run_selftest.cpp
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34 
35 #include "ros/ros.h"
36 #include "diagnostic_msgs/SelfTest.h"
37 
38 #include <gtest/gtest.h>
39 #include <string>
40 
42 {
43  diagnostic_msgs::SelfTest srv;
44 
45  if (nh.serviceClient<diagnostic_msgs::SelfTest>("self_test").call(srv))
46  {
47  diagnostic_msgs::SelfTest::Response &res = srv.response;
48 
49  std::string passfail;
50 
51  if (res.passed)
52  passfail = "PASSED";
53  else
54  passfail = "FAILED";
55 
56  printf("Self test %s for device with id: [%s]\n", passfail.c_str(), res.id.c_str());
57 
58 
59  for (size_t i = 0; i < res.status.size(); i++)
60  {
61  printf("%2zd) %s\n", i + 1, res.status[i].name.c_str());
62  if (res.status[i].level == 0)
63  printf(" [OK]: ");
64  else if (res.status[i].level == 1)
65  printf(" [WARNING]: ");
66  else
67  printf(" [ERROR]: ");
68 
69  printf("%s\n", res.status[i].message.c_str());
70 
71  for (size_t j = 0; j < res.status[i].values.size(); j++)
72  printf(" [%s] %s\n", res.status[i].values[j].key.c_str(), res.status[i].values[j].value.c_str());
73 
74  printf("\n");
75  }
76  return res.passed;
77  }
78  else
79  {
80  printf("Failed to call service.\n");
81  return false;
82  }
83 }
84 
85 int main(int argc, char **argv)
86 {
87  ros::init(argc, argv, "run_selftest", ros::init_options::AnonymousName);
88  if (argc != 2)
89  {
90  printf("usage: run_selftest name\n");
91  return 1;
92  }
93 
94  ros::NodeHandle nh(argv[1]);
95  return !doTest(nh);
96 }
97 
ServiceClient serviceClient(const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())
::std::string string
Definition: gtest.h:1979
bool doTest(ros::NodeHandle nh)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
bool call(MReq &req, MRes &res)
int main(int argc, char **argv)


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Thu Oct 8 2020 03:21:45