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+--- Day changed Wed Oct 09 2013
+10:56 < jtanx_> welp the usb microscope arrived
+10:56 < jtanx_> it uses uvcvideo too
+12:00 < jtanx_> shit, we have to coordinate one report across the whole cohort
+12:02 < sam_moore> Yeah, shit
+12:03 < sam_moore> This unit has not been run very well
+12:03 < sam_moore> Except the tutorials
+12:06 < sam_moore> If I still cared I
+12:06 < sam_moore> d try and take charge of putting the report together
+12:07 < sam_moore> But I know that if no one else does it we'll all pass anyway since you can't fail an entire class
+12:07 < sam_moore> So terrible
+12:07 < sam_moore> We should just start writing a chapter on the software
+12:09 < sam_moore> I wonder if we could use the wiki format and export it as a pdf somehow
+12:11 < sam_moore> https://github.com/szmoore/MCTX3420/wiki/Hardware:-Pneumatics
+12:11 < sam_moore> Hilarious
+12:41 < jtanx_> ~.~
+12:41 < jtanx_> our final report will be the wiki!
+12:42 < jtanx_> made some progress on the camera
+12:42 < jtanx_> lowering the resolution to 352x288
+12:42 < jtanx_> and it will work with openc
+12:42 < jtanx_> opencv
+12:42 < jtanx_> ffmpeg's fine with 640x480 though
+12:42 < jtanx_> opencv just sucks
+12:57 < jtanx_> good 'ol stream.html
+13:05 < jtanx_> those fatal checks in sensor.c are bad
+13:05 < jtanx_> because half the time adc reads will fail and the whole program just crashes
+13:07 < jtanx_> oh right I saw your email, nevermind
+13:08 < jtanx_> I'm not getting the warnings that you're seeing either
+13:12 < sam_moore> Yeah, those warnings were actually on my laptop though, they don't seem to appear on the BeagleBone
+13:12 < sam_moore> I'm redoing the sensors code a fair bit
+13:12 < sam_moore> You'll probably hate it :P
+13:12 < sam_moore> Well, it's not really redoing the structure of how they work
+13:13 < sam_moore> Just separating the logic of how sensors get read from all that control loop stuf
+13:14 < sam_moore> I'm going to keep with the "one thread per sensor" idea, because that is definitely the simplest
+13:16 < sam_moore> Did you tell Omid that they shouldn't assume anything about the state of the GPIO pins before the software starts?
+13:16 < sam_moore> Which means that if (unlikely, but I don't know what they're doing) having two pins on at once would cause a catastrophic failure...
+13:16 < sam_moore> By murphy's law, it will almost certainly happen
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+14:52 < jtanx> oh yah, somehow electronics ordered a non-powered usb hub
+14:52 < jtanx> I'm pretty sure we told them to get a powered usb hub...
+14:57 < sam_moore> Yep, and I remember them saying that is what they were going to get
+14:57 < sam_moore> Dammit, I'm stuck trying to pick the best name for something -_-
+14:57 < sam_moore> The worst place to be stuck
+15:19 < jtanx> ??
+15:19 < jtanx> thesaurus.com
+15:23 < sam_moore> Hahaha
+15:23 < sam_moore> I decided the thing didn't really need to exist
+15:23 < sam_moore> Problem solved
+15:24 < sam_moore> If someone who knows absolutely nothing about programming tries to add sensors to our program they will still be confused
+15:24 < jtanx> Hahaha
+15:24 < sam_moore> But I hope I've made it easier for someone who knows what they're doing
+15:24 < jtanx> Okay
+15:24 < jtanx> what were the compiler warnings that you got
+15:25 < sam_moore> pin_test.c:41:10: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]
+15:25 < sam_moore> pin_test.c:48:10: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]
+15:25 < sam_moore> More on lines 54, 128, 190,204
+15:25 < jtanx> weird
+15:25 < jtanx> I never saw any of those
+15:25 < sam_moore> Also I think the code I just wrote for the Strain sensors gives some as well
+15:25 < sam_moore> Yes, it does
+15:26 < jtanx> did you change GPIO_Export to use int type
+15:26 < jtanx> wait
+15:26 < jtanx> what am I saying
+15:26 < sam_moore> It already uses int type?
+15:26 < sam_moore> But it's something like that
+15:26 < sam_moore> It looks like you're using unsigned char for something
+15:27 < sam_moore> int gpio_num = Strain_To_GPIO(id);
+15:27 < sam_moore> GPIO_Export(gpio_num);
+15:27 < sam_moore> Is the sort of thing that causes the warning
+15:27 < sam_moore> But I have "bool GPIO_Export(int pin)" in bbb_pin.c
+15:27 < jtanx> oh right
+15:27 < sam_moore> So it makes no sense
+15:28 < jtanx> hmm
+15:29 < sam_moore> Ooh
+15:29 < sam_moore> It must be something to do with the "stub" functions
+15:29 < jtanx> Is this on compilation on the BBB
+15:29 < sam_moore> No, BBB was fine last time I checked
+15:29 < jtanx> okay,w ell I'm not getting any warnings
+15:29 < sam_moore> Compiling on my laptop because it's faster
+15:30 < sam_moore> #define GPIO_Export(pin) True_Stub((void*)pin)
+15:30 < sam_moore> That means the int is getting cast to a void*
+15:30 < jtanx> yeah on my computer it's not putting out any warnings
+15:30 < jtanx> int to void* is fine
+15:30 < jtanx> anything to void* is fine
+15:30 < jtanx> actually
+15:30 < jtanx> is your system 64 bit
+15:30 < sam_moore> 64 bit
+15:31 < jtanx> yeah
+15:31 < sam_moore> (You still have 32 bit :P)
+15:31 < jtanx> well that would explain it
+15:31 < sam_moore> Ok, it doesn't matter
+15:31 < sam_moore> The stub function doesn't actually do anything with the value
+15:31 < jtanx> cast int to int64 or whatever it is
+15:32 < sam_moore> That would cause warnings on the BBB though?
+15:32 < jtanx> only for the stub functions
+15:32 < jtanx> and only for 64 bit
+15:32 < jtanx> more ifdefs, yay
+15:32 < sam_moore> ...
+15:32 < jtanx> or we could get rid of the stubs
+15:32 < sam_moore> I'm just going to ignore the warnings
+15:32 < sam_moore> That could also work
+15:32 < sam_moore> It doesn't really matter
+15:32 < jtanx> and just do Wno-unsued-function or someting
+15:32 < jtanx> yeah, oh well
+15:35 < jtanx> One of the suggestions for the dilatometer was to just take a photo at the start and at the end
+15:35 < jtanx> then do comparison
+15:35 < sam_moore> Um, ok
+15:35 < sam_moore> If they just want 2 data points
+15:35 < jtanx> well
+15:35 < jtanx> if we can find something other than opencv
+15:36 < sam_moore> Ah
+15:36 < sam_moore> How slow is it?
+15:36 < jtanx> that may help, because right now opencv only plays nice with 352x288 or some other crap resolution
+15:36 < jtanx> it's not that it's slow
+15:36 < jtanx> is that it only works if the resolution is ~ 350 pixels x 2xx pixels
+15:37 < jtanx> ffmpeg is fine with 640x480 afaik
+15:37 < jtanx> it could probably do higher but haven't tested that
+15:38 < sam_moore> http://libccv.org/
+15:38 < sam_moore> Maybe
+15:39 < jtanx> or what if we framegrabbed with some external softare
+15:39 < jtanx> then used opencv to process the saved image
+15:39 < sam_moore> Yes, I was about to suggest that
+15:39 < sam_moore> I'm assuming the problem with OpenCV is that it doesn't like taking images from cameras directly of that resolution
+15:39 < sam_moore> And not some underlying problem with having large CvMats or something
+15:40 < jtanx> no idea why
+15:40 < jtanx> some obscure setting can probably fix it or something
+15:40 < jtanx> but I'm not about to trawl though opencv documentaiton now
+15:40 < sam_moore> Actually OpenCV works with my 640x480 webcam, so it's probably some low level arm specific problem
+15:40 < sam_moore> Which would probably mean that other image processing libraries would also suck
+15:40 < jtanx> it may be that too
+15:41 < jtanx> I know that with ffmpeg it was spitting warnings at 640x480
+15:41 < jtanx> like non-monotonically increasing timestamp
+15:41 < jtanx> and some other crap
+15:41 < jtanx> I was running guvcview though
+15:42 < jtanx> and it seemed to take 640x480 just fine
+15:42 < jtanx> it was quite slow with x-forwarding and all, but at least it worked
+15:44 < sam_moore> Hmm
+15:44 < sam_moore> I would be inclined to say that taking a bunch of data points at low resolution is probably more useful than taking 2 data points at high resolution
+15:45 < sam_moore> The best solution is to find some way of reading at the higher resolution though
+15:46 < sam_moore> ... I'm worried about what Kieran is going to produce if he writes this dilatometer algorithm
+15:46 < sam_moore> It's going to return an array isn't it...
