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 <cstddef> 21 #include <cstdint> 22 #include <iostream> 23 #include <limits> 24 #include <map> 25 #include <set> 26 #include <string> 27 #include <vector> 28 29 namespace pid_control 30 { 31 32 void debugPrint(const std::map<std::string, conf::SensorConfig>& sensorConfig, 33 const std::map<int64_t, conf::PIDConf>& zoneConfig, 34 const std::map<int64_t, conf::ZoneConfig>& zoneDetailsConfig) 35 { 36 if constexpr (!conf::DEBUG) 37 { 38 return; 39 } 40 // print sensor config 41 std::cout << "sensor config:\n"; 42 std::cout << "{\n"; 43 for (const auto& pair : sensorConfig) 44 { 45 std::cout << "\t{" << pair.first << ",\n\t\t{"; 46 std::cout << pair.second.type << ", "; 47 std::cout << pair.second.readPath << ", "; 48 std::cout << pair.second.writePath << ", "; 49 std::cout << pair.second.min << ", "; 50 std::cout << pair.second.max << ", "; 51 std::cout << pair.second.timeout << ", "; 52 std::cout << pair.second.unavailableAsFailed << "},\n\t},\n"; 53 } 54 std::cout << "}\n\n"; 55 std::cout << "ZoneDetailsConfig\n"; 56 std::cout << "{\n"; 57 for (const auto& zone : zoneDetailsConfig) 58 { 59 std::cout << "\t{" << zone.first << ",\n"; 60 std::cout << "\t\t{" << zone.second.minThermalOutput << ", "; 61 std::cout << zone.second.failsafePercent << "}\n\t},\n"; 62 } 63 std::cout << "}\n\n"; 64 std::cout << "ZoneConfig\n"; 65 std::cout << "{\n"; 66 for (const auto& zone : zoneConfig) 67 { 68 std::cout << "\t{" << zone.first << "\n"; 69 for (const auto& pidconf : zone.second) 70 { 71 std::cout << "\t\t{" << pidconf.first << ",\n"; 72 std::cout << "\t\t\t{" << pidconf.second.type << ",\n"; 73 std::cout << "\t\t\t{"; 74 for (const auto& input : pidconf.second.inputs) 75 { 76 std::cout << "\n\t\t\t" << input.name; 77 if (input.convertTempToMargin) 78 { 79 std::cout << "[" << input.convertMarginZero << "]"; 80 } 81 std::cout << ",\n"; 82 } 83 std::cout << "\t\t\t}\n"; 84 std::cout << "\t\t\t" << pidconf.second.setpoint << ",\n"; 85 std::cout << "\t\t\t{" << pidconf.second.pidInfo.ts << ",\n"; 86 std::cout << "\t\t\t" << pidconf.second.pidInfo.proportionalCoeff 87 << ",\n"; 88 std::cout << "\t\t\t" << pidconf.second.pidInfo.integralCoeff 89 << ",\n"; 90 std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdOffset 91 << ",\n"; 92 std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdGain 93 << ",\n"; 94 std::cout << "\t\t\t{" << pidconf.second.pidInfo.integralLimit.min 95 << "," << pidconf.second.pidInfo.integralLimit.max 96 << "},\n"; 97 std::cout << "\t\t\t{" << pidconf.second.pidInfo.outLim.min << "," 98 << pidconf.second.pidInfo.outLim.max << "},\n"; 99 std::cout << "\t\t\t" << pidconf.second.pidInfo.slewNeg << ",\n"; 100 std::cout << "\t\t\t" << pidconf.second.pidInfo.slewPos << ",\n"; 101 std::cout << "\t\t\t}\n\t\t}\n"; 102 } 103 std::cout << "\t},\n"; 104 } 105 std::cout << "}\n\n"; 106 } 107 108 std::vector<conf::SensorInput> spliceInputs( 109 const std::vector<std::string>& inputNames, 110 const std::vector<double>& inputTempToMargin, 111 const std::vector<std::string>& missingAcceptableNames) 112 { 113 std::vector<conf::SensorInput> results; 114 115 // Default to TempToMargin and MissingIsAcceptable disabled 116 for (const auto& inputName : inputNames) 117 { 118 conf::SensorInput newInput{ 119 inputName, std::numeric_limits<double>::quiet_NaN(), false, false}; 120 121 results.emplace_back(newInput); 122 } 123 124 size_t resultSize = results.size(); 125 size_t marginSize = inputTempToMargin.size(); 126 127 for (size_t index = 0; index < resultSize; ++index) 128 { 129 // If fewer doubles than strings, and vice versa, ignore remainder 130 if (index >= marginSize) 131 { 132 break; 133 } 134 135 // Both vectors have this index, combine both into SensorInput 136 results[index].convertMarginZero = inputTempToMargin[index]; 137 results[index].convertTempToMargin = true; 138 } 139 140 std::set<std::string> acceptableSet; 141 142 // Copy vector to set, to avoid O(n^2) runtime below 143 for (const auto& name : missingAcceptableNames) 144 { 145 acceptableSet.emplace(name); 146 } 147 148 // Flag missingIsAcceptable true if name found in that set 149 for (auto& result : results) 150 { 151 if (acceptableSet.find(result.name) != acceptableSet.end()) 152 { 153 result.missingIsAcceptable = true; 154 } 155 } 156 157 return results; 158 } 159 160 std::vector<std::string> splitNames( 161 const std::vector<conf::SensorInput>& sensorInputs) 162 { 163 std::vector<std::string> results; 164 165 results.reserve(sensorInputs.size()); 166 for (const auto& sensorInput : sensorInputs) 167 { 168 results.emplace_back(sensorInput.name); 169 } 170 171 return results; 172 } 173 174 } // namespace pid_control 175