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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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 00037 00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_ 00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_ 00040 00041 #include <ros/ros.h> 00042 #include <pr2_mechanism_msgs/MechanismStatistics.h> 00043 #include <diagnostic_msgs/DiagnosticArray.h> 00044 #include <diagnostic_updater/DiagnosticStatusWrapper.h> 00045 #include <vector> 00046 #include <float.h> 00047 #include <boost/shared_ptr.hpp> 00048 #include <boost/math/special_functions/fpclassify.hpp> 00049 #include "pr2_mechanism_model/robot.h" 00050 #include "pr2_mechanism_diagnostics/joint_diagnostics.h" 00051 #include "pr2_mechanism_diagnostics/controller_diagnostics.h" 00052 #include "std_srvs/Empty.h" 00053 #include "std_msgs/Bool.h" 00054 00055 namespace pr2_mechanism_diagnostics 00056 { 00057 00062 class CtrlJntDiagnosticPublisher 00063 { 00064 private: 00065 std::map<std::string, boost::shared_ptr<JointStats> > joint_stats; 00066 std::map<std::string, boost::shared_ptr<ControllerStats> > controller_stats; 00067 00068 ros::NodeHandle n_, pnh_; 00069 ros::Subscriber mech_st_sub_; 00070 ros::Publisher diag_pub_; 00071 00072 bool use_sim_time_; 00073 bool disable_controller_warnings_; 00074 00075 void mechCallback(const pr2_mechanism_msgs::MechanismStatistics::ConstPtr& mechMsg); 00076 00077 public: 00078 CtrlJntDiagnosticPublisher(); 00079 00080 ~CtrlJntDiagnosticPublisher() { } 00081 00082 void publishDiag(); 00084 bool ok() const { return n_.ok(); } 00085 }; 00086 00087 } 00088 00089 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_MECH_DIAG_