DiagnosticStatusWrapper.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef DIAGNOSTICMESSAGEWRAPPER_HH
#define DIAGNOSTICMESSAGEWRAPPER_HH

#include <vector>
#include <string>
#include <sstream>
#include <stdarg.h>
#include <cstdio>

#include "ros/ros.h"

#include "diagnostic_msgs/DiagnosticStatus.h"

namespace diagnostic_updater
{

  class DiagnosticStatusWrapper : public diagnostic_msgs::DiagnosticStatus
  {
    public:

      void summary(unsigned char lvl, const std::string s)
      {
        level = lvl;
        message = s;
      }

      void mergeSummary(unsigned char lvl, const std::string s)
      {
        if ((lvl>0) && (level>0))
        {
          if (!message.empty())
            message += "; ";
          message += s;
        }
        else if (lvl > level)
          message = s;

        if (lvl > level)
          level = lvl;
      }

      void mergeSummary(const diagnostic_msgs::DiagnosticStatus &src)
      {
        mergeSummary(src.level, src.message);
      }
      
      void mergeSummaryf(unsigned char lvl, const char *format, ...)
      {
        va_list va;
        char buff[1000]; // @todo This could be done more elegantly.
        va_start(va, format);
        if (vsnprintf(buff, 1000, format, va) >= 1000)
          ROS_DEBUG("Really long string in DiagnosticStatusWrapper::addf, it was truncated.");
        std::string value = std::string(buff);
        mergeSummary(lvl, value);
        va_end(va);
      }

      void summaryf(unsigned char lvl, const char *format, ...)
      {
        va_list va;
        char buff[1000]; // @todo This could be done more elegantly.
        va_start(va, format);
        if (vsnprintf(buff, 1000, format, va) >= 1000)
          ROS_DEBUG("Really long string in DiagnosticStatusWrapper::addf, it was truncated.");
        std::string value = std::string(buff);
        summary(lvl, value);
        va_end(va);
      }
                       
      void clearSummary()
      {
        summary(0, "");
      }
      
      void summary(const diagnostic_msgs::DiagnosticStatus &src)
      {
        summary(src.level, src.message);
      }

      template<class T>
        void add(const std::string &key, const T &val)
        {
          std::stringstream ss;
          ss << val;
          std::string sval = ss.str();
          add(key, sval);
        }

      void addf(const std::string &key, const char *format, ...); // In practice format will always be a char *

      void clear()
      {
        values.clear();
      }
  };

  template<>
    inline void DiagnosticStatusWrapper::add<std::string>(const std::string &key, const std::string &s)
    {
      diagnostic_msgs::KeyValue ds;
      ds.key = key;
      ds.value = s;
      values.push_back(ds);
    }

template<>
inline void DiagnosticStatusWrapper::add<bool>(const std::string &key, const bool &b)
{
  diagnostic_msgs::KeyValue ds;
  ds.key = key;
  ds.value = b ? "True" : "False";

  values.push_back(ds);
}

  // Need to place addf after DiagnosticStatusWrapper::add<std::string> or
  // gcc complains that the specialization occurs after instatiation.
  inline void DiagnosticStatusWrapper::addf(const std::string &key, const char *format, ...) // In practice format will always be a char *
  {
    va_list va;
    char buff[1000]; // @todo This could be done more elegantly.
    va_start(va, format);
    if (vsnprintf(buff, 1000, format, va) >= 1000)
      ROS_DEBUG("Really long string in DiagnosticStatusWrapper::addf, it was truncated.");
    std::string value = std::string(buff);
    add(key, value);
    va_end(va);
  }


}
#endif