{
// Everything is NULL
df->filename = NULL;
- df->read_file = NULL;
- df->write_file = NULL;
+ pthread_mutex_init(&(df->mutex), NULL);
+ df->file = NULL;
}
/**
// Set number of DataPoints
df->num_points = 0;
- // Set write FILE*
- df->write_file = fopen(filename, "wb+");
- if (df->write_file == NULL)
+ // Set file pointer
+ df->file = fopen(filename, "wb+");
+ if (df->file == NULL)
{
Fatal("Error opening DataFile %s - %s", filename, strerror(errno));
}
-
- // Set read FILE*
- df->read_file = df->write_file;
-
- //NOTE: Opening the same file in read mode gives funny results; fread generally reads less than expected
- // The strerror is: "Transport endpoint is not connected"
- /*
- df->read_file = fopen(filename, "rb");
- if (df->read_file == NULL)
- {
- Fatal("Error opening DataFile %s - %s", filename, strerror(errno));
- }
- */
-
}
/**
//TODO: Write data to TSV?
- // Clear the FILE*s
- df->read_file = NULL;
- df->write_file = NULL;
+ fclose(df->file);
- fclose(df->write_file);
+ // Clear the FILE*s
+ df->file = NULL;
// Clear the filename
free(df->filename);
*/
void Data_Save(DataFile * df, DataPoint * buffer, int amount)
{
- pthread_mutex_unlock(&(df->mutex));
+ pthread_mutex_lock(&(df->mutex));
assert(df != NULL);
assert(buffer != NULL);
assert(amount >= 0);
// Go to the end of the file
- if (fseek(df->write_file, 0, SEEK_END) < 0)
+ if (fseek(df->file, 0, SEEK_END) < 0)
{
Fatal("Error seeking to end of DataFile %s - %s", df->filename, strerror(errno));
}
// Attempt to write the DataPoints
- int amount_written = fwrite(buffer, sizeof(DataPoint), amount, df->write_file);
+ int amount_written = fwrite(buffer, sizeof(DataPoint), amount, df->file);
// Check if the correct number of points were written
if (amount_written != amount)
df->num_points += amount_written;
pthread_mutex_unlock(&(df->mutex));
-
}
/**
// If we would read past the end of the file, reduce the amount of points to read
- if (index + amount > df->num_points)
- {
- Log(LOGDEBUG, "Requested %d points but will only read %d to get to EOF (%d)", amount, df->num_points - index, df->num_points);
- amount = df->num_points - index;
- }
+ if (index + amount > df->num_points)
+ {
+ Log(LOGDEBUG, "Requested %d points but will only read %d to get to EOF (%d)", amount, df->num_points - index, df->num_points);
+ amount = df->num_points - index;
+ }
// Go to position in file
- if (fseek(df->read_file, index*sizeof(DataPoint), SEEK_SET))
+ if (fseek(df->file, index*sizeof(DataPoint), SEEK_SET))
{
Fatal("Error seeking to position %d in DataFile %s - %s", index, df->filename, strerror(errno));
}
// Attempt to read the DataPoints
- int amount_read = fread(buffer, sizeof(DataPoint), amount, df->read_file);
+ int amount_read = fread(buffer, sizeof(DataPoint), amount, df->file);
// Check if correct number of points were read
if (amount_read != amount)
* Print data points between two indexes using a given format
* @param df - DataFile to print
* @param start_index - Index to start at (inclusive)
- * @param end_index - Index to end at (inclusive)
+ * @param end_index - Index to end at (exclusive)
* @param format - The format to use
*/
void Data_PrintByIndexes(DataFile * df, int start_index, int end_index, DataFormat format)
assert(df != NULL);
assert(start_index >= 0);
assert(end_index >= 0);
- assert(end_index <= df->num_points-1 || df->num_points == 0);
+ assert(end_index <= df->num_points || df->num_points == 0);
const char * fmt_string; // Format for each data point
- char seperator; // Character used to seperate successive data points
+ char separator; // Character used to seperate successive data points
- // Determine what format string and seperator character to use
+ // Determine what format string and separator character to use
switch (format)
{
case JSON:
fmt_string = "[%f,%f]";
- seperator = ',';
+ separator = ',';
// For JSON we need an opening bracket
FCGI_PrintRaw("[");
break;
case TSV:
fmt_string = "%f\t%f";
- seperator = '\n';
+ separator = '\n';
break;
}
- DataPoint buffer[DATA_BUFSIZ]; // Buffer
- // initialise buffer to stop stuff complaining
- memset(buffer, 0, sizeof(DataPoint)*DATA_BUFSIZ);
-
- if (start_index < end_index)
+ DataPoint buffer[DATA_BUFSIZ] = {{0}}; // Buffer
+ int index = start_index;
+
+ // Repeat until all DataPoints are printed
+ while (index < end_index)
{
+ // Fill the buffer from the DataFile
+ int amount_read = Data_Read(df, buffer, index, DATA_BUFSIZ);
