X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;ds=inline;f=server%2Fsensor.c;h=8914817db7ed01dc8d0b2dd9ff0973fb868c9f1b;hb=bbd64b3c32d79d247c7535693aafa20a3baba6b8;hp=2e0749e584b244cb9a14f932ef3c5d32558d504d;hpb=8d2b79e26696ee059454a41c91cb272b5d5faa00;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 2e0749e..8914817 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,10 +1,9 @@ /** * @file sensor.c - * @purpose Implementation of sensor thread + * @brief Implementation of sensor thread * TODO: Finalise implementation */ - #include "common.h" #include "sensor.h" #include "options.h" @@ -12,45 +11,102 @@ /** Array of sensors, initialised by Sensor_Init **/ static Sensor g_sensors[NUMSENSORS]; //global to this file -static const char * g_sensor_names[] = {"analog_test0","analog_test1","digital_test0","digital_test1"}; + +/** Human readable names for the sensors **/ +const char * g_sensor_names[NUMSENSORS] = { + "analog_test0", "analog_test1", + "digital_test0", "digital_test1" +}; + /** - * Read a data value from a sensor; block until value is read - * @param sensor_id - The ID of the sensor - * @param d - DataPoint to set - * @returns NULL for digital sensors when data is unchanged, otherwise d + * One off initialisation of *all* sensors */ -DataPoint * GetData(int sensor_id, DataPoint * d) +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 + for (int i = 0; i < NUMSENSORS; ++i) + { + 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) +{ + 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)); +} + +/** + * 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)); + } +} + +/** + * Stop all Sensors + */ +void Sensor_StopAll() +{ + for (int i = 0; i < NUMSENSORS; ++i) + Sensor_Stop(g_sensors+i); +} + +/** + * Start all Sensors + */ +void Sensor_StartAll(const char * experiment_name) +{ + for (int i = 0; i < NUMSENSORS; ++i) + Sensor_Start(g_sensors+i, experiment_name); +} + +/** + * 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. + */ +bool Sensor_Read(Sensor * s, DataPoint * d) +{ - //TODO: We should ensure the time is *never* allowed to change on the server if we use gettimeofday - // Another way people might think of getting the time is to count CPU cycles with clock() - // But this will not work because a) CPU clock speed may change on some devices (RPi?) and b) It counts cycles used by all threads - + // Set time stamp struct timeval t; gettimeofday(&t, NULL); - d->time_stamp = (t.tv_sec - g_options.start_time.tv_sec) + 1e-6*(t.tv_usec - g_options.start_time.tv_usec); + d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time); - // Make time relative - //d->time_stamp.tv_sec -= g_options.start_time.tv_sec; - //d->time_stamp.tv_usec -= g_options.start_time.tv_usec; - - switch (sensor_id) + // Read value based on Sensor Id + switch (s->id) { case ANALOG_TEST0: + d->value = (double)(rand() % 100) / 100; + break; + + case ANALOG_TEST1: { static int count = 0; d->value = count++; break; } - case ANALOG_TEST1: - d->value = (double)(rand() % 100) / 100; - break; - - //TODO: For digital sensors, consider only updating when sensor is actually changed case DIGITAL_TEST0: d->value = t.tv_sec % 2; break; @@ -58,126 +114,73 @@ DataPoint * GetData(int sensor_id, DataPoint * d) d->value = (t.tv_sec+1)%2; break; default: - Fatal("Unknown sensor id: %d", sensor_id); + Fatal("Unknown sensor id: %d", s->id); break; } usleep(100000); // simulate delay in sensor polling - return d; -} + // Perform sanity check based on Sensor's ID and the DataPoint + Sensor_CheckData(s->id, d); - -/** - * Destroy a sensor - * @param s - Sensor to destroy - */ -void Destroy(Sensor * s) -{ - // Maybe move the binary file into long term file storage? - fclose(s->file); + // Update latest DataPoint if necessary + bool result = (d->value != s->newest_data.value); + if (result) + { + s->newest_data.time_stamp = d->time_stamp; + } + return result; } - - /** - * Initialise a sensor - * @param s - Sensor to initialise + * Checks the sensor data for unsafe or unexpected results + * @param sensor_id - The ID of the sensor + * @param d - DataPoint to check */ -void Init(Sensor * s, int id) +void Sensor_CheckData(SensorId id, DataPoint * d) { - s->write_index = 0; - s->id = id; - - #define FILENAMESIZE 3 - char filename[FILENAMESIZE]; - if (s->id >= pow(10, FILENAMESIZE)) + //TODO: Implement + /* + switch (sensor_id) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + 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); + } + } } - - pthread_mutex_init(&(s->mutex), NULL); - - sprintf(filename, "%d", s->id); - unlink(filename); //TODO: Move old files somewhere - - s->file = fopen(filename, "a+b"); // open binary file - Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename); + */ } - - - - + /** - * 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); - while (Thread_Runstate() == RUNNING) //TODO: Exit condition + // Until the sensor is stopped, record data points + while (s->record_data) { - // 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; + if (Sensor_Read(s, &d)) // If new DataPoint is read: { - DataPoint * d = &(s->buffer[s->write_index]); - if (GetData(s->id, d) == NULL) - { - Fatal("Error collecting data"); - } - s->write_index += 1; + Data_Save(&(s->data_file), &d, 1); // Record it } - - //Log(LOGDEBUG, "Filled buffer"); - - // CRITICAL SECTION (no threads should be able to read/write the file at the same time) - pthread_mutex_lock(&(s->mutex)); - //TODO: Valgrind complains about this fseek: "Syscall param write(buf) points to uninitialised byte(s)" - // Not sure why, but we should find out and fix it. - 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 - - s->write_index = 0; // reset position in buffer - } - Log(LOGDEBUG, "Thread for sensor %d exits", s->id); - return NULL; -} - -/** - * Fill buffer with most recent sensor data - * @param s - Sensor to use - * @param buffer - Buffer to fill - * @param bufsiz - Size of buffer to fill - * @returns The number of DataPoints actually read - */ -int Sensor_Query(Sensor * s, DataPoint * buffer, int bufsiz) -{ - int amount_read = 0; - //CRITICAL SECTION (Don't access file while sensor thread is writing to it!) - pthread_mutex_lock(&(s->mutex)); - - fseek(s->file, -bufsiz*sizeof(DataPoint), SEEK_END); - amount_read = fread(buffer, sizeof(DataPoint), bufsiz, s->file); - //Log(LOGDEBUG, "Read %d data points", amount_read); - pthread_mutex_unlock(&(s->mutex)); - return amount_read; + + // Needed to keep pthreads happy + return NULL; } /** @@ -204,151 +207,138 @@ Sensor * Sensor_Identify(const char * id_str) } /** - * Handle a request to the sensor module - * @param context - The context to work in - * @param params - Parameters passed + * Helper: Begin sensor response in a given format + * @param context - the FCGIContext + * @param format - Format + * @param id - ID of sensor */ -void Sensor_Handler(FCGIContext *context, char * params) +void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format) { - DataPoint buffer[SENSOR_QUERYBUFSIZ]; - StatusCodes status = STATUS_OK; - - enum {DEFAULT, DUMP} operation = DEFAULT; - - const char * key; const char * value; - - Sensor * sensor = NULL; - - while ((params = FCGI_KeyPair(params, &key, &value)) != NULL) - { - Log(LOGDEBUG, "Got key=%s and value=%s", key, value); - if (strcmp(key, "id") == 0) - { - if (sensor != NULL) - { - Log(LOGERR, "Only one sensor id should be specified"); - status = STATUS_ERROR; - break; - } - if (*value == '\0') - { - Log(LOGERR, "No id specified."); - status = STATUS_ERROR; - break; - } - - sensor = Sensor_Identify(value); - if (sensor == NULL) - { - Log(LOGERR, "Invalid sensor id: %s", value); - status = STATUS_ERROR; - break; - } - } - else if (strcmp(key, "dump") == 0) - { - if (operation != DEFAULT) - { - Log(LOGERR, "Operation already specified!"); - status = STATUS_ERROR; - break; - } - operation = DUMP; - } - else - { - Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value); - status = STATUS_ERROR; - break; - } - } - - if (status != STATUS_ERROR && sensor == NULL) - { - Log(LOGERR, "No valid sensor id given"); - status = STATUS_ERROR; - } - - if (status == STATUS_ERROR) - { - FCGI_RejectJSON(context); - return; - } - - switch (operation) + // Begin response + switch (format) { - case DUMP: - { - FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); - //CRITICAL SECTION - pthread_mutex_lock(&(sensor->mutex)); - fseek(sensor->file, 0, SEEK_SET); - int amount_read = 0; - do - { - amount_read = fread(buffer, sizeof(DataPoint), SENSOR_QUERYBUFSIZ, sensor->file); - for (int i = 0; i < amount_read; ++i) - { - FCGI_PrintRaw("%f\t%f\n", buffer[i].time_stamp, buffer[i].value); - } - - } - while (amount_read == SENSOR_QUERYBUFSIZ); - pthread_mutex_unlock(&(sensor->mutex)); - // end critical section + case JSON: + FCGI_BeginJSON(context, STATUS_OK); + FCGI_JSONLong("id", id); + FCGI_JSONKey("data"); break; - } default: - { - FCGI_BeginJSON(context, status); - FCGI_JSONPair(key, value); // should spit back sensor ID - //Log(LOGDEBUG, "Call Sensor_Query..."); - int amount_read = Sensor_Query(sensor, buffer, SENSOR_QUERYBUFSIZ); - //Log(LOGDEBUG, "Read %d DataPoints", amount_read); - //Log(LOGDEBUG, "Produce JSON response"); - FCGI_JSONKey("data"); - FCGI_JSONValue("["); - for (int i = 0; i < amount_read; ++i) - { - //TODO: Consider; is it better to give both tv_sec and tv_usec to the client seperately, instead of combining here? - - FCGI_JSONValue("[%f, %f]", buffer[i].time_stamp, buffer[i].value); - if (i+1 < amount_read) - FCGI_JSONValue(","); - } - FCGI_JSONValue("]"); - //Log(LOGDEBUG, "Done producing JSON response"); - FCGI_EndJSON(); + FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); break; - } } } /** - * Setup Sensors, start Sensor polling thread(s) + * Helper: End sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of the sensor + * @param format - Format */ -void Sensor_Spawn() +void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format) { - // start sensor threads - for (int i = 0; i < NUMSENSORS; ++i) + // End response + switch (format) { - Init(g_sensors+i, i); - pthread_create(&(g_sensors[i].thread), NULL, Sensor_Main, (void*)(g_sensors+i)); + case JSON: + FCGI_EndJSON(); + break; + default: + break; } } /** - * Quit Sensor loops + * Handle a request to the sensor module + * @param context - The context to work in + * @param params - Parameters passed */ -void Sensor_Join() +void Sensor_Handler(FCGIContext *context, char * params) { - if (!Thread_Runstate()) + struct timeval now; + gettimeofday(&now, NULL); + double current_time = TIMEVAL_DIFF(now, g_options.start_time); + + int id = 0; + double start_time = 0; + double end_time = current_time; + char * fmt_str; + + // key/value pairs + FCGIValue values[] = { + {"id", &id, FCGI_REQUIRED(FCGI_LONG_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))) { - Fatal("This function should not be called before Thread_QuitProgram"); + // Error occured; FCGI_RejectJSON already called + return; } - for (int i = 0; i < NUMSENSORS; ++i) + + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) { - pthread_join(g_sensors[i].thread, NULL); - Destroy(g_sensors+i); + Log(LOGERR, "Invalid id %d", id); + FCGI_RejectJSON(context, "Invalid id"); // Whoops, I do still need this! } + + DataFormat format = JSON; + + // 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); + } + + // 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); + } + + // Finish response + Sensor_EndResponse(context, id, format); + } + +