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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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