1 /** 2 * Copyright 2017 Google Inc. 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #include "failsafeloggers/builder.hpp" 18 19 #include "conf.hpp" 20 #include "failsafeloggers/failsafe_logger.hpp" 21 #include "failsafeloggers/failsafe_logger_utility.hpp" 22 23 #include <algorithm> 24 #include <iostream> 25 #include <memory> 26 #include <string> 27 #include <unordered_map> 28 #include <vector> 29 30 namespace pid_control 31 { 32 33 void buildFailsafeLoggers( 34 const std::unordered_map<int64_t, std::shared_ptr<ZoneInterface>>& zones, 35 const size_t logMaxCountPerSecond /* = 20 */) 36 { 37 zoneIdToFailsafeLogger = 38 std::unordered_map<int64_t, 39 std::shared_ptr<pid_control::FailsafeLogger>>(); 40 sensorNameToZoneId = 41 std::unordered_map<std::string, std::vector<int64_t>>(); 42 for (const auto& zoneIdToZone : zones) 43 { 44 int64_t zoneId = zoneIdToZone.first; 45 // Create a failsafe logger for each zone. 46 zoneIdToFailsafeLogger[zoneId] = std::make_shared<FailsafeLogger>( 47 logMaxCountPerSecond, zoneIdToZone.second->getFailSafeMode()); 48 // Build the sensor-zone topology map. 49 std::vector<std::string> sensorNames = 50 zoneIdToZone.second->getSensorNames(); 51 for (const std::string& sensorName : sensorNames) 52 { 53 if (std::find(sensorNameToZoneId[sensorName].begin(), 54 sensorNameToZoneId[sensorName].end(), zoneId) == 55 sensorNameToZoneId[sensorName].end()) 56 { 57 sensorNameToZoneId[sensorName].push_back(zoneId); 58 } 59 } 60 std::cerr << "Build failsafe logger for Zone " << zoneId 61 << " with initial " 62 << "failsafe mode: " << zoneIdToZone.second->getFailSafeMode() 63 << "\n"; 64 } 65 } 66 67 } // namespace pid_control 68