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 max_error - Maximum error threshold; program will exit if this is exceeded for the sensor reading
27 * @param min_error - Minimum error threshold; program will exit if the sensor reading falls below this value
28 * @param max_warn - Maximum warning threshold; program will log warnings if the value exceeds this threshold
29 * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
30 * @returns Number of actuators added so far
32 int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, double max_error, double min_error, double max_warn, double min_warn)
34 if (++g_num_sensors > SENSORS_MAX)
36 Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX);
37 // We could design the program to use realloc(3)
38 // But since someone who adds a new sensor has to recompile the program anyway...
40 Sensor * s = &(g_sensors[g_num_sensors-1]);
42 s->id = g_num_sensors-1;
44 Data_Init(&(s->data_file));
46 s->read = read; // Set read function
47 s->init = init; // Set init function
49 init(name, user_id); // Call it
51 // Start by averaging values taken over a second
55 // Set warning/error thresholds
56 s->thresholds.max_error = max_error;
57 s->thresholds.min_error = min_error;
58 s->thresholds.max_warn = max_warn;
59 s->thresholds.min_warn = min_warn;
65 * Initialise all sensors used by the program
66 * TODO: Edit this to add any extra sensors you need
67 * TODO: Edit the includes as well
69 #include "sensors/resource.h"
70 #include "sensors/strain.h"
71 #include "sensors/piped.h"
74 Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, 1e50,-1e50,1e50,-1e50);
75 Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, 1e50,-1e50,1e50,-1e50);
76 //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
77 //Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, 5000,0,5000,0);
78 //Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, 5000,0,5000,0);
79 //Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, 5000,0,5000,0);
80 //Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, 5000,0,5000,0);
81 //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
82 //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
83 //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
84 //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1);
85 //Sensor_Add("dilatometer", DILATOMETER, Dilatometer_Read, Dilatometer_Init, -1,-1,-1,-1);
93 for (int i = 0; i < g_num_sensors; ++i)
95 Sensor * s = g_sensors+i;
96 if (s->cleanup != NULL)
97 s->cleanup(s->user_id);
102 * Sets the sensor to the desired control mode. No checks are
103 * done to see if setting to the desired mode will conflict with
104 * the current mode - the caller must guarantee this itself.
105 * @param s The sensor whose mode is to be changed
106 * @param mode The mode to be changed to
107 * @param arg An argument specific to the mode to be set.
108 * e.g for CONTROL_START it represents the experiment name.
110 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
117 char filename[BUFSIZ];
118 const char *experiment_name = (const char*) arg;
120 if (snprintf(filename, BUFSIZ, "%s_%d", experiment_name, s->id) >= BUFSIZ)
122 Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
125 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
127 Data_Open(&(s->data_file), filename);
129 case CONTROL_RESUME: //Case fallthrough, no break before
132 s->activated = true; // Don't forget this!
135 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
138 Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
141 Log(LOGDEBUG, "Resuming sensor %d", s->id);
145 case CONTROL_EMERGENCY:
147 s->activated = false;
148 pthread_join(s->thread, NULL);
149 Log(LOGDEBUG, "Paused sensor %d", s->id);
153 if (s->activated) //May have been paused before
155 s->activated = false;
156 pthread_join(s->thread, NULL);
159 Data_Close(&(s->data_file)); // Close DataFile
160 Log(LOGDEBUG, "Stopped sensor %d", s->id);
163 Fatal("Unknown control mode: %d", mode);
168 * Sets all sensors to the desired mode.
169 * @see Sensor_SetMode for more information.
170 * @param mode The mode to be changed to
171 * @param arg An argument specific to the mode to be set.
173 void Sensor_SetModeAll(ControlModes mode, void * arg)
175 for (int i = 0; i < g_num_sensors; i++)
176 Sensor_SetMode(&g_sensors[i], mode, arg);
181 * Checks the sensor data for unsafe or unexpected results
182 * @param sensor_id - The ID of the sensor
183 * @param value - The value from the sensor to test
185 void Sensor_CheckData(Sensor * s, double value)
187 if( value > s->thresholds.max_error || value < s->thresholds.min_error)
189 Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n",s->name,value, s->thresholds.max_error, s->thresholds.min_error);
190 //new function that stops actuators?
