Ros2cli diagnostics

diagnostics_tutorial/README.md

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+# Diagnostics mini tutorial
+base on [code from here](http://docs.ros.org/en/melodic/api/diagnostic_updater/html/example_8cpp_source.html)
+
+## DiagnosticTask
+[API]()
+
+
+[code example](diagnostics_tutorial/task_demo.py)
+
+## DiagnosticStatusWrapper
+[API](https://docs.ros.org/en/humble/p/diagnostic_updater/generated/classdiagnostic__updater_1_1DiagnosticStatusWrapper.html)
+Wrapper for the diagnostic_msgs::msg::DiagnosticStatus message that makes it easier to update and handle
+
+[code example](diagnostics_tutorial/status_wrapper_demo.py)
+
+## CompositeDiagnosticTask
+[API](https://docs.ros.org/en/humble/p/diagnostic_updater/generated/classdiagnostic__updater_1_1CompositeDiagnosticTask.html)
+The CompositeDiagnosticTask allows multiple DiagnosticTask instances to be combined into a single task that produces a single DiagnosticStatusWrapped
+
+[code example](diagnostics_tutorial/composite_task_demo.py)
+
+## HeaderlessTopicDiagnostic
+[API](https://docs.ros.org/en/humble/p/diagnostic_updater/generated/classdiagnostic__updater_1_1HeaderlessTopicDiagnostic.html)
+A class to facilitate making diagnostics for a topic using a [FrequencyStatus](#frequencystatus). 
+
+## FrequencyStatus
+[API](https://docs.ros.org/en/humble/p/diagnostic_updater/generated/classdiagnostic__updater_1_1FrequencyStatus.html#classdiagnostic__updater_1_1FrequencyStatus)
+A diagnostic task that monitors the frequency of an event.

diagnostics_tutorial/diagnostics_tutorial/composite_task_demo.py

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+import rclpy
+from diagnostic_msgs.msg import DiagnosticStatus
+from diagnostic_updater import (
+    CompositeDiagnosticTask,
+    Updater,
+    FunctionDiagnosticTask,
+    DiagnosticStatusWrapper,
+)
+from rclpy.node import Node
+
+
+def check_lower_bound(state: DiagnosticStatusWrapper):
+    state.summary(DiagnosticStatus.OK, "lower ok")
+    return state
+
+
+def check_upper_bound(state: DiagnosticStatusWrapper):
+    state.summary(DiagnosticStatus.OK, "upper ok")
+    return state
+
+
+class MyNode(Node):
+    def __init__(self):
+        node_name = "minimal"
+        super().__init__(node_name)
+        self.diagnostic_updater = Updater(self)
+        lower = FunctionDiagnosticTask("lower check", check_lower_bound)
+        upper = FunctionDiagnosticTask("upper check", check_upper_bound)
+        comp_task = CompositeDiagnosticTask("range demo")
+        comp_task.addTask(lower)
+        comp_task.addTask(upper)
+        self.diagnostic_updater.add(comp_task)
+        self.create_timer(1.0, self.__timer_handler)
+        self.get_logger().info("Hello ROS2")
+
+    def __timer_handler(self):
+        self.diagnostic_updater.update()
+
+
+def main():
+    rclpy.init()
+    node = MyNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("User exit")
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

diagnostics_tutorial/diagnostics_tutorial/freq_diagnostics_demo.py

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+import rclpy
+from rclpy.node import Node
+from diagnostic_updater import HeaderlessTopicDiagnostic, FrequencyStatusParam, Updater
+
+
+class MyNode(Node):
+    def __init__(self):
+        node_name = "frequency_diagnostics"
+        super().__init__(node_name)
+
+        self.diagnostic_updater = Updater(self)
+        freq_bound = {"min": 0.5, "max": 2}
+        self.pub_freq = HeaderlessTopicDiagnostic(
+            "topic1", self.diagnostic_updater, FrequencyStatusParam(freq_bound)
+        )
+
+        self.create_timer(3.0, self.__timer_handler)
+        self.get_logger().info("Hello ROS2")
+
+    def __timer_handler(self):
+        self.pub_freq.tick()
+        self.diagnostic_updater.update()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MyNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("User exit")
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

diagnostics_tutorial/diagnostics_tutorial/status_wrapper_demo.py

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+import rclpy
+from diagnostic_msgs.msg import DiagnosticStatus
+from diagnostic_updater import DiagnosticStatusWrapper, Updater
+from rclpy.node import Node
+
+
+class DummyClass:
+    def produce_diagnostics(self, stat: DiagnosticStatusWrapper) -> DiagnosticStatusWrapper:
+        stat.summary(DiagnosticStatus.WARN, "demo class status")
+        stat.add("dummy data", "2000")
+        return stat
+
+def dummy_diagnostics(stat: DiagnosticStatusWrapper) -> DiagnosticStatusWrapper:
+    stat.summary(DiagnosticStatus.OK, "dummy_diagnostics function")
+    return stat
+
+class MyNode(Node):
+    def __init__(self):
+        node_name = "minimal"
+        super().__init__(node_name)
+        self.diagnostic_updater = Updater(self)
+        dc = DummyClass()
+        self.diagnostic_updater.add("method updater", dc.produce_diagnostics)
+        self.diagnostic_updater.add("function update", dummy_diagnostics)
+        self.create_timer(1.0, self.__timer_handler)
+        self.get_logger().info("Hello ROS2")
+
+    def __timer_handler(self):
+        self.diagnostic_updater.update()
+
+
+def main():
+    rclpy.init()
+    node = MyNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("User exit")
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

diagnostics_tutorial/diagnostics_tutorial/task_demo.py

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+import rclpy
+from rclpy.node import Node
+from diagnostic_updater import DiagnosticTask, DiagnosticStatusWrapper, Updater
+from diagnostic_msgs.msg import DiagnosticStatus
+
+
+class DummyTask(DiagnosticTask):
+    def run(self, stat: DiagnosticStatusWrapper):
+        stat.summary(DiagnosticStatus.WARN, "DummyTask demo")
+        return stat
+
+
+class MyNode(Node):
+    def __init__(self):
+        node_name = "minimal"
+        super().__init__(node_name)
+        self.diagnostic_updater = Updater(self)
+        self.diagnostic_updater.setHardwareID("demo hw")
+        self.diagnostic_updater.add(DummyTask("dummy_task"))
+        self.create_timer(1.0, self.__timer_handler)
+        self.get_logger().info("Hello ROS2")
+
+    def __timer_handler(self):
+        self.diagnostic_updater.update()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MyNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("User exit")
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

diagnostics_tutorial/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>diagnostics_tutorial</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">user</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

diagnostics_tutorial/setup.cfg

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+[develop]
+script_dir=$base/lib/diagnostics_tutorial
+[install]
+install_scripts=$base/lib/diagnostics_tutorial

diagnostics_tutorial/setup.py

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+from setuptools import setup
+
+package_name = "diagnostics_tutorial"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="user",
+    maintainer_email="[email protected]",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "wrapper_demo=diagnostics_tutorial.status_wrapper_demo:main",
+            "comp=diagnostics_tutorial.composite_task_demo:main",
+            "freq=diagnostics_tutorial.freq_diagnostics_demo:main",
+            "task=diagnostics_tutorial.task_demo:main"
+
+        ],
+    },
+)

diagnostics_tutorial/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

diagnostics_tutorial/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

diagnostics_tutorial/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'