Manages a list of diagnostic tasks, and calls them in a rate-limited manner. More...

#include <diagnostic_updater.h>

Inheritance diagram for diagnostic_updater::Updater:

Public Member Functions
void	broadcast (int lvl, const std::string msg)
	Output a message on all the known DiagnosticStatus. More...

void	force_update ()
	Forces the diagnostics to update. More...

double	getPeriod ()
	Returns the interval between updates. More...

void	setHardwareID (const std::string &hwid)

void	setHardwareIDf (const char *format,...)

void	update ()
	Causes the diagnostics to update if the inter-update interval has been exceeded. More...

	Updater (ros::NodeHandle h=ros::NodeHandle(), ros::NodeHandle ph=ros::NodeHandle("~"), std::string node_name=ros::this_node::getName())
	Constructs an updater class. More...

Public Member Functions inherited from diagnostic_updater::DiagnosticTaskVector
void	add (const std::string &name, TaskFunction f)
	Add a DiagnosticTask embodied by a name and function to the DiagnosticTaskVector. More...

template<class T >
void	add (const std::string name, T c, void(T::f)(diagnostic_updater::DiagnosticStatusWrapper &))
	Add a DiagnosticTask embodied by a name and method to the DiagnosticTaskVector. More...

void	add (DiagnosticTask &task)
	Add a DiagnosticTask to the DiagnosticTaskVector. More...

bool	removeByName (const std::string name)
	Remove a task based on its name. More...

Public Attributes
bool	verbose_

Private Member Functions
virtual void	addedTaskCallback (DiagnosticTaskInternal &task)

void	publish (diagnostic_msgs::DiagnosticStatus &stat)

void	publish (std::vector< diagnostic_msgs::DiagnosticStatus > &status_vec)

void	setup ()

void	update_diagnostic_period ()

Private Attributes
std::string	hwid_

ros::Time	next_time_

ros::NodeHandle	node_handle_

std::string	node_name_

double	period_

ros::NodeHandle	private_node_handle_

ros::Publisher	publisher_

bool	warn_nohwid_done_

Additional Inherited Members
Protected Member Functions inherited from diagnostic_updater::DiagnosticTaskVector
void	addInternal (DiagnosticTaskInternal &task)

const std::vector< DiagnosticTaskInternal > &	getTasks ()
	Returns the vector of tasks. More...

Protected Attributes inherited from diagnostic_updater::DiagnosticTaskVector
boost::mutex	lock_

Detailed Description

Manages a list of diagnostic tasks, and calls them in a rate-limited manner.

This class manages a list of diagnostic tasks. Its update function should be called frequently. At some predetermined rate, the update function will cause all the diagnostic tasks to run, and will collate and publish the resulting diagnostics. The publication rate is determined by the "~diagnostic_period" ros parameter.

The class also allows an update to be forced when something significant has happened, and allows a single message to be broadcast on all the diagnostics if normal operation of the node is suspended for some reason.

Definition at line 395 of file diagnostic_updater.h.

Constructor & Destructor Documentation

◆ Updater()

diagnostic_updater::Updater::Updater	(	ros::NodeHandle	h = `ros::NodeHandle()`,
		ros::NodeHandle	ph = `ros::NodeHandle("~")`,
		std::string	node_name = `ros::this_node::getName()`
	)

inline

Constructs an updater class.

Parameters

h	Node handle used to publish the diagnostics messages.
ph	Node handle from which to get the diagnostic_period parameter.
node_name	Name of the node used in the messages.

Definition at line 408 of file diagnostic_updater.h.

Member Function Documentation

◆ addedTaskCallback()

virtual void diagnostic_updater::Updater::addedTaskCallback ( DiagnosticTaskInternal & task )

inlineprivatevirtual

Causes a placeholder DiagnosticStatus to be published as soon as a diagnostic task is added to the Updater.

Reimplemented from diagnostic_updater::DiagnosticTaskVector.

Definition at line 604 of file diagnostic_updater.h.

◆ broadcast()

void diagnostic_updater::Updater::broadcast	(	int	lvl,
		const std::string	msg
	)

inline

Output a message on all the known DiagnosticStatus.

