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/*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the <ORGANIZATION> nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include "diagnostic_msgs/SelfTest.h"
#include "self_test/self_test.h"
#include <stdexcept>
/*
*\author Kevin Watts
*\brief Returns nominal self-test values
*/
class MyNode
{
public:
// self_test::TestRunner is the handles sequencing driver self-tests.
self_test::TestRunner self_test_;
// A value showing statefulness of tests
double some_val;
ros::NodeHandle nh_;
MyNode() : self_test_()
{
self_test_.add("Pretest", this, &MyNode::pretest );
self_test_.add("ID Lookup", this, &MyNode::test1);
self_test_.add("Exception generating test", this, &MyNode::test2);
self_test_.add("Value generating test", this, &MyNode::test3);
self_test_.add("Value testing test", this, &MyNode::test4);
self_test_.add("Posttest", this, &MyNode::pretest );
}
void pretest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
ROS_INFO("Doing preparation stuff before we run our test.\n");
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Pretest completed successfully.");
some_val = 1.0;
}
void test1(diagnostic_updater::DiagnosticStatusWrapper& status)
{
// Look up ID here
char ID[] = "12345";
bool lookup_successful = true;
if (lookup_successful)
{
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "ID Lookup successful");
self_test_.setID(ID);
} else {
status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "ID Lookup failed");
}
}
// Tests do not necessarily need to catch their exceptions.
void test2(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.level = 0;
// Here's where we would report success if we'd made it past
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We made it past the exception throwing statement.");
}
void test3(diagnostic_updater::DiagnosticStatusWrapper& status)
{
some_val += 41.0;
status.add("some value", some_val);
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We successfully changed the value.");
}
void test4(diagnostic_updater::DiagnosticStatusWrapper& status)
{
if (some_val == 42.0)
{
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "We observed the change in value");
}
else
{
status.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "We failed to observe the change in value, it is currently %f.", some_val);
}
}
void posttest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
ROS_INFO("Doing cleanup stuff after we run our test.\n");
status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Posttest completed successfully.");
}
bool spin()
{
while (nh_.ok())
{
ros::Duration(1).sleep();
self_test_.checkTest();
}
return true;
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "my_node");
MyNode n;
n.spin();
return(0);
}
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