Allows analyzers to be grouped together, or used as sub-analyzers. More...

#include <analyzer_group.h>

Inheritance diagram for diagnostic_aggregator::AnalyzerGroup:

Public Member Functions
virtual bool	addAnalyzer (boost::shared_ptr< Analyzer > &analyzer)
	Add an analyzer to this analyzerGroup. More...

virtual bool	analyze (const boost::shared_ptr< StatusItem > item)
	Analyze returns true if any sub-analyzers will analyze an item. More...

	AnalyzerGroup ()

virtual std::string	getName () const
	Returns nice name for display. (ex: 'Sensors') More...

virtual std::string	getPath () const
	Returns full prefix of analyzer. (ex: '/Robot/Sensors') More...

virtual bool	init (const std::string base_path, const ros::NodeHandle &n)
	Initialized with base path and namespace. More...

virtual bool	match (const std::string name)
	Match returns true if any sub-analyzers match an item. More...

virtual bool	removeAnalyzer (boost::shared_ptr< Analyzer > &analyzer)
	Remove an analyzer from this analyzerGroup. More...

virtual std::vector< boost::shared_ptr< diagnostic_msgs::DiagnosticStatus > >	report ()
	The processed output is the combined output of the sub-analyzers, and the top level status. More...

void	resetMatches ()
	Clear match arrays. Used when analyzers are added or removed. More...

virtual	~AnalyzerGroup ()

Public Member Functions inherited from diagnostic_aggregator::Analyzer
	Analyzer ()
	Default constructor, called by pluginlib. More...

virtual	~Analyzer ()

Private Attributes
pluginlib::ClassLoader< Analyzer >	analyzer_loader_
	Loads Analyzer plugins in "analyzers" namespace. More...

std::vector< boost::shared_ptr< Analyzer > >	analyzers_

std::vector< boost::shared_ptr< StatusItem > >	aux_items_
	These items store errors, if any, for analyzers that failed to initialize or load. More...

std::map< const std::string, std::vector< bool > >	matched_

std::string	nice_name_

std::string	path_

Detailed Description

Allows analyzers to be grouped together, or used as sub-analyzers.

The AnalyzerGroup is used by the diagnostic aggregator internally to load and handle analyzers. It can be used as a normal analyzer plugin to allow analyzers to become "sub-analyzers", or move as a group.

The "sub-analyzers" are initialized using parameters in the "~analyzers" namespace of the AnalyzerGroup. The "type" parameters determines the analyzer type.

Example initialization:

*  sensors:
*  type: AnalyzerGroup
*  path: Sensors
*  analyzers:
*    base_hk:
*      type: GenericAnalyzer
*      path: Base Hokuyo
*      timeout: 5.0
*      find_and_remove_prefix: base_hokuyo_node
*      num_items: 3
*    tilt_hk:
*      type: GenericAnalyzer
*      path: Tilt Hokuyo
*      timeout: 5.0
*      find_and_remove_prefix: tilt_hokuyo_node
*      num_items: 3
*    imu:
*      type: GenericAnalyzer
*      path: IMU
*      timeout: 5.0
*      find_and_remove_prefix: imu_node
*      num_items: 3
*

Each namespace below "analyzers" describes a new Analyzer that will be loaded as a sub-analyzer. Any analyzer that fails to initialize or loads incorrectly will generate an error in the console output, and a special diagnostic item in the output of the AnalyzerGroup that describes the error.

In the above example, the AnalyzerGroup will have three sub-analyzers. The AnalyzerGroup will report a DiagnosticStatus message in the processed output with the name "Sensors" (the top-level state). The "Sensors" message will have the level of the highest of the sub-analyzers, or the highest of "Sensors/Base Hokuyo", "Sensors/Tilt Hokuyo" and "Sensors/IMU". The state of any other items, like "Sensors/IMU/Connection" won't matter to the AnalyzerGroup.

The Aggregator uses the AnalyzerGroup internally to load and update analyzers.

Definition at line 110 of file analyzer_group.h.

Constructor & Destructor Documentation

◆ AnalyzerGroup()

diagnostic_aggregator::AnalyzerGroup::AnalyzerGroup ( )

◆ ~AnalyzerGroup()

AnalyzerGroup::~AnalyzerGroup ( )

virtual

Definition at line 164 of file analyzer_group.cpp.