+15:46 < sam_moore> I have no idea why
+15:47 < jtanx> :3
+15:47 < jtanx> brb ~5 mins while I relocate to a lecture theatre
+15:47 < sam_moore> Ok
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+16:13 < sam_moore> Ok, this is both terrible and awesome
+16:13 < sam_moore> But I've written a test "sensor" that is essentially just an external program
+16:17 < sam_moore> So... if anyone complains about not being able to use python... they can use python
+16:17 < sam_moore> And they don't have to reinvent all of our FastCGI stuff
+16:17 < sam_moore> Although apparently that's easy in python anyway
+16:17 < sam_moore> It's the thought that counts
+16:21 < jtanx> :P
+16:21 < jtanx> flup
+16:30 < jtanx> http://zacharyvoase.com/2009/09/08/sendfile/
+16:30 < jtanx> this could be interesting
+16:31 < jtanx> replace static with our fastcgi app
+16:31 < jtanx> http://wiki.nginx.org/XSendfile
+18:07 < jtanx> mmm feature creep
+18:08 < sam_moore> Meh, it was better than dealing with that switch statement
+18:09 < jtanx> yeah
+18:09 < sam_moore> Also it made it really easy to decide where to put mutexes
+18:10 < sam_moore> Given that I would have had to write a "strain.c" and do about the same amount of work anyway, I think the solution is a good one
+18:10 < jtanx> it kind o makes sense though
+18:11 < jtanx> you can't particularly generalise that much to each sensor type
+18:11 < jtanx> so it makes sense to separate out based on what type of sensor it is
+18:11 < sam_moore> Yes
+18:11 < sam_moore> The Piped sensor is definitely feature creep though :P
+18:12 < jtanx> ^-^
+18:12 < sam_moore> Although...
+18:13 < sam_moore> If we wanted to distribute the sensors with a "master slave" system
+18:13 < sam_moore> The code would end up looking alot like that
+18:13 < sam_moore> Except with a network socket instead of a unix domain socket
+18:14 < sam_moore> Also I'm not sure why I called it piped given that it doesn't use a pipe
+18:14 < sam_moore> I suppose it sounds cooler than "uds"
+18:20 < jtanx> So with electronics
+18:20 < jtanx> the reason why they were having issues with getting the psu approved
+18:20 < jtanx> was because they wanted to cut the leads and solder directly to the board
+18:21 < jtanx> Oliver suggested that they use extension connectors
+18:21 < jtanx> and cut the lead on the extension
+18:21 < jtanx> but why they didn't think of that first, I don't know
+18:45 < jtanx> now to watch this week's lecture...
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+--- Day changed Thu Oct 10 2013
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+--- Day changed Fri Oct 11 2013
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+15:10 < jtanx> urgh
+15:10 < jtanx> burning the midnight oil trying to get my cits2232 project done
+15:10 < jtanx> but
+15:10 < jtanx> it has taught me a lot about django
+15:10 < jtanx> which may be of use, especially for the whole admin stuff
+15:11 < jtanx> one possibility is that we have two separate 'logins'
+15:11 < jtanx> one gains you access to the site
+15:11 < jtanx> one gains control over the bbb (eg the server api)
+15:12 < jtanx> what you could do is keep the 'bind' functionality for the api, but make it check against the django user database for credentials
+15:12 < jtanx> I'll look into it, if not today then probably tomorrow
+19:39 < sam_moore> That sounds good
+19:48 < sam_moore> Should we do something like this: http://stackoverflow.com/questions/8988855/include-another-html-file-in-a-html-file (The accepted answer) to do with our sidebar/menu stuff
+19:48 < sam_moore> Although...
+19:48 < jtanx> well
+19:48 < jtanx> if we use django it has really cool templating stuff
+19:48 < sam_moore> That solution is actually about as much as just copy/pasting the sidebar at the moment
+19:48 < jtanx> yeah
+19:49 < sam_moore> So Django does parts of our GUI as well as the user management system?
+19:49 < jtanx> Well yeah
+19:49 < jtanx> so django would be ui mostly
+19:49 < jtanx> then tack on to that our api
+19:49 < jtanx> which remains exactly the same
+19:49 < jtanx> except that it uses the django database for checking authorizaiton
+19:50 < jtanx> so right before you commence an experiment, you try to 'gain control' of the bbb, you resupply your login creds
+19:50 < sam_moore> Sure, that's a good solution, I thought django would just do user management though (rather than replace the JavaScript GUI)
+19:50 < jtanx> well if you do use django
+19:50 < jtanx> it's a good idea to change some of it, because of the templating system
+19:51 < jtanx> and that it can conditionally show content
+19:51 < sam_moore> Ok
+19:51 < jtanx> some of the javascript stuff will stay though, definitely
+19:51 < jtanx> especially all the live update stuff
+19:51 < jtanx> but this is getting ahead of myself, because i'm not even sure if this will work
+19:51 < sam_moore> Hahaha
+19:52 < sam_moore> You're entering a territory where I can't help much
+19:52 < jtanx> yeah, well all of this 'web development' is new area for me too :P
+19:52 < jtanx> I'm supposed to be majoring in computation, not web tech...
+19:52 < sam_moore> You know more/better jQuery than me
+19:52 < jtanx> jquery is pretty easy to learn though
+19:53 < jtanx> i picked it up completely from this project
+19:53 < sam_moore> Well, that's one reason why we went with it, since I used it briefly for something and it wasn't too hard, and James said he'd used it before too
+19:54 < jtanx> Yeah
+19:54 < sam_moore> If you want to replace stuff with django, I'm ok with that, if it's simpler
+19:55 < jtanx> I'll see how it goes, hopefully it shouldn't be too hard to setup
+19:55 < sam_moore> It just seems silly to copy/paste this Navigation Menu into every file
+19:55 < jtanx> yep
+19:55 < sam_moore> But copy/pasting the code (stack overflow) to automatically make it is also annoying
+19:55 < jtanx> We can roll with the jquery soln if I don't get this working
+19:56 < sam_moore> Unless you could include that in the "runBeforeLoad()" ?
+19:56 < jtanx> can't you just have a placeholder
+19:56 < jtanx> and on document load, you load it?
+19:56 < sam_moore> Yeah
+19:56 < jtanx> It'll look a bit crap because you'll see it before the sidebar loads
+19:56 < sam_moore> Actually that's how you're doing other things
+19:56 < jtanx> yeah
+19:56 < sam_moore> But the navigation menu is hard coded html
+19:56 < sam_moore> I'm just reading the existing code :P
+19:56 < jtanx> haha
+19:57 < jtanx> yeah it's hardcoded - it's the easiest solution
+19:57 < jtanx> I've got my case study for 2402 this/next week too
+19:57 < sam_moore> Um... I think it's fairly easy to call load from a file
+19:57 < sam_moore> I'll look into that
+19:57 < jtanx> ok
+19:58 < sam_moore> The case study was reasonable, although he wanted a lot more detail from us
+19:58 < jtanx> what did you do?
+19:58 < sam_moore> Despite struggling to cram it into 4 pages
+19:58 < sam_moore> The pencil
+19:58 < sam_moore> That's a good one
+19:58 < jtanx> ah
+19:58 < sam_moore> Lots of youtube videos
+19:58 < jtanx> we're doing pet bottles
+19:58 < jtanx> there's this megafactories one on the coke plant which was prettyc ool
+19:58 < jtanx> but yeah the pencil one also has a lot
+19:58 < jtanx> i think i saw the how its made one
+19:59 < jtanx> Ha
+19:59 < jtanx> http://wiki.nginx.org/HttpSsiModule
+19:59 < jtanx> if you want to get server specific
+19:59 < jtanx> you can do ssi
+19:59 < jtanx> let's not do that if possible :P
+20:00 < sam_moore> Wait...
