Class AnalyzerGroup

Inheritance Relationships

Base Type

Class Documentation

class AnalyzerGroup : public diagnostic_aggregator::Analyzer

Allows analyzers to be grouped together, or used as sub-analyzers.

The AnalyzerGroup is used by the diagnostic aggregator internally to load and handle analyzers. It can be used as a normal analyzer plugin to allow analyzers to become “sub-analyzers”, or move as a group.

The “sub-analyzers” are initialized using parameters in the “~analyzers” namespace of the AnalyzerGroup. The “type” parameters determines the analyzer type.

Example initialization: 

*  sensors:
*  type: AnalyzerGroup
*  path: Sensors
*  analyzers:
*    base_hk:
*      type: GenericAnalyzer
*      path: Base Hokuyo
*      timeout: 5.0
*      find_and_remove_prefix: base_hokuyo_node
*      num_items: 3
*    tilt_hk:
*      type: GenericAnalyzer
*      path: Tilt Hokuyo
*      timeout: 5.0
*      find_and_remove_prefix: tilt_hokuyo_node
*      num_items: 3
*    imu:
*      type: GenericAnalyzer
*      path: IMU
*      timeout: 5.0
*      find_and_remove_prefix: imu_node
*      num_items: 3
*

Each namespace below “analyzers” describes a new Analyzer that will be loaded as a sub-analyzer. Any analyzer that fails to initialize or loads incorrectly will generate an error in the console output, and a special diagnostic item in the output of the AnalyzerGroup that describes the error.

In the above example, the AnalyzerGroup will have three sub-analyzers. The AnalyzerGroup will report a DiagnosticStatus message in the processed output with the name “Sensors” (the top-level state). The “Sensors” message will have the level of the highest of the sub-analyzers, or the highest of “Sensors/Base Hokuyo”, “Sensors/Tilt Hokuyo” and “Sensors/IMU”. The state of any other items, like “Sensors/IMU/Connection” won’t matter to the AnalyzerGroup.

The Aggregator uses the AnalyzerGroup internally to load and update analyzers.

Public Functions

DIAGNOSTIC_AGGREGATOR_PUBLIC AnalyzerGroup()
virtual DIAGNOSTIC_AGGREGATOR_PUBLIC ~AnalyzerGroup()
virtual DIAGNOSTIC_AGGREGATOR_PUBLIC bool init (const std::string &base_path, const std::string &breadcrumb, const rclcpp::Node::SharedPtr node)

Initialized with base path and namespace.

The parameters in its namespace determine the sub-analyzers.

virtual DIAGNOSTIC_AGGREGATOR_PUBLIC bool addAnalyzer (std::shared_ptr< Analyzer > &analyzer)

Add an analyzer to this analyzerGroup.

!

virtual DIAGNOSTIC_AGGREGATOR_PUBLIC bool removeAnalyzer (std::shared_ptr< Analyzer > &analyzer)

Remove an analyzer from this analyzerGroup.

!

virtual DIAGNOSTIC_AGGREGATOR_PUBLIC bool match (const std::string &name)

Match returns true if any sub-analyzers match an item.

DIAGNOSTIC_AGGREGATOR_PUBLIC void resetMatches ()

Clear match arrays. Used when analyzers are added or removed.

virtual DIAGNOSTIC_AGGREGATOR_PUBLIC bool analyze (const std::shared_ptr< StatusItem > item)

Analyze returns true if any sub-analyzers will analyze an item.

virtual DIAGNOSTIC_AGGREGATOR_PUBLIC std::vector< std::shared_ptr< diagnostic_msgs::msg::DiagnosticStatus > > report ()

The processed output is the combined output of the sub-analyzers, and the top level status.

inline virtual std::string getPath() const

Returns full prefix of analyzer. (ex: ‘/Robot/Sensors’)

inline virtual std::string getName() const

Returns nice name for display. (ex: ‘Sensors’)