From 6c6eef9db0cba8bc1497ff9a82df1d962616153c Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Wed, 4 Dec 2024 16:20:29 +0100
Subject: [PATCH 01/24] First working version of remote_logging

---
 diagnostic_remote_logging/CMakeLists.txt      |  38 +++++++
 .../influx_line_protocol.hpp                  | 103 ++++++++++++++++++
 .../diagnostic_remote_logging/telegraf.hpp    |  63 +++++++++++
 diagnostic_remote_logging/package.xml         |  20 ++++
 diagnostic_remote_logging/src/telegraf.cpp    |  89 +++++++++++++++
 5 files changed, 313 insertions(+)
 create mode 100644 diagnostic_remote_logging/CMakeLists.txt
 create mode 100644 diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
 create mode 100644 diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp
 create mode 100644 diagnostic_remote_logging/package.xml
 create mode 100644 diagnostic_remote_logging/src/telegraf.cpp

diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
new file mode 100644
index 00000000..6d03c4c8
--- /dev/null
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(diagnostic_remote_logging)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(dependencies
+    ament_cmake
+    rclcpp
+    diagnostic_msgs
+    CURL
+    )
+
+foreach(dep ${dependencies})
+    find_package(${dep} REQUIRED)
+endforeach(dep)
+
+include_directories(
+    src/
+    include/
+)
+
+add_executable(telegraf
+                src/telegraf.cpp
+                )
+
+ament_target_dependencies(telegraf ${dependencies})
+
+ament_export_dependencies(telegraf ${dependencies})
+
+target_compile_features(telegraf PUBLIC c_std_99 cxx_std_17)
+
+install(TARGETS telegraf
+         DESTINATION lib/${PROJECT_NAME}
+         )
+
+ament_package()
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
new file mode 100644
index 00000000..0de98eef
--- /dev/null
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -0,0 +1,103 @@
+#pragma once
+
+#include "diagnostic_msgs/msg/diagnostic_array.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+std::string toInfluxTimestamp(const rclcpp::Time& time)
+{
+  double timestamp = time.seconds();
+  // Extract the integer part (seconds)
+  uint64_t seconds = static_cast<uint64_t>(timestamp);
+  // Extract the fractional part (nanoseconds) by subtracting the integer part and scaling
+  uint64_t nanoseconds = static_cast<uint64_t>((timestamp - seconds) * 1e9);
+
+  // Convert both parts to strings
+  std::string secStr     = std::to_string(seconds);
+  std::string nanosecStr = std::to_string(nanoseconds);
+
+  // Ensure the nanoseconds part is zero-padded to 9 digits
+  nanosecStr = std::string(9 - nanosecStr.length(), '0') + nanosecStr;
+
+  // Concatenate and return the result
+  return secStr + nanosecStr;
+}
+
+std::string escapeSpace(const std::string& input)
+{
+  std::string result;
+  for (char c : input) {
+    if (c == ' ') {
+      result += '\\'; // Add a backslash before the space
+    }
+    result += c; // Add the original character
+  }
+  return result;
+}
+
+std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& values)
+{
+  std::string formatted;
+  for (const auto& kv : values) {
+    formatted += escapeSpace(kv.key) + "=" + escapeSpace(kv.value) + ",";
+  }
+  if (!formatted.empty()) {
+    formatted.pop_back(); // Remove the last comma
+  }
+  return formatted;
+}
+
+std::pair<std::string, std::string> splitHardwareID(const std::string& input)
+{
+  size_t first_slash_pos = input.find('/');
+
+  // If no slash is found, treat the entire input as the node_name
+  if (first_slash_pos == std::string::npos) {
+    return {"\"\"", input};
+  }
+
+  size_t second_slash_pos = input.find('/', first_slash_pos + 1);
+
+  // If the second slash is found, extract the "ns" and "node" parts
+  if (second_slash_pos != std::string::npos) {
+    std::string ns   = input.substr(first_slash_pos + 1, second_slash_pos - first_slash_pos - 1);
+    std::string node = input.substr(second_slash_pos + 1);
+    return {ns, node};
+  }
+
+  // If no second slash is found, everything after the first slash is the node
+  std::string node = input.substr(first_slash_pos + 1);
+  return {"\"\"", node}; // ns is empty, node is the remaining string
+}
+
+void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg::DiagnosticStatus& status, const std::string& timestamp_str)
+{
+  // hardware_id is empty for analyzer groups, so skip them
+  if (status.hardware_id.empty()) {
+    return;
+  }
+
+  auto [ns, identifier] = splitHardwareID(status.hardware_id);
+  output += identifier + ",ns=" + ns + " level=" + std::to_string(status.level) + ",message=\"" + status.message + "\"";
+  if (status.values.size()) {
+    output += "," + formatValues(status.values);
+  }
+  output += " " + timestamp_str + "\n";
+}
+
+std::string topLevelToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr& msg, const rclcpp::Time& time)
+{
+  std::string output = msg->name + " level=" + std::to_string(msg->level) + " " + toInfluxTimestamp(time) + "\n";
+  return output;
+};
+
+std::string arrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr& diag_msg)
+{
+  std::string output;
+  std::string timestamp = toInfluxTimestamp(diag_msg->header.stamp);
+
+  for (auto& status : diag_msg->status) {
+    statusToInfluxLineProtocol(output, status, timestamp);
+  }
+
+  return output;
+};
\ No newline at end of file
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp
new file mode 100644
index 00000000..8f8024a1
--- /dev/null
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp
@@ -0,0 +1,63 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijfels
+ */
+
+#include "diagnostic_msgs/msg/diagnostic_array.hpp"
+#include "diagnostic_remote_logging/influx_line_protocol.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include <curl/curl.h>
+
+class Telegraf : public rclcpp::Node
+{
+public:
+  Telegraf();
+  ~Telegraf();
+
+private:
+  rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr  diag_sub_;
+  rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr top_level_sub_;
+
+  std::string telegraf_url_;
+  CURL*       curl_;
+
+  void setupConnection(const std::string& telegraf_url);
+
+  void diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg);
+  void topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg);
+
+  bool sendToTelegraf(const std::string& output);
+};
diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
new file mode 100644
index 00000000..605a77bb
--- /dev/null
+++ b/diagnostic_remote_logging/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>diagnostic_remote_logging</name>
+  <version>0.0.1</version>
+  <description>diagnostic_remote_logging</description>
+  <maintainer email="dwijffels@lely.com">Daan Wijffels</maintainer>
+  <license>>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>diagnostic_msgs</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/diagnostic_remote_logging/src/telegraf.cpp b/diagnostic_remote_logging/src/telegraf.cpp
new file mode 100644
index 00000000..984a4e41
--- /dev/null
+++ b/diagnostic_remote_logging/src/telegraf.cpp
@@ -0,0 +1,89 @@
+#include "diagnostic_remote_logging/telegraf.hpp"
+
+Telegraf::Telegraf()
+    : Node("telegraf")
+{
+  telegraf_url_ = this->declare_parameter<std::string>("telegraf_url", "http://localhost:8186/telegraf");
+
+  if (declare_parameter("send_agg", true)) {
+    diag_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", rclcpp::SensorDataQoS(), std::bind(&Telegraf::diagnosticsCallback, this, std::placeholders::_1));
+  }
+
+  if (declare_parameter<bool>("send_top_level_state", true)) {
+    top_level_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticStatus>("/diagnostics_toplevel_state", rclcpp::SensorDataQoS(), std::bind(&Telegraf::topLevelCallback, this, std::placeholders::_1));
+  }
+
+  setupConnection(telegraf_url_);
+}
+
+void Telegraf::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
+{
+  std::string output = arrayToInfluxLineProtocol(msg);
+
+  if (!sendToTelegraf(output)) {
+    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_agg to telegraf");
+  }
+
+  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+}
+
+void Telegraf::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg)
+{
+  std::string output = topLevelToInfluxLineProtocol(msg, this->get_clock()->now());
+
+  if (!sendToTelegraf(output)) {
+    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_toplevel_state to telegraf");
+  }
+
+  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+}
+
+void Telegraf::setupConnection(const std::string& url)
+{
+  curl_global_init(CURL_GLOBAL_ALL);
+  curl_ = curl_easy_init();
+  if (!curl_) {
+    throw std::runtime_error("Failed to initialize curl");
+  }
+
+  curl_easy_setopt(curl_, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl_, CURLOPT_HTTP_VERSION, CURL_HTTP_VERSION_1_1); // Use HTTP/1.1 for keep-alive
+  curl_easy_setopt(curl_, CURLOPT_CONNECTTIMEOUT, 10L);                 // Set timeout as needed
+  curl_easy_setopt(curl_, CURLOPT_TCP_KEEPALIVE, 1L);                   // Enable TCP keep-alive
+}
+
+bool Telegraf::sendToTelegraf(const std::string& data)
+{
+  if (!curl_) {
+    RCLCPP_ERROR(this->get_logger(), "cURL not initialized.");
+    return false;
+  }
+
+  curl_easy_setopt(curl_, CURLOPT_POSTFIELDS, data.c_str());
+
+  // Perform the request
+  CURLcode res = curl_easy_perform(curl_);
+
+  // Check for errors
+  if (res != CURLE_OK) {
+    RCLCPP_ERROR(this->get_logger(), "cURL error: %s", curl_easy_strerror(res));
+    return false;
+  }
+  return true;
+}
+
+Telegraf::~Telegraf()
+{
+  if (curl_) {
+    curl_easy_cleanup(curl_);
+  }
+  curl_global_cleanup();
+}
+
+int main(int argc, char* argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Telegraf>());
+  rclcpp::shutdown();
+  return 0;
+}
\ No newline at end of file

From 390bb8c7b84b5ef70a6cd30c99eebc2d7bae95f9 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 18 Dec 2024 09:24:36 +0100
Subject: [PATCH 02/24] Added more error handling, and skipping values when new
 line is present in stat

---
 .../influx_line_protocol.hpp                        | 13 ++++++++++---
 diagnostic_remote_logging/src/telegraf.cpp          |  8 ++++++++
 2 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index 0de98eef..b256d1f8 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -38,6 +38,12 @@ std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& valu
 {
   std::string formatted;
   for (const auto& kv : values) {
+    if (kv.value.find("\n") != std::string::npos) {
+      // If the value contains a newline, skip it
+      // Telegraf uses this to separate measurements
+      continue;
+    }
+
     formatted += escapeSpace(kv.key) + "=" + escapeSpace(kv.value) + ",";
   }
   if (!formatted.empty()) {
@@ -52,7 +58,7 @@ std::pair<std::string, std::string> splitHardwareID(const std::string& input)
 
   // If no slash is found, treat the entire input as the node_name
   if (first_slash_pos == std::string::npos) {
-    return {"\"\"", input};
+    return {"none", input};
   }
 
   size_t second_slash_pos = input.find('/', first_slash_pos + 1);
@@ -78,8 +84,9 @@ void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg:
 
   auto [ns, identifier] = splitHardwareID(status.hardware_id);
   output += identifier + ",ns=" + ns + " level=" + std::to_string(status.level) + ",message=\"" + status.message + "\"";
-  if (status.values.size()) {
-    output += "," + formatValues(status.values);
+  auto formatted_key_values = formatValues(status.values);
+  if (!formatted_key_values.empty()) {
+    output += "," + formatted_key_values;
   }
   output += " " + timestamp_str + "\n";
 }
diff --git a/diagnostic_remote_logging/src/telegraf.cpp b/diagnostic_remote_logging/src/telegraf.cpp
index 984a4e41..40e436e3 100644
--- a/diagnostic_remote_logging/src/telegraf.cpp
+++ b/diagnostic_remote_logging/src/telegraf.cpp
@@ -69,6 +69,14 @@ bool Telegraf::sendToTelegraf(const std::string& data)
     RCLCPP_ERROR(this->get_logger(), "cURL error: %s", curl_easy_strerror(res));
     return false;
   }
+  long response_code;
+  curl_easy_getinfo(curl_, CURLINFO_RESPONSE_CODE, &response_code);
+
+  if (response_code != 204) {
+    RCLCPP_ERROR(this->get_logger(), "Error (%ld) when sending to telegraf:\n%s", response_code, data.c_str());
+    return false;
+  }
+
   return true;
 }
 

From 53b5297694e296e6d90362b43646ce5059a7b181 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 18 Dec 2024 09:47:07 +0100
Subject: [PATCH 03/24] Changed default telegraf url to reflect the change to
 influxdb_v2_listener

---
 diagnostic_remote_logging/src/telegraf.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/src/telegraf.cpp b/diagnostic_remote_logging/src/telegraf.cpp
index 40e436e3..695f90c6 100644
--- a/diagnostic_remote_logging/src/telegraf.cpp
+++ b/diagnostic_remote_logging/src/telegraf.cpp
@@ -3,7 +3,7 @@
 Telegraf::Telegraf()
     : Node("telegraf")
 {
-  telegraf_url_ = this->declare_parameter<std::string>("telegraf_url", "http://localhost:8186/telegraf");
+  telegraf_url_ = this->declare_parameter<std::string>("telegraf_url", "http://localhost:8086/api/v2/write");
 
   if (declare_parameter("send_agg", true)) {
     diag_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", rclcpp::SensorDataQoS(), std::bind(&Telegraf::diagnosticsCallback, this, std::placeholders::_1));

From a43c0c0be47efbff7431844dd11773642409cf80 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 18 Dec 2024 09:53:18 +0100
Subject: [PATCH 04/24] Changed default telegraf url to reflect the change to
 influxdb_v2_listener

---
 .../include/diagnostic_remote_logging/influx_line_protocol.hpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index b256d1f8..04f44361 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -72,7 +72,7 @@ std::pair<std::string, std::string> splitHardwareID(const std::string& input)
 
   // If no second slash is found, everything after the first slash is the node
   std::string node = input.substr(first_slash_pos + 1);
-  return {"\"\"", node}; // ns is empty, node is the remaining string
+  return {"none", node}; // ns is empty, node is the remaining string
 }
 
 void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg::DiagnosticStatus& status, const std::string& timestamp_str)

From 003e8a5d1cec9a2a979be272997ecf4a7d14e15d Mon Sep 17 00:00:00 2001
From: Thiever Base <thiever@lely.com>
Date: Wed, 18 Dec 2024 15:15:11 +0100
Subject: [PATCH 05/24] Made node composable and changed name to influx to
 better reflect use cases

---
 diagnostic_remote_logging/CMakeLists.txt      |  27 ++--
 .../influx_line_protocol.hpp                  |  41 +++++-
 .../{telegraf.hpp => influxdb.hpp}            |  11 +-
 diagnostic_remote_logging/src/influxdb.cpp    | 139 ++++++++++++++++++
 diagnostic_remote_logging/src/telegraf.cpp    |  97 ------------
 5 files changed, 203 insertions(+), 112 deletions(-)
 rename diagnostic_remote_logging/include/diagnostic_remote_logging/{telegraf.hpp => influxdb.hpp} (92%)
 create mode 100644 diagnostic_remote_logging/src/influxdb.cpp
 delete mode 100644 diagnostic_remote_logging/src/telegraf.cpp

diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
index 6d03c4c8..a36c0a1d 100644
--- a/diagnostic_remote_logging/CMakeLists.txt
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -8,6 +8,7 @@ endif()
 set(dependencies
     ament_cmake
     rclcpp
+    rclcpp_components
     diagnostic_msgs
     CURL
     )
@@ -20,19 +21,27 @@ include_directories(
     src/
     include/
 )
-
-add_executable(telegraf
-                src/telegraf.cpp
+add_library(influx_component SHARED
+                src/influxdb.cpp
                 )
 
-ament_target_dependencies(telegraf ${dependencies})
+ament_target_dependencies(influx_component ${dependencies})
 
-ament_export_dependencies(telegraf ${dependencies})
+ament_export_dependencies(influx_component ${dependencies})
 
-target_compile_features(telegraf PUBLIC c_std_99 cxx_std_17)
+target_compile_features(influx_component PUBLIC c_std_99 cxx_std_17)
 