+20:00 < sam_moore> It looks like you put html comments and they get sent to the server?
+20:00 < sam_moore> How is that a thing?
+20:00 < jtanx> <!--# include file="footer.html" -->
+20:00 < jtanx> nah what happens
+20:00 < jtanx> is the server reads the html file
+20:00 < jtanx> and where there's special placeholders
+20:00 < jtanx> it does stuff
+20:00 < sam_moore> Ah
+20:01 < sam_moore> No, do it client side
+20:01 < jtanx> yeah
+20:01 < sam_moore> There's like jQuery.load
+20:01 < sam_moore> I'd probably keep django for user auth to start with
+20:01 < sam_moore> But I think jQuery should be sufficient for the GUI
+20:02 < jtanx> I think if you roll with django
+20:02 < jtanx> you should use jQuery for all the interactive stuff
+20:02 < jtanx> (which you'd have to anyway)
+20:02 < jtanx> but you should use the templating system that django's got
+20:03 < sam_moore> Ok, what does django give you exactly then, I'm not quite sure what the "template" stuff is, I assume it's nothing like a C++ template
+20:03 < jtanx> OK
+20:03 < jtanx> hmm
+20:03 < jtanx> I'll give you access to my cits2232 repo temporarily
+20:03 < jtanx> so you can see
+20:03 < sam_moore> If it lets you easily include bits of html that's cool, but jQuery looks to be able to do that easily as well
+20:03 < sam_moore> Alright
+20:04 < jtanx> actually you know what
+20:04 < jtanx> i'll just post it on pastebin or something
+20:05 < jtanx> http://privatepaste.com/ec22ba7238
+20:05 < jtanx> That's the base template
+20:05 < jtanx> http://privatepaste.com/07499e4a19
+20:05 < jtanx> That's the index
+20:05 < jtanx> {{variable_name}} will display a variable name
+20:05 < jtanx> sorry, the contents of that variable
+20:06 < jtanx> {% %} blocks are for control
+20:06 < sam_moore> Hmm
+20:07 < jtanx> the base template got a bit out of hand for that project
+20:07 < sam_moore> Well, if you want to use something like that I'm ok with it
+20:07 < sam_moore> Although I think the thing that I was originally complaining about can be solved in jQuery :P
+20:08 < jtanx> yeah
+20:08 < sam_moore> But you should probably ask everyone else involved with the GUI for input too
+20:08 < jtanx> Yeah, good point
+20:09 < sam_moore> ... Really I didn't want to be involved with the GUI, but I kind of need to mess around with at least some basic graph stuff to work out if I need to change the server sensors/actuators api
+20:09 < jtanx> well let's just say that i did not envision doing the gui either
+20:09 < sam_moore> I'll try and keep what I do consistent with the overall style though
+20:09 < sam_moore> Which is how I got sidetracked complaining about copy/pasting things :P
+20:10 < sam_moore> I think the GUI we have so far is pretty good
+20:10 < jtanx> hehehe
+20:10 < jtanx> yeah it's not too bad
+20:11 < jtanx> the only thing that I wouldn't know how to do is that admin stuff
+20:11 < sam_moore> user admin or experiment admin?
+20:11 < jtanx> um
+20:11 < jtanx> I dunno, whatever that 'admin' functionality needs to be
+20:11 < jtanx> like 'access the full logs'
+20:11 < sam_moore> Oh, right
+20:12 < jtanx> unless you start implementing permissions in the api
+20:12 < sam_moore> Hmm, we might have to
+20:13 < sam_moore> It should just be an enum for the user type that gets returned/set by the authentication handler and checked for certain operations
+20:13 < sam_moore> But as you mentioned the other day, you don't want someone to be able to login after someone else has started an experiment and cancel it
+20:13 < sam_moore> Actually
+20:13 < sam_moore> Do you?
+20:13 < jtanx> admin only?
+20:13 < sam_moore> Exactly
+20:14 < jtanx> how difficult is that to do though
+20:14 < sam_moore> Store the username of who owns the current experiment
+20:14 < sam_moore> Store an enum of the user type of whoever is currently logged in
+20:14 < sam_moore> If someone tries to stop the experiment, unless their username matches, or they are an admin, refuse
+20:14 < sam_moore> There could be a safety issue there?
+20:15 < jtanx> the only thing is
+20:15 < sam_moore> If someone needs to stop the experiment but isn't an admin?
+20:15 < jtanx> everything's based off the control key
+20:15 < sam_moore> Meh... add another cookie
+20:15 < sam_moore> ... That escalated quickly
+20:15 < jtanx> you've already used the nameless cookie
+20:15 < jtanx> if you add another cookie
+20:15 < jtanx> you have to do string parsing
+20:15 < jtanx> and have named cookies
+20:16 < sam_moore> Hmmm
+20:16 < sam_moore> "Beyond the scope of the project" ?
+20:16 < jtanx> i think the format was
+20:16 < jtanx> key=value; key=value2
+20:16 < jtanx> yeah, beyond the scope :P
+20:16 < sam_moore> Yeah, that is ever so annoying
+20:16 < jtanx> let's leave it for now
+20:16 < jtanx> come back to it
+20:16 < sam_moore> Because if it were something like "key=value&key=value2" you could potentially reuse the FCGI parser
+20:17 < jtanx> yeah
+20:17 < jtanx> you could modify it
+20:17 < sam_moore> That would be the way to go
+20:17 < jtanx> generalise it
+20:17 < sam_moore> But it's low priority now
+20:17 < jtanx> yep
+20:17 < jtanx> wow i'm getting seriously sidetracked
+20:18 < jtanx> this mechatronics project is more interesting than any of my other projects though
+20:18 < sam_moore> Haha
+20:19 < sam_moore> I know what you mean
+20:19 < sam_moore> I want to compile a RT linux kernel on my laptop (since they have x86 versions)
+20:19 < sam_moore> So that I can look at how much the consistency in sample rate could theoretically improve...
+20:20 < sam_moore> If someone managed to port the RT linux kernel to the BeagleBone
+20:20 < jtanx> RT linux on your computer
+20:20 < jtanx> isn't that generally bad
+20:20 < jtanx> because RT screws up other stuff
+20:21 < sam_moore> Like what?
+20:21 < jtanx> decreased performance to meet the deadlines
+20:21 < sam_moore> Also, I don't have to permanently replace my existing kernel, just add another bootloader entry
+20:22 < sam_moore> If it screws up nginx that would be annoying though
+20:23 < jtanx> while you're at it, try running the bfs scheduler instead of the cfs scheduler :P
+20:23 < sam_moore> Maybe
+20:42 < sam_moore> Ok, the solution to the copy/paste is just something like $("#sidebar").load("static/sidebar.html")
+20:42 < sam_moore> However, whilst running this in the document.ready function on a test page works, running it in index.html appears to have no effect
+20:43 < sam_moore> Oh
+20:43 < sam_moore> I know why
+20:43 < sam_moore> Because runBeforeLoad is failing
+20:43 < sam_moore> Presumably you still want to load content like the navigation bar even if the server isn't running
+20:44 < sam_moore> So... there is ".done()" and ".fail()" ... is there ".either()"?
+20:46 < sam_moore> Ahahaha
+20:47 < sam_moore> Of course, there is ".always()"
+20:49 < sam_moore> Hmm, I wouldn't want to design any sort of large system with a language like this, but it is an interesting style
+20:51 < jtanx> haha
+20:52 < sam_moore> So, a lot of the header stuff can be moved into .html files and just jQuery.loaded, which should make things cleaner
+20:52 < sam_moore> I will refrain from doing that now though
+20:53 < jtanx> don't be too tempted to do a lot of templating with javascript
+20:53 < jtanx> because it will load asynchronously, stuff will look weird
+20:53 < jtanx> and if the js breaks
+20:53 < jtanx> well, your page is more screwed than before
+20:54 < sam_moore> Ok... but you could still potentially have at least one html file in the static directory
+20:54 < sam_moore> With all the header and navigation stuff
+20:55 < sam_moore> Just have a .fail() function!
