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00037 #include <diagnostic_aggregator/status_item.h>
00038
00039 using namespace diagnostic_aggregator;
00040 using namespace std;
00041
00042 StatusItem::StatusItem(const diagnostic_msgs::DiagnosticStatus *status)
00043 {
00044 level_ = valToLevel(status->level);
00045 name_ = status->name;
00046 message_ = status->message;
00047 hw_id_ = status->hardware_id;
00048 values_ = status->values;
00049
00050 output_name_ = getOutputName(name_);
00051
00052 update_time_ = ros::Time::now();
00053 }
00054
00055 StatusItem::StatusItem(const string item_name, const string message, const DiagnosticLevel level)
00056 {
00057 name_ = item_name;
00058 message_ = message;
00059 level_ = level;
00060 hw_id_ = "";
00061
00062 output_name_ = getOutputName(name_);
00063
00064 update_time_ = ros::Time::now();
00065 }
00066
00067 StatusItem::~StatusItem() {}
00068
00069 bool StatusItem::update(const diagnostic_msgs::DiagnosticStatus *status)
00070 {
00071 if (name_ != status->name)
00072 {
00073 ROS_ERROR("Incorrect name when updating StatusItem. Expected %s, got %s", name_.c_str(), status->name.c_str());
00074 return false;
00075 }
00076
00077 double update_interval = (ros::Time::now() - update_time_).toSec();
00078 if (update_interval < 0)
00079 ROS_WARN("StatusItem is being updated with older data. Negative update time: %f", update_interval);
00080
00081 level_ = valToLevel(status->level);
00082 message_ = status->message;
00083 hw_id_ = status->hardware_id;
00084 values_ = status->values;
00085
00086 update_time_ = ros::Time::now();
00087
00088 return true;
00089 }
00090
00091 boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> StatusItem::toStatusMsg(const std::string &path, bool stale) const
00092 {
00093 boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> status(new diagnostic_msgs::DiagnosticStatus());
00094
00095 if (path == "/")
00096 status->name = "/" + output_name_;
00097 else
00098 status->name = path + "/" + output_name_;
00099
00100 status->level = level_;
00101 status->message = message_;
00102 status->hardware_id = hw_id_;
00103 status->values = values_;
00104
00105 if (stale)
00106 status->level = Level_Stale;
00107
00108 return status;
00109 }
00110