#include "common.h"
#include "sensor.h"
#include "options.h"
+#include "bbb_pin.h"
#include <math.h>
/** Array of sensors, initialised by Sensor_Init **/
//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",
- "analog_fail0", "digital_test0",
- "digital_test1", "digital_fail0"
+ "analog_realtest", "analog_fail0",
+ "digital_test0", "digital_test1",
+ "digital_realtest", "digital_fail0"
};
/**
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
}
+
+ // 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);
}
/**
{
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);
+ 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 is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, 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);
}
}
gettimeofday(&t, NULL);
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;
d->value = count++;
break;
}
+
case ANALOG_FAIL0:
- d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+ 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;
+ case DIGITAL_REALTEST:
+ {
+ d->value = 0; //d->value must be something... valgrind...
+ // 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;
+ //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->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;
}
+
+#ifdef _BBB
+ //Not all cases have usleep, easiest here.
+ usleep(1000000);
+#endif
return result;
}
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
+ FCGI_JSONPair("name", g_sensor_names[id]);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");