+20:55 < sam_moore> That's what it's for, right :P
+20:56 < sam_moore> $("#thing").load("static/thing.html").fail($("#thing").html("<p> Something fucked up </p>")
+20:56 < sam_moore> Oh dear
+20:58 < jtanx> ~.~
+20:58 < jtanx> django here: https://mctx.us.to:8043/databases
+20:58 < jtanx> login with testuser:testuser
+20:58 < jtanx> ignore that it looks a lot like our gui
+20:58 < jtanx> except it doesnt work anymore
+21:00 < sam_moore> Well, django's used for UCC for member administration
+21:01 < sam_moore> Except it's entirely seperate from LDAP which we use for authentication
+21:01 < sam_moore> Except it's not really because it binds to LDAP for authentication :S
+21:01 < sam_moore> Wheels within wheels...
+21:02 < jtanx> ookay
+21:04 < sam_moore> You need LDAP for shell access
+21:04 < sam_moore> In fact...
+21:04 < sam_moore> We could potentially give pheme users shell access to the BeagleBone
+21:04 < sam_moore> But there's not really any point
+21:04 < jtanx> is that a good idea
+21:05 < sam_moore> No
+21:05 < sam_moore> It's an awful idea
+21:05 < sam_moore> Just saying it's possible :P
+21:06 < sam_moore> Someone could do this: :(){ :|:& };:
+21:06 < sam_moore> And break the entire thing
+21:08 < jtanx> is that the fork bomb
+21:09 < jtanx> ok the site works now
+21:09 < jtanx> sort of
+21:10 < sam_moore> 400 Bad Request
+21:10 < jtanx> hurr
+21:10 < sam_moore> I think iceweasel is being dumb and ignoring https:// ?
+21:10 < sam_moore> Although it was fine before
+21:11 < jtanx> nah probably screwed up the nginx config
+21:11 < sam_moore> No, it works, I just had to type the https:// instead of copy paste
+21:11 < sam_moore> Wierd
+21:11 < sam_moore> The test login doesn't work though
+21:11 < jtanx> testuser doesn't work for some reason
+21:11 < jtanx> yeah just register
+21:12 < sam_moore> Will it actually send an email?
+21:12 < jtanx> urgh
+21:12 < jtanx> no
+21:12 < sam_moore> haha
+21:12 < jtanx> okay no the config is still broken
+21:16 < sam_moore> I'll have to come back to this tomorrow
+21:16 < sam_moore> Bye
+21:17 < jtanx> ok bye
+23:09 -!- jtanx [
[email protected]] has quit ["ChatZilla 0.9.90.1 [Firefox 24.0/20130910160258]"]
CXX = gcc
FLAGS = -std=c99 -Wall -pedantic -g -I/usr/include/opencv -I/usr/include/opencv2/highgui -L/usr/lib
LIB = -lfcgi -lssl -lcrypto -lpthread -lm -lopencv_highgui -lopencv_core -lopencv_ml -lopencv_imgproc -lldap -lcrypt
-OBJ = log.o control.o data.o fastcgi.o main.o sensor.o actuator.o image.o bbb_pin.o pin_test.o login.o
+OBJ = log.o control.o data.o fastcgi.o main.o sensor.o actuator.o image.o bbb_pin.o pin_test.o login.o sensors/sensors.a actuators/actuators.a
RM = rm -f
BIN = server
#BIN2 = stream
-all : $(BIN) $(BIN2)
+all :
+ $(MAKE) -C sensors
+ $(MAKE) -C actuators
+ $(MAKE) $(BIN)
+
$(BIN) : $(OBJ)
$(CXX) $(FLAGS) -c $<
-
clean :
+ make -C sensors clean
$(RM) $(BIN) $(BIN2)
$(RM) *.o
clean_full: #cleans up all backup files
+ make -C sensors clean_full
$(RM) $(BIN) $(BIN2) $(OBJ) $(LINKOBJ)
$(RM) *.*~
$(RM) *~
#include "bbb_pin.h"
+
+
+/** Number of actuators **/
+int g_num_actuators = 0;
+
/** Array of Actuators (global to this file) initialised by Actuator_Init **/
-static Actuator g_actuators[NUMACTUATORS];
+static Actuator g_actuators[ACTUATORS_MAX];
+/**
+ * Add and initialise an Actuator
+ * @param name - Human readable name of the actuator
+ * @param read - Function to call whenever the actuator should be read
+ * @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)
+{
+ if (++g_num_actuators > ACTUATORS_MAX)
+ {
+ Fatal("Too many sensors; Increase ACTUATORS_MAX from %d in actuator.h and recompile", ACTUATORS_MAX);
+ }
+ Actuator * a = &(g_actuators[g_num_actuators-1]);
+ a->id = g_num_actuators-1;
+ a->user_id = user_id;
+ Data_Init(&(a->data_file));
+ a->name = name;
+ a->set = set; // Set read function
+ a->init = init; // Set init function
+ if (init != NULL)
+ init(name, user_id); // Call it
+ a->sanity = sanity;
+
+ pthread_mutex_init(&(a->mutex), NULL);
+
+ return g_num_actuators;
+}
-/** Human readable names for the Actuators **/
-const char * g_actuator_names[NUMACTUATORS] = {
- "actuator_test0", "gpio1_16", "EHRPWM0A_duty@60Hz"
-};
/**
* One off initialisation of *all* Actuators
*/
+#include "actuators/ledtest.h"
+#include "actuators/filetest.h"
void Actuator_Init()
{
- for (int i = 0; i < NUMACTUATORS; ++i)
- {
- g_actuators[i].id = i;
- Data_Init(&(g_actuators[i].data_file));
- pthread_mutex_init(&(g_actuators[i].mutex), NULL);
- }
-
- // Initialise pins used
- GPIO_Export(GPIO1_16);
- PWM_Export(EHRPWM0A);
-
+ //Actuator_Add("ledtest",0, Ledtest_Set, NULL,NULL,NULL);
+ Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity);
}
/**
*/
void Actuator_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < NUMACTUATORS; i++)
+ for (int i = 0; i < ACTUATORS_MAX; i++)
Actuator_SetMode(&g_actuators[i], mode, arg);
}
if (!a->activated)
break;
- Actuator_SetValue(a, a->control.value);
+ Actuator_SetValue(a, a->control.start);
+ // Currently does discrete steps after specified time intervals
+ while (a->control.steps > 0 && a->activated)
+ {
+ usleep(1e6*(a->control.stepwait));
+ a->control.start += a->control.stepsize;
+ Actuator_SetValue(a, a->control.start);
+
+ a->control.steps--;
+ }
+ usleep(1e6*(a->control.stepwait));
+
+ //TODO:
+ // Note that although this loop has a sleep in it which would seem to make it hard to enforce urgent shutdowns,
+ // You can call the Actuator's cleanup function immediately (and this loop should later just exit)
+ // tl;dr This function isn't/shouldn't be responsible for the emergency Actuator stuff
+ // (That should be handled by the Fatal function... at some point)
}
//TODO: Cleanup?
*/
void Actuator_SetValue(Actuator * a, double value)
{
+ if (a->sanity != NULL && !a->sanity(a->user_id, value))
+ {
+ //ARE YOU INSANE?
