X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=b065708717038f7461f60b2a351d42db1688c329;hb=851c1d78e4530ecaac3aca9d39b19932d8607431;hp=2e08a304bd96744dea68d6b242f69d3ced5c6012;hpb=8f94dbb551783aad414b57ba6da4596f19dc80a6;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 2e08a30..b065708 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -12,10 +12,22 @@ /** 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", - "digital_test0", "digital_test1" + "analog_fail0", "digital_test0", + "digital_test1", "digital_fail0" }; /** @@ -27,7 +39,7 @@ void Sensor_Init() { g_sensors[i].id = i; Data_Init(&(g_sensors[i].data_file)); - g_sensors[i].record_data = false; + g_sensors[i].record_data = false; } } @@ -38,13 +50,20 @@ void Sensor_Init() */ void Sensor_Start(Sensor * s, const char * experiment_name) { + // Set filename char filename[BUFSIZ]; - if (sprintf(filename, "%s_%d", experiment_name, s->id) >= 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)); } @@ -54,11 +73,14 @@ void Sensor_Start(Sensor * s, const char * experiment_name) */ void Sensor_Stop(Sensor * s) { + // Stop if (s->record_data) { s->record_data = false; - pthread_join(s->thread, NULL); - Data_Close(&(s->data_file)); + 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; } } @@ -80,6 +102,26 @@ void Sensor_StartAll(const char * experiment_name) Sensor_Start(g_sensors+i, experiment_name); } + +/** + * 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 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); + } +} + + /** * Read a DataPoint from a Sensor; block until value is read * @param id - The ID of the sensor @@ -100,19 +142,29 @@ bool Sensor_Read(Sensor * s, DataPoint * d) 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; @@ -120,46 +172,18 @@ bool Sensor_Read(Sensor * s, DataPoint * d) usleep(100000); // simulate delay in sensor polling // Perform sanity check based on Sensor's ID and the DataPoint - Sensor_CheckData(s->id, d); + 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; } -/** - * 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); - } - } - } - */ -} - - /** * Record data from a single Sensor; to be run in a seperate thread * @param arg - Cast to Sensor* - Sensor that the thread will handle @@ -168,18 +192,23 @@ void Sensor_CheckData(SensorId id, DataPoint * d) 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->record_data) { 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; } @@ -209,8 +238,8 @@ Sensor * Sensor_Identify(const char * id_str) /** * Helper: Begin sensor response in a given format * @param context - the FCGIContext - * @param format - Format * @param id - ID of sensor + * @param format - Format */ void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format) { @@ -220,7 +249,6 @@ void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat 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"); @@ -258,9 +286,10 @@ void Sensor_Handler(FCGIContext *context, char * params) 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; + const char * fmt_str; // key/value pairs FCGIValue values[] = { @@ -279,7 +308,7 @@ void Sensor_Handler(FCGIContext *context, char * params) } SensorParams; // Fill values appropriately - if (!FCGI_ParseRequest(context, params, values, sizeof(values))) + if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue))) { // Error occured; FCGI_RejectJSON already called return; @@ -288,50 +317,18 @@ void Sensor_Handler(FCGIContext *context, char * params) // Error checking on sensor id if (id < 0 || id >= NUMSENSORS) { - Log(LOGERR, "Invalid id %d", id); - FCGI_RejectJSON(); // Whoops, I do still need this! - } - - // 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); + FCGI_RejectJSON(context, "Invalid sensor id"); + return; } - - // Get Sensor - Sensor * s = g_sensors[id]; + Sensor * s = g_sensors+id; + DataFormat format = Data_GetFormat(&(values[FORMAT])); + // 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); - } + // Print Data + Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time); // Finish response Sensor_EndResponse(context, id, format); @@ -339,3 +336,4 @@ void Sensor_Handler(FCGIContext *context, char * params) } +