vital_checker_nodelet.cpp
Go to the documentation of this file.
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)


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 12:38:34