main.cpp

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/*
 * main.cpp
 *
 *  Created on: Oct 17, 2013
 *      Author: blackpc
 */


#include <python2.7/Python.h>
#include <scriptable_monitor/scriptable_monitor.h>
#include <iostream>

#include <scriptable_monitor/ScriptHost.h>
#include <scriptable_monitor/SomeInternalFunctionExample.h>


using namespace std;

void rosTopicListenerTest() {
        cout << "Starting..." << endl;

        RosTopicListener::start();
        sleep(3);

        RosTopicListener::addTopic("/scan/ranges[0:1]");
        RosTopicListener::addTopic("/scan/ranges[1:2]");
        RosTopicListener::addTopic("/scan/ranges[2:3]");


        sleep(7);
        RosTopicListener::stop();

        cout << "Values:" << endl;
        cout << RosTopicListener::getTopicValue("/scan/ranges[0:1]") << endl;
        cout << RosTopicListener::getTopicValue("/scan/ranges[1:2]") << endl;
        cout << RosTopicListener::getTopicValue("/scan/ranges[2:3]") << endl;

        cout << "Done" << endl;
}

void internalFunctionsTest() {
        vector<string> names = InternalFunctionsManager::getFunctionNames();

        cout << "Available functions:" << endl;

        for (size_t i = 0; i < names.size(); i++)
                cout << " - " << names[i] << endl;
}

void scriptingTest() {
        string s =
                        "#! name script_name\n"
                        "#! type predicate\n"
                        "#! author Bla bla bablalovich\n"
                        "core1 = {/diagntostic/cpu/core1}\n"
                        "core2 = {/diagntostic/cpu/core2}\n"
                        "core3 = {/diagntostic/cpu/core3}\n"
                        "core4 = {/diagntostic/cpu/core4}\n"
                        "cpu_th = {/config/cpu/cpu_threshold}\n"
                        "core_th = {/config/cpu/core_threshold}\n"
                        "average = average(core1, core2, core3, core4)\n"
                        "average < cpu_th\n"
                        "core1 < core_th\n"
                        "core2 < core_th\n"
                        "core3 < core_th\n"
                        "core4 < core_th\n";

        string errorScript =
                        "#! name script_name2\n"
                        "#! type predicate\n"
                        "core1x x core2x\n";

        set<string> internalFunctions;
        internalFunctions.insert("average");

        map<string, string> topics;
        topics["/diagntostic/cpu/core1"] = "1";
        topics["/diagntostic/cpu/core2"] = "1";
        topics["/diagntostic/cpu/core3"] = "1";
        topics["/diagntostic/cpu/core4"] = "1";
        topics["/diagntostic/cpu/cpu"] = "1";
        topics["/config/cpu/cpu_threshold"] = "20";
        topics["/config/cpu/core_threshold"] = "20";

        PredicatesScript ps(s, internalFunctions);
        PredicatesScript psError(errorScript, internalFunctions);

        PythonScript py = ps.getPythonScript();
        PythonScript pyError = psError.getPythonScript();

        ScriptExecuter pe;
        CompilationResult result;

        result = pe.compile(pyError);
        cout << "Compilation result = " << (result.success ? "SUCCESS" : "FAILED") << endl;

        result = pe.compile(py);
        cout << "Compilation result = " << (result.success ? "SUCCESS" : "FAILED") << endl;

//      pe.simulate(py);
//      pe.execute(py, topics);
}

void scriptHostTest() {

        ScriptHost host;

        string s1 =     "#! type predicate\n"
                                "#! name predicate_script1\n"
                                "#! interval 2\n"
                                "core1 = {/scan/ranges[0:1]}\n"
                                "core2 = {/scan/ranges[1:2]}\n"
                                "core3 = {/scan/ranges[2:3]}\n"
                                "core4 = {/scan/ranges[3:4]}\n"
                                "cpu_th = {/scan/ranges[4:5]}\n"
                                "core_th = {/scan/ranges[5:6]}\n"
                                "average = SomeFunction(core1, core2, core3, core4)\n"
                                "average < cpu_th\n"
                                "core1 < core_th\n"
                                "core2 < core_th\n"
                                "core3 > core_th\n"
                                "core4 < core_th\n";

        string s2 =     "#! type predicate\n"
                                "#! name predicate_script2\n"
                                "#! interval 3\n"
                                "core1 = {/scan/ranges[0:1]}\n"
                                "core2 = {/scan/ranges[1:2]}\n"
                                "core3 = {/scan/ranges[2:3]}\n"
                                "core4 = {/scan/ranges[3:4]}\n"
                                "cpu_th = {/scan/ranges[4:5]}\n"
                                "core_th = {/scan/ranges[5:6]}\n"
                                "average = SomeFunction(core1, core2, core3, core4)\n"
                                "average < cpu_th\n"
                                "core1 < core_th\n"
                                "core2 < core_th\n"
                                "core3 > core_th\n"
                                "core4 < core_th\n";


        host.start();
        cout << "Running scripts" << endl;

        sleep(1);

        host.addScript(s1);
        host.addScript(s2);

        sleep(5);

        host.stop();

        cout << "Done" << endl;
}

void yamlTest() {
         stringstream yaml_stream;
         yaml_stream << "[1.5462267]";
         YAML::Parser parser(yaml_stream);
         YAML::Node document;
         parser.GetNextDocument(document);

         cout << document.size() << endl;
}

int main(int argc, char **argv) {
//      RosTopicListener::start();

//      yamlTest();
//      return 0;

        scriptHostTest();
        return 0;

//      internalFunctionsTest();
//      return 0;
//
//      rosTopicListenerTest();
//      return 0;

//      scriptingTest();
//      return 0;

}