- int index = start_index;
- // Repeat until all DataPoints are printed
- while (index <= end_index)
+ // Print all points in the buffer
+ for (int i = 0; i < amount_read && index < end_index; ++i)
{
- // Fill the buffer from the DataFile
- int amount_read = Data_Read(df, buffer, index, DATA_BUFSIZ);
-
- // Print all points in the buffer
- for (int i = 0; i < amount_read && index <= end_index; ++i)
- {
- // Print individual DataPoint
- FCGI_PrintRaw(fmt_string, buffer[i].time_stamp, buffer[i].value);
-
- // Last seperator is not required
- if (index+1 <= end_index)
- FCGI_PrintRaw("%c", seperator);
-
- // Advance the position in the DataFile
- ++index;
- }
+ // Print individual DataPoint
+ FCGI_PrintRaw(fmt_string, buffer[i].time_stamp, buffer[i].value);
+
+ // Last separator is not required
+ if (index+1 < end_index)
+ FCGI_PrintRaw("%c", separator);
+
+ // Advance the position in the DataFile
+ ++index;
}
}
* Prints nothing if the time stamp
* @param df - DataFile to print
* @param start_time - Time to start from (inclusive)
- * @param end_time - Time to end at (inclusive)
+ * @param end_time - Time to end at (exclusive)
* @param format - The format to use
*/
void Data_PrintByTimes(DataFile * df, double start_time, double end_time, DataFormat format)
{
assert(df != NULL);
- assert(start_time >= 0);
- assert(end_time >= 0);
- assert(end_time >= start_time);
-
- DataPoint closest;
-
- // Get starting index
- int start_index = Data_FindByTime(df, start_time, &closest);
-
- // Start time is greater than most recent time stamp
- if (start_index >= df->num_points-1)
+ //Clamp boundaries
+ if (start_time < 0)
+ start_time = 0;
+ if (end_time < 0)
+ end_time = 0;
+
+ int start_index = 0, end_index = 0;
+ if (start_time < end_time)
{
- if (start_index == 0 || closest.time_stamp < start_time)
- {
- Data_PrintByIndexes(df, 0, 0, format); // Will print "empty" dataset
- return;
- }
+ start_index = Data_FindByTime(df, start_time, NULL);
+ end_index = Data_FindByTime(df, end_time, NULL);
}
- // Get finishing index
- int end_index = Data_FindByTime(df, end_time, &closest);
-
- // Print data between the indexes
Data_PrintByIndexes(df, start_index, end_index, format);
}
{
assert(df != NULL);
assert(time_stamp >= 0);
- assert(closest != NULL);
+ //assert(closest != NULL);
DataPoint tmp; // Current DataPoint in binary search
return index;
}
+
+/**
+ * Helper; handle FCGI response that requires data
+ * Should be called first.
+ * @param df - DataFile to access
+ * @param start - Info about start_time param
+ * @param end - Info about end_time param
+ * @param fmt - Info about format param
+ * @param current_time - Current time
+ */
+void Data_Handler(DataFile * df, FCGIValue * start, FCGIValue * end, DataFormat format, double current_time)
+{
+ double start_time = *(double*)(start->value);
+ double end_time = *(double*)(end->value);
+
+ if (format == JSON)
+ {
+ FCGI_JSONKey("data");
+ }
+
+ // If a time was specified
+ if (FCGI_RECEIVED(start->flags) || FCGI_RECEIVED(end->flags))
+ {
+ // Wrap times relative to the current time
+ if (start_time < 0)
+ start_time += current_time;
+ if (end_time < 0)
+ end_time += current_time;
+
+ // Print points by time range
+ Data_PrintByTimes(df, start_time, end_time, format);
+
+ }
+ else // No time was specified; just return a recent set of points
+ {
+ pthread_mutex_lock(&(df->mutex));
+ int start_index = df->num_points-DATA_BUFSIZ;
+ int end_index = df->num_points-1;
+ pthread_mutex_unlock(&(df->mutex));
+
+ // Bounds check
+ if (start_index < 0)
+ start_index = 0;
+ if (end_index < 0)
+ end_index = 0;
+
+ // Print points by indexes
+ Data_PrintByIndexes(df, start_index, end_index, format);
+ }
+
+}
+
+/**
+ * Helper - Convert human readable format string to DataFormat
+ * @param fmt - FCGIValue to use
+ */
+DataFormat Data_GetFormat(FCGIValue * fmt)
+{
+ char * fmt_str = *(char**)(fmt->value);
+ // Check if format type was specified
+ if (FCGI_RECEIVED(fmt->flags))
+ {
+ if (strcmp(fmt_str, "json") == 0)
+ return JSON;
+ else if (strcmp(fmt_str, "tsv") == 0)
+ return TSV;
+ else
+ Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
+ }
+ return JSON;
+}
*/
typedef struct
{
- FILE * read_file; // used for reading
- FILE * write_file; // used for writing
+ FILE * file; // file pointer
int num_points; // Number of DataPoints in the file
char * filename; // Name of the file
pthread_mutex_t mutex; // Mutex around num_points
