#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
-
-/** Human readable names for the sensors **/
-const char * g_sensor_names[NUMSENSORS] = {
- "analog_test0", "analog_test1",
- "digital_test0", "digital_test1"
-};
-
-/**
- * One off initialisation of *all* sensors
+static Sensor g_sensors[SENSORS_MAX];
+/** The number of sensors **/
+int g_num_sensors = 0;
+
+
+
+/**
+ * Add and initialise a Sensor
+ * @param name - Human readable name of the sensor
+ * @param user_id - User identifier
+ * @param read - Function to call whenever the sensor should be read
+ * @param init - Function to call to initialise the sensor (may be NULL)
+ * @param max_error - Maximum error threshold; program will exit if this is exceeded for the sensor reading
+ * @param min_error - Minimum error threshold; program will exit if the sensor reading falls below this value
+ * @param max_warn - Maximum warning threshold; program will log warnings if the value exceeds this threshold
+ * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
+ * @returns Number of actuators added so far
*/
-void Sensor_Init()
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
{
- for (int i = 0; i < NUMSENSORS; ++i)
+ if (++g_num_sensors > SENSORS_MAX)
{
- g_sensors[i].id = i;
- Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
+ Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX);
+ // We could design the program to use realloc(3)
+ // But since someone who adds a new sensor has to recompile the program anyway...
}
-}
+ Sensor * s = &(g_sensors[g_num_sensors-1]);
-/**
- * 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)
-{
- char filename[BUFSIZ];
- if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
- {
- Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
- }
- Data_Open(&(s->data_file), filename);
-
- pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
-}
+ s->id = g_num_sensors-1;
+ s->user_id = user_id;
+ Data_Init(&(s->data_file));
+ s->name = name;
+ s->read = read; // Set read function
+ s->init = init; // Set init function
-/**
- * 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)
+ // Start by averaging values taken over a second
+ DOUBLE_TO_TIMEVAL(1e-3, &(s->sample_time));
+ s->averages = 1;
+ s->num_read = 0;
+
+ // Set sanity function
+ s->sanity = sanity;
+
+ if (init != NULL)
{
- s->record_data = false;
- pthread_join(s->thread, NULL);
- Data_Close(&(s->data_file));
+ if (!init(name, user_id))
+ Fatal("Couldn't init sensor %s", name);
}
+
+ s->current_data.time_stamp = 0;
+ s->current_data.value = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
+ return g_num_sensors;
}
/**
- * Stop all Sensors
+ * Initialise all sensors used by the program
+ * TODO: Edit this to add any extra sensors you need
+ * TODO: Edit the includes as well
*/
-void Sensor_StopAll()
+#include "sensors/resource.h"
+#include "sensors/strain.h"
+#include "sensors/pressure.h"
+void Sensor_Init()
{
- for (int i = 0; i < NUMSENSORS; ++i)
- Sensor_Stop(g_sensors+i);
+ //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
+ //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
+ Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
+ Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
+ //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1);
+ //Sensor_Add("dilatometer", DILATOMETER, Dilatometer_Read, Dilatometer_Init, -1,-1,-1,-1);
}
/**
- * Start all Sensors
+ * Cleanup all sensors
*/
-void Sensor_StartAll(const char * experiment_name)
+void Sensor_Cleanup()
{
- for (int i = 0; i < NUMSENSORS; ++i)
- Sensor_Start(g_sensors+i, experiment_name);
+ for (int i = 0; i < g_num_sensors; ++i)
+ {
+ Sensor * s = g_sensors+i;
+ if (s->cleanup != NULL)
+ s->cleanup(s->user_id);
+ }
+ g_num_sensors = 0;
}
/**
- * 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.
+ * 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.
*/
-bool Sensor_Read(Sensor * s, DataPoint * d)
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
{
-
- // Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time);
-
- // Read value based on Sensor Id
- switch (s->id)
+ switch(mode)
{
- case ANALOG_TEST0:
- d->value = (double)(rand() % 100) / 100;
- break;
+ case CONTROL_START:
+ {
+ // Set filename
+ char filename[BUFSIZ];
+ const char *experiment_path = (const char*) arg;
+ int ret;
+
+ ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
+
+ if (ret >= BUFSIZ)
+ {
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, 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!
