other_analyzer.h
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00034 
00039 #ifndef OTHER_ANALYZER_H
00040 #define OTHER_ANALYZER_H
00041 
00042 #include <string>
00043 #include <ros/ros.h>
00044 #include "diagnostic_aggregator/generic_analyzer_base.h"
00045 
00046 namespace diagnostic_aggregator {
00047 
00048 /*
00049  *\brief OtherAnalyzer analyzes any messages that haven't been analyzed by other Analyzers
00050  *
00051  * OtherAnalyzer is not loaded as a plugin. It is created by the Aggregator, and called 
00052  * seperately. The aggregator will call analyze() on any message not handled by other
00053  * analyzers.
00054  *
00055  * Stale items will be discarded after 5 seconds of no updates.
00056  * 
00057  * OtherAnalyzer is designed to be used internally by the Aggregator only.
00058  *
00059  */
00060 class OtherAnalyzer : public GenericAnalyzerBase
00061 {
00062 public:
00066   explicit OtherAnalyzer(bool other_as_errors = false)
00067   : other_as_errors_(other_as_errors)
00068   { }
00069 
00070   ~OtherAnalyzer() { }
00071 
00072   /*
00073    *\brief Initialized with the base path only.
00074    *
00075    *\param path Base path of Aggregator
00076    */
00077   bool init(std::string path)
00078   {
00079     return GenericAnalyzerBase::init(path + "/Other", "Other", 5.0, -1, true);
00080   }
00081 
00082   /*
00083    *\brief OtherAnalyzer cannot be initialized with a NodeHandle
00084    *
00085    *\return False, since NodeHandle initialization isn't valid
00086    */
00087   bool init(const std::string base_path, const ros::NodeHandle &n)
00088   {
00089     ROS_ERROR("OtherAnalyzer was attempted to initialize with a NodeHandle. This analyzer cannot be used as a plugin.");
00090     return false;
00091   }
00092 
00093   /*
00094    *\brief match() isn't called by aggregator for OtherAnalyzer
00095    *
00096    *\return True, since match() will never by called by Aggregator
00097    */
00098   bool match(std::string name) { return true; }
00099 
00100   /*
00101    *\brief Reports diagnostics, but doesn't report anything if it doesn't have data
00102    *
00103    */
00104   std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report()
00105   {
00106     std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed = GenericAnalyzerBase::report();
00107 
00108     // We don't report anything if there's no "Other" items
00109     if (processed.size() == 1)
00110     {
00111       processed.clear();
00112     }
00113     // "Other" items are considered an error.
00114     else if (other_as_errors_ && processed.size() > 1)
00115     {
00116       std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> >::iterator it = processed.begin();
00117       for (; it != processed.end(); ++it)
00118       {
00119         if ((*it)->name == path_)
00120         {
00121           (*it)->level = 2;
00122           (*it)->message = "Unanalyzed items found in \"Other\"";
00123           break;
00124         }
00125       }
00126     }
00127     
00128     return processed;
00129   }
00130 
00131 private:
00132   bool other_as_errors_;
00133 };
00134 
00135 }
00136 
00137 
00138 #endif // OTHER_ANALYZER_H


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Mon Aug 14 2017 02:51:54