+ Fatal("Insane value %lf for actuator %s", value, a->name);
+ }
+ if (!(a->set(a->user_id, value)))
+ {
+ Fatal("Failed to set actuator %s to %lf", a->name, value);
+ }
+
// Set time stamp
struct timeval t;
gettimeofday(&t, NULL);
-
+ // Record and save DataPoint
DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
- //TODO: Set actuator
- switch (a->id)
- {
- case ACTUATOR_TEST0:
- {
- // Onboard LEDs test actuator
- FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
- const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
- char buf[50];
- bool turn_on = value;
-
- for (int i = 0; i < 4; i++)
- {
- snprintf(buf, 50, led_format, i);
- if ((led_handle = fopen(buf, "w")) != NULL)
- {
- if (turn_on)
- fwrite("1", sizeof(char), 1, led_handle);
- else
- fwrite("0", sizeof(char), 1, led_handle);
- fclose(led_handle);
- }
- else
- Log(LOGDEBUG, "LED fopen failed: %s", strerror(errno));
- }
- }
- break;
- case ACTUATOR_TEST1:
- GPIO_Set(GPIO1_16, (bool)(value));
- break;
- case ACTUATOR_TEST2:
- {
- // PWM analogue actuator (currently generates one PWM signal with first PWM module)
- static long freq = 16666666; // This is 60Hz
- PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle
- break;
- }
- }
-
- Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
-
- // Record the value
Data_Save(&(a->data_file), &d, 1);
}
* @param format - Format
* @param id - ID of Actuator
*/
-void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat format)
+void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONLong("id", id);
- FCGI_JSONPair("name", g_actuator_names[id]);
+ FCGI_JSONLong("id", a->id);
+ FCGI_JSONLong("user_id", a->user_id); //TODO: Don't need to show this?
+ FCGI_JSONPair("name", a->name);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
* @param id - ID of the Actuator
* @param format - Format
*/
-void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat format)
+void Actuator_EndResponse(FCGIContext * context, Actuator * a, DataFormat format)
{
// End response
switch (format)
gettimeofday(&now, NULL);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
- double set = 0;
+ char * name = "";
+ char * set = "";
double start_time = 0;
double end_time = current_time;
char * fmt_str;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
- {"set", &set, FCGI_DOUBLE_T},
+ {"id", &id, FCGI_INT_T},
+ {"name", &name, FCGI_STRING_T},
+ {"set", &set, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
{"format", &fmt_str, FCGI_STRING_T}
// enum to avoid the use of magic numbers
typedef enum {
ID,
+ NAME,
SET,
START_TIME,
END_TIME,
// Get the Actuator identified
Actuator * a = NULL;
- if (id < 0 || id >= NUMACTUATORS)
+
+ if (FCGI_RECEIVED(values[NAME].flags))
+ {
+ if (FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "Can't supply both id and name");
+ return;
+ }
+ a = Actuator_Identify(name);
+ if (a == NULL)
+ {
+ FCGI_RejectJSON(context, "Unknown actuator name");
+ return;
+ }
+
+ }
+ else if (!FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "No id or name supplied");
+ return;
+ }
+ else if (id < 0 || id >= ACTUATORS_MAX)
{
FCGI_RejectJSON(context, "Invalid Actuator id");
return;
}
+ else
+ {
+ a = &(g_actuators[id]);
+ }
- a = g_actuators+id;
DataFormat format = Data_GetFormat(&(values[FORMAT]));
- // Begin response
- Actuator_BeginResponse(context, id, format);
- // Set?
+
+
if (FCGI_RECEIVED(values[SET].flags))
{
- if (format == JSON)
- FCGI_JSONDouble("set", set);
+
- ActuatorControl c;
- c.value = set;
-
+ ActuatorControl c = {0.0, 0.0, 0.0, 0}; // Need to set default values (since we don't require them all)
+ // sscanf returns the number of fields successfully read...
+ int n = sscanf(set, "%lf,%lf,%lf,%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
+ if (n != 4)
+ {
+ // 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);
+ }
+ // SANITY CHECKS
+ if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start)))
+ {
+ FCGI_RejectJSON(context, "Bad Actuator setting");
+ return;
+ }
Actuator_SetControl(a, &c);
+
}
+
+ // Begin response
+ Actuator_BeginResponse(context, a, format);
+ if (format == JSON)
+ FCGI_JSONPair("set", set);
// Print Data
Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
- Actuator_EndResponse(context, id, format);
+ Actuator_EndResponse(context, a, format);
+}
+
+/**
+ * Get the name of an Actuator given its id
+ * @param id - ID of the actuator
+ * @returns The Actuator's name
+ */
+const char * Actuator_GetName(int id)
+{
+ return g_actuators[id].name;
+}
+
+/**
+ * Identify an Actuator from its name string
+ * @param name - The name of the Actuator
+ * @returns Actuator
+ */
+Actuator * Actuator_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_actuators; ++i)
+ {
+ if (strcmp(g_actuators[i].name, name) == 0)
+ return &(g_actuators[i]);
+ }
+ return NULL;
}
#include "common.h"
#include "data.h"
+#include "device.h"
-//NOTE: Functionality is very similar to Sensor stuff
-// BUT it's probably very unwise to try and generalise Sensors and Actuators to the same thing (ie: Device)
-// Might be OK in C++ but not easy in C
-/** Number of actuators **/
-#define NUMACTUATORS 3
+/**
+ * Maximum number of actuators program can be compiled with
+ * (If you get an error "Increase ACTUATORS_MAX from %d" this is what it refers to)
+ */
+#define ACTUATORS_MAX 5
+extern int g_num_actuators; // in actuator.c
-/** List of actuator ids (should be of size NUMACTUATORS) **/
-typedef enum
-{
- ACTUATOR_TEST0,
- ACTUATOR_TEST1,
- ACTUATOR_TEST2
-} ActuatorId;
-/** Human readable names for the Actuators **/
-extern const char * g_actuator_names[NUMACTUATORS];
/** Control structure for Actuator setting **/
typedef struct
{
//TODO: Add functionality as needed
- /** Simple value for Actuator **/
- double value;
+ // Currently implements a simple piecewise step increase
+ // Would be cool to have a function specified as a string... eg: "1.0 + 0.5*s^2" with "s" the step number, and then give "stepwait" and "steps"
+ // ... But that, like so many things, is probably overkill
+ /** Current value of Actuator **/
+ double start;
+ /** Time to maintain Actuator at each value **/
+ double stepwait;
+ /** Amount to increase/decrease Actuator on each step **/
+ double stepsize;
+ /** Number of steps still to perform **/
+ int steps; // Note that after it is first set, this will be decremented until it is zero
+
} ActuatorControl;
typedef struct
{
/** ID number of the actuator **/
- ActuatorId id;
+ int id;
+ /** User ID number **/
+ int user_id;
+ /** Name **/
+ const char * name;
/** Control parameters for the Actuator **/
ActuatorControl control;
/** Flag indicates if ActuatorControl has been changed **/
pthread_cond_t cond;
/** Indicates whether the Actuator is running **/
bool activated;
-
+ /** Initialisation function **/
+ InitFn init;
+ /** Set function **/
+ SetFn set;
+ /** Sanity check function **/
+ SanityFn sanity;
+ /** Cleanup function **/
+ CleanFn clean;
+
} Actuator;
extern void Actuator_Init(); // One off initialisation of *all* Actuators
extern Actuator * Actuator_Identify(const char * str); // Identify a Sensor from a string Id
extern void Actuator_Handler(FCGIContext *context, char * params); // Handle a FCGI request for Actuator control
+extern const char * Actuator_GetName(int id);
#endif //_ACTUATOR_H
--- /dev/null
+# Makefile for server software
+CXX = gcc
+FLAGS = -std=c99 -Wall -pedantic -g -I../
+#-I/usr/include/opencv -I/usr/include/opencv2/highgui For OpenCV
+LIB = -lpthread
+OBJ = ledtest.o filetest.o
+HEADERS = $(wildcard *.h)
+RM = rm -f
+
+all : $(OBJ)
+ ar rvs actuators.a $(OBJ)
+
+
+%.o : %.c
+ $(CXX) $(FLAGS) -c $<
+
+clean :
+ $(RM) $(BIN)
+ $(RM) *.o
+
+clean_full: #cleans up all backup files
+ $(RM) $(BIN) $(OBJ)
+ $(RM) *.*~
+ $(RM) *~
+
+
+
--- /dev/null
+#include "filetest.h"
+
+static FILE * f = NULL;
+bool Filetest_Init(const char * name, int id)
+{
+ f = fopen(name, "w");
+ setbuf(f, NULL); // Unbuffer
+ return (f != NULL);
+}
+
+bool Filetest_Set(int id, double value)
+{
+ Log(LOGDEBUG, "Writing %lf to file", value);
+ return (fprintf(f, "%lf\n", value) > 1);
+}
+
+bool Filetest_Cleanup(int id)
+{
+ return (fclose(f) == 0);
+}
+
+bool Filetest_Sanity(int id, double value)
+{
+ return (abs(value) <= 1e4);
+}
--- /dev/null
+#ifndef _FILETEST_H
+#define _FILETEST_H
+
+#include "../common.h"
+
+extern bool Filetest_Init(const char * name, int id);
+extern bool Filetest_Set(int id, double value);
+extern bool Filetest_Cleanup(int id);
+extern bool Filetest_Sanity(int id, double value);
+
+#endif //_FILETEST_H
+
+
--- /dev/null
+#include "ledtest.h"
+
+bool Ledtest_Set(int id, double value)
+{
+
+ FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds
+ const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
+ char buf[50];
+ bool turn_on = value;
+
+ for (int i = 0; i < 4; i++)
+ {
+ snprintf(buf, 50, led_format, i);
+ if ((led_handle = fopen(buf, "w")) != NULL)
+ {
+ if (turn_on)
+ fwrite("1", sizeof(char), 1, led_handle);
+ else
+ fwrite("0", sizeof(char), 1, led_handle);
+ fclose(led_handle);
+ }
+ else
+ {
+ Log(LOGDEBUG, "LED fopen failed: %s", strerror(errno));
+ return false;
+ }
+ }
+ return true;
+}
--- /dev/null
+#ifndef _LED_TEST_H
+#define _LED_TEST_H
+
+#include "../common.h"
+
+extern bool Ledtest_Set(int id, double value);
+
+
+#endif //_LED_TEST_H
+
+//EOF
* @param params The input parameters
*/
void Control_Handler(FCGIContext *context, char *params) {
- const char *action, *key = "", *name = "";
+ const char *action = "";
+ const char *name = "";
bool force = false;
ControlModes desired_mode;
+
+
+ // Login/auth now handled entirely in fastcgi.c and login.c
+ //TODO: Need to not have the ability for any user to stop someone else' experiment...