-install(TARGETS telegraf
-         DESTINATION lib/${PROJECT_NAME}
-         )
+rclcpp_components_register_node(
+    influx_component
+    PLUGIN "InfluxDB"
+    EXECUTABLE influx
+)
+ament_export_targets(export_influx_component)
+install(TARGETS influx_component
+        EXPORT export_influx_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
 
 ament_package()
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index 04f44361..ff745feb 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -1,3 +1,42 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijfels
+ */
+
+
 #pragma once
 
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
@@ -40,7 +79,7 @@ std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& valu
   for (const auto& kv : values) {
     if (kv.value.find("\n") != std::string::npos) {
       // If the value contains a newline, skip it
-      // Telegraf uses this to separate measurements
+      // InfluxDB uses this to separate measurements
       continue;
     }
 
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
similarity index 92%
rename from diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp
rename to diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
index 8f8024a1..7acc9ff9 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/telegraf.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
@@ -41,17 +41,18 @@
 #include "rclcpp/rclcpp.hpp"
 #include <curl/curl.h>
 
-class Telegraf : public rclcpp::Node
+class InfluxDB : public rclcpp::Node
 {
 public:
-  Telegraf();
-  ~Telegraf();
+  explicit InfluxDB(const rclcpp::NodeOptions& opt);
+  ~InfluxDB();
 
 private:
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr  diag_sub_;
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr top_level_sub_;
 
-  std::string telegraf_url_;
+
+  std::string post_url_, influx_token_;
   CURL*       curl_;
 
   void setupConnection(const std::string& telegraf_url);
@@ -59,5 +60,5 @@ class Telegraf : public rclcpp::Node
   void diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg);
   void topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg);
 
-  bool sendToTelegraf(const std::string& output);
+  bool sendToInfluxDB(const std::string& data);
 };
diff --git a/diagnostic_remote_logging/src/influxdb.cpp b/diagnostic_remote_logging/src/influxdb.cpp
new file mode 100644
index 00000000..9017171c
--- /dev/null
+++ b/diagnostic_remote_logging/src/influxdb.cpp
@@ -0,0 +1,139 @@
+#include "diagnostic_remote_logging/influxdb.hpp"
+
+InfluxDB::InfluxDB(const rclcpp::NodeOptions &opt)
+    : Node("influxdb", opt)
+{
+  post_url_ = this->declare_parameter<std::string>("connection.url", "http://localhost:8086/api/v2/write");
+
+  if (post_url_.empty())
+  {
+    throw std::runtime_error("Parameter connection.url must be set");
+  }
+
+  std::string organization = declare_parameter("connection.organization", "");
+  std::string bucket = declare_parameter("connection.bucket", "");
+  influx_token_ = declare_parameter("connection.token", "");
+
+  // Check if any of the parameters is set
+  if (!organization.empty() || !bucket.empty() || !influx_token_.empty())
+  {
+    // Ensure all parameters are set
+    if (organization.empty() || bucket.empty() || influx_token_.empty())
+    {
+      throw std::runtime_error("All parameters (connection.organization, connection.bucket, connection.token) must be set, or when using a proxy like Telegraf none have to be set.");
+    }
+
+    // Construct the Telegraf URL
+    post_url_ += "?org=" + organization;
+    post_url_ += "&bucket=" + bucket;
+  }
+
+  setupConnection(post_url_);
+
+  if (declare_parameter("send.agg", true))
+  {
+    diag_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", rclcpp::SensorDataQoS(), std::bind(&InfluxDB::diagnosticsCallback, this, std::placeholders::_1));
+  }
+
+  if (declare_parameter<bool>("send.top_level_state", true))
+  {
+    top_level_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticStatus>("/diagnostics_toplevel_state", rclcpp::SensorDataQoS(), std::bind(&InfluxDB::topLevelCallback, this, std::placeholders::_1));
+  }
+}
+
+void InfluxDB::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
+{
+  std::string output = arrayToInfluxLineProtocol(msg);
+
+  if (!sendToInfluxDB(output))
+  {
+    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_agg to telegraf");
+  }
+
+  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+}
+
+void InfluxDB::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg)
+{
+  std::string output = topLevelToInfluxLineProtocol(msg, this->get_clock()->now());
+
+  if (!sendToInfluxDB(output))
+  {
+    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_toplevel_state to telegraf");
+  }
+
+  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+}
+
+void InfluxDB::setupConnection(const std::string &url)
+{
+  curl_global_init(CURL_GLOBAL_ALL);
+  curl_ = curl_easy_init();
+  if (!curl_)
+  {
+    throw std::runtime_error("Failed to initialize curl");
+  }
+
+  struct curl_slist *headers = nullptr;
+
+  if (!influx_token_.empty()){
+    headers = curl_slist_append(headers, ("Authorization: Token " + influx_token_).c_str());
+  }
+
+  headers = curl_slist_append(headers, "Content-Type: text/plain; charset=utf-8");
+  headers = curl_slist_append(headers, "Accept: application/json");
+
+  curl_easy_setopt(curl_, CURLOPT_URL, url.c_str());
+  curl_easy_setopt(curl_, CURLOPT_HTTP_VERSION, CURL_HTTP_VERSION_1_1); // Use HTTP/1.1 for keep-alive
+  curl_easy_setopt(curl_, CURLOPT_HTTPHEADER, headers);
+  curl_easy_setopt(curl_, CURLOPT_CONNECTTIMEOUT, 10L);                 // Set timeout as needed
+  curl_easy_setopt(curl_, CURLOPT_TCP_KEEPALIVE, 1L);                   // Enable TCP keep-alive
+  curl_easy_setopt(curl_, CURLOPT_POST, 1L);
+}
+
+bool InfluxDB::sendToInfluxDB(const std::string &data)
+{
+  if (!curl_)
+  {
+    RCLCPP_ERROR(this->get_logger(), "cURL not initialized.");
+    return false;
+  }
+
+  curl_easy_setopt(curl_, CURLOPT_POSTFIELDS, data.c_str());
+
+  // Perform the request
+  CURLcode res = curl_easy_perform(curl_);
+
+  // Check for errors
+  if (res != CURLE_OK)
+  {
+    RCLCPP_ERROR(this->get_logger(), "cURL error: %s", curl_easy_strerror(res));
+    return false;
+  }
+  long response_code;
+  curl_easy_getinfo(curl_, CURLINFO_RESPONSE_CODE, &response_code);
+
+  if (response_code != 204)
+  {
+    RCLCPP_ERROR(this->get_logger(), "Error (%ld) when sending to telegraf:\n%s", response_code, data.c_str());
+    return false;
+  }
+
+  return true;
+}
+
+InfluxDB::~InfluxDB()
+{
+  if (curl_)
+  {
+    curl_easy_cleanup(curl_);
+  }
+  curl_global_cleanup();
+}
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(InfluxDB)
\ No newline at end of file
diff --git a/diagnostic_remote_logging/src/telegraf.cpp b/diagnostic_remote_logging/src/telegraf.cpp
deleted file mode 100644
index 695f90c6..00000000
--- a/diagnostic_remote_logging/src/telegraf.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "diagnostic_remote_logging/telegraf.hpp"
-
-Telegraf::Telegraf()
-    : Node("telegraf")
-{
-  telegraf_url_ = this->declare_parameter<std::string>("telegraf_url", "http://localhost:8086/api/v2/write");
-
-  if (declare_parameter("send_agg", true)) {
-    diag_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", rclcpp::SensorDataQoS(), std::bind(&Telegraf::diagnosticsCallback, this, std::placeholders::_1));
-  }
-
-  if (declare_parameter<bool>("send_top_level_state", true)) {
-    top_level_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticStatus>("/diagnostics_toplevel_state", rclcpp::SensorDataQoS(), std::bind(&Telegraf::topLevelCallback, this, std::placeholders::_1));
-  }
-
-  setupConnection(telegraf_url_);
-}
-
-void Telegraf::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
-{
-  std::string output = arrayToInfluxLineProtocol(msg);
-
-  if (!sendToTelegraf(output)) {
-    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_agg to telegraf");
-  }
-
-  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
-}
-
-void Telegraf::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg)
-{
-  std::string output = topLevelToInfluxLineProtocol(msg, this->get_clock()->now());
-
-  if (!sendToTelegraf(output)) {
-    RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_toplevel_state to telegraf");
-  }
-
-  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
-}
-
-void Telegraf::setupConnection(const std::string& url)
-{
-  curl_global_init(CURL_GLOBAL_ALL);
-  curl_ = curl_easy_init();
-  if (!curl_) {
-    throw std::runtime_error("Failed to initialize curl");
-  }
-
-  curl_easy_setopt(curl_, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl_, CURLOPT_HTTP_VERSION, CURL_HTTP_VERSION_1_1); // Use HTTP/1.1 for keep-alive
-  curl_easy_setopt(curl_, CURLOPT_CONNECTTIMEOUT, 10L);                 // Set timeout as needed
-  curl_easy_setopt(curl_, CURLOPT_TCP_KEEPALIVE, 1L);                   // Enable TCP keep-alive
-}
-
-bool Telegraf::sendToTelegraf(const std::string& data)
-{
-  if (!curl_) {
-    RCLCPP_ERROR(this->get_logger(), "cURL not initialized.");
-    return false;
-  }
-
-  curl_easy_setopt(curl_, CURLOPT_POSTFIELDS, data.c_str());
-
-  // Perform the request
-  CURLcode res = curl_easy_perform(curl_);
-
-  // Check for errors
-  if (res != CURLE_OK) {
-    RCLCPP_ERROR(this->get_logger(), "cURL error: %s", curl_easy_strerror(res));
-    return false;
-  }
-  long response_code;
-  curl_easy_getinfo(curl_, CURLINFO_RESPONSE_CODE, &response_code);
-
-  if (response_code != 204) {
-    RCLCPP_ERROR(this->get_logger(), "Error (%ld) when sending to telegraf:\n%s", response_code, data.c_str());
-    return false;
-  }
-
-  return true;
-}
-
-Telegraf::~Telegraf()
-{
-  if (curl_) {
-    curl_easy_cleanup(curl_);
-  }
-  curl_global_cleanup();
-}
-
-int main(int argc, char* argv[])
-{
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<Telegraf>());
-  rclcpp::shutdown();
-  return 0;
-}
\ No newline at end of file

