server/sensor.c

   1 /**
   2  * @file sensor.c
   3  * @brief Implementation of sensor thread
   4  * TODO: Finalise implementation
   5  */
   6
   7 #include "common.h"
   8 #include "sensor.h"
   9 #include "options.h"
  10 #include "bbb_pin.h"
  11 #include <math.h>
  12
  13 /** Array of sensors, initialised by Sensor_Init **/
  14 static Sensor g_sensors[SENSORS_MAX];
  15 /** The number of sensors **/
  16 int g_num_sensors = 0;
  17
  18
  19
  20 /**
  21  * Add and initialise a Sensor
  22  * @param name - Human readable name of the sensor
  23  * @param user_id - User identifier
  24  * @param read - Function to call whenever the sensor should be read
  25  * @param init - Function to call to initialise the sensor (may be NULL)
  26  * @param max_error - Maximum error threshold; program will exit if this is exceeded for the sensor reading
  27  * @param min_error - Minimum error threshold; program will exit if the sensor reading falls below this value
  28  * @param max_warn - Maximum warning threshold; program will log warnings if the value exceeds this threshold
  29  * @param min_warn - Minimum warning threshold; program will log warnings if the value falls below this threshold
  30  * @returns Number of actuators added so far
  31  */
  32 int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
  33 {
  34         if (++g_num_sensors > SENSORS_MAX)
  35         {
  36                 Fatal("Too many sensors; Increase SENSORS_MAX from %d in sensor.h and recompile", SENSORS_MAX);
  37                 // We could design the program to use realloc(3)
  38                 // But since someone who adds a new sensor has to recompile the program anyway...
  39         }
  40         Sensor * s = &(g_sensors[g_num_sensors-1]);
  41
  42         s->id = g_num_sensors-1;
  43         s->user_id = user_id;
  44         Data_Init(&(s->data_file));
  45         s->name = name;
  46         s->read = read; // Set read function
  47         s->init = init; // Set init function
  48
  49         // Start by averaging values taken over a second
  50         DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
  51         s->averages = 1;
  52         s->num_read = 0;
  53
  54         // Set sanity function
  55         s->sanity = sanity;
  56
  57         if (init != NULL)
  58         {
  59                 if (!init(name, user_id))
  60                         Fatal("Couldn't init sensor %s", name);
  61         }
  62
  63         s->current_data.time_stamp = 0;
  64         s->current_data.value = 0;
  65         s->averaged_data.time_stamp = 0;
  66         s->averaged_data.value = 0;
  67         return g_num_sensors;
  68 }
  69
  70 /**
  71  * Initialise all sensors used by the program
  72  * TODO: Edit this to add any extra sensors you need
  73  * TODO: Edit the includes as well
  74  */
  75 #include "sensors/resource.h"
  76 #include "sensors/strain.h"
  77 #include "sensors/pressure.h"
  78 #include "sensors/dilatometer.h"
  79 #include "sensors/microphone.h"
  80 void Sensor_Init()
  81 {
  82         //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
  83         //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
  84         Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
  85         Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
  86         Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
  87         //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
  88         //Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
  89         //Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
  90         //Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
  91         //Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
  92
  93         //Sensor_Add("microphone", 0, Microphone_Read, Microphone_Init, Microphone_Cleanup, Microphone_Sanity);
  94         //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
  95         //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
  96         //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
  97         //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1); // Does not exist...
  98
  99         //NOTE: DO NOT ENABLE DILATOMETER WITHOUT FURTHER TESTING; CAUSES SEGFAULTS
 100         //Sensor_Add("dilatometer0", 0, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
 101         //Sensor_Add("dilatometer1",1, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
 102 }
 103
 104 /**
 105  * Cleanup all sensors
 106  */
 107 void Sensor_Cleanup()
 108 {
 109         for (int i = 0; i < g_num_sensors; ++i)
 110         {
 111                 Sensor * s = g_sensors+i;
 112                 if (s->cleanup != NULL)
 113                         s->cleanup(s->user_id);
 114         }
 115         g_num_sensors = 0;
 116 }
 117
 118 /**
 119  * Sets the sensor to the desired control mode. No checks are
 120  * done to see if setting to the desired mode will conflict with
 121  * the current mode - the caller must guarantee this itself.
 122  * @param s The sensor whose mode is to be changed
 123  * @param mode The mode to be changed to
 124  * @param arg An argument specific to the mode to be set.
 125  *            e.g for CONTROL_START it represents the experiment name.
