fix: method names & verbose logging (#307)

diagnostic_updater/diagnostic_updater/_diagnostic_updater.py

@@ -271,13 +271,13 @@ def update(self):
 
                 status_vec.append(status)
 
-                if status.level:
+                if status.level != b'\x00':
                     warn_nohwid = False
 
-                if self.verbose and status.level:
+                if self.verbose and status.level != b'\x00':
                     self.node.get_logger().warn(
                         'Non-zero diagnostic status. Name: %s, status\
-                        %i: %s' % (status.name, status.level,
+                        %s: %s' % (status.name, str(status.level),
                                    status.message))
 
         if warn_nohwid and not self.warn_nohwid_done:
@@ -300,7 +300,7 @@ def period(self):
     def period(self, period):
         self.__period = period
         self.timer.reset()
-        self.timer = self.node.creat_timer(self.__period, self.udpate)
+        self.timer = self.node.create_timer(self.__period, self.update)
 
     def force_update(self):
         """Force sending out an update for all known DiagnosticStatus."""

diagnostic_updater/package.xml

@@ -30,6 +30,9 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>python3-pytest</test_depend>
   <test_depend>rclcpp_lifecycle</test_depend>
 
   <export>

diagnostic_updater/test/diagnostic_updater_test.py

@@ -3,6 +3,8 @@
 
 """@author Brice Rebsamen <brice [dot] rebsamen [gmail]>."""
 
+import pathlib
+import sys
 import time
 import unittest
 
@@ -13,6 +15,10 @@
 from diagnostic_updater import FrequencyStatusParam
 from diagnostic_updater import TimeStampStatus
 from diagnostic_updater import Updater
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch_testing.actions import ReadyToTest
+import pytest
 import rclpy
 from rclpy.clock import Clock
 from rclpy.clock import ClockType
@@ -172,6 +178,23 @@ def testTimeStampStatus(self):
                          'Name should be Timestamp Status')
 
 
+@pytest.mark.launch_test
+def generate_test_description():
+    return LaunchDescription([
+        ExecuteProcess(
+            cmd=[sys.executable, str(pathlib.Path(__file__).parent / 'dummy_process.py')],
+            name='test_node',
+        ),
+        ReadyToTest()
+    ])
+
+
+class TestProcessOutput(unittest.TestCase):
+
+    def testProcessOutput(self, proc_output):
+        proc_output.assertWaitFor('Non-zero diagnostic status.', timeout=1.0, stream='stderr')
+
+
 if __name__ == '__main__':
     rclpy.init()
     unittest.main()

diagnostic_updater/test/dummy_process.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+
+from diagnostic_updater import Updater
+import rclpy
+
+
+def main():
+    rclpy.init()
+
+    node = rclpy.create_node('talker')
+    updater = Updater(node)
+    updater.add('do_nothing', lambda stat: stat)
+    updater.verbose = True
+    node.create_timer(0.1, lambda: updater.update())
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == '__main__':
+    main()