Program Listing for File other_analyzer.hpp

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#ifndef DIAGNOSTIC_AGGREGATOR__OTHER_ANALYZER_HPP_
#define DIAGNOSTIC_AGGREGATOR__OTHER_ANALYZER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "diagnostic_aggregator/generic_analyzer_base.hpp"
#include "diagnostic_aggregator/visibility_control.hpp"

#include "rclcpp/rclcpp.hpp"

namespace diagnostic_aggregator
{
/*
 *\brief OtherAnalyzer analyzes any messages that haven't been analyzed by other Analyzers
 *
 * OtherAnalyzer is not loaded as a plugin. It is created by the Aggregator, and called
 * seperately. The aggregator will call analyze() on any message not handled by other
 * analyzers.
 *
 * Stale items will be discarded after 5 seconds of no updates.
 *
 * OtherAnalyzer is designed to be used internally by the Aggregator only.
 *
 */
class OtherAnalyzer : public GenericAnalyzerBase
{
public:
  explicit OtherAnalyzer(bool other_as_errors = false)
  : other_as_errors_(other_as_errors)
  {
    RCLCPP_DEBUG(rclcpp::get_logger("OtherAnalyzer"), "constructor");
  }

  virtual ~OtherAnalyzer()
  {
    RCLCPP_DEBUG(rclcpp::get_logger("OtherAnalyzer"), "destructor");
  }

  /*
   *\brief Initialized with the base path only.
   *
   *\param path Base path of Aggregator
   *\param breadcrumb Prefix for parameter getter.
   */
  bool init(const std::string & path, const std::string & breadcrumb = "")
  {
    (void)breadcrumb;

    nice_name_ = "Other";
    path_ = path;
    return GenericAnalyzerBase::init(path_, "", 5.0, -1, true);
  }

  /*
   *\brief OtherAnalyzer cannot be initialized with a NodeHandle
   *
   *\return False, since NodeHandle initialization isn't valid
   */
  bool init(
    const std::string & base_path, const std::string & breadcrumb,
    const rclcpp::Node::SharedPtr node)
  {
    (void)base_path;
    (void)breadcrumb;
    (void)node;

    RCLCPP_ERROR(
      rclcpp::get_logger(
        "generic_analyzer_base"),
      R"(OtherAnalyzer was attempted to initialize with a NodeHandle.
      This analyzer cannot be used as a plugin.)");
    return false;
  }

  /*
   *\brief match() isn't called by aggregator for OtherAnalyzer
   *
   *\return True, since match() will never by called by Aggregator
   */
  bool match(const std::string & name)
  {
    (void)name;

    return true;
  }

  /*
   *\brief Reports diagnostics, but doesn't report anything if it doesn't have data
   *
   */
  std::vector<std::shared_ptr<diagnostic_msgs::msg::DiagnosticStatus>> report()
  {
    std::vector<std::shared_ptr<diagnostic_msgs::msg::DiagnosticStatus>> processed =
      GenericAnalyzerBase::report();

    // We don't report anything if there's no "Other" items
    if (processed.size() == 1) {
      processed.clear();
    } else if (other_as_errors_ && processed.size() > 1) {
      // "Other" items are considered an error.
      std::vector<std::shared_ptr<diagnostic_msgs::msg::DiagnosticStatus>>::iterator it =
        processed.begin();
      for (; it != processed.end(); ++it) {
        if ((*it)->name == path_) {
          (*it)->level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
          (*it)->message = "Unanalyzed items found in \"Other\"";
          break;
        }
      }
    }

    return processed;
  }

private:
  bool other_as_errors_;
};

}  // namespace diagnostic_aggregator

#endif  // DIAGNOSTIC_AGGREGATOR__OTHER_ANALYZER_HPP_