/**
* @file sensor.c
- * @purpose Implementation of sensor thread
+ * @brief Implementation of sensor thread
* TODO: Finalise implementation
*/
-
-
+#include "common.h"
#include "sensor.h"
-#include "log.h"
+#include "options.h"
+#include "bbb_pin.h"
#include <math.h>
-/**
- * Read a data value from a sensor; block until value is read
- * @param sensor_id - The ID of the sensor
- * @returns The current value of the sensor
+/** Array of sensors, initialised by Sensor_Init **/
+static Sensor g_sensors[SENSORS_MAX];
+/** The number of sensors **/
+int g_num_sensors = 0;
+
+
+
+/**
+ * Add and initialise a Sensor
+ * @param name - Human readable name of the sensor
+ * @param user_id - User identifier
+ * @param read - Function to call whenever the sensor should be read
+ * @param init - Function to call to initialise the sensor (may be NULL)
+ * @param max_error - Maximum error threshold; program will exit if this is exceeded for the sensor reading
+ * @param min_error - Minimum error threshold; program will exit if the sensor reading falls below this value
+ * @param max_warn - Maximum warning threshold; program will log warnings if the value exceeds this threshold
+ * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
+ * @returns Number of actuators added so far
*/
-DataPoint GetData(int sensor_id)
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
{
- // switch based on the sensor_id at the moment for testing;
- // might be able to just directly access ADC from sensor_id?
- //TODO: Implement for real sensors
-
- DataPoint d;
- //TODO: Deal with time stamps properly
- static int count = 0;
- d.time = count++;
- switch (sensor_id)
+ if (++g_num_sensors > SENSORS_MAX)
{
- case SENSOR_TEST0:
- d.value = count;
- break;
- case SENSOR_TEST1:
- d.value = (float)(rand() % 100) / 100;
- break;
- default:
- Fatal("Unknown sensor id: %d", sensor_id);
- break;
- }
- usleep(100000); // simulate delay in sensor polling
- return d;
-}
+ Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX);
+ // We could design the program to use realloc(3)
+ // But since someone who adds a new sensor has to recompile the program anyway...
+ }
+ Sensor * s = &(g_sensors[g_num_sensors-1]);
+ s->id = g_num_sensors-1;
+ s->user_id = user_id;
+ Data_Init(&(s->data_file));
+ s->name = name;
+ s->read = read; // Set read function
+ s->init = init; // Set init function
+
+ // Start by averaging values taken over a second
+ DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
+ s->averages = 1;
+ s->num_read = 0;
+
+ // Set sanity function
+ s->sanity = sanity;
+
+ if (init != NULL)
+ {
+ if (!init(name, user_id))
+ Fatal("Couldn't init sensor %s", name);
+ }
+
+ s->current_data.time_stamp = 0;
+ s->current_data.value = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
+ return g_num_sensors;
+}
/**
- * Destroy a sensor
- * @param s - Sensor to destroy
+ * Initialise all sensors used by the program
+ * TODO: Edit this to add any extra sensors you need
+ * TODO: Edit the includes as well
*/
-void Destroy(Sensor * s)
+#include "sensors/resource.h"
+#include "sensors/strain.h"
+#include "sensors/pressure.h"
+#include "sensors/dilatometer.h"
+#include "sensors/microphone.h"
+void Sensor_Init()
{
- //TODO: Surely we'll need to do something here?
- // Maybe move the binary file into long term file storage?
-}
+ //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
+ //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
+ Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
+ //Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("microphone", 0, Microphone_Read, Microphone_Init, Microphone_Cleanup, Microphone_Sanity);
+ //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1); // Does not exist...
+ //NOTE: DO NOT ENABLE DILATOMETER WITHOUT FURTHER TESTING; CAUSES SEGFAULTS
+ //Sensor_Add("dilatometer0", 0, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
+ //Sensor_Add("dilatometer1",1, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
+}
/**
- * Initialise a sensor
- * @param s - Sensor to initialise
+ * Cleanup all sensors
*/
-void Sensor_Init(Sensor * s, int id)
+void Sensor_Cleanup()
{
- s->write_index = 0;
- s->read_offset = 0;
- s->id = id;
+ for (int i = 0; i < g_num_sensors; ++i)
+ {
+ Sensor * s = g_sensors+i;
+ if (s->cleanup != NULL)
+ s->cleanup(s->user_id);
+ }
+ g_num_sensors = 0;
+}
- if (s->id >= pow(10, FILENAMESIZE))
+/**
+ * Sets the sensor to the desired control mode. No checks are
+ * done to see if setting to the desired mode will conflict with
+ * the current mode - the caller must guarantee this itself.
