/**
* @file sensor.c
- * @purpose Implementation of sensor thread
+ * @brief Implementation of sensor thread
* TODO: Finalise implementation
*/
-
-
+#include "common.h"
#include "sensor.h"
-#include "log.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] = {
+ "strain0",
+ "strain1",
+ "strain2",
+ "strain3",
+ "pressure0",
+ "pressure1",
+ "pressure_feedback",
+ "microphone",
+ "enclosure"
+};
+
/**
- * Read a data value from a sensor; block until value is read
- * @param sensor_id - The ID of the sensor
- * @returns The current value of the sensor
+ * One off initialisation of *all* sensors
*/
-DataPoint GetData(int sensor_id)
+void Sensor_Init()
{
- // switch based on the sensor_id at the moment for testing;
- // might be able to just directly access ADC from sensor_id?
- //TODO: Implement for real sensors
-
- DataPoint d;
- //TODO: Deal with time stamps properly
- static int count = 0;
- d.time = count++;
- switch (sensor_id)
+ for (int i = 0; i < NUMSENSORS; ++i)
{
- case SENSOR_TEST0:
- d.value = count;
- break;
- case SENSOR_TEST1:
- d.value = (float)(rand() % 100) / 100;
- break;
- default:
- Fatal("Unknown sensor id: %d", sensor_id);
- break;
- }
- usleep(100000); // simulate delay in sensor polling
- return d;
+ g_sensors[i].id = i;
+ Data_Init(&(g_sensors[i].data_file));
+ }
+
+
+
+ // 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);
+
+ GPIO_Export(GPIO0_31); // Enclosure switch
}
+/**
+ * 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_SetMode(Sensor * s, ControlModes mode, void * arg)
+{
+ switch(mode)
+ {
+ 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);
+ }
+}
/**
- * Destroy a sensor
- * @param s - Sensor to destroy
+ * 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 Destroy(Sensor * s)
+void Sensor_SetModeAll(ControlModes mode, void * arg)
{
- // Maybe move the binary file into long term file storage?
- fclose(s->file);
+ for (int i = 0; i < NUMSENSORS; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
}
+/**
+ * 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 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);
+ }
+}
+
/**
- * Initialise a sensor
- * @param s - Sensor to initialise
+ * Read a DataPoint from a Sensor; block until value is read
+ * @param id - The ID of the sensor
+ * @param d - DataPoint to set
+ * @returns True if the DataPoint was different from the most recently recorded.
*/
-void Sensor_Init(Sensor * s, int id)
+bool Sensor_Read(Sensor * s, DataPoint * d)
{
- s->write_index = 0;
- s->read_offset = 0;
- s->id = id;
+
+
+
+ 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, *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)
+ {
+ //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 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 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 PRESSURE1:
+ success &= ADC_Read(ADC5, &value);
+ break;
+ 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;
+ }
+
+ }
+
+ d->value = (double)(value); //TODO: Calibration? Or do calibration in GUI
+
+ pthread_mutex_unlock(&mutex); //TODO: Reduce the critical section
+
- #define FILENAMESIZE 4
- char filename[FILENAMESIZE];
- if (s->id >= pow(10, FILENAMESIZE))
+ // Perform sanity check based on Sensor's ID and the DataPoint
+ Sensor_CheckData(s->id, d->value);
+
+ // Update latest DataPoint if necessary
+
+ if (result)
{
- Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE);
+ s->newest_data.time_stamp = d->time_stamp;
+ s->newest_data.value = d->value;
}
- pthread_mutex_init(&(s->mutex), NULL);
-
- sprintf(filename, "%d", s->id);
- unlink(filename); //TODO: Move old files somewhere
+#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
- s->file = fopen(filename, "a+b"); // open binary file
- Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename);
+ /*
+ 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;
}
-
/**
- * Run the main sensor polling loop
+ * Record data from a single Sensor; to be run in a seperate thread
* @param arg - Cast to Sensor* - Sensor that the thread will handle
* @returns NULL (void* required to use the function with pthreads)
*/
-void * Sensor_Main(void * arg)
+void * Sensor_Loop(void * arg)
{
Sensor * s = (Sensor*)(arg);
+ Log(LOGDEBUG, "Sensor %d starts", s->id);
- while (true) //TODO: Exit condition
+ // Until the sensor is stopped, record data points
+ while (s->activated)
{
- // The sensor will write data to a buffer until it is full
- // Then it will open a file and dump the buffer to the end of it.
- // Rinse and repeat
-
- // The reason I've added the buffer is because locks are expensive
- // But maybe it's better to just write data straight to the file
- // I'd like to do some tests by changing SENSOR_DATABUFSIZ
-
- while (s->write_index < SENSOR_DATABUFSIZ)
+ 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:
{
- s->buffer[s->write_index] = GetData(s->id);
- s->write_index += 1;
+ //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, "Filled buffer");
+ Log(LOGDEBUG, "Sensor %d finished", s->id);
+ return NULL;
+}
- // CRITICAL SECTION (no threads should be able to read/write the file at the same time)
- pthread_mutex_lock(&(s->mutex));
- fseek(s->file, 0, SEEK_END);
- int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, s->file);
- if (amount_written != SENSOR_DATABUFSIZ)
- {
- Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno));
- }
- Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id);
- pthread_mutex_unlock(&(s->mutex));
- // End of critical section
+/**
+ * Get a Sensor given an ID string
+ * @param id_str ID string
+ * @returns Sensor* identified by the string; NULL on error
+ */
+Sensor * Sensor_Identify(const char * id_str)
+{
+ char * end;
+ // Parse string as integer
+ int id = strtol(id_str, &end, 10);
+ if (*end != '\0')
+ {
+ return NULL;
+ }
+ // Bounds check
+ if (id < 0 || id >= NUMSENSORS)
+ return NULL;
- s->write_index = 0; // reset position in buffer
-
+
+ Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
+ return g_sensors+id;
+}
+
+/**
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of sensor
+ * @param format - Format
+ */
+void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
+{
+ // Begin response
+ switch (format)
+ {
+ 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");
+ break;
+ }
+}
+
+/**
+ * Helper: End sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of the sensor
+ * @param format - Format
+ */
+void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
+{
+ // End response
+ switch (format)
+ {
+ case JSON:
+ FCGI_EndJSON();
+ break;
+ default:
+ break;
}
- return NULL;
}
+/**
+ * Handle a request to the sensor module
+ * @param context - The context to work in
+ * @param params - Parameters passed
+ */
+void Sensor_Handler(FCGIContext *context, char * params)
+{
+ struct timeval now;
+ gettimeofday(&now, NULL);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
+
+ int id = 0;
+ double start_time = 0;
+ double end_time = current_time;
+ const char * fmt_str;
+
+ // key/value pairs
+ FCGIValue values[] = {
+ {"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},
+ };
+
+ // enum to avoid the use of magic numbers
+ typedef enum {
+ ID,
+ FORMAT,
+ START_TIME,
+ END_TIME,
+ } SensorParams;
+
+ // Fill values appropriately
+ 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)
+ {
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
+ }
+ Sensor * s = g_sensors+id;
+
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
+ // Begin response
+ Sensor_BeginResponse(context, id, 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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