Class to facilitate the creation of component self-tests. More...

#include <self_test.h>

Inheritance diagram for self_test::TestRunner:

Public Member Functions
void	checkTest ()
	Check if a self-test is pending. If so, start it and wait for it to complete.
void	setID (std::string id)
	Sets the ID of the part being tested.
	TestRunner (ros::NodeHandle h=ros::NodeHandle(), ros::NodeHandle ph=ros::NodeHandle("~"))
	Constructs a dispatcher.
Private Member Functions
bool	doTest (diagnostic_msgs::SelfTest::Request &req, diagnostic_msgs::SelfTest::Response &res)
Private Attributes
std::string	id_
ros::NodeHandle	node_handle_
ros::NodeHandle	private_node_handle_
ros::CallbackQueue	self_test_queue_
ros::ServiceServer	service_server_
bool	verbose

Detailed Description

Class to facilitate the creation of component self-tests.

The self_test::TestRunner class advertises the "self_test" service, and maintains a list of pretests and tests. When "self_test" is invoked, TestRunner waits for a suitable time to interrupt the node and run the tests. Results from the tests are collected and returned to the caller.

self_test::TestRunner's is a derived class from diagnostic_updater::DiagnosticTaskVector. For documentation of the add() methods you will have to refer to the base class's documentation.

Definition at line 68 of file self_test.h.

Constructor & Destructor Documentation

self_test::TestRunner::TestRunner	(	ros::NodeHandle	h = `ros::NodeHandle()`,
		ros::NodeHandle	ph = `ros::NodeHandle("~")`
	)		`[inline]`

Constructs a dispatcher.

Parameters:

owner	Class that owns this dispatcher. This is used as the default class for tests that are member-functions.
h	NodeHandle from which to work. (Currently unused?)

Definition at line 90 of file self_test.h.