Member Function Documentation

◆ addAnalyzer()

bool AnalyzerGroup::addAnalyzer ( boost::shared_ptr< Analyzer > & analyzer )

virtual

Add an analyzer to this analyzerGroup.

!

Definition at line 169 of file analyzer_group.cpp.

◆ analyze()

bool AnalyzerGroup::analyze ( const boost::shared_ptr< StatusItem > item )

virtual

Analyze returns true if any sub-analyzers will analyze an item.

Implements diagnostic_aggregator::Analyzer.

Definition at line 220 of file analyzer_group.cpp.

◆ getName()

virtual std::string diagnostic_aggregator::AnalyzerGroup::getName ( ) const

inlinevirtual

Returns nice name for display. (ex: 'Sensors')

Implements diagnostic_aggregator::Analyzer.

Definition at line 156 of file analyzer_group.h.

◆ getPath()

virtual std::string diagnostic_aggregator::AnalyzerGroup::getPath ( ) const

inlinevirtual

Returns full prefix of analyzer. (ex: '/Robot/Sensors')

Implements diagnostic_aggregator::Analyzer.

Definition at line 154 of file analyzer_group.h.

◆ init()

bool AnalyzerGroup::init	(	const std::string	base_path,
		const ros::NodeHandle &	n
	)

virtual

Initialized with base path and namespace.

The parameters in its namespace determine the sub-analyzers.

Implements diagnostic_aggregator::Analyzer.

Definition at line 51 of file analyzer_group.cpp.

◆ match()

bool AnalyzerGroup::match ( const std::string name )

virtual

Match returns true if any sub-analyzers match an item.

Implements diagnostic_aggregator::Analyzer.

Definition at line 186 of file analyzer_group.cpp.

◆ removeAnalyzer()

bool AnalyzerGroup::removeAnalyzer ( boost::shared_ptr< Analyzer > & analyzer )

virtual

Remove an analyzer from this analyzerGroup.

!

Definition at line 175 of file analyzer_group.cpp.

◆ report()

vector< boost::shared_ptr< diagnostic_msgs::DiagnosticStatus > > AnalyzerGroup::report ( )

virtual

The processed output is the combined output of the sub-analyzers, and the top level status.

Implements diagnostic_aggregator::Analyzer.

Definition at line 235 of file analyzer_group.cpp.

◆ resetMatches()

void AnalyzerGroup::resetMatches ( )

Clear match arrays. Used when analyzers are added or removed.

Definition at line 214 of file analyzer_group.cpp.

Member Data Documentation

◆ analyzer_loader_

pluginlib::ClassLoader<Analyzer> diagnostic_aggregator::AnalyzerGroup::analyzer_loader_

private

Loads Analyzer plugins in "analyzers" namespace.

Definition at line 164 of file analyzer_group.h.

◆ analyzers_

std::vector<boost::shared_ptr<Analyzer> > diagnostic_aggregator::AnalyzerGroup::analyzers_

private

Definition at line 171 of file analyzer_group.h.

◆ aux_items_

std::vector<boost::shared_ptr<StatusItem> > diagnostic_aggregator::AnalyzerGroup::aux_items_

private

These items store errors, if any, for analyzers that failed to initialize or load.

Definition at line 169 of file analyzer_group.h.

◆ matched_

std::map<const std::string, std::vector<bool> > diagnostic_aggregator::AnalyzerGroup::matched_

private

Definition at line 176 of file analyzer_group.h.

◆ nice_name_

std::string diagnostic_aggregator::AnalyzerGroup::nice_name_

private

Definition at line 159 of file analyzer_group.h.

◆ path_

std::string diagnostic_aggregator::AnalyzerGroup::path_

private

Definition at line 159 of file analyzer_group.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AnalyzerGroup()

◆ ~AnalyzerGroup()

Member Function Documentation

◆ addAnalyzer()

◆ analyze()

◆ getName()

◆ getPath()

◆ init()

◆ match()

◆ removeAnalyzer()

◆ report()

◆ resetMatches()

Member Data Documentation

◆ analyzer_loader_

◆ analyzers_

◆ aux_items_

◆ matched_

◆ nice_name_

◆ path_