 126  */
 127 void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
 128 {
 129         switch(mode)
 130         {
 131                 case CONTROL_START:
 132                         {
 133                                 // Set filename
 134                                 char filename[BUFSIZ];
 135                                 const char *experiment_path = (const char*) arg;
 136                                 int ret;
 137
 138                                 ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
 139
 140                                 if (ret >= BUFSIZ)
 141                                 {
 142                                         Fatal("Experiment path \"%s\" too long (%d, limit %d)",
 143                                                         experiment_path, ret, BUFSIZ);
 144                                 }
 145
 146                                 Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
 147                                 // Open DataFile
 148                                 Data_Open(&(s->data_file), filename);
 149                         }
 150                 case CONTROL_RESUME: //Case fallthrough, no break before
 151                         {
 152                                 int ret;
 153                                 s->activated = true; // Don't forget this!
 154
 155                                 // Create the thread
 156                                 ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
 157                                 if (ret != 0)
 158                                 {
 159                                         Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
 160                                 }
 161
 162                                 Log(LOGDEBUG, "Resuming sensor %d", s->id);
 163                         }
 164                 break;
 165
 166                 case CONTROL_EMERGENCY:
 167                 case CONTROL_PAUSE:
 168                         s->activated = false;
 169                         pthread_join(s->thread, NULL);
 170                         Log(LOGDEBUG, "Paused sensor %d", s->id);
 171                 break;
 172
 173                 case CONTROL_STOP:
 174                         if (s->activated) //May have been paused before
 175                         {
 176                                 s->activated = false;
 177                                 pthread_join(s->thread, NULL);
 178                         }
 179
 180                         Data_Close(&(s->data_file)); // Close DataFile
 181                         Log(LOGDEBUG, "Stopped sensor %d", s->id);
 182                 break;
 183                 default:
 184                         Fatal("Unknown control mode: %d", mode);
 185         }
 186 }
 187
 188 /**
 189  * Sets all sensors to the desired mode.
 190  * @see Sensor_SetMode for more information.
 191  * @param mode The mode to be changed to
 192  * @param arg An argument specific to the mode to be set.
 193  */
 194 void Sensor_SetModeAll(ControlModes mode, void * arg)
 195 {
 196         if (mode == CONTROL_START)
 197                 Sensor_Init();
 198         for (int i = 0; i < g_num_sensors; i++)
 199                 Sensor_SetMode(&g_sensors[i], mode, arg);
 200         if (mode == CONTROL_STOP)
 201                 Sensor_Cleanup();
 202 }
 203
 204
 205 /**
 206  * Record data from a single Sensor; to be run in a seperate thread
 207  * @param arg - Cast to Sensor* - Sensor that the thread will handle
 208  * @returns NULL (void* required to use the function with pthreads)
 209  */
 210 void * Sensor_Loop(void * arg)
 211 {
 212         Sensor * s = (Sensor*)(arg);
 213         Log(LOGDEBUG, "Sensor %d starts", s->id);
 214
 215         // Until the sensor is stopped, record data points
 216         while (s->activated)
 217         {
 218
 219                 bool success = s->read(s->user_id, &(s->current_data.value));
 220
 221                 struct timespec t;
 222                 clock_gettime(CLOCK_MONOTONIC, &t);
 223                 s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
 224
 225                 if (success)
 226                 {
 227                         if (s->sanity != NULL)
 228                         {
 229                                 if (!s->sanity(s->user_id, s->current_data.value))
 230                                 {
 231                                         Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
 232                                 }
 233                         }
 234                         s->averaged_data.time_stamp += s->current_data.time_stamp;
 235                         s->averaged_data.value = s->current_data.value;
 236
 237                         if (++(s->num_read) >= s->averages)
 238                         {
 239                                 s->averaged_data.time_stamp /= s->averages;
 240                                 s->averaged_data.value /= s->averages;
 241                                 Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
 242                                 s->num_read = 0;
 243                                 s->averaged_data.time_stamp = 0;
 244                                 s->averaged_data.value = 0;
 245                         }
 246                 }
 247                 else
 248                 {
 249                         // Silence because strain sensors fail ~50% of the time :S
 250                         //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
 251                 }
 252
 253
 254                 clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
 255
 256         }
 257
