00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, 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 00039 #ifndef OTHER_ANALYZER_H 00040 #define OTHER_ANALYZER_H 00041 00042 #include <string> 00043 #include <ros/ros.h> 00044 #include "diagnostic_aggregator/generic_analyzer_base.h" 00045 00046 namespace diagnostic_aggregator { 00047 00048 /* 00049 *\brief OtherAnalyzer analyzes any messages that haven't been analyzed by other Analyzers 00050 * 00051 * OtherAnalyzer is not loaded as a plugin. It is created by the Aggregator, and called 00052 * seperately. The aggregator will call analyze() on any message not handled by other 00053 * analyzers. 00054 * 00055 * Stale items will be discarded after 5 seconds of no updates. 00056 * 00057 * OtherAnalyzer is designed to be used internally by the Aggregator only. 00058 * 00059 */ 00060 class OtherAnalyzer : public GenericAnalyzerBase 00061 { 00062 public: 00066 explicit OtherAnalyzer(bool other_as_errors = false) 00067 : other_as_errors_(other_as_errors) 00068 { } 00069 00070 ~OtherAnalyzer() { } 00071 00072 /* 00073 *\brief Initialized with the base path only. 00074 * 00075 *\param path Base path of Aggregator 00076 */ 00077 bool init(std::string path) 00078 { 00079 return GenericAnalyzerBase::init(path + "/Other", "Other", 5.0, -1, true); 00080 } 00081 00082 /* 00083 *\brief OtherAnalyzer cannot be initialized with a NodeHandle 00084 * 00085 *\return False, since NodeHandle initialization isn't valid 00086 */ 00087 bool init(const std::string base_path, const ros::NodeHandle &n) 00088 { 00089 ROS_ERROR("OtherAnalyzer was attempted to initialize with a NodeHandle. This analyzer cannot be used as a plugin."); 00090 return false; 00091 } 00092 00093 /* 00094 *\brief match() isn't called by aggregator for OtherAnalyzer 00095 * 00096 *\return True, since match() will never by called by Aggregator 00097 */ 00098 bool match(std::string name) { return true; } 00099 00100 /* 00101 *\brief Reports diagnostics, but doesn't report anything if it doesn't have data 00102 * 00103 */ 00104 std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report() 00105 { 00106 std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed = GenericAnalyzerBase::report(); 00107 00108 // We don't report anything if there's no "Other" items 00109 if (processed.size() == 1) 00110 { 00111 processed.clear(); 00112 } 00113 // "Other" items are considered an error. 00114 else if (other_as_errors_ && processed.size() > 1) 00115 { 00116 std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> >::iterator it = processed.begin(); 00117 for (; it != processed.end(); ++it) 00118 { 00119 if ((*it)->name == path_) 00120 { 00121 (*it)->level = 2; 00122 (*it)->message = "Unanalyzed items found in \"Other\""; 00123 break; 00124 } 00125 } 00126 } 00127 00128 return processed; 00129 } 00130 00131 private: 00132 bool other_as_errors_; 00133 }; 00134 00135 } 00136 00137 00138 #endif // OTHER_ANALYZER_H