From 0d526eebe1428aaf8d95705bc754caefd956da91 Mon Sep 17 00:00:00 2001
From: Thiever Base <thiever@lely.com>
Date: Wed, 18 Dec 2024 15:15:16 +0100
Subject: [PATCH 06/24] Added README

---
 diagnostic_remote_logging/README.md | 79 +++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 diagnostic_remote_logging/README.md

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
new file mode 100644
index 00000000..7997a29a
--- /dev/null
+++ b/diagnostic_remote_logging/README.md
@@ -0,0 +1,79 @@
+General information about this repository, including legal information and known issues/limitations, are given in [README.md](../README.md) in the repository root.
+
+# The diagnostic_remote_logging package
+
+This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, publishing their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
+
+As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](#telegraf-proxy) for an example on how to setup.
+
+## Node Configuration
+
+You can send data to [`InfluxDB`](http://influxdb.com) in two ways: directly to the database or via a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). While both methods are valid, using a proxy is generally recommended due to the following benefits:
+
+- **Efficient Data Transmission**: Telegraf aggregates multiple measurements and sends them in a single request, reducing bandwidth usage and minimizing database load.
+- **Enhanced Reliability**: Provides buffering in case of connection issues, ensuring no data is lost.
+- **Comprehensive Metric Collection**: Telegraf can send additional system metrics (e.g., RAM, CPU, network usage) with minimal configuration.
+- **Data Filtering and Transformation**: Supports preprocessing, such as filtering or transforming data, before sending it to InfluxDB.
+
+To use either method, ensure you have a running instance of InfluxDB. The simplest way to set this up is through [`InfluxDB Cloud`](https://cloud2.influxdata.com/signup).
+
+### Parameters
+
+The `influx` node supports several parameters. Below is an example configuration:
+
+```yaml
+/influx:
+  ros__parameters:
+    connection:
+      url: http://localhost:8086/api/v2/write
+      token:
+      bucket:
+      organization:
+    send:
+      agg: true
+      top_level_state: true
+```
+
+- `send.agg`: Enables or disables subscription to the `/diagnostics_agg` topic.
+- `send.top_level_state`: Enables or disables subscription to the `/diagnostics_toplevel_state` topic.
+
+## InfluxDB Configuration
+
+Set the following parameters in your configuration to match your InfluxDB instance:
+
+- `connection.url`: The URL of your InfluxDB write API endpoint.
+- `connection.token`: Your InfluxDB authentication token.
+- `connection.bucket`: The target bucket in InfluxDB.
+- `connection.organization`: The name of your InfluxDB organization.
+
+Afterwards run the node with the following command:
+
+```bash
+ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+```
+
+## Using a Telegraf Proxy
+
+To configure Telegraf as a proxy for InfluxDB:
+
+1. Ensure Telegraf is set up to send data to your InfluxDB instance via its configuration file (`/etc/telegraf/telegraf.conf`). Check [this link](https://docs.influxdata.com/influxdb/cloud/write-data/no-code/use-telegraf/manual-config/) for an example.
+2. Add the following to the telegraf configuration file to enable the InfluxDB v2 listener:
+
+```toml
+[[inputs.influxdb_v2_listener]]
+  service_address = ":8086"
+```
+
+3. Update the `influx` node configuration to point to the appropriate URL. For example, if Telegraf is running on the same host as the `influx` node, the default `http://localhost:8086/api/v2/write` should work.
+
+Leave the following parameters empty in the `influx` node configuration when using Telegraf as a proxy:
+
+- `connection.token`
+- `connection.bucket`
+- `connection.organization`
+
+Afterwards run the node with the following command:
+
+```bash
+ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+```

From 2491badf1cdd24d4d6098d1e64734dae9924dfb4 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Mon, 6 Jan 2025 11:08:58 +0100
Subject: [PATCH 07/24] Escaping string values fixed

---
 .../influx_line_protocol.hpp                  | 23 ++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index ff745feb..a09c3e77 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -73,6 +73,13 @@ std::string escapeSpace(const std::string& input)
   return result;
 }
 
+bool is_number(const std::string& s) {
+    std::istringstream iss(s);
+    double d;
+    return iss >> std::noskipws >> d && iss.eof();
+}
+
+
 std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& values)
 {
   std::string formatted;
@@ -83,7 +90,16 @@ std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& valu
       continue;
     }
 
-    formatted += escapeSpace(kv.key) + "=" + escapeSpace(kv.value) + ",";
+    formatted += escapeSpace(kv.key) + "=";
+
+    if (is_number(kv.value)) {
+      formatted += kv.value;
+    } else {
+      formatted += "\"" + kv.value + "\"";
+    }
+    formatted += ",";
+
+
   }
   if (!formatted.empty()) {
     formatted.pop_back(); // Remove the last comma
@@ -122,7 +138,7 @@ void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg:
   }
 
   auto [ns, identifier] = splitHardwareID(status.hardware_id);
-  output += identifier + ",ns=" + ns + " level=" + std::to_string(status.level) + ",message=\"" + status.message + "\"";
+  output += escapeSpace(identifier) + ",ns=" + escapeSpace(ns) + " level=" + std::to_string(status.level) + ",message=\"" + status.message + "\"";
   auto formatted_key_values = formatValues(status.values);
   if (!formatted_key_values.empty()) {
     output += "," + formatted_key_values;
@@ -146,4 +162,5 @@ std::string arrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArra
   }
 
   return output;
-};
\ No newline at end of file
+};
+

From b97c4de010a93642800c678d0cf3c90feae2b3ee Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 13:38:32 +0100
Subject: [PATCH 08/24] Build fix on farm

---
 diagnostic_remote_logging/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 605a77bb..fa63a567 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>diagnostic_msgs</build_depend>
+  <build_depend>rclcpp_components</build_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

From 3231f9165197c9d3f9e72b671de427cded7793e6 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 13:41:50 +0100
Subject: [PATCH 09/24] Adde curl dependency

---
 diagnostic_remote_logging/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index fa63a567..97a446f8 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -11,6 +11,7 @@
 
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>rclcpp_components</build_depend>
+  <build_depend>cURL</build_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

From 6eb4c49cf548e5a87cfe89d5bd72850c87008f9a Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 13:44:29 +0100
Subject: [PATCH 10/24] Removed Curl Dependency as build does not work on farm

