aggregator.cpp
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00034 
00037 #include <diagnostic_aggregator/aggregator.h>
00038 
00039 using namespace std;
00040 using namespace diagnostic_aggregator;
00041 
00042 Aggregator::Aggregator() :
00043   pub_rate_(1.0),
00044   analyzer_group_(NULL),
00045   other_analyzer_(NULL),
00046   base_path_("")
00047 {
00048   ros::NodeHandle nh = ros::NodeHandle("~");
00049   nh.param(string("base_path"), base_path_, string(""));
00050   if (base_path_.size() > 0 && base_path_.find("/") != 0)
00051     base_path_ = "/" + base_path_;
00052 
00053   nh.param("pub_rate", pub_rate_, pub_rate_);
00054     
00055   analyzer_group_ = new AnalyzerGroup();
00056   
00057   if (!analyzer_group_->init(base_path_, nh))
00058   {
00059     ROS_ERROR("Analyzer group for diagnostic aggregator failed to initialize!");
00060   }
00061   
00062 
00063   // Last analyzer handles remaining data
00064   other_analyzer_ = new OtherAnalyzer();
00065   other_analyzer_->init(base_path_); // This always returns true
00066 
00067   diag_sub_ = n_.subscribe("/diagnostics", 1000, &Aggregator::diagCallback, this);
00068   agg_pub_ = n_.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics_agg", 1);
00069   toplevel_state_pub_ = n_.advertise<diagnostic_msgs::DiagnosticStatus>("/diagnostics_toplevel_state", 1);
00070 }
00071 
00072 void Aggregator::checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg)
00073 {
00074   if (diag_msg->header.stamp.toSec() != 0)
00075     return;
00076 
00077   string stamp_warn = "No timestamp set for diagnostic message. Message names: ";
00078   vector<diagnostic_msgs::DiagnosticStatus>::const_iterator it;
00079   for (it = diag_msg->status.begin(); it != diag_msg->status.end(); ++it)
00080   {
00081     if (it != diag_msg->status.begin())
00082       stamp_warn += ", ";
00083     stamp_warn += it->name;
00084   }
00085   
00086   if (!ros_warnings_.count(stamp_warn))
00087   {
00088     ROS_WARN("%s", stamp_warn.c_str());
00089     ros_warnings_.insert(stamp_warn);
00090   }
00091 }
00092 
00093 void Aggregator::diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg)
00094 {
00095   checkTimestamp(diag_msg);  
00096 
00097   bool analyzed = false;
00098   for (unsigned int j = 0; j < diag_msg->status.size(); ++j)
00099   {
00100     analyzed = false;
00101     boost::shared_ptr<StatusItem> item(new StatusItem(&diag_msg->status[j]));
00102     if (analyzer_group_->match(item->getName()))
00103       analyzed = analyzer_group_->analyze(item);
00104 
00105     if (!analyzed)
00106       other_analyzer_->analyze(item);
00107   }
00108 }
00109 
00110 Aggregator::~Aggregator() 
00111 {
00112   if (analyzer_group_) delete analyzer_group_;
00113 
00114   if (other_analyzer_) delete other_analyzer_;
00115 }
00116 
00117 void Aggregator::publishData()
00118 {
00119   diagnostic_msgs::DiagnosticArray diag_array;
00120 
00121   diagnostic_msgs::DiagnosticStatus diag_toplevel_state;
00122   diag_toplevel_state.name = "toplevel_state";
00123   diag_toplevel_state.level = -1;
00124   int min_level = 255;
00125 
00126   vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed = analyzer_group_->report();
00127   for (unsigned int i = 0; i < processed.size(); ++i)
00128   {
00129     diag_array.status.push_back(*processed[i]);
00130 
00131     if (processed[i]->level > diag_toplevel_state.level)
00132       diag_toplevel_state.level = processed[i]->level;
00133     if (processed[i]->level < min_level)
00134       min_level = processed[i]->level;
00135   }
00136  
00137   vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed_other = other_analyzer_->report();
00138   for (unsigned int i = 0; i < processed_other.size(); ++i)
00139   {
00140     diag_array.status.push_back(*processed_other[i]);
00141 
00142     if (processed_other[i]->level > diag_toplevel_state.level)
00143       diag_toplevel_state.level = processed_other[i]->level;
00144     if (processed_other[i]->level < min_level)
00145       min_level = processed_other[i]->level;
00146   }
00147 
00148   diag_array.header.stamp = ros::Time::now();
00149 
00150   agg_pub_.publish(diag_array);
00151 
00152   // Top level is error if we have stale items, unless all stale
00153   if (diag_toplevel_state.level > 2 and min_level <= 2)
00154     diag_toplevel_state.level = 2;
00155 
00156   toplevel_state_pub_.publish(diag_toplevel_state);
00157 }
00158   
00159 
00160   
00161 
00162     
00163 
00164 
00165 


diagnostic_aggregator
Author(s): Kevin Watts
autogenerated on Fri Jan 3 2014 11:19:06