X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=8406870596ca1fa97735e9f6b9aa64662ffc84b2;hb=289794ba2dcbe6234e25e5d00531b26baee342b7;hp=34c931097b567e6fd108f3f45fb317fc99afc574;hpb=2e3ab88d1282fc893c9bd615911aaedc9e552178;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index 34c9310..8406870 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -1,299 +1,375 @@
 /**
  * @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"
+#include "bbb_pin.h"
 #include <math.h>
 
 /** Array of sensors, initialised by Sensor_Init **/
-static Sensor g_sensors[NUMSENSORS]; //global to this file
-
-/**
- * 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 on error, 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 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 the sensor added
  */
-DataPoint * GetData(int sensor_id, DataPoint * d)
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, double max_error, double min_error, double max_warn, double min_warn)
 {
-	// 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
-
-	
-	//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
-	gettimeofday(&(d->time_stamp), NULL);
-	
-	switch (sensor_id)
+	if (++g_num_sensors > SENSORS_MAX)
 	{
-		case SENSOR_TEST0:
-		{
-			static int count = 0;
-			d->value = count++;
-			break;
-		}
-		case SENSOR_TEST1:
-			d->value = (float)(rand() % 100) / 100;
-			break;
-		default:
-			Fatal("Unknown sensor id: %d", sensor_id);
-			break;
-	}	
-	usleep(100000); // simulate delay in sensor polling
-
-	return d;
+		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]);
+
+	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
+	if (init != NULL)
+		init(name, user_id); // Call it
+
+	// Set warning/error thresholds
+	s->thresholds.max_error = max_error;
+	s->thresholds.min_error = min_error;
+	s->thresholds.max_warn = max_warn;
+	s->thresholds.min_warn = min_warn;
+
+	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/piped.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, 1e50,-1e50,1e50,-1e50);	
+	Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, 1e50,-1e50,1e50,-1e50);	
+	//Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
+	//Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, 5000,0,5000,0);
+	//Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, 5000,0,5000,0);
+	//Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, 5000,0,5000,0);
+	//Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, 5000,0,5000,0);
+	//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->read_offset = 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);
 	}
-
-	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
- * @param arg - Cast to Sensor* - Sensor that the thread will handle
- * @returns NULL (void* required to use the function with pthreads)
+ * 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_Main(void * arg)
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
 {
-	Sensor * s = (Sensor*)(arg);
-
-	while (Thread_Runstate() == RUNNING) //TODO: Exit condition
+	switch(mode)
 	{
-		// 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 = &(s->buffer[s->write_index]);
-			if (GetData(s->id, d) == NULL)
+		case CONTROL_START:
 			{
-				Fatal("Error collecting data");
+				// Set filename
+				char filename[BUFSIZ];
+				const char *experiment_name = (const char*) arg;
+
+				if (snprintf(filename, BUFSIZ, "%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->write_index += 1;
-		}
+		case CONTROL_RESUME: //Case fallthrough, no break before
+			{
+				int ret;
+				s->activated = true; // Don't forget this!
 
-		//Log(LOGDEBUG, "Filled buffer");
+				// 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);
+				}
 
-		// 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)
+				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;
+		
+		case CONTROL_STOP:
+			if (s->activated) //May have been paused before
 			{
-				Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno));
+				s->activated = false;
+				pthread_join(s->thread, NULL);
 			}
-			//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
-		
+			Data_Close(&(s->data_file)); // Close DataFile
+			Log(LOGDEBUG, "Stopped sensor %d", s->id);
+		break;
+		default:
+			Fatal("Unknown control mode: %d", mode);
 	}
-	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
+ * 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.
  */
-int Sensor_Query(Sensor * s, DataPoint * buffer, int bufsiz)
+void Sensor_SetModeAll(ControlModes mode, void * arg)
 {
-	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;
+	for (int i = 0; i < g_num_sensors; i++)
+		Sensor_SetMode(&g_sensors[i], mode, arg);
 }
 
+
 /**
- * Get a Sensor given an ID string
- * @param id_str ID string
- * @returns Sensor* identified by the string; NULL on error
+ * 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
  */
-Sensor * Sensor_Identify(const char * id_str)
+void Sensor_CheckData(Sensor * s, double value)
 {
-	char * end;
-	// Parse string as integer
-	int id = strtol(id_str, &end, 10);
-	if (*end != '\0')
+	if( value > s->thresholds.max_error || value < s->thresholds.min_error)
 	{
-		return NULL;
+		Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n",s->name,value, s->thresholds.max_error, s->thresholds.min_error);
+		//new function that stops actuators?
+		//Control_SetMode(CONTROL_EMERGENCY, NULL)
+	}
+	else if( value > s->thresholds.max_warn || value < s->thresholds.min_warn)
+	{
+		Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", s->name,value,s->thresholds.max_warn, s->thresholds.min_warn);	
 	}
-	// Bounds check
-	if (id < 0 || id > NUMSENSORS)
-		return NULL;
-
-	return g_sensors+id;
 }
 
