no_id_selftest.cpp
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00001 /*
00002  * Copyright (c) 2010, 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 
00035 #include <ros/ros.h>
00036 
00037 #include "diagnostic_msgs/SelfTest.h"
00038 
00039 #include "self_test/self_test.h"
00040 
00041 #include <stdexcept>
00042 
00043 class MyNode
00044 {
00045 public:
00046 
00047   // self_test::TestRunner is the handles sequencing driver self-tests.
00048   self_test::TestRunner self_test_;
00049 
00050   // A value showing statefulness of tests
00051   double some_val;
00052 
00053   ros::NodeHandle nh_;
00054 
00055   MyNode() : self_test_()
00056   {
00057     self_test_.add("Pretest", this, &MyNode::pretest );
00058 
00059     self_test_.add("ID Lookup",                 this, &MyNode::test1);
00060     self_test_.add("Value generating test",     this, &MyNode::test3);
00061     self_test_.add("Value testing test",        this, &MyNode::test4);
00062 
00063     self_test_.add("Posttest", this, &MyNode::pretest );
00064   }
00065 
00066   void pretest(diagnostic_updater::DiagnosticStatusWrapper& status)
00067   {
00068     ROS_INFO("Doing preparation stuff before we run our test.\n");
00069     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Pretest completed successfully.");
00070     
00071     some_val = 1.0;
00072   }
00073 
00074   void test1(diagnostic_updater::DiagnosticStatusWrapper& status)
00075   {
00076     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "ID not set");
00077   }
00078 
00079   void test3(diagnostic_updater::DiagnosticStatusWrapper& status)
00080   {
00081     some_val += 41.0;
00082 
00083     status.add("some value", some_val);
00084     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We successfully changed the value.");
00085   }
00086 
00087   void test4(diagnostic_updater::DiagnosticStatusWrapper& status)
00088   {
00089     if (some_val == 42.0)
00090     {
00091       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We observed the change in value");
00092     } 
00093     else
00094     {
00095       status.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "We failed to observe the change in value, it is currently %f.", some_val);
00096     }
00097   }
00098 
00099   void posttest(diagnostic_updater::DiagnosticStatusWrapper& status)
00100   {
00101     ROS_INFO("Doing cleanup stuff after we run our test.\n");
00102     status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Posttest completed successfully.");
00103   }
00104 
00105   bool spin()
00106   {
00107     while (nh_.ok())
00108     {
00109       ros::Duration(1).sleep();
00110       
00111       self_test_.checkTest();
00112     }
00113     return true;
00114   }
00115 };
00116 
00117 int
00118 main(int argc, char** argv)
00119 {
00120   ros::init(argc, argv, "my_node");
00121 
00122   MyNode n;
00123 
00124   n.spin();
00125 
00126   return(0);
00127 }


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