dbus/dbusconfiguration.cpp - openbmc/phosphor-pid-control - Gitiles

 /*
 // Copyright (c) 2018 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
 //      http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
 */

 #include "conf.hpp"
 #include "dbus/util.hpp"

 #include <algorithm>
 #include <chrono>
 #include <functional>
 #include <iostream>
 #include <sdbusplus/bus.hpp>
 #include <sdbusplus/bus/match.hpp>
 #include <sdbusplus/exception.hpp>
 #include <set>
 #include <thread>
 #include <unordered_map>

 static constexpr bool DEBUG = false; // enable to print found configuration

 std::map<std::string, struct SensorConfig> SensorConfig = {};
 std::map<int64_t, PIDConf> ZoneConfig = {};
 std::map<int64_t, struct ZoneConfig> ZoneDetailsConfig = {};

 constexpr const char* pidConfigurationInterface =
     "xyz.openbmc_project.Configuration.Pid";
 constexpr const char* objectManagerInterface =
     "org.freedesktop.DBus.ObjectManager";
 constexpr const char* pidZoneConfigurationInterface =
     "xyz.openbmc_project.Configuration.Pid.Zone";
 constexpr const char* stepwiseConfigurationInterface =
     "xyz.openbmc_project.Configuration.Stepwise";
 constexpr const char* sensorInterface = "xyz.openbmc_project.Sensor.Value";
 constexpr const char* pwmInterface = "xyz.openbmc_project.Control.FanPwm";

 namespace dbus_configuration
 {

 namespace variant_ns = sdbusplus::message::variant_ns;

 bool findSensor(const std::unordered_map<std::string, std::string>& sensors,
                 const std::string& search,
                 std::pair<std::string, std::string>& sensor)
 {
     auto found =
         std::find_if(sensors.begin(), sensors.end(), [&search](const auto& s) {
             return (s.first.find(search) != std::string::npos);
         });
     if (found != sensors.end())
     {
         sensor = *found;
         return true;
     }

     return false;
 }

 // this function prints the configuration into a form similar to the cpp
 // generated code to help in verification, should be turned off during normal
 // use
 void debugPrint(void)
 {
     // print sensor config
     std::cout << "sensor config:\n";
     std::cout << "{\n";
     for (const auto& pair : SensorConfig)
     {

         std::cout << "\t{" << pair.first << ",\n\t\t{";
         std::cout << pair.second.type << ", ";
         std::cout << pair.second.readpath << ", ";
         std::cout << pair.second.writepath << ", ";
         std::cout << pair.second.min << ", ";
         std::cout << pair.second.max << ", ";
         std::cout << pair.second.timeout << "},\n\t},\n";
     }
     std::cout << "}\n\n";
     std::cout << "ZoneDetailsConfig\n";
     std::cout << "{\n";
     for (const auto& zone : ZoneDetailsConfig)
     {
         std::cout << "\t{" << zone.first << ",\n";
         std::cout << "\t\t{" << zone.second.minthermalrpm << ", ";
         std::cout << zone.second.failsafepercent << "}\n\t},\n";
     }
     std::cout << "}\n\n";
     std::cout << "ZoneConfig\n";
     std::cout << "{\n";
     for (const auto& zone : ZoneConfig)
     {
         std::cout << "\t{" << zone.first << "\n";
         for (const auto& pidconf : zone.second)
         {
             std::cout << "\t\t{" << pidconf.first << ",\n";
             std::cout << "\t\t\t{" << pidconf.second.type << ",\n";
             std::cout << "\t\t\t{";
             for (const auto& input : pidconf.second.inputs)
             {
                 std::cout << "\n\t\t\t" << input << ",\n";
             }
             std::cout << "\t\t\t}\n";
             std::cout << "\t\t\t" << pidconf.second.setpoint << ",\n";
             std::cout << "\t\t\t{" << pidconf.second.pidInfo.ts << ",\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.p_c << ",\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.i_c << ",\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_off << ",\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_gain << ",\n";
             std::cout << "\t\t\t{" << pidconf.second.pidInfo.i_lim.min << ","
                       << pidconf.second.pidInfo.i_lim.max << "},\n";
             std::cout << "\t\t\t{" << pidconf.second.pidInfo.out_lim.min << ","
                       << pidconf.second.pidInfo.out_lim.max << "},\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_neg << ",\n";
             std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_pos << ",\n";
             std::cout << "\t\t\t}\n\t\t}\n";
         }
         std::cout << "\t},\n";
     }
     std::cout << "}\n\n";
 }

 int eventHandler(sd_bus_message*, void*, sd_bus_error*)
 {
     // do a brief sleep as we tend to get a bunch of these events at
     // once
     std::this_thread::sleep_for(std::chrono::seconds(5));
     std::cout << "New configuration detected, restarting\n.";
     std::exit(EXIT_SUCCESS); // service file should make us restart
     return 1;
 }

 void init(sdbusplus::bus::bus& bus)
 {
     using DbusVariantType =
         sdbusplus::message::variant<uint64_t, int64_t, double, std::string,
                                     std::vector<std::string>,
                                     std::vector<double>>;

     using ManagedObjectType = std::unordered_map<
         sdbusplus::message::object_path,
         std::unordered_map<std::string,
                            std::unordered_map<std::string, DbusVariantType>>>;

