nodelet_with_diagnostics.hpp File Reference

Helpers for setting up diagnostics for nodelets. More...

#include <memory>
#include <string>
#include <type_traits>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <diagnostic_updater/diagnostic_updater.h>
#include <ros/advertise_options.h>
#include <ros/message_traits.h>
#include <ros/node_handle.h>
#include <ros/rate.h>
#include <ros/subscribe_options.h>
#include <ros/transport_hints.h>
#include <cras_cpp_common/diag_utils.hpp>
#include <cras_cpp_common/diag_utils/diagnosed_pub_sub.hpp>
#include <cras_cpp_common/diag_utils/topic_status_param.hpp>
#include <cras_cpp_common/diag_utils/updater.h>
#include <cras_cpp_common/message_utils.hpp>
#include "impl/nodelet_with_diagnostics.hpp"

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Classes
struct	cras::NodeletWithDiagnostics< NodeletType >
	Nodelet mixin that provides helper functions for running a diagnostics updater. More...

Namespaces
	cras
	cras::impl

Macros
#define	CRAS_NODELET_DIAG_GENERATE_OVERLOAD_M(NH, NH2, PARAM, PARAM2, CB, CB2)
#define	CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MESSAGE(NH, NH2, PARAM, PARAM2, CB)
#define	CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT(NH, NH2, PARAM, PARAM2, CB)
#define	CRAS_NODELET_DIAG_GENERATE_OVERLOAD_OPTIONS(NH, NH2, PARAM, PARAM2)
#define	CRAS_NODELET_DIAG_GENERATE_OVERLOADS(NH, NH2, PARAM, PARAM2)
#define	CRAS_SINGLE_ARG(...)   __VA_ARGS__

Detailed Description

Helpers for setting up diagnostics for nodelets.

Author

Martin Pecka SPDX-License-Identifier: BSD-3-Clause SPDX-FileCopyrightText: Czech Technical University in Prague

Definition in file nodelet_with_diagnostics.hpp.

Macro Definition Documentation

CRAS_NODELET_DIAG_GENERATE_OVERLOAD_M

#define CRAS_NODELET_DIAG_GENERATE_OVERLOAD_M	(		NH,
			NH2,
			PARAM,
			PARAM2,
			CB,
			CB2
	)

Value:

  template <typename M, typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>> \
  ::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M>>> \
  subscribeDiagnosed(NH PARAM const ::std::string& topic, uint32_t queue_size, CB, ::ros::TransportHints hints = {}) \
  { \
     return ::std::move(this->template subscribeDiagnosed<M>(NH2 PARAM2 topic, queue_size, CB2, hints));\
  }

Definition at line 643 of file nodelet_with_diagnostics.hpp.

CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MESSAGE

#define CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MESSAGE	(		NH,
			NH2,
			PARAM,
			PARAM2,
			CB
	)

Value:

  template <typename M, typename = ::std::enable_if_t<::ros::message_traits::IsMessage<M>::value>> \
  ::std::unique_ptr<::cras::DiagnosedSubscriber<M>> \
  subscribeDiagnosed(NH PARAM const ::std::string& topic, uint32_t queue_size, CB, ::ros::TransportHints hints = {}) \
  { \
     return ::std::move(this->template subscribeDiagnosed<M>(NH2 PARAM2 topic, queue_size, cb, hints));\
  }

Definition at line 651 of file nodelet_with_diagnostics.hpp.

CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT

#define CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT	(		NH,
			NH2,
			PARAM,
			PARAM2,
			CB
	)

Value:

  template <typename M, class T, typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>> \
  ::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M>>> \
  subscribeDiagnosed(NH PARAM const ::std::string& topic, uint32_t queue_size, CB, ::ros::TransportHints hints = {}) \
  { \
     return ::std::move(this->template subscribeDiagnosed<M, T>(NH2 PARAM2 topic, queue_size, cb, obj, hints)); \
  }

Definition at line 659 of file nodelet_with_diagnostics.hpp.

CRAS_NODELET_DIAG_GENERATE_OVERLOAD_OPTIONS

#define CRAS_NODELET_DIAG_GENERATE_OVERLOAD_OPTIONS	(		NH,
			NH2,
			PARAM,
			PARAM2
	)

Value:

  template<typename M, typename = ::std::enable_if_t<::ros::message_traits::IsMessage<M>::value>> \
  ::std::unique_ptr<::cras::DiagnosedSubscriber<M>> \
  subscribeDiagnosed(NH PARAM ::ros::SubscribeOptions& options) \
  { \
     const auto topic = options.topic; \
     return ::std::move(this->template subscribeDiagnosed<M>(NH2 PARAM2 options));\
  }

Definition at line 667 of file nodelet_with_diagnostics.hpp.

CRAS_NODELET_DIAG_GENERATE_OVERLOADS

#define CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(		NH,
			NH2,
			PARAM,
			PARAM2
	)

Value:

  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_M(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), CRAS_SINGLE_ARG(void(*cb)(M)), CRAS_SINGLE_ARG(cb)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MESSAGE(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), \
    CRAS_SINGLE_ARG(const ::boost::function<void(const ::boost::shared_ptr<M>&)>& cb)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_M(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), \
    CRAS_SINGLE_ARG(const ::boost::function<void(M)>& cb, ::ros::VoidConstPtr obj = {}), \
    CRAS_SINGLE_ARG(cb, obj)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), CRAS_SINGLE_ARG(void(T::*cb)(M), T* obj)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), CRAS_SINGLE_ARG(void(T::*cb)(M) const, T* obj)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), \
    CRAS_SINGLE_ARG(void(T::*cb)(M), const ::boost::shared_ptr<T>& obj)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_MT(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2), \
    CRAS_SINGLE_ARG(void(T::*cb)(M) const, const ::boost::shared_ptr<T>& obj)) \
  CRAS_NODELET_DIAG_GENERATE_OVERLOAD_OPTIONS(CRAS_SINGLE_ARG(NH), CRAS_SINGLE_ARG(NH2), \
    CRAS_SINGLE_ARG(PARAM), CRAS_SINGLE_ARG(PARAM2))

Definition at line 678 of file nodelet_with_diagnostics.hpp.

CRAS_SINGLE_ARG

#define CRAS_SINGLE_ARG

(

...

)

__VA_ARGS__

Definition at line 676 of file nodelet_with_diagnostics.hpp.