---
 diagnostic_remote_logging/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 97a446f8..fa63a567 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -11,7 +11,6 @@
 
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>rclcpp_components</build_depend>
-  <build_depend>cURL</build_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

From 5e15745d75afcc17bd912d3cee8f8b4fb033e1f6 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 13:54:17 +0100
Subject: [PATCH 11/24] Curl Dependency

---
 diagnostic_remote_logging/package.xml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index fa63a567..75743715 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -11,10 +11,13 @@
 
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>rclcpp_components</build_depend>
-
+  <build_depend>libcurl4-openssl-dev</build_depend>
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <exec_depend>libcurl4-openssl-dev</exec_depend>
+  
   <export>
     <build_type>ament_cmake</build_type>
   </export>

From 61c69ebc9e586627c8fb71881c61960b3c928709 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 14:02:01 +0100
Subject: [PATCH 12/24] Update diagnostic_remote_logging/package.xml

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 75743715..5f1c3dce 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -11,7 +11,7 @@
 
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>rclcpp_components</build_depend>
-  <build_depend>libcurl4-openssl-dev</build_depend>
+  <build_depend>curl</build_depend>
   
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

From 3c26580daa7b62f2a96fbf5217be0609adc3345c Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 8 Jan 2025 14:02:07 +0100
Subject: [PATCH 13/24] Update diagnostic_remote_logging/package.xml

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/package.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 5f1c3dce..981c4dcc 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -16,7 +16,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-  <exec_depend>libcurl4-openssl-dev</exec_depend>
   
   <export>
     <build_type>ament_cmake</build_type>

From 0ece0a258fa84066e14eb722ebd28c506740e0ab Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Thu, 9 Jan 2025 14:00:45 +0000
Subject: [PATCH 14/24] Added unit tests for influx_line_protocol

---
 diagnostic_remote_logging/CMakeLists.txt      |   9 ++
 .../influx_line_protocol.hpp                  |  26 ++---
 diagnostic_remote_logging/package.xml         |   1 +
 .../test/influx_line_protocol.cpp             | 107 ++++++++++++++++++
 4 files changed, 126 insertions(+), 17 deletions(-)
 create mode 100644 diagnostic_remote_logging/test/influx_line_protocol.cpp

diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
index a36c0a1d..f646b4e8 100644
--- a/diagnostic_remote_logging/CMakeLists.txt
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -10,6 +10,7 @@ set(dependencies
     rclcpp
     rclcpp_components
     diagnostic_msgs
+    ament_cmake_gtest
     CURL
     )
 
@@ -44,4 +45,12 @@ install(TARGETS influx_component
         RUNTIME DESTINATION bin
 )
 
+if(BUILD_TESTING)
+  ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
+  target_include_directories(unit_tests PRIVATE include)
+  target_link_libraries(unit_tests influx_component)
+  ament_target_dependencies(unit_tests ${dependencies})
+endif()
+
+
 ament_package()
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index a09c3e77..d7d5aa22 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -36,7 +36,6 @@
  * \author Daan Wijfels
  */
 
-
 #pragma once
 
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
@@ -44,20 +43,16 @@
 
 std::string toInfluxTimestamp(const rclcpp::Time& time)
 {
-  double timestamp = time.seconds();
-  // Extract the integer part (seconds)
-  uint64_t seconds = static_cast<uint64_t>(timestamp);
-  // Extract the fractional part (nanoseconds) by subtracting the integer part and scaling
-  uint64_t nanoseconds = static_cast<uint64_t>((timestamp - seconds) * 1e9);
+  uint64_t seconds     = static_cast<uint64_t>(time.seconds());
+  uint64_t nanoseconds = static_cast<uint64_t>(time.nanoseconds()) % 1000000000;
 
-  // Convert both parts to strings
+  // Convert to strings
   std::string secStr     = std::to_string(seconds);
   std::string nanosecStr = std::to_string(nanoseconds);
 
-  // Ensure the nanoseconds part is zero-padded to 9 digits
+  // Zero-pad nanoseconds to 9 digits
   nanosecStr = std::string(9 - nanosecStr.length(), '0') + nanosecStr;
 
-  // Concatenate and return the result
   return secStr + nanosecStr;
 }
 
@@ -73,13 +68,13 @@ std::string escapeSpace(const std::string& input)
   return result;
 }
 
-bool is_number(const std::string& s) {
-    std::istringstream iss(s);
-    double d;
-    return iss >> std::noskipws >> d && iss.eof();
+bool is_number(const std::string& s)
+{
+  std::istringstream iss(s);
+  double             d;
+  return iss >> std::noskipws >> d && iss.eof();
 }
 
-
 std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& values)
 {
   std::string formatted;
@@ -98,8 +93,6 @@ std::string formatValues(const std::vector<diagnostic_msgs::msg::KeyValue>& valu
       formatted += "\"" + kv.value + "\"";
     }
     formatted += ",";
-
-
   }
   if (!formatted.empty()) {
     formatted.pop_back(); // Remove the last comma
@@ -163,4 +156,3 @@ std::string arrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArra
 
   return output;
 };
-
diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 981c4dcc..02a1737b 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -15,6 +15,7 @@
   
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   
   <export>
diff --git a/diagnostic_remote_logging/test/influx_line_protocol.cpp b/diagnostic_remote_logging/test/influx_line_protocol.cpp
new file mode 100644
index 00000000..fd398e65
--- /dev/null
+++ b/diagnostic_remote_logging/test/influx_line_protocol.cpp
@@ -0,0 +1,107 @@
+#include "diagnostic_msgs/msg/diagnostic_array.hpp"
+#include "diagnostic_msgs/msg/diagnostic_status.hpp"
+#include "diagnostic_msgs/msg/key_value.hpp"
+#include <gtest/gtest.h>
+#include <rclcpp/rclcpp.hpp>
+
+// Include the functions to test
+#include "diagnostic_remote_logging/influx_line_protocol.hpp" // Replace with the actual header file name
+
+diagnostic_msgs::msg::KeyValue createKeyValue(const std::string& key, const std::string& value)
+{
+  diagnostic_msgs::msg::KeyValue output;
+  output.key   = key;
+  output.value = value;
+  return output;
+}
+
+// Test toInfluxTimestamp
+TEST(InfluxTimestampTests, CorrectConversion)
+{
+  rclcpp::Time time(1672531200, 123456789); // Example time
+  std::string  expected = "1672531200123456789";
+  EXPECT_EQ(toInfluxTimestamp(time), expected);
+}
+
+// Test escapeSpace
+TEST(EscapeSpaceTests, HandlesSpaces)
+{
+  EXPECT_EQ(escapeSpace("test string"), "test\\ string");
+  EXPECT_EQ(escapeSpace("no_space"), "no_space");
+  EXPECT_EQ(escapeSpace("multiple spaces here"), "multiple\\ spaces\\ here");
+}
+
+// Test is_number
+TEST(IsNumberTests, ValidatesNumbers)
+{
+  EXPECT_TRUE(is_number("123"));
+  EXPECT_TRUE(is_number("123.456"));
+  EXPECT_TRUE(is_number("-123.456"));
+  EXPECT_FALSE(is_number("123abc"));
+  EXPECT_FALSE(is_number("abc123"));
+  EXPECT_FALSE(is_number(""));
+}
+
+// Test formatValues
+TEST(FormatValuesTests, FormatsKeyValuePairs)
+{
+  std::vector<diagnostic_msgs::msg::KeyValue> values;
+  values.push_back(createKeyValue("key1", "value"));
+  values.push_back(createKeyValue("key2", "42"));
+  values.push_back(createKeyValue("key3", "-3.14"));
+  values.push_back(createKeyValue("key with spaces", "value with spaces"));
+
+  std::string expected = "key1=\"value\",key2=42,key3=-3.14,key\\ with\\ spaces=\"value with spaces\"";
+  EXPECT_EQ(formatValues(values), expected);
+}
+
+// Test splitHardwareID
+TEST(SplitHardwareIDTests, SplitsCorrectly)
+{
+  EXPECT_EQ(splitHardwareID("node_name"), std::make_pair(std::string("none"), std::string("node_name")));
+  EXPECT_EQ(splitHardwareID("/ns/node_name"), std::make_pair(std::string("ns"), std::string("node_name")));
+  EXPECT_EQ(splitHardwareID("/ns/prefix/node_name"), std::make_pair(std::string("ns"), std::string("prefix/node_name")));
+}
+
+// Test statusToInfluxLineProtocol
+TEST(StatusToInfluxLineProtocolTests, FormatsCorrectly)
+{
+  diagnostic_msgs::msg::DiagnosticStatus status;
+  status.hardware_id = "/ns/node_name";
+  status.level       = 2;
+  status.message     = "Test message";
+  status.values.push_back(createKeyValue("key1", "value1"));
+  status.values.push_back(createKeyValue("key2", "42"));
+
+  std::string expected = "node_name,ns=ns level=2,message=\"Test message\",key1=\"value1\",key2=42 1672531200123456789\n";
+  std::string output;
+  statusToInfluxLineProtocol(output, status, "1672531200123456789");
+
+  EXPECT_EQ(output, expected);
+}
+
+// Test arrayToInfluxLineProtocol
+TEST(ArrayToInfluxLineProtocolTests, HandlesMultipleStatuses)
+{
+  auto diag_msg          = std::make_shared<diagnostic_msgs::msg::DiagnosticArray>();
+  diag_msg->header.stamp = rclcpp::Time(1672531200, 123456789);
+
+  diagnostic_msgs::msg::DiagnosticStatus status1;
+  status1.hardware_id = "/ns1/node1";
+  status1.level       = 1;
+  status1.message     = "First status";
+  status1.values.push_back(createKeyValue("keyA", "valueA"));
+
+  diagnostic_msgs::msg::DiagnosticStatus status2;
+  status2.hardware_id = "node2";
+  status2.level       = 2;
+  status2.message     = "Second status";
+  status2.values.push_back(createKeyValue("keyB", "42"));
+
+  diag_msg->status = {status1, status2};
+
+  std::string expected = "node1,ns=ns1 level=1,message=\"First status\",keyA=\"valueA\" 1672531200123456789\n"
+                         "node2,ns=none level=2,message=\"Second status\",keyB=42 1672531200123456789\n";
+
+  EXPECT_EQ(arrayToInfluxLineProtocol(diag_msg), expected);
+}
\ No newline at end of file

