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MedusaDiagnostics

MedusaDiagnostics namespace.

Functions

Name
diagnostic_msgs::DiagnosticStatus setDiagnosisMsg(const uint8_t & level, const std::string & name, const std::string & message, const std::string & hardware_id)
Set the Diagnosis Msg object (DiagnosticStatus)
void addKeyValue(diagnostic_msgs::DiagnosticArray * diagnostic_msg, const std::string & key_name, const std::string & value, const unsigned int & index)
add key values to diagnostic message
template <typename T >
bool		 checkLowerBound(const T & value, const T & lower_bound)
Check lower bound value.
template <typename T >
bool		 checkUpperBound(const T & value, const T & upper_bound)
void warnLevel(diagnostic_msgs::DiagnosticArray * diagnostic_msg, const std::string & message, const unsigned int & index)
Define the level as WARN and change the message in diagnostics.
void errorLevel(diagnostic_msgs::DiagnosticArray * diagnostic_msg, const std::string & message, const unsigned int & index)
Define the level as Error and change the message in diagnostics.

Functions Documentation

function setDiagnosisMsg

diagnostic_msgs::DiagnosticStatus setDiagnosisMsg(
    const uint8_t & level,
    const std::string & name,
    const std::string & message,
    const std::string & hardware_id
)

Set the Diagnosis Msg object (DiagnosticStatus)

Parameters:

  • level 0->OK, 1-> WARN, 2-> ERROR, 3->STALE
  • name name of what sensor/node is being diagnosed, ex: /sensors/ + node_name
  • message Say if it is ok or not
  • hardware_id name of the sensor

Return: diagnostic_msgs::DiagnosticStatus

function addKeyValue

void addKeyValue(
    diagnostic_msgs::DiagnosticArray * diagnostic_msg,
    const std::string & key_name,
    const std::string & value,
    const unsigned int & index
)

add key values to diagnostic message

Parameters:

  • diagnostic_msg array(DiagnosticArray) of diagnostic_msgs
  • key_name name of what we are diagnosing ex: Temperature, Current, Yaw
  • value value being diagnosed, ex: from sensor
  • index of the diagnostic_msg array

function checkLowerBound

template <typename T >
bool checkLowerBound(
    const T & value,
    const T & lower_bound
)

Check lower bound value.

Parameters:

  • value value being diagnosed, ex: received by the sensor
  • lower_bound value of lower bound defined by the user

Template Parameters:

  • T type of the values to be compared (int, double, float)

Return:

  • true if the sensor value is lower than the lower bound
  • false if the sensor value is bigger than the lower bound

function checkUpperBound

template <typename T >
bool checkUpperBound(
    const T & value,
    const T & upper_bound
)

Parameters:

  • value received by the sensor
  • upper_bound value of the upper bound defined by the user

Template Parameters:

  • T type of the values to be compared (int, double, float)

Return:

  • true if the sensor value is bigger than the upper bound
  • false if the sensor value is lower thant the upper bound

function warnLevel

void warnLevel(
    diagnostic_msgs::DiagnosticArray * diagnostic_msg,
    const std::string & message,
    const unsigned int & index
)

Define the level as WARN and change the message in diagnostics.

Parameters:

  • diagnostic_msg array(DiagnosticArray) of diagnostic_msgs
  • message to clarify warning
  • index of the diagnostic_msg array

function errorLevel

void errorLevel(
    diagnostic_msgs::DiagnosticArray * diagnostic_msg,
    const std::string & message,
    const unsigned int & index
)

Define the level as Error and change the message in diagnostics.

Parameters:

  • diagnostic_msg array(DiagnosticArray) of diagnostic_msgs
  • message to clarify error
  • index of the diagnostic_msg array

Updated on 2022-09-15 at 17:51:28 +0000

Last update: September 15, 2022
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