
#include <cras_cpp_common/optional.hpp>
#include <diagnostic_updater/diagnostic_updater.h>
#include <ros/duration.h>
#include <ros/time.h>
 
namespace cras
{
 
class OfflineDiagUpdater : public ::diagnostic_updater::DiagnosticTaskVector
{
public:
  explicit OfflineDiagUpdater(const ::std::string& hwid);
  virtual ~OfflineDiagUpdater();
 
  virtual ::cras::optional<::diagnostic_msgs::DiagnosticArray> update(const ::ros::Time& now);
 
protected:
  ::ros::Time next_time_;
  ::ros::Duration period_ {1, 0};
  ::std::string hwid_;
};
 
}