+ // (achieve by storing the username of the person running the current experiment, even when they log out?)
+ // (Our program should only realisitically support a single experiment at a time, so that should be sufficient)
FCGIValue values[4] = {
{"action", &action, FCGI_REQUIRED(FCGI_STRING_T)},
- {"key", &key, FCGI_STRING_T},
{"force", &force, FCGI_BOOL_T},
{"name", &name, FCGI_STRING_T}
};
return;
} else if (!strcmp(action, "emergency")) {
desired_mode = CONTROL_EMERGENCY;
- } else if (FCGI_HasControl(context, key)) {
- if (!strcmp(action, "release")) {
- FCGI_ReleaseControl(context);
- } else if (!strcmp(action, "start")) {
- desired_mode = CONTROL_START;
- } else if (!strcmp(action, "pause")) {
- desired_mode = CONTROL_PAUSE;
- } else if (!strcmp(action, "resume")) {
- desired_mode = CONTROL_RESUME;
- } else if (!strcmp(action, "stop")) {
- desired_mode = CONTROL_STOP;
- } else {
- FCGI_RejectJSON(context, "Unknown action specified.");
- return;
- }
+ }
+ else if (!strcmp(action, "release")) {
+ FCGI_ReleaseControl(context);
+ } else if (!strcmp(action, "start")) {
+ desired_mode = CONTROL_START;
+ } else if (!strcmp(action, "pause")) {
+ desired_mode = CONTROL_PAUSE;
+ } else if (!strcmp(action, "resume")) {
+ desired_mode = CONTROL_RESUME;
+ } else if (!strcmp(action, "stop")) {
+ desired_mode = CONTROL_STOP;
} else {
- FCGI_RejectJSONEx(context, STATUS_UNAUTHORIZED,
- "Invalid control key specified.");
+ FCGI_RejectJSON(context, "Unknown action specified.");
return;
}
-
+
void *arg = NULL;
if (desired_mode == CONTROL_START) {
if (PathExists(name) && !force) {
extern void Data_Handler(DataFile * df, FCGIValue * start, FCGIValue * end, DataFormat format, double current_time); // Helper; given FCGI params print data
extern DataFormat Data_GetFormat(FCGIValue * fmt); // Helper; convert human readable format string to DataFormat
+
#endif //_DATAPOINT_H
--- /dev/null
+/**
+ * @file device.h
+ * @brief Declare code/typedefs common to both Sensors and Actuators
+ */
+#ifndef _DEVICE_H
+#define _DEVICE_H
+
+/** Function pointer for sensor reading **/
+typedef bool (*ReadFn)(int, double *);
+/** Function pointer for actuator setting **/
+typedef bool (*SetFn)(int, double);
+/** Function pointer for sensor initialisation **/
+typedef bool (*InitFn)(const char *, int);
+/** Function pointer for sensor cleanup **/
+typedef bool (*CleanFn)(int);
+/** Function to check the sanity of a value **/
+typedef bool (*SanityFn)(int, double);
+
+#endif //_DEVICE_H
if (ident_sensors) {
FCGI_JSONKey("sensors");
FCGI_JSONValue("{\n\t\t");
- for (i = 0; i < NUMSENSORS; i++) {
+ for (i = 0; i < g_num_sensors; i++) {
if (i > 0) {
FCGI_JSONValue(",\n\t\t");
}
- FCGI_JSONValue("\"%d\" : \"%s\"", i, g_sensor_names[i]);
+ FCGI_JSONValue("\"%d\" : \"%s\"", i, Sensor_GetName(i));
}
FCGI_JSONValue("\n\t}");
}
if (ident_actuators) {
FCGI_JSONKey("actuators");
FCGI_JSONValue("{\n\t\t");
- for (i = 0; i < NUMACTUATORS; i++) {
+ for (i = 0; i < g_num_actuators; i++) {
if (i > 0) {
FCGI_JSONValue(",\n\t\t");
}
- FCGI_JSONValue("\"%d\" : \"%s\"", i, g_actuator_names[i]);
+ FCGI_JSONValue("\"%d\" : \"%s\"", i, Actuator_GetName(i));
}
FCGI_JSONValue("\n\t}");
}
if (module_handler)
{
- if (module_handler != Login_Handler && module_handler != IdentifyHandler)
+ //if (module_handler != Login_Handler && module_handler != IdentifyHandler)
+ if (false) // Testing
{
if (cookie[0] == '\0')
{
#include <syslog.h> // for system logging
#include <signal.h> // for signal handling
+
// --- Variable definitions --- //
Options g_options; // options passed to program through command line arguments
}
-/**
- * Handle a signal
- * @param signal - The signal number
- */
-//TODO: Something that gets massively annoying with threads is that you can't predict which one gets the signal
-// There are ways to deal with this, but I can't remember them
-// Probably sufficient to just call Thread_QuitProgram here
-void SignalHandler(int signal)
-{
- // At the moment just always exit.
- // Call `exit` so that Cleanup will be called to... clean up.
- Log(LOGWARN, "Got signal %d (%s). Exiting.", signal, strsignal(signal));
-
- //exit(signal);
-}
-
/**
* Cleanup before the program exits
*/
void Cleanup()
{
Log(LOGDEBUG, "Begin cleanup.");
+ Sensor_Cleanup();
+ //Actuator_Cleanup();
Log(LOGDEBUG, "Finish cleanup.");
-
}
/**
openlog("mctxserv", LOG_PID | LOG_PERROR, LOG_USER);
Log(LOGINFO, "Server started");
- ParseArguments(argc, argv);
-
- //Open the system log
+ ParseArguments(argc, argv); // Setup the g_options structure from program arguments
- // signal handler
- //TODO: Make this work
- /*
- int signals[] = {SIGINT, SIGSEGV, SIGTERM};
- for (int i = 0; i < sizeof(signals)/sizeof(int); ++i)
- {
- signal(signals[i], SignalHandler);
- }
- */
Sensor_Init();
Actuator_Init();
Pin_Init();
- //Sensor_StartAll("test");
- //Actuator_StartAll("test");
+
+ // 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();
auth_uri="/etc/shadow"
# Set to the dn of the LDAP server
-#ldap_base_dn="ou=People,dc=daedalus" # Testing
-ldap_base_dn="ou=Users,ou=UWA,dc=uwads,dc=uwa,dc=edu,dc=au" #UWA
+ldap_base_dn="ou=People,dc=daedalus" # Testing
+#ldap_base_dn="ou=Users,ou=UWA,dc=uwads,dc=uwa,dc=edu,dc=au" #UWA
## OPTIONS TO BE PASSED TO SERVER; DO NOT EDIT
if [[ "$(uname -m)" != *arm* ]]; then
echo Not running on the BBB
# Use this to quickly test run the server in valgrind
- spawn-fcgi -p9005 -n ./valgrind.sh
+ #spawn-fcgi -p9005 -n ./valgrind.sh
# Use this to run the server normally
- #spawn-fcgi -p9005 -n ./server
+ spawn-fcgi -p9005 -n ./server
exit 0
fi
# Run the program with parameters
# TODO: Can tell spawn-fcgi to run the program as an unprivelaged user?
# But first will have to work out how to set PWM/GPIO as unprivelaged user
+# NOTE: Having the program automatically restart itself after a *FATAL ERROR* doesn't seem like such a good idea now
+# (Some things that call Fatal happen under circumstances where they will just keep calling Fatal every time the program starts)
+# Change the number of fails to 1 for now. We can potentially use different error codes for different types of errors, but that seems overkill.
