manual_test.cpp

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#include "sr_self_test/manual_test.hpp"
#include <diagnostic_msgs/DiagnosticStatus.h>

#include <sr_robot_msgs/ManualSelfTest.h>

namespace shadow_robot
{
  ManualTests::ManualTests( std::string message, int id )
    : nh_("~")
  {
    message_ = message;
    id_ = id;

    user_input_client_ = nh_.serviceClient<sr_robot_msgs::ManualSelfTest>("manual_self_tests");
  }

  void ManualTests::run_manual_tests(diagnostic_updater::DiagnosticStatusWrapper& status)
  {
    user_input_client_.waitForExistence();

    sr_robot_msgs::ManualSelfTest srv;
    srv.request.message = message_;

    user_input_client_.call(srv);

    if( srv.response.ok )
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "OK");
    }
    else
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Test failed: " + srv.response.message);
    }
  }
} //end namespace

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/