system_check_base.hpp

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#ifndef _SYSTEM_CHECK_BASE_HPP
#define _SYSTEM_CHECK_BASE_HPP
 
#include <rclcpp/rclcpp.hpp>
 
namespace system_health_check::base
{
 
class SystemCheckBase
{
public:
  virtual ~SystemCheckBase() {}
 
  bool check(rclcpp::Node::SharedPtr node)
  {
    prepare_check(node);
 
    // 1. Generate unique ID for this check instance
    std::string id = get_unique_id();
 
    // If ID is empty, disable caching and run normally
    if (id.empty()) {
      return check_impl(node);
    }
 
    // 2. Check Cache
    {
      std::lock_guard<std::mutex> lock(cache_mutex_);
      if (results_cache_.count(id)) {
        cache_msg_ = " (Cached) " + reports_cache_[id];
        return results_cache_[id];
      }
    }
 
    // 3. Execute the actual check logic (implemented in derived classes)
    bool result = check_impl(node);
 
    // 4. Save result to Cache
    {
      std::lock_guard<std::mutex> lock(cache_mutex_);
      results_cache_[id] = result;
      reports_cache_[id] = report(node);
    }
 
    return result;
  }
 
  std::string report(rclcpp::Node::SharedPtr node) { return report_impl(node) + cache_msg_; }
 
protected:
  virtual std::string get_unique_id() const { return ""; }
 
  virtual void prepare_check([[maybe_unused]] rclcpp::Node::SharedPtr node) {};
 
  virtual bool check_impl(rclcpp::Node::SharedPtr node) = 0;
 
  virtual std::string report_impl(rclcpp::Node::SharedPtr node) = 0;
 
private:
  std::string cache_msg_ = "";
 
  // Static members to share results across different plugin instances
  inline static std::unordered_map<std::string, bool> results_cache_;
  inline static std::unordered_map<std::string, std::string> reports_cache_;
  inline static std::mutex cache_mutex_;
};  // namespace system_health_check
 
}  // namespace system_health_check::base
 
#endif  // !_SYSTEM_CHECK_BASE_HPP