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 {5,-5,4,-4}, // ANALOG_FAIL0
22 {500,0,499,0}, // ANALOG_REALTEST
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));
46 g_sensors[i].record_data = false;
51 * Sets the sensor to the desired control mode. No checks are
52 * done to see if setting to the desired mode will conflict with
53 * the current mode - the caller must guarantee this itself.
54 * @param s The sensor whose mode is to be changed
55 * @param mode The mode to be changed to
56 * @param arg An argument specific to the mode to be set.
57 * e.g for CONTROL_START it represents the experiment name.
59 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
66 char filename[BUFSIZ];
67 const char *experiment_name = (const char*) arg;
70 if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
72 Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
75 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
77 Data_Open(&(s->data_file), filename);
80 s->record_data = true; // Don't forget this!
83 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
86 Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
90 case CONTROL_EMERGENCY:
92 s->record_data = false;
95 s->record_data = true;
99 s->record_data = false;
100 pthread_join(s->thread, NULL);
102 Data_Close(&(s->data_file)); // Close DataFile
103 s->newest_data.time_stamp = 0;
104 s->newest_data.value = 0;
107 Fatal("Unknown control mode: %d", mode);
112 * Sets all sensors to the desired mode.
113 * @see Sensor_SetMode for more information.
114 * @param mode The mode to be changed to
115 * @param arg An argument specific to the mode to be set.
117 void Sensor_SetModeAll(ControlModes mode, void * arg)
119 for (int i = 0; i < NUMSENSORS; i++)
120 Sensor_SetMode(&g_sensors[i], mode, arg);
125 * Checks the sensor data for unsafe or unexpected results
126 * @param sensor_id - The ID of the sensor
127 * @param value - The value from the sensor to test
129 void Sensor_CheckData(SensorId id, double value)
131 if( value > thresholds[id].max_error || value < thresholds[id].min_error)
133 Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
134 //new function that stops actuators?
136 else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
138 Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
144 * Read a DataPoint from a Sensor; block until value is read
145 * @param id - The ID of the sensor
146 * @param d - DataPoint to set
147 * @returns True if the DataPoint was different from the most recently recorded.
149 bool Sensor_Read(Sensor * s, DataPoint * d)
154 gettimeofday(&t, NULL);
155 d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
157 // Read value based on Sensor Id
162 d->value = (double)(rand() % 100) / 100;
167 static int count = 0;
172 case ANALOG_REALTEST:
174 //d->value = ADCRead(0); //ADC #0 on the Beaglebone
179 //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
180 //Gives a value between -5 and 5
183 d->value = t.tv_sec % 2;
186 d->value = (t.tv_sec+1)%2;
188 case DIGITAL_REALTEST:
190 // Can pass pin as argument, just using 20 as an example here
191 // Although since pins will be fixed, can just define it here if we need to
192 //d->value = pinRead(20); //Pin 20 on the Beaglebone
196 if( rand() % 100 > 98)
198 d->value = rand() % 2;
199 //Gives 0 or 1 or a 2 every 1/100 times
202 Fatal("Unknown sensor id: %d", s->id);
205 usleep(100000); // simulate delay in sensor polling
207 // Perform sanity check based on Sensor's ID and the DataPoint
208 Sensor_CheckData(s->id, d->value);
210 // Update latest DataPoint if necessary
211 bool result = (d->value != s->newest_data.value);
214 s->newest_data.time_stamp = d->time_stamp;
215 s->newest_data.value = d->value;
221 * Record data from a single Sensor; to be run in a seperate thread
222 * @param arg - Cast to Sensor* - Sensor that the thread will handle
223 * @returns NULL (void* required to use the function with pthreads)
225 void * Sensor_Loop(void * arg)
227 Sensor * s = (Sensor*)(arg);
228 Log(LOGDEBUG, "Sensor %d starts", s->id);
230 // Until the sensor is stopped, record data points
236 //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
237 if (Sensor_Read(s, &d)) // If new DataPoint is read:
239 //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
240 Data_Save(&(s->data_file), &d, 1); // Record it
245 //Do something? wait?
250 // Needed to keep pthreads happy
252 Log(LOGDEBUG, "Sensor %d finished", s->id);
257 * Get a Sensor given an ID string
258 * @param id_str ID string
259 * @returns Sensor* identified by the string; NULL on error
261 Sensor * Sensor_Identify(const char * id_str)
264 // Parse string as integer
265 int id = strtol(id_str, &end, 10);
271 if (id < 0 || id >= NUMSENSORS)
275 Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
280 * Helper: Begin sensor response in a given format
281 * @param context - the FCGIContext
282 * @param id - ID of sensor
283 * @param format - Format
285 void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
291 FCGI_BeginJSON(context, STATUS_OK);
292 FCGI_JSONLong("id", id);
295 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
301 * Helper: End sensor response in a given format
302 * @param context - the FCGIContext
303 * @param id - ID of the sensor
304 * @param format - Format
306 void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
320 * Handle a request to the sensor module
321 * @param context - The context to work in
322 * @param params - Parameters passed
324 void Sensor_Handler(FCGIContext *context, char * params)
327 gettimeofday(&now, NULL);
328 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
331 double start_time = 0;
332 double end_time = current_time;
333 const char * fmt_str;
336 FCGIValue values[] = {
337 {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
338 {"format", &fmt_str, FCGI_STRING_T},
339 {"start_time", &start_time, FCGI_DOUBLE_T},
340 {"end_time", &end_time, FCGI_DOUBLE_T},
343 // enum to avoid the use of magic numbers
351 // Fill values appropriately
352 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
354 // Error occured; FCGI_RejectJSON already called
358 // Error checking on sensor id
359 if (id < 0 || id >= NUMSENSORS)
361 FCGI_RejectJSON(context, "Invalid sensor id");
364 Sensor * s = g_sensors+id;
366 DataFormat format = Data_GetFormat(&(values[FORMAT]));
369 Sensor_BeginResponse(context, id, format);
372 Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
375 Sensor_EndResponse(context, id, format);