Tweak Actuators/Sensors code

Actuators stores an extra data point.
Actuators must be initialised to a value.
Replaced thresholds with a sanity function for sensors.

diff --git a/server/actuator.c b/server/actuator.c
index 3e26e37..04938ba 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -23,7 +23,7 @@ static Actuator g_actuators[ACTUATORS_MAX];
  * @param init - Function to call to initialise the actuator (may be NULL)
  * @returns Number of actuators added so far
  */
-int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity)
+int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity, double initial_value)
 {
        if (++g_num_actuators > ACTUATORS_MAX)
        {
@@ -42,6 +42,8 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
 
        pthread_mutex_init(&(a->mutex), NULL);
 
+       Actuator_SetValue(a, initial_value, false);
+
        return g_num_actuators;
 }
 
@@ -54,7 +56,7 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
 void Actuator_Init()
 {
        //Actuator_Add("ledtest",0,  Ledtest_Set, NULL,NULL,NULL);
-       Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity);
+       Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity, 0);
 }
 
 /**
@@ -160,16 +162,18 @@ void * Actuator_Loop(void * arg)
                if (!a->activated)
                        break;
 
-               Actuator_SetValue(a, a->control.start);
+               Actuator_SetValue(a, a->control.start, true);
                // Currently does discrete steps after specified time intervals
-               while (a->control.steps > 0 && a->activated)
+               while (!a->control_changed && a->control.steps > 0 && a->activated)
                {
                        usleep(1e6*(a->control.stepwait));
                        a->control.start += a->control.stepsize;
-                       Actuator_SetValue(a, a->control.start);
+                       Actuator_SetValue(a, a->control.start, true);
                        
                        a->control.steps--;
                }
+               if (a->control_changed)
+                       continue;
                usleep(1e6*(a->control.stepwait));
 
                //TODO:
@@ -206,12 +210,13 @@ void Actuator_SetControl(Actuator * a, ActuatorControl * c)
  * @param a - The Actuator
  * @param value - The value to set
  */
-void Actuator_SetValue(Actuator * a, double value)
+void Actuator_SetValue(Actuator * a, double value, bool record)
 {
        if (a->sanity != NULL && !a->sanity(a->user_id, value))
        {
                //ARE YOU INSANE?
-               Fatal("Insane value %lf for actuator %s", value, a->name);
+               Log(LOGERR,"Insane value %lf for actuator %s", value, a->name);
+               return;
        }
        if (!(a->set(a->user_id, value)))
        {
@@ -221,9 +226,17 @@ void Actuator_SetValue(Actuator * a, double value)
        // Set time stamp
        struct timeval t;
        gettimeofday(&t, NULL);
-       // Record and save DataPoint
-       DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
-       Data_Save(&(a->data_file), &d, 1);
+       DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), a->last_setting.value};
+       // Record value change
+       if (record)
+       {       
+               d.time_stamp -= 1e-6;
+               Data_Save(&(a->data_file), &d, 1);
+               d.value = value;
+               d.time_stamp += 1e-6;
+               Data_Save(&(a->data_file), &d, 1);
+       }
+       a->last_setting = d;
 }
 
 /**
@@ -364,7 +377,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
                        //      If the user doesn't provide all 4 values, the Actuator will get set *once* using the first of the provided values
                        //      (see Actuator_Loop)
                        //  Not really a problem if n = 1, but maybe generate a warning for 2 <= n < 4 ?
-                       Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n);
+                       Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n, 4);
                }
                // SANITY CHECKS
                if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start)))

diff --git a/server/actuator.h b/server/actuator.h
index de81eea..f818526 100644 (file)
--- a/server/actuator.h
+++ b/server/actuator.h
@@ -68,6 +68,8 @@ typedef struct
        SanityFn sanity;
        /** Cleanup function **/
        CleanFn clean;
+       /** Last setting **/
+       DataPoint last_setting;
        
 } Actuator;
 
@@ -77,7 +79,7 @@ extern void Actuator_SetModeAll(ControlModes mode, void *arg);
 extern void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg);
 
 extern void * Actuator_Loop(void * args); // Main loop for a thread that handles an Actuator
-extern void Actuator_SetValue(Actuator * a, double value); // Set an actuator by value
+extern void Actuator_SetValue(Actuator * a, double value, bool record); // Set an actuator by value
 extern void Actuator_SetControl(Actuator * a, ActuatorControl * c); // Set the control for an Actuator
 extern Actuator * Actuator_Identify(const char * str); // Identify a Sensor from a string Id
 

diff --git a/server/main.c b/server/main.c
index c2e5161..a48c223 100644 (file)
--- a/server/main.c
+++ b/server/main.c
@@ -128,19 +128,19 @@ int main(int argc, char ** argv)
        Pin_Init();
        
        // Try and start things
-       /*
+       
        const char *ret;
        if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
                Fatal("Control_SetMode failed with '%s'", ret);
-       */
+       
 
        // run request thread in the main thread
        FCGI_RequestLoop(NULL);
 
-       /*
+       
        if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL)
                Fatal("Control_SetMode failed with '%s'", ret);
-       */
+       
        //Sensor_StopAll();
        //Actuator_StopAll();
 

diff --git a/server/sensor.c b/server/sensor.c
index fd477c9..9c3d2b4 100644 (file)
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -29,7 +29,7 @@ int g_num_sensors = 0;
  * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
  * @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)
        {
@@ -52,12 +52,8 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
        s->sample_us = 1e6;
        s->averages = 1;
 
-       // 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;
-
+       // Set sanity function
+       s->sanity = sanity;
        return g_num_sensors;
 }
 
@@ -71,11 +67,11 @@ int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn
 #include "sensors/pressure.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("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, 800, 110, 800, 110);
-       Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, 800, 110, 800, 110);
-       Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, 250, 110, 250, 110);
+       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);
@@ -180,26 +176,6 @@ void Sensor_SetModeAll(ControlModes mode, void * 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);        
-       }
-}
-
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -223,9 +199,13 @@ void * Sensor_Loop(void * arg)
                
                if (success)
                {
-
-
-                       Sensor_CheckData(s, d.value);
+                       if (s->sanity != NULL)
+                       {
+                               if (!s->sanity(s->user_id, d.value))
+                               {
+                                       Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+                               }
+                       }
                        Data_Save(&(s->data_file), &d, 1); // Record it
                }
                else

diff --git a/server/sensor.h b/server/sensor.h
index bb2fb9e..0285252 100644 (file)
--- a/server/sensor.h
+++ b/server/sensor.h
@@ -51,15 +51,16 @@ typedef struct
        InitFn init;
        /** Function to cleanup the sensor **/
        CleanFn cleanup;
+       /** Function to sanity check the sensor readings **/
+       SanityFn sanity;
        /** Human readable name of the sensor **/
        const char * name;
-       /** Thresholds on the sensor **/
-       SensorThreshold thresholds;
        /** Sampling rate **/
        int sample_us;
-       /** Averages per DataPoint **/
+       /** Number of averages per sample **/
        int averages;
 
+
        
 } Sensor;
 
@@ -73,7 +74,6 @@ extern void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg);
 
 extern void * Sensor_Loop(void * args); // Main loop for a thread that handles a Sensor
 extern bool Sensor_Read(Sensor * s, DataPoint * d); // Read a single DataPoint, indicating if it has changed since the last one
-extern void Sensor_CheckData(Sensor * s, double value); // Check a DataPoint
 extern Sensor * Sensor_Identify(const char * str); // Identify a Sensor from a string
 
 extern void Sensor_Handler(FCGIContext *context, char * params); // Handle a FCGI request for Sensor data