00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, 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 00039 #ifndef DIAGNOSTIC_ANALYZER_GROUP_H 00040 #define DIAGNOSTIC_ANALYZER_GROUP_H 00041 00042 #include <map> 00043 #include <vector> 00044 #include <string> 00045 #include <ros/ros.h> 00046 #include <diagnostic_msgs/DiagnosticStatus.h> 00047 #include <diagnostic_msgs/KeyValue.h> 00048 #include "diagnostic_aggregator/status_item.h" 00049 #include <boost/shared_ptr.hpp> 00050 #include "XmlRpcValue.h" 00051 #include "diagnostic_aggregator/analyzer.h" 00052 #include "diagnostic_aggregator/status_item.h" 00053 #include "pluginlib/class_loader.h" 00054 #include "pluginlib/class_list_macros.h" 00055 00056 namespace diagnostic_aggregator { 00057 00109 class AnalyzerGroup : public Analyzer 00110 { 00111 public: 00112 AnalyzerGroup(); 00113 00114 virtual ~AnalyzerGroup(); 00115 00121 virtual bool init(const std::string base_path, const ros::NodeHandle &n); 00122 00126 virtual bool match(const std::string name); 00127 00131 virtual bool analyze(const boost::shared_ptr<StatusItem> item); 00132 00136 virtual std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report(); 00137 00138 virtual std::string getPath() const { return path_; } 00139 00140 virtual std::string getName() const { return nice_name_; } 00141 00142 private: 00143 std::string path_, nice_name_; 00144 00148 pluginlib::ClassLoader<Analyzer> analyzer_loader_; 00149 00153 std::vector<boost::shared_ptr<StatusItem> > aux_items_; 00154 00155 std::vector<boost::shared_ptr<Analyzer> > analyzers_; 00156 00157 /* 00158 *\brief The map of names to matchings is stored internally. 00159 */ 00160 std::map<const std::string, std::vector<bool> > matched_; 00161 00162 }; 00163 00164 } 00165 00166 #endif //DIAGNOSTIC_ANALYZER_GROUP_H