Merge branch 'master' of github:szmoore/MCTX3420

[matches/MCTX3420.git] / server / sensor.c

diff --git a/server/sensor.c b/server/sensor.c
index 55a9eaa..b065708 100644 (file)
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -12,10 +12,22 @@
 /** 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
+       {1,-1,1,-1},            // ANALOG_TEST0
+       {500,0,499,0},          // ANALOG_TEST1
+       {5,-5,4,-4},            // ANALOG_FAIL0
+       {1,0,1,0},              // DIGITAL_TEST0
+       {1,0,1,0},              // DIGITAL_TEST1
+       {1,0,1,0}               // DIGITAL_FAIL0
+};
+
 /** Human readable names for the sensors **/
 const char * g_sensor_names[NUMSENSORS] = {    
        "analog_test0", "analog_test1", 
-       "digital_test0", "digital_test1"
+       "analog_fail0", "digital_test0", 
+       "digital_test1", "digital_fail0"
 };
 
 /**
@@ -27,7 +39,7 @@ void Sensor_Init()
        {
                g_sensors[i].id = i;
                Data_Init(&(g_sensors[i].data_file));
-               g_sensors[i].record_data = false;
+               g_sensors[i].record_data = false;       
        }
 }
 
@@ -90,6 +102,26 @@ void Sensor_StartAll(const char * experiment_name)
                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)
+{
+       if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+       {
+               Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+               //new function that stops actuators?
+       }
+       else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
+       {
+               Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);       
+       }
+}
+
+
 /**
  * Read a DataPoint from a Sensor; block until value is read
  * @param id - The ID of the sensor
@@ -110,19 +142,29 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
                case ANALOG_TEST0:
                        d->value = (double)(rand() % 100) / 100;
                        break;
-
                case ANALOG_TEST1:
                {
                        static int count = 0;
+                       count %= 500;
                        d->value = count++;
                        break;
                }
+               case ANALOG_FAIL0:
+                       d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+                       //Gives a value between -5 and 5
+                       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
+                       break;
                default:
                        Fatal("Unknown sensor id: %d", s->id);
                        break;
@@ -130,7 +172,7 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
        usleep(100000); // simulate delay in sensor polling
 
        // Perform sanity check based on Sensor's ID and the DataPoint
-       Sensor_CheckData(s->id, d);
+       Sensor_CheckData(s->id, d->value);
 
        // Update latest DataPoint if necessary
        bool result = (d->value != s->newest_data.value);
@@ -142,35 +184,6 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
        return result;
 }
 
-/**
- * Checks the sensor data for unsafe or unexpected results 
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to check
- */
-void Sensor_CheckData(SensorId id, DataPoint * d)
-{
-       //TODO: Implement
-       /*
-       switch (sensor_id)
-       {
-               case ANALOG_TEST0:
-               {
-                       if( *sensor value* > ANALOG_TEST0_SAFETY)
-                       {
-                               LogEx(LOGERR, GetData, Sensor analog_test0 is above the safe value);
-                       //new log function that stops actuators?
-                       }
-                       //Also include a warning level?
-                       else if( *sensor value* > ANALOG_TEST0_WARN)
-                       {
-                               LogEx(LOGWARN, GetData, Sensor analog_test0);   
-                       }
-               }
-       }
-       */
-}
-               
-
 /**
  * Record data from a single Sensor; to be run in a seperate thread
  * @param arg - Cast to Sensor* - Sensor that the thread will handle
@@ -225,8 +238,8 @@ Sensor * Sensor_Identify(const char * id_str)
 /**
  * Helper: Begin sensor response in a given format
  * @param context - the FCGIContext
- * @param format - Format
  * @param id - ID of sensor
+ * @param format - Format
  */
 void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
 {
@@ -276,11 +289,11 @@ void Sensor_Handler(FCGIContext *context, char * params)
        int id = 0;
        double start_time = 0;
        double end_time = current_time;
-       char * fmt_str;
+       const char * fmt_str;
 
        // key/value pairs
        FCGIValue values[] = {
-               {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)}, 
+               {"id", &id, FCGI_REQUIRED(FCGI_INT_T)}, 
                {"format", &fmt_str, FCGI_STRING_T}, 
                {"start_time", &start_time, FCGI_DOUBLE_T}, 
                {"end_time", &end_time, FCGI_DOUBLE_T},
@@ -301,7 +314,6 @@ void Sensor_Handler(FCGIContext *context, char * params)
                return;
        }
 
-
        // Error checking on sensor id
        if (id < 0 || id >= NUMSENSORS)
        {
@@ -324,3 +336,4 @@ void Sensor_Handler(FCGIContext *context, char * params)
 }
 
 
+