#include "common.h"
#include "sensor.h"
#include "options.h"
+#include "bbb_pin.h"
#include <math.h>
/** 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
+ {5000,0,5000,0}, // ANALOG_REALTEST
+ {5,-5,4,-4}, // ANALOG_FAIL0
+ {1,0,1,0}, // DIGITAL_TEST0
+ {1,0,1,0}, // DIGITAL_TEST1
+ {1,0,1,0}, // DIGITAL_REALTEST
+ {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_realtest", "analog_fail0",
+ "digital_test0", "digital_test1",
+ "digital_realtest", "digital_fail0"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
}
+
+ // Get the required ADCs
+ ADC_Export(0);
+
+ // GPIO1_28 used as a pulse for sampling
+ //GPIO_Export(GPIO1_28);
+ // GPIO0_30 toggled during sampling
+ //GPIO_Export(GPIO0_30);
}
/**
- * Start a Sensor recording DataPoints
- * @param s - The Sensor to start
- * @param experiment_name - Prepended to DataFile filename
+ * 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_Start(Sensor * s, const char * experiment_name)
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
{
- char filename[BUFSIZ];
- if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
+ switch(mode)
{
- Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
- }
- Data_Open(&(s->data_file), filename);
+ case CONTROL_START:
+ {
+ // Set filename
+ char filename[BUFSIZ];
+ const char *experiment_name = (const char*) arg;
+
+ if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
+ {
+ Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, 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;
- pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
-}
+ case CONTROL_STOP:
+ if (s->activated) //May have been paused before
+ {
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ }
-/**
- * Stop a Sensor from recording DataPoints. Blocks until it has stopped.
- * @param s - The Sensor to stop
- */
-void Sensor_Stop(Sensor * s)
-{
- if (s->record_data)
- {
- s->record_data = false;
- pthread_join(s->thread, NULL);
- Data_Close(&(s->data_file));
+ Data_Close(&(s->data_file)); // Close DataFile
+ s->newest_data.time_stamp = 0;
+ s->newest_data.value = 0;
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
}
}
/**
- * Stop all Sensors
+ * 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_StopAll()
+void Sensor_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < NUMSENSORS; ++i)
- Sensor_Stop(g_sensors+i);
+ for (int i = 0; i < NUMSENSORS; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
}
+
/**
- * Start all Sensors
+ * 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_StartAll(const char * experiment_name)
+void Sensor_CheckData(SensorId id, double value)
{
- for (int i = 0; i < NUMSENSORS; ++i)
- Sensor_Start(g_sensors+i, experiment_name);
+ if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+ {
+ Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+ //new function that stops actuators?
+ //Control_SetMode(CONTROL_EMERGENCY, NULL)
+ }
+ else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
+ {
+ Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, 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
// Set time stamp
struct timeval t;
gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time);
+ d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+ static bool result = true;
+
+
// Read value based on Sensor Id
switch (s->id)
{
+ case 2:
+ {
+ static bool set = false;
+ int raw_adc = 0;
+ //GPIO_Set(GPIO0_30, true);
+ ADC_Read(ADC0, &raw_adc);
+ d->value = (double)raw_adc; //ADC #0 on the Beaglebone
+ //Log(LOGDEBUG, "Got value %f from ADC0", d->value);
+ //GPIO_Set(GPIO0_30, false);
+ set = !set;
+ //GPIO_Set(GPIO1_28, set);
+
+ usleep(100000);
+
+ break;
+ }
+
+ default:
+ d->value = rand() % 2;
+ usleep(1000000);
+ break;
+
+
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 = 0;
+ //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;
- default:
- Fatal("Unknown sensor id: %d", s->id);
+ case DIGITAL_REALTEST:
+ {
+ // Can pass pin as argument, just using 20 as an example here
+ // Although since pins will be fixed, can just define it here if we need to
+ //d->value = pinRead(20); //Pin 20 on the Beaglebone
+ 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);
+
if (result)
{
s->newest_data.time_stamp = d->time_stamp;
+ s->newest_data.value = d->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);
- }
- }
- }
- */
+#ifdef _BBB
+ //Not all cases have usleep, easiest here.
+ usleep(1000000);
+#endif
+ return result;
}
-
/**
* Record data from a single Sensor; to be run in a seperate thread
void * Sensor_Loop(void * arg)
{
Sensor * s = (Sensor*)(arg);
+ Log(LOGDEBUG, "Sensor %d starts", s->id);
// Until the sensor is stopped, record data points
- while (s->record_data)
+ while (s->activated)
{
DataPoint d;
+ //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
if (Sensor_Read(s, &d)) // If new DataPoint is read:
{
+ //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
Data_Save(&(s->data_file), &d, 1); // Record it
}
}
// Needed to keep pthreads happy
+
+ Log(LOGDEBUG, "Sensor %d finished", s->id);
return NULL;
}
/**
* 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)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
- FCGI_JSONKey("data");
+ FCGI_JSONPair("name", g_sensor_names[id]);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
{
struct timeval now;
gettimeofday(&now, NULL);
- double current_time = TIMEVAL_DIFF(now, g_options.start_time);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
+ int id = 0;
double start_time = 0;
double end_time = current_time;
- char * fmt_str;
+ const char * fmt_str;
// key/value pairs
FCGIValue values[] = {
} SensorParams;
// Fill values appropriately
- if (!FCGI_ParseRequest(context, params, values, sizeof(values)))
+ if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
{
// Error occured; FCGI_RejectJSON already called
return;
// Error checking on sensor id
if (id < 0 || id >= NUMSENSORS)
{
- Log(LOGERR, "Invalid id %d", id);
- FCGI_RejectJSON(); // Whoops, I do still need this!
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
+ Sensor * s = g_sensors+id;
- // Check if format type was specified
- if (FCGI_RECEIVED(values[FORMAT].flags))
- {
- if (strcmp(fmt_str, "json") == 0)
- format = JSON;
- else if (strcmp(fmt_str, "tsv") == 0)
- format = TSV;
- else
- Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
- }
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
- // Get Sensor
- Sensor * s = g_sensors[id];
-
// Begin response
Sensor_BeginResponse(context, id, format);
-
- // If a time was specified
- if (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags))
- {
- // Wrap times relative to the current time
- if (start_time < 0)
- start_time += current_time;
- if (end_time < 0)
- end_time += current_time;
-
- // Print points by time range
- Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
-
- }
- 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;
- pthread_mutex_unlock(&(s->data_file.mutex));
- // Print points by indexes
- Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
- }
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Sensor_EndResponse(context, id, format);
-
}
+