#!/usr/bin/env python
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##\author Kevin Watts

##\brief Publishes messages for aggregator testing of expected items.

PKG = 'diagnostic_aggregator'

import roslib; roslib.load_manifest(PKG)


import rospy
from time import sleep

from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus

if __name__ == '__main__':
    rospy.init_node('diag_pub')
    pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
    
    start_time = rospy.get_time()
    
    while not rospy.is_shutdown():
        array = DiagnosticArray()
        array.status = [
            # GenericAnalyzer my_path
            DiagnosticStatus(0, 'expected1', 'OK', '', []),
            DiagnosticStatus(1, 'expected2', 'OK', '', []),
            DiagnosticStatus(2, 'expected3', 'OK', '', []),
            
            DiagnosticStatus(0, 'startswith1', 'OK', '', []),
            DiagnosticStatus(0, 'startswith2', 'OK', '', []),
            DiagnosticStatus(1, 'startswith3', 'OK', '', []),
            
            # OtherAnalyzer for Other
            DiagnosticStatus(2, 'other2', 'OK', '', []),
            DiagnosticStatus(0, 'other3', 'OK', '', [])]
        
        array.header.stamp = rospy.get_rostime()

        if rospy.get_time() - start_time < 5:
            # Shouldn't disappear
            array.status.append(DiagnosticStatus(0, 'expected4', 'I will be stale', '', []))
            array.status.append(DiagnosticStatus(0, 'expected5', 'I will be stale', '', []))

            # Should disappear
            array.status.append(DiagnosticStatus(2, 'other1', 'Error', '', [])) 

        pub.publish(array)
        sleep(1)
