s->init = init; // Set init function
// Start by averaging values taken over a second
- DOUBLE_TO_TIMEVAL(1e-4, &(s->sample_time));
+ DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
s->averages = 1;
s->num_read = 0;
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;
}
#include "sensors/pressure.h"
void Sensor_Init()
{
- 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("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", STRAIN0, Strain_Read, Strain_Init, 5000,0,5000,0);
- //Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, 5000,0,5000,0);
- //Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, 5000,0,5000,0);
- //Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, 5000,0,5000,0);
+ Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_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);
if (s->cleanup != NULL)
s->cleanup(s->user_id);
}
+ g_num_sensors = 0;
}
/**
*/
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();
}
// Until the sensor is stopped, record data points
while (s->activated)
{
- DataPoint d;
- d.value = 0;
- bool success = s->read(s->user_id, &(d.value));
+
+ bool success = s->read(s->user_id, &(s->current_data.value));
struct timespec t;
clock_gettime(CLOCK_MONOTONIC, &t);
- d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+ s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
if (success)
{
if (s->sanity != NULL)
{
- if (!s->sanity(s->user_id, d.value))
+ 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);
}
}
- s->current_data.time_stamp += d.time_stamp;
- s->current_data.value += d.value;
+ s->averaged_data.time_stamp += s->current_data.time_stamp;
+ s->averaged_data.value = s->current_data.value;
if (++(s->num_read) >= s->averages)
{
- s->current_data.time_stamp /= s->averages;
- s->current_data.value /= s->averages;
- Data_Save(&(s->data_file), &(s->current_data), 1); // Record it
+ 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->current_data.time_stamp = 0;
- s->current_data.value = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
}
}
else
- Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
+ {
+ // 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);
+ }
clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
return g_sensors[id].name;
}
+DataPoint Sensor_LastData(int id)
+{
+ Sensor * s = &(g_sensors[id]);
+ return s->current_data;
+}