self_test::TestRunner Class Reference

Class to facilitate the creation of component self-tests. More...

#include <self_test.h>

Inheritance diagram for self_test::TestRunner:

Public Member Functions
void	checkTest ()
	Check if a self-test is pending. If so, start it and wait for it to complete. More...
void	setID (std::string id)
	Sets the ID of the part being tested. More...
	TestRunner (ros::NodeHandle h=ros::NodeHandle(), ros::NodeHandle ph=ros::NodeHandle("~"))
	Constructs a dispatcher. More...
Public Member Functions inherited from diagnostic_updater::DiagnosticTaskVector
void	add (const std::string &name, TaskFunction f)
void	add (DiagnosticTask &task)
void	add (const std::string name, T *c, void(T::*f)(diagnostic_updater::DiagnosticStatusWrapper &))
bool	removeByName (const std::string name)

Private Member Functions
bool	doTest (diagnostic_msgs::SelfTest::Request &req, diagnostic_msgs::SelfTest::Response &res)

Private Attributes
std::string	id_
ros::NodeHandle	node_handle_
ros::NodeHandle	private_node_handle_
ros::CallbackQueue	self_test_queue_
ros::ServiceServer	service_server_
bool	verbose

Additional Inherited Members
Protected Member Functions inherited from diagnostic_updater::DiagnosticTaskVector
void	addInternal (DiagnosticTaskInternal &task)
const std::vector< DiagnosticTaskInternal > &	getTasks ()
Protected Attributes inherited from diagnostic_updater::DiagnosticTaskVector
boost::mutex	lock_

Detailed Description

Class to facilitate the creation of component self-tests.

The self_test::TestRunner class advertises the "self_test" service, and maintains a list of pretests and tests. When "self_test" is invoked, TestRunner waits for a suitable time to interrupt the node and run the tests. Results from the tests are collected and returned to the caller.

self_test::TestRunner's is a derived class from diagnostic_updater::DiagnosticTaskVector. For documentation of the add() methods you will have to refer to the base class's documentation.

Definition at line 68 of file self_test.h.

Constructor & Destructor Documentation

self_test::TestRunner::TestRunner ( ros::NodeHandle  h = ros::NodeHandle(), ros::NodeHandle  ph = ros::NodeHandle("~")  )

inline

Constructs a dispatcher.

Parameters

owner	Class that owns this dispatcher. This is used as the default class for tests that are member-functions.
h	NodeHandle from which to work. (Currently unused?)

Definition at line 90 of file self_test.h.

Member Function Documentation

void self_test::TestRunner::checkTest ( )

inline

Check if a self-test is pending. If so, start it and wait for it to complete.

Definition at line 107 of file self_test.h.

bool self_test::TestRunner::doTest ( diagnostic_msgs::SelfTest::Request &  req, diagnostic_msgs::SelfTest::Response &  res  )

inlineprivate

The service callback for the "self-test" service.

Definition at line 130 of file self_test.h.

void self_test::TestRunner::setID ( std::string  id )

inline

Sets the ID of the part being tested.

This method is expected to be called by one of the tests during the self-test.

Parameters

id	: String that identifies the piece of hardware being tested.

Definition at line 121 of file self_test.h.

Member Data Documentation

std::string self_test::TestRunner::id_

private

Definition at line 75 of file self_test.h.

ros::NodeHandle self_test::TestRunner::node_handle_

private

Definition at line 73 of file self_test.h.

ros::NodeHandle self_test::TestRunner::private_node_handle_

private

Definition at line 74 of file self_test.h.

ros::CallbackQueue self_test::TestRunner::self_test_queue_

private

Definition at line 72 of file self_test.h.

ros::ServiceServer self_test::TestRunner::service_server_

private

Definition at line 71 of file self_test.h.

bool self_test::TestRunner::verbose

private

Definition at line 77 of file self_test.h.

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The documentation for this class was generated from the following file:

• self_test.h