system_health_check::base::SystemCheckBase Class Reference

Abstract base class for all system check plugins. More...

#include <system_check_base.hpp>

Inheritance diagram for system_health_check::base::SystemCheckBase:

Public Member Functions
virtual	~SystemCheckBase ()
bool	check (rclcpp::Node::SharedPtr node)
	Executes the system check with caching support.
std::string	report (rclcpp::Node::SharedPtr node)
	Generates a human-readable report of the check.

Protected Member Functions
virtual std::string	get_unique_id () const
	Generates a unique identifier for the check instance.
virtual void	prepare_check (rclcpp::Node::SharedPtr node)
	Prepares the check before execution.
virtual bool	check_impl (rclcpp::Node::SharedPtr node)=0
	Actual implementation of the check logic.
virtual std::string	report_impl (rclcpp::Node::SharedPtr node)=0
	Generates a detailed report of the check.

Detailed Description

Abstract base class for all system check plugins.

Any package that wants to perform a system check must inherit from this class and implement the check() and report() methods.

Constructor & Destructor Documentation

~SystemCheckBase()

virtual system_health_check::base::SystemCheckBase::~SystemCheckBase ( )

inlinevirtual

Member Function Documentation

check()

bool system_health_check::base::SystemCheckBase::check ( rclcpp::Node::SharedPtr  node )

inline

Executes the system check with caching support.

Parameters

node	Shared pointer to the ROS 2 node.

Returns

true if the check passes, false otherwise.

This function follows the NVI pattern. It first checks if a valid result exists in the cache for the generated ID. If found, it returns the cached result immediately. Otherwise, it invokes check_impl() and saves the result.

check_impl()

virtual bool system_health_check::base::SystemCheckBase::check_impl ( rclcpp::Node::SharedPtr  node )

protectedpure virtual

Actual implementation of the check logic.

Note

Derived classes must implement this function instead of check.

Parameters

node	Shared pointer to the ROS 2 node.

Returns

true if the check passes, false otherwise.

Implemented in system_health_check::checks::PassCheck, and system_health_check::checks::FailCheck.

get_unique_id()

virtual std::string system_health_check::base::SystemCheckBase::get_unique_id ( ) const

inlineprotectedvirtual

Generates a unique identifier for the check instance.

Used as a key for the result cache.

Returns

A unique string ID (e.g., "ClassName::TargetName::Params").

prepare_check()

virtual void system_health_check::base::SystemCheckBase::prepare_check ( rclcpp::Node::SharedPtr  node )

inlineprotectedvirtual

Prepares the check before execution.

Parameters

node	Shared pointer to the ROS 2 node.

Derived classes can override this function to perform any necessary setup.

Reimplemented in system_health_check::base::ActionGraphCheckBase, system_health_check::base::LifecycleStatusCheckBase, system_health_check::base::ServiceGraphCheckBase, system_health_check::base::TopicCountCheckBase, system_health_check::base::TopicStatusCheckBase< MessageT >, system_health_check::base::TopicStatusCheckBase< Msg >, system_health_check::base::TopicStatusCheckBase< JoyMsg >, system_health_check::base::TopicStatusCheckBase< WrenchMsg >, system_health_check::base::TopicStatusCheckBase< JoyCommonMsg >, system_health_check::base::TopicStatusCheckBase< OdometryMsg >, system_health_check::base::TopicStatusCheckBase< GnssMsg >, system_health_check::base::TopicStatusCheckBase< OdomMsg >, system_health_check::base::TopicStatusCheckBase< DepthMsg >, system_health_check::base::TopicStatusCheckBase< DvlMsg >, system_health_check::base::TopicStatusCheckBase< ImuMsg >, and system_health_check::base::TopicStatusCheckBase< std_msgs::msg::String >.

report()

std::string system_health_check::base::SystemCheckBase::report ( rclcpp::Node::SharedPtr  node )

inline

Generates a human-readable report of the check.

Parameters

node	Shared pointer to the ROS 2 node.

Returns

A string containing diagnostic information.

report_impl()

virtual std::string system_health_check::base::SystemCheckBase::report_impl ( rclcpp::Node::SharedPtr  node )

protectedpure virtual

Generates a detailed report of the check.

Parameters

node	Shared pointer to the ROS 2 node.

Returns

std::string A human-readable report string.

It should return a string containing diagnostic information (e.g., sensor values, error codes).

Implemented in system_health_check::checks::PassCheck, and system_health_check::checks::FailCheck.

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The documentation for this class was generated from the following file:

• src/system_health_check/include/system_health_check/base_class/system_check_base.hpp