diagnostic_updater::Updater Class Reference

Manages a list of diagnostic tasks, and calls them in a rate-limited manner. More...

#include <diagnostic_updater.h>

Inheritance diagram for diagnostic_updater::Updater:

List of all members.

Public Member Functions
void	broadcast (int lvl, const std::string msg)
	Output a message on all the known DiagnosticStatus.
void	force_update ()
	Forces the diagnostics to update.
double	getPeriod ()
	Returns the interval between updates.
void	setHardwareID (const std::string &hwid)
void	setHardwareIDf (const char *format,...)
void	update ()
	Causes the diagnostics to update if the inter-update interval has been exceeded.
	Updater (ros::NodeHandle h=ros::NodeHandle(), ros::NodeHandle ph=ros::NodeHandle("~"), std::string node_name=ros::this_node::getName())
	Constructs an updater class.
Public Attributes
bool	verbose_
Private Member Functions
virtual void	addedTaskCallback (DiagnosticTaskInternal &task)
void	publish (diagnostic_msgs::DiagnosticStatus &stat)
void	publish (std::vector< diagnostic_msgs::DiagnosticStatus > &status_vec)
void	setup ()
void	update_diagnostic_period ()
Private Attributes
std::string	hwid_
ros::Time	next_time_
ros::NodeHandle	node_handle_
std::string	node_name_
double	period_
ros::NodeHandle	private_node_handle_
ros::Publisher	publisher_
bool	warn_nohwid_done_

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Detailed Description

Manages a list of diagnostic tasks, and calls them in a rate-limited manner.

This class manages a list of diagnostic tasks. Its update function should be called frequently. At some predetermined rate, the update function will cause all the diagnostic tasks to run, and will collate and publish the resulting diagnostics. The publication rate is determined by the "~diagnostic_period" ros parameter.

The class also allows an update to be forced when something significant has happened, and allows a single message to be broadcast on all the diagnostics if normal operation of the node is suspended for some reason.

Definition at line 362 of file diagnostic_updater.h.

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Constructor & Destructor Documentation

diagnostic_updater::Updater::Updater	(	ros::NodeHandle	h = ros::NodeHandle(),
		ros::NodeHandle	ph = ros::NodeHandle("~"),
		std::string	node_name = ros::this_node::getName()
	)		[inline]

Constructs an updater class.

Parameters:

h	Node handle from which to get the diagnostic_period parameter.

Definition at line 373 of file diagnostic_updater.h.

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Member Function Documentation

virtual void diagnostic_updater::Updater::addedTaskCallback

(

DiagnosticTaskInternal &

task

)

[inline, private, virtual]

Causes a placeholder DiagnosticStatus to be published as soon as a diagnostic task is added to the Updater.

Reimplemented from diagnostic_updater::DiagnosticTaskVector.

Definition at line 569 of file diagnostic_updater.h.

void diagnostic_updater::Updater::broadcast	(	int	lvl,
		const std::string	msg
	)		[inline]

Output a message on all the known DiagnosticStatus.

Useful if something drastic is happening such as shutdown or a self-test.

Parameters:

lvl	Level of the diagnostic being output.
msg	Status message to output.

Definition at line 476 of file diagnostic_updater.h.

void diagnostic_updater::Updater::force_update

(

)

[inline]

Forces the diagnostics to update.

Useful if the node has undergone a drastic state change that should be published immediately.

Definition at line 399 of file diagnostic_updater.h.

double diagnostic_updater::Updater::getPeriod

(

)

[inline]

Returns the interval between updates.

Definition at line 448 of file diagnostic_updater.h.

void diagnostic_updater::Updater::publish

(

diagnostic_msgs::DiagnosticStatus &

stat

)

[inline, private]

Publishes a single diagnostic status.

Definition at line 526 of file diagnostic_updater.h.

void diagnostic_updater::Updater::publish

(

std::vector< diagnostic_msgs::DiagnosticStatus > &

status_vec

)

[inline, private]

Publishes a vector of diagnostic statuses.

Definition at line 536 of file diagnostic_updater.h.

void diagnostic_updater::Updater::setHardwareID

(

const std::string &

hwid

)

[inline]

Definition at line 506 of file diagnostic_updater.h.

void diagnostic_updater::Updater::setHardwareIDf	(	const char *	format,
			...
	)		[inline]

Definition at line 495 of file diagnostic_updater.h.

void diagnostic_updater::Updater::setup

(

)

[inline, private]

Publishes on /diagnostics and reads the diagnostic_period parameter.

Definition at line 553 of file diagnostic_updater.h.

void diagnostic_updater::Updater::update

(

)

[inline]

Causes the diagnostics to update if the inter-update interval has been exceeded.

Definition at line 382 of file diagnostic_updater.h.

void diagnostic_updater::Updater::update_diagnostic_period

(

)

[inline, private]

Recheck the diagnostic_period on the parameter server. (Cached)

Definition at line 516 of file diagnostic_updater.h.

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Member Data Documentation

std::string diagnostic_updater::Updater::hwid_ [private]

Definition at line 584 of file diagnostic_updater.h.

ros::Time diagnostic_updater::Updater::next_time_ [private]

Definition at line 581 of file diagnostic_updater.h.

ros::NodeHandle diagnostic_updater::Updater::node_handle_ [private]

Definition at line 578 of file diagnostic_updater.h.

std::string diagnostic_updater::Updater::node_name_ [private]

Definition at line 585 of file diagnostic_updater.h.

double diagnostic_updater::Updater::period_ [private]

Definition at line 583 of file diagnostic_updater.h.

ros::NodeHandle diagnostic_updater::Updater::private_node_handle_ [private]

Definition at line 577 of file diagnostic_updater.h.

ros::Publisher diagnostic_updater::Updater::publisher_ [private]

Definition at line 579 of file diagnostic_updater.h.

bool diagnostic_updater::Updater::verbose_

Definition at line 365 of file diagnostic_updater.h.

bool diagnostic_updater::Updater::warn_nohwid_done_ [private]

Definition at line 586 of file diagnostic_updater.h.

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The documentation for this class was generated from the following file:

• diagnostic_updater.h