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Add DowngradeAnalyser for reporting non-critical errors
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‎diagnostic_aggregator/CMakeLists.txt

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

‎diagnostic_aggregator/analyzer_plugins.xml

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

‎diagnostic_aggregator/include/diagnostic_aggregator/downgrade_analyzer.h

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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/*!
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* \author Tim Clephas
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*/
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#ifndef DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H
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#define DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H
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#include "diagnostic_aggregator/generic_analyzer.h"
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#include <vector>
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include <diagnostic_msgs/DiagnosticStatus.h>
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#include <ros/ros.h>
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namespace diagnostic_aggregator {
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/*!
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*\brief DowngradeAnalyzer downgrades all analyzer parameters and does nothing
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*
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* DowngradeAnalyzer is used to get rid of an Analyzer that is no longer part of a robot configuration.
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*
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*\verbatim
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*<launch>
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* <include file="$(find my_pkg)/my_analyzers.launch" />
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*
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* <!-- Overwrite a specific Analyzer to discard all -->
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* <param name="diag_agg/analyzers/motors/type" value="DowngradeAnalyzer" />
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*</launch>
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*\endverbatim
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*
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*
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*/
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class DowngradeAnalyzer : public GenericAnalyzer
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{
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public:
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/*!
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*\brief Default constructor loaded by pluginlib
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*/
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DowngradeAnalyzer();
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virtual ~DowngradeAnalyzer();
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/*
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*\brief Generate report using generic analyser but always report OK
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*/
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virtual std::vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > report();
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};
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}
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#endif // DIAGNOSTIC_AGGREGATOR_DOWNGRADE_ANALYZER_H

‎diagnostic_aggregator/src/downgrade_analyzer.cpp

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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/**< \author Tim Clephas */
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#include "diagnostic_aggregator/downgrade_analyzer.h"
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using namespace diagnostic_aggregator;
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using namespace std;
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PLUGINLIB_EXPORT_CLASS(diagnostic_aggregator::DowngradeAnalyzer,
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diagnostic_aggregator::Analyzer)
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DowngradeAnalyzer::DowngradeAnalyzer() { }
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DowngradeAnalyzer::~DowngradeAnalyzer() { }
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vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > DowngradeAnalyzer::report()
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{
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vector<boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> > processed;
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processed = GenericAnalyzer::report();
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for (unsigned int j = 0; j < processed.size(); ++j)
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{
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processed[j]->level = diagnostic_msgs::DiagnosticStatus::OK;
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}
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return processed;
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}

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