#include <sys_monitor.h>

Inheritance diagram for sys_monitor::SysMonitor:

Classes
struct	Fault

class	Watchdog

Public Member Functions
	SysMonitor ()

	~SysMonitor ()

void	AddFault (unsigned int fault_id, std::string const &fault_msg="", ros::Time time_occurred=ros::Time::now())

void	AddFault (ff_msgs::Fault const &fault, bool check_added=false)

void	ChangeFaultErrMsg (unsigned int fault_id, std::string err_msg)

void	RemoveFault (unsigned int fault_id)

Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)

	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)

virtual	~FreeFlyerNodelet ()

void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearAllFaults ()

void	ClearFault (FaultKeys enum_key)

void	PrintFaults ()

ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)

ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)

std::string	GetName ()

std::string	GetPlatform ()

std::string	GetTransform (std::string const &child)

Protected Types
typedef std::shared_ptr< Watchdog >	WatchdogPtr

Protected Member Functions
void	AddWatchDog (ros::Duration const &timeout, std::string const &node_name, uint const allowed_misses, uint const fault_id)

void	SetFaultState (unsigned int fault_id, bool adding_fault)

void	HeartbeatCallback (ff_msgs::HeartbeatConstPtr const &heartbeat)

void	AssertFault (ff_util::FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearFault (ff_util::FaultKeys enum_key)

virtual void	Initialize (ros::NodeHandle *nh)

void	OutputFaultTables ()

void	PublishCmd (ff_msgs::CommandStampedPtr cmd)

void	PublishFaultConfig ()

void	PublishFaultState ()

void	PublishFaultResponse (unsigned int fault_id)

void	PublishHeartbeatCallback (ros::TimerEvent const &te)

void	PublishHeartbeat (bool initialization_fault=false)

void	PublishTimeDiff (float time_diff_sec)

void	StartupTimerCallback (ros::TimerEvent const &te)

void	ReloadNodeletTimerCallback (ros::TimerEvent const &te)

bool	ReadParams ()

bool	ReadCommand (config_reader::ConfigReader::Table *entry, ff_msgs::CommandStampedPtr cmd)

bool	NodeletService (ff_msgs::UnloadLoadNodelet::Request &req, ff_msgs::UnloadLoadNodelet::Response &res)

int	LoadNodelet (ff_msgs::UnloadLoadNodelet::Request &req)

int	UnloadNodelet (std::string const &nodelet, std::string const &manager)

Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()

virtual void	Sleep ()

virtual void	Wakeup ()

void	StopHeartbeat ()

void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)

void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Protected Attributes
ff_msgs::FaultState	fault_state_

ff_msgs::FaultConfig	fault_config_

ff_msgs::Heartbeat	heartbeat_

nodelet::NodeletLoad	load_service_

nodelet::NodeletUnload	unload_service_

ros::NodeHandle	nh_

ros::Publisher	pub_cmd_

ros::Publisher	pub_heartbeat_

ros::Publisher	pub_fault_config_

ros::Publisher	pub_fault_state_

ros::Publisher	pub_time_sync_

ros::Timer	reload_params_timer_

ros::Timer	startup_timer_

ros::Timer	reload_nodelet_timer_

ros::Timer	heartbeat_timer_

ros::ServiceServer	unload_load_nodelet_service_

ros::Subscriber	sub_hb_

std::map< unsigned int, std::shared_ptr< Fault > >	all_faults_

std::map< std::string, WatchdogPtr >	watch_dogs_

std::vector< std::string >	unwatched_heartbeats_

std::vector< std::string >	reloaded_nodelets_

std::string	time_diff_node_

config_reader::ConfigReader	config_params_

bool	time_diff_fault_triggered_

bool	log_time_llp_

bool	log_time_hlp_

int	pub_queue_size_

int	sub_queue_size_

int	num_current_blocking_fault_

unsigned int	startup_time_

unsigned int	reload_nodelet_timeout_

unsigned int	heartbeat_pub_rate_

float	time_drift_thres_sec_

Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Additional Inherited Members
Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Member Typedef Documentation

◆ WatchdogPtr

typedef std::shared_ptr<Watchdog> sys_monitor::SysMonitor::WatchdogPtr

protected

Constructor & Destructor Documentation

◆ SysMonitor()

sys_monitor::SysMonitor::SysMonitor ( )

◆ ~SysMonitor()

sys_monitor::SysMonitor::~SysMonitor ( )

Member Function Documentation

◆ AddFault() [1/2]

void sys_monitor::SysMonitor::AddFault	(	ff_msgs::Fault const &	fault,
		bool	check_added = `false`
	)

◆ AddFault() [2/2]

void sys_monitor::SysMonitor::AddFault	(	unsigned int	fault_id,
		std::string const &	fault_msg = `""`,
		ros::Time	time_occurred = `ros::Time::now()`
	)

Add fault to fault state and publish fault state.