From 5ca34cde11574f25857497f3fe40d6dafe2fbda4 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Thu, 9 Jan 2025 14:24:38 +0000
Subject: [PATCH 15/24] Only depend on gtest when testing

---
 diagnostic_remote_logging/CMakeLists.txt | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
index f646b4e8..67a9f876 100644
--- a/diagnostic_remote_logging/CMakeLists.txt
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -10,7 +10,6 @@ set(dependencies
     rclcpp
     rclcpp_components
     diagnostic_msgs
-    ament_cmake_gtest
     CURL
     )
 
@@ -46,10 +45,11 @@ install(TARGETS influx_component
 )
 
 if(BUILD_TESTING)
-  ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
-  target_include_directories(unit_tests PRIVATE include)
-  target_link_libraries(unit_tests influx_component)
-  ament_target_dependencies(unit_tests ${dependencies})
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(unit_tests test/influx_line_protocol.cpp)
+    target_include_directories(unit_tests PRIVATE include)
+    target_link_libraries(unit_tests influx_component)
+    ament_target_dependencies(unit_tests ${dependencies} ament_cmake_gtest)
 endif()
 
 

From 733b6fbf27f4633dcc609e0c8297566f088be7cd Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 14:10:47 +0100
Subject: [PATCH 16/24] Update diagnostic_remote_logging/README.md

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index 7997a29a..497ef6ec 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -4,7 +4,7 @@ General information about this repository, including legal information and known
 
 This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, publishing their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
 
-As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](#telegraf-proxy) for an example on how to setup.
+As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](## Using a Telegraf Proxy) for an example on how to setup.
 
 ## Node Configuration
 

From 91880fbacc8e257a00002126a0fd52683abd6bd9 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 14:23:10 +0100
Subject: [PATCH 17/24] Update diagnostic_remote_logging/README.md

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index 497ef6ec..c6dc70b5 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -37,7 +37,7 @@ The `influx` node supports several parameters. Below is an example configuration
 - `send.agg`: Enables or disables subscription to the `/diagnostics_agg` topic.
 - `send.top_level_state`: Enables or disables subscription to the `/diagnostics_toplevel_state` topic.
 
-## InfluxDB Configuration
+#### InfluxDB Configuration
 
 Set the following parameters in your configuration to match your InfluxDB instance:
 

From 87fa5004f68034318921984ee5566d077205c02c Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 14:23:21 +0100
Subject: [PATCH 18/24] Update diagnostic_remote_logging/README.md

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index c6dc70b5..cc94b5c0 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -39,6 +39,8 @@ The `influx` node supports several parameters. Below is an example configuration
 
 #### InfluxDB Configuration
 
+## Starting the Node
+
 Set the following parameters in your configuration to match your InfluxDB instance:
 
 - `connection.url`: The URL of your InfluxDB write API endpoint.

From 2f16302c2c47f5ec4c6ad42c148f08b9bf79b1d3 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 14:23:29 +0100
Subject: [PATCH 19/24] Update diagnostic_remote_logging/README.md

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index cc94b5c0..78920fc6 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -61,10 +61,10 @@ To configure Telegraf as a proxy for InfluxDB:
 1. Ensure Telegraf is set up to send data to your InfluxDB instance via its configuration file (`/etc/telegraf/telegraf.conf`). Check [this link](https://docs.influxdata.com/influxdb/cloud/write-data/no-code/use-telegraf/manual-config/) for an example.
 2. Add the following to the telegraf configuration file to enable the InfluxDB v2 listener:
 
-```toml
-[[inputs.influxdb_v2_listener]]
-  service_address = ":8086"
-```
+    ```toml
+    [[inputs.influxdb_v2_listener]]
+      service_address = ":8086"
+    ```
 
 3. Update the `influx` node configuration to point to the appropriate URL. For example, if Telegraf is running on the same host as the `influx` node, the default `http://localhost:8086/api/v2/write` should work.
 

From a73894fe8cc6eafde2c6c210b8a514051604d0b4 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 13:24:53 +0000
Subject: [PATCH 20/24] Update diagnostic_remote_logging/README.md

---
 diagnostic_remote_logging/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index 78920fc6..f27fd753 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -2,7 +2,7 @@ General information about this repository, including legal information and known
 
 # The diagnostic_remote_logging package
 
-This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, publishing their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
+This package provides the `influx` node, which listens to diagnostic messages and integrates with InfluxDB v2 for monitoring and visualization. Specifically, it subscribes to the [`diagnostic_msgs/DiagnosticArray`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_agg` topic and the [`diagnostic_msgs/DiagnosticStatus`](https://index.ros.org/p/diagnostic_msgs) messages on the `/diagnostics_toplevel_state` topic. The node processes these messages, sending their statistics and levels to an [`InfluxDB`](http://influxdb.com) database, enabling use with tools like [`Grafana`](https://grafana.com).
 
 As of now we only support InfluxDB v2, for support with older versions please use a proxy like [`Telegraf`](https://www.influxdata.com/time-series-platform/telegraf/). See section [Telegraf](## Using a Telegraf Proxy) for an example on how to setup.
 