+
 /**
- * Handle a request to the sensor module
- * @param context - The context to work in
- * @param params - Parameters passed
+ * 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_Handler(FCGIContext *context, char * params)
+void * Sensor_Loop(void * arg)
 {
-	DataPoint buffer[SENSOR_QUERYBUFSIZ];
-	StatusCodes status = STATUS_OK;
-	const char * key; const char * value;
-
-	Sensor * sensor = NULL;
+	Sensor * s = (Sensor*)(arg);
+	Log(LOGDEBUG, "Sensor %d starts", s->id);
 
-	while ((params = FCGI_KeyPair(params, &key, &value)) != NULL)
+	// Until the sensor is stopped, record data points
+	while (s->activated)
 	{
-		Log(LOGDEBUG, "Got key=%s and value=%s", key, value);
-		if (strcmp(key, "id") == 0)
+		DataPoint d;
+		d.value = 0;
+		bool success = s->read(s->user_id, &(d.value));
+
+		struct timeval t;
+		gettimeofday(&t, NULL);
+		d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());	
+		
+		if (success)
 		{
-			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;
-			}
+
+			Sensor_CheckData(s, d.value);
+			Data_Save(&(s->data_file), &d, 1); // Record it
 		}
 		else
-		{
-			Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value);
-			status = STATUS_ERROR;
-			break;
-		}		
-	}
+			Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
 
-	if (status != STATUS_ERROR && sensor == NULL)
-	{
-		Log(LOGERR, "No valid sensor id given");
-		status = STATUS_ERROR;
+		usleep(1e5); //TODO: Adjust appropriately 
 	}
+	
+	// Needed to keep pthreads happy
+	Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
+	return NULL;
+}
 
-	if (status == STATUS_ERROR)
+/**
+ * Get a Sensor given its name
+ * @returns Sensor with the given name, NULL if there isn't one
+ */
+Sensor * Sensor_Identify(const char * name)
+{	
+	for (int i = 0; i < g_num_sensors; ++i)
 	{
-		FCGI_RejectJSON(context);
+		if (strcmp(g_sensors[i].name, name) == 0)
+			return &(g_sensors[i]);
 	}
-	else
-	{
+	return NULL;
+}
 
-		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?
-			//NOTE: Must always use doubles; floats get rounded!
-			double time = buffer[i].time_stamp.tv_sec + 1e-6*(buffer[i].time_stamp.tv_usec);
-			FCGI_JSONValue("[%f, %f]", time, buffer[i].value);
-			if (i+1 < amount_read)
-				FCGI_JSONValue(",");
-		}
-		FCGI_JSONValue("]");
-		//Log(LOGDEBUG, "Done producing JSON response");
-		FCGI_EndJSON();	
+/**
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of sensor
+ * @param format - Format
+ */
+void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
+{
+	// Begin response
+	switch (format)
+	{
+		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;
 	}
 }
 
 /**
- * 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, Sensor * s, 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, *Control_GetStartTime());
+
+	int id = 0;
+	const char * name = "";
+	double start_time = 0;
+	double end_time = current_time;
+	const char * fmt_str;
+
+	// 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},
+	};
+
+	// enum to avoid the use of magic numbers
+	typedef enum {
+		ID,
+		NAME,
+		FORMAT,
+		START_TIME,
+		END_TIME,
+	} SensorParams;
+	
+	// Fill values appropriately
+	if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
 	{
-		Fatal("This function should not be called before Thread_QuitProgram");
+		// Error occured; FCGI_RejectJSON already called
+		return;
 	}
-	for (int i = 0; i < NUMSENSORS; ++i)
+
+	Sensor * s = &(g_sensors[id]); // If id was not supplied, this defaults to &(g_sensors[0])
+	if (FCGI_RECEIVED(values[NAME].flags))
 	{
-		pthread_join(g_sensors[i].thread, NULL);
-		Destroy(g_sensors+i);
+		if (FCGI_RECEIVED(values[ID].flags))
+		{
+			FCGI_RejectJSON(context, "Can't supply both sensor id and name");
+			return;
+		}
+		s = Sensor_Identify(name);
+		if (s == NULL)
+		{
+			FCGI_RejectJSON(context, "Unknown sensor name");
+			return;
+		}
 	}
+	else if (!FCGI_RECEIVED(values[ID].flags))
+	{
+		FCGI_RejectJSON(context, "No sensor id or name supplied");
+		return;
+	}
+
+	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);
 }
+
+/**
+ * Get the Name of a Sensor
+ * @param id - ID number
+ */
+const char * Sensor_GetName(int id)
+{
+	return g_sensors[id].name;
+}
+
+
+