3 * @brief Implementation of sensor thread
4 * TODO: Finalise implementation
13 /** Array of sensors, initialised by Sensor_Init **/
14 static Sensor g_sensors[SENSORS_MAX];
15 /** The number of sensors **/
16 int g_num_sensors = 0;
21 * Add and initialise a Sensor
22 * @param name - Human readable name of the sensor
23 * @param user_id - User identifier
24 * @param read - Function to call whenever the sensor should be read
25 * @param init - Function to call to initialise the sensor (may be NULL)
26 * @param cleanup - Function to call whenever to deinitialise the sensor (may be NULL)
27 * @param sanity - Function to call to check that the sensor value is sane (may be NULL)
28 * @returns Number of actuators added so far
30 int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
32 if (++g_num_sensors > SENSORS_MAX)
34 Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX);
35 // We could design the program to use realloc(3)
36 // But since someone who adds a new sensor has to recompile the program anyway...
38 Sensor * s = &(g_sensors[g_num_sensors-1]);
40 s->id = g_num_sensors-1;
42 Data_Init(&(s->data_file));
44 s->read = read; // Set read function
45 s->init = init; // Set init function
47 // Start by averaging values taken over a second
48 DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
52 // Set sanity function
57 if (!init(name, user_id))
58 Fatal("Couldn't init sensor %s", name);
61 s->current_data.time_stamp = 0;
62 s->current_data.value = 0;
63 s->averaged_data.time_stamp = 0;
64 s->averaged_data.value = 0;
69 * Initialise all sensors used by the program
70 * TODO: Edit this to add any extra sensors you need
71 * TODO: Edit the includes as well
73 #include "sensors/resource.h"
74 #include "sensors/strain.h"
75 #include "sensors/pressure.h"
76 #include "sensors/dilatometer.h"
77 #include "sensors/microphone.h"
80 //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
81 //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
82 Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
83 Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
84 Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
85 //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
86 //Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
87 //Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
88 //Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
89 //Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
91 //Sensor_Add("microphone", 0, Microphone_Read, Microphone_Init, Microphone_Cleanup, Microphone_Sanity);
92 //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
93 //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
94 //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
95 //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1); // Does not exist...
97 //NOTE: DO NOT ENABLE DILATOMETER WITHOUT FURTHER TESTING; CAUSES SEGFAULTS
98 //Sensor_Add("dilatometer0", 0, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
99 //Sensor_Add("dilatometer1",1, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
103 * Cleanup all sensors
105 void Sensor_Cleanup()
107 for (int i = 0; i < g_num_sensors; ++i)
109 Sensor * s = g_sensors+i;
110 if (s->cleanup != NULL)
111 s->cleanup(s->user_id);
117 * Sets the sensor to the desired control mode. No checks are
118 * done to see if setting to the desired mode will conflict with
119 * the current mode - the caller must guarantee this itself.
120 * @param s The sensor whose mode is to be changed
121 * @param mode The mode to be changed to
122 * @param arg An argument specific to the mode to be set.
123 * e.g for CONTROL_START it represents the experiment name.
125 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
132 char filename[BUFSIZ];
133 const char *experiment_path = (const char*) arg;
136 ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
140 Fatal("Experiment path \"%s\" too long (%d, limit %d)",
141 experiment_path, ret, BUFSIZ);
144 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
146 Data_Open(&(s->data_file), filename);
148 case CONTROL_RESUME: //Case fallthrough, no break before
151 s->activated = true; // Don't forget this!
154 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
157 Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
160 Log(LOGDEBUG, "Resuming sensor %d", s->id);
164 case CONTROL_EMERGENCY:
166 s->activated = false;
167 pthread_join(s->thread, NULL);
168 Log(LOGDEBUG, "Paused sensor %d", s->id);
172 if (s->activated) //May have been paused before
174 s->activated = false;
175 pthread_join(s->thread, NULL);
178 Data_Close(&(s->data_file)); // Close DataFile
179 Log(LOGDEBUG, "Stopped sensor %d", s->id);
182 Fatal("Unknown control mode: %d", mode);
187 * Sets all sensors to the desired mode.
188 * @see Sensor_SetMode for more information.
189 * @param mode The mode to be changed to
190 * @param arg An argument specific to the mode to be set.
