Allows analyzers to be grouped together, or used as sub-analyzers. More...
#include <analyzer_group.h>
Public Member Functions | |
| virtual bool | analyze (const boost::shared_ptr< StatusItem > item) |
| Analyze returns true if any sub-analyzers will analyze an item. | |
| AnalyzerGroup () | |
| virtual std::string | getName () const |
| Returns nice name for display. (ex: 'Sensors'). | |
| virtual std::string | getPath () const |
| Returns full prefix of analyzer. (ex: '/Robot/Sensors'). | |
| virtual bool | init (const std::string base_path, const ros::NodeHandle &n) |
| Initialized with base path and namespace. | |
| virtual bool | match (const std::string name) |
| Match returns true if any sub-analyzers match an item. | |
| virtual std::vector < boost::shared_ptr < diagnostic_msgs::DiagnosticStatus > > | report () |
| The processed output is the combined output of the sub-analyzers, and the top level status. | |
| virtual | ~AnalyzerGroup () |
Private Attributes | |
| pluginlib::ClassLoader< Analyzer > | analyzer_loader_ |
| Loads Analyzer plugins in "analyzers" namespace. | |
| std::vector< Analyzer * > | analyzers_ |
| std::vector< boost::shared_ptr < StatusItem > > | aux_items_ |
| These items store errors, if any, for analyzers that failed to initialize or load. | |
| std::map< const std::string, std::vector< bool > > | matched_ |
| std::string | nice_name_ |
| std::string | path_ |
Allows analyzers to be grouped together, or used as sub-analyzers.
The AnalyzerGroup is used by the diagnostic aggregator internally to load and handle analyzers. It can be used as a normal analyzer plugin to allow analyzers to become "sub-analyzers", or move as a group.
The "sub-analyzers" are initialized using parameters in the "~analyzers" namespace of the AnalyzerGroup. The "type" parameters determines the analyzer type.
Example initialization:
* sensors: * type: AnalyzerGroup * path: Sensors * analyzers: * base_hk: * type: GenericAnalyzer * path: Base Hokuyo * timeout: 5.0 * find_and_remove_prefix: base_hokuyo_node * num_items: 3 * tilt_hk: * type: GenericAnalyzer * path: Tilt Hokuyo * timeout: 5.0 * find_and_remove_prefix: tilt_hokuyo_node * num_items: 3 * imu: * type: GenericAnalyzer * path: IMU * timeout: 5.0 * find_and_remove_prefix: imu_node * num_items: 3 *
Each namespace below "analyzers" describes a new Analyzer that will be loaded as a sub-analyzer. Any analyzer that fails to initialize or loads incorrectly will generate an error in the console output, and a special diagnostic item in the output of the AnalyzerGroup that describes the error.
In the above example, the AnalyzerGroup will have three sub-analyzers. The AnalyzerGroup will report a DiagnosticStatus message in the processed output with the name "Sensors" (the top-level state). The "Sensors" message will have the level of the highest of the sub-analyzers, or the highest of "Sensors/Base Hokuyo", "Sensors/Tilt Hokuyo" and "Sensors/IMU". The state of any other items, like "Sensors/IMU/Connection" won't matter to the AnalyzerGroup.
The Aggregator uses the AnalyzerGroup internally to load and update analyzers.
Definition at line 109 of file analyzer_group.h.
| diagnostic_aggregator::AnalyzerGroup::AnalyzerGroup | ( | ) |
| AnalyzerGroup::~AnalyzerGroup | ( | ) | [virtual] |
Definition at line 163 of file analyzer_group.cpp.
| bool AnalyzerGroup::analyze | ( | const boost::shared_ptr< StatusItem > | item | ) | [virtual] |
Analyze returns true if any sub-analyzers will analyze an item.
Implements diagnostic_aggregator::Analyzer.
Definition at line 198 of file analyzer_group.cpp.
| virtual std::string diagnostic_aggregator::AnalyzerGroup::getName | ( | ) | const [inline, virtual] |
Returns nice name for display. (ex: 'Sensors').
Implements diagnostic_aggregator::Analyzer.
Definition at line 140 of file analyzer_group.h.
| virtual std::string diagnostic_aggregator::AnalyzerGroup::getPath | ( | ) | const [inline, virtual] |
Returns full prefix of analyzer. (ex: '/Robot/Sensors').
Implements diagnostic_aggregator::Analyzer.
Definition at line 138 of file analyzer_group.h.
| virtual bool diagnostic_aggregator::AnalyzerGroup::init | ( | const std::string | base_path, | |
| const ros::NodeHandle & | n | |||
| ) | [virtual] |
Initialized with base path and namespace.
The parameters in its namespace determine the sub-analyzers.
Implements diagnostic_aggregator::Analyzer.
| virtual bool diagnostic_aggregator::AnalyzerGroup::match | ( | const std::string | name | ) | [virtual] |
Match returns true if any sub-analyzers match an item.
Implements diagnostic_aggregator::Analyzer.
| vector< boost::shared_ptr< diagnostic_msgs::DiagnosticStatus > > AnalyzerGroup::report | ( | ) | [virtual] |
The processed output is the combined output of the sub-analyzers, and the top level status.
Implements diagnostic_aggregator::Analyzer.
Definition at line 213 of file analyzer_group.cpp.
Loads Analyzer plugins in "analyzers" namespace.
Definition at line 148 of file analyzer_group.h.
std::vector<Analyzer*> diagnostic_aggregator::AnalyzerGroup::analyzers_ [private] |
Definition at line 155 of file analyzer_group.h.
std::vector<boost::shared_ptr<StatusItem> > diagnostic_aggregator::AnalyzerGroup::aux_items_ [private] |
These items store errors, if any, for analyzers that failed to initialize or load.
Definition at line 153 of file analyzer_group.h.
std::map<const std::string, std::vector<bool> > diagnostic_aggregator::AnalyzerGroup::matched_ [private] |
Definition at line 160 of file analyzer_group.h.
std::string diagnostic_aggregator::AnalyzerGroup::nice_name_ [private] |
Definition at line 143 of file analyzer_group.h.
std::string diagnostic_aggregator::AnalyzerGroup::path_ [private] |
Definition at line 143 of file analyzer_group.h.
