#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
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {5000,0,5000,0},
+ {1, 1, 1, 1}
+};
+
/** Human readable names for the sensors **/
const char * g_sensor_names[NUMSENSORS] = {
- "analog_test0", "analog_test1",
- "digital_test0", "digital_test1"
+ "strain0",
+ "strain1",
+ "strain2",
+ "strain3",
+ "pressure0",
+ "pressure1",
+ "pressure_feedback",
+ "microphone",
+ "enclosure"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
}
-}
-/**
- * Start a Sensor recording DataPoints
- * @param s - The Sensor to start
- * @param experiment_name - Prepended to DataFile filename
- */
-void Sensor_Start(Sensor * s, const char * experiment_name)
-{
- // Set filename
- char filename[BUFSIZ];
- if (sprintf(filename, "%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);
- s->record_data = true; // Don't forget this!
+ // Get the required ADCs
+ ADC_Export(ADC0); // Strain gauges x 4
+ ADC_Export(ADC1); // Pressure sensor 1
+ ADC_Export(ADC2); // Pressure sensor 2
+ // ADC3 still unused (!?)
+ ADC_Export(ADC4); // Pressure regulator feedback(?) signal
+ ADC_Export(ADC5); // Microphone
+
+ // Get GPIO pins //TODO: Confirm pins used with Electronics Team
+ GPIO_Export(GPIO0_30); // Mux A (strain 1)
+ GPIO_Set(GPIO0_30, false);
+ GPIO_Export(GPIO1_28); // Mux B (strain 2)
+ GPIO_Set(GPIO1_28, false);
+ GPIO_Export(GPIO0_31); // Mux C (strain 3)
+ GPIO_Set(GPIO0_31, false);
+ GPIO_Export(GPIO1_16); // Mux D (strain 4)
+ GPIO_Set(GPIO1_16, false);
- // Create the thread
- pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
+ GPIO_Export(GPIO0_31); // Enclosure switch
}
/**
- * Stop a Sensor from recording DataPoints. Blocks until it has stopped.
- * @param s - The Sensor to stop
+ * 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_Stop(Sensor * s)
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
{
- // Stop
- if (s->record_data)
+ switch(mode)
{
- s->record_data = false;
- pthread_join(s->thread, NULL); // Wait for thread to exit
- Data_Close(&(s->data_file)); // Close DataFile
- s->newest_data.time_stamp = 0;
- s->newest_data.value = 0;
+ 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;
+
+ 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
+ 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", g_sensor_names[id],value, 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", g_sensor_names[id],value,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
bool Sensor_Read(Sensor * s, DataPoint * d)
{
+
+
+ static bool result = true;
+
+ //TODO: Remove this, code should be refactored to not use so many threads
+ // Although... if it works, it works...
+ static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+
+ pthread_mutex_lock(&mutex); //TODO: Reduce the critical section
+
+ usleep(10);
+
// 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());
+
// Read value based on Sensor Id
+ int value; bool success = true;
+ //TODO: Can probably do this nicer than a switch (define a function pointer for each sensor)
+ // Can probably make the whole sensor thing a lot nicer with a linked list of sensors...
+ // (Then to add more sensors to the software, someone just writes an appropriate read function and calls Sensor_Add(...) at init)
+ // (I will do this. Don't do it before I get a chance, I don't trust you :P)
switch (s->id)
{
- case ANALOG_TEST0:
- d->value = (double)(rand() % 100) / 100;
+ //TODO: Strain gauges should have their own critical section, rest of sensors probably don't need to be in a critical section
+ case STRAIN0:
+ success &= GPIO_Set(GPIO0_30, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO0_30, false);
+ if (!success)
+ Fatal("Error reading strain gauge 0");
break;
-
- case ANALOG_TEST1:
- {
- static int count = 0;
- d->value = count++;
+ case STRAIN1:
+ success &= GPIO_Set(GPIO1_28, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO1_28, false);
+ if (!success)
+ Fatal("Error reading strain gauge 1");
break;
- }
- case DIGITAL_TEST0:
- d->value = t.tv_sec % 2;
+ case STRAIN2:
+ success &= GPIO_Set(GPIO0_31, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO0_31, false);
+ case STRAIN3:
+ success &= GPIO_Set(GPIO1_16, true);
+ success &= ADC_Read(ADC0);
+ success &= GPIO_Set(GPIO1_16, false);
+ if (!success)
+ Fatal("Error reading strain gauge 2");
+ break;
+ case PRESSURE0:
+ success &= ADC_Read(ADC1, &value);
break;
- case DIGITAL_TEST1:
- d->value = (t.tv_sec+1)%2;
+ case PRESSURE1:
+ success &= ADC_Read(ADC5, &value);
break;
- default:
- Fatal("Unknown sensor id: %d", s->id);
+ case PRESSURE_FEEDBACK:
+ success &= ADC_Read(ADC4, &value);
+ break;
+ case MICROPHONE:
+ success &= ADC_Read(ADC2, &value);
break;
+ case ENCLOSURE:
+ {
+ bool why_do_i_need_to_do_this = false;
+ success &= GPIO_Read(GPIO0_31, &why_do_i_need_to_do_this);
+ value = (int)why_do_i_need_to_do_this;
+ break;
+ }
+ case DILATOMETER:
+ {
+ // Will definitely cause issues included in the same critical section as ADC reads
+ // (since it will be the longest sensor to sample, everything else will have to keep waiting on it)
+ value = 0;
+ break;
+ }
+
}
- usleep(100000); // simulate delay in sensor polling
+
+ d->value = (double)(value); //TODO: Calibration? Or do calibration in GUI
+
+ pthread_mutex_unlock(&mutex); //TODO: Reduce the critical section
+
// 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
+#ifdef _BBB
+ //Not all cases have usleep, easiest here.
+ //TODO: May want to add a control option to adjust the sampling rate for each sensor?
+ // Also, we can get a more accurate sampling rate if instead of a fixed sleep, we calculate how long to sleep each time.
+ usleep(100000);
+#endif
+
/*
- 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);
- }
- }
- }
+ if (success)
+ Log(LOGDEBUG, "Successfully read sensor %d (for once)", s->id);
+ else
+ Log(LOGDEBUG, "Failed to read sensor %d (again)", s->id);
*/
+ return result && success;
}
-
/**
* Record data from a single Sensor; to be run in a seperate thread
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);
/**
* 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[] = {
- {"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},
return;
}
- // Get Sensor
- Sensor * s = NULL;
-
// Error checking on sensor id
if (id < 0 || id >= NUMSENSORS)
{
- Log(LOGERR, "Invalid id %d", id);
- }
- else
- {
- s = g_sensors+id;
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
-
- DataFormat format = JSON;
+ 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]));
-
-
// 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)))
- {
- // 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 if (s != NULL) // 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));
-
- // Bounds check
- if (start_index < 0)
- start_index = 0;
- if (end_index < 0)
- end_index = 0;
-
- // Print points by indexes
- Log(LOGDEBUG, "Sensor %d file \"%s\" indexes %d->%d", s->id, s->data_file.filename, start_index, end_index);
- 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);
-
}
+
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