#include "common.h"
#include "sensor.h"
#include "options.h"
+#include "bbb_pin.h"
#include <math.h>
/** Array of sensors, initialised by Sensor_Init **/
-static Sensor g_sensors[NUMSENSORS]; //global to this file
-const char * g_sensor_names[NUMSENSORS] = {
- "analog_test0", "analog_test1",
- "digital_test0", "digital_test1"
-};
-
-/**
- * Read a data value from a sensor; block until value is read
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to set
- * @returns NULL for digital sensors when data is unchanged, otherwise d
+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
*/
-DataPoint * GetData(SensorId sensor_id, DataPoint * d)
+int Sensor_Add(const char * name, int user_id, ReadFn read, InitFn init, CleanFn cleanup, SanityFn sanity)
{
- // switch based on the sensor_id at the moment for testing;
- // might be able to just directly access ADC from sensor_id?
- //TODO: Implement for real sensors
+ 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]);
-
- //TODO: We should ensure the time is *never* allowed to change on the server if we use gettimeofday
- // Another way people might think of getting the time is to count CPU cycles with clock()
- // But this will not work because a) CPU clock speed may change on some devices (RPi?) and b) It counts cycles used by all threads
-
- struct timeval t;
- gettimeofday(&t, NULL);
- d->time_stamp = (t.tv_sec - g_options.start_time.tv_sec) + 1e-6*(t.tv_usec - g_options.start_time.tv_usec);
+ 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
- // Make time relative
- //d->time_stamp.tv_sec -= g_options.start_time.tv_sec;
- //d->time_stamp.tv_usec -= g_options.start_time.tv_usec;
-
- switch (sensor_id)
- {
- case ANALOG_TEST0:
- {
- //CheckSensor( sensor_id, *sensor value*);
-
- static int count = 0;
- d->value = count++;
- break;
- }
- case ANALOG_TEST1:
- d->value = (double)(rand() % 100) / 100;
- break;
-
- //TODO: For digital sensors, consider only updating when sensor is actually changed
- case DIGITAL_TEST0:
- d->value = t.tv_sec % 2;
- break;
- case DIGITAL_TEST1:
- d->value = (t.tv_sec+1)%2;
- break;
- default:
- Fatal("Unknown sensor id: %d", sensor_id);
- break;
- }
- usleep(100000); // simulate delay in sensor polling
+ // Start by averaging values taken over a second
+ DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
+ s->averages = 1;
+ s->num_read = 0;
- return d;
-}
+ // Set sanity function
+ s->sanity = sanity;
-/**
- * Checks the sensor data for unsafe or unexpected results
- * @param sensor_id - The ID of the sensor
- *
-*
-void CheckSensor( SensorId sensor_id)
-{
- switch (sensor_id)
+ if (init != NULL)
{
- 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);
- }
- }
+ if (!init(name, user_id))
+ Fatal("Couldn't init sensor %s", name);
}
-
-
-*/
+ s->current_data.time_stamp = 0;
+ s->current_data.value = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
+ return g_num_sensors;
+}
/**
- * Destroy a sensor
- * @param s - Sensor to destroy
+ * Initialise all sensors used by the program
+ * TODO: Edit this to add any extra sensors you need
+ * TODO: Edit the includes as well
*/
-void Destroy(Sensor * s)
+#include "sensors/resource.h"
+#include "sensors/strain.h"
+#include "sensors/pressure.h"
+#include "sensors/dilatometer.h"
+#include "sensors/microphone.h"
+void Sensor_Init()
{
- // Maybe move the binary file into long term file storage?
- fclose(s->file);
+ //Sensor_Add("cpu_stime", RESOURCE_CPU_SYS, Resource_Read, NULL, NULL, NULL);
+ //Sensor_Add("cpu_utime", RESOURCE_CPU_USER, Resource_Read, NULL, NULL, NULL);
+ Sensor_Add("pressure_high0", PRES_HIGH0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
+ //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
+ //Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+ //Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+
+ //Sensor_Add("microphone", 0, Microphone_Read, Microphone_Init, Microphone_Cleanup, Microphone_Sanity);
+ //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); // Does not exist...
