uf-mil / ros_alarms Goto Github PK

There are not unit tests for the C++ library

Alarm server should have an exists() service, so that only queries for alarms that exist will be valid.
At startup, a client node could check if the alarm exists, and only if it does, create an AlarmListener for it.

An alarm would exist only if it has been declared to the server, regardless of whether it is cleared or raised.

We should be able to pretty-print an alarm object. (alarm, status, severity, node_name, problem, json params).

Text Effects maybe? cough, cough, @mattlangford

We noticed in testing SubjuGator that some alarms can take several seconds to raise. One reason is that the alarm server calls raise/clear callbacks registered in alarm handlers before publishing the update to the rest of the nodes connected. If this callback takes a while (such as calling a service / writing to files), this can create a significant delay in when vital nodes are notified of the change. These callbacks should either be executed async or after the update is published.

Migrate current python tests into rostests

Alarm handlers should include a method that set's the initial state of that alarm.

Some alarm handlers, for example, in the case of SubjuGator, thruster-out, expect the alarm to have a certain set of parameters ('offline_thruster_names' in this case).

If the handler itself sets up the invariant it expects, the raise and clear functions won't have to deal with the special case of a blank alarm.

It would be nice to have an included plugin for rviz/rqt which would display active alarms, create buttons to toggle alarms, etc

Feature request, obviously (don't think I'm allowed to add tags)

Mainly for raise, clear, and report.

Tab completing those alarms with the data in the param /known_alarms

In the amonitor curses TUI, display the alarm problem description (and maybe the parameters) in the screen

It still doesn't work sometimes and makes our builds fails

It would be nice if the alarm server rejected certain types of alarm names so that simple mistakes are easier to catch. For example, the empty string, possibly strings with whitespace or non-standard characters, etc.