X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=c0c3ab1773664f2c5ed351660dbbe9fca4f4ae89;hb=bd93dbb92da512a1bd585ed29bc46a5e8fc60015;hp=a3d3f0b4a0c0e75f0f5de2c5d0c84db15cb11b68;hpb=72077d49c8dcf079d52a266717a8bda9db9db0ab;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index a3d3f0b..bc424c3 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,133 +1,428 @@ /** * @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 "bbb_pin.h" #include -/** - * 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 +/** Array of sensors, initialised by Sensor_Init **/ +static Sensor g_sensors[SENSORS_MAX]; +/** The number of sensors **/ +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 actuators added so far */ -DataPoint GetData(int sensor_id) +int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity) { - // 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) + if (++g_num_sensors > SENSORS_MAX) { - 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; -} + Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX); + // We could design the program to use realloc(3) + // But since someone who adds a new sensor has to recompile the program anyway... + } + Sensor * s = &(g_sensors[g_num_sensors-1]); + s->id = g_num_sensors-1; + s->user_id = user_id; + Data_Init(&(s->data_file)); + s->name = name; + s->read = read; // Set read function + s->init = init; // Set init function + + // 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; +} /** - * Destroy a sensor - * @param s - Sensor to destroy + * Initialise all sensors used by the program + * TODO: Edit this to add any extra sensors you need + * TODO: Edit the includes as well */ -void Destroy(Sensor * s) +#include "sensors/resource.h" +#include "sensors/strain.h" +#include "sensors/pressure.h" +#include "sensors/dilatometer.h" +void Sensor_Init() { - //TODO: Surely we'll need to do something here? - // Maybe move the binary file into long term file storage? + //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, 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_pos", DIL_POS, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL); + Sensor_Add("dilatometer_diff",DIL_DIFF, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL); } - - /** - * Initialise a sensor - * @param s - Sensor to initialise + * Cleanup all sensors */ -void Sensor_Init(Sensor * s, int id) +void Sensor_Cleanup() { - s->write_index = 0; - s->read_offset = 0; - s->id = id; + for (int i = 0; i < g_num_sensors; ++i) + { + Sensor * s = g_sensors+i; + if (s->cleanup != NULL) + s->cleanup(s->user_id); + } + g_num_sensors = 0; +} - if (s->id >= pow(10, FILENAMESIZE)) +/** + * Sets the sensor to the desired control mode. No checks are + * done to see if setting to the desired mode will conflict with + * the current mode - the caller must guarantee this itself. + * @param s The sensor whose mode is to be changed + * @param mode The mode to be changed to + * @param arg An argument specific to the mode to be set. + * e.g for CONTROL_START it represents the experiment name. + */ +void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) +{ + switch(mode) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + case CONTROL_START: + { + // Set filename + char filename[BUFSIZ]; + const char *experiment_path = (const char*) arg; + int ret; + + ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id); + + if (ret >= BUFSIZ) + { + Fatal("Experiment path \"%s\" too long (%d, limit %d)", + experiment_path, ret, BUFSIZ); + } + + Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename); + // Open DataFile + Data_Open(&(s->data_file), filename); + } + case CONTROL_RESUME: //Case fallthrough, no break before + { + int ret; + s->activated = true; // Don't forget this! + + // Create the thread + ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s)); + if (ret != 0) + { + Fatal("Failed to create Sensor_Loop for Sensor %d", s->id); + } + + Log(LOGDEBUG, "Resuming sensor %d", s->id); + } + break; + + case CONTROL_EMERGENCY: + case CONTROL_PAUSE: + s->activated = false; + pthread_join(s->thread, NULL); + Log(LOGDEBUG, "Paused sensor %d", s->id); + break; + + case CONTROL_STOP: + if (s->activated) //May have been paused before + { + s->activated = false; + pthread_join(s->thread, NULL); + } + + Data_Close(&(s->data_file)); // Close DataFile + Log(LOGDEBUG, "Stopped sensor %d", s->id); + break; + default: + Fatal("Unknown control mode: %d", mode); } - 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); +/** + * Sets all sensors to the desired mode. + * @see Sensor_SetMode for more information. + * @param mode The mode to be changed to + * @param arg An argument specific to the mode to be set. + */ +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); + if (mode == CONTROL_STOP) + Sensor_Cleanup(); } /** - * Run the main sensor polling loop + * 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->activated) { - // 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 + + bool success = s->read(s->user_id, &(s->current_data.value)); - while (s->write_index < SENSOR_DATABUFSIZ) + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); + + if (success) { - s->buffer[s->write_index] = GetData(s->id); - s->write_index += 1; - } - - //Log(LOGDEBUG, "Filled buffer"); - - // CRITICAL SECTION (no threads should be able to read/write the file at the same time) - pthread_mutex_lock(&(s->mutex)); - - // Open binary file in append mode and dump buffer into it - FILE * file = fopen(s->filename, "ab"); - if (file == NULL) + if (s->sanity != NULL) { - Fatal("Couldn't open file \"%s\" mode ab - %s", s->filename, strerror(errno)); + 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); + } } - int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, file); - if (amount_written != SENSOR_DATABUFSIZ) + s->averaged_data.time_stamp += s->current_data.time_stamp; + s->averaged_data.value = s->current_data.value; + + if (++(s->num_read) >= s->averages) { - Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno)); + 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 + { + // 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); + } - Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id); - - fclose(file); - - pthread_mutex_unlock(&(s->mutex)); - // End of critical section - s->write_index = 0; // reset position in buffer + clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL); } + + // Needed to keep pthreads happy + Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id); + return NULL; +} + +/** + * Get a Sensor given its name + * @returns Sensor with the given name, NULL if there isn't one + */ +Sensor * Sensor_Identify(const char * name) +{ + for (int i = 0; i < g_num_sensors; ++i) + { + if (strcmp(g_sensors[i].name, name) == 0) + return &(g_sensors[i]); + } return NULL; } +/** + * 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, Sensor * s, DataFormat format) +{ + // Begin response + switch (format) + { + case JSON: + FCGI_BeginJSON(context, STATUS_OK); + FCGI_JSONLong("id", s->id); + FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this? + FCGI_JSONPair("name", s->name); + 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, Sensor * s, 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 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[] = { + {"id", &id, FCGI_INT_T}, + {"name", &name, FCGI_STRING_T}, + {"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 + typedef enum { + ID, + NAME, + FORMAT, + START_TIME, + END_TIME, + SAMPLE_S + } SensorParams; + + // Fill values appropriately + if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue))) + { + // Error occured; FCGI_RejectJSON already called + return; + } + + Sensor * s = NULL; + if (FCGI_RECEIVED(values[NAME].flags)) + { + if (FCGI_RECEIVED(values[ID].flags)) + { + FCGI_RejectJSON(context, "Can't supply both sensor id and name"); + return; + } + s = Sensor_Identify(name); + if (s == NULL) + { + FCGI_RejectJSON(context, "Unknown sensor name"); + return; + } + } + else if (!FCGI_RECEIVED(values[ID].flags)) + { + 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 + Sensor_BeginResponse(context, s, format); + + // Print Data + Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time); + + // Finish response + Sensor_EndResponse(context, s, format); + +} + +/** + * Get the Name of a Sensor + * @param id - ID number + */ +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; +} +