#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
- {1,-1,1,-1}, // ANALOG_TEST0
- {500,0,499,0}, // ANALOG_TEST1
- {5000,0,5000,0}, // ANALOG_REALTEST
- {5,-5,4,-4}, // ANALOG_FAIL0
- {1,0,1,0}, // DIGITAL_TEST0
- {1,0,1,0}, // DIGITAL_TEST1
- {1,0,1,0}, // DIGITAL_REALTEST
- {1,0,1,0} // DIGITAL_FAIL0
-};
-
-/** Human readable names for the sensors **/
-const char * g_sensor_names[NUMSENSORS] = {
- "analog_test0", "analog_test1",
- "analog_realtest", "analog_fail0",
- "digital_test0", "digital_test1",
- "digital_realtest", "digital_fail0"
-};
+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, SanityFn sanity)
+{
+ 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
+
+ // Start by averaging values taken over a second
+ DOUBLE_TO_TIMEVAL(1, &(s->sample_time));
+ s->averages = 1;
+ s->num_read = 0;
+
+ // Set sanity function
+ s->sanity = sanity;
+
+ if (init != NULL)
+ {
+ 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;
+}
/**
- * 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/pressure.h"
+#include "sensors/dilatometer.h"
+#include "sensors/microphone.h"
void Sensor_Init()
{
- for (int i = 0; i < NUMSENSORS; ++i)
+ //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);
+}
+
+/**
+ * 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(0);
-
- // GPIO1_28 used as a pulse for sampling
- //GPIO_Export(GPIO1_28);
- // GPIO0_30 toggled during sampling
- //GPIO_Export(GPIO0_30);
+ g_num_sensors = 0;
}
/**
{
// Set filename
char filename[BUFSIZ];
- const char *experiment_name = (const char*) arg;
+ const char *experiment_path = (const char*) arg;
+ int ret;
+
+ ret = snprintf(filename, BUFSIZ, "%s/sensor_%d", experiment_path, s->id);
- if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
+ if (ret >= BUFSIZ)
{
- Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, BUFSIZ);
}
Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
}
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++)
+ 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();
}
-/**
- * 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 at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
- //new function that stops actuators?
- //Control_SetMode(CONTROL_EMERGENCY, NULL)
- }
- else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
- {
- Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, 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
- * @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, *Control_GetStartTime());
-
- static bool result = true;
-
-
- // Read value based on Sensor Id
- switch (s->id)
- {
- case 2:
- {
- static bool set = false;
- int raw_adc = 0;
- //GPIO_Set(GPIO0_30, true);
- ADC_Read(ADC0, &raw_adc);
- d->value = (double)raw_adc; //ADC #0 on the Beaglebone
- //Log(LOGDEBUG, "Got value %f from ADC0", d->value);
- //GPIO_Set(GPIO0_30, false);
- set = !set;
- //GPIO_Set(GPIO1_28, set);
-
- usleep(100000);
-
- break;
- }
-
- default:
- d->value = rand() % 2;
- usleep(1000000);
- break;
-
-
- 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 = 0;
- //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_REALTEST:
- {
- d->value = 0; //d->value must be something... valgrind...
- // Can pass pin as argument, just using 20 as an example here
- // Although since pins will be fixed, can just define it here if we need to
- //d->value = pinRead(20); //Pin 20 on the Beaglebone
- 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;
- }
-
-
- // 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.
- usleep(1000000);
-#endif
- 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
// Until the sensor is stopped, record data points
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:
+
+ bool success = s->read(s->user_id, &(s->current_data.value));
+
+ struct timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ s->current_data.time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
+
+ if (success)
+ {
+ if (s->sanity != NULL)
+ {
+ 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->averaged_data.time_stamp += s->current_data.time_stamp;
+ s->averaged_data.value = s->current_data.value;
+
+ if (++(s->num_read) >= s->averages)
+ {
+ 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;
+ }
+ }
+ else
{
- //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
- Data_Save(&(s->data_file), &d, 1); // Record it
+ // 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);
}
+
+
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &(s->sample_time), NULL);
+
}
// 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)
*/
void Sensor_Handler(FCGIContext *context, char * params)
{
- struct timeval now;
- gettimeofday(&now, 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_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;
+ }
+ DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
+ }
+
+
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;
+}
+
+DataPoint Sensor_LastData(int id)
+{
+ Sensor * s = &(g_sensors[id]);
+ return s->current_data;
+}
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