X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=98896e8b44aaac34002fefdd6eb88081b3a22921;hb=0ef0945e8d83258400fabc61fa81725c5e8e533f;hp=d1d8b9fc04bd9d06c859d8031c76f1e7abb949a5;hpb=733a9b968264c48b5340693ce17e1874c1aeff77;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index d1d8b9f..98896e8 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,17 +1,407 @@ /** * @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 + +/** Array of sensors, initialised by Sensor_Init **/ +static Sensor g_sensors[NUMSENSORS]; //global to this file + +/** Array of sensor threshold structures defining the safety values of each sensor**/ +const SensorThreshold thresholds[NUMSENSORS]= { + //Max Safety, Min safety, Max warning, Min warning + {1,-1,1,-1}, // ANALOG_TEST0 + {500,0,499,0}, // ANALOG_TEST1 + {5000,0,5000,0}, // ANALOG_REALTEST + {5,-5,4,-4}, // ANALOG_FAIL0 + {1,0,1,0}, // DIGITAL_TEST0 + {1,0,1,0}, // DIGITAL_TEST1 + {1,0,1,0}, // DIGITAL_REALTEST + {1,0,1,0} // DIGITAL_FAIL0 +}; + +/** Human readable names for the sensors **/ +const char * g_sensor_names[NUMSENSORS] = { + "analog_test0", "analog_test1", + "analog_realtest", "analog_fail0", + "digital_test0", "digital_test1", + "digital_realtest", "digital_fail0" +}; + +/** + * 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)); + } + + // Get the ADCs + ADC_Export(); + + // GPIO1_28 used as a pulse for sampling + GPIO_Export(GPIO1_28); + // GPIO0_30 toggled during sampling + GPIO_Export(GPIO0_30); +} + +/** + * 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_name = (const char*) arg; + + if (snprintf(filename, BUFSIZ, "%s_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); + } + 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; + + case CONTROL_STOP: + if (s->activated) //May have been paused before + { + s->activated = false; + pthread_join(s->thread, NULL); + } + + Data_Close(&(s->data_file)); // Close DataFile + s->newest_data.time_stamp = 0; + s->newest_data.value = 0; + Log(LOGDEBUG, "Stopped sensor %d", s->id); + break; + default: + Fatal("Unknown control mode: %d", mode); + } +} /** - * Run the main sensor polling loop - * @param args - IGNORED (void* required to use the function with pthreads) + * 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) +{ + for (int i = 0; i < NUMSENSORS; i++) + Sensor_SetMode(&g_sensors[i], mode, arg); +} + + +/** + * 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) +{ + if( value > thresholds[id].max_error || value < thresholds[id].min_error) + { + Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error); + //new function that stops actuators? + //Control_SetMode(CONTROL_EMERGENCY, NULL) + } + else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn) + { + Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn); + } +} + + +/** + * 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, *Control_GetStartTime()); + + static bool result = true; + + + // Read value based on Sensor Id + switch (s->id) + { + case ANALOG_REALTEST: + { + static bool set = false; + + GPIO_Set(GPIO0_30, true); + d->value = 0;//(double)ADC_Read(ADC0); //ADC #0 on the Beaglebone + //Log(LOGDEBUG, "Got value %f from ADC0", d->value); + GPIO_Set(GPIO0_30, false); + set = !set; + GPIO_Set(GPIO1_28, set); + + break; + } + + default: + d->value = rand() % 2; + usleep(1000000); + break; + + + case ANALOG_TEST0: + { + d->value = (double)(rand() % 100) / 100; + break; + } + case ANALOG_TEST1: + { + static int count = 0; + count %= 500; + d->value = count++; + break; + } + + case ANALOG_FAIL0: + d->value = 0; + //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1); + //Gives a value between -5 and 5 + break; + case DIGITAL_TEST0: + d->value = t.tv_sec % 2; + + break; + case DIGITAL_TEST1: + d->value = (t.tv_sec+1)%2; + break; + case DIGITAL_REALTEST: + { + // Can pass pin as argument, just using 20 as an example here + // Although since pins will be fixed, can just define it here if we need to + //d->value = pinRead(20); //Pin 20 on the Beaglebone + 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 + break; + //default: + // Fatal("Unknown sensor id: %d", s->id); + // break; + } + + + // Perform sanity check based on Sensor's ID and the DataPoint + Sensor_CheckData(s->id, d->value); + + // Update latest DataPoint if necessary + + if (result) + { + s->newest_data.time_stamp = d->time_stamp; + s->newest_data.value = d->value; + } + return result; +} + +/** + * 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); + Log(LOGDEBUG, "Sensor %d starts", s->id); + + // Until the sensor is stopped, record data points + while (s->activated) + { + 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; +} + +/** + * 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 id - ID of sensor + * @param format - Format + */ +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_JSONPair("name", g_sensor_names[id]); + 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, *Control_GetStartTime()); + + int id = 0; + double start_time = 0; + double end_time = current_time; + const 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)/sizeof(FCGIValue))) + { + // Error occured; FCGI_RejectJSON already called + return; + } + + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) + { + FCGI_RejectJSON(context, "Invalid sensor id"); + return; + } + Sensor * s = g_sensors+id; + + DataFormat format = Data_GetFormat(&(values[FORMAT])); + + // Begin response + Sensor_BeginResponse(context, id, format); + + // Print Data + Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time); + // Finish response + Sensor_EndResponse(context, id, format); } + + +