error_selftest.cpp
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00001 /*
00002  * Copyright (c) 2019, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the <ORGANIZATION> nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 #include <ros/ros.h>
00032 #include "diagnostic_msgs/SelfTest.h"
00033 #include "self_test/self_test.h"
00034 #include <stdexcept>
00035 
00041 class MyNode
00042 {
00043 public:
00044 
00045   // self_test::TestRunner is the handles sequencing driver self-tests.
00046   self_test::TestRunner self_test_;
00047 
00048   // A value showing statefulness of tests
00049   double some_val;
00050 
00051   ros::NodeHandle nh_;
00052 
00053   MyNode() : self_test_()
00054   {
00055     self_test_.add("Pretest", this, &MyNode::pretest );
00056 
00057     self_test_.add("ID Lookup",              this, &MyNode::test1);
00058     self_test_.add("Error test",             this, &MyNode::test2);
00059     self_test_.add("Value generating test",  this, &MyNode::test3);
00060     self_test_.add("Value testing test",     this, &MyNode::test4);
00061 
00062     self_test_.add("Posttest", this, &MyNode::pretest );
00063   }
00064 
00065   void pretest(diagnostic_updater::DiagnosticStatusWrapper& status)
00066   {
00067     ROS_INFO("Doing preparation stuff before we run our test.\n");
00068     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Pretest completed successfully.");
00069     
00070     some_val = 1.0;
00071   }
00072 
00073   void test1(diagnostic_updater::DiagnosticStatusWrapper& status)
00074   {
00075     // Look up ID here
00076     char ID[] = "12345";
00077     bool lookup_successful = true;
00078 
00079     if (lookup_successful)
00080     {
00081       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "ID Lookup successful");
00082       self_test_.setID(ID);
00083     } 
00084     else 
00085       status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "ID Lookup failed");
00086   }
00087 
00088   void test2(diagnostic_updater::DiagnosticStatusWrapper& status)
00089   {
00090     // Report an error, this should fail self test
00091     status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Reporting an error");
00092   }
00093 
00094   void test3(diagnostic_updater::DiagnosticStatusWrapper& status)
00095   {
00096     some_val += 41.0;
00097 
00098     status.add("some value", some_val);
00099     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We successfully changed the value.");
00100   }
00101 
00102   void test4(diagnostic_updater::DiagnosticStatusWrapper& status)
00103   {
00104     if (some_val == 42.0)
00105     {
00106       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We observed the change in value");
00107     } 
00108     else
00109     {
00110       status.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "We failed to observe the change in value, it is currently %f.", some_val);
00111     }
00112   }
00113 
00114   void posttest(diagnostic_updater::DiagnosticStatusWrapper& status)
00115   {
00116     ROS_INFO("Doing cleanup stuff after we run our test.\n");
00117     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Posttest completed successfully.");
00118   }
00119 
00120   bool spin()
00121   {
00122     while (nh_.ok())
00123     {
00124       ros::Duration(1).sleep();
00125       
00126       self_test_.checkTest();
00127     }
00128     return true;
00129   }
00130 };
00131 
00132 int
00133 main(int argc, char** argv)
00134 {
00135   ros::init(argc, argv, "my_node");
00136 
00137   MyNode n;
00138 
00139   n.spin();
00140 
00141   return(0);
00142 }


self_test
Author(s): Jeremy Leibs and Blaise Gassend
autogenerated on Fri Jan 3 2014 11:19:02