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, SanityFn sanity)
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 // Start by averaging values taken over a second
50 DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
54 // Set sanity function
59 if (!init(name, user_id))
60 Fatal("Couldn't init sensor %s", name);
63 s->current_data.time_stamp = 0;
64 s->current_data.value = 0;
65 s->averaged_data.time_stamp = 0;
66 s->averaged_data.value = 0;
71 * Initialise all sensors used by the program
72 * TODO: Edit this to add any extra sensors you need
73 * TODO: Edit the includes as well
75 #include "sensors/resource.h"
76 #include "sensors/strain.h"
77 #include "sensors/pressure.h"
78 #include "sensors/dilatometer.h"
81 //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
82 //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
83 Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
84 Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
85 Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
86 //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
87 Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
88 Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
89 Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
90 Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
91 //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
92 //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
93 //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
94 //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1);
95 Sensor_Add("dilatometer_pos", DIL_POS, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
96 //Sensor_Add("dilatometer_diff",DIL_DIFF, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
100 * Cleanup all sensors
102 void Sensor_Cleanup()
104 for (int i = 0; i < g_num_sensors; ++i)
106 Sensor * s = g_sensors+i;
107 if (s->cleanup != NULL)
108 s->cleanup(s->user_id);
114 * Sets the sensor to the desired control mode. No checks are
115 * done to see if setting to the desired mode will conflict with
116 * the current mode - the caller must guarantee this itself.
117 * @param s The sensor whose mode is to be changed
118 * @param mode The mode to be changed to
119 * @param arg An argument specific to the mode to be set.
120 * e.g for CONTROL_START it represents the experiment name.
122 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
129 char filename[BUFSIZ];
130 const char *experiment_path = (const char*) arg;
133 ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
137 Fatal("Experiment path \"%s\" too long (%d, limit %d)",
138 experiment_path, ret, BUFSIZ);
141 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
143 Data_Open(&(s->data_file), filename);
145 case CONTROL_RESUME: //Case fallthrough, no break before
148 s->activated = true; // Don't forget this!
151 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
154 Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
157 Log(LOGDEBUG, "Resuming sensor %d", s->id);
161 case CONTROL_EMERGENCY:
163 s->activated = false;
164 pthread_join(s->thread, NULL);
165 Log(LOGDEBUG, "Paused sensor %d", s->id);
169 if (s->activated) //May have been paused before
171 s->activated = false;
172 pthread_join(s->thread, NULL);
175 Data_Close(&(s->data_file)); // Close DataFile
176 Log(LOGDEBUG, "Stopped sensor %d", s->id);
179 Fatal("Unknown control mode: %d", mode);
184 * Sets all sensors to the desired mode.
185 * @see Sensor_SetMode for more information.
186 * @param mode The mode to be changed to
187 * @param arg An argument specific to the mode to be set.
189 void Sensor_SetModeAll(ControlModes mode, void * arg)
191 if (mode == CONTROL_START)
193 for (int i = 0; i < g_num_sensors; i++)
194 Sensor_SetMode(&g_sensors[i], mode, arg);
195 if (mode == CONTROL_STOP)
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
214 bool success = s->read(s->user_id, &(s->current_data.value));
217 clock_gettime(CLOCK_MONOTONIC, &t);
218 s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
222 if (s->sanity != NULL)
224 if (!s->sanity(s->user_id, s->current_data.value))
226 Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
229 s->averaged_data.time_stamp += s->current_data.time_stamp;
230 s->averaged_data.value = s->current_data.value;
232 if (++(s->num_read) >= s->averages)
234 s->averaged_data.time_stamp /= s->averages;
235 s->averaged_data.value /= s->averages;
236 Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
238 s->averaged_data.time_stamp = 0;
239 s->averaged_data.value = 0;
244 // Silence because strain sensors fail ~50% of the time :S
245 //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
249 clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
253 // Needed to keep pthreads happy
254 Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
259 * Get a Sensor given its name
260 * @returns Sensor with the given name, NULL if there isn't one
262 Sensor * Sensor_Identify(const char * name)
264 for (int i = 0; i < g_num_sensors; ++i)
266 if (strcmp(g_sensors[i].name, name) == 0)
267 return &(g_sensors[i]);
273 * Helper: Begin sensor response in a given format
274 * @param context - the FCGIContext
275 * @param id - ID of sensor
276 * @param format - Format
278 void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
284 FCGI_BeginJSON(context, STATUS_OK);
285 FCGI_JSONLong("id", s->id);
286 FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
287 FCGI_JSONPair("name", s->name);
290 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
296 * Helper: End sensor response in a given format
297 * @param context - the FCGIContext
298 * @param id - ID of the sensor
299 * @param format - Format
301 void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
315 * Handle a request to the sensor module
316 * @param context - The context to work in
317 * @param params - Parameters passed
319 void Sensor_Handler(FCGIContext *context, char * params)
322 clock_gettime(CLOCK_MONOTONIC, &now);
323 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
325 const char * name = "";
326 double start_time = 0;
327 double end_time = current_time;
328 const char * fmt_str;
332 FCGIValue values[] = {
333 {"id", &id, FCGI_INT_T},
334 {"name", &name, FCGI_STRING_T},
335 {"format", &fmt_str, FCGI_STRING_T},
336 {"start_time", &start_time, FCGI_DOUBLE_T},
337 {"end_time", &end_time, FCGI_DOUBLE_T},
338 {"sample_s", &sample_s, FCGI_DOUBLE_T}
341 // 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
359 if (FCGI_RECEIVED(values[NAME].flags))
361 if (FCGI_RECEIVED(values[ID].flags))
363 FCGI_RejectJSON(context, "Can't supply both sensor id and name");
366 s = Sensor_Identify(name);
369 FCGI_RejectJSON(context, "Unknown sensor name");
373 else if (!FCGI_RECEIVED(values[ID].flags))
375 FCGI_RejectJSON(context, "No sensor id or name supplied");
378 else if (id < 0 || id >= g_num_sensors)
380 FCGI_RejectJSON(context, "Invalid sensor id");
385 s = &(g_sensors[id]);
388 // Adjust sample rate if necessary
389 if (FCGI_RECEIVED(values[SAMPLE_S].flags))
393 FCGI_RejectJSON(context, "Negative sampling speed!");
396 DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
400 DataFormat format = Data_GetFormat(&(values[FORMAT]));
403 Sensor_BeginResponse(context, s, format);
406 Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
409 Sensor_EndResponse(context, s, format);
414 * Get the Name of a Sensor
415 * @param id - ID number
417 const char * Sensor_GetName(int id)
419 return g_sensors[id].name;
422 DataPoint Sensor_LastData(int id)
424 Sensor * s = &(g_sensors[id]);
425 return s->current_data;