Merge pull request #31 from Callum-/master

[matches/MCTX3420.git] / server / sensor.c

diff --git a/server/sensor.c b/server/sensor.c
index 0bbfc94..0edb086 100644 (file)
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -15,7 +15,8 @@ static Sensor g_sensors[NUMSENSORS]; //global to this file
 /** Human readable names for the sensors **/
 const char * g_sensor_names[NUMSENSORS] = {    
        "analog_test0", "analog_test1", 
-       "digital_test0", "digital_test1"
+       "analog_fail0", "digital_test0", 
+       "digital_test1", "digital_fail0"
 };
 
 /**
@@ -27,7 +28,7 @@ void Sensor_Init()
        {
                g_sensors[i].id = i;
                Data_Init(&(g_sensors[i].data_file));
-               g_sensors[i].record_data = false;
+               g_sensors[i].record_data = false;       
        }
 }
 
@@ -90,6 +91,45 @@ void Sensor_StartAll(const char * experiment_name)
                Sensor_Start(g_sensors+i, experiment_name);
 }
 
+
+/**
+ * Checks the sensor data for unsafe or unexpected results 
+ * @param sensor_id - The ID of the sensor
+ * @param value - The value from the sensor to test
+ */
+void Sensor_CheckData(SensorId id, double value)
+{
+       switch (sensor_id)
+       {
+               case ANALOG_FAIL0:
+               {
+                       if( value > ANALOG_FAIL0_SAFETY || value < ANALOG_FAIL0_MIN_SAFETY)
+                       {
+                               Log(LOGERR, "Sensor analog_fail0 is above or below its safety value of %d or %d\n", ANALOG_FAIL0_SAFETY, ANALOG_FAIL0_MIN_SAFETY);
+                       //new function that stops actuators?
+                       }
+                       else if( value > ANALOG_FAIL0_WARN || value < ANALOG_FAIL0_MIN_WARN)
+                       {
+                               Log(LOGWARN, "Sensor analog_test0 is above or below its warning value of %d or %d\n", ANALOG_FAIL0_WARN, ANALOG_FAIL0_MIN_WARN);        
+                       }
+                       break;
+               }
+               case DIGITAL_FAIL0:
+               {       
+                       if( value != 0 && value != 1)
+                       {
+                               Log(LOGERR, "Sensor digital_fail0 is not 0 or 1\n");
+                       }
+                       break;
+               }
+               default:
+               {
+               //So it doesn't complain about the missing cases - in practice we will need all sensors to be checked as above, no need to include a default as we should only pass valid sensor_id's; unless for some reason we have a sensor we don't need to check (but then why would you pass to this function in the first place :P)
+               }
+       }
+}
+
+
 /**
  * Read a DataPoint from a Sensor; block until value is read
  * @param id - The ID of the sensor
@@ -117,12 +157,24 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
                        d->value = count++;
                        break;
                }
+               case ANALOG_FAIL0:
+                       d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+                       //Gives a value between -5 and 5
+                       CheckSensor(sensor_id, d->value);
+                       break;
                case DIGITAL_TEST0:
                        d->value = t.tv_sec % 2;
                        break;
                case DIGITAL_TEST1:
                        d->value = (t.tv_sec+1)%2;
                        break;
+               case DIGITAL_FAIL0:
+                       if( rand() % 100 > 98)
+                               d->value = 2;
+                       d->value = rand() % 2; 
+                       //Gives 0 or 1 or a 2 every 1/100 times
+                       CheckSensor(sensor_id, d->value);
+                       break;
                default:
                        Fatal("Unknown sensor id: %d", s->id);
                        break;
@@ -142,35 +194,6 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
        return result;
 }
 
-/**
- * Checks the sensor data for unsafe or unexpected results 
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to check
- */
-void Sensor_CheckData(SensorId id, DataPoint * d)
-{
-       //TODO: Implement
-       /*
-       switch (sensor_id)
-       {
-               case ANALOG_TEST0:
-               {
-                       if( *sensor value* > ANALOG_TEST0_SAFETY)
-                       {
-                               LogEx(LOGERR, GetData, Sensor analog_test0 is above the safe value);
-                       //new log function that stops actuators?
-                       }
-                       //Also include a warning level?
-                       else if( *sensor value* > ANALOG_TEST0_WARN)
-                       {
-                               LogEx(LOGWARN, GetData, Sensor analog_test0);   
-                       }
-               }
-       }
-       */
-}
-               
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -364,3 +387,4 @@ void Sensor_Handler(FCGIContext *context, char * params)
 }
 
 
+