status_item.cpp
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00034 
00037 #include <diagnostic_aggregator/status_item.h>
00038 
00039 using namespace diagnostic_aggregator;
00040 using namespace std;
00041 
00042 StatusItem::StatusItem(const diagnostic_msgs::DiagnosticStatus *status)
00043 {
00044   level_ = valToLevel(status->level);
00045   name_ = status->name;
00046   message_ = status->message;
00047   hw_id_ = status->hardware_id;
00048   values_ = status->values;
00049   
00050   output_name_ = getOutputName(name_);
00051   
00052   update_time_ = ros::Time::now();
00053 }
00054 
00055 StatusItem::StatusItem(const string item_name, const string message, const DiagnosticLevel level)
00056 {
00057   name_ = item_name;
00058   message_ = message;
00059   level_ = level;
00060   hw_id_ = "";
00061   
00062   output_name_ = getOutputName(name_);
00063 
00064   update_time_ = ros::Time::now();
00065 }
00066 
00067 StatusItem::~StatusItem() {}
00068 
00069 bool StatusItem::update(const diagnostic_msgs::DiagnosticStatus *status)
00070 {
00071   if (name_ != status->name)
00072   {
00073     ROS_ERROR("Incorrect name when updating StatusItem. Expected %s, got %s", name_.c_str(), status->name.c_str());
00074     return false;
00075   }
00076 
00077   double update_interval = (ros::Time::now() - update_time_).toSec();
00078   if (update_interval < 0)
00079     ROS_WARN("StatusItem is being updated with older data. Negative update time: %f", update_interval);
00080 
00081   level_ = valToLevel(status->level);
00082   message_ = status->message;
00083   hw_id_ = status->hardware_id;
00084   values_ = status->values;
00085 
00086   update_time_ = ros::Time::now();
00087 
00088   return true;
00089 }
00090 
00091 boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> StatusItem::toStatusMsg(const std::string &path, bool stale) const
00092 {
00093   boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> status(new diagnostic_msgs::DiagnosticStatus());
00094 
00095   if (path == "/")
00096     status->name = "/" + output_name_;
00097   else
00098     status->name = path + "/" + output_name_;
00099 
00100   status->level = level_;
00101   status->message = message_;
00102   status->hardware_id = hw_id_;
00103   status->values = values_;
00104 
00105   if (stale)
00106     status->level = Level_Stale;
00107 
00108   return status;
00109 }
00110 


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