Parameters

fault_id	unique fault id
fault_msg	message containing fault information
time_occurred	time fault occurred

◆ AddWatchDog()

void sys_monitor::SysMonitor::AddWatchDog	(	ros::Duration const &	timeout,
		std::string const &	node_name,
		uint const	allowed_misses,
		uint const	fault_id
	)

protected

Add a watchdog for node_name if one does not exist

Parameters

node_name	unique node name, use ros::this_node::getName()
timeout	watchdog timer timeout
allowed_misses	allowable missed watchdog timeouts
fault_id	unique fault id

◆ AssertFault()

void sys_monitor::SysMonitor::AssertFault	(	ff_util::FaultKeys	enum_key,
		std::string const &	message,
		ros::Time	time_fault_occurred = `ros::Time::now()`
	)

protected

◆ ChangeFaultErrMsg()

void sys_monitor::SysMonitor::ChangeFaultErrMsg	(	unsigned int	fault_id,
		std::string	err_msg
	)

◆ ClearFault()

void sys_monitor::SysMonitor::ClearFault ( ff_util::FaultKeys enum_key )

protected

◆ HeartbeatCallback()

void sys_monitor::SysMonitor::HeartbeatCallback ( ff_msgs::HeartbeatConstPtr const & heartbeat )

protected

Heartbeat callback will reset watchdog for the sender's node

Parameters

heartbeat received message

◆ Initialize()

void sys_monitor::SysMonitor::Initialize ( ros::NodeHandle * nh )

protectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ LoadNodelet()

int sys_monitor::SysMonitor::LoadNodelet ( ff_msgs::UnloadLoadNodelet::Request & req )

protected

◆ NodeletService()

bool sys_monitor::SysMonitor::NodeletService	(	ff_msgs::UnloadLoadNodelet::Request &	req,
		ff_msgs::UnloadLoadNodelet::Response &	res
	)

protected

◆ OutputFaultTables()

void sys_monitor::SysMonitor::OutputFaultTables ( )

protected

◆ PublishCmd()

void sys_monitor::SysMonitor::PublishCmd ( ff_msgs::CommandStampedPtr cmd )

protected

◆ PublishFaultConfig()

void sys_monitor::SysMonitor::PublishFaultConfig ( )

protected

◆ PublishFaultResponse()

void sys_monitor::SysMonitor::PublishFaultResponse ( unsigned int fault_id )

protected

◆ PublishFaultState()

void sys_monitor::SysMonitor::PublishFaultState ( )

protected

◆ PublishHeartbeat()

void sys_monitor::SysMonitor::PublishHeartbeat ( bool initialization_fault = false )

protected

◆ PublishHeartbeatCallback()

void sys_monitor::SysMonitor::PublishHeartbeatCallback ( ros::TimerEvent const & te )

protected

◆ PublishTimeDiff()

void sys_monitor::SysMonitor::PublishTimeDiff ( float time_diff_sec )

protected

◆ ReadCommand()

bool sys_monitor::SysMonitor::ReadCommand	(	config_reader::ConfigReader::Table *	entry,
		ff_msgs::CommandStampedPtr	cmd
	)

protected

Read command will read in the command name and arguments to a command. If no command is specified, false is returned.

◆ ReadParams()

bool sys_monitor::SysMonitor::ReadParams ( )

protected

Read params will read in all the parameters from the lua config files. When reloading parameters with this function, the watch dog will be cleared and restarted. False is returned if unable to read in config files.

◆ ReloadNodeletTimerCallback()

void sys_monitor::SysMonitor::ReloadNodeletTimerCallback ( ros::TimerEvent const & te )

protected

◆ RemoveFault()

void sys_monitor::SysMonitor::RemoveFault ( unsigned int fault_id )

◆ SetFaultState()

void sys_monitor::SysMonitor::SetFaultState	(	unsigned int	fault_id,
		bool	adding_fault
	)

protected

◆ StartupTimerCallback()

void sys_monitor::SysMonitor::StartupTimerCallback ( ros::TimerEvent const & te )

protected

◆ UnloadNodelet()

int sys_monitor::SysMonitor::UnloadNodelet	(	std::string const &	nodelet,
		std::string const &	manager
	)

protected

Member Data Documentation

◆ all_faults_

std::map<unsigned int, std::shared_ptr<Fault> > sys_monitor::SysMonitor::all_faults_

