other_analyzer.h
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00034 
00039 #ifndef OTHER_ANALYZER_H
00040 #define OTHER_ANALYZER_H
00041 
00042 #include <string>
00043 #include <ros/ros.h>
00044 #include "diagnostic_aggregator/generic_analyzer_base.h"
00045 
00046 namespace diagnostic_aggregator {
00047 
00048 /*
00049  *\brief OtherAnalyzer analyzes any messages that haven't been analyzed by other Analyzers
00050  *
00051  * OtherAnalyzer is not loaded as a plugin. It is created by the Aggregator, and called 
00052  * seperately. The aggregator will call analyze() on any message not handled by other
00053  * analyzers.
00054  *
00055  * Stale items will be discarded after 5 seconds of no updates.
00056  * 
00057  * OtherAnalyzer is designed to be used internally by the Aggregator only.
00058  *
00059  */
00060 class OtherAnalyzer : public GenericAnalyzerBase
00061 {
00062 public:
00066   OtherAnalyzer() { }
00067 
00068   ~OtherAnalyzer() { }
00069 
00070   /*
00071    *\brief Initialized with the base path only.
00072    *
00073    *\param path Base path of Aggregator
00074    */
00075   bool init(std::string path)
00076   {
00077     return GenericAnalyzerBase::init(path + "/Other", "Other", 5.0, -1, true);
00078   }
00079 
00080   /*
00081    *\brief OtherAnalyzer cannot be initialized with a NodeHandle
00082    *
00083    *\return False, since NodeHandle initialization isn't valid
00084    */
00085   bool init(const std::string base_path, const ros::NodeHandle &n)
00086   {
00087     ROS_ERROR("OtherAnalyzer was attempted to initialize with a NodeHandle. This analyzer cannot be used as a plugin.");
00088     return false;
00089   }
00090 
00091   /*
00092    *\brief match() isn't called by aggregator for OtherAnalyzer
00093    *
00094    *\return True, since match() will never by called by Aggregator
00095    */
00096   bool match(std::string name) { return true; }
00097 
00098   /*
00099    *\brief Reports diagnostics, but doesn't report anything if it doesn't have data
00100    *
00101    */
00102   std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report()
00103   {
00104     std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed = GenericAnalyzerBase::report();
00105 
00106     // We don't report anything if there's no "Other" items
00107     if (processed.size() == 1)
00108       processed.clear();
00109     
00110     return processed;
00111   }
00112 };
00113 
00114 }
00115 
00116 
00117 #endif // OTHER_ANALYZER_H


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Fri Aug 28 2015 10:30:07