Modified sanity check

diff --git a/server/sensor.c b/server/sensor.c
new file mode 100644 (file)
index 0000000..9e0c266
--- /dev/null
+++ b/server/sensor.c
@@ -0,0 +1,396 @@
+/**
+ * @file sensor.c
+ * @brief Implementation of sensor thread
+ * TODO: Finalise implementation
+ */
+
+#include "common.h"
+#include "sensor.h"
+#include "options.h"
+#include <math.h>
+
+/** Array of sensors, initialised by Sensor_Init **/
+static Sensor g_sensors[NUMSENSORS]; //global to this file
+
+/** Human readable names for the sensors **/
+const char * g_sensor_names[NUMSENSORS] = {    
+       "analog_test0", "analog_test1", 
+       "analog_fail0", "digital_test0", 
+       "digital_test1", "digital_fail0"
+};
+
+/**
+ * One off initialisation of *all* sensors
+ */
+void Sensor_Init()
+{
+       for (int i = 0; i < NUMSENSORS; ++i)
+       {
+               g_sensors[i].id = i;
+               Data_Init(&(g_sensors[i].data_file));
+               g_sensors[i].record_data = false;       
+       }
+}
+
+/**
+ * Start a Sensor recording DataPoints
+ * @param s - The Sensor to start
+ * @param experiment_name - Prepended to DataFile filename
+ */
+void Sensor_Start(Sensor * s, const char * experiment_name)
+{
+       // Set filename
+       char filename[BUFSIZ];
+       if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
+       {
+               Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
+       }
+
+       Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
+       // Open DataFile
+       Data_Open(&(s->data_file), filename);
+
+       s->record_data = true; // Don't forget this!
+
+       // Create the thread
+       pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
+}
+
+/**
+ * Stop a Sensor from recording DataPoints. Blocks until it has stopped.
+ * @param s - The Sensor to stop
+ */
+void Sensor_Stop(Sensor * s)
+{
+       // Stop
+       if (s->record_data)
+       {
+               s->record_data = false;
+               pthread_join(s->thread, NULL); // Wait for thread to exit
+               Data_Close(&(s->data_file)); // Close DataFile
+               s->newest_data.time_stamp = 0;
+               s->newest_data.value = 0;
+       }
+}
+
+/**
+ * Stop all Sensors
+ */
+void Sensor_StopAll()
+{
+       for (int i = 0; i < NUMSENSORS; ++i)
+               Sensor_Stop(g_sensors+i);
+}
+
+/**
+ * Start all Sensors
+ */
+void Sensor_StartAll(const char * experiment_name)
+{
+       for (int i = 0; i < NUMSENSORS; ++i)
+               Sensor_Start(g_sensors+i, experiment_name);
+}
+
+
+/**
+ * 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(SensorId id, double value)
+{
+       switch (sensor_id)
+       {
+               case ANALOG_FAIL0:
+               {
+                       if( value > ANALOG_FAIL0_SAFETY || value < ANALOG_FAIL0_MIN_SAFETY)
+                       {
+                               Log(LOGERR, "Sensor analog_fail0 is above or below its safety value of %d or %d\n", ANALOG_FAIL0_SAFETY, ANALOG_FAIL0_MIN_SAFETY);
+                       //new function that stops actuators?
+                       }
+                       else if( value > ANALOG_FAIL0_WARN || value < ANALOG_FAIL0_MIN_WARN)
+                       {
+                               Log(LOGWARN, "Sensor analog_test0 is above or below its warning value of %d or %d\n", ANALOG_FAIL0_WARN, ANALOG_FAIL0_MIN_WARN);        
+                       }
+                       break;
+               }
+               case DIGITAL_FAIL0:
+               {       
+                       if( value != 0 && value != 1)
+                       {
+                               Log(LOGERR, "Sensor digital_fail0 is not 0 or 1\n");
+                       }
+                       break;
+               }
+               default:
+               {
+               //So it doesn't complain about the missing cases - in practice we will need all sensors to be checked as above, no need to include a default as we should only pass valid sensor_id's; unless for some reason we have a sensor we don't need to check (but then why would you pass to this function in the first place :P)
+               }
+       }
+}
+
+
+/**
+ * Read a DataPoint from a Sensor; block until value is read
+ * @param id - The ID of the sensor
+ * @param d - DataPoint to set
+ * @returns True if the DataPoint was different from the most recently recorded.
