diagnostic_utils.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/diagnostic_utils.h"

namespace jsk_topic_tools
{
  void addDiagnosticInformation(
    const std::string& string_prefix,
    jsk_topic_tools::TimeAccumulator& accumulator,
    diagnostic_updater::DiagnosticStatusWrapper& stat)
  {
    stat.add(string_prefix + " (Avg.)", accumulator.mean());
    if (accumulator.mean() != 0.0) {
      stat.add(string_prefix + " (Avg., fps)", 1.0 / accumulator.mean());
    }
    stat.add(string_prefix + " (Max)", accumulator.max());
    stat.add(string_prefix + " (Min)", accumulator.min());
    stat.add(string_prefix + " (Var.)", accumulator.variance());
  }

  void addDiagnosticErrorSummary(
    const std::string& string_prefix,
    jsk_topic_tools::VitalChecker::Ptr vital_checker,
    diagnostic_updater::DiagnosticStatusWrapper& stat)
  {
    stat.summary(
      diagnostic_msgs::DiagnosticStatus::ERROR,
      (boost::format("%s not running for %f sec")
       % string_prefix % vital_checker->deadSec()).str());
  }
  
  void addDiagnosticBooleanStat(
    const std::string& string_prefix,
    const bool value,
    diagnostic_updater::DiagnosticStatusWrapper& stat)
  {
    if (value) {
      stat.add(string_prefix, "True");
    }
    else {
      stat.add(string_prefix, "False");
    }
  }
}