Useful if something drastic is happening such as shutdown or a self-test.

Parameters

lvl	Level of the diagnostic being output.
msg	Status message to output.

Definition at line 511 of file diagnostic_updater.h.

◆ force_update()

void diagnostic_updater::Updater::force_update ( )

inline

Forces the diagnostics to update.

Useful if the node has undergone a drastic state change that should be published immediately.

Definition at line 434 of file diagnostic_updater.h.

◆ getPeriod()

double diagnostic_updater::Updater::getPeriod ( )

inline

Returns the interval between updates.

Definition at line 483 of file diagnostic_updater.h.

◆ publish() [1/2]

void diagnostic_updater::Updater::publish ( diagnostic_msgs::DiagnosticStatus & stat )

inlineprivate

Publishes a single diagnostic status.

Definition at line 561 of file diagnostic_updater.h.

◆ publish() [2/2]

void diagnostic_updater::Updater::publish ( std::vector< diagnostic_msgs::DiagnosticStatus > & status_vec )

inlineprivate

Publishes a vector of diagnostic statuses.

Definition at line 571 of file diagnostic_updater.h.

◆ setHardwareID()

void diagnostic_updater::Updater::setHardwareID ( const std::string & hwid )

inline

Definition at line 541 of file diagnostic_updater.h.

◆ setHardwareIDf()

void diagnostic_updater::Updater::setHardwareIDf	(	const char *	format,
			...
	)

inline

Definition at line 530 of file diagnostic_updater.h.

◆ setup()

void diagnostic_updater::Updater::setup ( )

inlineprivate

Publishes on /diagnostics and reads the diagnostic_period parameter.

Definition at line 588 of file diagnostic_updater.h.

◆ update()

void diagnostic_updater::Updater::update ( )

inline

Causes the diagnostics to update if the inter-update interval has been exceeded.

Definition at line 417 of file diagnostic_updater.h.

◆ update_diagnostic_period()

void diagnostic_updater::Updater::update_diagnostic_period ( )

inlineprivate

Recheck the diagnostic_period on the parameter server. (Cached)

Definition at line 551 of file diagnostic_updater.h.

Member Data Documentation

◆ hwid_

std::string diagnostic_updater::Updater::hwid_

private

Definition at line 619 of file diagnostic_updater.h.

◆ next_time_

ros::Time diagnostic_updater::Updater::next_time_

private

Definition at line 616 of file diagnostic_updater.h.

◆ node_handle_

ros::NodeHandle diagnostic_updater::Updater::node_handle_

private

Definition at line 613 of file diagnostic_updater.h.

◆ node_name_

std::string diagnostic_updater::Updater::node_name_

private

Definition at line 620 of file diagnostic_updater.h.

◆ period_

double diagnostic_updater::Updater::period_

private

Definition at line 618 of file diagnostic_updater.h.

◆ private_node_handle_

ros::NodeHandle diagnostic_updater::Updater::private_node_handle_

private

Definition at line 612 of file diagnostic_updater.h.

◆ publisher_

ros::Publisher diagnostic_updater::Updater::publisher_

private

Definition at line 614 of file diagnostic_updater.h.

◆ verbose_

bool diagnostic_updater::Updater::verbose_

Definition at line 398 of file diagnostic_updater.h.

◆ warn_nohwid_done_

bool diagnostic_updater::Updater::warn_nohwid_done_

private

Definition at line 621 of file diagnostic_updater.h.

The documentation for this class was generated from the following file:

diagnostic_updater.h

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Updater()

Member Function Documentation

◆ addedTaskCallback()

◆ broadcast()

◆ force_update()

◆ getPeriod()

◆ publish() [1/2]

◆ publish() [2/2]

◆ setHardwareID()

◆ setHardwareIDf()

◆ setup()

◆ update()

◆ update_diagnostic_period()

Member Data Documentation

◆ hwid_

◆ next_time_

◆ node_handle_

◆ node_name_

◆ period_

◆ private_node_handle_

◆ publisher_

◆ verbose_

◆ warn_nohwid_done_