self_test::TestRunner Class Reference

Class to facilitate the creation of component self-tests. More...

#include <self_test.h>

Inheritance diagram for self_test::TestRunner:

List of all members.

Public Member Functions
void	checkTest ()
	Check if a self-test is pending. If so, start it and wait for it to complete.
void	setID (std::string id)
	Sets the ID of the part being tested.
	TestRunner (ros::NodeHandle h=ros::NodeHandle())
	Constructs a dispatcher.
Private Member Functions
bool	doTest (diagnostic_msgs::SelfTest::Request &req, diagnostic_msgs::SelfTest::Response &res)
Private Attributes
std::string	id_
ros::NodeHandle	node_handle_
ros::CallbackQueue	self_test_queue_
ros::ServiceServer	service_server_
bool	verbose

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Detailed Description

Class to facilitate the creation of component self-tests.

The self_test::TestRunner class advertises the "self_test" service, and maintains a list of pretests and tests. When "self_test" is invoked, TestRunner waits for a suitable time to interrupt the node and run the tests. Results from the tests are collected and returned to the caller.

self_test::TestRunner's is a derived class from diagnostic_updater::DiagnosticTaskVector. For documentation of the add() methods you will have to refer to the base class's documentation.

Definition at line 68 of file self_test.h.

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Constructor & Destructor Documentation

self_test::TestRunner::TestRunner

(

ros::NodeHandle

h = ros::NodeHandle()

)

[inline]

Constructs a dispatcher.

Parameters:

owner	Class that owns this dispatcher. This is used as the default class for tests that are member-functions.
h	NodeHandle from which to work. (Currently unused?)

Definition at line 89 of file self_test.h.

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Member Function Documentation

void self_test::TestRunner::checkTest

(

)

[inline]

Check if a self-test is pending. If so, start it and wait for it to complete.

Definition at line 104 of file self_test.h.

bool self_test::TestRunner::doTest	(	diagnostic_msgs::SelfTest::Request &	req,
		diagnostic_msgs::SelfTest::Response &	res
	)		[inline, private]

The service callback for the "self-test" service.

Definition at line 127 of file self_test.h.

void self_test::TestRunner::setID

(

std::string

id

)

[inline]

Sets the ID of the part being tested.

This method is expected to be called by one of the tests during the self-test.

Parameters:

id	: String that identifies the piece of hardware being tested.

Definition at line 118 of file self_test.h.

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Member Data Documentation

std::string self_test::TestRunner::id_ [private]

Definition at line 74 of file self_test.h.

ros::NodeHandle self_test::TestRunner::node_handle_ [private]

Definition at line 73 of file self_test.h.

ros::CallbackQueue self_test::TestRunner::self_test_queue_ [private]

Definition at line 72 of file self_test.h.

ros::ServiceServer self_test::TestRunner::service_server_ [private]

Definition at line 71 of file self_test.h.

bool self_test::TestRunner::verbose [private]

Definition at line 76 of file self_test.h.

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

• self_test.h