X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=2e08a304bd96744dea68d6b242f69d3ced5c6012;hb=8f94dbb551783aad414b57ba6da4596f19dc80a6;hp=b7461343998c28f028d8cedeaa6bfe297e4849b7;hpb=67ad2d5fd59cdc5a78ce8202ccef93a8351e16cb;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index b746134..2e08a30 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,127 +1,341 @@ /** * @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 +/** 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" +}; + /** - * 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; + 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) +{ + + // 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) + { + case ANALOG_TEST0: + d->value = (double)(rand() % 100) / 100; + break; + + case ANALOG_TEST1: + { + static int count = 0; + d->value = count++; + break; + } + case DIGITAL_TEST0: + d->value = t.tv_sec % 2; break; - case SENSOR_TEST1: - d.value = (float)(rand() % 100) / 100; + case DIGITAL_TEST1: + 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); + + // 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; +} /** - * Destroy a sensor - * @param s - Sensor to destroy + * Checks the sensor data for unsafe or unexpected results + * @param sensor_id - The ID of the sensor + * @param d - DataPoint to check */ -void Destroy(Sensor * s) +void Sensor_CheckData(SensorId id, DataPoint * d) { - // Maybe move the binary file into long term file storage? - fclose(s->file); + //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 + * @returns NULL (void* required to use the function with pthreads) + */ +void * Sensor_Loop(void * arg) +{ + Sensor * s = (Sensor*)(arg); + // Until the sensor is stopped, record data points + while (s->record_data) + { + DataPoint d; + if (Sensor_Read(s, &d)) // If new DataPoint is read: + { + Data_Save(&(s->data_file), &d, 1); // Record it + } + } + + // Needed to keep pthreads happy + return NULL; +} /** - * Initialise a sensor - * @param s - Sensor to initialise + * Get a Sensor given an ID string + * @param id_str ID string + * @returns Sensor* identified by the string; NULL on error */ -void Sensor_Init(Sensor * s, int id) +Sensor * Sensor_Identify(const char * id_str) { - s->write_index = 0; - s->read_offset = 0; - s->id = id; - - #define FILENAMESIZE 4 - char filename[FILENAMESIZE]; - if (s->id >= pow(10, FILENAMESIZE)) + char * end; + // Parse string as integer + int id = strtol(id_str, &end, 10); + if (*end != '\0') { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + return NULL; } - - sprintf(filename, "%d", s->id); - unlink(filename); //TODO: Move old files somewhere + // Bounds check + if (id < 0 || id >= NUMSENSORS) + return NULL; - s->file = fopen(filename, "a+b"); // open binary file - Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename); + + 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 format - Format + * @param id - ID of sensor + */ +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_JSONKey("data"); + break; + default: + FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); + break; + } +} /** - * Run the main sensor polling loop - * @param arg - Cast to Sensor* - Sensor that the thread will handle - * @returns NULL (void* required to use the function with pthreads) + * Helper: End sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of the sensor + * @param format - Format */ -void * Sensor_Main(void * arg) +void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format) { - Sensor * s = (Sensor*)(arg); + // End response + switch (format) + { + case JSON: + FCGI_EndJSON(); + break; + default: + break; + } +} + +/** + * 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, g_options.start_time); + + double start_time = 0; + double end_time = current_time; + 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))) + { + // Error occured; FCGI_RejectJSON already called + return; + } - while (true) //TODO: Exit condition + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) { - // 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 + Log(LOGERR, "Invalid id %d", id); + FCGI_RejectJSON(); // Whoops, I do still need this! + } - // 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 + // 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); + } - while (s->write_index < SENSOR_DATABUFSIZ) - { - s->buffer[s->write_index] = GetData(s->id); - s->write_index += 1; - } + // 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; - //Log(LOGDEBUG, "Filled buffer"); + // Print points by time range + Data_PrintByTimes(&(s->data_file), start_time, end_time, format); - // 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 + } + 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)); - s->write_index = 0; // reset position in buffer - + // Print points by indexes + Data_PrintByIndexes(&(s->data_file), start_index, end_index, format); } - return NULL; + + // Finish response + Sensor_EndResponse(context, id, format); + }