00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright 2011 Stefan Osswald, University of Freiburg 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the University of Freiburg nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef NAO_JOINTS_ANALYZER_H 00036 #define NAO_JOINTS_ANALYZER_H 00037 00038 #include <ros/ros.h> 00039 #include <diagnostic_aggregator/analyzer.h> 00040 #include <diagnostic_aggregator/status_item.h> 00041 #include <diagnostic_msgs/DiagnosticStatus.h> 00042 #include <pluginlib/class_list_macros.h> 00043 #include <string> 00044 #include <map> 00045 00046 namespace diagnostic_aggregator { 00047 00051 class NaoJointsAnalyzer: public Analyzer { 00052 public: 00053 NaoJointsAnalyzer(); 00054 ~NaoJointsAnalyzer(); 00055 bool init(const std::string base_name, const ros::NodeHandle &n); 00056 bool match(const std::string name); 00057 bool analyze(const boost::shared_ptr<StatusItem> item); 00058 std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report(); 00059 std::string getPath() const { 00060 return m_path; 00061 } 00062 std::string getName() const { 00063 return m_niceName; 00064 } 00065 00066 private: 00067 std::string m_path, m_niceName; 00068 boost::shared_ptr<StatusItem> m_jointsMasterItem; 00069 boost::shared_ptr<StatusItem> m_statusItems; 00070 ros::Time m_lastSeen; 00071 00072 struct JointData { 00073 std::string name; 00074 double temperature, stiffness; 00075 boost::shared_ptr<diagnostic_aggregator::StatusItem> status; 00076 }; 00077 typedef std::map<std::string, JointData> JointsMapType; 00078 JointsMapType m_joints; 00079 00080 template<typename T> void addValue(boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> joint_stat, const std::string& key, const T& value) const; 00081 static bool compareByTemperature(const NaoJointsAnalyzer::JointData& a, const NaoJointsAnalyzer::JointData& b); 00082 }; 00083 00084 } 00085 #endif //NAO_JOINTS_ANALYZER_H