python_script_wrapper.py

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#!/usr/bin/env python
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import robil_monitor_lib
import rospy
from ibus import exception

class RobilLibProxyVars:
        """
        Local constant variables
        """
        @staticmethod
        def script_name():
                return "${SCRIPT_NAME}"


class RobilLibWrapper:
        """
        Wrapper of the internal methods
        """
        def invoke(self, function_name, *args):
                # Construct arguments
                args_tuple = (RobilLibProxyVars.script_name(), function_name)

                # Convert all arguments to string
                for p in args: args_tuple += (str(p),)

                # Invoke cpp method
                return robil_monitor_lib.internal_function(args_tuple)

        def topic(self, topic_name):
                # Construct arguments
                args_tuple = (RobilLibProxyVars.script_name(), topic_name)

                # Invoke cpp method
                return robil_monitor_lib.internal_topic(args_tuple)


class ValidatorWrapper:
        """
        Statement validation wrapper
        """
        @staticmethod
        def internal_validation(validation_state, description):
                # Construct arguments
                args_tuple = (RobilLibProxyVars.script_name(), validation_state, description)

                # Invoke cpp method to inform about validation result
                robil_monitor_lib.internal_validation(args_tuple)

        @staticmethod
        def is_true(bool_expression, description = ""):
                if (bool_expression):
                        # Validation succeeded
                        ValidatorWrapper.internal_validation(True, description)
                else:
                        # Validation failed
                        ValidatorWrapper.internal_validation(False, description)



robil_lib       = RobilLibWrapper()
validate        = ValidatorWrapper()

def topic(topic_name):
        return robil_lib.topic(str(topic_name))


# ########################
# User code goes below ###
# ########################

# Simple CPU usage monitor example

# core1 = robil_lib.topic("/diagnostic/cpu/usage/core1")
# core2 = robil_lib.topic("/diagnostic/cpu/usage/core2")
# core3 = robil_lib.topic("/diagnostic/cpu/usage/core3")
# core4 = robil_lib.topic("/diagnostic/cpu/usage/core4")

# cpu_threshold = robil_lib.topic("/robot/config/cpu_threshold")
# core_threshold = robil_lib.topic("/robot/config/core_threshold")

# average = f('average_algorithm', core1, core2, core3, core4)

# validate.is_true(average < cpu_threshold, "Cpu usage too high!")
# validate.is_true(core1 < core_threshold, "Core1 usage too high")
# validate.is_true(core2 < core_threshold, "Core2 usage too high")
# validate.is_true(core3 < core_threshold, "Core3 usage too high")
# validate.is_true(core4 < core_threshold, "Core4 usage too high")