X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=8914817db7ed01dc8d0b2dd9ff0973fb868c9f1b;hb=bbd64b3c32d79d247c7535693aafa20a3baba6b8;hp=d1d8b9fc04bd9d06c859d8031c76f1e7abb949a5;hpb=43c1519cb60f8fef09043b9af6f43d319db12e3d;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index d1d8b9f..8914817 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -1,17 +1,344 @@
 /**
  * @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 <math.h>
+
+/** 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"
+};
+
+/**
+ * One off initialisation of *all* sensors
+ */
+void Sensor_Init()
+{
+	for (int i = 0; i < NUMSENSORS; ++i)
+	{
+		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 DIGITAL_TEST1:
+			d->value = (t.tv_sec+1)%2;
+			break;
+		default:
+			Fatal("Unknown sensor id: %d", s->id);
+			break;
+	}	
+	usleep(100000); // simulate delay in sensor polling
+
+	// 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;
+}
+
+/**
+ * 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);	
+			}
+		}
+	}
+	*/
+}
+		
 
 /**
- * Run the main sensor polling loop
- * @param args - IGNORED (void* required to use the function with pthreads)
+ * 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 * args)
+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;
 }
+
+/**
+ * Get a Sensor given an ID string
+ * @param id_str ID string
+ * @returns Sensor* identified by the string; NULL on error
+ */
+Sensor * Sensor_Identify(const char * id_str)
+{
+	char * end;
+	// Parse string as integer
+	int id = strtol(id_str, &end, 10);
+	if (*end != '\0')
+	{
+		return NULL;
+	}
+	// Bounds check
+	if (id < 0 || id >= NUMSENSORS)
+		return NULL;
+
+
+	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;
+	}
+}
+
+/**
+ * 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, SensorId id, DataFormat format)
+{
+	// 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);
+
+	int id = 0;
+	double start_time = 0;
+	double end_time = current_time;
+	char * fmt_str;
+
+	// key/value pairs
+	FCGIValue values[] = {
+		{"id", &id, FCGI_REQUIRED(FCGI_LONG_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;
+	}
+
+	// Error checking on sensor id
+	if (id < 0 || id >= NUMSENSORS)
+	{
+		Log(LOGERR, "Invalid id %d", id);
+		FCGI_RejectJSON(context, "Invalid id"); // Whoops, I do still need this!
+	}
+	
+	DataFormat format = JSON;
+
+	// 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);
+	}
+
+	// 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;
+
+		// 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;
+		pthread_mutex_unlock(&(s->data_file.mutex));
+
+		// Print points by indexes
+		Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
+	}
+	
+	// Finish response
+	Sensor_EndResponse(context, id, format);
+	
+}
+
+