vital_checker_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
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00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 #include "jsk_topic_tools/vital_checker_nodelet.h"
00038 
00039 namespace jsk_topic_tools
00040 {
00041   void VitalCheckerNodelet::onInit()
00042   {
00043     DiagnosticNodelet::onInit();
00044     if (pnh_->hasParam("title")) {
00045       pnh_->getParam("title", title_);
00046     }
00047     else {
00048       NODELET_FATAL("no ~title is specified");
00049       return;
00050     }
00051     sub_ = pnh_->subscribe<topic_tools::ShapeShifter>(
00052       "input", 1,
00053       &VitalCheckerNodelet::inputCallback, this);
00054   }
00055 
00056   void VitalCheckerNodelet::subscribe()
00057   {
00058     
00059   }
00060   
00061   void VitalCheckerNodelet::unsubscribe()
00062   {
00063 
00064   }
00065 
00066   void VitalCheckerNodelet::inputCallback(
00067     const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
00068   {
00069     boost::mutex::scoped_lock lock(mutex_);
00070     vital_checker_->poke();
00071   }
00072   
00073   void VitalCheckerNodelet::updateDiagnostic(
00074     diagnostic_updater::DiagnosticStatusWrapper &stat)
00075   {
00076     boost::mutex::scoped_lock lock(mutex_);
00077     if (vital_checker_->isAlive()) {
00078       stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
00079                    title_ + " is running");
00080       stat.add("last alive time", vital_checker_->lastAliveTimeRelative());
00081     }
00082     else {
00083       addDiagnosticErrorSummary(
00084         title_, vital_checker_, stat);
00085     }
00086   }
00087 }
00088 
00089 #include <pluginlib/class_list_macros.h>
00090 typedef jsk_topic_tools::VitalCheckerNodelet VitalCheckerNodelet;
00091 PLUGINLIB_EXPORT_CLASS(VitalCheckerNodelet, nodelet::Nodelet)


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Fri Sep 8 2017 03:38:56