X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=bc424c3288b02daa44340da04a38654fb7509ca0;hb=bd93dbb92da512a1bd585ed29bc46a5e8fc60015;hp=8406870596ca1fa97735e9f6b9aa64662ffc84b2;hpb=289794ba2dcbe6234e25e5d00531b26baee342b7;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 8406870..bc424c3 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) { @@ -44,15 +45,25 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn s->name = name; s->read = read; // Set read function s->init = init; // Set init function - 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 + DOUBLE_TO_TIMEVAL(1, &(s->sample_time)); + s->averages = 1; + s->num_read = 0; + + // Set sanity function + s->sanity = sanity; + + if (init != NULL) + { + if (!init(name, user_id)) + Fatal("Couldn't init sensor %s", name); + } + s->current_data.time_stamp = 0; + s->current_data.value = 0; + s->averaged_data.time_stamp = 0; + s->averaged_data.value = 0; return g_num_sensors; } @@ -63,21 +74,26 @@ 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" +#include "sensors/dilatometer.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); - //Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, 5000,0,5000,0); - //Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, 5000,0,5000,0); + Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity); + Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity); + Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity); + Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity); //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0); //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0); //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0); //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1); - //Sensor_Add("dilatometer", DILATOMETER, Dilatometer_Read, Dilatometer_Init, -1,-1,-1,-1); + Sensor_Add("dilatometer_pos", DIL_POS, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL); + Sensor_Add("dilatometer_diff",DIL_DIFF, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL); } /** @@ -91,6 +107,7 @@ void Sensor_Cleanup() if (s->cleanup != NULL) s->cleanup(s->user_id); } + g_num_sensors = 0; } /** @@ -110,11 +127,15 @@ void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) { // Set filename char filename[BUFSIZ]; - const char *experiment_name = (const char*) arg; + const char *experiment_path = (const char*) arg; + int ret; + + ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id); - if (snprintf(filename, BUFSIZ, "%s_%d", experiment_name, s->id) >= BUFSIZ) + if (ret >= BUFSIZ) { - Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ); + Fatal("Experiment path \"%s\" too long (%d, limit %d)", + experiment_path, ret, BUFSIZ); } Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename); @@ -167,28 +188,12 @@ void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) */ void Sensor_SetModeAll(ControlModes mode, void * arg) { + if (mode == CONTROL_START) + Sensor_Init(); for (int i = 0; i < g_num_sensors; 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 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); - } + if (mode == CONTROL_STOP) + Sensor_Cleanup(); } @@ -205,25 +210,44 @@ void * Sensor_Loop(void * arg) // Until the sensor is stopped, record data points while (s->activated) { - DataPoint d; - d.value = 0; - bool success = s->read(s->user_id, &(d.value)); + + bool success = s->read(s->user_id, &(s->current_data.value)); - struct timeval t; - gettimeofday(&t, NULL); - d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); if (success) { - - - Sensor_CheckData(s, d.value); - Data_Save(&(s->data_file), &d, 1); // Record it + if (s->sanity != NULL) + { + if (!s->sanity(s->user_id, s->current_data.value)) + { + Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id); + } + } + s->averaged_data.time_stamp += s->current_data.time_stamp; + s->averaged_data.value = s->current_data.value; + + if (++(s->num_read) >= s->averages) + { + s->averaged_data.time_stamp /= s->averages; + s->averaged_data.value /= s->averages; + Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it + s->num_read = 0; + s->averaged_data.time_stamp = 0; + s->averaged_data.value = 0; + } } else - Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id); + { + // Silence because strain sensors fail ~50% of the time :S + //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id); + } - usleep(1e5); //TODO: Adjust appropriately + + clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL); + } // Needed to keep pthreads happy @@ -294,15 +318,15 @@ void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format) */ void Sensor_Handler(FCGIContext *context, char * params) { - struct timeval now; - gettimeofday(&now, NULL); + struct timespec now; + clock_gettime(CLOCK_MONOTONIC, &now); double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime()); - int id = 0; const char * name = ""; double start_time = 0; double end_time = current_time; const char * fmt_str; + double sample_s = 0; // key/value pairs FCGIValue values[] = { @@ -311,6 +335,7 @@ 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 +345,7 @@ void Sensor_Handler(FCGIContext *context, char * params) FORMAT, START_TIME, END_TIME, + SAMPLE_S } SensorParams; // Fill values appropriately @@ -329,7 +355,7 @@ 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 +375,28 @@ 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; + } + DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time)); + } + + DataFormat format = Data_GetFormat(&(values[FORMAT])); // Begin response @@ -360,6 +407,7 @@ void Sensor_Handler(FCGIContext *context, char * params) // Finish response Sensor_EndResponse(context, s, format); + } /** @@ -371,5 +419,10 @@ const char * Sensor_GetName(int id) return g_sensors[id].name; } +DataPoint Sensor_LastData(int id) +{ + Sensor * s = &(g_sensors[id]); + return s->current_data; +}