twist_mux_diagnostics_status.h

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 * Software License Agreement (CC BY-NC-SA 4.0 License)
 *
 *  Copyright (c) 2014, PAL Robotics, S.L.
 *  All rights reserved.
 *
 *  This work is licensed under the Creative Commons
 *  Attribution-NonCommercial-ShareAlike 4.0 International License.
 *
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/*
 * @author Enrique Fernandez
 */

#ifndef TWIST_MUX_DIAGNOSTICS_STATUS_H
#define TWIST_MUX_DIAGNOSTICS_STATUS_H

#include <twist_mux/twist_mux.h>
#include <twist_mux/topic_handle.h>

#include <ros/time.h>

namespace twist_mux
{

struct TwistMuxDiagnosticsStatus
{
  typedef boost::shared_ptr<TwistMuxDiagnosticsStatus> Ptr;
  typedef boost::shared_ptr<const TwistMuxDiagnosticsStatus> ConstPtr;

  double reading_age;
  ros::Time last_loop_update;
  double main_loop_time;

  LockTopicHandle::priority_type priority;

  boost::shared_ptr<TwistMux::velocity_topic_container> velocity_hs;
  boost::shared_ptr<TwistMux::lock_topic_container>     lock_hs;

  TwistMuxDiagnosticsStatus()
    : reading_age(0),
      last_loop_update(ros::Time::now()),
      main_loop_time(0),
      priority(0)
  {
  }
};

typedef TwistMuxDiagnosticsStatus::Ptr      TwistMuxDiagnosticsStatusPtr;
typedef TwistMuxDiagnosticsStatus::ConstPtr TwistMuxDiagnosticsStatusConstPtr;

} // namespace twist_mux

#endif // TWIST_MUX_DIAGNOSTICS_STATUS_H