exception_selftest.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the <ORGANIZATION> nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00035 #include <ros/ros.h>
00036 
00037 #include "diagnostic_msgs/SelfTest.h"
00038 
00039 #include "self_test/self_test.h"
00040 
00041 #include <stdexcept>
00042 
00043 //  using namespace std;
00044 
00045 class MyNode
00046 {
00047 public:
00048 
00049   // self_test::TestRunner is the handles sequencing driver self-tests.
00050   self_test::TestRunner self_test_;
00051 
00052   // A value showing statefulness of tests
00053   double some_val;
00054 
00055   ros::NodeHandle nh_;
00056 
00057   MyNode() : self_test_()
00058   {
00059     self_test_.add("Pretest", this, &MyNode::pretest );
00060 
00061     self_test_.add("ID Lookup",                 this, &MyNode::test1);
00062     self_test_.add("Exception generating test", this, &MyNode::test2);
00063     self_test_.add("Value generating test",     this, &MyNode::test3);
00064     self_test_.add("Value testing test",        this, &MyNode::test4);
00065 
00066     self_test_.add("Posttest", this, &MyNode::pretest );
00067   }
00068 
00069   void pretest(diagnostic_updater::DiagnosticStatusWrapper& status)
00070   {
00071     ROS_INFO("Doing preparation stuff before we run our test.\n");
00072     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Pretest completed successfully.");
00073     
00074     some_val = 1.0;
00075   }
00076 
00077   void test1(diagnostic_updater::DiagnosticStatusWrapper& status)
00078   {
00079     // Look up ID here
00080     char ID[] = "12345";
00081     bool lookup_successful = true;
00082 
00083     if (lookup_successful)
00084     {
00085       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "ID Lookup successful");
00086       
00087       self_test_.setID(ID);
00088 
00089     } else {
00090       status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "ID Lookup failed");
00091     }
00092   }
00093 
00094   // Throwing an exception
00095   void test2(diagnostic_updater::DiagnosticStatusWrapper& status)
00096   {
00097     status.level = 0;
00098 
00099     throw std::runtime_error("we did something that threw an exception");
00100 
00101     // Here's where we would report success if we'd made it past
00102     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We made it past the exception throwing statement.");
00103   }
00104 
00105   void test3(diagnostic_updater::DiagnosticStatusWrapper& status)
00106   {
00107     some_val += 41.0;
00108 
00109     status.add("some value", some_val);
00110     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We successfully changed the value.");
00111   }
00112 
00113   void test4(diagnostic_updater::DiagnosticStatusWrapper& status)
00114   {
00115     if (some_val == 42.0)
00116     {
00117       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We observed the change in value");
00118     } 
00119     else
00120     {
00121       status.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "We failed to observe the change in value, it is currently %f.", some_val);
00122     }
00123   }
00124 
00125   void posttest(diagnostic_updater::DiagnosticStatusWrapper& status)
00126   {
00127     ROS_INFO("Doing cleanup stuff after we run our test.\n");
00128     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Posttest completed successfully.");
00129   }
00130 
00131   bool spin()
00132   {
00133     while (nh_.ok())
00134     {
00135       ros::Duration(1).sleep();
00136       
00137       self_test_.checkTest();
00138     }
00139     return true;
00140   }
00141 };
00142 
00143 int
00144 main(int argc, char** argv)
00145 {
00146   ros::init(argc, argv, "my_node");
00147 
00148   MyNode n;
00149 
00150   n.spin();
00151 
00152   return(0);
00153 }


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Tue Mar 26 2019 03:09:48