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 DIAGNOSTIC_ANALYZER_GROUP_H 00040 #define DIAGNOSTIC_ANALYZER_GROUP_H 00041 00042 #include <map> 00043 #include <vector> 00044 #include <string> 00045 #include <algorithm> 00046 #include <ros/ros.h> 00047 #include <diagnostic_msgs/DiagnosticStatus.h> 00048 #include <diagnostic_msgs/KeyValue.h> 00049 #include "diagnostic_aggregator/status_item.h" 00050 #include <boost/shared_ptr.hpp> 00051 #include "XmlRpcValue.h" 00052 #include "diagnostic_aggregator/analyzer.h" 00053 #include "diagnostic_aggregator/status_item.h" 00054 #include "pluginlib/class_loader.hpp" 00055 #include "pluginlib/class_list_macros.hpp" 00056 00057 namespace diagnostic_aggregator { 00058 00110 class AnalyzerGroup : public Analyzer 00111 { 00112 public: 00113 AnalyzerGroup(); 00114 00115 virtual ~AnalyzerGroup(); 00116 00122 virtual bool init(const std::string base_path, const ros::NodeHandle &n); 00123 00127 virtual bool addAnalyzer(boost::shared_ptr<Analyzer>& analyzer); 00128 00132 virtual bool removeAnalyzer(boost::shared_ptr<Analyzer>& analyzer); 00133 00137 virtual bool match(const std::string name); 00138 00142 void resetMatches(); 00143 00147 virtual bool analyze(const boost::shared_ptr<StatusItem> item); 00148 00152 virtual std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report(); 00153 00154 virtual std::string getPath() const { return path_; } 00155 00156 virtual std::string getName() const { return nice_name_; } 00157 00158 private: 00159 std::string path_, nice_name_; 00160 00164 pluginlib::ClassLoader<Analyzer> analyzer_loader_; 00165 00169 std::vector<boost::shared_ptr<StatusItem> > aux_items_; 00170 00171 std::vector<boost::shared_ptr<Analyzer> > analyzers_; 00172 00173 /* 00174 *\brief The map of names to matchings is stored internally. 00175 */ 00176 std::map<const std::string, std::vector<bool> > matched_; 00177 00178 }; 00179 00180 } 00181 00182 #endif //DIAGNOSTIC_ANALYZER_GROUP_H