     // restart on configuration properties changed
     static sdbusplus::bus::match::match configMatch(
         bus,
         "type='signal',member='PropertiesChanged',arg0namespace='" +
             std::string(pidConfigurationInterface) + "'",
         eventHandler);

     // restart on sensors changed
     static sdbusplus::bus::match::match sensorAdded(
         bus,
         "type='signal',member='InterfacesAdded',arg0path='/xyz/openbmc_project/"
         "sensors/'",
         eventHandler);

     auto mapper =
         bus.new_method_call("xyz.openbmc_project.ObjectMapper",
                             "/xyz/openbmc_project/object_mapper",
                             "xyz.openbmc_project.ObjectMapper", "GetSubTree");
     mapper.append("/", 0,
                   std::array<const char*, 6>{objectManagerInterface,
                                              pidConfigurationInterface,
                                              pidZoneConfigurationInterface,
                                              stepwiseConfigurationInterface,
                                              sensorInterface, pwmInterface});
     std::unordered_map<
         std::string, std::unordered_map<std::string, std::vector<std::string>>>
         respData;
     try
     {
         auto resp = bus.call(mapper);
         if (resp.is_method_error())
         {
             throw std::runtime_error("ObjectMapper Call Failure");
         }
         resp.read(respData);
     }
     catch (sdbusplus::exception_t&)
     {
         // can't do anything without mapper call data
         throw std::runtime_error("ObjectMapper Call Failure");
     }

     if (respData.empty())
     {
         // can't do anything without mapper call data
         throw std::runtime_error("No configuration data available from Mapper");
     }
     // create a map of pair of <has pid configuration, ObjectManager path>
     std::unordered_map<std::string, std::pair<bool, std::string>> owners;
     // and a map of <path, interface> for sensors
     std::unordered_map<std::string, std::string> sensors;
     for (const auto& objectPair : respData)
     {
         for (const auto& ownerPair : objectPair.second)
         {
             auto& owner = owners[ownerPair.first];
             for (const std::string& interface : ownerPair.second)
             {

                 if (interface == objectManagerInterface)
                 {
                     owner.second = objectPair.first;
                 }
                 if (interface == pidConfigurationInterface ||
                     interface == pidZoneConfigurationInterface ||
                     interface == stepwiseConfigurationInterface)
                 {
                     owner.first = true;
                 }
                 if (interface == sensorInterface || interface == pwmInterface)
                 {
                     // we're not interested in pwm sensors, just pwm control
                     if (interface == sensorInterface &&
                         objectPair.first.find("pwm") != std::string::npos)
                     {
                         continue;
                     }
                     sensors[objectPair.first] = interface;
                 }
             }
         }
     }
     ManagedObjectType configurations;
     for (const auto& owner : owners)
     {
         // skip if no pid configuration (means probably a sensor)
         if (!owner.second.first)
         {
             continue;
         }
         auto endpoint = bus.new_method_call(
             owner.first.c_str(), owner.second.second.c_str(),
             "org.freedesktop.DBus.ObjectManager", "GetManagedObjects");
         ManagedObjectType configuration;
         try
         {
             auto responce = bus.call(endpoint);
             if (responce.is_method_error())
             {
                 throw std::runtime_error("Error getting managed objects from " +
                                          owner.first);
             }
             responce.read(configuration);
         }
         catch (sdbusplus::exception_t&)
         {
             // this shouldn't happen, probably means daemon crashed
             throw std::runtime_error("Error getting managed objects from " +
                                      owner.first);
         }

         for (auto& pathPair : configuration)
         {
             if (pathPair.second.find(pidConfigurationInterface) !=
                     pathPair.second.end() ||
                 pathPair.second.find(pidZoneConfigurationInterface) !=
                     pathPair.second.end() ||
                 pathPair.second.find(stepwiseConfigurationInterface) !=
                     pathPair.second.end())
             {
                 configurations.emplace(pathPair);
             }
         }
     }

