eloquent/include/diagnostic_updater/publisher.hpp

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
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// Author: Blaise Gassend
#ifndef DIAGNOSTIC_UPDATER__PUBLISHER_HPP_
#define DIAGNOSTIC_UPDATER__PUBLISHER_HPP_
 
#include <memory>
#include <string>
 
#include "diagnostic_msgs/msg/diagnostic_array.hpp"
#include "diagnostic_updater/update_functions.hpp"
 
#include "rclcpp/publisher.hpp"
#include "rclcpp/subscription.hpp"
 
namespace diagnostic_updater
{
 
class HeaderlessTopicDiagnostic : public CompositeDiagnosticTask
{
public:
  HeaderlessTopicDiagnostic(
    std::string name, diagnostic_updater::Updater & diag,
    const diagnostic_updater::FrequencyStatusParam & freq)
  : CompositeDiagnosticTask(name + " topic status"), freq_(freq)
  {
    addTask(&freq_);
    diag.add(*this);
  }
 
  virtual ~HeaderlessTopicDiagnostic() {}
 
  virtual void tick() {freq_.tick();}
 
  virtual void clear_window() {freq_.clear();}
 
private:
  diagnostic_updater::FrequencyStatus freq_;
};
 
class TopicDiagnostic : public HeaderlessTopicDiagnostic
{
public:
  TopicDiagnostic(
    std::string name, diagnostic_updater::Updater & diag,
    const diagnostic_updater::FrequencyStatusParam & freq,
    const diagnostic_updater::TimeStampStatusParam & stamp)
  : HeaderlessTopicDiagnostic(name, diag, freq),
    stamp_(stamp),
    error_logger_(rclcpp::get_logger("TopicDiagnostic_error_logger"))
  {
    addTask(&stamp_);
  }
 
  virtual ~TopicDiagnostic() {}
 
  virtual void tick()
  {
    std::string error_msg = "tick(void) has been called on a TopicDiagnostic.";
    error_msg += " This is never correct. Use tick(rclcpp::Time &) instead.";
    RCLCPP_FATAL(error_logger_, error_msg);
  }
 
  virtual void tick(const rclcpp::Time & stamp)
  {
    stamp_.tick(stamp);
    HeaderlessTopicDiagnostic::tick();
  }
 
private:
  TimeStampStatus stamp_;
  rclcpp::Logger error_logger_;
};
 
template<class T>
class DiagnosedPublisher : public TopicDiagnostic
{
public:
  DiagnosedPublisher(
    const rclcpp::Publisher<
      diagnostic_msgs::msg::DiagnosticArray>::SharedPtr & pub,
    diagnostic_updater::Updater & diag,
    const diagnostic_updater::FrequencyStatusParam & freq,
    const diagnostic_updater::TimeStampStatusParam & stamp)
  : TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp),
    publisher_(pub) {}
 
  virtual ~DiagnosedPublisher() {}
 
  virtual void publish(const std::shared_ptr<T> & message)
  {
    tick(message->header.stamp);
    publisher_->publish(message);
  }
 
  virtual void publish(const T & message)
  {
    tick(message.header.stamp);
    publisher_->publish(message);
  }
 
  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr
  getPublisher() const
  {
    return publisher_;
  }
 
  void setPublisher(
    rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr pub)
  {
    publisher_ = pub;
  }
 
private:
  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr publisher_;
};
}   // namespace diagnostic_updater
 
#endif  // DIAGNOSTIC_UPDATER__PUBLISHER_HPP_