manual_test.cpp
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00001 
00029 #include "sr_self_test/manual_test.hpp"
00030 #include <diagnostic_msgs/DiagnosticStatus.h>
00031 
00032 #include <sr_robot_msgs/ManualSelfTest.h>
00033 
00034 namespace shadow_robot
00035 {
00036   ManualTests::ManualTests( std::string message, int id )
00037     : nh_("~")
00038   {
00039     message_ = message;
00040     id_ = id;
00041 
00042     user_input_client_ = nh_.serviceClient<sr_robot_msgs::ManualSelfTest>("manual_self_tests");
00043   }
00044 
00045   void ManualTests::run_manual_tests(diagnostic_updater::DiagnosticStatusWrapper& status)
00046   {
00047     user_input_client_.waitForExistence();
00048 
00049     sr_robot_msgs::ManualSelfTest srv;
00050     srv.request.message = message_;
00051 
00052     user_input_client_.call(srv);
00053 
00054     if( srv.response.ok )
00055     {
00056       status.summary(diagnostic_msgs::DiagnosticStatus::OK, "OK");
00057     }
00058     else
00059     {
00060       status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Test failed: " + srv.response.message);
00061     }
00062   }
00063 } //end namespace
00064 
00065 /* For the emacs weenies in the crowd.
00066    Local Variables:
00067    c-basic-offset: 2
00068    End:
00069 */
00070 


sr_self_test
Author(s): Ugo Cupcic
autogenerated on Mon Oct 6 2014 07:52:52