     // on dbus having an index field is a bit strange, so randomly
     // assign index based on name property
     std::vector<std::string> zoneIndex;
     for (const auto& configuration : configurations)
     {
         auto findZone =
             configuration.second.find(pidZoneConfigurationInterface);
         if (findZone != configuration.second.end())
         {
             const auto& zone = findZone->second;
             size_t index = 1;
             const std::string& name =
                 variant_ns::get<std::string>(zone.at("Name"));
             auto it = std::find(zoneIndex.begin(), zoneIndex.end(), name);
             if (it == zoneIndex.end())
             {
                 zoneIndex.emplace_back(name);
                 index = zoneIndex.size();
             }
             else
             {
                 index = zoneIndex.end() - it;
             }

             auto& details = ZoneDetailsConfig[index];
             details.minthermalrpm = variant_ns::apply_visitor(
                 VariantToFloatVisitor(), zone.at("MinThermalRpm"));
             details.failsafepercent = variant_ns::apply_visitor(
                 VariantToFloatVisitor(), zone.at("FailSafePercent"));
         }
         auto findBase = configuration.second.find(pidConfigurationInterface);
         if (findBase != configuration.second.end())
         {

             const auto& base =
                 configuration.second.at(pidConfigurationInterface);
             const std::vector<std::string>& zones =
                 variant_ns::get<std::vector<std::string>>(base.at("Zones"));
             for (const std::string& zone : zones)
             {
                 auto it = std::find(zoneIndex.begin(), zoneIndex.end(), zone);
                 size_t index = 1;
                 if (it == zoneIndex.end())
                 {
                     zoneIndex.emplace_back(zone);
                     index = zoneIndex.size();
                 }
                 else
                 {
                     index = zoneIndex.end() - it;
                 }
                 PIDConf& conf = ZoneConfig[index];

                 std::vector<std::string> sensorNames =
                     variant_ns::get<std::vector<std::string>>(
                         base.at("Inputs"));
                 auto findOutputs =
                     base.find("Outputs"); // currently only fans have outputs
                 if (findOutputs != base.end())
                 {
                     std::vector<std::string> outputs =
                         variant_ns::get<std::vector<std::string>>(
                             findOutputs->second);
                     sensorNames.insert(sensorNames.end(), outputs.begin(),
                                        outputs.end());
                 }
                 bool sensorsAvailable = sensorNames.size();
                 std::vector<std::string> inputs;
                 for (const std::string& sensorName : sensorNames)
                 {
                     std::string name = sensorName;
                     // replace spaces with underscores to be legal on dbus
                     std::replace(name.begin(), name.end(), ' ', '_');
                     std::pair<std::string, std::string> sensorPathIfacePair;

                     if (!findSensor(sensors, name, sensorPathIfacePair))
                     {
                         sensorsAvailable = false;
                         break;
                     }
                     if (sensorPathIfacePair.second == sensorInterface)
                     {
                         inputs.push_back(name);
                         auto& config = SensorConfig[name];
                         config.type =
                             variant_ns::get<std::string>(base.at("Class"));
                         config.readpath = sensorPathIfacePair.first;
                         // todo: maybe un-hardcode this if we run into slower
                         // timeouts with sensors
                         if (config.type == "temp")
                         {
                             config.timeout = 500;
                         }
                     }
                     else if (sensorPathIfacePair.second == pwmInterface)
                     {
                         // copy so we can modify it
                         for (std::string otherSensor : sensorNames)
                         {
                             if (otherSensor == sensorName)
                             {
                                 continue;
                             }
                             std::replace(otherSensor.begin(), otherSensor.end(),
                                          ' ', '_');
                             auto& config = SensorConfig[otherSensor];
                             config.writepath = sensorPathIfacePair.first;
                             // todo: un-hardcode this if there are fans with
                             // different ranges
                             config.max = 255;
                             config.min = 0;
                         }
                     }
                 }
                 // if the sensors aren't available in the current state, don't
                 // add them to the configuration.
                 if (!sensorsAvailable)
                 {
                     continue;
                 }
                 struct ControllerInfo& info =
                     conf[variant_ns::get<std::string>(base.at("Name"))];
                 info.inputs = std::move(inputs);