+
+ //NOTE: DO NOT ENABLE DILATOMETER WITHOUT FURTHER TESTING; CAUSES SEGFAULTS
+ //Sensor_Add("dilatometer0", 0, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
+ //Sensor_Add("dilatometer1",1, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
}
-
-
/**
- * Initialise a sensor
- * @param s - Sensor to initialise
+ * Cleanup all sensors
*/
-void Init(Sensor * s, int id)
+void Sensor_Cleanup()
{
- s->write_index = 0;
- s->id = id;
-
- #define FILENAMESIZE 3
- char filename[FILENAMESIZE];
- if (s->id >= pow(10, FILENAMESIZE))
+ for (int i = 0; i < g_num_sensors; ++i)
{
- Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE);
+ Sensor * s = g_sensors+i;
+ if (s->cleanup != NULL)
+ s->cleanup(s->user_id);
}
+ g_num_sensors = 0;
+}
+
+/**
+ * Sets the sensor to the desired control mode. No checks are
+ * done to see if setting to the desired mode will conflict with
+ * the current mode - the caller must guarantee this itself.
+ * @param s The sensor whose mode is to be changed
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
+ * e.g for CONTROL_START it represents the experiment name.
+ */
+void Sensor_SetMode(Sensor * s, ControlModes mode, void * arg)
+{
+ switch(mode)
+ {
+ case CONTROL_START:
+ {
+ // Set filename
+ char filename[BUFSIZ];
+ const char *experiment_path = (const char*) arg;
+ int ret;
+
+ ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
+
+ if (ret >= BUFSIZ)
+ {
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, BUFSIZ);
+ }
+
+ Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
+ // Open DataFile
+ Data_Open(&(s->data_file), filename);
+ }
+ case CONTROL_RESUME: //Case fallthrough, no break before
+ {
+ int ret;
+ s->activated = true; // Don't forget this!
+
+ // Create the thread
+ ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
+ if (ret != 0)
+ {
+ Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
+ }
- pthread_mutex_init(&(s->mutex), NULL);
+ Log(LOGDEBUG, "Resuming sensor %d", s->id);
+ }
+ break;
+
+ case CONTROL_EMERGENCY:
+ case CONTROL_PAUSE:
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ Log(LOGDEBUG, "Paused sensor %d", s->id);
+ break;
- sprintf(filename, "%d", s->id);
- unlink(filename); //TODO: Move old files somewhere
+ case CONTROL_STOP:
+ if (s->activated) //May have been paused before
+ {
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ }
+
+ Data_Close(&(s->data_file)); // Close DataFile
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
+ }
+}
- s->file = fopen(filename, "a+b"); // open binary file
- Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename);
+/**
+ * Sets all sensors to the desired mode.
+ * @see Sensor_SetMode for more information.
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
+ */
+void Sensor_SetModeAll(ControlModes mode, void * arg)
+{
+ if (mode == CONTROL_START)
+ Sensor_Init();
+ for (int i = 0; i < g_num_sensors; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
+ if (mode == CONTROL_STOP)
+ Sensor_Cleanup();
}
/**
- * Run the main sensor polling loop
+ * 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_Main(void * arg)
+void * Sensor_Loop(void * arg)
{
Sensor * s = (Sensor*)(arg);
+ Log(LOGDEBUG, "Sensor %d starts", s->id);
- while (Thread_Runstate() == RUNNING) //TODO: Exit condition
+ // Until the sensor is stopped, record data points
+ while (s->activated)
{
- // The sensor will write data to a buffer until it is full
- // Then it will open a file and dump the buffer to the end of it.
- // Rinse and repeat
-
- // The reason I've added the buffer is because locks are expensive
- // But maybe it's better to just write data straight to the file
- // I'd like to do some tests by changing SENSOR_DATABUFSIZ
+
+ bool success = s->read(s->user_id, &(s->current_data.value));
- while (s->write_index < SENSOR_DATABUFSIZ)
+ struct timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+
+ if (success)
{
- DataPoint * d = &(s->buffer[s->write_index]);
- if (GetData(s->id, d) == NULL)
+ if (s->sanity != NULL)
{
- Fatal("Error collecting data");
+ if (!s->sanity(s->user_id, s->current_data.value))
+ {
+ Fatal("Sensor %s (%d,%d) reads unsafe value", s->name, s->id, s->user_id);
+ }
}
- s->write_index += 1;
- }
-
- //Log(LOGDEBUG, "Filled buffer");
-
- // CRITICAL SECTION (no threads should be able to read/write the file at the same time)
- pthread_mutex_lock(&(s->mutex));
- //TODO: Valgrind complains about this fseek: "Syscall param write(buf) points to uninitialised byte(s)"
- // Not sure why, but we should find out and fix it.
