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 #include "jsk_topic_tools/vital_checker_nodelet.h" 00038 00039 namespace jsk_topic_tools 00040 { 00041 void VitalCheckerNodelet::onInit() 00042 { 00043 DiagnosticNodelet::onInit(); 00044 if (pnh_->hasParam("title")) { 00045 pnh_->getParam("title", title_); 00046 } 00047 else { 00048 NODELET_FATAL("no ~title is specified"); 00049 return; 00050 } 00051 sub_ = pnh_->subscribe<topic_tools::ShapeShifter>( 00052 "input", 1, 00053 &VitalCheckerNodelet::inputCallback, this); 00054 } 00055 00056 void VitalCheckerNodelet::subscribe() 00057 { 00058 00059 } 00060 00061 void VitalCheckerNodelet::unsubscribe() 00062 { 00063 00064 } 00065 00066 void VitalCheckerNodelet::inputCallback( 00067 const boost::shared_ptr<topic_tools::ShapeShifter const>& msg) 00068 { 00069 boost::mutex::scoped_lock lock(mutex_); 00070 vital_checker_->poke(); 00071 } 00072 00073 void VitalCheckerNodelet::updateDiagnostic( 00074 diagnostic_updater::DiagnosticStatusWrapper &stat) 00075 { 00076 boost::mutex::scoped_lock lock(mutex_); 00077 if (vital_checker_->isAlive()) { 00078 stat.summary(diagnostic_msgs::DiagnosticStatus::OK, 00079 title_ + " is running"); 00080 stat.add("last alive time", vital_checker_->lastAliveTimeRelative()); 00081 } 00082 else { 00083 addDiagnosticErrorSummary( 00084 title_, vital_checker_, stat); 00085 } 00086 } 00087 } 00088 00089 #include <pluginlib/class_list_macros.h> 00090 typedef jsk_topic_tools::VitalCheckerNodelet VitalCheckerNodelet; 00091 PLUGINLIB_EXPORT_CLASS(VitalCheckerNodelet, nodelet::Nodelet)