                 info.type = variant_ns::get<std::string>(base.at("Class"));
                 // todo: auto generation yaml -> c script seems to discard this
                 // value for fans, verify this is okay
                 if (info.type == "fan")
                 {
                     info.setpoint = 0;
                 }
                 else
                 {
                     info.setpoint = variant_ns::apply_visitor(
                         VariantToFloatVisitor(), base.at("SetPoint"));
                 }
                 info.pidInfo.ts = 1.0; // currently unused
                 info.pidInfo.p_c = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("PCoefficient"));
                 info.pidInfo.i_c = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("ICoefficient"));
                 info.pidInfo.ff_off = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("FFOffCoefficient"));
                 info.pidInfo.ff_gain = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("FFGainCoefficient"));
                 info.pidInfo.i_lim.max = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("ILimitMax"));
                 info.pidInfo.i_lim.min = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("ILimitMin"));
                 info.pidInfo.out_lim.max = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("OutLimitMax"));
                 info.pidInfo.out_lim.min = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("OutLimitMin"));
                 info.pidInfo.slew_neg = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("SlewNeg"));
                 info.pidInfo.slew_pos = variant_ns::apply_visitor(
                     VariantToFloatVisitor(), base.at("SlewPos"));
             }
         }
         auto findStepwise =
             configuration.second.find(stepwiseConfigurationInterface);
         if (findStepwise != configuration.second.end())
         {
             const auto& base = findStepwise->second;
             const std::vector<std::string>& zones =
                 variant_ns::get<std::vector<std::string>>(base.at("Zones"));
             for (const std::string& zone : zones)
             {
                 auto it = std::find(zoneIndex.begin(), zoneIndex.end(), zone);
                 size_t index = 1;
                 if (it == zoneIndex.end())
                 {
                     zoneIndex.emplace_back(zone);
                     index = zoneIndex.size();
                 }
                 else
                 {
                     index = zoneIndex.end() - it;
                 }
                 PIDConf& conf = ZoneConfig[index];

                 std::vector<std::string> inputs;
                 std::vector<std::string> sensorNames =
                     variant_ns::get<std::vector<std::string>>(
                         base.at("Inputs"));

                 bool sensorFound = sensorNames.size();
                 for (const std::string& sensorName : sensorNames)
                 {
                     std::string name = sensorName;
                     // replace spaces with underscores to be legal on dbus
                     std::replace(name.begin(), name.end(), ' ', '_');
                     std::pair<std::string, std::string> sensorPathIfacePair;

                     if (!findSensor(sensors, name, sensorPathIfacePair))
                     {
                         sensorFound = false;
                         break;
                     }

                     inputs.push_back(name);
                     auto& config = SensorConfig[name];
                     config.readpath = sensorPathIfacePair.first;
                     config.type = "temp";
                     // todo: maybe un-hardcode this if we run into slower
                     // timeouts with sensors

                     config.timeout = 500;
                 }
                 if (!sensorFound)
                 {
                     continue;
                 }
                 struct ControllerInfo& info =
                     conf[variant_ns::get<std::string>(base.at("Name"))];
                 info.inputs = std::move(inputs);

                 info.type = "stepwise";
                 info.stepwiseInfo.ts = 1.0; // currently unused
                 info.stepwiseInfo.positiveHysteresis = 0.0;
                 info.stepwiseInfo.negativeHysteresis = 0.0;
                 auto findPosHyst = base.find("PositiveHysteresis");
                 auto findNegHyst = base.find("NegativeHysteresis");
                 if (findPosHyst != base.end())
                 {
                     info.stepwiseInfo.positiveHysteresis =
                         variant_ns::apply_visitor(VariantToFloatVisitor(),
                                                   findPosHyst->second);
                 }
                 if (findNegHyst != base.end())
                 {
                     info.stepwiseInfo.positiveHysteresis =
                         variant_ns::apply_visitor(VariantToFloatVisitor(),
                                                   findNegHyst->second);
                 }
                 std::vector<double> readings =
                     variant_ns::get<std::vector<double>>(base.at("Reading"));
                 if (readings.size() > ec::maxStepwisePoints)
                 {
                     throw std::invalid_argument("Too many stepwise points.");
                 }
                 if (readings.empty())
                 {
                     throw std::invalid_argument(
                         "Must have one stepwise point.");
                 }
                 std::copy(readings.begin(), readings.end(),
                           info.stepwiseInfo.reading);
                 if (readings.size() < ec::maxStepwisePoints)
                 {
                     info.stepwiseInfo.reading[readings.size()] =
                         std::numeric_limits<float>::quiet_NaN();
                 }
                 std::vector<double> outputs =
                     variant_ns::get<std::vector<double>>(base.at("Output"));
                 if (readings.size() != outputs.size())
                 {
                     throw std::invalid_argument(
                         "Outputs size must match readings");
                 }
                 std::copy(outputs.begin(), outputs.end(),
                           info.stepwiseInfo.output);
                 if (outputs.size() < ec::maxStepwisePoints)
                 {
                     info.stepwiseInfo.output[outputs.size()] =
                         std::numeric_limits<float>::quiet_NaN();
                 }
             }
         }
     }
     if (DEBUG)
     {
         debugPrint();
     }
     if (ZoneConfig.empty())
     {
         std::cerr << "No fan zones, application pausing until reboot\n";
         while (1)
         {
             bus.process_discard();
             bus.wait();
         }
     }
 }
 } // namespace dbus_configuration
	/*
	// Copyright (c) 2018 Intel Corporation
	//
	// Licensed under the Apache License, Version 2.0 (the "License");
	// you may not use this file except in compliance with the License.
	// You may obtain a copy of the License at
	//
	// http://www.apache.org/licenses/LICENSE-2.0
	//
	// Unless required by applicable law or agreed to in writing, software
	// distributed under the License is distributed on an "AS IS" BASIS,
	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	// See the License for the specific language governing permissions and
	// limitations under the License.
	*/

