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#include "interfaces.h"
#include "legato.h"
#include "util.h"
#define N_CHANGE_BLOCKS 200
#define DEFAULT_THRESHOLD_MS2 17
// only used if -DMOTION_MONITOR_USE_THREAD is set
#define SAMPLE_PERIOD_MS 100
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";
struct suddenImpacts_t {
int nValues;
double threshold;
double x[N_CHANGE_BLOCKS];
double y[N_CHANGE_BLOCKS];
double z[N_CHANGE_BLOCKS];
uint64_t timestamps[N_CHANGE_BLOCKS];
#ifdef MOTION_MONITOR_USE_THREAD
pthread_mutex_t lock;
#endif
} impacts = {0, DEFAULT_THRESHOLD_MS2};
/*
* 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(struct suddenImpacts_t* it,
double xAcc,
double yAcc,
double zAcc) {
LE_INFO("Recording impact...");
if (it->nValues > N_CHANGE_BLOCKS || it->nValues > N_CHANGE_BLOCKS ||
it->nValues > N_CHANGE_BLOCKS)
return LE_OUT_OF_RANGE;
it->timestamps[it->nValues] = GetCurrentTimestamp();
it->x[it->nValues] = xAcc;
it->y[it->nValues] = yAcc;
it->z[it->nValues] = zAcc;
it->nValues++;
return LE_OK;
}
int8_t brnkl_motion_hasSuddenImpact() {
return impacts.nValues > 0;
}
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 (!impacts.nValues)
LE_INFO("No Sudden Impacts to Report");
else {
#ifdef MOTION_MONITOR_USE_THREAD
pthread_mutex_lock(&impacts.lock);
#endif
if (impacts.nValues > *xSize || impacts.nValues > *ySize ||
impacts.nValues > *zSize)
return LE_OUT_OF_RANGE;
for (int i = 0; i < impacts.nValues; i++) {
xAcc[i] = impacts.x[i];
yAcc[i] = impacts.y[i];
zAcc[i] = impacts.y[i];
timestampssOut[i] = impacts.timestamps[i];
}
*xSize = *ySize = *zSize = impacts.nValues;
impacts.nValues = 0;
#ifdef MOTION_MONITOR_USE_THREAD
pthread_mutex_unlock(&impacts.lock);
#endif
}
return LE_OK;
}
#ifdef MOTION_MONITOR_USE_THREAD
/*
* Monitors accelerometer from iio on 100ms intervals
*
* We use a context pointer here such that this routine
* is not coupled to the global scope. This allows us to pass in
* a pointer to a struct that contains the data we care about
* instead of storing it globally. Ultimately, the struct we point to
* will likely be in the global scope, but this is still a good practice.
*/
void* impactMonitor(void* ctx) {
double x, y, z;
le_result_t r = LE_OK;
struct suddenImpacts_t* it = ctx;
for (;;) {
brnkl_motion_getCurrentAcceleration(&x, &y, &z);
double impactMagnitude = sqrt(x * x + y * y + z * z);
if (impactMagnitude > it->threshold) {
// 3. add x, y, z to impact array
pthread_mutex_lock(&it->lock);
r = recordImpact(it, x, y, z);
pthread_mutex_unlock(&it->lock);
}
if (r != LE_OK)
LE_ERROR("Impact Not Recorded");
usleep(SAMPLE_PERIOD_MS * 1000);
}
// should never get here
return NULL;
}
/*
*Create thread to monitor accelerometer iio
*/
void initThread() {
pthread_t impactThread;
int thread, mutx;
mutx = pthread_mutex_init(&impacts.lock, NULL);
thread = pthread_create(&impactThread, NULL, impactMonitor, &impacts);
if (thread || mutx) {
LE_ERROR("Reader Thread or Mutex Creation Failed");
} else {
LE_INFO("Reader Thread Created");
}
}
COMPONENT_INIT {
initThread();
}
#else
void interruptHandler(bool val, void* ctx) {
double x, y, z;
le_result_t r = LE_OK;
struct suddenImpacts_t* it = ctx;
if (ctx == NULL) {
LE_ERROR("No context passed");
} else {
brnkl_motion_getCurrentAcceleration(&x, &y, &z);
double impactMagnitude = sqrt(x * x + y * y + z * z);
if (impactMagnitude > it->threshold) {
// 3. add x, y, z to impact array
r = recordImpact(it, x, y, z);
}
if (r != LE_OK)
LE_ERROR("Impact Not Recorded");
}
}
void initGpio() {
interrupt_SetInput(INTERRUPT_ACTIVE_HIGH);
interrupt_AddChangeEventHandler(INTERRUPT_EDGE_RISING, interruptHandler,
&impacts, 0);
}
COMPONENT_INIT {
initGpio();
}
#endif
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