#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
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {5000,0,5000,0},
- {1, 1, 1, 1}
-};
-
-/** Human readable names for the sensors **/
-const char * g_sensor_names[NUMSENSORS] = {
- "strain0",
- "strain1",
- "strain2",
- "strain3",
- "pressure0",
- "pressure1",
- "pressure_feedback",
- "microphone",
- "enclosure"
-};
+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 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
+ */
+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)
+{
+ if (++g_num_sensors > SENSORS_MAX)
+ {
+ 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
+ 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;
+
+ return g_num_sensors;
+}
/**
- * One off initialisation of *all* sensors
+ * Initialise all sensors used by the program
+ * TODO: Edit this to add any extra sensors you need
+ * TODO: Edit the includes as well
*/
+#include "sensors/resource.h"
+#include "sensors/strain.h"
+#include "sensors/piped.h"
void Sensor_Init()
{
- for (int i = 0; i < NUMSENSORS; ++i)
+ 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("../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("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);
+}
+
+/**
+ * Cleanup all sensors
+ */
+void Sensor_Cleanup()
+{
+ for (int i = 0; i < g_num_sensors; ++i)
{
- g_sensors[i].id = i;
- Data_Init(&(g_sensors[i].data_file));
+ Sensor * s = g_sensors+i;
+ if (s->cleanup != NULL)
+ s->cleanup(s->user_id);
}
-
-
-
- // Get the required ADCs
- ADC_Export(ADC0); // Strain gauges x 4
- ADC_Export(ADC1); // Pressure sensor 1
- ADC_Export(ADC2); // Pressure sensor 2
- // ADC3 still unused (!?)
- ADC_Export(ADC4); // Pressure regulator feedback(?) signal
- ADC_Export(ADC5); // Microphone
-
- // Get GPIO pins //TODO: Confirm pins used with Electronics Team
- GPIO_Export(GPIO0_30); // Mux A (strain 1)
- GPIO_Set(GPIO0_30, false);
- GPIO_Export(GPIO1_28); // Mux B (strain 2)
- GPIO_Set(GPIO1_28, false);
- GPIO_Export(GPIO0_31); // Mux C (strain 3)
- GPIO_Set(GPIO0_31, false);
- GPIO_Export(GPIO1_16); // Mux D (strain 4)
- GPIO_Set(GPIO1_16, false);
-
- GPIO_Export(GPIO0_31); // Enclosure switch
}
/**
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
+ if (snprintf(filename, BUFSIZ, "%s_%d", experiment_name, s->id) >= BUFSIZ)
{
Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
}
}
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:
*/
void Sensor_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < NUMSENSORS; i++)
+ for (int i = 0; i < g_num_sensors; i++)
Sensor_SetMode(&g_sensors[i], mode, arg);
}
* @param sensor_id - The ID of the sensor
* @param value - The value from the sensor to test
*/
-void Sensor_CheckData(SensorId id, double value)
+void Sensor_CheckData(Sensor * s, double value)
{
- if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+ 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", g_sensor_names[id],value, thresholds[id].max_error, thresholds[id].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 > thresholds[id].max_warn || value < thresholds[id].min_warn)
+ 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", g_sensor_names[id],value,thresholds[id].max_warn, thresholds[id].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);
}
}
-/**
- * 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)
-{
-
-
-
- static bool result = true;
-
- //TODO: Remove this, code should be refactored to not use so many threads
- // Although... if it works, it works...
- static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
-
- pthread_mutex_lock(&mutex); //TODO: Reduce the critical section
-
- usleep(10);
-
- // Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
-
- // Read value based on Sensor Id
- int value; bool success = true;
- //TODO: Can probably do this nicer than a switch (define a function pointer for each sensor)
- // Can probably make the whole sensor thing a lot nicer with a linked list of sensors...