	#include "conf.hpp"
	#include "dbus/util.hpp"

	#include <algorithm>
	#include <chrono>
	#include <functional>
	#include <iostream>
	#include <sdbusplus/bus.hpp>
	#include <sdbusplus/bus/match.hpp>
	#include <sdbusplus/exception.hpp>
	#include <set>
	#include <thread>
	#include <unordered_map>

	static constexpr bool DEBUG = false; // enable to print found configuration

	std::map<std::string, struct SensorConfig> SensorConfig = {};
	std::map<int64_t, PIDConf> ZoneConfig = {};
	std::map<int64_t, struct ZoneConfig> ZoneDetailsConfig = {};

	constexpr const char* pidConfigurationInterface =
	"xyz.openbmc_project.Configuration.Pid";
	constexpr const char* objectManagerInterface =
	"org.freedesktop.DBus.ObjectManager";
	constexpr const char* pidZoneConfigurationInterface =
	"xyz.openbmc_project.Configuration.Pid.Zone";
	constexpr const char* stepwiseConfigurationInterface =
	"xyz.openbmc_project.Configuration.Stepwise";
	constexpr const char* sensorInterface = "xyz.openbmc_project.Sensor.Value";
	constexpr const char* pwmInterface = "xyz.openbmc_project.Control.FanPwm";

	namespace dbus_configuration
	{

	namespace variant_ns = sdbusplus::message::variant_ns;

	bool findSensor(const std::unordered_map<std::string, std::string>& sensors,
	const std::string& search,
	std::pair<std::string, std::string>& sensor)
	{
	auto found =
	std::find_if(sensors.begin(), sensors.end(), [&search](const auto& s) {
	return (s.first.find(search) != std::string::npos);
	});
	if (found != sensors.end())
	{
	sensor = *found;
	return true;
	}

	return false;
	}

	// this function prints the configuration into a form similar to the cpp
	// generated code to help in verification, should be turned off during normal
	// use
	void debugPrint(void)
	{
	// print sensor config
	std::cout << "sensor config:\n";
	std::cout << "{\n";
	for (const auto& pair : SensorConfig)
	{

	std::cout << "\t{" << pair.first << ",\n\t\t{";
	std::cout << pair.second.type << ", ";
	std::cout << pair.second.readpath << ", ";
	std::cout << pair.second.writepath << ", ";
	std::cout << pair.second.min << ", ";
	std::cout << pair.second.max << ", ";
	std::cout << pair.second.timeout << "},\n\t},\n";
	}
	std::cout << "}\n\n";
	std::cout << "ZoneDetailsConfig\n";
	std::cout << "{\n";
	for (const auto& zone : ZoneDetailsConfig)
	{
	std::cout << "\t{" << zone.first << ",\n";
	std::cout << "\t\t{" << zone.second.minthermalrpm << ", ";
	std::cout << zone.second.failsafepercent << "}\n\t},\n";
	}
	std::cout << "}\n\n";
	std::cout << "ZoneConfig\n";
	std::cout << "{\n";
	for (const auto& zone : ZoneConfig)
	{
	std::cout << "\t{" << zone.first << "\n";
	for (const auto& pidconf : zone.second)
	{
	std::cout << "\t\t{" << pidconf.first << ",\n";
	std::cout << "\t\t\t{" << pidconf.second.type << ",\n";
	std::cout << "\t\t\t{";
	for (const auto& input : pidconf.second.inputs)
	{
	std::cout << "\n\t\t\t" << input << ",\n";
	}
	std::cout << "\t\t\t}\n";
	std::cout << "\t\t\t" << pidconf.second.setpoint << ",\n";
	std::cout << "\t\t\t{" << pidconf.second.pidInfo.ts << ",\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.p_c << ",\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.i_c << ",\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_off << ",\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_gain << ",\n";
	std::cout << "\t\t\t{" << pidconf.second.pidInfo.i_lim.min << ","
	<< pidconf.second.pidInfo.i_lim.max << "},\n";
	std::cout << "\t\t\t{" << pidconf.second.pidInfo.out_lim.min << ","
	<< pidconf.second.pidInfo.out_lim.max << "},\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_neg << ",\n";
	std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_pos << ",\n";
	std::cout << "\t\t\t}\n\t\t}\n";
	}
	std::cout << "\t},\n";
	}
	std::cout << "}\n\n";
	}

