#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
-static const char * g_sensor_names[] = {"analog_test0", "analog_test1", "digital_test0", "digital_test1"};
+
+/** 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"
+};
+
+/**
+ * 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));
+ }
+
+ // Get the ADCs
+ ADC_Export();
+
+ // GPIO1_28 used as a pulse for sampling
+ GPIO_Export(GPIO1_28);
+ // GPIO0_30 toggled during sampling
+ GPIO_Export(GPIO0_30);
+}
+
/**
- * Read a data value from a sensor; block until value is read
+ * 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_name = (const char*) arg;
+
+ if (snprintf(filename, BUFSIZ, "%s_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);
+ }
+ 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);
+ }
+
+ 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;
+
+ 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
+ s->newest_data.time_stamp = 0;
+ s->newest_data.value = 0;
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
+ }
+}
+
+/**
+ * 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)
+{
+ for (int i = 0; i < NUMSENSORS; i++)
+ Sensor_SetMode(&g_sensors[i], mode, arg);
+}
+
+
+/**
+ * Checks the sensor data for unsafe or unexpected results
* @param sensor_id - The ID of the sensor
- * @param d - DataPoint to set
- * @returns NULL for digital sensors when data is unchanged, otherwise d
+ * @param value - The value from the sensor to test
*/
-DataPoint * GetData(int sensor_id, DataPoint * d)
+void Sensor_CheckData(SensorId id, double value)
{
- // 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( 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?
+ //Control_SetMode(CONTROL_EMERGENCY, NULL)
+ }
+ 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
+ * @param d - DataPoint to set
+ * @returns True if the DataPoint was different from the most recently recorded.
+ */
+bool Sensor_Read(Sensor * s, DataPoint * d)
+{
- //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
-
+ // Set time stamp
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);
+ d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
- // 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;
+ static bool result = true;
- switch (sensor_id)
+
+ // Read value based on Sensor Id
+ switch (s->id)
{
+ case ANALOG_REALTEST:
+ {
+ static bool set = false;
+
+ GPIO_Set(GPIO0_30, true);
+ d->value = (double)ADC_Read(ADC0); //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);
+
+ 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_TEST1:
- d->value = (double)(rand() % 100) / 100;
+
+ case ANALOG_FAIL0:
+ d->value = 0;
+ //d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+ //Gives a value between -5 and 5
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);
+ case DIGITAL_REALTEST:
+ {
+ // 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;
}
- usleep(100000); // simulate delay in sensor polling
-
- return d;
-}
-
-
-/**
- * Destroy a sensor
- * @param s - Sensor to destroy
- */
-void Destroy(Sensor * s)
-{
- // Maybe move the binary file into long term file storage?
- fclose(s->file);
-}
-
-
+
-/**
- * Initialise a sensor
- * @param s - Sensor to initialise
- */
-void Init(Sensor * s, int id)
-{
- s->write_index = 0;
- s->id = id;
+ // Perform sanity check based on Sensor's ID and the DataPoint
+ Sensor_CheckData(s->id, d->value);
- #define FILENAMESIZE 3
- char filename[FILENAMESIZE];
- if (s->id >= pow(10, FILENAMESIZE))
+ // Update latest DataPoint if necessary
+
+ if (result)
{
- Fatal("Too many sensors! FILENAMESIZE is %d; increase it and recompile.", FILENAMESIZE);
+ s->newest_data.time_stamp = d->time_stamp;
+ s->newest_data.value = d->value;
}
-
- pthread_mutex_init(&(s->mutex), NULL);
-
- sprintf(filename, "%d", s->id);
- unlink(filename); //TODO: Move old files somewhere
-
- s->file = fopen(filename, "a+b"); // open binary file
- Log(LOGDEBUG, "Initialised sensor %d; binary file is \"%s\"", id, filename);
+ return result;
}
-
-
-
-
/**
- * 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
-
- while (s->write_index < SENSOR_DATABUFSIZ)
+ 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:
{
- DataPoint * d = &(s->buffer[s->write_index]);
- if (GetData(s->id, d) == NULL)
- {
- Fatal("Error collecting data");
- }
- s->write_index += 1;
+ //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
+ Data_Save(&(s->data_file), &d, 1); // Record it
}
-
- //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)
