diagnostic_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/diagnostic_nodelet.h"
#include <sstream>
namespace jsk_topic_tools
{
  DiagnosticNodelet::DiagnosticNodelet(const std::string& name):
    name_(name)
  {

  }
  
  void DiagnosticNodelet::onInit()
  {
    ConnectionBasedNodelet::onInit();
    diagnostic_updater_.reset(
      new TimeredDiagnosticUpdater(*pnh_, ros::Duration(1.0)));
    diagnostic_updater_->setHardwareID(getName());
    diagnostic_updater_->add(
      getName() + "::" + name_,
      boost::bind(
        &DiagnosticNodelet::updateDiagnostic,
        this,
        _1));
    double vital_rate;
    pnh_->param("vital_rate", vital_rate, 1.0);
    vital_checker_.reset(
      new jsk_topic_tools::VitalChecker(1 / vital_rate));
    diagnostic_updater_->start();
  }

  void DiagnosticNodelet::updateDiagnostic(
    diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (connection_status_ == SUBSCRIBED) {
      if (vital_checker_->isAlive()) {
        stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                     getName() + " running");
      }
      else {
        jsk_topic_tools::addDiagnosticErrorSummary(
          name_, vital_checker_, stat);
      }
    }
    else {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK,
                   getName() + " is not subscribed");
    }
    std::stringstream topic_names;
    for (size_t i = 0; i < publishers_.size(); i++) {
      if (i == publishers_.size() - 1) {
        topic_names << publishers_[i].getTopic();
      }
      else {
        topic_names << publishers_[i].getTopic() << ", ";
      }
    }
    stat.add("watched topics", topic_names.str());
    for (size_t i = 0; i < publishers_.size(); i++) {
      stat.add(publishers_[i].getTopic(),
               (boost::format("%d subscribers") %
                publishers_[i].getNumSubscribers()).str());
    }
  }
}