X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=0edb086e0c46876ab77a96744698313409034cd5;hb=de5c190385d1b963a3fe1f3c186dc0b3efa31bc4;hp=8914817db7ed01dc8d0b2dd9ff0973fb868c9f1b;hpb=bbd64b3c32d79d247c7535693aafa20a3baba6b8;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index 8914817..0edb086 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -15,7 +15,8 @@ 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"
+	"analog_fail0",	"digital_test0", 
+	"digital_test1", "digital_fail0"
 };
 
 /**
@@ -27,7 +28,7 @@ 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;	
 	}
 }
 
@@ -38,13 +39,20 @@ void Sensor_Init()
  */
 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!
+
+	// Create the thread
 	pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
 }
 
@@ -54,11 +62,14 @@ void Sensor_Start(Sensor * s, const char * experiment_name)
  */
 void Sensor_Stop(Sensor * s)
 {
+	// Stop
 	if (s->record_data)
 	{
 		s->record_data = false;
-		pthread_join(s->thread, NULL);
-		Data_Close(&(s->data_file));
+		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;
 	}
 }
 
@@ -80,6 +91,45 @@ 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)
+{
+	switch (sensor_id)
+	{
+		case ANALOG_FAIL0:
+		{
+			if( value > ANALOG_FAIL0_SAFETY || value < ANALOG_FAIL0_MIN_SAFETY)
+			{
+				Log(LOGERR, "Sensor analog_fail0 is above or below its safety value of %d or %d\n", ANALOG_FAIL0_SAFETY, ANALOG_FAIL0_MIN_SAFETY);
+			//new function that stops actuators?
+			}
+			else if( value > ANALOG_FAIL0_WARN || value < ANALOG_FAIL0_MIN_WARN)
+			{
+				Log(LOGWARN, "Sensor analog_test0 is above or below its warning value of %d or %d\n", ANALOG_FAIL0_WARN, ANALOG_FAIL0_MIN_WARN);	
+			}
+			break;
+		}
+		case DIGITAL_FAIL0:
+		{	
+			if( value != 0 && value != 1)
+			{
+				Log(LOGERR, "Sensor digital_fail0 is not 0 or 1\n");
+			}
+			break;
+		}
+		default:
+		{
+		//So it doesn't complain about the missing cases - in practice we will need all sensors to be checked as above, no need to include a default as we should only pass valid sensor_id's; unless for some reason we have a sensor we don't need to check (but then why would you pass to this function in the first place :P)
+		}
+	}
+}
+
+
 /**
  * Read a DataPoint from a Sensor; block until value is read
  * @param id - The ID of the sensor
@@ -107,12 +157,24 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 			d->value = count++;
 			break;
 		}
+		case ANALOG_FAIL0:
+			d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+			//Gives a value between -5 and 5
+			CheckSensor(sensor_id, d->value);
+			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
+			CheckSensor(sensor_id, d->value);
+			break;
 		default:
 			Fatal("Unknown sensor id: %d", s->id);
 			break;
@@ -127,39 +189,11 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 	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
-	/*
-	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
@@ -168,18 +202,23 @@ void Sensor_CheckData(SensorId id, DataPoint * d)
 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)
 	{
 		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:
 		{
+			//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, "Sensor %d finished", s->id);
 	return NULL;
 }
 
@@ -209,8 +248,8 @@ Sensor * Sensor_Identify(const char * id_str)
 /**
  * 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)
 {
@@ -261,11 +300,11 @@ void Sensor_Handler(FCGIContext *context, char * params)
 	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},
@@ -280,19 +319,19 @@ void Sensor_Handler(FCGIContext *context, char * params)
 	} 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)
+	else if (id < 0 || id >= NUMSENSORS)
 	{
-		Log(LOGERR, "Invalid id %d", id);
-		FCGI_RejectJSON(context, "Invalid id"); // Whoops, I do still need this!
+		FCGI_RejectJSON(context, "Invalid sensor id specified");
+		return;
 	}
-	
+
+	// Get Sensor and format
+	Sensor * s = g_sensors+id;
 	DataFormat format = JSON;
 
 	// Check if format type was specified
@@ -302,13 +341,13 @@ void Sensor_Handler(FCGIContext *context, char * params)
 			format = JSON;
 		else if (strcmp(fmt_str, "tsv") == 0)
 			format = TSV;
-		else
-			Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
+		else 
+		{
+			FCGI_RejectJSON(context, "Unknown format type specified.");
+			return;
+		}
 	}
 
-	// Get Sensor
-	Sensor * s = g_sensors+id;
-	
 	// Begin response
 	Sensor_BeginResponse(context, id, format);
 	
@@ -323,16 +362,22 @@ void Sensor_Handler(FCGIContext *context, char * params)
 
 		// 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;
+			int end_index = s->data_file.num_points;
 		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);
 	}
 	
@@ -342,3 +387,4 @@ void Sensor_Handler(FCGIContext *context, char * params)
 }
 
 
+