192 void Sensor_SetModeAll(ControlModes mode, void * arg)
194 if (mode == CONTROL_START)
196 for (int i = 0; i < g_num_sensors; i++)
197 Sensor_SetMode(&g_sensors[i], mode, arg);
198 if (mode == CONTROL_STOP)
204 * Record data from a single Sensor; to be run in a seperate thread
205 * @param arg - Cast to Sensor* - Sensor that the thread will handle
206 * @returns NULL (void* required to use the function with pthreads)
208 void * Sensor_Loop(void * arg)
210 Sensor * s = (Sensor*)(arg);
211 Log(LOGDEBUG, "Sensor %d starts", s->id);
213 // Until the sensor is stopped, record data points
217 bool success = s->read(s->user_id, &(s->current_data.value));
220 clock_gettime(CLOCK_MONOTONIC, &t);
221 s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
225 if (s->sanity != NULL)
227 if (!s->sanity(s->user_id, s->current_data.value))
229 Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
232 s->averaged_data.time_stamp += s->current_data.time_stamp;
233 s->averaged_data.value = s->current_data.value;
235 if (++(s->num_read) >= s->averages)
237 s->averaged_data.time_stamp /= s->averages;
238 s->averaged_data.value /= s->averages;
239 Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
241 s->averaged_data.time_stamp = 0;
242 s->averaged_data.value = 0;
247 // Silence because strain sensors fail ~50% of the time :S
248 //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
252 clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
256 // Needed to keep pthreads happy
257 Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
262 * Get a Sensor given its name
263 * @returns Sensor with the given name, NULL if there isn't one
265 Sensor * Sensor_Identify(const char * name)
267 for (int i = 0; i < g_num_sensors; ++i)
269 if (strcmp(g_sensors[i].name, name) == 0)
270 return &(g_sensors[i]);
276 * Helper: Begin sensor response in a given format
277 * @param context - the FCGIContext
278 * @param s - Sensor to begin the response for
279 * @param format - Format
281 void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
287 FCGI_BeginJSON(context, STATUS_OK);
288 FCGI_JSONLong("id", s->id);
289 FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
290 FCGI_JSONPair("name", s->name);
293 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
299 * Helper: End sensor response in a given format
300 * @param context - the FCGIContext
301 * @param s - Sensor to end the response for
302 * @param format - Format
304 void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
318 * Handle a request to the sensor module
319 * @param context - The context to work in
320 * @param params - Parameters passed
322 void Sensor_Handler(FCGIContext *context, char * params)
325 clock_gettime(CLOCK_MONOTONIC, &now);
326 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
328 const char * name = "";
329 double start_time = 0;
330 double end_time = current_time;
331 const char * fmt_str;
335 FCGIValue values[] = {
336 {"id", &id, FCGI_INT_T},
337 {"name", &name, FCGI_STRING_T},
338 {"format", &fmt_str, FCGI_STRING_T},
339 {"start_time", &start_time, FCGI_DOUBLE_T},
340 {"end_time", &end_time, FCGI_DOUBLE_T},
341 {"sample_s", &sample_s, FCGI_DOUBLE_T}
344 // enum to avoid the use of magic numbers
354 // Fill values appropriately
355 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
357 // Error occured; FCGI_RejectJSON already called
362 if (FCGI_RECEIVED(values[NAME].flags))
364 if (FCGI_RECEIVED(values[ID].flags))
366 FCGI_RejectJSON(context, "Can't supply both sensor id and name");
369 s = Sensor_Identify(name);
372 FCGI_RejectJSON(context, "Unknown sensor name");
376 else if (!FCGI_RECEIVED(values[ID].flags))
378 FCGI_RejectJSON(context, "No sensor id or name supplied");
381 else if (id < 0 || id >= g_num_sensors)
383 FCGI_RejectJSON(context, "Invalid sensor id");
388 s = &(g_sensors[id]);
391 // Adjust sample rate if necessary
392 if (FCGI_RECEIVED(values[SAMPLE_S].flags))
396 FCGI_RejectJSON(context, "Negative sampling speed!");
399 DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
403 DataFormat format = Data_GetFormat(&(values[FORMAT]));
406 Sensor_BeginResponse(context, s, format);
409 Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
412 Sensor_EndResponse(context, s, format);
417 * Get the Name of a Sensor
418 * @param id - ID number
420 const char * Sensor_GetName(int id)
422 return g_sensors[id].name;
426 * Returns the last DataPoint that is currently available.
427 * @param id - The sensor ID for which to retrieve data from
428 * @return The last DataPoint
430 DataPoint Sensor_LastData(int id)
432 Sensor * s = &(g_sensors[id]);
433 return s->current_data;