From daa632fd405efaf8656efa8f506fc50d1e48ec94 Mon Sep 17 00:00:00 2001 From: Callum Date: Fri, 13 Sep 2013 14:14:20 +0800 Subject: [PATCH] Modified sanity check --- server/sensor.c | 396 ++++++++++++++++++++++++++++++++++++++++++++++++ server/sensor.h | 72 +++++++++ 2 files changed, 468 insertions(+) create mode 100644 server/sensor.c create mode 100644 server/sensor.h diff --git a/server/sensor.c b/server/sensor.c new file mode 100644 index 0000000..9e0c266 --- /dev/null +++ b/server/sensor.c @@ -0,0 +1,396 @@ +/** + * @file sensor.c + * @brief Implementation of sensor thread + * TODO: Finalise implementation + */ + +#include "common.h" +#include "sensor.h" +#include "options.h" +#include + +/** Array of sensors, initialised by Sensor_Init **/ +static Sensor g_sensors[NUMSENSORS]; //global to this file + +/** Human readable names for the sensors **/ +const char * g_sensor_names[NUMSENSORS] = { + "analog_test0", "analog_test1", + "analog_fail0", "digital_test0", + "digital_test1", "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)); + g_sensors[i].record_data = false; + } +} + +/** + * Start a Sensor recording DataPoints + * @param s - The Sensor to start + * @param experiment_name - Prepended to DataFile filename + */ +void Sensor_Start(Sensor * s, const char * experiment_name) +{ + // Set filename + char filename[BUFSIZ]; + if (sprintf(filename, "%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); + + s->record_data = true; // Don't forget this! + + // Create the thread + pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s)); +} + +/** + * Stop a Sensor from recording DataPoints. Blocks until it has stopped. + * @param s - The Sensor to stop + */ +void Sensor_Stop(Sensor * s) +{ + // Stop + if (s->record_data) + { + s->record_data = false; + pthread_join(s->thread, NULL); // Wait for thread to exit + Data_Close(&(s->data_file)); // Close DataFile + s->newest_data.time_stamp = 0; + s->newest_data.value = 0; + } +} + +/** + * Stop all Sensors + */ +void Sensor_StopAll() +{ + for (int i = 0; i < NUMSENSORS; ++i) + Sensor_Stop(g_sensors+i); +} + +/** + * Start all Sensors + */ +void Sensor_StartAll(const char * experiment_name) +{ + for (int i = 0; i < NUMSENSORS; ++i) + 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) +{ + switch (sensor_id) + { + case ANALOG_FAIL0: + { + if( value > ANALOG_FAIL0_SAFETY || value < ANALOG_FAIL0_MIN_SAFETY) + { + Log(LOGERR, "Sensor analog_fail0 is above or below its safety value of %d or %d\n", ANALOG_FAIL0_SAFETY, ANALOG_FAIL0_MIN_SAFETY); + //new function that stops actuators? + } + else if( value > ANALOG_FAIL0_WARN || value < ANALOG_FAIL0_MIN_WARN) + { + Log(LOGWARN, "Sensor analog_test0 is above or below its warning value of %d or %d\n", ANALOG_FAIL0_WARN, ANALOG_FAIL0_MIN_WARN); + } + break; + } + case DIGITAL_FAIL0: + { + if( value != 0 && value != 1) + { + Log(LOGERR, "Sensor digital_fail0 is not 0 or 1\n"); + } + break; + } + default: + { + //So it doesn't complain about the missing cases - in practice we will need all sensors to be checked as above, no need to include a default as we should only pass valid sensor_id's; unless for some reason we have a sensor we don't need to check (but then why would you pass to this function in the first place :P) + } + } +} + + +/** + * 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, g_options.start_time); + + // Read value based on Sensor Id + switch (s->id) + { + case ANALOG_TEST0: + d->value = (double)(rand() % 100) / 100; + break; + + case ANALOG_TEST1: + { + static int count = 0; + d->value = count++; + break; + } + case ANALOG_FAIL0: + d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1); + //Gives a value between -5 and 5 + CheckSensor(sensor_id, d->value); + 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 + CheckSensor(sensor_id, d->value); + 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); + + // Update latest DataPoint if necessary + bool result = (d->value != s->newest_data.value); + if (result) + { + s->newest_data.time_stamp = d->time_stamp; + s->newest_data.value = d->value; + } + 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 + * @returns NULL (void* required to use the function with pthreads) + */ +void * Sensor_Loop(void * arg) +{ + Sensor * s = (Sensor*)(arg); + Log(LOGDEBUG, "Sensor %d starts", s->id); + + // Until the sensor is stopped, record data points + while (s->record_data) + { + 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: + { + //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value); + Data_Save(&(s->data_file), &d, 