00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include "jsk_topic_tools/timered_diagnostic_updater.h" 00037 00038 namespace jsk_topic_tools 00039 { 00040 TimeredDiagnosticUpdater::TimeredDiagnosticUpdater( 00041 ros::NodeHandle& nh, 00042 const ros::Duration& timer_duration): 00043 diagnostic_updater_(new diagnostic_updater::Updater) 00044 { 00045 timer_ = nh.createTimer( 00046 timer_duration, boost::bind( 00047 &TimeredDiagnosticUpdater::timerCallback, 00048 this, 00049 _1)); 00050 timer_.stop(); 00051 } 00052 00053 void TimeredDiagnosticUpdater::start() 00054 { 00055 timer_.start(); 00056 } 00057 00058 TimeredDiagnosticUpdater::~TimeredDiagnosticUpdater() 00059 { 00060 } 00061 00062 void TimeredDiagnosticUpdater::setHardwareID(const std::string& name) 00063 { 00064 diagnostic_updater_->setHardwareID(name); 00065 } 00066 00067 void TimeredDiagnosticUpdater::add(const std::string& name, 00068 diagnostic_updater::TaskFunction f) 00069 { 00070 diagnostic_updater_->add(name, f); 00071 } 00072 00073 // void TimeredDiagnosticUpdater::add(diagnostic_updater::DiagnosticTask task) 00074 // { 00075 // diagnostic_updater_->add(task); 00076 // } 00077 00078 void TimeredDiagnosticUpdater::update() 00079 { 00080 diagnostic_updater_->update(); 00081 } 00082 00083 void TimeredDiagnosticUpdater::timerCallback(const ros::TimerEvent& event) 00084 { 00085 update(); 00086 } 00087 00088 }