+ */
+bool Sensor_Read(Sensor * s, DataPoint * d)
+{
+       
+       // Set time stamp
+       struct timeval t;
+       gettimeofday(&t, NULL);
+       d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time);
+
+       // Read value based on Sensor Id
+       switch (s->id)
+       {
+               case ANALOG_TEST0:
+                       d->value = (double)(rand() % 100) / 100;
+                       break;
+
+               case ANALOG_TEST1:
+               {
+                       static int count = 0;
+                       d->value = count++;
+                       break;
+               }
+               case ANALOG_FAIL0:
+                       d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+                       //Gives a value between -5 and 5
+                       CheckSensor(sensor_id, d->value);
+                       break;
+               case DIGITAL_TEST0:
+                       d->value = t.tv_sec % 2;
+                       break;
+               case DIGITAL_TEST1:
+                       d->value = (t.tv_sec+1)%2;
+                       break;
+               case DIGITAL_FAIL0:
+                       if( rand() % 100 > 98)
+                               d->value = 2;
+                       d->value = rand() % 2; 
+                       //Gives 0 or 1 or a 2 every 1/100 times
+                       CheckSensor(sensor_id, d->value);
+                       break;
+               default:
+                       Fatal("Unknown sensor id: %d", s->id);
+                       break;
+       }       
+       usleep(100000); // simulate delay in sensor polling
+
+       // Perform sanity check based on Sensor's ID and the DataPoint
+       Sensor_CheckData(s->id, d);
+
+       // Update latest DataPoint if necessary
+       bool result = (d->value != s->newest_data.value);
+       if (result)
+       {
+               s->newest_data.time_stamp = d->time_stamp;
+               s->newest_data.value = d->value;
+       }
+       return result;
+}
+
+/**
+ * Record data from a single Sensor; to be run in a seperate thread
+ * @param arg - Cast to Sensor* - Sensor that the thread will handle
+ * @returns NULL (void* required to use the function with pthreads)
+ */
+void * Sensor_Loop(void * arg)
+{
+       Sensor * s = (Sensor*)(arg);
+       Log(LOGDEBUG, "Sensor %d starts", s->id);
+
+       // Until the sensor is stopped, record data points
+       while (s->record_data)
+       {
+               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:
+               {
+                       //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
+                       Data_Save(&(s->data_file), &d, 1); // Record it
+               }
+       }
+       
+       // Needed to keep pthreads happy
+
+       Log(LOGDEBUG, "Sensor %d finished", s->id);
+       return NULL;
+}
+
+/**
+ * Get a Sensor given an ID string
+ * @param id_str ID string
+ * @returns Sensor* identified by the string; NULL on error
+ */
+Sensor * Sensor_Identify(const char * id_str)
+{
+       char * end;
+       // Parse string as integer
+       int id = strtol(id_str, &end, 10);
+       if (*end != '\0')
+       {
+               return NULL;
+       }
+       // Bounds check
+       if (id < 0 || id >= NUMSENSORS)
+               return NULL;
+
+
+       Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
+       return g_sensors+id;
+}
+
+/**
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param format - Format
+ * @param id - ID of sensor
+ */
+void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
+{
+       // Begin response
+       switch (format)
+       {
+               case JSON:
+                       FCGI_BeginJSON(context, STATUS_OK);
+                       FCGI_JSONLong("id", id);
+                       FCGI_JSONKey("data");
+                       break;
+               default:
+                       FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+                       break;
+       }
+}
+
+/**
+ * Helper: End sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of the sensor
+ * @param format - Format
+ */
+void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
+{
+       // End response
+       switch (format)
+       {
+               case JSON:
+                       FCGI_EndJSON();
+                       break;
+               default:
+                       break;
+       }
+}
+
+/**
+ * Handle a request to the sensor module
+ * @param context - The context to work in
+ * @param params - Parameters passed
+ */
+void Sensor_Handler(FCGIContext *context, char * params)
+{
+       struct timeval now;
+       gettimeofday(&now, NULL);
+       double current_time = TIMEVAL_DIFF(now, g_options.start_time);
