X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=53b3f038f79209fef9451bbb5b2b742db73c05e3;hb=75b9743b95672218a61811b03433c0ab6e00ec5c;hp=79dd82ee946558b6cd72ad2aa45085147ca5a789;hpb=7518a87e619085f9622d268dd7130726b5947dea;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 79dd82e..53b3f03 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -7,200 +7,306 @@ #include "common.h" #include "sensor.h" #include "options.h" +#include "bbb_pin.h" #include /** Array of sensors, initialised by Sensor_Init **/ -static Sensor g_sensors[NUMSENSORS]; //global to this file -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 +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 */ -DataPoint * GetData(SensorId sensor_id, DataPoint * d) +int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity) { - // 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 + if (++g_num_sensors > SENSORS_MAX) + { + 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]); - - //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 - - 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); + 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 - // 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) + // Start by averaging values taken over a second + DOUBLE_TO_TIMEVAL(1, &(s->sample_time)); + s->averages = 1; + s->num_read = 0; + + // Set sanity function + s->sanity = sanity; + + if (init != NULL) { - case ANALOG_TEST0: - { - 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; - case DIGITAL_TEST1: - d->value = (t.tv_sec+1)%2; - break; - default: - Fatal("Unknown sensor id: %d", sensor_id); - break; - } - usleep(100000); // simulate delay in sensor polling + if (!init(name, user_id)) + Fatal("Couldn't init sensor %s", name); + } - return d; + 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; } - /** - * Destroy a sensor - * @param s - Sensor to destroy + * Initialise all sensors used by the program + * TODO: Edit this to add any extra sensors you need + * TODO: Edit the includes as well */ -void Destroy(Sensor * s) +#include "sensors/resource.h" +#include "sensors/strain.h" +#include "sensors/pressure.h" +void Sensor_Init() { - // Maybe move the binary file into long term file storage? - fclose(s->file); + //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); } - - /** - * Initialise a sensor - * @param s - Sensor to initialise + * Cleanup all sensors */ -void Init(Sensor * s, int id) +void Sensor_Cleanup() { - s->write_index = 0; - s->id = id; - - #define FILENAMESIZE 3 - char filename[FILENAMESIZE]; - if (s->id >= pow(10, FILENAMESIZE)) + for (int i = 0; i < g_num_sensors; ++i) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + Sensor * s = g_sensors+i; + if (s->cleanup != NULL) + s->cleanup(s->user_id); } + g_num_sensors = 0; +} + +/** + * 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. + */ +void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) +{ + switch(mode) + { + 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); + } - pthread_mutex_init(&(s->mutex), NULL); + 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! + + // 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); + } + + 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; - sprintf(filename, "%d", s->id); - unlink(filename); //TODO: Move old files somewhere + case CONTROL_STOP: + if (s->activated) //May have been paused before + { + s->activated = false; + pthread_join(s->thread, NULL); + } - s->file = fopen(filename, "a+b"); // open binary file - Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename); + Data_Close(&(s->data_file)); // Close DataFile + Log(LOGDEBUG, "Stopped sensor %d", s->id); + break; + default: + Fatal("Unknown control mode: %d", mode); + } +} + +/** + * 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_SetModeAll(ControlModes mode, void * arg) +{ + 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(); } /** - * 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); + Log(LOGDEBUG, "Sensor %d starts", s->id); - while (Thread_Runstate() == RUNNING) //TODO: Exit condition + // Until the sensor is stopped, record data points + while (s->activated) { - // 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 + + bool success = s->read(s->user_id, &(s->current_data.value)); - while (s->write_index < SENSOR_DATABUFSIZ) + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); + + if (success) { - DataPoint * d = &(s->buffer[s->write_index]); - if (GetData(s->id, d) == NULL) + if (s->sanity != NULL) { - Fatal("Error collecting data"); + 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->write_index += 1; - } - - //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) + s->averaged_data.time_stamp += s->current_data.time_stamp; + s->averaged_data.value = s->current_data.value; + + if (++(s->num_read) >= s->averages) { - Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno)); + 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; } - //Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id); - pthread_mutex_unlock(&(s->mutex)); - // End of critical section + } + 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); + } + - s->write_index = 0; // reset position in buffer + clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL); } - Log(LOGDEBUG, "Thread for sensor %d exits", s->id); - return NULL; + + // Needed to keep pthreads happy + Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_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 + * Get a Sensor given its name + * @returns Sensor with the given name, NULL if there isn't one */ -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; +Sensor * Sensor_Identify(const char * name) +{ + for (int i = 0; i < g_num_sensors; ++i) + { + if (strcmp(g_sensors[i].name, name) == 0) + return &(g_sensors[i]); + } + return NULL; } /** - * Get a Sensor given an ID string - * @param id_str ID string - * @returns Sensor* identified by the string; NULL on error + * Helper: Begin sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of sensor + * @param format - Format */ -Sensor * Sensor_Identify(const char * id_str) +void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format) { - char * end; - // Parse string as integer - int id = strtol(id_str, &end, 10); - if (*end != '\0') + // Begin response + switch (format) { - return NULL; + case JSON: + FCGI_BeginJSON(context, STATUS_OK); + 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"); + break; } - // Bounds check - if (id < 0 || id >= NUMSENSORS) - return NULL; - +} - Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]); - return g_sensors+id; +/** + * Helper: End sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of the sensor + * @param format - Format + */ +void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format) +{ + // End response + switch (format) + { + case JSON: + FCGI_EndJSON(); + break; + default: + break; + } } /** @@ -210,148 +316,111 @@ Sensor * Sensor_Identify(const char * id_str) */ void Sensor_Handler(FCGIContext *context, char * params) { - DataPoint buffer[SENSOR_QUERYBUFSIZ]; - StatusCodes status = STATUS_OK; - - enum {DEFAULT, DUMP} operation = DEFAULT; - - const char * key; const char * value; - - Sensor * sensor = NULL; + 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; + const char * fmt_str; + double sample_s = 0; + + // key/value pairs + FCGIValue values[] = { + {"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)/sizeof(FCGIValue))) + { + // Error occured; FCGI_RejectJSON already called + return; + } - while ((params = FCGI_KeyPair(params, &key, &value)) != NULL) + Sensor * s = NULL; + if (FCGI_RECEIVED(values[NAME].flags)) { - Log(LOGDEBUG, "Got key=%s and value=%s", key, value); - if (strcmp(key, "id") == 0) + if (FCGI_RECEIVED(values[ID].flags)) { - 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; - } + FCGI_RejectJSON(context, "Can't supply both sensor id and name"); + return; } - else if (strcmp(key, "dump") == 0) + s = Sensor_Identify(name); + if (s == NULL) { - if (operation != DEFAULT) - { - Log(LOGERR, "Operation already specified!"); - status = STATUS_ERROR; - break; - } - operation = DUMP; + FCGI_RejectJSON(context, "Unknown sensor name"); + return; } - else - { - Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value); - status = STATUS_ERROR; - break; - } } - - if (status != STATUS_ERROR && sensor == NULL) + else if (!FCGI_RECEIVED(values[ID].flags)) { - Log(LOGERR, "No valid sensor id given"); - status = STATUS_ERROR; + FCGI_RejectJSON(context, "No sensor id or name supplied"); + return; } - - if (status == STATUS_ERROR) + else if (id < 0 || id >= g_num_sensors) { - FCGI_RejectJSON(context); + FCGI_RejectJSON(context, "Invalid sensor id"); return; } - - switch (operation) + else { - case DUMP: - { - //Force download with content-disposition - FCGI_PrintRaw("Content-type: text/plain\r\n" - "Content-disposition: attachment;filename=%d.csv\r\n\r\n", - sensor->id); - //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); - } + s = &(g_sensors[id]); + } - } - while (amount_read == SENSOR_QUERYBUFSIZ); - pthread_mutex_unlock(&(sensor->mutex)); - // end critical section - break; - } - default: + // Adjust sample rate if necessary + if (FCGI_RECEIVED(values[SAMPLE_S].flags)) + { + if (sample_s < 0) { - 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(); - break; - } + FCGI_RejectJSON(context, "Negative sampling speed!"); + return; + } + DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time)); } + + + 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); + } /** - * Setup Sensors, start Sensor polling thread(s) + * Get the Name of a Sensor + * @param id - ID number */ -void Sensor_Spawn() +const char * Sensor_GetName(int id) { - // start sensor threads - for (int i = 0; i < NUMSENSORS; ++i) - { - Init(g_sensors+i, i); - pthread_create(&(g_sensors[i].thread), NULL, Sensor_Main, (void*)(g_sensors+i)); - } + return g_sensors[id].name; } -/** - * Quit Sensor loops - */ -void Sensor_Join() +DataPoint Sensor_LastData(int id) { - if (!Thread_Runstate()) - { - Fatal("This function should not be called before Thread_QuitProgram"); - } - for (int i = 0; i < NUMSENSORS; ++i) - { - pthread_join(g_sensors[i].thread, NULL); - Destroy(g_sensors+i); - } + Sensor * s = &(g_sensors[id]); + return s->current_data; } + +