From 716514d966cb58a215fce0ca68c8f9470d1521e8 Mon Sep 17 00:00:00 2001
From: Rafael Martin <rmartin@robotnik.es>
Date: Tue, 4 Feb 2025 16:11:12 +0100
Subject: [PATCH] refactor

---
 script/record_audio.py | 48 ++++++++++++++++++++++++++----------------
 1 file changed, 30 insertions(+), 18 deletions(-)

diff --git a/script/record_audio.py b/script/record_audio.py
index 2d3b411..0f8059f 100755
--- a/script/record_audio.py
+++ b/script/record_audio.py
@@ -16,6 +16,24 @@
 from robotnik_msgs.msg import RecordStatus
 from robotnik_msgs.srv import Record, RecordResponse
 
+# Auxiliary functions
+#
+def _safe_get_param(param_name, default_value):
+    if rospy.has_param(param_name):
+        return rospy.get_param(param_name)
+    else:
+        rospy.logwarn(f"Parameter '{param_name}' not found in param server. Using default value: {default_value}")
+        return default_value
+
+def _clamp(name, value, min_value, max_value):
+    if value < min_value:
+        rospy.logwarn(f"Paremeter '{name}' with value {value} is lower than the minimum value allowed: {min_value}. Setting it to the minimum value.")
+        return min_value
+    elif value > max_value:
+        rospy.logwarn(f"Paremeter '{name}' with value {value} is higher than the maximum value allowed: {max_value}. Setting it to the maximum value.")
+        return max_value
+    else:
+        return value
 
 def callBackRecordService(request):
 	global action
@@ -26,10 +44,10 @@ def callBackRecordService(request):
 	global wave_interface
 	response = RecordResponse()
  
-	disk_capacity, disk_usage, free_disk_space = shutil.disk_usage(folder_path)
+	disk_total, disk_usage, _ = shutil.disk_usage(folder_path)
 	
 	if (request.action.upper() == request.ACTION_RECORD):
-		if (disk_usage * 100 / disk_capacity) >= max_disk_usage:
+		if (disk_usage * 100 / disk_total) >= max_disk_usage:
 			response.success = False
 			response.message = "Insufficient disk space to start recording"
 			return response
@@ -98,17 +116,13 @@ def record():
 	global wave_interface
 	global estimated_compressed_audio_size_bytes
 	global action
-	global disk_capacity
-	global disk_usage
-	global free_disk_space
 
- 
-	disk_capacity, disk_usage, free_disk_space = shutil.disk_usage(folder_path)
+	disk_total, _, disk_free = shutil.disk_usage(folder_path)
 	
 	l, data = inp.read()
 	estimated_raw_audio_size = l * 2
 	estimated_compressed_audio_size_bytes = estimated_raw_audio_size / compression_ratio
-	theoretical_remaining_space_percentage = (free_disk_space - estimated_compressed_audio_size_bytes) * 100 / disk_capacity
+	theoretical_remaining_space_percentage = (disk_free - estimated_compressed_audio_size_bytes) * 100 / disk_total
 	
 	if (100 - theoretical_remaining_space_percentage) >= max_disk_usage_recording:
 		a = numpy.fromstring(data, dtype='int16')
@@ -133,17 +147,13 @@ def record():
 	global inp
 	global wave_interface
 	global time_start_record
-	global disk_capacity 
-	global disk_usage 
 	global break_recording
-	global free_disk_space
 	global wav_header_size 
 	global compression_ratio
 	global max_disk_usage_recording
 	global max_disk_usage
-	
-	max_disk_usage = rospy.get_param('~max_disk_usage' , 85.)
-	max_disk_usage_recording = rospy.get_param('~max_disk_usage_recording', 90.)
+
+	# Variables
 	wav_header_size = 44
 	max_time_record = 0
 	folder_path = ""
@@ -161,9 +171,11 @@ def record():
 	elif file_format == "wav":
 		compression_ratio = 1
  
-	disk_capacity = 0.
-	disk_usage = 0.
-	free_disk_space = 0.
+	# Get parameters
+	max_disk_usage = _safe_get_param('~max_disk_usage', 85.)
+	max_disk_usage_recording = _safe_get_param('~max_disk_usage_recording', 90.)
+	_clamp('max_disk_usage', max_disk_usage, 0., 100.)
+	_clamp('max_disk_usage_recording', max_disk_usage_recording, 0., 100.)
 
 	# get params name
 	device = rospy.get_param('~device', device)
@@ -195,7 +207,7 @@ def record():
 			record_state.recording = True
 			record_state.state_description += " " + str(int(seconds_diff.to_sec())) + " seg."
 			record_state.recording_time = int(seconds_diff.to_sec())
-			rospy.loginfo(record_state.state_description)
+			rospy.loginfo_throttle(1, "Recording time: " + str(int(seconds_diff.to_sec())) + " seg.")
 		else:
 			record_state.state_description = action
 			record_state.recording = False