- // (Then to add more sensors to the software, someone just writes an appropriate read function and calls Sensor_Add(...) at init)
- // (I will do this. Don't do it before I get a chance, I don't trust you :P)
- switch (s->id)
- {
- //TODO: Strain gauges should have their own critical section, rest of sensors probably don't need to be in a critical section
- case STRAIN0:
- success &= GPIO_Set(GPIO0_30, true);
- success &= ADC_Read(ADC0, &value);
- success &= GPIO_Set(GPIO0_30, false);
- if (!success)
- Fatal("Error reading strain gauge 0");
- break;
- case STRAIN1:
- success &= GPIO_Set(GPIO1_28, true);
- success &= ADC_Read(ADC0, &value);
- success &= GPIO_Set(GPIO1_28, false);
- if (!success)
- Fatal("Error reading strain gauge 1");
- break;
- case STRAIN2:
- success &= GPIO_Set(GPIO0_31, true);
- success &= ADC_Read(ADC0, &value);
- success &= GPIO_Set(GPIO0_31, false);
- case STRAIN3:
- success &= GPIO_Set(GPIO1_16, true);
- success &= ADC_Read(ADC0, &value);
- success &= GPIO_Set(GPIO1_16, false);
- if (!success)
- Fatal("Error reading strain gauge 2");
- break;
- case PRESSURE0:
- success &= ADC_Read(ADC1, &value);
- break;
- case PRESSURE1:
- success &= ADC_Read(ADC5, &value);
- break;
- case PRESSURE_FEEDBACK:
- success &= ADC_Read(ADC4, &value);
- break;
- case MICROPHONE:
- success &= ADC_Read(ADC2, &value);
- break;
- case ENCLOSURE:
- {
- bool why_do_i_need_to_do_this = false;
- success &= GPIO_Read(GPIO0_31, &why_do_i_need_to_do_this);
- value = (int)why_do_i_need_to_do_this;
- break;
- }
- case DILATOMETER:
- {
- // Will definitely cause issues included in the same critical section as ADC reads
- // (since it will be the longest sensor to sample, everything else will have to keep waiting on it)
- value = 0;
- break;
- }
-
- }
-
- d->value = (double)(value); //TODO: Calibration? Or do calibration in GUI
-
- pthread_mutex_unlock(&mutex); //TODO: Reduce the critical section
-
-
- // 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;
- }
-
-#ifdef _BBB
- //Not all cases have usleep, easiest here.
- //TODO: May want to add a control option to adjust the sampling rate for each sensor?
- // Also, we can get a more accurate sampling rate if instead of a fixed sleep, we calculate how long to sleep each time.
- usleep(100000);
-#endif
-
- /*
- if (success)
- Log(LOGDEBUG, "Successfully read sensor %d (for once)", s->id);
- else
- Log(LOGDEBUG, "Failed to read sensor %d (again)", s->id);
- */
- return result && success;
-}
-
/**
* Record data from a single Sensor; to be run in a seperate thread
* @param arg - Cast to Sensor* - Sensor that the thread will handle
while (s->activated)
{
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:
+ d.value = 0;
+ bool success = s->read(s->user_id, &(d.value));
+
+ struct timeval t;
+ gettimeofday(&t, NULL);
+ d.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+
+ if (success)
{
- //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
+
+
+ Sensor_CheckData(s, d.value);
Data_Save(&(s->data_file), &d, 1); // Record it
}
+ else
+ Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
+
+ usleep(1e5); //TODO: Adjust appropriately
}
// Needed to keep pthreads happy
-
- Log(LOGDEBUG, "Sensor %d finished", s->id);
+ Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
return NULL;
}
/**
- * Get a Sensor given an ID string
- * @param id_str ID string
- * @returns Sensor* identified by the string; NULL on error
+ * Get a Sensor given its name
+ * @returns Sensor with the given name, NULL if there isn't one
*/
-Sensor * Sensor_Identify(const char * id_str)
-{
- char * end;
- // Parse string as integer
- int id = strtol(id_str, &end, 10);
- if (*end != '\0')
+Sensor * Sensor_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_sensors; ++i)
{
- return NULL;
+ if (strcmp(g_sensors[i].name, name) == 0)
+ return &(g_sensors[i]);
}
- // Bounds check
- if (id < 0 || id >= NUMSENSORS)
- return NULL;
-
-
- Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
- return g_sensors+id;
+ return NULL;
}
/**
* @param id - ID of sensor
* @param format - Format
*/
-void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
+void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONLong("id", id);
- FCGI_JSONPair("name", g_sensor_names[id]);
+ 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");
* @param id - ID of the sensor
* @param format - Format
*/
-void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
+void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
// End response
switch (format)
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;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
+ {"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},
// enum to avoid the use of magic numbers
typedef enum {
ID,
+ NAME,
FORMAT,
START_TIME,
END_TIME,
return;
}
- // Error checking on sensor id
- if (id < 0 || id >= NUMSENSORS)
+ Sensor * s = &(g_sensors[id]); // If id was not supplied, this defaults to &(g_sensors[0])
+ 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, "Invalid sensor id");
+ FCGI_RejectJSON(context, "No sensor id or name supplied");
return;
}
- Sensor * s = g_sensors+id;
DataFormat format = Data_GetFormat(&(values[FORMAT]));
// Begin response
- Sensor_BeginResponse(context, id, format);
+ 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, id, format);
+ 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;
}
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