X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=b065708717038f7461f60b2a351d42db1688c329;hb=4f1f3077d6b38e212527b0aaaf7564ba83f0ba81;hp=a3d3f0b4a0c0e75f0f5de2c5d0c84db15cb11b68;hpb=321bf62fcb0943a140dbc55bff5350e11c0eb946;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index a3d3f0b..b065708 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,133 +1,339 @@ /** * @file sensor.c - * @purpose Implementation of sensor thread + * @brief Implementation of sensor thread * TODO: Finalise implementation */ - - +#include "common.h" #include "sensor.h" -#include "log.h" +#include "options.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 + {5,-5,4,-4}, // ANALOG_FAIL0 + {1,0,1,0}, // DIGITAL_TEST0 + {1,0,1,0}, // DIGITAL_TEST1 + {1,0,1,0} // DIGITAL_FAIL0 +}; + +/** Human readable names for the sensors **/ +const char * g_sensor_names[NUMSENSORS] = { + "analog_test0", "analog_test1", + "analog_fail0", "digital_test0", + "digital_test1", "digital_fail0" +}; + /** - * Read a data value from a sensor; block until value is read - * @param sensor_id - The ID of the sensor - * @returns The current value of the sensor + * One off initialisation of *all* sensors */ -DataPoint GetData(int sensor_id) +void Sensor_Init() { - // 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 - - DataPoint d; - //TODO: Deal with time stamps properly - static int count = 0; - d.time = count++; - switch (sensor_id) + for (int i = 0; i < NUMSENSORS; ++i) { - case SENSOR_TEST0: - 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; + g_sensors[i].id = i; + Data_Init(&(g_sensors[i].data_file)); + g_sensors[i].record_data = false; + } } - /** - * Destroy a sensor - * @param s - Sensor to destroy + * Start a Sensor recording DataPoints + * @param s - The Sensor to start + * @param experiment_name - Prepended to DataFile filename */ -void Destroy(Sensor * s) +void Sensor_Start(Sensor * s, const char * experiment_name) { - //TODO: Surely we'll need to do something here? - // Maybe move the binary file into long term file storage? + // Set filename + char filename[BUFSIZ]; + if (sprintf(filename, "%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); + + s->record_data = true; // Don't forget this! + + // Create the thread + 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) +{ + // Stop + if (s->record_data) + { + s->record_data = false; + pthread_join(s->thread, NULL); // Wait for thread to exit + Data_Close(&(s->data_file)); // Close DataFile + s->newest_data.time_stamp = 0; + s->newest_data.value = 0; + } +} +/** + * Stop all Sensors + */ +void Sensor_StopAll() +{ + for (int i = 0; i < NUMSENSORS; ++i) + Sensor_Stop(g_sensors+i); +} /** - * Initialise a sensor - * @param s - Sensor to initialise + * Start all Sensors */ -void Sensor_Init(Sensor * s, int id) +void Sensor_StartAll(const char * experiment_name) { - s->write_index = 0; - s->read_offset = 0; - s->id = id; + for (int i = 0; i < NUMSENSORS; ++i) + Sensor_Start(g_sensors+i, experiment_name); +} - if (s->id >= pow(10, FILENAMESIZE)) + +/** + * 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) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error); + //new function that stops actuators? + } + else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn) + { + Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn); } - sprintf(s->filename, "%d", s->id); - unlink(s->filename); //TODO: Move old files somewhere - - Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, s->filename); } /** - * Run the main sensor polling loop + * 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; + count %= 500; + d->value = count++; + break; + } + case ANALOG_FAIL0: + 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_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 + + // Perform sanity check based on Sensor's ID and the DataPoint + Sensor_CheckData(s->id, d->value); + + // Update latest DataPoint if necessary + bool result = (d->value != s->newest_data.value); + 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 * arg) +void * Sensor_Loop(void * arg) { Sensor * s = (Sensor*)(arg); + Log(LOGDEBUG, "Sensor %d starts", s->id); - while (true) //TODO: Exit condition + // Until the sensor is stopped, record data points + while (s->record_data) { - // 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: { - s->buffer[s->write_index] = GetData(s->id); - 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 } + } + + // Needed to keep pthreads happy + + Log(LOGDEBUG, "Sensor %d finished", s->id); + return NULL; +} - //Log(LOGDEBUG, "Filled buffer"); +/** + * 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); + break; + default: + FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); + break; + } +} - // CRITICAL SECTION (no threads should be able to read/write the file at the same time) - pthread_mutex_lock(&(s->mutex)); +/** + * 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; + } +} - // Open binary file in append mode and dump buffer into it - FILE * file = fopen(s->filename, "ab"); - if (file == NULL) - { - Fatal("Couldn't open file \"%s\" mode ab - %s", s->filename, strerror(errno)); - } - int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, 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)); - } +/** + * 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); - Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id); + int id = 0; + double start_time = 0; + double end_time = current_time; + const char * fmt_str; - fclose(file); + // 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}, + }; - pthread_mutex_unlock(&(s->mutex)); - // End of critical section + // 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; + } - s->write_index = 0; // reset position in buffer - + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) + { + FCGI_RejectJSON(context, "Invalid sensor id"); + return; } - return NULL; + 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); + } +