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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00039 #ifndef DIAGNOSTIC_AGGREGATOR_H 00040 #define DIAGNOSTIC_AGGREGATOR_H 00041 00042 #include <ros/ros.h> 00043 #include <string> 00044 #include <map> 00045 #include <vector> 00046 #include <set> 00047 #include <boost/shared_ptr.hpp> 00048 #include <diagnostic_msgs/DiagnosticArray.h> 00049 #include <diagnostic_msgs/DiagnosticStatus.h> 00050 #include <diagnostic_msgs/KeyValue.h> 00051 #include "XmlRpcValue.h" 00052 #include "diagnostic_aggregator/analyzer.h" 00053 #include "diagnostic_aggregator/analyzer_group.h" 00054 #include "diagnostic_aggregator/status_item.h" 00055 #include "diagnostic_aggregator/other_analyzer.h" 00056 00057 00058 namespace diagnostic_aggregator { 00059 00101 class Aggregator 00102 { 00103 public: 00107 Aggregator(); 00108 00109 ~Aggregator(); 00110 00114 void publishData(); 00115 00119 bool ok() const { return n_.ok(); } 00120 00124 double getPubRate() const { return pub_rate_; } 00125 00126 private: 00127 ros::NodeHandle n_; 00128 ros::Subscriber diag_sub_; 00129 ros::Publisher agg_pub_; 00130 ros::Publisher toplevel_state_pub_; 00131 double pub_rate_; 00132 00136 void diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg); 00137 00138 AnalyzerGroup* analyzer_group_; 00139 00140 OtherAnalyzer* other_analyzer_; 00141 00142 std::string base_path_; 00144 std::set<std::string> ros_warnings_; 00146 /* 00147 *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set) 00148 */ 00149 void checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg); 00150 00151 }; 00152 00153 } 00154 00155 #endif // DIAGNOSTIC_AGGREGATOR_H