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#include "interfaces.h"
#include "legato.h"
#include "util.h"
#include <pthread.h>
#define N_CHANGE_BLOCKS 200
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/devices/i2c-0/0-0068/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;
r = ioutil_readDoubleFromFile(path, &scaling);
if (r != LE_OK)
{
goto done;
}
r = ioutil_readDoubleFromFile(path, xAcc);
if (r != LE_OK)
{
goto done;
}
*xAcc *= scaling;
r = ioutil_readDoubleFromFile(path, yAcc);
if (r != LE_OK)
{
goto done;
}
*yAcc *= scaling;
r = ioutil_readDoubleFromFile(path, zAcc);
*zAcc *= scaling;
done:
LE_INFO("Showing accel X: %f Y: %f Z: %f ", *xAcc, *yAcc, *zAcc);
return r;
}
void recordImpact(double* xAcc, double* yAcc, double* zAcc){
timestamps[totalImpacts] = GetCurrentTimestamp();
xAccImpact[totalImpacts] = *xAcc;
yAccImpact[totalImpacts] = *yAcc;
zAccImpact[totalImpacts] = *zAcc;
totalImpacts++;
LE_INFO("New Impact, totalImpacts: %d", totalImpacts);
}
le_result_t brnkl_motion_getSuddenImpact(double* xAcc, size_t *xSize,
double* yAcc, size_t *ySize,
double* zAcc, size_t *zSize) {
if(!totalImpacts)
LE_INFO("No Sudden Impacts to Report");
//check
if(
totalImpacts > sizeof(xAccImpact) ||
totalImpacts > sizeof(yAccImpact) ||
totalImpacts > sizeof(zAccImpact)
)
return LE_FORMAT_ERROR;
*xSize = *ySize = *zSize = totalImpacts;
for(int i = 0; i < totalImpacts; i++){
xAcc[i] = xAccImpact[i];
yAcc[i] = yAccImpact[i];
zAcc[i] = zAccImpact[i];
}
totalImpacts = 0;
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;
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);
recordImpact(&x, &y, &z);
pthread_mutex_unlock(&impactMutex);
}
usleep(100*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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