Empty default aggregator base_path (#305)

* aggregator default base path is "" * adding leading slash back * testing for the empty root path Signed-off-by: Christian Henkel <[email protected]>
ros · Jun 6, 2023 · be6fec7 · be6fec7
1 parent 369a769
commit be6fec7
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Showing 6 changed files with 34 additions and 4 deletions.
diff --git a/diagnostic_aggregator/CMakeLists.txt b/diagnostic_aggregator/CMakeLists.txt
@@ -81,7 +81,8 @@ if(BUILD_TESTING)
   set(create_analyzers_tests
     "primitive_analyzers"
     "all_analyzers"
-    "analyzer_group")
+    "analyzer_group"
+    "empty_root_path")
 
   foreach(test_name ${create_analyzers_tests})
     file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/${test_name}.yaml" PARAMETER_FILE)
@@ -103,7 +104,8 @@ if(BUILD_TESTING)
   set(analyzers_output_tests
     "primitive_analyzers"
     "all_analyzers"
-    "analyzer_group")
+    "analyzer_group"
+    "empty_root_path")
 
   foreach(test_name ${create_analyzers_tests})
     file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/${test_name}.yaml" PARAMETER_FILE)

diff --git a/diagnostic_aggregator/example/example.launch.py.in b/diagnostic_aggregator/example/example.launch.py.in
@@ -5,6 +5,7 @@ import launch_ros.actions
 
 analyzer_params_filepath = "@ANALYZER_PARAMS_FILEPATH@"
 
+
 def generate_launch_description():
     aggregator = launch_ros.actions.Node(
         package='diagnostic_aggregator',
@@ -20,6 +21,7 @@ def generate_launch_description():
         launch.actions.RegisterEventHandler(
             event_handler=launch.event_handlers.OnProcessExit(
                 target_action=aggregator,
-                on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
+                on_exit=[launch.actions.EmitEvent(
+                    event=launch.events.Shutdown())],
             )),
     ])
diff --git a/diagnostic_aggregator/src/aggregator.cpp b/diagnostic_aggregator/src/aggregator.cpp
@@ -64,7 +64,7 @@ Aggregator::Aggregator()
   pub_rate_(1.0),
   history_depth_(1000),
   clock_(n_->get_clock()),
-  base_path_("/")
+  base_path_("")
 {
   RCLCPP_DEBUG(logger_, "constructor");
   bool other_as_errors = false;
@@ -79,6 +79,10 @@ Aggregator::Aggregator()
     if (param.first.compare("pub_rate") == 0) {
       pub_rate_ = param.second.as_double();
     } else if (param.first.compare("path") == 0) {
+      // Leading slash when path is not empty
+      if (!param.second.as_string().empty()) {
+        base_path_.append("/");
+      }
       base_path_.append(param.second.as_string());
     } else if (param.first.compare("other_as_errors") == 0) {
       other_as_errors = param.second.as_bool();

diff --git a/diagnostic_aggregator/test/empty_root_path.yaml b/diagnostic_aggregator/test/empty_root_path.yaml
@@ -0,0 +1,14 @@
+analyzers:
+  ros__parameters:
+    primary:
+      type: 'diagnostic_aggregator/AnalyzerGroup'
+      path: Group01
+      analyzers:
+        primary:
+          type: 'diagnostic_aggregator/GenericAnalyzer'
+          path: Primary
+          startswith: [ 'primary' ]
+        secondary:
+          type: 'diagnostic_aggregator/GenericAnalyzer'
+          path: Secondary
+          startswith: [ 'secondary' ]
diff --git a/diagnostic_aggregator/test/expected_output/create_empty_root_path.txt b/diagnostic_aggregator/test/expected_output/create_empty_root_path.txt
@@ -0,0 +1,2 @@
+/Group01/Primary
+/Group01/Secondary
diff --git a/diagnostic_aggregator/test/expected_output/output_empty_root_path.txt b/diagnostic_aggregator/test/expected_output/output_empty_root_path.txt
@@ -0,0 +1,6 @@
+diagnostic_msgs.msg.DiagnosticStatus
+name='/Group01/Primary', message='Stale'
+diagnostic_msgs.msg.DiagnosticStatus
+name='/Group01/Secondary', message='Stale'
+diagnostic_msgs.msg.DiagnosticStatus
+name='/Group01', message='Stale'