X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fsensor.c;h=e429958168019beb5c8e90320e90efc9d30a41eb;hb=b7150f722995ea6807182da24653a15693a82698;hp=9e0c266def12e16419d5697801db776c0a8a66e9;hpb=daa632fd405efaf8656efa8f506fc50d1e48ec94;p=matches%2FMCTX3420.git diff --git a/server/sensor.c b/server/sensor.c index 9e0c266..e429958 100644 --- a/server/sensor.c +++ b/server/sensor.c @@ -7,16 +7,31 @@ #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_fail0", "digital_test0", - "digital_test1", "digital_fail0" + "analog_realtest", "analog_fail0", + "digital_test0", "digital_test1", + "digital_realtest", "digital_fail0" }; /** @@ -28,67 +43,95 @@ void Sensor_Init() { g_sensors[i].id = i; Data_Init(&(g_sensors[i].data_file)); - g_sensors[i].record_data = false; } + + // 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); } /** - * Start a Sensor recording DataPoints - * @param s - The Sensor to start - * @param experiment_name - Prepended to DataFile filename + * 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_Start(Sensor * s, const char * experiment_name) +void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg) { - // Set filename - char filename[BUFSIZ]; - if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ) + switch(mode) { - 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_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! - s->record_data = 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); + } - // Create the thread - pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s)); -} + 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); + } -/** - * 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; + 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); } } /** - * Stop all Sensors + * 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_StopAll() +void Sensor_SetModeAll(ControlModes mode, void * arg) { - 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); + for (int i = 0; i < NUMSENSORS; i++) + Sensor_SetMode(&g_sensors[i], mode, arg); } @@ -99,33 +142,15 @@ void Sensor_StartAll(const char * experiment_name) */ void Sensor_CheckData(SensorId id, double value) { - switch (sensor_id) + if( value > thresholds[id].max_error || value < thresholds[id].min_error) { - case ANALOG_FAIL0: - { - if( value > ANALOG_FAIL0_SAFETY || value < ANALOG_FAIL0_MIN_SAFETY) - { - Log(LOGERR, "Sensor analog_fail0 is above or below its safety value of %d or %d\n", ANALOG_FAIL0_SAFETY, ANALOG_FAIL0_MIN_SAFETY); - //new function that stops actuators? - } - else if( value > ANALOG_FAIL0_WARN || value < ANALOG_FAIL0_MIN_WARN) - { - Log(LOGWARN, "Sensor analog_test0 is above or below its warning value of %d or %d\n", ANALOG_FAIL0_WARN, ANALOG_FAIL0_MIN_WARN); - } - break; - } - case DIGITAL_FAIL0: - { - if( value != 0 && value != 1) - { - Log(LOGERR, "Sensor digital_fail0 is not 0 or 1\n"); - } - break; - } - default: - { - //So it doesn't complain about the missing cases - in practice we will need all sensors to be checked as above, no need to include a default as we should only pass valid sensor_id's; unless for some reason we have a sensor we don't need to check (but then why would you pass to this function in the first place :P) - } + 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) + { + 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); } } @@ -142,50 +167,83 @@ 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); + d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime()); + 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; + + 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); + d->value = 0; + //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1); //Gives a value between -5 and 5 - CheckSensor(sensor_id, d->value); 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 - CheckSensor(sensor_id, d->value); - break; - default: - Fatal("Unknown sensor id: %d", s->id); 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); + 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; @@ -205,7 +263,7 @@ void * Sensor_Loop(void * arg) Log(LOGDEBUG, "Sensor %d starts", s->id); // Until the sensor is stopped, record data points - while (s->record_data) + while (s->activated) { DataPoint d; //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value); @@ -248,8 +306,8 @@ 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) { @@ -259,7 +317,7 @@ void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format) case JSON: FCGI_BeginJSON(context, STATUS_OK); FCGI_JSONLong("id", id); - FCGI_JSONKey("data"); + FCGI_JSONPair("name", g_sensor_names[id]); break; default: FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); @@ -295,16 +353,16 @@ void Sensor_Handler(FCGIContext *context, char * params) { struct timeval now; gettimeofday(&now, NULL); - double current_time = TIMEVAL_DIFF(now, g_options.start_time); + double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime()); int id = 0; double start_time = 0; double end_time = current_time; - char * fmt_str; + const char * fmt_str; // key/value pairs FCGIValue values[] = { - {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)}, + {"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}, @@ -325,71 +383,24 @@ void Sensor_Handler(FCGIContext *context, char * params) return; } - // Get Sensor - Sensor * s = NULL; - // Error checking on sensor id if (id < 0 || id >= NUMSENSORS) { - Log(LOGERR, "Invalid id %d", id); - } - else - { - s = g_sensors+id; + FCGI_RejectJSON(context, "Invalid sensor id"); + return; } - - DataFormat format = JSON; + Sensor * s = g_sensors+id; - // 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); - } + DataFormat format = Data_GetFormat(&(values[FORMAT])); - - // Begin response Sensor_BeginResponse(context, id, format); - - // If a time was specified - if ((s != NULL) && (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 if (s != NULL) // 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)); - - // Bounds check - if (start_index < 0) - start_index = 0; - if (end_index < 0) - end_index = 0; - - // Print points by indexes - Log(LOGDEBUG, "Sensor %d file \"%s\" indexes %d->%d", s->id, s->data_file.filename, start_index, end_index); - 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); - }