fails=0
while [ $fails -lt 1 ]; do
spawn-fcgi -p9005 -n -- ./server $parameters
#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 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
+ */
+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
+
+ // Start by averaging values taken over a second
+ 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;
+
+ 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(s->sample_us);
}
// 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;
+ double sample_s = 0;
// 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},
+ {"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
return;
}
- // Error checking on sensor id
- if (id < 0 || id >= NUMSENSORS)
+ 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;
}
- Sensor * s = g_sensors+id;
+ 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;
+ }
+ s->sample_us = 1e6*sample_s;
+ }
+
+
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;
}
#define _SENSOR_H
#include "data.h"
+#include "device.h"
+/**
+ * Maximum number of sensors program can be compiled with
+ * (If you get an error "Increase SENSORS_MAX from %d" this is what it refers to)
+ */
+#define SENSORS_MAX 10
+extern int g_num_sensors; // in sensor.c
-/** Number of sensors **/
-#define NUMSENSORS 10
-/** Sensor ids - there should be correspondence with the names in g_sensor_names **/
-typedef enum SensorId
+/** Structure to define the warning and error thresholds of the sensors **/
+//TODO: Replace with a call to an appropriate "Sanity" function? (see the actuator code)
+typedef struct
{
- STRAIN0,
- STRAIN1,
- STRAIN2,
- STRAIN3,
- PRESSURE0,
- PRESSURE1,
- PRESSURE_FEEDBACK,
- MICROPHONE,
- ENCLOSURE,
- DILATOMETER
-} SensorId;
-
-
-
-/** Human readable names for the sensors **/
-extern const char * g_sensor_names[NUMSENSORS];
+ /** Maximum safe value **/
+ double max_error;
+ /** Minimum safe value **/
+ double min_error;
+ /** Maximum value before a warning is reported **/
+ double max_warn;
+ /** Minimum value before a warning is reported **/
+ double min_warn;
+} SensorThreshold;
/** Structure to represent a sensor **/
typedef struct
{
/** ID number of the sensor **/
- SensorId id;
+ int id;
+ /** User defined ID number **/
+ int user_id;
/** DataFile to store sensor values in **/
DataFile data_file;
/** Indicates whether the Sensor is active or not **/
bool activated;
/** Thread the Sensor is running in **/
pthread_t thread;
- /** Most recently recorded data **/
- DataPoint newest_data;
-
+ /** Function to read the sensor **/
+ ReadFn read;
+ /** Function to initialise the sensor **/
+ InitFn init;
+ /** Function to cleanup the sensor **/
+ CleanFn cleanup;
+ /** Human readable name of the sensor **/
+ const char * name;
+ /** Thresholds on the sensor **/
+ SensorThreshold thresholds;
+ /** Sampling rate **/
+ int sample_us;
+ /** Averages per DataPoint **/
+ int averages;
+
} Sensor;
-// Structure to define the warning and error thresholds of the sensors
-typedef struct
-{
- double max_error;
- double min_error;
- double max_warn;
- double min_warn;
-} SensorThreshold;
+
extern void Sensor_Init(); // One off initialisation of *all* sensors
+extern void Sensor_Cleanup(); // Cleanup all sensors
extern void Sensor_SetModeAll(ControlModes mode, void * arg);
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(SensorId id, double value); // Check a DataPoint
-extern Sensor * Sensor_Identify(const char * str); // Identify a Sensor from a string Id
+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
+extern const char * Sensor_GetName(int id);
+
+
+
#endif //_SENSOR_H
--- /dev/null
+# Makefile for server software
+CXX = gcc
+FLAGS = -std=c99 -Wall -pedantic -g -I../
+#-I/usr/include/opencv -I/usr/include/opencv2/highgui For OpenCV
+LIB = -lpthread
+OBJ = strain.o resource.o piped.o
+HEADERS = $(wildcard *.h)
+RM = rm -f
+
+all.o : $(OBJ)
+ ar rvs sensors.a $(OBJ)
+
+
+%.o : %.c
+ $(CXX) $(FLAGS) -c $<
+
+clean :
+ $(RM) $(BIN)
+ $(RM) *.o
+
+clean_full: #cleans up all backup files
+ $(RM) $(BIN) $(OBJ)
+ $(RM) *.*~
+ $(RM) *~
+
+
+
--- /dev/null
+To add a new type of sensor to the program:
+
+1. Create a .c and .h file
+2. In the .h file, define an enum representing the id number of each sensor of that type (you can skip this if you only need a single sensor)
+3. Implement a function for reading a sensor value; it should be of the form: bool Read(int id, double * value)
+ - id indicates which of the sensors of that type is being read (if you only have a single sensor you can ignore it)
+ - The function stores the result in the double pointed to by value
+ - It returns true on success and false on a (non fatal) error
+4. Optionally add an initialisation function: bool Init(int id, char * name)
+5. In ../sensor.c make a call to Sensor_Add in the Sensor_Init function, passing the appropriate arguments.
+ - They are: The name of the sensor (passed to Init, see 4.)
+ - The id number according to the enum (just pass 0 if you don't need more than one sensor)
+ - The Read function
+ - The Init function (or NULL if you don't need one)
+ - Threshold values in the order:
+ max_error, min_error, max_warn, min_warn (as documented in ../sensor.h)
+ - If your sensor doesn't have/need safety thresholds, just pass ridiculous values like 1e50 or 1e-50
+ - Yeah, it's hacky, but it works.
