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/**!< \author Kevin Watts */

#include <diagnostic_aggregator/status_item.h>

using namespace diagnostic_aggregator;
using namespace std;

StatusItem::StatusItem(const diagnostic_msgs::DiagnosticStatus *status)
{
  level_ = valToLevel(status->level);
  name_ = status->name;
  message_ = status->message;
  hw_id_ = status->hardware_id;
  values_ = status->values;
  
  output_name_ = getOutputName(name_);
  
  update_time_ = ros::Time::now();
}

StatusItem::StatusItem(const string item_name, const string message, const DiagnosticLevel level)
{
  name_ = item_name;
  message_ = message;
  level_ = level;
  hw_id_ = "";
  
  output_name_ = getOutputName(name_);

  update_time_ = ros::Time::now();
}

StatusItem::~StatusItem() {}

bool StatusItem::update(const diagnostic_msgs::DiagnosticStatus *status)
{
  if (name_ != status->name)
  {
    ROS_ERROR("Incorrect name when updating StatusItem. Expected %s, got %s", name_.c_str(), status->name.c_str());
    return false;
  }

  const ros::Time now = ros::Time::now();
  double update_interval = (now - update_time_).toSec();
  if (update_interval < 0)
    ROS_WARN("StatusItem is being updated with older data. Negative update time: %f", update_interval);

  level_ = valToLevel(status->level);
  message_ = status->message;
  hw_id_ = status->hardware_id;
  values_ = status->values;

  update_time_ = now;

  return true;
}

boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> StatusItem::toStatusMsg(const std::string &path, bool stale) const
{
  boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> status(new diagnostic_msgs::DiagnosticStatus());

  if (path == "/")
    status->name = "/" + output_name_;
  else
    status->name = path + "/" + output_name_;

  status->level = level_;
  status->message = message_;
  status->hardware_id = hw_id_;
  status->values = values_;

  if (stale)
    status->level = Level_Stale;

  return status;
}

