run_selftest.cpp
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00002 * Software License Agreement (BSD License)
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00007 *  Redistribution and use in source and binary forms, with or without
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00034 
00035 #include "ros/ros.h"
00036 #include "diagnostic_msgs/SelfTest.h"
00037 
00038 #include <gtest/gtest.h>
00039 #include <string>
00040 
00041 bool doTest(ros::NodeHandle nh)
00042 {
00043   diagnostic_msgs::SelfTest srv;
00044   
00045   if (nh.serviceClient<diagnostic_msgs::SelfTest>("self_test").call(srv))
00046   {
00047     diagnostic_msgs::SelfTest::Response &res = srv.response;
00048     
00049     std::string passfail;
00050 
00051     if (res.passed)
00052       passfail = "PASSED";
00053     else
00054       passfail = "FAILED";
00055 
00056     printf("Self test %s for device with id: [%s]\n", passfail.c_str(), res.id.c_str());
00057 
00058 
00059     for (size_t i = 0; i < res.status.size(); i++)
00060     {
00061       printf("%2zd) %s\n", i + 1, res.status[i].name.c_str());
00062       if (res.status[i].level == 0)
00063         printf("     [OK]: ");
00064       else if (res.status[i].level == 1)
00065         printf("     [WARNING]: ");
00066       else
00067         printf("     [ERROR]: ");
00068 
00069       printf("%s\n", res.status[i].message.c_str());
00070 
00071       for (size_t j = 0; j < res.status[i].values.size(); j++)
00072         printf("      [%s] %s\n", res.status[i].values[j].key.c_str(), res.status[i].values[j].value.c_str());
00073 
00074       printf("\n");
00075     }
00076     return res.passed;
00077   }
00078   else
00079   {
00080     printf("Failed to call service.\n");
00081     return false;
00082   }
00083 }
00084 
00085 int main(int argc, char **argv)
00086 {
00087   ros::init(argc, argv, "run_selftest", ros::init_options::AnonymousName);
00088   if (argc != 2)
00089   {
00090     printf("usage: run_selftest name\n");
00091     return 1;
00092   }
00093 
00094   ros::NodeHandle nh(argv[1]);
00095   return !doTest(nh);
00096 }
00097 


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Mon Aug 14 2017 02:52:33