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[ros2] Minimize header includes by moving impl to .cpp files (#331) #389

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[ros2] Minimize header includes by moving impl to .cpp files (#331) #389

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19 changes: 8 additions & 11 deletions diagnostic_updater/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,22 +11,25 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)

add_library(${PROJECT_NAME} INTERFACE)
add_library(${PROJECT_NAME}
src/diagnostic_updater.cpp
)
target_include_directories(
${PROJECT_NAME}
INTERFACE
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(
${PROJECT_NAME}
INTERFACE
PUBLIC
diagnostic_msgs
rclcpp
)
Expand Down Expand Up @@ -63,12 +66,10 @@ if(BUILD_TESTING)
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(diagnostic_updater_test ${PROJECT_NAME})
ament_target_dependencies(
diagnostic_updater_test
"diagnostic_msgs"
"rclcpp"
"rclcpp_lifecycle"
"std_msgs"
)

ament_add_gtest(diagnostic_status_wrapper_test test/diagnostic_status_wrapper_test.cpp)
Expand All @@ -90,11 +91,7 @@ if(BUILD_TESTING)
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(
status_msg_test
"diagnostic_msgs"
"rclcpp"
)
target_link_libraries(status_msg_test ${PROJECT_NAME})

find_package(ament_cmake_pytest REQUIRED)
ament_add_pytest_test(diagnostic_updater_test.py "test/diagnostic_updater_test.py")
Expand Down
3 changes: 2 additions & 1 deletion diagnostic_updater/include/diagnostic_updater/diagnostic_status_wrapper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,8 @@

#include "diagnostic_msgs/msg/diagnostic_status.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/logging.hpp"

namespace diagnostic_updater
{
Expand Down
168 changes: 14 additions & 154 deletions diagnostic_updater/include/diagnostic_updater/diagnostic_updater.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,12 @@

#include "rcl/time.h"

#include "rclcpp/create_timer.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"

namespace diagnostic_updater
{
Expand Down Expand Up @@ -381,43 +385,7 @@ class Updater : public DiagnosticTaskVector
std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface> timers_interface,
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> topics_interface,
double period = 1.0)
: verbose_(false),
base_interface_(base_interface),
timers_interface_(timers_interface),
clock_(clock_interface->get_clock()),
period_(rclcpp::Duration::from_seconds(period)),
publisher_(
rclcpp::create_publisher<diagnostic_msgs::msg::DiagnosticArray>(
topics_interface, "/diagnostics", 1)),
logger_(logging_interface->get_logger()),
node_name_(base_interface->get_name()),
warn_nohwid_done_(false)
{
constexpr const char * period_param_name = "diagnostic_updater.period";
rclcpp::ParameterValue period_param;
if (parameters_interface->has_parameter(period_param_name)) {
period_param = parameters_interface->get_parameter(period_param_name).get_parameter_value();
} else {
period_param = parameters_interface->declare_parameter(
period_param_name, rclcpp::ParameterValue(period));
}
period = period_param.get<double>();
period_ = rclcpp::Duration::from_seconds(period);

reset_timer();

constexpr const char * use_fqn_param_name = "diagnostic_updater.use_fqn";
rclcpp::ParameterValue use_fqn_param;
if (parameters_interface->has_parameter(use_fqn_param_name)) {
use_fqn_param = parameters_interface->get_parameter(use_fqn_param_name).get_parameter_value();
} else {
use_fqn_param = parameters_interface->declare_parameter(
use_fqn_param_name, rclcpp::ParameterValue(false));
}
node_name_ = use_fqn_param.get<bool>() ?
base_interface->get_fully_qualified_name() : base_interface->get_name();
}
double period = 1.0);

