aggregator.h
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00034 
00039 #ifndef DIAGNOSTIC_AGGREGATOR_H
00040 #define DIAGNOSTIC_AGGREGATOR_H
00041 
00042 #include <ros/ros.h>
00043 #include <string>
00044 #include <map>
00045 #include <vector>
00046 #include <set>
00047 #include <boost/shared_ptr.hpp>
00048 #include <boost/thread/mutex.hpp>
00049 #include <bondcpp/bond.h>
00050 #include <diagnostic_msgs/DiagnosticArray.h>
00051 #include <diagnostic_msgs/DiagnosticStatus.h>
00052 #include <diagnostic_msgs/KeyValue.h>
00053 #include <diagnostic_msgs/AddDiagnostics.h>
00054 #include "XmlRpcValue.h"
00055 #include "diagnostic_aggregator/analyzer.h"
00056 #include "diagnostic_aggregator/analyzer_group.h"
00057 #include "diagnostic_aggregator/status_item.h"
00058 #include "diagnostic_aggregator/other_analyzer.h"
00059 
00060 
00061 namespace diagnostic_aggregator {
00062 
00105 class Aggregator
00106 { 
00107 public:
00111   Aggregator();
00112 
00113   ~Aggregator();
00114 
00118   void publishData();
00119 
00123   bool ok() const { return n_.ok(); }
00124 
00128   double getPubRate() const { return pub_rate_; }
00129 
00130 private:
00131   ros::NodeHandle n_;
00132   ros::ServiceServer add_srv_; 
00133   ros::Subscriber diag_sub_; 
00134   ros::Publisher agg_pub_;  
00135   ros::Publisher toplevel_state_pub_;  
00136   boost::mutex mutex_;
00137   double pub_rate_;
00138 
00142   void diagCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);
00143 
00150   bool addDiagnostics(diagnostic_msgs::AddDiagnostics::Request &req,
00151                       diagnostic_msgs::AddDiagnostics::Response &res);
00152 
00153   AnalyzerGroup* analyzer_group_;
00154 
00155   OtherAnalyzer* other_analyzer_;
00156 
00157   std::vector<boost::shared_ptr<bond::Bond> > bonds_; 
00159   /*
00160    *!\brief called when a bond between the aggregator and a node is broken
00161    *
00162    * Modifies the contents of added_analyzers_ and analyzer_group, removing the
00163    * diagnostics that had been brought up by that bond.
00164    *!\param bond_id The bond id (namespace) from which the analyzer was created
00165    *!\param analyzer Shared pointer to the analyzer group that was added
00166    */
00167   void bondBroken(std::string bond_id,
00168                   boost::shared_ptr<Analyzer> analyzer);
00169 
00170   /*
00171    *!\brief called when a bond is formed between the aggregator and a node.
00172    * Actually adds the analyzergroup to the main analyzer group. Before this
00173    * function is called, the added diagnostics will not be analyzed by the
00174    * aggregator.
00175    *!\param group Shared pointer to the analyzer group that is to be added,
00176    *  which was created in the addDiagnostics function
00177    */
00178   void bondFormed(boost::shared_ptr<Analyzer> group);
00179 
00180   std::string base_path_; 
00182   std::set<std::string> ros_warnings_;  
00184   /*
00185    *!\brief Checks timestamp of message, and warns if timestamp is 0 (not set)
00186    */
00187   void checkTimestamp(const diagnostic_msgs::DiagnosticArray::ConstPtr& diag_msg);
00188 
00189 };
00190 
00191 /*
00192  *!\brief Functor for checking whether a bond has the same ID as the given string
00193  */
00194 struct BondIDMatch
00195 {
00196   BondIDMatch(const std::string s) : s(s) {}
00197   bool operator()(const boost::shared_ptr<bond::Bond>& b){ return s == b->getId(); }
00198   const std::string s;
00199 };
00200 
00201 }
00202 
00203 #endif // DIAGNOSTIC_AGGREGATOR_H


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Mon Aug 14 2017 02:51:51