status_item.h
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00034 
00039 #ifndef DIAGNOSTIC_STATUS_ITEM_H
00040 #define DIAGNOSTIC_STATUS_ITEM_H
00041 
00042 #include <map>
00043 #include <string>
00044 #include <vector>
00045 #include <ros/ros.h>
00046 #include <diagnostic_msgs/DiagnosticStatus.h>
00047 #include <diagnostic_msgs/KeyValue.h>
00048 #include <boost/shared_ptr.hpp>
00049 
00050 namespace diagnostic_aggregator {
00051 
00055 inline std::string getOutputName(const std::string item_name)
00056 {
00057   std::string output_name = item_name;
00058   std::string slash_str = "/";
00059   std::string::size_type pos = 0;
00060   while ((pos = output_name.find(slash_str, pos)) != std::string::npos)
00061   {
00062     output_name.replace(pos, slash_str.size(), " ");
00063     pos++;
00064   }
00065 
00066   return output_name;
00067 }
00068 
00072 enum DiagnosticLevel
00073 {
00074   Level_OK = diagnostic_msgs::DiagnosticStatus::OK,
00075   Level_Warn = diagnostic_msgs::DiagnosticStatus::WARN,
00076   Level_Error = diagnostic_msgs::DiagnosticStatus::ERROR,
00077   Level_Stale = 3
00078 };
00079 
00083 inline DiagnosticLevel valToLevel(const int val)
00084 {
00085   if (val == diagnostic_msgs::DiagnosticStatus::OK)
00086     return Level_OK;
00087   if (val == diagnostic_msgs::DiagnosticStatus::WARN)
00088     return Level_Warn;
00089   if (val == diagnostic_msgs::DiagnosticStatus::ERROR)
00090     return Level_Error;
00091   if (val == 3)
00092     return Level_Stale;
00093   
00094   ROS_ERROR("Attempting to convert %d into DiagnosticLevel. Values are: {0: OK, 1: Warning, 2: Error, 3: Stale}", val);
00095   return Level_Error;
00096 }
00097 
00101 inline std::string valToMsg(const int val)
00102 {
00103   if (val == diagnostic_msgs::DiagnosticStatus::OK)
00104     return "OK";
00105   if (val == diagnostic_msgs::DiagnosticStatus::WARN)
00106     return "Warning";
00107   if (val == diagnostic_msgs::DiagnosticStatus::ERROR)
00108     return "Error";
00109   if (val == 3)
00110     return "Stale";
00111   
00112   ROS_ERROR("Attempting to convert diagnostic level %d into string. Values are: {0: \"OK\", 1: \"Warning\", 2: \"Error\", 3: \"Stale\"}", val);
00113   return "Error";
00114 }
00115 
00127 inline std::string removeLeadingNameChaff(const std::string &input_name, const std::string &chaff)
00128 {
00129   std::string output_name = input_name;
00130 
00131   if (chaff.size() == 0)
00132     return output_name;
00133 
00134   // Remove start name from all output names
00135   // Turns "/PREFIX/base_hokuyo_node: Connection Status" to "/PREFIX/Connection Status"
00136   std::size_t last_slash = output_name.rfind("/");
00137   std::string start_of_name = output_name.substr(0, last_slash) + std::string("/");
00138 
00139   if (output_name.find(chaff) == last_slash + 1)
00140     output_name.replace(last_slash + 1, chaff.size(), "");
00141 
00142   if (output_name.find(":", last_slash) == last_slash + 1)
00143     output_name= start_of_name + output_name.substr(last_slash + 2);
00144 
00145   while (output_name.find(" ", last_slash) == last_slash + 1)
00146     output_name = start_of_name + output_name.substr(last_slash + 2);
00147 
00148   return output_name;
00149 }
00150 
00158 class StatusItem
00159 {
00160 public:
00164   StatusItem(const diagnostic_msgs::DiagnosticStatus *status);
00165 
00169   StatusItem(const std::string item_name, const std::string message = "Missing", const DiagnosticLevel level = Level_Stale);
00170 
00171   ~StatusItem();
00172 
00178   bool update(const diagnostic_msgs::DiagnosticStatus *status);
00179 
00191   boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> toStatusMsg(const std::string &path, const bool stale = false) const;
00192 
00193   /*
00194    *\brief Returns level of DiagnosticStatus message
00195    */
00196   DiagnosticLevel getLevel() const { return level_; }
00197 
00201   std::string getMessage() const { return message_; }
00202 
00206   std::string getName() const { return name_; }
00207 
00211   std::string getHwId() const { return hw_id_; }
00212 
00216   const ros::Time getLastUpdateTime() const { return update_time_; }
00217 
00223   bool hasKey(const std::string &key) const
00224   {
00225     for (unsigned int i = 0; i < values_.size(); ++i)
00226     {
00227       if (values_[i].key == key)
00228         return true;
00229     }
00230 
00231     return false;
00232   }
00233 
00239   std::string getValue(const std::string &key) const
00240   {
00241     for (unsigned int i = 0; i < values_.size(); ++i)
00242     {
00243       if (values_[i].key == key)
00244         return values_[i].value;
00245     }
00246 
00247     return std::string("");
00248   }
00249 
00250 private:
00251   ros::Time update_time_;
00252 
00253   DiagnosticLevel level_;
00254   std::string output_name_; 
00255   std::string name_;
00256   std::string message_;
00257   std::string hw_id_;
00258   std::vector<diagnostic_msgs::KeyValue> values_;
00259 };
00260 
00261 }
00262 
00263 #endif //DIAGNOSTIC_STATUS_ITEM_H


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Tue Mar 26 2019 03:09:37