other_analyzer.h
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34 
39 #ifndef OTHER_ANALYZER_H
40 #define OTHER_ANALYZER_H
41 
42 #include <string>
43 #include <ros/ros.h>
45 
46 namespace diagnostic_aggregator {
47 
48 /*
49  *\brief OtherAnalyzer analyzes any messages that haven't been analyzed by other Analyzers
50  *
51  * OtherAnalyzer is not loaded as a plugin. It is created by the Aggregator, and called
52  * seperately. The aggregator will call analyze() on any message not handled by other
53  * analyzers.
54  *
55  * Stale items will be discarded after 5 seconds of no updates.
56  *
57  * OtherAnalyzer is designed to be used internally by the Aggregator only.
58  *
59  */
61 {
62 public:
66  explicit OtherAnalyzer(bool other_as_errors = false)
67  : other_as_errors_(other_as_errors)
68  { }
69 
71 
72  /*
73  *\brief Initialized with the base path only.
74  *
75  *\param path Base path of Aggregator
76  */
77  bool init(std::string path)
78  {
79  return GenericAnalyzerBase::init(path + "/Other", "Other", 5.0, -1, true);
80  }
81 
82  /*
83  *\brief OtherAnalyzer cannot be initialized with a NodeHandle
84  *
85  *\return False, since NodeHandle initialization isn't valid
86  */
87  bool init(const std::string base_path, const ros::NodeHandle &n)
88  {
89  ROS_ERROR("OtherAnalyzer was attempted to initialize with a NodeHandle. This analyzer cannot be used as a plugin.");
90  return false;
91  }
92 
93  /*
94  *\brief match() isn't called by aggregator for OtherAnalyzer
95  *
96  *\return True, since match() will never by called by Aggregator
97  */
98  bool match(std::string name) { return true; }
99 
100  /*
101  *\brief Reports diagnostics, but doesn't report anything if it doesn't have data
102  *
103  */
104  std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report()
105  {
106  std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed = GenericAnalyzerBase::report();
107 
108  // We don't report anything if there's no "Other" items
109  if (processed.size() == 1)
110  {
111  processed.clear();
112  }
113  // "Other" items are considered an error.
114  else if (other_as_errors_ && processed.size() > 1)
115  {
116  std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> >::iterator it = processed.begin();
117  for (; it != processed.end(); ++it)
118  {
119  if ((*it)->name == path_)
120  {
121  (*it)->level = 2;
122  (*it)->message = "Unanalyzed items found in \"Other\"";
123  break;
124  }
125  }
126  }
127 
128  return processed;
129  }
130 
131 private:
133 };
134 
135 }
136 
137 
138 #endif // OTHER_ANALYZER_H
::std::string string
Definition: gtest.h:1979
bool match(std::string name)
Match function isn&#39;t implemented by GenericAnalyzerBase.
virtual std::vector< boost::shared_ptr< diagnostic_msgs::DiagnosticStatus > > report()
Reports current state, returns vector of formatted status messages.
std::vector< boost::shared_ptr< diagnostic_msgs::DiagnosticStatus > > report()
Reports current state, returns vector of formatted status messages.
bool init(const std::string path, const ros::NodeHandle &n)=0
Analyzer is initialized with base path and namespace.
OtherAnalyzer(bool other_as_errors=false)
Default constructor. OtherAnalyzer isn&#39;t loaded by pluginlib.
bool init(const std::string base_path, const ros::NodeHandle &n)
Analyzer is initialized with base path and namespace.
GenericAnalyzerBase is the base class for GenericAnalyzer and OtherAnalyzer.
#define ROS_ERROR(...)


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Mon Feb 28 2022 22:18:07