X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=e429958168019beb5c8e90320e90efc9d30a41eb;hb=b7150f722995ea6807182da24653a15693a82698;hp=622251054fb52dfedf04984cd20761f6b81d8c5c;hpb=621ec4c4752d4a01838aa1866cfc1bc401021dcb;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 6222510..e429958 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -1,149 +1,347 @@ /** * @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 "bbb_pin.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 + {5000,0,5000,0}, // ANALOG_REALTEST + {5,-5,4,-4}, // ANALOG_FAIL0 + {1,0,1,0}, // DIGITAL_TEST0 + {1,0,1,0}, // DIGITAL_TEST1 + {1,0,1,0}, // DIGITAL_REALTEST + {1,0,1,0} // DIGITAL_FAIL0 +}; + +/** Human readable names for the sensors **/ +const char * g_sensor_names[NUMSENSORS] = { + "analog_test0", "analog_test1", + "analog_realtest", "analog_fail0", + "digital_test0", "digital_test1", + "digital_realtest", "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)); + } + // Get the ADCs + ADC_Export(); + + // GPIO1_28 used as a pulse for sampling + GPIO_Export(GPIO1_28); + // GPIO0_30 toggled during sampling + GPIO_Export(GPIO0_30); +} /** - * Destroy a sensor - * @param s - Sensor to destroy + * 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 Destroy(Sensor * s) +void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) { - // Maybe move the binary file into long term file storage? - fclose(s->file); + switch(mode) + { + case CONTROL_START: + { + // Set filename + char filename[BUFSIZ]; + const char *experiment_name = (const char*) arg; + + if (snprintf(filename, BUFSIZ, "%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); + } + 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 + s->newest_data.time_stamp = 0; + s->newest_data.value = 0; + Log(LOGDEBUG, "Stopped sensor %d", s->id); + break; + default: + Fatal("Unknown control mode: %d", mode); + } } +/** + * 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) +{ + for (int i = 0; i < NUMSENSORS; i++) + Sensor_SetMode(&g_sensors[i], mode, arg); +} /** - * Initialise a sensor - * @param s - Sensor to initialise + * 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_Init(Sensor * s, int id) +void Sensor_CheckData(SensorId id, double value) { - s->write_index = 0; - s->read_offset = 0; - s->id = id; - - #define FILENAMESIZE BUFSIZ - char filename[FILENAMESIZE]; - //if (s->id >= pow(10, FILENAMESIZE)) - if (false) + 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? + //Control_SetMode(CONTROL_EMERGENCY, NULL) + } + else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn) { - Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE); + 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, *Control_GetStartTime()); - pthread_mutex_init(&(s->mutex), NULL); + static bool result = true; + + + // Read value based on Sensor Id + switch (s->id) + { + case ANALOG_REALTEST: + { + static bool set = false; + + GPIO_Set(GPIO0_30, true); + d->value = (double)ADC_Read(ADC0); //ADC #0 on the Beaglebone + //Log(LOGDEBUG, "Got value %f from ADC0", d->value); + GPIO_Set(GPIO0_30, false); + set = !set; + GPIO_Set(GPIO1_28, set); + + break; + } + + default: + d->value = rand() % 2; + usleep(1000000); + break; - sprintf(filename, "%d", s->id); - unlink(filename); //TODO: Move old files somewhere - s->file = fopen(filename, "a+b"); // open binary file - Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename); -} + 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 = 0; + //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_REALTEST: + { + // Can pass pin as argument, just using 20 as an example here + // Although since pins will be fixed, can just define it here if we need to + //d->value = pinRead(20); //Pin 20 on the Beaglebone + 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; + } + + + // Perform sanity check based on Sensor's ID and the DataPoint + Sensor_CheckData(s->id, d->value); + + // Update latest DataPoint if necessary + + if (result) + { + s->newest_data.time_stamp = d->time_stamp; + s->newest_data.value = d->value; + } + return result; +} /** - * 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 - - 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, "Filled buffer"); + Log(LOGDEBUG, "Sensor %d finished", s->id); + return NULL; +} - // CRITICAL SECTION (no threads should be able to read/write the file at the same time) - pthread_mutex_lock(&(s->mutex)); - fseek(s->file, 0, SEEK_END); - int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, s->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)); - } - //Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id); - pthread_mutex_unlock(&(s->mutex)); - // End of critical section +/** + * 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; - s->write_index = 0; // reset position in buffer - + + 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); + FCGI_JSONPair("name", g_sensor_names[id]); + break; + default: + FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); + break; } - return NULL; } /** - * Fill buffer with most recent sensor data - * @param s - Sensor to use - * @param buffer - Buffer to fill - * @param bufsiz - Size of buffer to fill - * @returns The number of DataPoints actually read + * Helper: End sensor response in a given format + * @param context - the FCGIContext + * @param id - ID of the sensor + * @param format - Format */ -int Sensor_Query(Sensor * s, DataPoint * buffer, int bufsiz) +void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format) { - int amount_read = 0; - //CRITICAL SECTION (Don't access file while sensor thread is writing to it!) - pthread_mutex_lock(&(s->mutex)); - - fseek(s->file, -bufsiz*sizeof(DataPoint), SEEK_END); - amount_read = fread(buffer, sizeof(DataPoint), bufsiz, s->file); - //Log(LOGDEBUG, "Read %d data points", amount_read); - pthread_mutex_unlock(&(s->mutex)); - return amount_read; + // End response + switch (format) + { + case JSON: + FCGI_EndJSON(); + break; + default: + break; + } } /** @@ -153,80 +351,57 @@ int Sensor_Query(Sensor * s, DataPoint * buffer, int bufsiz) */ void Sensor_Handler(FCGIContext *context, char * params) { - DataPoint buffer[SENSOR_QUERYBUFSIZ]; - StatusCodes status = STATUS_OK; - const char * key; const char * value; + struct timeval now; + gettimeofday(&now, NULL); + double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime()); - int sensor_id = SENSOR_NONE; + int id = 0; + double start_time = 0; + double end_time = current_time; + const char * fmt_str; - while ((params = FCGI_KeyPair(params, &key, &value)) != NULL) - { - Log(LOGDEBUG, "Got key=%s and value=%s", key, value); - if (strcmp(key, "id") == 0) - { - char *end; - if (sensor_id != SENSOR_NONE) - { - Log(LOGERR, "Only one sensor id should be specified"); - status = STATUS_ERROR; - break; - } - if (*value == '\0') - { - Log(LOGERR, "No id specified."); - status = STATUS_ERROR; - break; - } - //TODO: Use human readable sensor identifier string for API? - sensor_id = strtol(value, &end, 10); - if (*end != '\0') - { - Log(LOGERR, "Sensor id not an integer; %s", value); - status = STATUS_ERROR; - break; - } - } - else - { - Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value); - status = STATUS_ERROR; - break; - } - } + // 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}, + }; - if (sensor_id == SENSOR_NONE) - { - Log(LOGERR, "No sensor id specified"); - status = STATUS_ERROR; - } - else if (sensor_id >= NUMSENSORS || sensor_id < 0) + // 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))) { - Log(LOGERR, "Invalid sensor id %d", sensor_id); - status = STATUS_ERROR; + // Error occured; FCGI_RejectJSON already called + return; } - if (status == STATUS_ERROR) + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) { - FCGI_RejectJSON(context); - } - else - { - FCGI_BeginJSON(context, status); - FCGI_JSONPair(key, value); // should spit back sensor ID - //Log(LOGDEBUG, "Call Sensor_Query..."); - int amount_read = Sensor_Query(&(g_sensors[sensor_id]), buffer, SENSOR_QUERYBUFSIZ); - //Log(LOGDEBUG, "Read %d DataPoints", amount_read); - //Log(LOGDEBUG, "Produce JSON response"); - FCGI_JSONKey("data"); - FCGI_JSONValue("["); - for (int i = 0; i < amount_read; ++i) - { - FCGI_JSONValue("[%f, %f]", buffer[i].time, buffer[i].value); - if (i+1 < amount_read) - FCGI_JSONValue(","); - } - FCGI_JSONValue("]"); - //Log(LOGDEBUG, "Done producing JSON response"); - FCGI_EndJSON(); + 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); } + + +