fixed the monitoring method of RecoveredError

Signed-off-by: v-nakayama7440-esol <[email protected]>
autowarefoundation · Apr 25, 2022 · a312a40 · a312a40
1 parent fb6ca48
commit a312a40
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp b/system/system_monitor/include/system_monitor/hdd_monitor/hdd_monitor.hpp
@@ -297,7 +297,9 @@ class HDDMonitor : public rclcpp::Node
   int hdd_reader_port_;                         //!< @brief port number to connect to hdd_reader
   std::map<std::string, HDDParam> hdd_params_;  //!< @brief list of error and warning levels
   std::vector<HDDDevice> hdd_devices_;          //!< @brief list of devices
-  std::map<std::string, HDDStat> hdd_stats_;
+  std::map<std::string, uint32_t>
+    initial_recovered_errors_;                //!< @brief list of initial recovered error count
+  std::map<std::string, HDDStat> hdd_stats_;  //!< @brief list of HDD statistics
   //!< @brief diagnostic of connection
   diagnostic_updater::DiagnosticStatusWrapper connect_diag_;
   HDDInfoList hdd_info_list_;               //!< @brief list of HDD information

diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp
@@ -175,6 +175,10 @@ void HDDMonitor::checkSMART(
       } break;
       case HDDSMARTInfoItem::RECOVERED_ERROR: {
         int32_t recovered_error = static_cast<int32_t>(hdd_itr->second.recovered_error_);
+        if (initial_recovered_errors_.find(itr->first) == initial_recovered_errors_.end()) {
+          initial_recovered_errors_[itr->first] = recovered_error;
+        }
+        recovered_error -= initial_recovered_errors_[itr->first];
 
         level = DiagStatus::OK;
         if (recovered_error >= itr->second.recovered_error_warn_) {