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Port back feature from nobleo-noetic-devel where we also report the message that made stuff go bad #6

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Feb 1, 2024
Merged

Port back feature from nobleo-noetic-devel where we also report the message that made stuff go bad #6

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32 changes: 32 additions & 0 deletions diagnostic_aggregator/src/aggregator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,6 +221,8 @@ void Aggregator::publishData()
diag_toplevel_state.level = DiagnosticStatus::STALE;
int max_level = -1;
int min_level = 255;
int non_ok_status_depth = 0;
std::shared_ptr<DiagnosticStatus> msg_to_report;

std::vector<std::shared_ptr<DiagnosticStatus>> processed;
{
Expand All @@ -229,27 +231,57 @@ void Aggregator::publishData()
}
for (const auto & msg : processed) {
diag_array.status.push_back(*msg);
const auto depth = std::count(msg->name.begin(), msg->name.end(), '/');

if (msg->level > max_level) {
max_level = msg->level;
non_ok_status_depth = depth;
msg_to_report = msg;
}
if (msg->level == max_level && depth > non_ok_status_depth) {
// On non okay diagnostics also copy the deepest message to toplevel state
non_ok_status_depth = depth;
msg_to_report = msg;
}
if (msg->level < min_level) {
min_level = msg->level;
}
}
// When a non-ok item was found, copy the complete status message once
if (max_level > DiagnosticStatus::OK) {
diag_toplevel_state.name = msg_to_report->name;
diag_toplevel_state.message = msg_to_report->message;
diag_toplevel_state.hardware_id = msg_to_report->hardware_id;
diag_toplevel_state.values = msg_to_report->values;
}

std::vector<std::shared_ptr<DiagnosticStatus>> processed_other =
other_analyzer_->report();
for (const auto & msg : processed_other) {
diag_array.status.push_back(*msg);
const auto depth = std::count(msg->name.begin(), msg->name.end(), '/');

if (msg->level > max_level) {
max_level = msg->level;
non_ok_status_depth = depth;
msg_to_report = msg;
}
if (msg->level == max_level && depth > non_ok_status_depth) {
// On non okay diagnostics also copy the deepest message to toplevel state
non_ok_status_depth = depth;
msg_to_report = msg;
}
if (msg->level < min_level) {
min_level = msg->level;
}
}
// When a non-ok item was found, copy the complete status message once
if (max_level > DiagnosticStatus::OK) {
diag_toplevel_state.name = msg_to_report->name;
diag_toplevel_state.message = msg_to_report->message;
diag_toplevel_state.hardware_id = msg_to_report->hardware_id;
diag_toplevel_state.values = msg_to_report->values;
}

diag_array.header.stamp = clock_->now();
agg_pub_->publish(diag_array);
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