There is no direct api for triggering notification based on results of a query.
However there is a way to do this using Qubole:
-Create a work flow in qubole with following steps:
1. Your query (any query) that writes output to a particular location on s3.
2. A shell script - This script reads result from your s3 and fails the job based on any criteria. For instance in your case, fail the job if result returns 0 rows.
-Schedule this work flow using "Scheduler" API to notify on failure.
You can also use "Sendmail" shell command to send mail based on results in step 2 above.