191 //Control_SetMode(CONTROL_EMERGENCY, NULL)
193 else if( value > s->thresholds.max_warn || value < s->thresholds.min_warn)
195 Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", s->name,value,s->thresholds.max_warn, s->thresholds.min_warn);
201 * Record data from a single Sensor; to be run in a seperate thread
202 * @param arg - Cast to Sensor* - Sensor that the thread will handle
203 * @returns NULL (void* required to use the function with pthreads)
205 void * Sensor_Loop(void * arg)
207 Sensor * s = (Sensor*)(arg);
208 Log(LOGDEBUG, "Sensor %d starts", s->id);
210 // Until the sensor is stopped, record data points
215 bool success = s->read(s->user_id, &(d.value));
218 gettimeofday(&t, NULL);
219 d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
225 Sensor_CheckData(s, d.value);
226 Data_Save(&(s->data_file), &d, 1); // Record it
229 Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
231 usleep(s->sample_us);
234 // Needed to keep pthreads happy
235 Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
240 * Get a Sensor given its name
241 * @returns Sensor with the given name, NULL if there isn't one
243 Sensor * Sensor_Identify(const char * name)
245 for (int i = 0; i < g_num_sensors; ++i)
247 if (strcmp(g_sensors[i].name, name) == 0)
248 return &(g_sensors[i]);
254 * Helper: Begin sensor response in a given format
255 * @param context - the FCGIContext
256 * @param id - ID of sensor
257 * @param format - Format
259 void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
265 FCGI_BeginJSON(context, STATUS_OK);
266 FCGI_JSONLong("id", s->id);
267 FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
268 FCGI_JSONPair("name", s->name);
271 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
277 * Helper: End sensor response in a given format
278 * @param context - the FCGIContext
279 * @param id - ID of the sensor
280 * @param format - Format
282 void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
296 * Handle a request to the sensor module
297 * @param context - The context to work in
298 * @param params - Parameters passed
300 void Sensor_Handler(FCGIContext *context, char * params)
303 gettimeofday(&now, NULL);
304 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
307 const char * name = "";
308 double start_time = 0;
309 double end_time = current_time;
310 const char * fmt_str;
314 FCGIValue values[] = {
315 {"id", &id, FCGI_INT_T},
316 {"name", &name, FCGI_STRING_T},
317 {"format", &fmt_str, FCGI_STRING_T},
318 {"start_time", &start_time, FCGI_DOUBLE_T},
319 {"end_time", &end_time, FCGI_DOUBLE_T},
320 {"sample_s", &sample_s, FCGI_DOUBLE_T}
323 // enum to avoid the use of magic numbers
333 // Fill values appropriately
334 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
336 // Error occured; FCGI_RejectJSON already called
341 if (FCGI_RECEIVED(values[NAME].flags))
343 if (FCGI_RECEIVED(values[ID].flags))
345 FCGI_RejectJSON(context, "Can't supply both sensor id and name");
348 s = Sensor_Identify(name);
351 FCGI_RejectJSON(context, "Unknown sensor name");
355 else if (!FCGI_RECEIVED(values[ID].flags))
357 FCGI_RejectJSON(context, "No sensor id or name supplied");
360 else if (id < 0 || id >= g_num_sensors)
362 FCGI_RejectJSON(context, "Invalid sensor id");
367 s = &(g_sensors[id]);
370 // Adjust sample rate if necessary
371 if (FCGI_RECEIVED(values[SAMPLE_S].flags))
375 FCGI_RejectJSON(context, "Negative sampling speed!");
378 s->sample_us = 1e6*sample_s;
382 DataFormat format = Data_GetFormat(&(values[FORMAT]));
385 Sensor_BeginResponse(context, s, format);
388 Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
391 Sensor_EndResponse(context, s, format);
396 * Get the Name of a Sensor
397 * @param id - ID number
399 const char * Sensor_GetName(int id)
401 return g_sensors[id].name;