self_test.h
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00034 
00035 #ifndef SELFTEST_HH
00036 #define SELFTEST_HH
00037 
00038 #include <stdexcept>
00039 #include <vector>
00040 #include <string>
00041 
00042 #include <boost/thread.hpp>
00043 #include <ros/callback_queue.h>
00044 
00045 #include "diagnostic_msgs/DiagnosticStatus.h"
00046 #include "diagnostic_msgs/SelfTest.h"
00047 #include "diagnostic_updater/diagnostic_updater.h"
00048 
00049 namespace self_test
00050 {
00051 
00052   using namespace diagnostic_updater;
00053 
00068   class TestRunner : public DiagnosticTaskVector
00069   {        
00070     private:
00071       ros::ServiceServer service_server_;
00072       ros::CallbackQueue self_test_queue_;
00073       ros::NodeHandle node_handle_;
00074       std::string id_;
00075 
00076       bool verbose;
00077 
00078     public:
00079       using DiagnosticTaskVector::add;
00080 
00089       TestRunner(ros::NodeHandle h = ros::NodeHandle()) : 
00090         node_handle_(h)
00091     {
00092       ROS_DEBUG("Advertising self_test");
00093       ros::NodeHandle private_node_handle_("~");
00094       private_node_handle_.setCallbackQueue(&self_test_queue_);
00095       service_server_ = private_node_handle_.advertiseService("self_test", &TestRunner::doTest, this);
00096       verbose = true;
00097     }
00098 
00104       void checkTest()
00105       {
00106         self_test_queue_.callAvailable(ros::WallDuration(0));
00107       }
00108 
00118       void setID(std::string id)
00119       {
00120         id_ = id;
00121       }
00122 
00123     private:
00127       bool doTest(diagnostic_msgs::SelfTest::Request &req,
00128           diagnostic_msgs::SelfTest::Response &res)
00129       {
00130         bool retval = false;
00131         bool ignore_set_id_warn = false;
00132 
00133         if (node_handle_.ok())
00134         {
00135           const std::string unspecified_id("unspecified");
00136 
00137           ROS_INFO("Entering self-test.");
00138 
00139           std::vector<diagnostic_msgs::DiagnosticStatus> status_vec;
00140 
00141           const std::vector<DiagnosticTaskInternal> &tasks = getTasks();
00142           for (std::vector<DiagnosticTaskInternal>::const_iterator iter = tasks.begin();
00143               iter != tasks.end(); iter++)
00144           {
00145             if (ros::isShuttingDown())
00146             {
00147               ROS_ERROR("ROS has shut down. Exiting.");
00148               return false;
00149             }
00150             
00151             diagnostic_updater::DiagnosticStatusWrapper status;
00152 
00153             status.level = 2;
00154             status.message = "No message was set";
00155 
00156             try {
00157               ROS_INFO("Starting test: %s", iter->getName().c_str());
00158               iter->run(status);
00159 
00160             } catch (std::exception& e)
00161             {
00162               status.level = 2;
00163               status.message = std::string("Uncaught exception: ") + e.what();
00164               ignore_set_id_warn = true;
00165             }
00166 
00167             if (status.level >= 1)
00168               if (verbose)
00169                 ROS_WARN("Non-zero self-test test status. Name: '%s', status %i: '%s'", status.name.c_str(), status.level, status.message.c_str());
00170             
00171             status_vec.push_back(status);
00172           }
00173 
00174           if (!ignore_set_id_warn && id_.empty())
00175             ROS_WARN("setID was not called by any self-test. The node author should be notified. If there is no suitable ID for this node, an ID of 'none' should be used.");
00176 
00177           //One of the test calls should use setID
00178           res.id = id_;
00179 
00180           res.passed = true;
00181           for (std::vector<diagnostic_msgs::DiagnosticStatus>::iterator status_iter = status_vec.begin();
00182               status_iter != status_vec.end();
00183               status_iter++)
00184           {
00185             if (status_iter->level >= 2)
00186               res.passed = false;
00187           }
00188 
00189           if (res.passed && id_ == unspecified_id)
00190             ROS_WARN("Self-test passed, but setID was not called. This is a bug in the driver. Please report it.");
00191 
00192           res.status = status_vec;
00193 
00194           retval = true;
00195           
00196           ROS_INFO("Self-test complete.");
00197         }
00198 
00199         return retval;
00200 
00201       }
00202   };
00203 };
00204 
00205 #endif


self_test
Author(s): Jeremy Leibs and Blaise Gassend
autogenerated on Fri Jan 3 2014 11:19:02