+ * @param s The sensor whose mode is to be changed
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
+ * e.g for CONTROL_START it represents the experiment name.
+ */
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
+{
+ switch(mode)
{
- Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE);
+ case CONTROL_START:
+ {
+ // Set filename
+ char filename[BUFSIZ];
+ const char *experiment_path = (const char*) arg;
+ int ret;
+
+ ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
+
+ if (ret >= BUFSIZ)
+ {
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, BUFSIZ);
+ }
+
+ Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
+ // Open DataFile
+ Data_Open(&(s->data_file), filename);
+ }
+ case CONTROL_RESUME: //Case fallthrough, no break before
+ {
+ int ret;
+ s->activated = true; // Don't forget this!
+
+ // Create the thread
+ ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
+ if (ret != 0)
+ {
+ Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
+ }
+
+ Log(LOGDEBUG, "Resuming sensor %d", s->id);
+ }
+ break;
+
+ case CONTROL_EMERGENCY:
+ case CONTROL_PAUSE:
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ Log(LOGDEBUG, "Paused sensor %d", s->id);
+ break;
+
+ case CONTROL_STOP:
+ if (s->activated) //May have been paused before
+ {
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ }
+
+ Data_Close(&(s->data_file)); // Close DataFile
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
}
- sprintf(s->filename, "%d", s->id);
- unlink(s->filename); //TODO: Move old files somewhere
+}
- Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, s->filename);
+/**
+ * Sets all sensors to the desired mode.
+ * @see Sensor_SetMode for more information.
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
+ */
+void Sensor_SetModeAll(ControlModes mode, void * arg)
+{
+ if (mode == CONTROL_START)
+ Sensor_Init();
+ for (int i = 0; i < g_num_sensors; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
+ if (mode == CONTROL_STOP)
+ Sensor_Cleanup();
}
/**
- * Run the main sensor polling loop
+ * Record data from a single Sensor; to be run in a seperate thread
* @param arg - Cast to Sensor* - Sensor that the thread will handle
* @returns NULL (void* required to use the function with pthreads)
*/
-void * Sensor_Main(void * arg)
+void * Sensor_Loop(void * arg)
{
Sensor * s = (Sensor*)(arg);
+ Log(LOGDEBUG, "Sensor %d starts", s->id);
- while (true) //TODO: Exit condition
+ // Until the sensor is stopped, record data points
+ while (s->activated)
{
- // The sensor will write data to a buffer until it is full
- // Then it will open a file and dump the buffer to the end of it.
- // Rinse and repeat
-
- // The reason I've added the buffer is because locks are expensive
- // But maybe it's better to just write data straight to the file
- // I'd like to do some tests by changing SENSOR_DATABUFSIZ
+
+ bool success = s->read(s->user_id, &(s->current_data.value));
- while (s->write_index < SENSOR_DATABUFSIZ)
+ struct timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+
+ if (success)
{
- s->buffer[s->write_index] = GetData(s->id);
- s->write_index += 1;
- }
-
- //Log(LOGDEBUG, "Filled buffer");
-
- // CRITICAL SECTION (no threads should be able to read/write the file at the same time)
- pthread_mutex_lock(&(s->mutex));
-
- // Open binary file in append mode and dump buffer into it
- FILE * file = fopen(s->filename, "ab");
- if (file == NULL)
+ if (s->sanity != NULL)
{
- Fatal("Couldn't open file \"%s\" mode ab - %s", s->filename, strerror(errno));
+ if (!s->sanity(s->user_id, s->current_data.value))
+ {
+ Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+ }
}
- int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, file);
- if (amount_written != SENSOR_DATABUFSIZ)
+ s->averaged_data.time_stamp += s->current_data.time_stamp;
+ s->averaged_data.value = s->current_data.value;
+
+ if (++(s->num_read) >= s->averages)
{
- Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno));
+ s->averaged_data.time_stamp /= s->averages;
+ s->averaged_data.value /= s->averages;
+ Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
+ s->num_read = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
}
+ }
+ else
+ {
+ // Silence because strain sensors fail ~50% of the time :S
+ //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
+ }
- Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id);
-
- fclose(file);
-
- pthread_mutex_unlock(&(s->mutex));
- // End of critical section
- s->write_index = 0; // reset position in buffer
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
}
+
+ // Needed to keep pthreads happy
+ Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
+ return NULL;
+}
+
+/**
+ * Get a Sensor given its name
+ * @returns Sensor with the given name, NULL if there isn't one
+ */
+Sensor * Sensor_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_sensors; ++i)
+ {
+ if (strcmp(g_sensors[i].name, name) == 0)
+ return &(g_sensors[i]);
+ }
return NULL;
}
+/**
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of sensor
+ * @param format - Format
+ */
+void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
+{
+ // Begin response
+ switch (format)
+ {
+ case JSON:
+ FCGI_BeginJSON(context, STATUS_OK);
+ FCGI_JSONLong("id", s->id);
+ FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
+ FCGI_JSONPair("name", s->name);
+ break;
+ default:
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ break;
+ }
+}
+
+/**
+ * Helper: End sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of the sensor
+ * @param format - Format
+ */
+void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
+{
+ // End response
+ switch (format)
+ {
+ case JSON:
+ FCGI_EndJSON();
+ break;
+ default:
+ break;
+ }
+}
+
+/**
+ * Handle a request to the sensor module
+ * @param context - The context to work in
+ * @param params - Parameters passed
+ */
+void Sensor_Handler(FCGIContext *context, char * params)
+{
+ struct timespec now;
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
+ int id = 0;
+ const char * name = "";
+ double start_time = 0;
+ double end_time = current_time;
+ const char * fmt_str;
+ double sample_s = 0;
+
+ // key/value pairs
+ FCGIValue values[] = {
+ {"id", &id, FCGI_INT_T},
+ {"name", &name, FCGI_STRING_T},
+ {"format", &fmt_str, FCGI_STRING_T},
+ {"start_time", &start_time, FCGI_DOUBLE_T},
+ {"end_time", &end_time, FCGI_DOUBLE_T},
+ {"sample_s", &sample_s, FCGI_DOUBLE_T}
+ };
+
+ // enum to avoid the use of magic numbers
+ typedef enum {
+ ID,
+ NAME,
+ FORMAT,
+ START_TIME,
+ END_TIME,
+ SAMPLE_S
+ } SensorParams;
+
+ // Fill values appropriately
+ if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
+ {
+ // Error occured; FCGI_RejectJSON already called
+ return;
+ }
+
+ Sensor * s = NULL;
+ if (FCGI_RECEIVED(values[NAME].flags))
+ {
+ if (FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "Can't supply both sensor id and name");
+ return;
+ }
+ s = Sensor_Identify(name);
+ if (s == NULL)
+ {
+ FCGI_RejectJSON(context, "Unknown sensor name");
+ return;
+ }
+ }
+ else if (!FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "No sensor id or name supplied");
+ return;
+ }
+ else if (id < 0 || id >= g_num_sensors)
+ {
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
+ }
+ else
+ {
+ s = &(g_sensors[id]);
+ }
+
+ // Adjust sample rate if necessary
+ if (FCGI_RECEIVED(values[SAMPLE_S].flags))
+ {
+ if (sample_s < 0)
+ {
+ FCGI_RejectJSON(context, "Negative sampling speed!");
+ return;
+ }
+ DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
+ }
+
+
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
+ // Begin response
+ Sensor_BeginResponse(context, s, format);
+
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
+
+ // Finish response
+ Sensor_EndResponse(context, s, format);
+
+}
+
+/**
+ * Get the Name of a Sensor
+ * @param id - ID number
+ */
+const char * Sensor_GetName(int id)
+{
+ return g_sensors[id].name;
+}
+
+DataPoint Sensor_LastData(int id)
+{
+ Sensor * s = &(g_sensors[id]);
+ return s->current_data;
+}
+
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