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 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