exception_selftest.cpp
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29 
35 #include <ros/ros.h>
36 
37 #include "diagnostic_msgs/SelfTest.h"
38 
39 #include "self_test/self_test.h"
40 
41 #include <stdexcept>
42 
43 // using namespace std;
44 
45 class MyNode
46 {
47 public:
48 
49  // self_test::TestRunner is the handles sequencing driver self-tests.
51 
52  // A value showing statefulness of tests
53  double some_val;
54 
56 
58  {
59  self_test_.add("Pretest", this, &MyNode::pretest );
60 
61  self_test_.add("ID Lookup", this, &MyNode::test1);
62  self_test_.add("Exception generating test", this, &MyNode::test2);
63  self_test_.add("Value generating test", this, &MyNode::test3);
64  self_test_.add("Value testing test", this, &MyNode::test4);
65 
66  self_test_.add("Posttest", this, &MyNode::pretest );
67  }
68 
70  {
71  ROS_INFO("Doing preparation stuff before we run our test.\n");
72  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Pretest completed successfully.");
73 
74  some_val = 1.0;
75  }
76 
78  {
79  // Look up ID here
80  char ID[] = "12345";
81  bool lookup_successful = true;
82 
83  if (lookup_successful)
84  {
85  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "ID Lookup successful");
86 
87  self_test_.setID(ID);
88 
89  } else {
90  status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "ID Lookup failed");
91  }
92  }
93 
94  // Throwing an exception
96  {
97  status.level = 0;
98 
99  throw std::runtime_error("we did something that threw an exception");
100 
101  // Here's where we would report success if we'd made it past
102  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We made it past the exception throwing statement.");
103  }
104 
106  {
107  some_val += 41.0;
108 
109  status.add("some value", some_val);
110  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We successfully changed the value.");
111  }
112 
114  {
115  if (some_val == 42.0)
116  {
117  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We observed the change in value");
118  }
119  else
120  {
121  status.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "We failed to observe the change in value, it is currently %f.", some_val);
122  }
123  }
124 
126  {
127  ROS_INFO("Doing cleanup stuff after we run our test.\n");
128  status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Posttest completed successfully.");
129  }
130 
131  bool spin()
132  {
133  while (nh_.ok())
134  {
135  ros::Duration(1).sleep();
136 
138  }
139  return true;
140  }
141 };
142 
143 int
144 main(int argc, char** argv)
145 {
146  ros::init(argc, argv, "my_node");
147 
148  MyNode n;
149 
150  n.spin();
151 
152  return(0);
153 }
MyNode::spin
bool spin()
Definition: exception_selftest.cpp:131
diagnostic_updater::DiagnosticStatusWrapper::add
void add(const std::string &key, const bool &b)
ros::init
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
MyNode::some_val
double some_val
Definition: selftest_example.cpp:49
ros.h
MyNode::test4
void test4(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: selftest_example.cpp:149
MyNode::test1
void test1(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: selftest_example.cpp:98
self_test::TestRunner::add
void add(const std::string &name, TaskFunction f)
diagnostic_updater::DiagnosticStatusWrapper::summary
void summary(const diagnostic_msgs::DiagnosticStatus &src)
MyNode::nh_
ros::NodeHandle nh_
Definition: selftest_example.cpp:51
self_test::TestRunner
Class to facilitate the creation of component self-tests.
Definition: self_test.h:100
MyNode
Simple node with a self test that reports an error.
Definition: selftest_example.cpp:41
self_test::TestRunner::setID
void setID(std::string id)
Sets the ID of the part being tested.
Definition: self_test.h:153
MyNode::posttest
void posttest(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: exception_selftest.cpp:125
ros::NodeHandle::ok
bool ok() const
MyNode::test3
void test3(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: selftest_example.cpp:140
self_test.h
self_test::TestRunner::checkTest
void checkTest()
Check if a self-test is pending. If so, start it and wait for it to complete.
Definition: self_test.h:139
MyNode::pretest
void pretest(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: selftest_example.cpp:85
diagnostic_updater::DiagnosticStatusWrapper
main
int main(int argc, char **argv)
Definition: exception_selftest.cpp:144
ros::Duration::sleep
bool sleep() const
MyNode::test2
void test2(diagnostic_updater::DiagnosticStatusWrapper &status)
Definition: selftest_example.cpp:122
MyNode::MyNode
MyNode()
Definition: exception_selftest.cpp:57
ROS_INFO
#define ROS_INFO(...)
ros::Duration
diagnostic_updater::DiagnosticStatusWrapper::summaryf
void summaryf(unsigned char lvl, const char *format,...)
ros::NodeHandle
MyNode::self_test_
self_test::TestRunner self_test_
Definition: selftest_example.cpp:46


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Tue Nov 15 2022 03:17:23