3 * @brief Implementation of sensor thread
4 * TODO: Finalise implementation
13 /** Array of sensors, initialised by Sensor_Init **/
14 static Sensor g_sensors[NUMSENSORS]; //global to this file
16 /** Array of sensor threshold structures defining the safety values of each sensor**/
17 const SensorThreshold thresholds[NUMSENSORS]= {
18 //Max Safety, Min safety, Max warning, Min warning
19 {1,-1,1,-1}, // ANALOG_TEST0
20 {500,0,499,0}, // ANALOG_TEST1
21 {5000,0,5000,0}, // ANALOG_REALTEST
22 {5,-5,4,-4}, // ANALOG_FAIL0
23 {1,0,1,0}, // DIGITAL_TEST0
24 {1,0,1,0}, // DIGITAL_TEST1
25 {1,0,1,0}, // DIGITAL_REALTEST
26 {1,0,1,0} // DIGITAL_FAIL0
29 /** Human readable names for the sensors **/
30 const char * g_sensor_names[NUMSENSORS] = {
31 "analog_test0", "analog_test1",
32 "analog_realtest", "analog_fail0",
33 "digital_test0", "digital_test1",
34 "digital_realtest", "digital_fail0"
38 * One off initialisation of *all* sensors
42 for (int i = 0; i < NUMSENSORS; ++i)
45 Data_Init(&(g_sensors[i].data_file));
48 // Get the required ADCs
51 // GPIO1_28 used as a pulse for sampling
52 //GPIO_Export(GPIO1_28);
53 // GPIO0_30 toggled during sampling
54 //GPIO_Export(GPIO0_30);
58 * Sets the sensor to the desired control mode. No checks are
59 * done to see if setting to the desired mode will conflict with
60 * the current mode - the caller must guarantee this itself.
61 * @param s The sensor whose mode is to be changed
62 * @param mode The mode to be changed to
63 * @param arg An argument specific to the mode to be set.
64 * e.g for CONTROL_START it represents the experiment name.
66 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
73 char filename[BUFSIZ];
74 const char *experiment_name = (const char*) arg;
76 if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
78 Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
81 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
83 Data_Open(&(s->data_file), filename);
85 case CONTROL_RESUME: //Case fallthrough, no break before
88 s->activated = true; // Don't forget this!
91 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
94 Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
97 Log(LOGDEBUG, "Resuming sensor %d", s->id);
101 case CONTROL_EMERGENCY:
103 s->activated = false;
104 pthread_join(s->thread, NULL);
105 Log(LOGDEBUG, "Paused sensor %d", s->id);
109 if (s->activated) //May have been paused before
111 s->activated = false;
112 pthread_join(s->thread, NULL);
115 Data_Close(&(s->data_file)); // Close DataFile
116 s->newest_data.time_stamp = 0;
117 s->newest_data.value = 0;
118 Log(LOGDEBUG, "Stopped sensor %d", s->id);
121 Fatal("Unknown control mode: %d", mode);
126 * Sets all sensors to the desired mode.
127 * @see Sensor_SetMode for more information.
128 * @param mode The mode to be changed to
129 * @param arg An argument specific to the mode to be set.
131 void Sensor_SetModeAll(ControlModes mode, void * arg)
133 for (int i = 0; i < NUMSENSORS; i++)
134 Sensor_SetMode(&g_sensors[i], mode, arg);
139 * Checks the sensor data for unsafe or unexpected results
140 * @param sensor_id - The ID of the sensor
141 * @param value - The value from the sensor to test
143 void Sensor_CheckData(SensorId id, double value)
145 if( value > thresholds[id].max_error || value < thresholds[id].min_error)
147 Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
148 //new function that stops actuators?
149 //Control_SetMode(CONTROL_EMERGENCY, NULL)
151 else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
153 Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
159 * Read a DataPoint from a Sensor; block until value is read
160 * @param id - The ID of the sensor
161 * @param d - DataPoint to set
162 * @returns True if the DataPoint was different from the most recently recorded.