- fseek(s->file, 0, SEEK_END);
- int amount_written = fwrite(s->buffer, sizeof(DataPoint), SENSOR_DATABUFSIZ, s->file);
- if (amount_written != SENSOR_DATABUFSIZ)
+ s->averaged_data.time_stamp += s->current_data.time_stamp;
+ s->averaged_data.value = s->current_data.value;
+
+ if (++(s->num_read) >= s->averages)
{
- Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno));
+ s->averaged_data.time_stamp /= s->averages;
+ s->averaged_data.value /= s->averages;
+ Data_Save(&(s->data_file), &(s->averaged_data), 1); // Record it
+ s->num_read = 0;
+ s->averaged_data.time_stamp = 0;
+ s->averaged_data.value = 0;
}
- //Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id);
- pthread_mutex_unlock(&(s->mutex));
- // End of critical section
+ }
+ else
+ {
+ // Silence because strain sensors fail ~50% of the time :S
+ //Log(LOGWARN, "Failed to read sensor %s (%d,%d)", s->name, s->id,s->user_id);
+ }
- s->write_index = 0; // reset position in buffer
+
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
}
- Log(LOGDEBUG, "Thread for sensor %d exits", s->id);
- return NULL;
+
+ // Needed to keep pthreads happy
+ Log(LOGDEBUG, "Sensor %s (%d,%d) finished", s->name,s->id,s->user_id);
+ return NULL;
}
/**
- * Fill buffer with most recent sensor data
- * @param s - Sensor to use
- * @param buffer - Buffer to fill
- * @param bufsiz - Size of buffer to fill
- * @returns The number of DataPoints actually read
+ * Get a Sensor given its name
+ * @returns Sensor with the given name, NULL if there isn't one
*/
-int Sensor_Query(Sensor * s, DataPoint * buffer, int bufsiz)
-{
- int amount_read = 0;
- //CRITICAL SECTION (Don't access file while sensor thread is writing to it!)
- pthread_mutex_lock(&(s->mutex));
-
- fseek(s->file, -bufsiz*sizeof(DataPoint), SEEK_END);
- amount_read = fread(buffer, sizeof(DataPoint), bufsiz, s->file);
- //Log(LOGDEBUG, "Read %d data points", amount_read);
- pthread_mutex_unlock(&(s->mutex));
- return amount_read;
+Sensor * Sensor_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_sensors; ++i)
+ {
+ if (strcmp(g_sensors[i].name, name) == 0)
+ return &(g_sensors[i]);
+ }
+ return NULL;
}
/**
- * Get a Sensor given an ID string
- * @param id_str ID string
- * @returns Sensor* identified by the string; NULL on error
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of sensor
+ * @param format - Format
*/
-Sensor * Sensor_Identify(const char * id_str)
+void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
- char * end;
- // Parse string as integer
- int id = strtol(id_str, &end, 10);
- if (*end != '\0')
+ // Begin response
+ switch (format)
{
- return NULL;
+ case JSON:
+ FCGI_BeginJSON(context, STATUS_OK);
+ 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");
+ break;
}
- // Bounds check
- if (id < 0 || id >= NUMSENSORS)
- return NULL;
-
+}
- Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]);
- return g_sensors+id;
+/**
+ * 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, Sensor * s, DataFormat format)
+{
+ // End response
+ switch (format)
+ {
+ case JSON:
+ FCGI_EndJSON();
+ break;
+ default:
+ break;
+ }
}
/**
*/
void Sensor_Handler(FCGIContext *context, char * params)
{
- DataPoint buffer[SENSOR_QUERYBUFSIZ];
- StatusCodes status = STATUS_OK;
-
- enum {DEFAULT, DUMP} operation = DEFAULT;
-
- const char * key; const char * value;
-
- Sensor * sensor = NULL;
+ struct timespec now;
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ 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_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
+ if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
+ {
+ // Error occured; FCGI_RejectJSON already called
+ return;
+ }
- while ((params = FCGI_KeyPair(params, &key, &value)) != NULL)
+ Sensor * s = NULL;
+ if (FCGI_RECEIVED(values[NAME].flags))
{
- Log(LOGDEBUG, "Got key=%s and value=%s", key, value);
- if (strcmp(key, "id") == 0)
+ if (FCGI_RECEIVED(values[ID].flags))
{
- if (sensor != NULL)
