Add DowngradeAnalyser for reporting non-critical errors

diagnostic_aggregator/CMakeLists.txt

@@ -31,6 +31,7 @@ add_library(${PROJECT_NAME}
   src/analyzer_group.cpp
   src/generic_analyzer.cpp
   src/discard_analyzer.cpp
+  src/downgrade_analyzer.cpp
   src/ignore_analyzer.cpp
   src/aggregator.cpp)
 target_link_libraries(diagnostic_aggregator ${Boost_LIBRARIES}

diagnostic_aggregator/analyzer_plugins.xml

@@ -9,6 +9,11 @@
       DiscardAnalyzer will discard (not report) any values that it matches.
     </description>
   </class>
+  <class name="diagnostic_aggregator/DowngradeAnalyzer" type="diagnostic_aggregator::DowngradeAnalyzer" base_class_type="diagnostic_aggregator::Analyzer">
+    <description>
+      DowngradeAnalyzer will always report OK, but still show the message
+    </description>
+  </class>
   <class name="diagnostic_aggregator/IgnoreAnalyzer" type="diagnostic_aggregator::IgnoreAnalyzer" base_class_type="diagnostic_aggregator::Analyzer">
     <description>
       IgnoreAnalyzer will ignore all parameters and discard all.

diagnostic_aggregator/include/diagnostic_aggregator/downgrade_analyzer.h

@@ -0,0 +1,83 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  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 Willow Garage 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.
+ *********************************************************************/
+
+/*!
+ * \author Tim Clephas
+ */
+
+#ifndef DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H
+#define DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H
+
+#include "diagnostic_aggregator/generic_analyzer.h"
+#include <vector>
+#include <string>
+#include <boost/shared_ptr.hpp>
+#include <diagnostic_msgs/DiagnosticStatus.h>
+#include <ros/ros.h>
+
+namespace diagnostic_aggregator {
+
+/*!
+ *\brief DowngradeAnalyzer downgrades all analyzer parameters and does nothing
+ *
+ * DowngradeAnalyzer is used to get rid of an Analyzer that is no longer part of a robot configuration.
+ *
+ *\verbatim
+ *<launch>
+ *  <include file="$(find my_pkg)/my_analyzers.launch" />
+ *
+ *  <!-- Overwrite a specific Analyzer to discard all -->
+ *  <param name="diag_agg/analyzers/motors/type" value="DowngradeAnalyzer" />
+ *</launch>
+ *\endverbatim
+ *
+ *
+ */
+class DowngradeAnalyzer : public GenericAnalyzer
+{
+public:
+  /*!
+   *\brief Default constructor loaded by pluginlib
+   */
+  DowngradeAnalyzer();
+
+  virtual ~DowngradeAnalyzer();
+/*
+   *\brief Generate report using generic analyser but always report OK
+   */
+  virtual std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report();
+};
+
+}
+#endif // DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H

diagnostic_aggregator/src/downgrade_analyzer.cpp

@@ -0,0 +1,62 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  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 Willow Garage 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.
+ *********************************************************************/
+
+/**< \author Tim Clephas */
+
+#include "diagnostic_aggregator/downgrade_analyzer.h"
+
+
+using namespace diagnostic_aggregator;
+using namespace std;
+
+PLUGINLIB_EXPORT_CLASS(diagnostic_aggregator::DowngradeAnalyzer,
+                       diagnostic_aggregator::Analyzer)
+
+
+DowngradeAnalyzer::DowngradeAnalyzer() { }
+
+DowngradeAnalyzer::~DowngradeAnalyzer() { }
+
+vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > DowngradeAnalyzer::report()
+{
+  vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed;
+  processed = GenericAnalyzer::report();
+
+  for (unsigned int j = 0; j < processed.size(); ++j)
+  {
+    processed[j]->level = diagnostic_msgs::DiagnosticStatus::OK;
+  }
+
+  return processed;
+}