1 /* 2 // Copyright (c) 2018 Intel Corporation 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 #include "util.hpp" 17 18 #include "conf.hpp" 19 20 #include <cstdint> 21 #include <iostream> 22 #include <map> 23 #include <string> 24 25 namespace pid_control 26 { 27 28 void debugPrint(const std::map<std::string, conf::SensorConfig>& sensorConfig, 29 const std::map<int64_t, conf::PIDConf>& zoneConfig, 30 const std::map<int64_t, conf::ZoneConfig>& zoneDetailsConfig) 31 { 32 if constexpr (!conf::DEBUG) 33 { 34 return; 35 } 36 // print sensor config 37 std::cout << "sensor config:\n"; 38 std::cout << "{\n"; 39 for (const auto& pair : sensorConfig) 40 { 41 std::cout << "\t{" << pair.first << ",\n\t\t{"; 42 std::cout << pair.second.type << ", "; 43 std::cout << pair.second.readPath << ", "; 44 std::cout << pair.second.writePath << ", "; 45 std::cout << pair.second.min << ", "; 46 std::cout << pair.second.max << ", "; 47 std::cout << pair.second.timeout << ", "; 48 std::cout << pair.second.unavailableAsFailed << "},\n\t},\n"; 49 } 50 std::cout << "}\n\n"; 51 std::cout << "ZoneDetailsConfig\n"; 52 std::cout << "{\n"; 53 for (const auto& zone : zoneDetailsConfig) 54 { 55 std::cout << "\t{" << zone.first << ",\n"; 56 std::cout << "\t\t{" << zone.second.minThermalOutput << ", "; 57 std::cout << zone.second.failsafePercent << "}\n\t},\n"; 58 } 59 std::cout << "}\n\n"; 60 std::cout << "ZoneConfig\n"; 61 std::cout << "{\n"; 62 for (const auto& zone : zoneConfig) 63 { 64 std::cout << "\t{" << zone.first << "\n"; 65 for (const auto& pidconf : zone.second) 66 { 67 std::cout << "\t\t{" << pidconf.first << ",\n"; 68 std::cout << "\t\t\t{" << pidconf.second.type << ",\n"; 69 std::cout << "\t\t\t{"; 70 for (const auto& input : pidconf.second.inputs) 71 { 72 std::cout << "\n\t\t\t" << input.name; 73 if (input.convertTempToMargin) 74 { 75 std::cout << "[" << input.convertMarginZero << "]"; 76 } 77 std::cout << ",\n"; 78 } 79 std::cout << "\t\t\t}\n"; 80 std::cout << "\t\t\t" << pidconf.second.setpoint << ",\n"; 81 std::cout << "\t\t\t{" << pidconf.second.pidInfo.ts << ",\n"; 82 std::cout << "\t\t\t" << pidconf.second.pidInfo.proportionalCoeff 83 << ",\n"; 84 std::cout << "\t\t\t" << pidconf.second.pidInfo.integralCoeff 85 << ",\n"; 86 std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdOffset 87 << ",\n"; 88 std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdGain 89 << ",\n"; 90 std::cout << "\t\t\t{" << pidconf.second.pidInfo.integralLimit.min 91 << "," << pidconf.second.pidInfo.integralLimit.max 92 << "},\n"; 93 std::cout << "\t\t\t{" << pidconf.second.pidInfo.outLim.min << "," 94 << pidconf.second.pidInfo.outLim.max << "},\n"; 95 std::cout << "\t\t\t" << pidconf.second.pidInfo.slewNeg << ",\n"; 96 std::cout << "\t\t\t" << pidconf.second.pidInfo.slewPos << ",\n"; 97 std::cout << "\t\t\t}\n\t\t}\n"; 98 } 99 std::cout << "\t},\n"; 100 } 101 std::cout << "}\n\n"; 102 } 103 104 std::vector<conf::SensorInput> 105 spliceInputs(const std::vector<std::string>& inputNames, 106 const std::vector<double>& inputTempToMargin, 107 const std::vector<std::string>& missingAcceptableNames) 108 { 109 std::vector<conf::SensorInput> results; 110 111 // Default to TempToMargin and MissingIsAcceptable disabled 112 for (const auto& inputName : inputNames) 113 { 114 conf::SensorInput newInput{ 115 inputName, std::numeric_limits<double>::quiet_NaN(), false, false}; 116 117 results.emplace_back(newInput); 118 } 119 120 size_t resultSize = results.size(); 121 size_t marginSize = inputTempToMargin.size(); 122 123 for (size_t index = 0; index < resultSize; ++index) 124 { 125 // If fewer doubles than strings, and vice versa, ignore remainder 126 if (index >= marginSize) 127 { 128 break; 129 } 130 131 // Both vectors have this index, combine both into SensorInput 132 results[index].convertMarginZero = inputTempToMargin[index]; 133 results[index].convertTempToMargin = true; 134 } 135 136 std::set<std::string> acceptableSet; 137 138 // Copy vector to set, to avoid O(n^2) runtime below 139 for (const auto& name : missingAcceptableNames) 140 { 141 acceptableSet.emplace(name); 142 } 143 144 // Flag missingIsAcceptable true if name found in that set 145 for (auto& result : results) 146 { 147 if (acceptableSet.find(result.name) != acceptableSet.end()) 148 { 149 result.missingIsAcceptable = true; 150 } 151 } 152 153 return results; 154 } 155 156 std::vector<std::string> 157 splitNames(const std::vector<conf::SensorInput>& sensorInputs) 158 { 159 std::vector<std::string> results; 160 161 for (const auto& sensorInput : sensorInputs) 162 { 163 results.emplace_back(sensorInput.name); 164 } 165 166 return results; 167 } 168 169 } // namespace pid_control 170