From 6fcf4983714cd175b7059cca83ab982c660e4a88 Mon Sep 17 00:00:00 2001
From: Daan Wijffels <daanwijffels@gmail.com>
Date: Wed, 15 Jan 2025 14:34:07 +0100
Subject: [PATCH 21/24] Apply suggestions from code review

Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
---
 diagnostic_remote_logging/CMakeLists.txt                  | 8 ++------
 .../diagnostic_remote_logging/influx_line_protocol.hpp    | 4 ++--
 diagnostic_remote_logging/package.xml                     | 4 +---
 diagnostic_remote_logging/src/influxdb.cpp                | 4 ++--
 4 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/diagnostic_remote_logging/CMakeLists.txt b/diagnostic_remote_logging/CMakeLists.txt
index 67a9f876..a33edea0 100644
--- a/diagnostic_remote_logging/CMakeLists.txt
+++ b/diagnostic_remote_logging/CMakeLists.txt
@@ -11,7 +11,7 @@ set(dependencies
     rclcpp_components
     diagnostic_msgs
     CURL
-    )
+)
 
 foreach(dep ${dependencies})
     find_package(${dep} REQUIRED)
@@ -21,9 +21,7 @@ include_directories(
     src/
     include/
 )
-add_library(influx_component SHARED
-                src/influxdb.cpp
-                )
+add_library(influx_component SHARED src/influxdb.cpp)
 
 ament_target_dependencies(influx_component ${dependencies})
 
@@ -51,6 +49,4 @@ if(BUILD_TESTING)
     target_link_libraries(unit_tests influx_component)
     ament_target_dependencies(unit_tests ${dependencies} ament_cmake_gtest)
 endif()
-
-
 ament_package()
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index d7d5aa22..fb6dcb59 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -139,13 +139,13 @@ void statusToInfluxLineProtocol(std::string& output, const diagnostic_msgs::msg:
   output += " " + timestamp_str + "\n";
 }
 
-std::string topLevelToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr& msg, const rclcpp::Time& time)
+std::string diagnosticStatusToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr& msg, const rclcpp::Time& time)
 {
   std::string output = msg->name + " level=" + std::to_string(msg->level) + " " + toInfluxTimestamp(time) + "\n";
   return output;
 };
 
-std::string arrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr& diag_msg)
+std::string diagnosticArrayToInfluxLineProtocol(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr& diag_msg)
 {
   std::string output;
   std::string timestamp = toInfluxTimestamp(diag_msg->header.stamp);
diff --git a/diagnostic_remote_logging/package.xml b/diagnostic_remote_logging/package.xml
index 02a1737b..164ca442 100644
--- a/diagnostic_remote_logging/package.xml
+++ b/diagnostic_remote_logging/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_remote_logging</name>
-  <version>0.0.1</version>
+  <version>4.3.1</version>
   <description>diagnostic_remote_logging</description>
   <maintainer email="dwijffels@lely.com">Daan Wijffels</maintainer>
   <license>>BSD-3-Clause</license>
@@ -16,8 +16,6 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-
-  
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/diagnostic_remote_logging/src/influxdb.cpp b/diagnostic_remote_logging/src/influxdb.cpp
index 9017171c..5d975dad 100644
--- a/diagnostic_remote_logging/src/influxdb.cpp
+++ b/diagnostic_remote_logging/src/influxdb.cpp
@@ -50,7 +50,7 @@ void InfluxDB::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::
     RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_agg to telegraf");
   }
 
-  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+  RCLCPP_DEBUG(this->get_logger(), "%s", output.c_str());
 }
 
 void InfluxDB::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg)
@@ -62,7 +62,7 @@ void InfluxDB::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::Sh
     RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_toplevel_state to telegraf");
   }
 
-  // RCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+  RCLCPP_DEBUGRCLCPP_INFO(this->get_logger(), "%s", output.c_str());
 }
 
 void InfluxDB::setupConnection(const std::string &url)

From 598ed5da0ebf8b60f7e679a1db221a0220976bda Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Wed, 15 Jan 2025 13:46:50 +0000
Subject: [PATCH 22/24] Added diagnostic_remote_logging

---
 .github/workflows/lint.yaml | 1 +
 .github/workflows/test.yaml | 1 +
 2 files changed, 2 insertions(+)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 4f926eef..55223155 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -41,5 +41,6 @@ jobs:
           package-name: |
             diagnostic_aggregator
             diagnostic_common_diagnostics
+            diagnostic_remote_logging
             diagnostic_updater
             self_test
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 224a0cf3..d92ce5f4 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -17,6 +17,7 @@ jobs:
         package: [
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
+            diagnostic_remote_logging,
             diagnostic_updater,
             self_test,
           ]

From 3635eb47da04d42658e24703afabe5e2e8d9fc1f Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Wed, 15 Jan 2025 14:02:57 +0000
Subject: [PATCH 23/24] Added BSD clause and added untested function

---
 .../test/influx_line_protocol.cpp             | 59 +++++++++++++++++--
 1 file changed, 54 insertions(+), 5 deletions(-)

diff --git a/diagnostic_remote_logging/test/influx_line_protocol.cpp b/diagnostic_remote_logging/test/influx_line_protocol.cpp
index fd398e65..f6f7244d 100644
--- a/diagnostic_remote_logging/test/influx_line_protocol.cpp
+++ b/diagnostic_remote_logging/test/influx_line_protocol.cpp
@@ -1,3 +1,41 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2025, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijffels
+ */
+
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
 #include "diagnostic_msgs/msg/diagnostic_status.hpp"
 #include "diagnostic_msgs/msg/key_value.hpp"
@@ -5,7 +43,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 // Include the functions to test
-#include "diagnostic_remote_logging/influx_line_protocol.hpp" // Replace with the actual header file name
+#include "diagnostic_remote_logging/influx_line_protocol.hpp"
 
 diagnostic_msgs::msg::KeyValue createKeyValue(const std::string& key, const std::string& value)
 {
@@ -80,8 +118,8 @@ TEST(StatusToInfluxLineProtocolTests, FormatsCorrectly)
   EXPECT_EQ(output, expected);
 }
 
-// Test arrayToInfluxLineProtocol
-TEST(ArrayToInfluxLineProtocolTests, HandlesMultipleStatuses)
+// Test diagnosticArrayToInfluxLineProtocol
+TEST(DiagnosticArrayToInfluxLineProtocolTests, HandlesMultipleStatuses)
 {
   auto diag_msg          = std::make_shared<diagnostic_msgs::msg::DiagnosticArray>();
   diag_msg->header.stamp = rclcpp::Time(1672531200, 123456789);
@@ -103,5 +141,16 @@ TEST(ArrayToInfluxLineProtocolTests, HandlesMultipleStatuses)
   std::string expected = "node1,ns=ns1 level=1,message=\"First status\",keyA=\"valueA\" 1672531200123456789\n"
                          "node2,ns=none level=2,message=\"Second status\",keyB=42 1672531200123456789\n";
 
-  EXPECT_EQ(arrayToInfluxLineProtocol(diag_msg), expected);
-}
\ No newline at end of file
+  EXPECT_EQ(diagnosticArrayToInfluxLineProtocol(diag_msg), expected);
+}
+
+// Test diagnosticStatusToInfluxLineProtocol
+TEST(DiagnosticStatusToInfluxLineProtocol, HandlesSingleStatus){
+  auto status = std::make_shared<diagnostic_msgs::msg::DiagnosticStatus>();
+  status->level       = 1;
+  status->name = "toplevel_state";
+  auto time = rclcpp::Time(1672531200, 123456789);
+  
+  std::string expected = "toplevel_state level=1 1672531200123456789\n";
+  EXPECT_EQ(diagnosticStatusToInfluxLineProtocol(status, time), expected);
+}

From 09986e36e7bd8ca945f91bf0b952debbdfd9b50c Mon Sep 17 00:00:00 2001
From: Daan Wijffels <dwijffels@lely.com>
Date: Wed, 15 Jan 2025 14:03:23 +0000
Subject: [PATCH 24/24] Apply suggestions from code review

---
 diagnostic_remote_logging/README.md           | 16 +--
 .../influx_line_protocol.hpp                  |  4 +-
 .../diagnostic_remote_logging/influxdb.hpp    |  5 +-
 diagnostic_remote_logging/src/influxdb.cpp    | 98 ++++++++++++-------
 4 files changed, 74 insertions(+), 49 deletions(-)

diff --git a/diagnostic_remote_logging/README.md b/diagnostic_remote_logging/README.md
index f27fd753..844b3c72 100644
--- a/diagnostic_remote_logging/README.md
+++ b/diagnostic_remote_logging/README.md
@@ -68,14 +68,14 @@ To configure Telegraf as a proxy for InfluxDB:
 
 3. Update the `influx` node configuration to point to the appropriate URL. For example, if Telegraf is running on the same host as the `influx` node, the default `http://localhost:8086/api/v2/write` should work.
 
