subsystem_diag.py

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# Copyright (c) 2014, Robot Control and Pattern Recognition Group, Warsaw University of Technology
# All rights reserved.
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import xml.dom.minidom as minidom

class SubsystemDiag:
    class PredicateValue:
        def __init__(self):
            self.name = None
            self.value = None

    class StateSwitchEvent:
        def __init__(self):
            self.state_name = None
            self.prev_state_name = None
            self.reason = None
            self.switch_interval = None
            self.predicates = None

    def __init__(self):
        self.history = []
        self.state_switch_info = []
        self.current_predicates = None
        self.current_period = None
        self.period_histogram = []

def parsePredicates(pred_str):
    pred_list = pred_str.split(",")
    result = []
    for cp in pred_list:
        k_v = cp.split(":")
        if len(k_v) == 2:
            pv = SubsystemDiag.PredicateValue()
            pv.name = k_v[0].strip()
            value_str = k_v[1].strip()
            if value_str == 't':
                pv.value = True
            elif value_str == 'f':
                pv.value = False
            else:
                raise ValueError("wrong predicate value: '" + value_str + "' for predicate: '" + pv.name + "'")
            result.append(pv)
    return result

def parseMasterComponentDiag(diag_xml):
    result = SubsystemDiag()

    dom = minidom.parseString(diag_xml)
    mcd = dom.getElementsByTagName("mcd")
    if len(mcd) != 1:
        return result

    hist = mcd[0].getElementsByTagName("h")
    if len(hist) == 1:
        ss_list = hist[0].getElementsByTagName("ss")
        for ss in ss_list:
            ss_ev = SubsystemDiag.StateSwitchEvent()
            ss_ev.state_name = ss.getAttribute("n")
            ss_ev.prev_state_name = ss.getAttribute("p")
            ss_ev.reason = ss.getAttribute("r")
            ss_ev.switch_interval = float(ss.getAttribute("t"))
            ss_ev.predicates = parsePredicates(ss.getAttribute("e"))
            result.history.append(ss_ev)

    si = mcd[0].getElementsByTagName("si")
    if len(si) == 1:
        ss_list = si[0].getElementsByTagName("ss")
        for ss in ss_list:
            ss_ev = SubsystemDiag.StateSwitchEvent()
            ss_ev.state_name = ss.getAttribute("n")
            ss_ev.prev_state_name = ss.getAttribute("p")
            ss_ev.reason = ss.getAttribute("r")
            ss_ev.switch_interval = float(ss.getAttribute("t"))
            ss_ev.predicates = parsePredicates(ss.getAttribute("e"))
            result.state_switch_info.append(ss_ev)

    current_predicates = mcd[0].getElementsByTagName("pr")
    if len(current_predicates) == 1:
        result.current_predicates = parsePredicates(current_predicates[0].getAttribute("v"))

    period = mcd[0].getElementsByTagName("p")
    if len(period) == 1:
        result.current_period = float(period[0].childNodes[0].data)

    # period histogram
    ph = mcd[0].getElementsByTagName("ph")
    if len(ph) == 1:
        histogram_str = ph[0].childNodes[0].data
        histogram_str = histogram_str.strip()
        histogram_list_str = histogram_str.split()
        for v_str in histogram_list_str:
            result.period_histogram.append( int(v_str) )

    return result