00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_TOPIC_TOOLS_DIAGNOSTIC_NODELET_ 00038 #define JSK_TOPIC_TOOLS_DIAGNOSTIC_NODELET_ 00039 00040 #include <diagnostic_updater/diagnostic_updater.h> 00041 #include <diagnostic_updater/publisher.h> 00042 #include <jsk_topic_tools/vital_checker.h> 00043 00044 #include "jsk_topic_tools/connection_based_nodelet.h" 00045 #include "jsk_topic_tools/diagnostic_utils.h" 00046 #include "jsk_topic_tools/timered_diagnostic_updater.h" 00047 namespace jsk_topic_tools 00048 { 00049 class DiagnosticNodelet: public ConnectionBasedNodelet 00050 { 00051 public: 00052 typedef boost::shared_ptr<DiagnosticNodelet> Ptr; 00053 DiagnosticNodelet(const std::string& name); 00054 00055 protected: 00056 virtual void onInit(); 00057 virtual void updateDiagnostic( 00058 diagnostic_updater::DiagnosticStatusWrapper &stat); 00059 00060 const std::string name_; 00061 TimeredDiagnosticUpdater::Ptr diagnostic_updater_; 00062 jsk_topic_tools::VitalChecker::Ptr vital_checker_; 00063 00064 private: 00065 00066 }; 00067 } 00068 00069 #endif