-Leave the following parameters empty in the `influx` node configuration when using Telegraf as a proxy:
+4. Leave the following parameters empty in the `influx` node configuration when using Telegraf as a proxy:
 
-- `connection.token`
-- `connection.bucket`
-- `connection.organization`
+    - `connection.token`
+    - `connection.bucket`
+    - `connection.organization`
 
-Afterwards run the node with the following command:
+5. Afterwards run the node with the following command:
 
-```bash
-ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
-```
+    ```bash
+    ros2 run diagnostic_remote_logging influx --ros-args --params-file <path_to_yaml_file>
+    ```
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
index fb6dcb59..7eab9d19 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influx_line_protocol.hpp
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2009, Willow Garage, Inc.
+ *  Copyright (c) 2025, Willow Garage, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 /**
- * \author Daan Wijfels
+ * \author Daan Wijffels
  */
 
 #pragma once
diff --git a/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp b/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
index 7acc9ff9..ab0f7e63 100644
--- a/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
+++ b/diagnostic_remote_logging/include/diagnostic_remote_logging/influxdb.hpp
@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2009, Willow Garage, Inc.
+ *  Copyright (c) 2025, Willow Garage, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 /**
- * \author Daan Wijfels
+ * \author Daan Wijffels
  */
 
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
@@ -51,7 +51,6 @@ class InfluxDB : public rclcpp::Node
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr  diag_sub_;
   rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr top_level_sub_;
 
-
   std::string post_url_, influx_token_;
   CURL*       curl_;
 
diff --git a/diagnostic_remote_logging/src/influxdb.cpp b/diagnostic_remote_logging/src/influxdb.cpp
index 5d975dad..b7d915a4 100644
--- a/diagnostic_remote_logging/src/influxdb.cpp
+++ b/diagnostic_remote_logging/src/influxdb.cpp
@@ -1,25 +1,60 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2025, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/**
+ * \author Daan Wijffels
+ */
+
 #include "diagnostic_remote_logging/influxdb.hpp"
 
-InfluxDB::InfluxDB(const rclcpp::NodeOptions &opt)
+InfluxDB::InfluxDB(const rclcpp::NodeOptions& opt)
     : Node("influxdb", opt)
 {
   post_url_ = this->declare_parameter<std::string>("connection.url", "http://localhost:8086/api/v2/write");
 
-  if (post_url_.empty())
-  {
+  if (post_url_.empty()) {
     throw std::runtime_error("Parameter connection.url must be set");
   }
 
   std::string organization = declare_parameter("connection.organization", "");
-  std::string bucket = declare_parameter("connection.bucket", "");
-  influx_token_ = declare_parameter("connection.token", "");
+  std::string bucket       = declare_parameter("connection.bucket", "");
+  influx_token_            = declare_parameter("connection.token", "");
 
   // Check if any of the parameters is set
-  if (!organization.empty() || !bucket.empty() || !influx_token_.empty())
-  {
+  if (!organization.empty() || !bucket.empty() || !influx_token_.empty()) {
     // Ensure all parameters are set
-    if (organization.empty() || bucket.empty() || influx_token_.empty())
-    {
+    if (organization.empty() || bucket.empty() || influx_token_.empty()) {
       throw std::runtime_error("All parameters (connection.organization, connection.bucket, connection.token) must be set, or when using a proxy like Telegraf none have to be set.");
     }
 
@@ -30,23 +65,20 @@ InfluxDB::InfluxDB(const rclcpp::NodeOptions &opt)
 
   setupConnection(post_url_);
 
-  if (declare_parameter("send.agg", true))
-  {
+  if (declare_parameter("send.agg", true)) {
     diag_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics_agg", rclcpp::SensorDataQoS(), std::bind(&InfluxDB::diagnosticsCallback, this, std::placeholders::_1));
   }
 
-  if (declare_parameter<bool>("send.top_level_state", true))
-  {
+  if (declare_parameter<bool>("send.top_level_state", true)) {
     top_level_sub_ = this->create_subscription<diagnostic_msgs::msg::DiagnosticStatus>("/diagnostics_toplevel_state", rclcpp::SensorDataQoS(), std::bind(&InfluxDB::topLevelCallback, this, std::placeholders::_1));
   }
 }
 
 void InfluxDB::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
 {
-  std::string output = arrayToInfluxLineProtocol(msg);
+  std::string output = diagnosticArrayToInfluxLineProtocol(msg);
 
-  if (!sendToInfluxDB(output))
-  {
+  if (!sendToInfluxDB(output)) {
     RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_agg to telegraf");
   }
 
@@ -55,28 +87,26 @@ void InfluxDB::diagnosticsCallback(const diagnostic_msgs::msg::DiagnosticArray::
 
 void InfluxDB::topLevelCallback(const diagnostic_msgs::msg::DiagnosticStatus::SharedPtr msg)
 {
-  std::string output = topLevelToInfluxLineProtocol(msg, this->get_clock()->now());
+  std::string output = diagnosticStatusToInfluxLineProtocol(msg, this->get_clock()->now());
 
-  if (!sendToInfluxDB(output))
-  {
+  if (!sendToInfluxDB(output)) {
     RCLCPP_ERROR(this->get_logger(), "Failed to send /diagnostics_toplevel_state to telegraf");
   }
 
-  RCLCPP_DEBUGRCLCPP_INFO(this->get_logger(), "%s", output.c_str());
+  RCLCPP_DEBUG(this->get_logger(), "%s", output.c_str());
 }
 
-void InfluxDB::setupConnection(const std::string &url)
+void InfluxDB::setupConnection(const std::string& url)
 {
   curl_global_init(CURL_GLOBAL_ALL);
   curl_ = curl_easy_init();
-  if (!curl_)
-  {
+  if (!curl_) {
     throw std::runtime_error("Failed to initialize curl");
   }
 
-  struct curl_slist *headers = nullptr;
+  struct curl_slist* headers = nullptr;
 
-  if (!influx_token_.empty()){
+  if (!influx_token_.empty()) {
     headers = curl_slist_append(headers, ("Authorization: Token " + influx_token_).c_str());
   }
 
@@ -86,15 +116,14 @@ void InfluxDB::setupConnection(const std::string &url)
   curl_easy_setopt(curl_, CURLOPT_URL, url.c_str());
   curl_easy_setopt(curl_, CURLOPT_HTTP_VERSION, CURL_HTTP_VERSION_1_1); // Use HTTP/1.1 for keep-alive
   curl_easy_setopt(curl_, CURLOPT_HTTPHEADER, headers);
-  curl_easy_setopt(curl_, CURLOPT_CONNECTTIMEOUT, 10L);                 // Set timeout as needed
-  curl_easy_setopt(curl_, CURLOPT_TCP_KEEPALIVE, 1L);                   // Enable TCP keep-alive
+  curl_easy_setopt(curl_, CURLOPT_CONNECTTIMEOUT, 10L); // Set timeout as needed
+  curl_easy_setopt(curl_, CURLOPT_TCP_KEEPALIVE, 1L);   // Enable TCP keep-alive
   curl_easy_setopt(curl_, CURLOPT_POST, 1L);
 }
 
-bool InfluxDB::sendToInfluxDB(const std::string &data)
+bool InfluxDB::sendToInfluxDB(const std::string& data)
 {
-  if (!curl_)
-  {
+  if (!curl_) {
     RCLCPP_ERROR(this->get_logger(), "cURL not initialized.");
     return false;
   }
@@ -105,16 +134,14 @@ bool InfluxDB::sendToInfluxDB(const std::string &data)
   CURLcode res = curl_easy_perform(curl_);
 
   // Check for errors
-  if (res != CURLE_OK)
-  {
+  if (res != CURLE_OK) {
     RCLCPP_ERROR(this->get_logger(), "cURL error: %s", curl_easy_strerror(res));
     return false;
   }
   long response_code;
   curl_easy_getinfo(curl_, CURLINFO_RESPONSE_CODE, &response_code);
 
-  if (response_code != 204)
-  {
+  if (response_code != 204) {
     RCLCPP_ERROR(this->get_logger(), "Error (%ld) when sending to telegraf:\n%s", response_code, data.c_str());
     return false;
   }
@@ -124,8 +151,7 @@ bool InfluxDB::sendToInfluxDB(const std::string &data)
 
 InfluxDB::~InfluxDB()
 {
-  if (curl_)
-  {
+  if (curl_) {
     curl_easy_cleanup(curl_);
   }
   curl_global_cleanup();