From 6b7a9faf8c56ea7c9fc46f7e64d8e72b762122b9 Mon Sep 17 00:00:00 2001
From: useyourshadow <74160173+useyourshadow@users.noreply.github.com>
Date: Sat, 27 Jul 2024 14:54:49 -0400
Subject: [PATCH] Refined alarm handlers

got rid of if main == name
---
 .../ros_alarms/src/ros_alarms/alarm_node.py   | 39 +++++++++++++++++
 .../src/ros_alarms/cpu_temp_alarm.py          | 42 +++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 mil_common/ros_alarms/src/ros_alarms/alarm_node.py
 create mode 100644 mil_common/ros_alarms/src/ros_alarms/cpu_temp_alarm.py

diff --git a/mil_common/ros_alarms/src/ros_alarms/alarm_node.py b/mil_common/ros_alarms/src/ros_alarms/alarm_node.py
new file mode 100644
index 000000000..97941d9f5
--- /dev/null
+++ b/mil_common/ros_alarms/src/ros_alarms/alarm_node.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import rospy
+
+from std_msgs.msg import Float32
+
+global alarm_pub
+
+def cpu_temp_callback(temp):
+
+  # Sets of cpu temp alarm
+  if float(temp.data) > 75:
+    rospy.logwarn(f"CPU TEMPERATURE EXCEEDS: {temp.data}")
+    alarm_pub.publish(True)
+  
+  else:
+    alarm_pub.publish(False)
+
+
+
+def cpu_temp_alarm():
+    global alarm_pub  
+
+    # Initializing node
+    rospy.init_node('cpu_temp_alarm', anonymous=True)
+
+    rospy.Subscriber('cpu_temperature', Float32, cpu_temp_callback)
+    alarm_pub = rospy.Publisher('cpu_alarm', bool, queue_size=10)
+
+    rospy.spin()
+
+
+
+if __name__ == '__main__':
+  
+  try:
+    cpu_temp_alarm()
+  except rospy.InterruptedError:
+    pass
\ No newline at end of file
diff --git a/mil_common/ros_alarms/src/ros_alarms/cpu_temp_alarm.py b/mil_common/ros_alarms/src/ros_alarms/cpu_temp_alarm.py
new file mode 100644
index 000000000..d67266d9c
--- /dev/null
+++ b/mil_common/ros_alarms/src/ros_alarms/cpu_temp_alarm.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import psutil
+import rospy
+from std_msgs.msg import Float32, Bool
+
+def get_cpu_temp():
+    # Checks computer sensors
+    temp = psutil.sensors_temperatures()
+    if 'coretemp' in temp:
+        return temp['coretemp'][0].current
+    else:
+        raise ValueError("Core temp not found!")
+
+def cpu_temp_callback(alarm):
+    if alarm.data:
+        rospy.logwarn("ALARM: CPU temperature exceeds the threshold!")
+
+def cpu_temp_ROS():
+    # ROS initializing
+    rospy.init_node('cpu_temp_node', anonymous=True)
+    temp_pub = rospy.Publisher('cpu_temperature', Float32, queue_size=10)
+    rospy.Subscriber('cpu_alarm', Bool, cpu_temp_callback)
+    rate = rospy.Rate(1)
+
+    # Loops through and actively gets CPU temp
+    while not rospy.is_shutdown():
+        try:
+            cpu_temp = get_cpu_temp()
+            rospy.loginfo("CPU TEMP: %f", cpu_temp)
+            temp_pub.publish(cpu_temp)
+        except ValueError as e:
+            rospy.logwarn(str(e))
+        rate.sleep()
+
+# if __name__ == '__main__':
+#     try:
+#         cpu_temp_ROS()
+#     except rospy.ROSInterruptException:
+#         pass
+
+