X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=98896e8b44aaac34002fefdd6eb88081b3a22921;hb=e0f849d11ae14ee0637786b6663436aafff90254;hp=8115a3b3de6232f6bde043a1100c4633ee480a86;hpb=aad2d0b9707f863eeb09d53cd15b5758ccb1b4e2;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 8115a3b..98896e8 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,183 +1,283 @@ /** * @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 -static const char * g_sensor_names[] = {"analog_test0","analog_test1","digital_test0"}; + +/** 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" +}; + /** - * Read a data value from a sensor; block until value is read + * 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); + } +} + +/** + * 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 d - DataPoint to set - * @returns NULL for digital sensors when data is unchanged, otherwise d + * @param value - The value from the sensor to test */ -DataPoint * GetData(int sensor_id, DataPoint * d) +void Sensor_CheckData(SensorId id, double value) { - // 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( 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) +{ - //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 - + // Set time stamp 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); + d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); - // 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; + static bool result = true; + - switch (sensor_id) + // 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_TEST1: - d->value = (double)(rand() % 100) / 100; + + case ANALOG_FAIL0: + d->value = 0; + //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1); + //Gives a value between -5 and 5 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); + 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; } - usleep(100000); // simulate delay in sensor polling - - return d; -} - - -/** - * Destroy a sensor - * @param s - Sensor to destroy - */ -void Destroy(Sensor * s) -{ - // Maybe move the binary file into long term file storage? - fclose(s->file); -} - - + -/** - * Initialise a sensor - * @param s - Sensor to initialise - */ -void Init(Sensor * s, int id) -{ - s->write_index = 0; - s->id = id; + // Perform sanity check based on Sensor's ID and the DataPoint + Sensor_CheckData(s->id, d->value); - #define FILENAMESIZE 3 - char filename[FILENAMESIZE]; - if (s->id >= pow(10, FILENAMESIZE)) + // Update latest DataPoint if necessary + + if (result) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + s->newest_data.time_stamp = d->time_stamp; + s->newest_data.value = d->value; } - - 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); + return result; } - - - - /** - * 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 - - while (s->write_index < SENSOR_DATABUFSIZ) + 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: { - DataPoint * d = &(s->buffer[s->write_index]); - if (GetData(s->id, d) == NULL) - { - Fatal("Error collecting data"); - } - s->write_index += 1; + //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value); + Data_Save(&(s->data_file), &d, 1); // Record it } - - //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) - { - 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 - - s->write_index = 0; // reset position in buffer - } - Log(LOGDEBUG, "Thread for sensor %d exits", s->id); - return NULL; -} + + // Needed to keep pthreads happy -/** - * 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 - */ -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; + Log(LOGDEBUG, "Sensor %d finished", s->id); + return NULL; } /** @@ -195,7 +295,7 @@ Sensor * Sensor_Identify(const char * id_str) return NULL; } // Bounds check - if (id < 0 || id > NUMSENSORS) + if (id < 0 || id >= NUMSENSORS) return NULL; @@ -204,151 +304,104 @@ Sensor * Sensor_Identify(const char * id_str) } /** - * Handle a request to the sensor module - * @param context - The context to work in - * @param params - Parameters passed + * Helper: Begin sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of sensor + * @param format - Format */ -void Sensor_Handler(FCGIContext *context, char * params) +void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format) { - DataPoint buffer[SENSOR_QUERYBUFSIZ]; - StatusCodes status = STATUS_OK; - - enum {DEFAULT, DUMP} operation = DEFAULT; - - const char * key; const char * value; - - Sensor * sensor = NULL; - - while ((params = FCGI_KeyPair(params, &key, &value)) != NULL) - { - Log(LOGDEBUG, "Got key=%s and value=%s", key, value); - if (strcmp(key, "id") == 0) - { - 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; - } - } - else if (strcmp(key, "dump") == 0) - { - if (operation != DEFAULT) - { - Log(LOGERR, "Operation already specified!"); - status = STATUS_ERROR; - break; - } - operation = DUMP; - } - else - { - Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value); - status = STATUS_ERROR; - break; - } - } - - if (status != STATUS_ERROR && sensor == NULL) - { - Log(LOGERR, "No valid sensor id given"); - status = STATUS_ERROR; - } - - if (status == STATUS_ERROR) + // Begin response + switch (format) { - FCGI_RejectJSON(context); - return; - } - - switch (operation) - { - case DUMP: - { - FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); - //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); - } - - } - while (amount_read == SENSOR_QUERYBUFSIZ); - pthread_mutex_unlock(&(sensor->mutex)); - // end critical section + case JSON: + FCGI_BeginJSON(context, STATUS_OK); + FCGI_JSONLong("id", id); + FCGI_JSONPair("name", g_sensor_names[id]); break; - } default: - { - 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(); + 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, SensorId id, 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; + 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))) { - Fatal("This function should not be called before Thread_QuitProgram"); + // Error occured; FCGI_RejectJSON already called + return; } - for (int i = 0; i < NUMSENSORS; ++i) + + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) { - pthread_join(g_sensors[i].thread, NULL); - Destroy(g_sensors+i); + 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); } + + +