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trainman419 avatar trainman419 commented on June 7, 2024

The documentation isn't clear on this, but the discard_stale parameter requires at least one diagnostic item within that category to be considered non-stale. This allows individual items to come and go, but to still report stale if the entire category is missing.

The code that implements this is:

diagnostics/diagnostic_aggregator/include/diagnostic_aggregator/generic_analyzer_base.h

Lines 150 to 194 in 03e0db0

bool all_stale = true;
std::map<std::string, boost::shared_ptr<StatusItem> >::iterator it = items_.begin();
while(it != items_.end())
{
std::string name = it->first;
boost::shared_ptr<StatusItem> item = it->second;
bool stale = false;
if (timeout_ > 0)
stale = (ros::Time::now() - item->getLastUpdateTime()).toSec() > timeout_;
// Erase item if its stale and we're discarding items
if (discard_stale_ and stale)
{
items_.erase(it++);
continue;
}
int8_t level = item->getLevel();
header_status->level = std::max(header_status->level, level);
diagnostic_msgs::KeyValue kv;
kv.key = name;
kv.value = item->getMessage();
header_status->values.push_back(kv);
all_stale = all_stale && ((level == 3) || stale);
//boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> stat = item->toStatusMsg(path_, stale);
processed.push_back(item->toStatusMsg(path_, stale));
if (stale)
header_status->level = 3;
++it;
}
// Header is not stale unless all subs are
if (all_stale)
header_status->level = 3;
else if (header_status->level == 3)
header_status->level = 2;

from diagnostics.

pirobot avatar pirobot commented on June 7, 2024

OK, I get it now. Thanks!

from diagnostics.

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