text: /******************************************************************************
   * Copyright 2019 The Apollo Authors. All Rights Reserved.
   *
   * 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 "modules/monitor/software/recorder_monitor.h"
  
  #include "cyber/common/log.h"
  #include "modules/common/adapters/adapter_gflags.h"
  #include "modules/common/util/map_util.h"
  #include "modules/data/tools/smart_recorder/proto/smart_recorder_status.pb.h"
  #include "modules/monitor/common/monitor_manager.h"
  #include "modules/monitor/software/summary_monitor.h"
  
  DEFINE_string(recorder_monitor_name, "RecorderMonitor",
                "Name of the recorder monitor.");
  DEFINE_double(recorder_monitor_interval, 5,
                "Recorder status checking interval (s).");
  DEFINE_string(recorder_component_name, "Recorder", "Recorder component name.");
  
  namespace apollo {
  namespace monitor {
  
  using apollo::common::util::StrCat;
  using apollo::data::RecordingState;
  using apollo::data::SmartRecorderStatus;
  
  RecorderMonitor::RecorderMonitor()
      : RecurrentRunner(FLAGS_recorder_monitor_name,
                        FLAGS_recorder_monitor_interval) {}
  
  void RecorderMonitor::RunOnce(const double current_time) {
    auto manager = MonitorManager::Instance();
    auto* component = apollo::common::util::FindOrNull(
        *manager->GetStatus()->mutable_components(),
        FLAGS_recorder_component_name);
    if (component == nullptr) {
      // Recorder is not monitored in current mode, skip.
      return;
    }
  
    static auto reader =
        manager->CreateReader<SmartRecorderStatus>(FLAGS_recorder_status_topic);
    reader->Observe();
    const auto status = reader->GetLatestObserved();
  
    ComponentStatus* component_status = component->mutable_other_status();
    component_status->clear_status();
    if (status == nullptr) {
      SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
                                     "No SmartRecorderStatus received",
                                     component_status);
      return;
    }
  
    // Translate SmartRecorderStatus to ComponentStatus. Note that ERROR and FATAL
    // will trigger safety mode in current settings.
    switch (status->recording_state()) {
      case RecordingState::RECORDING:
        SummaryMonitor::EscalateStatus(ComponentStatus::OK, "", component_status);
        break;
      case RecordingState::TERMINATING:
        SummaryMonitor::EscalateStatus(
            ComponentStatus::WARN, StrCat("WARNNING: ", status->state_message()),
            component_status);
        break;
      case RecordingState::STOPPED:
        SummaryMonitor::EscalateStatus(
            ComponentStatus::OK, StrCat("STOPPED: ", status->state_message()),
            component_status);
        break;
      default:
        AFATAL << "Unknown recording status: " << status->recording_state();
        break;
    }
  }
  
  }  // namespace monitor
  }  // namespace apollo
  