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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 00035 #include "ros/ros.h" 00036 #include "diagnostic_msgs/SelfTest.h" 00037 00038 #include <gtest/gtest.h> 00039 #include <string> 00040 00041 bool doTest(ros::NodeHandle nh) 00042 { 00043 diagnostic_msgs::SelfTest srv; 00044 00045 if (nh.serviceClient<diagnostic_msgs::SelfTest>("self_test").call(srv)) 00046 { 00047 diagnostic_msgs::SelfTest::Response &res = srv.response; 00048 00049 std::string passfail; 00050 00051 if (res.passed) 00052 passfail = "PASSED"; 00053 else 00054 passfail = "FAILED"; 00055 00056 printf("Self test %s for device with id: [%s]\n", passfail.c_str(), res.id.c_str()); 00057 00058 00059 for (size_t i = 0; i < res.status.size(); i++) 00060 { 00061 printf("%2zd) %s\n", i + 1, res.status[i].name.c_str()); 00062 if (res.status[i].level == 0) 00063 printf(" [OK]: "); 00064 else if (res.status[i].level == 1) 00065 printf(" [WARNING]: "); 00066 else 00067 printf(" [ERROR]: "); 00068 00069 printf("%s\n", res.status[i].message.c_str()); 00070 00071 for (size_t j = 0; j < res.status[i].values.size(); j++) 00072 printf(" [%s] %s\n", res.status[i].values[j].key.c_str(), res.status[i].values[j].value.c_str()); 00073 00074 printf("\n"); 00075 } 00076 return res.passed; 00077 } 00078 else 00079 { 00080 printf("Failed to call service.\n"); 00081 return false; 00082 } 00083 } 00084 00085 int main(int argc, char **argv) 00086 { 00087 ros::init(argc, argv, "run_selftest", ros::init_options::AnonymousName); 00088 if (argc != 2) 00089 { 00090 printf("usage: run_selftest name\n"); 00091 return 1; 00092 } 00093 00094 ros::NodeHandle nh(argv[1]); 00095 return !doTest(nh); 00096 } 00097