publisher.h
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34 
35 // Author: Blaise Gassend
36 #ifndef __DIAGNOSTIC_UPDATER__DRIVER_H__
37 #define __DIAGNOSTIC_UPDATER__DRIVER_H__
38 
39 #include <ros/publisher.h>
40 #include <ros/subscription.h>
42 
43 namespace diagnostic_updater
44 {
45 
56 {
57 public:
71  std::string name,
74  CompositeDiagnosticTask(name + " topic status"),
75  freq_(freq)
76  {
77  addTask(&freq_);
78  diag.add(*this);
79  }
80 
82  {}
83 
88  virtual void tick()
89  {
90  freq_.tick();
91  }
92 
97  virtual void clear_window()
98  {
99  freq_.clear();
100  }
101 
102 private:
104 };
105 
112 {
113 public:
130  std::string name,
134  HeaderlessTopicDiagnostic(name, diag, freq),
135  stamp_(stamp)
136  {
137  addTask(&stamp_);
138  }
139 
141  {}
142 
148  virtual void tick() { ROS_FATAL("tick(void) has been called on a TopicDiagnostic. This is never correct. Use tick(ros::Time &) instead."); }
149 
156  virtual void tick(const ros::Time &stamp)
157  {
158  stamp_.tick(stamp);
160  }
161 
162 private:
164 };
165 
173 template<class T>
175 {
176 public:
196  TopicDiagnostic(pub.getTopic(), diag, freq, stamp),
197  publisher_(pub)
198  {}
199 
201  {}
202 
209  virtual void publish(const boost::shared_ptr<T>& message) {
210  tick(message->header.stamp); publisher_.publish(message); }
211 
218  virtual void publish(const T& message) { tick(message.header.stamp);
219  publisher_.publish(message); }
220 
225  {
226  return publisher_;
227  }
228 
233  {
234  publisher_ = pub;
235  }
236 
237 private:
239 };
240 
241 }
242 
243 #endif
A class to facilitate making diagnostics for a topic using a FrequencyStatus and TimeStampStatus.
Definition: publisher.h:111
#define ROS_FATAL(...)
A structure that holds the constructor parameters for the FrequencyStatus class.
virtual void publish(const T &message)
Collects statistics and publishes the message.
Definition: publisher.h:218
void add(const std::string &name, TaskFunction f)
Add a DiagnosticTask embodied by a name and function to the DiagnosticTaskVector. ...
Author: Blaise Gassend.
virtual void publish(const boost::shared_ptr< T > &message)
Collects statistics and publishes the message.
Definition: publisher.h:209
A structure that holds the constructor parameters for the TimeStampStatus class.
virtual void tick(const ros::Time &stamp)
Collects statistics and publishes the message.
Definition: publisher.h:156
TopicDiagnostic(std::string name, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const diagnostic_updater::TimeStampStatusParam &stamp)
Constructs a TopicDiagnostic.
Definition: publisher.h:129
Manages a list of diagnostic tasks, and calls them in a rate-limited manner.
A diagnostic task that monitors the frequency of an event.
virtual void clear_window()
Clears the frequency statistics.
Definition: publisher.h:97
A class to facilitate making diagnostics for a topic using a FrequencyStatus.
Definition: publisher.h:55
void tick()
Signals that an event has occurred.
Diagnostic task to monitor the interval between events.
HeaderlessTopicDiagnostic(std::string name, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq)
Constructs a HeaderlessTopicDiagnostic.
Definition: publisher.h:70
diagnostic_updater::FrequencyStatus freq_
Definition: publisher.h:103
void clear()
Resets the statistics.
void setPublisher(ros::Publisher pub)
Changes the publisher.
Definition: publisher.h:232
A TopicDiagnostic combined with a ros::Publisher.
Definition: publisher.h:174
ros::Publisher getPublisher() const
Returns the publisher.
Definition: publisher.h:224
virtual void tick()
Signals that a publication has occurred.
Definition: publisher.h:88
Merges CompositeDiagnosticTask into a single DiagnosticTask.
DiagnosedPublisher(const ros::Publisher &pub, diagnostic_updater::Updater &diag, const diagnostic_updater::FrequencyStatusParam &freq, const diagnostic_updater::TimeStampStatusParam &stamp)
Constructs a DiagnosedPublisher.
Definition: publisher.h:192
void addTask(DiagnosticTask *t)
Adds a child CompositeDiagnosticTask.


diagnostic_updater
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs, Blaise Gassend
autogenerated on Fri Sep 18 2020 03:36:12