- {
- Fatal("Wrote %d data points and expected to write %d to \"%s\" - %s", amount_written, SENSOR_DATABUFSIZ, strerror(errno));
- }
- //Log(LOGDEBUG, "Wrote %d data points for sensor %d", amount_written, s->id);
- pthread_mutex_unlock(&(s->mutex));
- // End of critical section
-
- s->write_index = 0; // reset position in buffer
-
}
- Log(LOGDEBUG, "Thread for sensor %d exits", s->id);
- return NULL;
-}
+
+ // Needed to keep pthreads happy
-/**
- * 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
- */
-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;
+ Log(LOGDEBUG, "Sensor %d finished", s->id);
+ return NULL;
}
/**
}
/**
- * Handle a request to the sensor module
- * @param context - The context to work in
- * @param params - Parameters passed
+ * Helper: Begin sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of sensor
+ * @param format - Format
*/
-void Sensor_Handler(FCGIContext *context, char * params)
+void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
{
- DataPoint buffer[SENSOR_QUERYBUFSIZ];
- StatusCodes status = STATUS_OK;
-
- enum {DEFAULT, DUMP} operation = DEFAULT;
-
- const char * key; const char * value;
-
- Sensor * sensor = NULL;
-
- while ((params = FCGI_KeyPair(params, &key, &value)) != NULL)
- {
- Log(LOGDEBUG, "Got key=%s and value=%s", key, value);
- if (strcmp(key, "id") == 0)
- {
- 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;
- }
- }
- else if (strcmp(key, "dump") == 0)
- {
- if (operation != DEFAULT)
- {
- Log(LOGERR, "Operation already specified!");
- status = STATUS_ERROR;
- break;
- }
- operation = DUMP;
- }
- else
- {
- Log(LOGERR, "Unknown key \"%s\" (value = %s)", key, value);
- status = STATUS_ERROR;
- break;
- }
- }
-
- if (status != STATUS_ERROR && sensor == NULL)
+ // Begin response
+ switch (format)
{
- Log(LOGERR, "No valid sensor id given");
- status = STATUS_ERROR;
- }
-
- if (status == STATUS_ERROR)
- {
- FCGI_RejectJSON(context);
- return;
- }
-
- switch (operation)
- {
- case DUMP:
- {
- FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
- //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);
- }
-
- }
- while (amount_read == SENSOR_QUERYBUFSIZ);
- pthread_mutex_unlock(&(sensor->mutex));
- // end critical section
+ case JSON:
+ FCGI_BeginJSON(context, STATUS_OK);
+ FCGI_JSONLong("id", id);
+ FCGI_JSONPair("name", g_sensor_names[id]);
break;
- }
default:
- {
- 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();
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
break;
- }
}
}
/**
- * Setup Sensors, start Sensor polling thread(s)
+ * Helper: End sensor response in a given format
+ * @param context - the FCGIContext
+ * @param id - ID of the sensor
+ * @param format - Format
*/
-void Sensor_Spawn()
+void Sensor_EndResponse(FCGIContext * context, SensorId id, DataFormat format)
{
- // start sensor threads
- for (int i = 0; i < NUMSENSORS; ++i)
+ // End response
+ switch (format)
{
- Init(g_sensors+i, i);
- pthread_create(&(g_sensors[i].thread), NULL, Sensor_Main, (void*)(g_sensors+i));
+ case JSON:
+ FCGI_EndJSON();
+ break;
+ default:
+ break;
}
}
/**
- * Quit Sensor loops
+ * Handle a request to the sensor module
+ * @param context - The context to work in
+ * @param params - Parameters passed
*/
-void Sensor_Join()
+void Sensor_Handler(FCGIContext *context, char * params)
{
- if (!Thread_Runstate())
+ struct timeval now;
+ gettimeofday(&now, NULL);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
+
+ int id = 0;
+ double start_time = 0;
+ double end_time = current_time;
+ const char * fmt_str;
+
+ // key/value pairs
+ FCGIValue values[] = {
+ {"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},
+ };
+
+ // 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)))
{
- Fatal("This function should not be called before Thread_QuitProgram");
+ // Error occured; FCGI_RejectJSON already called
+ return;
}
- for (int i = 0; i < NUMSENSORS; ++i)
+
+ // Error checking on sensor id
+ if (id < 0 || id >= NUMSENSORS)
{
- pthread_join(g_sensors[i].thread, NULL);
- Destroy(g_sensors+i);
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
+ Sensor * s = g_sensors+id;
+
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
+ // Begin response
+ Sensor_BeginResponse(context, id, format);
+
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
+
+ // Finish response
+ Sensor_EndResponse(context, id, format);
}
+
+
+
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