+
+       int id = 0;
+       double start_time = 0;
+       double end_time = current_time;
+       char * fmt_str;
+
+       // key/value pairs
+       FCGIValue values[] = {
+               {"id", &id, FCGI_REQUIRED(FCGI_LONG_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,
+               FORMAT,
+               START_TIME,
+               END_TIME,
+       } SensorParams;
+       
+       // Fill values appropriately
+       if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
+       {
+               // Error occured; FCGI_RejectJSON already called
+               return;
+       }
+
+       // Get Sensor
+       Sensor * s = NULL;
+
+       // Error checking on sensor id
+       if (id < 0 || id >= NUMSENSORS)
+       {
+               Log(LOGERR, "Invalid id %d", id);
+       }
+       else
+       {
+               s = g_sensors+id;
+       }
+       
+       DataFormat format = JSON;
+
+       // Check if format type was specified
+       if (FCGI_RECEIVED(values[FORMAT].flags))
+       {
+               if (strcmp(fmt_str, "json") == 0)
+                       format = JSON;
+               else if (strcmp(fmt_str, "tsv") == 0)
+                       format = TSV;
+               else
+                       Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
+       }
+
+       
+       
+       // Begin response
+       Sensor_BeginResponse(context, id, format);
+       
+       // If a time was specified
+       if ((s != NULL) && (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags)))
+       {
+               // Wrap times relative to the current time
+               if (start_time < 0)
+                       start_time += current_time;
+               if (end_time < 0)
+                       end_time += current_time;
+
+               // Print points by time range
+               Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
+
+       }
+       else if (s != NULL) // No time was specified; just return a recent set of points
+       {
+               pthread_mutex_lock(&(s->data_file.mutex));
+                       int start_index = s->data_file.num_points-DATA_BUFSIZ;
+                       int end_index = s->data_file.num_points-1;
+               pthread_mutex_unlock(&(s->data_file.mutex));
+
+               // Bounds check
+               if (start_index < 0)
+                       start_index = 0;
+               if (end_index < 0)
+                       end_index = 0;
+
+               // Print points by indexes
+               Log(LOGDEBUG, "Sensor %d file \"%s\" indexes %d->%d", s->id, s->data_file.filename, start_index, end_index);
+               Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
+       }
+       
+       // Finish response
+       Sensor_EndResponse(context, id, format);
+       
+}
+
+
+

diff --git a/server/sensor.h b/server/sensor.h
new file mode 100644 (file)
index 0000000..bd43fc1
--- /dev/null
+++ b/server/sensor.h
@@ -0,0 +1,72 @@
+/**
+ * @file sensor.h
+ * @brief Declarations for sensor thread related stuff
+ */
+
+#ifndef _SENSOR_H
+#define _SENSOR_H
+
+#include "data.h"
+
+/** Number of sensors **/
+#define NUMSENSORS 6 
+
+typedef enum SensorId 
+{
+       ANALOG_TEST0,
+       ANALOG_TEST1,
+       ANALOG_FAIL0,
+       DIGITAL_TEST0,
+       DIGITAL_TEST1,
+       DIGITAL_FAIL0
+} SensorId;
+
+
+
+/** Human readable names for the sensors **/
+extern const char * g_sensor_names[NUMSENSORS];
+
+
+/** Structure to represent a sensor **/
+typedef struct
+{
+       /** ID number of the sensor **/
+       SensorId id;
+       /** DataFile to store sensor values in **/
+       DataFile data_file;
+       /** Indicates whether the Sensor should record data **/
+       bool record_data;
+       /** Thread the Sensor is running in **/
+       pthread_t thread;
+       /** Most recently recorded data **/
+       DataPoint newest_data;
+
+} 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;
+} SensorThres;
+
+extern void Sensor_Init(); // One off initialisation of *all* sensors
+
+extern void Sensor_StartAll(const char * experiment_name); // Start all Sensors recording data
+extern void Sensor_StopAll(); // Stop all Sensors recording data
+extern void Sensor_Start(Sensor * s, const char * experiment_name); // Start a sensor recording datas
+extern void Sensor_Stop(Sensor * s); // Stop a Sensor from recording data
+
+
+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, DataPoint * d); // Check a DataPoint
+extern Sensor * Sensor_Identify(const char * str); // Identify a Sensor from a string Id
+
+extern void Sensor_Handler(FCGIContext *context, char * params); // Handle a FCGI request for Sensor data
+
+#endif //_SENSOR_H
+
+