	int eventHandler(sd_bus_message, void, sd_bus_error*)
	{
	// do a brief sleep as we tend to get a bunch of these events at
	// once
	std::this_thread::sleep_for(std::chrono::seconds(5));
	std::cout << "New configuration detected, restarting\n.";
	std::exit(EXIT_SUCCESS); // service file should make us restart
	return 1;
	}

	void init(sdbusplus::bus::bus& bus)
	{
	using DbusVariantType =
	sdbusplus::message::variant<uint64_t, int64_t, double, std::string,
	std::vector<std::string>,
	std::vector<double>>;

	using ManagedObjectType = std::unordered_map<
	sdbusplus::message::object_path,
	std::unordered_map<std::string,
	std::unordered_map<std::string, DbusVariantType>>>;

	// restart on configuration properties changed
	static sdbusplus::bus::match::match configMatch(
	bus,
	"type='signal',member='PropertiesChanged',arg0namespace='" +
	std::string(pidConfigurationInterface) + "'",
	eventHandler);

	// restart on sensors changed
	static sdbusplus::bus::match::match sensorAdded(
	bus,
	"type='signal',member='InterfacesAdded',arg0path='/xyz/openbmc_project/"
	"sensors/'",
	eventHandler);

	auto mapper =
	bus.new_method_call("xyz.openbmc_project.ObjectMapper",
	"/xyz/openbmc_project/object_mapper",
	"xyz.openbmc_project.ObjectMapper", "GetSubTree");
	mapper.append("/", 0,
	std::array<const char*, 6>{objectManagerInterface,
	pidConfigurationInterface,
	pidZoneConfigurationInterface,
	stepwiseConfigurationInterface,
	sensorInterface, pwmInterface});
	std::unordered_map<
	std::string, std::unordered_map<std::string, std::vector<std::string>>>
	respData;
	try
	{
	auto resp = bus.call(mapper);
	if (resp.is_method_error())
	{
	throw std::runtime_error("ObjectMapper Call Failure");
	}
	resp.read(respData);
	}
	catch (sdbusplus::exception_t&)
	{
	// can't do anything without mapper call data
	throw std::runtime_error("ObjectMapper Call Failure");
	}

	if (respData.empty())
	{
	// can't do anything without mapper call data
	throw std::runtime_error("No configuration data available from Mapper");
	}
	// create a map of pair of <has pid configuration, ObjectManager path>
	std::unordered_map<std::string, std::pair<bool, std::string>> owners;
	// and a map of <path, interface> for sensors
	std::unordered_map<std::string, std::string> sensors;
	for (const auto& objectPair : respData)
	{
	for (const auto& ownerPair : objectPair.second)
	{
	auto& owner = owners[ownerPair.first];
	for (const std::string& interface : ownerPair.second)
	{

	if (interface == objectManagerInterface)
	{
	owner.second = objectPair.first;
	}
	if (interface == pidConfigurationInterface \|\|
	interface == pidZoneConfigurationInterface \|\|
	interface == stepwiseConfigurationInterface)
	{
	owner.first = true;
	}
	if (interface == sensorInterface \|\| interface == pwmInterface)
	{
	// we're not interested in pwm sensors, just pwm control
	if (interface == sensorInterface &&
	objectPair.first.find("pwm") != std::string::npos)
	{
	continue;
	}
	sensors[objectPair.first] = interface;
	}
	}
	}
	}
	ManagedObjectType configurations;
	for (const auto& owner : owners)
	{
	// skip if no pid configuration (means probably a sensor)
	if (!owner.second.first)
	{
	continue;
	}
	auto endpoint = bus.new_method_call(
	owner.first.c_str(), owner.second.second.c_str(),
	"org.freedesktop.DBus.ObjectManager", "GetManagedObjects");
	ManagedObjectType configuration;
	try
	{
	auto responce = bus.call(endpoint);
	if (responce.is_method_error())
	{
	throw std::runtime_error("Error getting managed objects from " +
	owner.first);
	}
	responce.read(configuration);
	}
	catch (sdbusplus::exception_t&)
	{
	// this shouldn't happen, probably means daemon crashed
	throw std::runtime_error("Error getting managed objects from " +
	owner.first);
	}

	for (auto& pathPair : configuration)
	{
	if (pathPair.second.find(pidConfigurationInterface) !=
	pathPair.second.end() \|\|
	pathPair.second.find(pidZoneConfigurationInterface) !=
	pathPair.second.end() \|\|
	pathPair.second.find(stepwiseConfigurationInterface) !=
	pathPair.second.end())
	{
	configurations.emplace(pathPair);
	}
	}
	}