extern void Data_PrintByTimes(DataFile * df, double start_time, double end_time, DataFormat format); // Print data between time values
extern int Data_FindByTime(DataFile * df, double time_stamp, DataPoint * closest); // Find index of DataPoint with the closest timestamp to that given
+extern void Data_Handler(DataFile * df, FCGIValue * start, FCGIValue * end, DataFormat format, double current_time); // Helper; given FCGI params print data
+extern DataFormat Data_GetFormat(FCGIValue * fmt); // Helper; convert human readable format string to DataFormat
+
#endif //_DATAPOINT_H
#include "common.h"
#include "sensor.h"
+#include "actuator.h"
#include "control.h"
#include "options.h"
case FCGI_BOOL_T:
*((bool*) val->value) = true;
break;
- case FCGI_LONG_T:
- *((long*) val->value) = strtol(value, &ptr, 10);
+ case FCGI_INT_T: case FCGI_LONG_T: {
+ long parsed = strtol(value, &ptr, 10);
if (!*value || *ptr) {
snprintf(buf, BUFSIZ, "Expected int for '%s' but got '%s'", key, value);
FCGI_RejectJSON(context, FCGI_EscapeJSON(buf));
return false;
}
- break;
+
+ if (FCGI_TYPE(val->flags) == FCGI_INT_T)
+ *((int*) val->value) = parsed;
+ else
+ *((long*) val->value) = parsed;
+ } break;
case FCGI_DOUBLE_T:
*((double*) val->value) = strtod(value, &ptr);
if (!*value || *ptr) {
Log(LOGDEBUG, "First request...");
while (FCGI_Accept() >= 0) {
-
-
Log(LOGDEBUG, "Got request #%d", context.response_number);
ModuleHandler module_handler = NULL;
char module[BUFSIZ], params[BUFSIZ];
module_handler = Control_Handler;
} else if (!strcmp("sensors", module)) {
module_handler = Sensor_Handler;
+ } else if (!strcmp("actuators", module)) {
+ module_handler = Actuator_Handler;
}
context.current_module = module;
/** 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"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
+ g_sensors[i].record_data = false;
}
}
{
// Set filename
char filename[BUFSIZ];
- if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
+ if (sprintf(filename, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
{
Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
}
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
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;
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);
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
/**
* 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)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
- FCGI_JSONKey("data");
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
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},
// Error occured; FCGI_RejectJSON already called
return;
}
- else if (id < 0 || id >= NUMSENSORS)
+
-
+ // Error checking on sensor id
+ if (id < 0 || id >= NUMSENSORS)
{
- FCGI_RejectJSON(context, "Invalid sensor id specified");
+ FCGI_RejectJSON(context, "Invalid sensor id");
return;
}
-
- // Get Sensor and format
Sensor * s = g_sensors+id;
- DataFormat format = JSON;
-
- // Check if format type was specified
- if (FCGI_RECEIVED(values[FORMAT].flags))
- {
- if (strcmp(fmt_str, "json") == 0)
- format = JSON;
- else if (strcmp(fmt_str, "tsv") == 0)
- format = TSV;
- else
- {
- FCGI_RejectJSON(context, "Unknown format type specified.");
- return;
- }
- }
+
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
// Begin response
Sensor_BeginResponse(context, id, format);
-
- // If a time was specified
- if (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags))
- {
- // Wrap times relative to the current time
- if (start_time < 0)
- start_time += current_time;
- if (end_time < 0)
- end_time += current_time;
-
- // Print points by time range
- Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
- }
- else // No time was specified; just return a recent set of points
- {
- pthread_mutex_lock(&(s->data_file.mutex));
- int start_index = s->data_file.num_points-DATA_BUFSIZ;
- int end_index = s->data_file.num_points;
- pthread_mutex_unlock(&(s->data_file.mutex));
-
- // Bounds check
- if (start_index < 0)
- start_index = 0;
- if (end_index < 0)
- end_index = 0;
-
- // Print points by indexes
- Log(LOGDEBUG, "Sensor %d file \"%s\" indexes %d->%d", s->id, s->data_file.filename, start_index, end_index);
- Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
- }
+
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Sensor_EndResponse(context, id, format);
}
+
git.ucc.asn.au / matches / MCTX3420.git / commitdiff
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