- case ANALOG_TEST1:
- {
- static int count = 0;
- d->value = count++;
- 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);
- break;
- }
- usleep(100000); // simulate delay in sensor polling
+ // 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);
+ }
- // Perform sanity check based on Sensor's ID and the DataPoint
- Sensor_CheckData(s->id, d);
+ 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);
+ }
- // Update latest DataPoint if necessary
- bool result = (d->value != s->newest_data.value);
- if (result)
- {
- s->newest_data.time_stamp = d->time_stamp;
+ Data_Close(&(s->data_file)); // Close DataFile
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
}
- return result;
}
/**
- * Checks the sensor data for unsafe or unexpected results
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to check
+ * 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_CheckData(SensorId id, DataPoint * d)
+void Sensor_SetModeAll(ControlModes mode, void * arg)
{
- //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);
- }
- }
- }
- */
+ if (mode == CONTROL_START)
+ Sensor_Init();
+ for (int i = 0; i < g_num_sensors; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
+ if (mode == CONTROL_STOP)
+ Sensor_Cleanup();
}
-
+
/**
* 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;
- if (Sensor_Read(s, &d)) // If new DataPoint is read:
+
+ bool success = s->read(s->user_id, &(s->current_data.value));
+
+ struct timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+
+ if (success)
{
- Data_Save(&(s->data_file), &d, 1); // Record it
+ if (s->sanity != NULL)
+ {
+ if (!s->sanity(s->user_id, s->current_data.value))
+ {
+ Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+ }
+ }
+ s->averaged_data.time_stamp += s->current_data.time_stamp;
+ s->averaged_data.value = s->current_data.value;
+
+ if (++(s->num_read) >= s->averages)
+ {
+ s->averaged_data.time_stamp /= s->averages;
+ s->averaged_data.value /= s->averages;
+ Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
+ s->num_read = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
+ }
}
+ else
+ {
+ // Silence because strain sensors fail ~50% of the time :S
+ //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
+ }
+
+
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
+
}
// Needed to keep pthreads happy
+ Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
return NULL;
}
/**
- * Get a Sensor given an ID string
- * @param id_str ID string
- * @returns Sensor* identified by the string; NULL on error
+ * Get a Sensor given its name
+ * @returns Sensor with the given name, NULL if there isn't one
*/
-Sensor * Sensor_Identify(const char * id_str)
-{
- char * end;
- // Parse string as integer
- int id = strtol(id_str, &end, 10);
- if (*end != '\0')
+Sensor * Sensor_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_sensors; ++i)
{
- return NULL;
+ if (strcmp(g_sensors[i].name, name) == 0)
+ return &(g_sensors[i]);
}
- // Bounds check
- if (id < 0 || id >= NUMSENSORS)
- return NULL;
-
-
- Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
- return g_sensors+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)
+void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONLong("id", id);
- FCGI_JSONKey("data");
+ FCGI_JSONLong("id", s->id);
+ FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
+ FCGI_JSONPair("name", s->name);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
* @param id - ID of the sensor
* @param format - Format
*/
-void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
+void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
// End response
switch (format)
*/
void Sensor_Handler(FCGIContext *context, char * params)
{
- struct timeval now;
- gettimeofday(&now, NULL);
- double current_time = TIMEVAL_DIFF(now, g_options.start_time);
-
+ struct timespec now;
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
+ int id = 0;
+ const char * name = "";
double start_time = 0;
double end_time = current_time;
- char * fmt_str;
+ const char * fmt_str;
+ double sample_s = 0;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
+ {"id", &id, FCGI_INT_T},
+ {"name", &name, FCGI_STRING_T},
{"format", &fmt_str, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
+ {"sample_s", &sample_s, FCGI_DOUBLE_T}
};
// enum to avoid the use of magic numbers
typedef enum {
ID,
+ NAME,
FORMAT,
START_TIME,
END_TIME,
+ SAMPLE_S
} 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)
+ Sensor * s = NULL;
+ if (FCGI_RECEIVED(values[NAME].flags))
{
- Log(LOGERR, "Invalid id %d", id);
- FCGI_RejectJSON(); // Whoops, I do still need this!
+ if (FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "Can't supply both sensor id and name");
+ return;
+ }
+ s = Sensor_Identify(name);
+ if (s == NULL)
+ {
+ FCGI_RejectJSON(context, "Unknown sensor name");
+ return;
+ }
}
-
- // Check if format type was specified
- if (FCGI_RECEIVED(values[FORMAT].flags))
+ else if (!FCGI_RECEIVED(values[ID].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);
+ FCGI_RejectJSON(context, "No sensor id or name supplied");
+ return;
}
-
- // 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))
+ else if (id < 0 || id >= g_num_sensors)
{
- // 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);
-
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
- else // No time was specified; just return a recent set of points
+ else
{
- 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));
+ s = &(g_sensors[id]);
+ }
- // Print points by indexes
- Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
+ // Adjust sample rate if necessary
+ if (FCGI_RECEIVED(values[SAMPLE_S].flags))
+ {
+ if (sample_s < 0)
+ {
+ FCGI_RejectJSON(context, "Negative sampling speed!");
+ return;
+ }
+ DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
}
- // Finish response
- Sensor_EndResponse(context, id, format);
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
+ // Begin response
+ Sensor_BeginResponse(context, s, format);
+
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
+
+ // Finish response
+ Sensor_EndResponse(context, s, format);
+
+}
+
+/**
+ * Get the Name of a Sensor
+ * @param id - ID number
+ */
+const char * Sensor_GetName(int id)
+{
+ return g_sensors[id].name;
+}
+
+DataPoint Sensor_LastData(int id)
+{
+ Sensor * s = &(g_sensors[id]);
+ return s->current_data;
}