/** Array of sensors, initialised by Sensor_Init **/
static Sensor g_sensors[NUMSENSORS]; //global to this file
+/** Array of sensor threshold structures defining the safety values of each sensor**/
+const SensorThreshold thresholds[NUMSENSORS]= {
+ //Max Safety, Min safety, Max warning, Min warning
+ {1,-1,1,-1}, // ANALOG_TEST0
+ {500,0,499,0}, // ANALOG_TEST1
+ {5,-5,4,-4}, // ANALOG_FAIL0
+ {1,0,1,0}, // DIGITAL_TEST0
+ {1,0,1,0}, // DIGITAL_TEST1
+ {1,0,1,0} // DIGITAL_FAIL0
+};
+
/** 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"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
+ g_sensors[i].record_data = false;
}
}
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)
+{
+ if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+ {
+ 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);
+ //new function that stops actuators?
+ }
+ else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
+ {
+ 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);
+ }
+}
+
+
/**
* Read a DataPoint from a Sensor; block until value is read
* @param id - The ID of the sensor
case ANALOG_TEST0:
d->value = (double)(rand() % 100) / 100;
break;
-
case ANALOG_TEST1:
{
static int count = 0;
+ count %= 500;
d->value = count++;
break;
}
+ case ANALOG_FAIL0:
+ d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+ //Gives a value between -5 and 5
+ 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
+ break;
default:
Fatal("Unknown sensor id: %d", s->id);
break;
usleep(100000); // simulate delay in sensor polling
// Perform sanity check based on Sensor's ID and the DataPoint
- Sensor_CheckData(s->id, d);
+ Sensor_CheckData(s->id, d->value);
// Update latest DataPoint if necessary
bool result = (d->value != s->newest_data.value);
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
/**
* Helper: Begin sensor response in a given format
* @param context - the FCGIContext
- * @param format - Format
* @param id - ID of sensor
+ * @param format - Format
*/
void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
{
int id = 0;
double start_time = 0;
double end_time = current_time;
- char * fmt_str;
+ const char * fmt_str;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)},
+ {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
{"format", &fmt_str, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
// Error occured; FCGI_RejectJSON already called
return;
}
-
- // Get Sensor
- Sensor * s = NULL;
-
- // Error checking on sensor id
- if (id < 0 || id >= NUMSENSORS)
+ else if (id < 0 || id >= NUMSENSORS)
{
- Log(LOGERR, "Invalid id %d", id);
- }
- else
- {
- s = g_sensors+id;
+ FCGI_RejectJSON(context, "Invalid sensor id specified");
+ return;
}
-
+
+ // Get Sensor and format
+ Sensor * s = g_sensors+id;
DataFormat format = JSON;
// Check if format type was specified
format = JSON;
else if (strcmp(fmt_str, "tsv") == 0)
format = TSV;
- else
- Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
+ else
+ {
+ FCGI_RejectJSON(context, "Unknown format type specified.");
+ return;
+ }
}
-
-
// Begin response
Sensor_BeginResponse(context, id, format);
// If a time was specified
- if ((s != NULL) && (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags)))
+ if (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags))
{
// Wrap times relative to the current time
if (start_time < 0)
// Print points by time range
Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
-
}
- else if (s != NULL) // No time was specified; just return a recent set of points
+ else // No time was specified; just return a recent set of points
{
pthread_mutex_lock(&(s->data_file.mutex));
int start_index = s->data_file.num_points-DATA_BUFSIZ;
- int end_index = s->data_file.num_points-1;
+ int end_index = s->data_file.num_points;
pthread_mutex_unlock(&(s->data_file.mutex));
// Bounds check
}
+
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