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#include "interfaces.h"
#include "legato.h"
#include "util.h"
#include <pthread.h>
#define N_CHANGE_BLOCKS 200
#define SAMPLE_PERIOD_MS 100
void* impactMonitor(void*);
typedef struct {
double x;
double y;
double z;
} Acceleration;
double xAccImpact[N_CHANGE_BLOCKS];
double yAccImpact[N_CHANGE_BLOCKS];
double zAccImpact[N_CHANGE_BLOCKS];
uint64_t timestamps[N_CHANGE_BLOCKS];
static const char FormatStr[] = "/sys/bus/iio/devices/iio:device0/in_%s_%s";
static const char AccType[] = "accel";
static const char GyroType[] = "anglvel";
static const char CompX[] = "x_raw";
static const char CompY[] = "y_raw";
static const char CompZ[] = "z_raw";
static const char CompScale[] = "scale";
int totalImpacts = 0;
static const double impactThreshold = 20.0;
Acceleration suddenImpact = {0, 0, 0};
pthread_t impactThread;
pthread_mutex_t impactMutex;
/*
* Reports the x, y and z accelerometer readings in meters per second squared.
*/
le_result_t brnkl_motion_getCurrentAcceleration(double* xAcc,
double* yAcc,
double* zAcc) {
le_result_t r;
char path[256];
double scaling = 0.0;
snprintf(path, sizeof(path), FormatStr, AccType, CompScale);
r = ioutil_readDoubleFromFile(path, &scaling);
if (r != LE_OK) {
goto done;
}
snprintf(path, sizeof(path), FormatStr, AccType, CompX);
r = ioutil_readDoubleFromFile(path, xAcc);
if (r != LE_OK) {
goto done;
}
*xAcc *= scaling;
snprintf(path, sizeof(path), FormatStr, AccType, CompY);
r = ioutil_readDoubleFromFile(path, yAcc);
if (r != LE_OK) {
goto done;
}
*yAcc *= scaling;
snprintf(path, sizeof(path), FormatStr, AccType, CompZ);
r = ioutil_readDoubleFromFile(path, zAcc);
*zAcc *= scaling;
done:
return r;
}
le_result_t recordImpact(double* xAcc, double* yAcc, double* zAcc) {
if (totalImpacts > N_CHANGE_BLOCKS || totalImpacts > N_CHANGE_BLOCKS ||
totalImpacts > N_CHANGE_BLOCKS)
return LE_OUT_OF_RANGE;
timestamps[totalImpacts] = GetCurrentTimestamp();
xAccImpact[totalImpacts] = *xAcc;
yAccImpact[totalImpacts] = *yAcc;
zAccImpact[totalImpacts] = *zAcc;
totalImpacts++;
LE_INFO("New Impact, totalImpacts: %d", totalImpacts);
return LE_OK;
}
le_result_t brnkl_motion_getSuddenImpact(double* xAcc,
size_t* xSize,
double* yAcc,
size_t* ySize,
double* zAcc,
size_t* zSize,
uint64_t* timestampssOut,
size_t* timeSize) {
if (!totalImpacts)
LE_INFO("No Sudden Impacts to Report");
else {
pthread_mutex_lock(&impactMutex);
// check
if (totalImpacts > *xSize || totalImpacts > *ySize || totalImpacts > *zSize)
return LE_OUT_OF_RANGE;
for (int i = 0; i < totalImpacts; i++) {
xAcc[i] = xAccImpact[i];
yAcc[i] = yAccImpact[i];
zAcc[i] = zAccImpact[i];
timestampssOut[i] = timestamps[i];
}
*xSize = *ySize = *zSize = totalImpacts;
totalImpacts = 0;
pthread_mutex_unlock(&impactMutex);
}
return LE_OK;
}
/*
*Monitors accelerometer from iio on 100ms intervals
*Sets hasSuddenImpact flag when accelerometer surpasses threshold
*/
void* impactMonitor(void* ptr) {
double x, y, z;
le_result_t r = LE_OK;
for (;;) {
brnkl_motion_getCurrentAcceleration(&x, &y, &z);
double impactMagnitude = sqrt(x * x + y * y + z * z);
if (impactMagnitude > impactThreshold) {
// 3. add x, y, z to impact array
pthread_mutex_lock(&impactMutex);
r = recordImpact(&x, &y, &z);
pthread_mutex_unlock(&impactMutex);
}
if (r != LE_OK)
LE_ERROR("Impact Not Recorded");
usleep(SAMPLE_PERIOD_MS * 1000);
}
return ptr;
}
/*
*Create thread to monitor accelerometer iio
*/
void initThread() {
int thread, mutx;
LE_INFO("initThread called");
mutx = pthread_mutex_init(&impactMutex, NULL);
thread = pthread_create(&impactThread, NULL, impactMonitor, NULL);
LE_INFO("mutexResult: %d", mutx);
if (thread || mutx) {
LE_ERROR("Reader Thread or Mutex Creation Failed");
} else {
LE_INFO("Reader Thread Created");
}
}
COMPONENT_INIT {
initThread();
}
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