diagnostic_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #include "jsk_topic_tools/diagnostic_nodelet.h"
00037 
00038 namespace jsk_topic_tools
00039 {
00040   DiagnosticNodelet::DiagnosticNodelet(const std::string& name):
00041     name_(name)
00042   {
00043 
00044   }
00045   
00046   void DiagnosticNodelet::onInit()
00047   {
00048     ConnectionBasedNodelet::onInit();
00049     diagnostic_updater_.reset(
00050       new TimeredDiagnosticUpdater(*pnh_, ros::Duration(1.0)));
00051     diagnostic_updater_->setHardwareID(getName());
00052     diagnostic_updater_->add(
00053       getName() + "::" + name_,
00054       boost::bind(
00055         &DiagnosticNodelet::updateDiagnostic,
00056         this,
00057         _1));
00058     double vital_rate;
00059     pnh_->param("vital_rate", vital_rate, 1.0);
00060     vital_checker_.reset(
00061       new jsk_topic_tools::VitalChecker(1 / vital_rate));
00062     diagnostic_updater_->start();
00063   }
00064 
00065   void DiagnosticNodelet::updateDiagnostic(
00066     diagnostic_updater::DiagnosticStatusWrapper &stat)
00067   {
00068     if (vital_checker_->isAlive()) {
00069       stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
00070                    name_ + " running");
00071     }
00072     else {
00073       jsk_topic_tools::addDiagnosticErrorSummary(
00074         name_, vital_checker_, stat);
00075     }
00076   }
00077 }


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 12:38:34