164 bool Sensor_Read(Sensor * s, DataPoint * d)
169 gettimeofday(&t, NULL);
170 d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
172 static bool result = true;
175 // Read value based on Sensor Id
180 static bool set = false;
182 //GPIO_Set(GPIO0_30, true);
183 ADC_Read(ADC0, &raw_adc);
184 d->value = (double)raw_adc; //ADC #0 on the Beaglebone
185 //Log(LOGDEBUG, "Got value %f from ADC0", d->value);
186 //GPIO_Set(GPIO0_30, false);
188 //GPIO_Set(GPIO1_28, set);
196 d->value = rand() % 2;
203 d->value = (double)(rand() % 100) / 100;
208 static int count = 0;
216 //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
217 //Gives a value between -5 and 5
220 d->value = t.tv_sec % 2;
224 d->value = (t.tv_sec+1)%2;
226 case DIGITAL_REALTEST:
228 // Can pass pin as argument, just using 20 as an example here
229 // Although since pins will be fixed, can just define it here if we need to
230 //d->value = pinRead(20); //Pin 20 on the Beaglebone
234 if( rand() % 100 > 98)
236 d->value = rand() % 2;
237 //Gives 0 or 1 or a 2 every 1/100 times
240 // Fatal("Unknown sensor id: %d", s->id);
245 // Perform sanity check based on Sensor's ID and the DataPoint
246 Sensor_CheckData(s->id, d->value);
248 // Update latest DataPoint if necessary
252 s->newest_data.time_stamp = d->time_stamp;
253 s->newest_data.value = d->value;
257 //Not all cases have usleep, easiest here.
264 * Record data from a single Sensor; to be run in a seperate thread
265 * @param arg - Cast to Sensor* - Sensor that the thread will handle
266 * @returns NULL (void* required to use the function with pthreads)
268 void * Sensor_Loop(void * arg)
270 Sensor * s = (Sensor*)(arg);
271 Log(LOGDEBUG, "Sensor %d starts", s->id);
273 // Until the sensor is stopped, record data points
277 //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
278 if (Sensor_Read(s, &d)) // If new DataPoint is read:
280 //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
281 Data_Save(&(s->data_file), &d, 1); // Record it
285 // Needed to keep pthreads happy
287 Log(LOGDEBUG, "Sensor %d finished", s->id);
292 * Get a Sensor given an ID string
293 * @param id_str ID string
294 * @returns Sensor* identified by the string; NULL on error
296 Sensor * Sensor_Identify(const char * id_str)
299 // Parse string as integer
300 int id = strtol(id_str, &end, 10);
306 if (id < 0 || id >= NUMSENSORS)
310 Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
315 * Helper: Begin sensor response in a given format
316 * @param context - the FCGIContext
317 * @param id - ID of sensor
318 * @param format - Format
320 void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
326 FCGI_BeginJSON(context, STATUS_OK);
327 FCGI_JSONLong("id", id);
328 FCGI_JSONPair("name", g_sensor_names[id]);
331 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
337 * Helper: End sensor response in a given format
338 * @param context - the FCGIContext
339 * @param id - ID of the sensor
340 * @param format - Format
342 void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
356 * Handle a request to the sensor module
357 * @param context - The context to work in
358 * @param params - Parameters passed
360 void Sensor_Handler(FCGIContext *context, char * params)
363 gettimeofday(&now, NULL);
364 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
367 double start_time = 0;
368 double end_time = current_time;
369 const char * fmt_str;
372 FCGIValue values[] = {
373 {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
374 {"format", &fmt_str, FCGI_STRING_T},
375 {"start_time", &start_time, FCGI_DOUBLE_T},
376 {"end_time", &end_time, FCGI_DOUBLE_T},
379 // enum to avoid the use of magic numbers
387 // Fill values appropriately
388 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
390 // Error occured; FCGI_RejectJSON already called
394 // Error checking on sensor id
395 if (id < 0 || id >= NUMSENSORS)
397 FCGI_RejectJSON(context, "Invalid sensor id");
400 Sensor * s = g_sensors+id;
402 DataFormat format = Data_GetFormat(&(values[FORMAT]));
405 Sensor_BeginResponse(context, id, format);
408 Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
411 Sensor_EndResponse(context, id, format);