X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;ds=sidebyside;f=server%2Fsensor.c;h=5d618589d6e6a25ade5c45beb065f9f3aba32581;hb=386b08fd98454455c5b5eb5fbaeaf83126897f9f;hp=0bbfc94ec0e7b0217f1ad7dbeb28990ddc08c582;hpb=54d8526bce34af6b0d3a08c84e9d0bdfa6963224;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index 0bbfc94..5d61858 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -12,10 +12,22 @@
 /** 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
+	{1,-1,1,-1},		// ANALOG_TEST0
+	{500,0,499,0},		// ANALOG_TEST1
+	{5,-5,4,-4},		// ANALOG_FAIL0
+	{1,0,1,0},		// DIGITAL_TEST0
+	{1,0,1,0},		// DIGITAL_TEST1
+	{1,0,1,0}		// DIGITAL_FAIL0
+};
+
 /** Human readable names for the sensors **/
 const char * g_sensor_names[NUMSENSORS] = {	
 	"analog_test0", "analog_test1", 
-	"digital_test0", "digital_test1"
+	"analog_fail0",	"digital_test0", 
+	"digital_test1", "digital_fail0"
 };
 
 /**
@@ -27,7 +39,7 @@ void Sensor_Init()
 	{
 		g_sensors[i].id = i;
 		Data_Init(&(g_sensors[i].data_file));
-		g_sensors[i].record_data = false;
+		g_sensors[i].record_data = false;	
 	}
 }
 
@@ -90,6 +102,26 @@ void Sensor_StartAll(const char * experiment_name)
 		Sensor_Start(g_sensors+i, experiment_name);
 }
 
+
+/**
+ * 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 is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+		//new function that stops actuators?
+	}
+	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);	
+	}
+}
+
+
 /**
  * Read a DataPoint from a Sensor; block until value is read
  * @param id - The ID of the sensor
@@ -110,19 +142,29 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 		case ANALOG_TEST0:
 			d->value = (double)(rand() % 100) / 100;
 			break;
-
 		case ANALOG_TEST1:
 		{
 			static int count = 0;
+			count %= 500;
 			d->value = count++;
 			break;
 		}
+		case ANALOG_FAIL0:
+			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_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;
@@ -130,7 +172,7 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 	usleep(100000); // simulate delay in sensor polling
 
 	// 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);
@@ -142,35 +184,6 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 	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
-	/*
-	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);	
-			}
-		}
-	}
-	*/
-}
-		
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -364,3 +377,4 @@ void Sensor_Handler(FCGIContext *context, char * params)
 }
 
 
+