- {
- Log(LOGERR, "Only one sensor id should be specified");
- status = STATUS_ERROR;
- break;
- }
- if (*value == '\0')
- {
- Log(LOGERR, "No id specified.");
- status = STATUS_ERROR;
- break;
- }
-
- sensor = Sensor_Identify(value);
- if (sensor == NULL)
- {
- Log(LOGERR, "Invalid sensor id: %s", value);
- status = STATUS_ERROR;
- break;
- }
+ FCGI_RejectJSON(context, "Can't supply both sensor id and name");
+ return;
}
- else if (strcmp(key, "dump") == 0)
+ s = Sensor_Identify(name);
+ if (s == NULL)
{
- if (operation != DEFAULT)
- {
- Log(LOGERR, "Operation already specified!");
- status = STATUS_ERROR;
- break;
- }
- operation = DUMP;
+ FCGI_RejectJSON(context, "Unknown sensor name");
+ return;
}
- else
- {
- Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value);
- status = STATUS_ERROR;
- break;
- }
}
-
- if (status != STATUS_ERROR && sensor == NULL)
+ else if (!FCGI_RECEIVED(values[ID].flags))
{
- Log(LOGERR, "No valid sensor id given");
- status = STATUS_ERROR;
+ FCGI_RejectJSON(context, "No sensor id or name supplied");
+ return;
}
-
- if (status == STATUS_ERROR)
+ else if (id < 0 || id >= g_num_sensors)
{
- FCGI_RejectJSON(context, "Invalid input parameters");
+ FCGI_RejectJSON(context, "Invalid sensor id");
return;
}
-
- switch (operation)
+ else
{
- case DUMP:
- {
- //Force download with content-disposition
- FCGI_PrintRaw("Content-type: text/plain\r\n"
- "Content-disposition: attachment;filename=%d.csv\r\n\r\n",
- sensor->id);
- //CRITICAL SECTION
- pthread_mutex_lock(&(sensor->mutex));
- fseek(sensor->file, 0, SEEK_SET);
- int amount_read = 0;
- do
- {
- amount_read = fread(buffer, sizeof(DataPoint), SENSOR_QUERYBUFSIZ, sensor->file);
- for (int i = 0; i < amount_read; ++i)
- {
- FCGI_PrintRaw("%f\t%f\n", buffer[i].time_stamp, buffer[i].value);
- }
+ s = &(g_sensors[id]);
+ }
- }
- while (amount_read == SENSOR_QUERYBUFSIZ);
- pthread_mutex_unlock(&(sensor->mutex));
- // end critical section
- break;
- }
- default:
+ // Adjust sample rate if necessary
+ if (FCGI_RECEIVED(values[SAMPLE_S].flags))
+ {
+ if (sample_s < 0)
{
- FCGI_BeginJSON(context, status);
- FCGI_JSONPair(key, value); // should spit back sensor ID
- //Log(LOGDEBUG, "Call Sensor_Query...");
- int amount_read = Sensor_Query(sensor, buffer, SENSOR_QUERYBUFSIZ);
- //Log(LOGDEBUG, "Read %d DataPoints", amount_read);
- //Log(LOGDEBUG, "Produce JSON response");
- FCGI_JSONKey("data");
- FCGI_JSONValue("[");
- for (int i = 0; i < amount_read; ++i)
- {
- //TODO: Consider; is it better to give both tv_sec and tv_usec to the client seperately, instead of combining here?
-
- FCGI_JSONValue("[%f, %f]", buffer[i].time_stamp, buffer[i].value);
- if (i+1 < amount_read)
- FCGI_JSONValue(",");
- }
- FCGI_JSONValue("]");
- //Log(LOGDEBUG, "Done producing JSON response");
- FCGI_EndJSON();
- break;
- }
+ FCGI_RejectJSON(context, "Negative sampling speed!");
+ return;
+ }
+ DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
}
+
+
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
+ // Begin response
+ 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, s, format);
+
}
/**
- * Setup Sensors, start Sensor polling thread(s)
+ * Get the Name of a Sensor
+ * @param id - ID number
*/
-void Sensor_Spawn()
+const char * Sensor_GetName(int id)
{
- // start sensor threads
- for (int i = 0; i < NUMSENSORS; ++i)
- {
- Init(g_sensors+i, i);
- pthread_create(&(g_sensors[i].thread), NULL, Sensor_Main, (void*)(g_sensors+i));
- }
+ return g_sensors[id].name;
}
-/**
- * Quit Sensor loops
- */
-void Sensor_Join()
+DataPoint Sensor_LastData(int id)
{
- if (!Thread_Runstate())
- {
- Fatal("This function should not be called before Thread_QuitProgram");
- }
- for (int i = 0; i < NUMSENSORS; ++i)
- {
- pthread_join(g_sensors[i].thread, NULL);
- Destroy(g_sensors+i);
- }
+ Sensor * s = &(g_sensors[id]);
+ return s->current_data;
}
+
+
git.ucc.asn.au / matches / MCTX3420.git / blobdiff
UCC git Repository :: git.ucc.asn.au