1); // Record it + } + } + + // Needed to keep pthreads happy + + Log(LOGDEBUG, "Sensor %d finished", s->id); + return NULL; +} + +/** + * Get a Sensor given an ID string + * @param id_str ID string + * @returns Sensor* identified by the string; NULL on error + */ +Sensor * Sensor_Identify(const char * id_str) +{ + char * end; + // Parse string as integer + int id = strtol(id_str, &end, 10); + if (*end != '\0') + { + return NULL; + } + // Bounds check + if (id < 0 || id >= NUMSENSORS) + return NULL; + + + Log(LOGDEBUG, "Sensor \"%s\" identified", g_sensor_names[id]); + return g_sensors+id; +} + +/** + * Helper: Begin sensor response in a given format + * @param context - the FCGIContext + * @param format - Format + * @param id - ID of sensor + */ +void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format) +{ + // Begin response + switch (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"); + break; + } +} + +/** + * 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, SensorId id, DataFormat format) +{ + // End response + switch (format) + { + case JSON: + FCGI_EndJSON(); + break; + default: + break; + } +} + +/** + * Handle a request to the sensor module + * @param context - The context to work in + * @param params - Parameters passed + */ +void Sensor_Handler(FCGIContext *context, char * params) +{ + struct timeval now; + gettimeofday(&now, NULL); + double current_time = TIMEVAL_DIFF(now, g_options.start_time); + + int id = 0; + double start_time = 0; + double end_time = current_time; + char * fmt_str; + + // key/value pairs + FCGIValue values[] = { + {"id", &id, FCGI_REQUIRED(FCGI_LONG_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))) + { + // Error occured; FCGI_RejectJSON already called + return; + } + + // Get Sensor + Sensor * s = NULL; + + // Error checking on sensor id + if (id < 0 || id >= NUMSENSORS) + { + Log(LOGERR, "Invalid id %d", id); + } + else + { + 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 + Log(LOGERR, "Unknown format type \"%s\"", fmt_str); + } + + + + // Begin response + Sensor_BeginResponse(context, id, format); + + // If a time was specified + if ((s != NULL) && (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 if (s != NULL) // 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-1; + 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); + } + + // Finish response + Sensor_EndResponse(context, id, format); + +} + + + diff --git a/server/sensor.h b/server/sensor.h new file mode 100644 index 0000000..bd43fc1 --- /dev/null +++ b/server/sensor.h @@ -0,0 +1,72 @@ +/** + * @file sensor.h + * @brief Declarations for sensor thread related stuff + */ + +#ifndef _SENSOR_H +#define _SENSOR_H + +#include "data.h" + +/** Number of sensors **/ +#define NUMSENSORS 6 + +typedef enum SensorId +{ + ANALOG_TEST0, + ANALOG_TEST1, + ANALOG_FAIL0, + DIGITAL_TEST0, + DIGITAL_TEST1, + DIGITAL_FAIL0 +} SensorId; + + + +/** Human readable names for the sensors **/ +extern const char * g_sensor_names[NUMSENSORS]; + + +/** Structure to represent a sensor **/ +typedef struct +{ + /** ID number of the sensor **/ + SensorId id; + /** DataFile to store sensor values in **/ + DataFile data_file; + /** Indicates whether the Sensor should record data **/ + bool record_data; + /** Thread the Sensor is running in **/ + pthread_t thread; + /** Most recently recorded data **/ + DataPoint newest_data; + +} Sensor; + +// Structure to define the warning and error thresholds of the sensors +typedef struct +{ + double max_error; + double min_error; + double max_warn; + double min_warn; +} SensorThres; + +extern void Sensor_Init(); // One off initialisation of *all* sensors + +extern void Sensor_StartAll(const char * experiment_name); // Start all Sensors recording data +extern void Sensor_StopAll(); // Stop all Sensors recording data +extern void Sensor_Start(Sensor * s, const char * experiment_name); // Start a sensor recording datas +extern void Sensor_Stop(Sensor * s); // Stop a Sensor from recording data + + +extern void * Sensor_Loop(void * args); // Main loop for a thread that handles a Sensor +extern bool Sensor_Read(Sensor * s, DataPoint * d); // Read a single DataPoint, indicating if it has changed since the last one +extern void Sensor_CheckData(SensorId id, DataPoint * d); // Check a DataPoint +extern Sensor * Sensor_Identify(const char * str); // Identify a Sensor from a string Id + +extern void Sensor_Handler(FCGIContext *context, char * params); // Handle a FCGI request for Sensor data + +#endif //_SENSOR_H + + -- 2.20.1