00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_ 00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_ 00040 00041 #include <ros/ros.h> 00042 #include <pr2_mechanism_msgs/MechanismStatistics.h> 00043 #include <pr2_mechanism_msgs/ControllerStatistics.h> 00044 #include <diagnostic_updater/DiagnosticStatusWrapper.h> 00045 #include <boost/shared_ptr.hpp> 00046 00047 namespace pr2_mechanism_diagnostics 00048 { 00049 00058 class ControllerStats 00059 { 00060 private: 00061 ros::Time updateTime; 00062 00063 std::string name; 00064 ros::Time timestamp; 00065 bool running; 00066 ros::Duration max_time; 00067 ros::Duration mean_time; 00068 ros::Duration variance_time; 00069 int num_overruns; 00070 ros::Time last_overrun_time; 00071 00072 bool disable_warnings_; 00073 00074 public: 00075 ControllerStats(std::string nam, bool disable_warnings); 00076 00077 ~ControllerStats() {} 00078 00079 bool update(const pr2_mechanism_msgs::ControllerStatistics &cs); 00080 00082 bool shouldDiscard() const { return (ros::Time::now() - updateTime).toSec() > 3; } 00083 00084 boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const; 00085 00086 }; 00087 00088 00089 } 00090 00091 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_