diagnostic_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/diagnostic_nodelet.h"

namespace jsk_topic_tools
{
  DiagnosticNodelet::DiagnosticNodelet(const std::string& name):
    name_(name)
  {

  }
  
  void DiagnosticNodelet::onInit()
  {
    ConnectionBasedNodelet::onInit();
    diagnostic_updater_.reset(
      new TimeredDiagnosticUpdater(*pnh_, ros::Duration(1.0)));
    diagnostic_updater_->setHardwareID(getName());
    diagnostic_updater_->add(
      getName() + "::" + name_,
      boost::bind(
        &DiagnosticNodelet::updateDiagnostic,
        this,
        _1));
    double vital_rate;
    pnh_->param("vital_rate", vital_rate, 1.0);
    vital_checker_.reset(
      new jsk_topic_tools::VitalChecker(1 / vital_rate));
    diagnostic_updater_->start();
  }

  void DiagnosticNodelet::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (vital_checker_->isAlive()) {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   name_ + " running");
    }
    else {
      jsk_topic_tools::addDiagnosticErrorSummary(
        name_, vital_checker_, stat);
    }
  }
}