	// on dbus having an index field is a bit strange, so randomly
	// assign index based on name property
	std::vector<std::string> zoneIndex;
	for (const auto& configuration : configurations)
	{
	auto findZone =
	configuration.second.find(pidZoneConfigurationInterface);
	if (findZone != configuration.second.end())
	{
	const auto& zone = findZone->second;
	size_t index = 1;
	const std::string& name =
	variant_ns::get<std::string>(zone.at("Name"));
	auto it = std::find(zoneIndex.begin(), zoneIndex.end(), name);
	if (it == zoneIndex.end())
	{
	zoneIndex.emplace_back(name);
	index = zoneIndex.size();
	}
	else
	{
	index = zoneIndex.end() - it;
	}

	auto& details = ZoneDetailsConfig[index];
	details.minthermalrpm = variant_ns::apply_visitor(
	VariantToFloatVisitor(), zone.at("MinThermalRpm"));
	details.failsafepercent = variant_ns::apply_visitor(
	VariantToFloatVisitor(), zone.at("FailSafePercent"));
	}
	auto findBase = configuration.second.find(pidConfigurationInterface);
	if (findBase != configuration.second.end())
	{

	const auto& base =
	configuration.second.at(pidConfigurationInterface);
	const std::vector<std::string>& zones =
	variant_ns::get<std::vector<std::string>>(base.at("Zones"));
	for (const std::string& zone : zones)
	{
	auto it = std::find(zoneIndex.begin(), zoneIndex.end(), zone);
	size_t index = 1;
	if (it == zoneIndex.end())
	{
	zoneIndex.emplace_back(zone);
	index = zoneIndex.size();
	}
	else
	{
	index = zoneIndex.end() - it;
	}
	PIDConf& conf = ZoneConfig[index];

	std::vector<std::string> sensorNames =
	variant_ns::get<std::vector<std::string>>(
	base.at("Inputs"));
	auto findOutputs =
	base.find("Outputs"); // currently only fans have outputs
	if (findOutputs != base.end())
	{
	std::vector<std::string> outputs =
	variant_ns::get<std::vector<std::string>>(
	findOutputs->second);
	sensorNames.insert(sensorNames.end(), outputs.begin(),
	outputs.end());
	}
	bool sensorsAvailable = sensorNames.size();
	std::vector<std::string> inputs;
	for (const std::string& sensorName : sensorNames)
	{
	std::string name = sensorName;
	// replace spaces with underscores to be legal on dbus
	std::replace(name.begin(), name.end(), ' ', '_');
	std::pair<std::string, std::string> sensorPathIfacePair;

	if (!findSensor(sensors, name, sensorPathIfacePair))
	{
	sensorsAvailable = false;
	break;
	}
	if (sensorPathIfacePair.second == sensorInterface)
	{
	inputs.push_back(name);
	auto& config = SensorConfig[name];
	config.type =
	variant_ns::get<std::string>(base.at("Class"));
	config.readpath = sensorPathIfacePair.first;
	// todo: maybe un-hardcode this if we run into slower
	// timeouts with sensors
	if (config.type == "temp")
	{
	config.timeout = 500;
	}
	}
	else if (sensorPathIfacePair.second == pwmInterface)
	{
	// copy so we can modify it
	for (std::string otherSensor : sensorNames)
	{
	if (otherSensor == sensorName)
	{
	continue;
	}
	std::replace(otherSensor.begin(), otherSensor.end(),
	' ', '_');
	auto& config = SensorConfig[otherSensor];
	config.writepath = sensorPathIfacePair.first;
	// todo: un-hardcode this if there are fans with
	// different ranges
	config.max = 255;
	config.min = 0;
	}
	}
	}
	// if the sensors aren't available in the current state, don't
	// add them to the configuration.
	if (!sensorsAvailable)
	{
	continue;
	}
	struct ControllerInfo& info =
	conf[variant_ns::get<std::string>(base.at("Name"))];
	info.inputs = std::move(inputs);