 258         // Needed to keep pthreads happy
 259         Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
 260         return NULL;
 261 }
 262
 263 /**
 264  * Get a Sensor given its name
 265  * @returns Sensor with the given name, NULL if there isn't one
 266  */
 267 Sensor * Sensor_Identify(const char * name)
 268 {
 269         for (int i = 0; i < g_num_sensors; ++i)
 270         {
 271                 if (strcmp(g_sensors[i].name, name) == 0)
 272                         return &(g_sensors[i]);
 273         }
 274         return NULL;
 275 }
 276
 277 /**
 278  * Helper: Begin sensor response in a given format
 279  * @param context - the FCGIContext
 280  * @param id - ID of sensor
 281  * @param format - Format
 282  */
 283 void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
 284 {
 285         // Begin response
 286         switch (format)
 287         {
 288                 case JSON:
 289                         FCGI_BeginJSON(context, STATUS_OK);
 290                         FCGI_JSONLong("id", s->id);
 291                         FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
 292                         FCGI_JSONPair("name", s->name);
 293                         break;
 294                 default:
 295                         FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
 296                         break;
 297         }
 298 }
 299
 300 /**
 301  * Helper: End sensor response in a given format
 302  * @param context - the FCGIContext
 303  * @param id - ID of the sensor
 304  * @param format - Format
 305  */
 306 void Sensor_EndResponse(FCGIContext * context, Sensor * s, DataFormat format)
 307 {
 308         // End response
 309         switch (format)
 310         {
 311                 case JSON:
 312                         FCGI_EndJSON();
 313                         break;
 314                 default:
 315                         break;
 316         }
 317 }
 318
 319 /**
 320  * Handle a request to the sensor module
 321  * @param context - The context to work in
 322  * @param params - Parameters passed
 323  */
 324 void Sensor_Handler(FCGIContext *context, char * params)
 325 {
 326         struct timespec now;
 327         clock_gettime(CLOCK_MONOTONIC, &now);
 328         double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
 329         int id = 0;
 330         const char * name = "";
 331         double start_time = 0;
 332         double end_time = current_time;
 333         const char * fmt_str;
 334         double sample_s = 0;
 335
 336         // key/value pairs
 337         FCGIValue values[] = {
 338                 {"id", &id, FCGI_INT_T},
 339                 {"name", &name, FCGI_STRING_T},
 340                 {"format", &fmt_str, FCGI_STRING_T},
 341                 {"start_time", &start_time, FCGI_DOUBLE_T},
 342                 {"end_time", &end_time, FCGI_DOUBLE_T},
 343                 {"sample_s", &sample_s, FCGI_DOUBLE_T}
 344         };
 345
 346         // enum to avoid the use of magic numbers
 347         typedef enum {
 348                 ID,
 349                 NAME,
 350                 FORMAT,
 351                 START_TIME,
 352                 END_TIME,
 353                 SAMPLE_S
 354         } SensorParams;
 355
 356         // Fill values appropriately
 357         if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
 358         {
 359                 // Error occured; FCGI_RejectJSON already called
 360                 return;
 361         }
 362
 363         Sensor * s = NULL;
 364         if (FCGI_RECEIVED(values[NAME].flags))
 365         {
 366                 if (FCGI_RECEIVED(values[ID].flags))
 367                 {
 368                         FCGI_RejectJSON(context, "Can't supply both sensor id and name");
 369                         return;
 370                 }
 371                 s = Sensor_Identify(name);
 372                 if (s == NULL)
 373                 {
 374                         FCGI_RejectJSON(context, "Unknown sensor name");
 375                         return;
 376                 }
 377         }
 378         else if (!FCGI_RECEIVED(values[ID].flags))
 379         {
 380                 FCGI_RejectJSON(context, "No sensor id or name supplied");
 381                 return;
 382         }
 383         else if (id < 0 || id >= g_num_sensors)
 384         {
 385                 FCGI_RejectJSON(context, "Invalid sensor id");
 386                 return;
 387         }
 388         else
 389         {
 390                 s = &(g_sensors[id]);
 391         }
 392
 393         // Adjust sample rate if necessary
 394         if (FCGI_RECEIVED(values[SAMPLE_S].flags))
 395         {
 396                 if (sample_s < 0)
 397                 {
 398                         FCGI_RejectJSON(context, "Negative sampling speed!");
 399                         return;
 400                 }
 401                 DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
 402         }
 403
 404
 405         DataFormat format = Data_GetFormat(&(values[FORMAT]));
 406
 407         // Begin response
 408         Sensor_BeginResponse(context, s, format);
 409
 410         // Print Data
 411         Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
 412
 413         // Finish response
 414         Sensor_EndResponse(context, s, format);
 415
 416 }
 417
 418 /**
 419  * Get the Name of a Sensor
 420  * @param id - ID number
 421  */
 422 const char * Sensor_GetName(int id)
 423 {
 424         return g_sensors[id].name;
 425 }
 426
 427 DataPoint Sensor_LastData(int id)
 428 {
 429         Sensor * s = &(g_sensors[id]);
 430         return s->current_data;
 431 }
 432
 433