X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=9c3d2b4dbb0f9ef65474a6e52a1dc688d6a4570e;hb=450583abb79d5fedb0debabed073d9b191dac80c;hp=8406870596ca1fa97735e9f6b9aa64662ffc84b2;hpb=289794ba2dcbe6234e25e5d00531b26baee342b7;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index 8406870..9c3d2b4 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -20,15 +20,16 @@ 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 the sensor added
+ * @returns Number of actuators added so far
  */
-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)
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
 {
 	if (++g_num_sensors > SENSORS_MAX)
 	{
@@ -47,12 +48,12 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
 	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;
+	// Start by averaging values taken over a second
+	s->sample_us = 1e6;
+	s->averages = 1;
 
+	// Set sanity function
+	s->sanity = sanity;
 	return g_num_sensors;
 }
 
@@ -63,11 +64,14 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
  */
 #include "sensors/resource.h"
 #include "sensors/strain.h"
-#include "sensors/piped.h"
+#include "sensors/pressure.h"
 void Sensor_Init()
 {
-	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("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, 5000,0,5000,0);
 	//Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, 5000,0,5000,0);
@@ -172,26 +176,6 @@ void Sensor_SetModeAll(ControlModes mode, void * 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(Sensor * s, double value)
-{
-	if( value > s->thresholds.max_error || value < s->thresholds.min_error)
-	{
-		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);	
-	}
-}
-
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -215,15 +199,19 @@ void * Sensor_Loop(void * arg)
 		
 		if (success)
 		{
-
-
-			Sensor_CheckData(s, d.value);
+			if (s->sanity != NULL)
+			{
+				if (!s->sanity(s->user_id, d.value))
+				{
+					Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+				}
+			}
 			Data_Save(&(s->data_file), &d, 1); // Record it
 		}
 		else
 			Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
 
-		usleep(1e5); //TODO: Adjust appropriately 
+		usleep(s->sample_us);
 	}
 	
 	// Needed to keep pthreads happy
@@ -303,6 +291,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
 	double start_time = 0;
 	double end_time = current_time;
 	const char * fmt_str;
+	double sample_s = 0;
 
 	// key/value pairs
 	FCGIValue values[] = {
@@ -311,6 +300,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
 		{"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
@@ -320,6 +310,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
 		FORMAT,
 		START_TIME,
 		END_TIME,
+		SAMPLE_S
 	} SensorParams;
 	
 	// Fill values appropriately
@@ -329,7 +320,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
 		return;
 	}
 
-	Sensor * s = &(g_sensors[id]); // If id was not supplied, this defaults to &(g_sensors[0])
+	Sensor * s = NULL;
 	if (FCGI_RECEIVED(values[NAME].flags))
 	{
 		if (FCGI_RECEIVED(values[ID].flags))
@@ -349,7 +340,28 @@ void Sensor_Handler(FCGIContext *context, char * params)
 		FCGI_RejectJSON(context, "No sensor id or name supplied");
 		return;
 	}
+	else if (id < 0 || id >= g_num_sensors)
+	{
+		FCGI_RejectJSON(context, "Invalid sensor id");
+		return;
+	}
+	else
+	{
+		s = &(g_sensors[id]);
+	}
 
+	// Adjust sample rate if necessary
+	if (FCGI_RECEIVED(values[SAMPLE_S].flags))
+	{
+		if (sample_s < 0)
+		{
+			FCGI_RejectJSON(context, "Negative sampling speed!");
+			return;
+		}		
+		s->sample_us = 1e6*sample_s;
+	}
+	
+	
 	DataFormat format = Data_GetFormat(&(values[FORMAT]));
 
 	// Begin response
@@ -360,6 +372,7 @@ void Sensor_Handler(FCGIContext *context, char * params)
 	
 	// Finish response
 	Sensor_EndResponse(context, s, format);
+
 }
 
 /**