	info.type = variant_ns::get<std::string>(base.at("Class"));
	// todo: auto generation yaml -> c script seems to discard this
	// value for fans, verify this is okay
	if (info.type == "fan")
	{
	info.setpoint = 0;
	}
	else
	{
	info.setpoint = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("SetPoint"));
	}
	info.pidInfo.ts = 1.0; // currently unused
	info.pidInfo.p_c = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("PCoefficient"));
	info.pidInfo.i_c = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("ICoefficient"));
	info.pidInfo.ff_off = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("FFOffCoefficient"));
	info.pidInfo.ff_gain = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("FFGainCoefficient"));
	info.pidInfo.i_lim.max = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("ILimitMax"));
	info.pidInfo.i_lim.min = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("ILimitMin"));
	info.pidInfo.out_lim.max = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("OutLimitMax"));
	info.pidInfo.out_lim.min = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("OutLimitMin"));
	info.pidInfo.slew_neg = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("SlewNeg"));
	info.pidInfo.slew_pos = variant_ns::apply_visitor(
	VariantToFloatVisitor(), base.at("SlewPos"));
	}
	}
	auto findStepwise =
	configuration.second.find(stepwiseConfigurationInterface);
	if (findStepwise != configuration.second.end())
	{
	const auto& base = findStepwise->second;
	const std::vector<std::string>& zones =
	variant_ns::get<std::vector<std::string>>(base.at("Zones"));
	for (const std::string& zone : zones)
	{
	auto it = std::find(zoneIndex.begin(), zoneIndex.end(), zone);
	size_t index = 1;
	if (it == zoneIndex.end())
	{
	zoneIndex.emplace_back(zone);
	index = zoneIndex.size();
	}
	else
	{
	index = zoneIndex.end() - it;
	}
	PIDConf& conf = ZoneConfig[index];

	std::vector<std::string> inputs;
	std::vector<std::string> sensorNames =
	variant_ns::get<std::vector<std::string>>(
	base.at("Inputs"));

	bool sensorFound = sensorNames.size();
	for (const std::string& sensorName : sensorNames)
	{
	std::string name = sensorName;
	// replace spaces with underscores to be legal on dbus
	std::replace(name.begin(), name.end(), ' ', '_');
	std::pair<std::string, std::string> sensorPathIfacePair;

	if (!findSensor(sensors, name, sensorPathIfacePair))
	{
	sensorFound = false;
	break;
	}

	inputs.push_back(name);
	auto& config = SensorConfig[name];
	config.readpath = sensorPathIfacePair.first;
	config.type = "temp";
	// todo: maybe un-hardcode this if we run into slower
	// timeouts with sensors

	config.timeout = 500;
	}
	if (!sensorFound)
	{
	continue;
	}
	struct ControllerInfo& info =
	conf[variant_ns::get<std::string>(base.at("Name"))];
	info.inputs = std::move(inputs);

	info.type = "stepwise";
	info.stepwiseInfo.ts = 1.0; // currently unused
	info.stepwiseInfo.positiveHysteresis = 0.0;
	info.stepwiseInfo.negativeHysteresis = 0.0;
	auto findPosHyst = base.find("PositiveHysteresis");
	auto findNegHyst = base.find("NegativeHysteresis");
	if (findPosHyst != base.end())
	{
	info.stepwiseInfo.positiveHysteresis =
	variant_ns::apply_visitor(VariantToFloatVisitor(),
	findPosHyst->second);
	}
	if (findNegHyst != base.end())
	{
	info.stepwiseInfo.positiveHysteresis =
	variant_ns::apply_visitor(VariantToFloatVisitor(),
	findNegHyst->second);
	}
	std::vector<double> readings =
	variant_ns::get<std::vector<double>>(base.at("Reading"));
	if (readings.size() > ec::maxStepwisePoints)
	{
	throw std::invalid_argument("Too many stepwise points.");
	}
	if (readings.empty())
	{
	throw std::invalid_argument(
	"Must have one stepwise point.");
	}
	std::copy(readings.begin(), readings.end(),
	info.stepwiseInfo.reading);
	if (readings.size() < ec::maxStepwisePoints)
	{
	info.stepwiseInfo.reading[readings.size()] =
	std::numeric_limits<float>::quiet_NaN();
	}
	std::vector<double> outputs =
	variant_ns::get<std::vector<double>>(base.at("Output"));
	if (readings.size() != outputs.size())
	{
	throw std::invalid_argument(
	"Outputs size must match readings");
	}
	std::copy(outputs.begin(), outputs.end(),
	info.stepwiseInfo.output);
	if (outputs.size() < ec::maxStepwisePoints)
	{
	info.stepwiseInfo.output[outputs.size()] =
	std::numeric_limits<float>::quiet_NaN();
	}
	}
	}
	}
	if (DEBUG)
	{
	debugPrint();
	}
	if (ZoneConfig.empty())
	{
	std::cerr << "No fan zones, application pausing until reboot\n";
	while (1)
	{
	bus.process_discard();
	bus.wait();
	}
	}
	}
	} // namespace dbus_configuration