ScriptableMonitorNode.cpp

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/*
 * ScriptableAnalyzerNode.cpp
 *
 *  Created on: Oct 30, 2013
 *      Author: blackpc
 */

#include <scriptable_monitor/ScriptableMonitorNode.h>

ScriptableMonitorNode::ScriptableMonitorNode()
{
        _scriptHost.start();

        ros::NodeHandle node("~");

        _addScriptSubscriber =
                        node.subscribe("/scriptable_monitor/add_script", 0, &ScriptableMonitorNode::onAddScriptMessage, this);

        _deleteScriptSubscriber =
                        node.subscribe("/scriptable_monitor/delete_script", 0, &ScriptableMonitorNode::onDeleteScriptMessage, this);

        _getScriptsService =
                        node.advertiseService("/scriptable_monitor/get_scripts", &ScriptableMonitorNode::getScripts, this);

        _addScriptService =
                        node.advertiseService("/scriptable_monitor/add_script", &ScriptableMonitorNode::addScript, this);
}

ScriptableMonitorNode::~ScriptableMonitorNode()
{
        _addScriptSubscriber.shutdown();
        _deleteScriptSubscriber.shutdown();
        _scriptHost.stop();
}

bool ScriptableMonitorNode::addScript(
                scriptable_monitor::AddScriptRequest& request,
                scriptable_monitor::AddScriptResponse& response)
{
        cout << "================================================" << endl;
        cout << request.script.data << endl;
        cout << "================================================" << endl;

        AddScriptResponse addScriptResponse = _scriptHost.addScript(request.script.data);

        response.message.data = addScriptResponse.message;
        response.success = addScriptResponse.success ? 1 : 0;

        return true;
}

bool ScriptableMonitorNode::getScripts(
                scriptable_monitor::GetScriptsRequest& request,
                scriptable_monitor::GetScriptsResponse& response)
{
        set<PythonScriptPtr> scripts = _scriptHost.getScripts();

        foreach(PythonScriptPtr script, scripts) {
                scriptable_monitor::Script s;

                s.name = script->getName();
                s.interval = script->getInterval();
                s.validations = script->getValidations();
                s.type = "Python";
                s.fail_type = (int)script->getFailType();
                // s.last_execution = script->getExecutionTime

                foreach(string topic, script->getUsedTopics())
                        s.topics.push_back(topic);

                foreach(string function, script->getUsedInternalFunction())
                        s.functions.push_back(function);

                response.scripts.push_back(s);
        }

        return true;
}

void ScriptableMonitorNode::onAddScriptMessage(
                const std_msgs::String::ConstPtr script)
{
        _scriptHost.addScript(script->data);
}

void ScriptableMonitorNode::onDeleteScriptMessage(
                const std_msgs::String::ConstPtr scriptName)
{
        _scriptHost.deleteScript(scriptName->data);
}