protected

◆ config_params_

config_reader::ConfigReader sys_monitor::SysMonitor::config_params_

protected

◆ fault_config_

ff_msgs::FaultConfig sys_monitor::SysMonitor::fault_config_

protected

◆ fault_state_

ff_msgs::FaultState sys_monitor::SysMonitor::fault_state_

protected

◆ heartbeat_

ff_msgs::Heartbeat sys_monitor::SysMonitor::heartbeat_

protected

◆ heartbeat_pub_rate_

unsigned int sys_monitor::SysMonitor::heartbeat_pub_rate_

protected

◆ heartbeat_timer_

ros::Timer sys_monitor::SysMonitor::heartbeat_timer_

protected

◆ load_service_

nodelet::NodeletLoad sys_monitor::SysMonitor::load_service_

protected

◆ log_time_hlp_

bool sys_monitor::SysMonitor::log_time_hlp_

protected

◆ log_time_llp_

bool sys_monitor::SysMonitor::log_time_llp_

protected

◆ nh_

ros::NodeHandle sys_monitor::SysMonitor::nh_

protected

◆ num_current_blocking_fault_

int sys_monitor::SysMonitor::num_current_blocking_fault_

protected

◆ pub_cmd_

ros::Publisher sys_monitor::SysMonitor::pub_cmd_

protected

◆ pub_fault_config_

ros::Publisher sys_monitor::SysMonitor::pub_fault_config_

protected

◆ pub_fault_state_

ros::Publisher sys_monitor::SysMonitor::pub_fault_state_

protected

◆ pub_heartbeat_

ros::Publisher sys_monitor::SysMonitor::pub_heartbeat_

protected

◆ pub_queue_size_

int sys_monitor::SysMonitor::pub_queue_size_

protected

◆ pub_time_sync_

ros::Publisher sys_monitor::SysMonitor::pub_time_sync_

protected

◆ reload_nodelet_timeout_

unsigned int sys_monitor::SysMonitor::reload_nodelet_timeout_

protected

◆ reload_nodelet_timer_

ros::Timer sys_monitor::SysMonitor::reload_nodelet_timer_

protected

◆ reload_params_timer_

ros::Timer sys_monitor::SysMonitor::reload_params_timer_

protected

◆ reloaded_nodelets_

std::vector<std::string> sys_monitor::SysMonitor::reloaded_nodelets_

protected

◆ startup_time_

unsigned int sys_monitor::SysMonitor::startup_time_

protected

◆ startup_timer_

ros::Timer sys_monitor::SysMonitor::startup_timer_

protected

◆ sub_hb_

ros::Subscriber sys_monitor::SysMonitor::sub_hb_

protected

◆ sub_queue_size_

int sys_monitor::SysMonitor::sub_queue_size_

protected

◆ time_diff_fault_triggered_

bool sys_monitor::SysMonitor::time_diff_fault_triggered_

protected

◆ time_diff_node_

std::string sys_monitor::SysMonitor::time_diff_node_

protected

◆ time_drift_thres_sec_

float sys_monitor::SysMonitor::time_drift_thres_sec_

protected

◆ unload_load_nodelet_service_

ros::ServiceServer sys_monitor::SysMonitor::unload_load_nodelet_service_

protected

◆ unload_service_

nodelet::NodeletUnload sys_monitor::SysMonitor::unload_service_

protected

◆ unwatched_heartbeats_

std::vector<std::string> sys_monitor::SysMonitor::unwatched_heartbeats_

protected

◆ watch_dogs_

std::map<std::string, WatchdogPtr> sys_monitor::SysMonitor::watch_dogs_

protected

The documentation for this class was generated from the following files:

management/sys_monitor/include/sys_monitor/sys_monitor.h
management/sys_monitor/src/sys_monitor.cc

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ WatchdogPtr

Constructor & Destructor Documentation

◆ SysMonitor()

◆ ~SysMonitor()

Member Function Documentation

◆ AddFault() [1/2]

◆ AddFault() [2/2]

◆ AddWatchDog()

◆ AssertFault()

◆ ChangeFaultErrMsg()

◆ ClearFault()

◆ HeartbeatCallback()

◆ Initialize()

◆ LoadNodelet()

◆ NodeletService()

◆ OutputFaultTables()

◆ PublishCmd()

◆ PublishFaultConfig()

◆ PublishFaultResponse()

◆ PublishFaultState()

◆ PublishHeartbeat()

◆ PublishHeartbeatCallback()

◆ PublishTimeDiff()

◆ ReadCommand()

◆ ReadParams()

◆ ReloadNodeletTimerCallback()

◆ RemoveFault()

◆ SetFaultState()

◆ StartupTimerCallback()

◆ UnloadNodelet()

Member Data Documentation

◆ all_faults_

◆ config_params_

◆ fault_config_

◆ fault_state_

◆ heartbeat_

◆ heartbeat_pub_rate_

◆ heartbeat_timer_

◆ load_service_

◆ log_time_hlp_

◆ log_time_llp_

◆ nh_

◆ num_current_blocking_fault_

◆ pub_cmd_

◆ pub_fault_config_

◆ pub_fault_state_

◆ pub_heartbeat_

◆ pub_queue_size_

◆ pub_time_sync_

◆ reload_nodelet_timeout_

◆ reload_nodelet_timer_

◆ reload_params_timer_

◆ reloaded_nodelets_

◆ startup_time_

◆ startup_timer_

◆ sub_hb_

◆ sub_queue_size_

◆ time_diff_fault_triggered_

◆ time_diff_node_

◆ time_drift_thres_sec_

◆ unload_load_nodelet_service_

◆ unload_service_

◆ unwatched_heartbeats_

◆ watch_dogs_