/**
* \brief Returns the interval between updates.
Expand Down Expand Up @@ -459,105 +427,20 @@ class Updater : public DiagnosticTaskVector
*
* \param msg Status message to output.
*/
void broadcast(unsigned char lvl, const std::string msg)
{
std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec;

const std::vector<DiagnosticTaskInternal> & tasks = getTasks();
for (std::vector<DiagnosticTaskInternal>::const_iterator iter =
tasks.begin();
iter != tasks.end(); iter++)
{
diagnostic_updater::DiagnosticStatusWrapper status;

status.name = iter->getName();
status.summary(lvl, msg);

status_vec.push_back(status);
}
void broadcast(unsigned char lvl, const std::string msg);

publish(status_vec);
}

void setHardwareIDf(const char * format, ...)
{
va_list va;
const int kBufferSize = 1000;
char buff[kBufferSize]; // @todo This could be done more elegantly.
va_start(va, format);
if (vsnprintf(buff, kBufferSize, format, va) >= kBufferSize) {
RCLCPP_DEBUG(logger_, "Really long string in diagnostic_updater::setHardwareIDf.");
}
hwid_ = std::string(buff);
va_end(va);
}
void setHardwareIDf(const char * format, ...);

void setHardwareID(const std::string & hwid) {hwid_ = hwid;}

private:
void reset_timer()
{
update_timer_ = rclcpp::create_timer(
base_interface_,
timers_interface_,
clock_,
period_,
std::bind(&Updater::update, this));
}
void reset_timer();

/**
* \brief Causes the diagnostics to update if the inter-update interval
* has been exceeded.
*/
void update()
{
if (rclcpp::ok(base_interface_->get_context())) {
bool warn_nohwid = hwid_.empty();

std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec;

std::unique_lock<std::mutex> lock(
lock_); // Make sure no adds happen while we are processing here.
const std::vector<DiagnosticTaskInternal> & tasks = getTasks();
for (std::vector<DiagnosticTaskInternal>::const_iterator iter =
tasks.begin();
iter != tasks.end(); iter++)
{
diagnostic_updater::DiagnosticStatusWrapper status;

status.name = iter->getName();
status.level = 2;
status.message = "No message was set";
status.hardware_id = hwid_;

iter->run(status);

status_vec.push_back(status);

if (status.level) {
warn_nohwid = false;
}

if (verbose_ && status.level) {
RCLCPP_WARN(
logger_, "Non-zero diagnostic status. Name: '%s', status %i: '%s'",
status.name.c_str(), status.level, status.message.c_str());
}
}

if (warn_nohwid && !warn_nohwid_done_) {
std::string error_msg = "diagnostic_updater: No HW_ID was set.";
error_msg += " This is probably a bug. Please report it.";
error_msg += " For devices that do not have a HW_ID, set this value to 'none'.";
error_msg += " This warning only occurs once all diagnostics are OK.";
error_msg += " It is okay to wait until the device is open before calling setHardwareID.";
RCLCPP_WARN(logger_, "%s", error_msg.c_str());
warn_nohwid_done_ = true;
}

publish(status_vec);
}
}
void update();

/**
* Recheck the diagnostic_period on the parameter server. (Cached)
Expand All @@ -574,41 +457,18 @@ class Updater : public DiagnosticTaskVector
/**
* Publishes a single diagnostic status.
*/
void publish(diagnostic_msgs::msg::DiagnosticStatus & stat)
{
std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec;
status_vec.push_back(stat);
publish(status_vec);
}
void publish(diagnostic_msgs::msg::DiagnosticStatus & stat);

/**
* Publishes a vector of diagnostic statuses.
*/
void publish(std::vector<diagnostic_msgs::msg::DiagnosticStatus> & status_vec)
{
for (std::vector<diagnostic_msgs::msg::DiagnosticStatus>::iterator iter =
status_vec.begin();
iter != status_vec.end(); iter++)
{
iter->name = node_name_ + std::string(": ") + iter->name;
}
diagnostic_msgs::msg::DiagnosticArray msg;
msg.status = status_vec;
msg.header.stamp = clock_->now();
publisher_->publish(msg);
}
void publish(std::vector<diagnostic_msgs::msg::DiagnosticStatus> & status_vec);

/**
* Causes a placeholder DiagnosticStatus to be published as soon as a
* diagnostic task is added to the Updater.
*/
virtual void addedTaskCallback(DiagnosticTaskInternal & task)
{
DiagnosticStatusWrapper stat;
stat.name = task.getName();
stat.summary(0, "Node starting up");
publish(stat);
}
virtual void addedTaskCallback(DiagnosticTaskInternal & task);

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface_;
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_;
Expand Down
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