+ - You may need to increase SENSORS_MAX in ../sensor.h if you go insane with sensor adding power
+6. Add the .o file to Makefile (the OBJ variable)
--- /dev/null
+/**
+ * @file piped.h
+ * @brief Sensor run by an external process and sent to this one through a pipe
+ * PURELY INCLUDED FOR TESTING PURPOSES
+ * This will work with any sensor that can unbuffer stdout
+ * ... So, although it's not recommended, you could write a sensor purely in something like python
+ * The FastCGI process will handle all the time stamps and stuff
+ */
+
+#include "../log.h"
+#include "../common.h"
+
+#include "piped.h"
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/signal.h>
+#include <ctype.h>
+
+#include <float.h> // Defines DBL_MAX_10_EXP
+
+
+typedef struct
+{
+ int pid;
+ int sv[2];
+ FILE * stream;
+
+} Piped;
+
+static Piped g_piped[PIPED_MAX];
+static int g_num_piped = 0;
+
+bool Piped_Init(const char * name, int id)
+{
+ if (++g_num_piped > PIPED_MAX)
+ {
+ Fatal("Too many sensors; Increase PIPED_MAX from %d in piped.h and recompile", PIPED_MAX);
+ }
+
+ if (socketpair(AF_UNIX, SOCK_STREAM, 0, g_piped[id].sv) != 0)
+ Fatal("socketpair failed - %s", strerror(errno));
+
+ g_piped[id].pid = fork();
+ if (g_piped[id].pid == 0)
+ {
+ dup2(g_piped[id].sv[0], fileno(stdin));
+ dup2(g_piped[id].sv[0], fileno(stdout));
+
+ if (access(name, X_OK) == 0) //Check we STILL have permissions to start the file
+ {
+ execl(name, name, (char*)(NULL)); ///Replace process with desired executable
+ //execv(executablePath,arguments); ///Replace process with desired executable
+ }
+ else
+ {
+ Fatal("Can't execute file %s", name);
+ }
+ Fatal("execl error - %s", strerror(errno));
+ }
+ else
+ {
+ g_piped[id].stream = fdopen(g_piped[id].sv[1], "r");
+ setbuf(g_piped[id].stream, NULL);
+ }
+ return true;
+
+}
+/**
+ * This function looks evil, but I swear it's legit
+ * @param id - The Piped process to read from
+ * @param value - Stores the value read (if successful)
+ * @returns true on success, false on failure
+ */
+bool Piped_Read(int id, double * value)
+{
+ if (g_piped[id].stream == NULL)
+ return false;
+
+ // So need a buffer size big enough to fit all doubles but not too much bigger
+ static char buf[DBL_MAX_10_EXP+1];
+
+ // Using BUFSIZ is a bad idea, since we want to read near the end of the file
+
+ // Seek back from the end of the file
+ fseek(g_piped[id].stream, -DBL_MAX_10_EXP, SEEK_END);
+ int len = fread(buf, 1, DBL_MAX_10_EXP, g_piped[id].stream); // Fill the buffer, note the length count
+ int count = 0;
+ int i = len-1;
+ for (i = len-1; i >= 0; --i) // Search for the last non-empty line in the buffer
+ {
+ if (buf[i] == '\n')
+ {
+ if (count++ > 1)
+ {
+ ++i;
+ break;
+ }
+ else
+ buf[i] = '\0';
+ }
+ }
+ // Now sscanf a double from the string
+ if (sscanf(buf+i, "%lf", value) != 1)
+ {
+ Log(LOGDEBUG, "Can't interpret %s as double", buf);
+ return false;
+ }
+ return true;
+}
+
+bool Piped_Cleanup(int id)
+{
+ fclose(g_piped[id].stream);
+ if (kill(g_piped[id].pid, 15) != 0)
+ {
+ Log(LOGWARN, "Couldn't kill piped %d - %s", g_piped[id].pid, strerror(errno));
+ return false;
+ }
+ return true;
+}
--- /dev/null
+#ifndef _PIPED_H
+#define _PIPED_H
+
+/**
+ * @file piped.h
+ * @brief Sensor run by an external process and sent to this one through a pipe
+ * ... This is here as an example so that if people really hate our program they can still use the FastCGI API but make an entirely seperate sensor program
+ */
+
+#define PIPED_MAX 1
+
+extern bool Piped_Init(const char * name, int id);
+extern bool Piped_Read(int id, double * value);
+extern bool Piped_Cleanup(int id);
+#endif //_PIPED_H
--- /dev/null
+#include "resource.h"
+
+#include "../log.h"
+#include "../common.h"
+
+#include <sys/time.h>
+#include <sys/resource.h>
+
+bool Resource_Read(int id, double * value)
+{
+ struct rusage usage;
+ int err = getrusage(RUSAGE_SELF, &usage);
+ if (err != 0)
+ {
+ Log(LOGWARN, "Couldn't get resource information - %s", strerror(errno));
+ }
+ switch (id)
+ {
+ case RESOURCE_CPU_USER:
+ *value = TIMEVAL_TO_DOUBLE(usage.ru_utime);
+ break;
+ case RESOURCE_CPU_SYS:
+ *value = TIMEVAL_TO_DOUBLE(usage.ru_stime);
+ break;
+ default:
+ Log(LOGWARN, "Unknown id %d", id);
+ return false;
+ }
+ return true;
+}
--- /dev/null
+/**
+ * @file resource.h
+ * @brief Testing sensors; gets rescource usage
+ */
+
+#include <stdbool.h>
+
+/**
+ * Enum of sensor ids
+ */
+typedef enum
+{
+ RESOURCE_CPU_USER,
+ RESOURCE_CPU_SYS
+} ResourceID;
+
+extern bool Resource_Read(int id, double * value);
--- /dev/null
+#include "strain.h"
+
+#include "../log.h"
+#include "../bbb_pin.h"
+
+#include <pthread.h>
+
+#define STRAIN_ADC ADC0
+
+/**
+ * Convert Strain gauge id number to a GPIO pin on the Mux
+ * @param id - The strain gauge id
+ * @returns - GPIO pin number
+ */
+static int Strain_To_GPIO(StrainID id)
+{
+ // Could use a lookup table; that would assume strict ordering of the enum in strain.h
+ //static int lookup[] = {GPIO0_30, GPIO1_28,GPIO0_31,GPIO1_16};
+ //if (id < STRAIN0 || id > STRAIN3)
+ // Fatal("unknown strain id %d", id);
+ //return lookup[id];
+
+ switch (id)
+ {
+ case STRAIN0:
+ return GPIO0_30;
+ case STRAIN1:
+ return GPIO1_28;
+ case STRAIN2:
+ return GPIO0_31;
+ case STRAIN3:
+ return GPIO1_16;
+ default:
+ Fatal("Unknown StrainID %d", id);
+ return -1; // Should never happen
+ }
+}
+
+/**
+ * Convert ADC Strain reading to a physically meaningful value
+ * @param reading - The ADC reading
+ * @returns Something more useful
+ */
+static double Strain_Calibrated(int reading)
+{
+ return (double)(reading);
+}
+
+/**
+ * Initialise a Strain gauge
+ * @param id - The strain gauge to initialise
+ * @param name - Name of the strain gauge; ignored
+ * @returns true if initialisation was successful
+ */
+bool Strain_Init(const char * name, int id)
+{
+ int gpio_num = Strain_To_GPIO(id);
+ GPIO_Export(gpio_num);
+ if (!GPIO_Set(gpio_num, false))
+ Fatal("Couldn't set GPIO%d for strain sensor %d to LOW", gpio_num, id);
+
+ static bool init_adc = false;
+ if (!init_adc)
+ {
+ init_adc = true;
+ ADC_Export(STRAIN_ADC);
+ }
+ return true;
+}
+
+/**
+ * Read from a Strain gauge
+ * @param id - The strain gauge to read
+ * @param val - Will store the read value if successful
+ * @returns true on successful read
+ */
+bool Strain_Read(int id, double * value)
+{
+ static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; // CRITICAL SECTION - Only one Strain gauge can be read at a time
+ pthread_mutex_lock(&mutex);
+
+ int gpio_num = Strain_To_GPIO(id);
+
+ // Set the multiplexer
+ if (!GPIO_Set(gpio_num, true))
+ Fatal("Couldn't set GPIO%d for strain sensor %d to HIGH (before reading)", gpio_num,id);
+
+ // Read the ADC
+ int tmp = 0;
+ bool result = ADC_Read(STRAIN_ADC, &tmp); // If this fails, it's not fatal
+
+ //TODO: Callibrate?
+ *value = Strain_Calibrated(tmp);
+
+ // Unset the multiplexer
+ if (!GPIO_Set(gpio_num, false))
+ Fatal("Couldn't set GPIO%d for strain sensor %d to LOW (after reading)", gpio_num, id);
+
+ pthread_mutex_unlock(&mutex);
+
+ return result;
+}
--- /dev/null
+#ifndef _STRAIN_H
+#define _STRAIN_H
+
+#include <stdbool.h>
+
+/**
+ * Enum of strain IDs
+ */
+typedef enum
+{
+ STRAIN0,
+ STRAIN1,
+ STRAIN2,
+ STRAIN3
+} StrainID;
+
+// Initialise a strain gauge
+extern bool Strain_Init(const char * name, int id);
+// Read from a strain gauge
+extern bool Strain_Read(int id, double * value);
+
+#endif //_STRAIN_H
#!/bin/bash
. parameters
-valgrind ./server $parameters
+valgrind --leak-check=full --track-origins=yes ./server $parameters
+#valgrind ./server $parameters
--- /dev/null
+#!/usr/bin/python -u
+
+import sys
+import os
+import time
+import datetime
+
+start = datetime.datetime.now()
+while True:
+ timed = map(float, str(datetime.datetime.now() - start).split(":"))
+ count = timed[0]*60.0*60.0+timed[1]*60.0+timed[2]
+ print(str(count))
+
+
git.ucc.asn.au / matches / MCTX3420.git / commitdiff
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