ros_sugar.core.status

ros_sugar.core.status#

Component Status

Module Contents#

Classes#

Status

Component health status Updated by the component during runtime to declare any detected failure in the component, or in the component algorithm, or in the external system

API#

class ros_sugar.core.status.Status(msg: Optional[ros_sugar_interfaces.msg.ComponentStatus] = None)#

Component health status Updated by the component during runtime to declare any detected failure in the component, or in the component algorithm, or in the external system

Status is configured in the base component along with a corresponding publisher if the health broadcasting is enabled.

To use health status in your component (inheriting from BaseComponent):

  • To indicate a malfunction in general without details on the failure level / source, use:

    self.health_status.set_failure()

  • It can indicate a mal-function/ failure in the algorithm (algorithm) used by the component. In this case it is possible to indicate the failed algorithm name in the message.

    self.health_status.set_fail_algorithm(algorithm_names=['algorithm_1', 'algorithm_2'])

  • It can indicate a mal-function/ failure in the component itself or another component. Component fail by default refers to a failure in the component itself, however it is possible to specify a failure detected in a specific component by passing the name(s)

    # To indicate failure in the component itself
self.health_status.set_fail_component()

# To indicate failure in another component
self.health_status.set_fail_component(component_names=['other_component_name'])

# To indicate failure in multiple components
self.health_status.set_fail_component(component_names=[self.node_name, 'other_component_name'])

  • It can indicate a mal-function/ failure in the external system. It is possible to add the failure source using component names or topic names (in case a required topic is not available, for example)

    # For failure related to a specific topic
self.health_status.set_fail_system(topic_names=['some_topic_name'])

NOTE: TIMED components publish the status periodically (if broadcasting is enabled). If the component is not TIMED, then the child component should implement the publishing, using:

    self.health_status_publisher.publish(self.health_status)
property value#

Status health value

Returns:

Current status value

Return type:

ComponentStatus

set_healthy()#

Set status to Running - Healthy

set_failure()#

Set status to Non Healthy - General (Any) Failure

set_fail_algorithm(algorithm_names: Optional[List[str]] = None)#

Set status to Error: Algorithmic Level

set_fail_component(component_names: Optional[List[str]] = None)#

Set status to Error: Component Level

set_fail_system(component_names: Optional[List[str]] = None, topic_names: Optional[List[str]] = None)#

Set status to Error: System Level

property is_healthy: bool#

Property to check if the current health status is healthy

Returns:

If status is ComponentStatus.STATUS_HEALTHY

Return type:

bool

property is_component_fail: bool#

Property to check if there is a component fail status

Returns:

If status is ComponentStatus.STATUS_FAILURE_COMPONENT_LEVEL

Return type:

bool

property is_algorithm_fail: bool#

Property to check if there is a algorithm fail status

Returns:

If status is ComponentStatus.STATUS_FAILURE_ALGORITHM_LEVEL

Return type:

bool

property is_system_fail: bool#

Property to check if there is a system “external” fail status

Returns:

If status is ComponentStatus.STATUS_FAILURE_SYSTEM_LEVEL

Return type:

bool

Contents