X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=b065708717038f7461f60b2a351d42db1688c329;hb=851c1d78e4530ecaac3aca9d39b19932d8607431;hp=d1d8b9fc04bd9d06c859d8031c76f1e7abb949a5;hpb=733a9b968264c48b5340693ce17e1874c1aeff77;p=matches%2FMCTX3420.git

diff --git a/server/sensor.c b/server/sensor.c
index d1d8b9f..b065708 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -1,17 +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 "options.h"
+#include <math.h>
+
+/** 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"
+};
+
+/**
+ * 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));
+		g_sensors[i].record_data = false;	
+	}
+}
+
+/**
+ * Start a Sensor recording DataPoints
+ * @param s - The Sensor to start
+ * @param experiment_name - Prepended to DataFile filename
+ */
+void Sensor_Start(Sensor * s, const char * experiment_name)
+{
+	// 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);
+}
+
+/**
+ * Start all Sensors
+ */
+void Sensor_StartAll(const char * experiment_name)
+{
+	for (int i = 0; i < NUMSENSORS; ++i)
+		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
+ * @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;
+}
 
 /**
- * Run the main sensor polling loop
- * @param args - IGNORED (void* required to use the function with pthreads)
+ * 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->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;
+}
+
+/**
+ * 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;
+	}
+}
+
+/**
+ * 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, g_options.start_time);
+
+	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);
 	
 }
+
+
+