Aggregator processes /diagnostics, republishes on /diagnostics_agg. More...

#include <aggregator.h>

Public Member Functions
	Aggregator ()
	Constructor initializes with main prefix (ex: '/Robot') More...

double	getPubRate () const
	Publish rate defaults to 1Hz, but can be set with ~pub_rate param. More...

bool	ok () const
	True if the NodeHandle reports OK. More...

void	publishData ()
	Processes, publishes data. Should be called at pub_rate. More...

	~Aggregator ()

Private Member Functions
bool	addDiagnostics (diagnostic_msgs::AddDiagnostics::Request &req, diagnostic_msgs::AddDiagnostics::Response &res)
	Service request callback for addition of diagnostics. Creates a bond between the calling node and the aggregator, and loads information about new diagnostics into added_analyzers_, keeping track of the formed bond in bonds_. More...

void	bondBroken (std::string bond_id, boost::shared_ptr< Analyzer > analyzer)

void	bondFormed (boost::shared_ptr< Analyzer > group)

void	checkTimestamp (const diagnostic_msgs::DiagnosticArray::ConstPtr &diag_msg)

void	diagCallback (const diagnostic_msgs::DiagnosticArray::ConstPtr &diag_msg)
	Callback for incoming "/diagnostics". More...

Private Attributes
ros::ServiceServer	add_srv_

ros::Publisher	agg_pub_

AnalyzerGroup *	analyzer_group_

std::string	base_path_
	Prepended to all status names of aggregator. More...

std::vector< boost::shared_ptr< bond::Bond > >	bonds_
	Contains all bonds for additional diagnostics. More...

ros::Subscriber	diag_sub_

boost::mutex	mutex_

ros::NodeHandle	n_

OtherAnalyzer *	other_analyzer_

double	pub_rate_

std::set< std::string >	ros_warnings_
	Records all ROS warnings. No warnings are repeated. More...

ros::Publisher	toplevel_state_pub_

Detailed Description

Aggregator processes /diagnostics, republishes on /diagnostics_agg.

Aggregator is a node that subscribes to /diagnostics, processes it and republishes aggregated data on /diagnostics_agg. The aggregator creates a series of analyzers according to the specifications of its private parameters. The aggregated diagnostics data is organized in a tree structure. For example:

Input (status names):
  tilt_hokuyo_node: Frequency
  tilt_hokuyo_node: Connection
Output:
  /Robot
  /Robot/Sensors
  /Robot/Sensors/Tilt Hokuyo/Frequency
  /Robot/Sensors/Tilt Hokuyo/Connection

The analyzer should always output a DiagnosticStatus with the name of the prefix. Any other data output is up to the analyzer developer.

Analyzer's are loaded by specifying the private parameters of the aggregator.

base_path: My Robot
pub_rate: 1.0
other_as_errors: false
analyzers:
  sensors:
    type: GenericAnalyzer
    path: Tilt Hokuyo
    find_and_remove_prefix: tilt_hokuyo_node
  motors:
    type: PR2MotorsAnalyzer
  joints:
    type: PR2JointsAnalyzer

Each analyzer is created according to the "type" parameter in its namespace. Any other parameters in the namespace can by used to specify the analyzer. If any analyzer is not properly specified, or returns false on initialization, the aggregator will report the error and publish it in the aggregated output.

Definition at line 105 of file aggregator.h.

Constructor & Destructor Documentation

Aggregator::Aggregator ( )

Constructor initializes with main prefix (ex: '/Robot')

Definition at line 42 of file aggregator.cpp.

Aggregator::~Aggregator ( )

Definition at line 117 of file aggregator.cpp.

Member Function Documentation

bool Aggregator::addDiagnostics	(	diagnostic_msgs::AddDiagnostics::Request &	req,
		diagnostic_msgs::AddDiagnostics::Response &	res
	)

private

Service request callback for addition of diagnostics. Creates a bond between the calling node and the aggregator, and loads information about new diagnostics into added_analyzers_, keeping track of the formed bond in bonds_.

Definition at line 151 of file aggregator.cpp.

void Aggregator::bondBroken	(	std::string	bond_id,
		boost::shared_ptr< Analyzer >	analyzer
	)

private

Definition at line 125 of file aggregator.cpp.

void Aggregator::bondFormed ( boost::shared_ptr< Analyzer > group )

private

Definition at line 144 of file aggregator.cpp.

void Aggregator::checkTimestamp ( const diagnostic_msgs::DiagnosticArray::ConstPtr & diag_msg )

private

Definition at line 74 of file aggregator.cpp.

void Aggregator::diagCallback ( const diagnostic_msgs::DiagnosticArray::ConstPtr & diag_msg )

private

Callback for incoming "/diagnostics".

Definition at line 95 of file aggregator.cpp.

double diagnostic_aggregator::Aggregator::getPubRate ( ) const

inline

Publish rate defaults to 1Hz, but can be set with ~pub_rate param.

Definition at line 128 of file aggregator.h.

bool diagnostic_aggregator::Aggregator::ok ( ) const

inline

True if the NodeHandle reports OK.

Definition at line 123 of file aggregator.h.

void Aggregator::publishData ( )

Processes, publishes data. Should be called at pub_rate.

Definition at line 202 of file aggregator.cpp.

Member Data Documentation

ros::ServiceServer diagnostic_aggregator::Aggregator::add_srv_

private

AddDiagnostics, /diagnostics_agg/add_diagnostics

Definition at line 132 of file aggregator.h.

ros::Publisher diagnostic_aggregator::Aggregator::agg_pub_

private

DiagnosticArray, /diagnostics_agg

Definition at line 134 of file aggregator.h.

AnalyzerGroup* diagnostic_aggregator::Aggregator::analyzer_group_

private

Definition at line 153 of file aggregator.h.

std::string diagnostic_aggregator::Aggregator::base_path_

private

Prepended to all status names of aggregator.

Definition at line 180 of file aggregator.h.

std::vector<boost::shared_ptr<bond::Bond> > diagnostic_aggregator::Aggregator::bonds_

private

Contains all bonds for additional diagnostics.

Definition at line 157 of file aggregator.h.

ros::Subscriber diagnostic_aggregator::Aggregator::diag_sub_

private

DiagnosticArray, /diagnostics

Definition at line 133 of file aggregator.h.

boost::mutex diagnostic_aggregator::Aggregator::mutex_

private

Definition at line 136 of file aggregator.h.

ros::NodeHandle diagnostic_aggregator::Aggregator::n_

private

Definition at line 131 of file aggregator.h.

OtherAnalyzer* diagnostic_aggregator::Aggregator::other_analyzer_

private

Definition at line 155 of file aggregator.h.

double diagnostic_aggregator::Aggregator::pub_rate_

private

Definition at line 137 of file aggregator.h.

std::set<std::string> diagnostic_aggregator::Aggregator::ros_warnings_

private

Records all ROS warnings. No warnings are repeated.

Definition at line 182 of file aggregator.h.

ros::Publisher diagnostic_aggregator::Aggregator::toplevel_state_pub_

private

DiagnosticStatus, /diagnostics_toplevel_state

Definition at line 135 of file aggregator.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation