vital_checker_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/vital_checker_nodelet.h"

namespace jsk_topic_tools
{
  void VitalCheckerNodelet::onInit()
  {
    DiagnosticNodelet::onInit();
    if (pnh_->hasParam("title")) {
      pnh_->getParam("title", title_);
    }
    else {
      NODELET_FATAL("no ~title is specified");
      return;
    }
    sub_ = pnh_->subscribe<topic_tools::ShapeShifter>(
      "input", 1,
      &VitalCheckerNodelet::inputCallback, this);
  }

  void VitalCheckerNodelet::subscribe()
  {
    
  }
  
  void VitalCheckerNodelet::unsubscribe()
  {

  }

  void VitalCheckerNodelet::inputCallback(
    const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
  }
  
  void VitalCheckerNodelet::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (vital_checker_->isAlive()) {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   title_ + " is running");
      stat.add("last alive time", vital_checker_->lastAliveTimeRelative());
    }
    else {
      addDiagnosticErrorSummary(
        title_, vital_checker_, stat);
    }
  }
}

#include <pluginlib/class_list_macros.h>
typedef jsk_topic_tools::VitalCheckerNodelet VitalCheckerNodelet;
PLUGINLIB_EXPORT_CLASS(VitalCheckerNodelet, nodelet::Nodelet)