refactored reactor side coordinators and managers. in process of adding monitoring framework
KeeganForelight
2 years ago
parent
53eabda3b7
commit
530413e9a1
Binary file not shown.
Binary file not shown.
@ -1,42 +1,42 @@
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package I2C
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// file has general wrappers to interact with i2c-tools
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import (
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"fmt"
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_ "fmt"
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"log"
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"os/exec"
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"bytes"
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"strings"
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"time"
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"sync"
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"strconv"
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)
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type I2Cdev struct {
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Active bool
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LastSeen time.Time
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type I2CBus struct {
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int
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sync.Mutex
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}
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type I2CMonitor struct { // used in RLC to synchronize accesses
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Bus int // bus to use {0,1,2}
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Devices map[int]*I2Cdev // mapping to quickly index addresses to their device structs
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Scan <-chan struct{} // empty struct for efficient sends
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Connect chan<- int
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mu sync.Mutex
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func NewBus(bus int) *I2CBus {
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b := &I2CBus{}
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b.int = bus
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return b
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}
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func I2Cconnected(bus int) map[int]bool {
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func (b *I2CBus) Scan() map[int]bool {
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/*
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I2CConnect takes an integer specifying the bus to search as input
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Returns a slice of type I2Cdev
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Returns all the connected devices
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*/
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b := strconv.Itoa(bus)
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cmd := exec.Command("i2cdetect", "-y", "-r", b)
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b.Lock()
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defer b.Unlock()
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bus := strconv.Itoa(b.int)
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cmd := exec.Command("i2cdetect", "-y", "-r", bus)
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var out bytes.Buffer
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cmd.Stdout = &out
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err:= cmd.Run()
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if err != nil {
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fmt.Println(err)
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if err := cmd.Run(); err != nil {
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log.Fatal(err)
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}
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outString := out.String()
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// could split by \n too
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split := strings.SplitAfter(outString,":")
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@ -0,0 +1,33 @@
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package I2C
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import (
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_ "fmt"
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_ "sync"
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)
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type I2CDevice struct {
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*I2CBus // embeds bus
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bool // stores whether dev is currently connected
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int // addr
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}
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func NewDevice(addr int,bus *I2CBus) *I2CDevice {
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d := &I2CDevice{}
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d.I2CBus = bus
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d.int = addr
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return d
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}
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func (d *I2CDevice) GetAddr() int {
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return d.int
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}
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func (d *I2CDevice) GetStatus() string {
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// TODO
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return "Unknown"
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}
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func (d *I2CDevice) GetType() string {
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// TODO
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return "Unknown"
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}
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@ -0,0 +1,97 @@
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package I2C
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import (
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"time"
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_ "fmt"
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"sync"
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)
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/*
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i2c monitor implements a long running monitor responsible for sending active devices to the rlc
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*/
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type I2CMonitor struct {
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*I2CBus
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Devices *devs
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DevChan chan int
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}
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type devs struct {
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sync.Mutex
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m map[int]*I2CDevice
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}
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func NewMonitor(bus int,ch chan int) *I2CMonitor {
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m := &I2CMonitor{}
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b := NewBus(bus)
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m.I2CBus = b
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d := make(map[int]*I2CDevice)
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m.Devices = &devs{m:d}
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m.DevChan = ch
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return m
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}
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func (m *I2CMonitor) Update() {
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/*
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scans bus and adds new active devices
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*/
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devs := m.Scan()
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chng := m.Devices.Parse(m.I2CBus,devs)
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for _, d := range chng {
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go m.ConnectDevice(d)
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}
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}
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func (m *I2CMonitor) Monitor() {
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// functon that updates the device list and notifies rlc of any changes to sensor composition
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s := make(chan struct{})
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t := 5 * time.Second
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go func(signal chan struct{},to time.Duration) { // simple signal func to init scan
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for {
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signal <-struct{}{}
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time.Sleep(to)
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}
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}(s,t)
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for {
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<-s
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m.Update()
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}
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}
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func (m *I2CMonitor) ConnectDevice(addr int) {
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m.DevChan <-addr
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}
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func (m *I2CMonitor) GetDevice(addr int) interface{GetAddr() int; GetStatus() string; GetType() string} {
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m.Devices.Lock()
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defer m.Devices.Unlock()
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return m.Devices.m[addr]
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}
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func (d *devs) Parse(bus *I2CBus,devices map[int]bool) []int {
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d.Lock()
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defer d.Unlock()
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newdevs := []int{}
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for addr, status := range devices {
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if dev, exists := d.m[addr]; exists {
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// device seen
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if status != dev.bool { // if device state changed
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dev.bool = status
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if status {
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newdevs = append(newdevs,dev.GetAddr())
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}
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}
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} else {
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// device not seen yet
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if status {
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// active
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newd := NewDevice(addr,bus)
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newd.bool = status
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d.m[addr] = newd
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newdevs = append(newdevs,newd.GetAddr())
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}
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}
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}
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return newdevs
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}
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@ -1,95 +0,0 @@
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package I2C
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import (
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"time"
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"fmt"
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)
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func NewMonitor(c chan<- int, b int) (*I2CMonitor, error) {
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m := &I2CMonitor{Bus:b,Connect:c}
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m.Devices = make(map[int]*I2Cdev)
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s := make(chan struct{})
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go scan(s)
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m.Scan = s
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go m.Monitor()
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return m, nil
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}
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func (m *I2CMonitor) Update() []int {
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/*
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gets newly connected sensors and updates any currently dead sensors
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*/
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m.mu.Lock()
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defer m.mu.Unlock()
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connected := I2Cconnected(m.Bus)
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now := time.Now()
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newDevs := []int{}
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for k,v := range connected {
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if _, ok := m.Devices[k]; ok { // if address existed we need to update sm
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dev := m.Devices[k]
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dev.Active = v
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if v {
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dev.LastSeen = now
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}
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m.Devices[k] = dev
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} else if v { // new device connected
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fmt.Printf("Device %v found\n",k)
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newDevs = append(newDevs, k) // mark device for adding
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//m.Devices[k] = I2Cdev{Active:true, LastSeen:now} // add new sensors
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}
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}
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return newDevs
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}
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func (m *I2CMonitor) Remove(addr int) {
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m.mu.Lock()
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defer m.mu.Unlock()
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delete(m.Devices, addr)
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}
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func scan(ch chan<- struct{}) {
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// helper func to time the device updates
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for true {
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ch <-struct{}{} // weird syntax but just empty struct init
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time.Sleep(5 * time.Second)
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}
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}
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func (m *I2CMonitor) Monitor() {
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// functon that updates the device list and notifies rlc of any changes to sensor composition
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for {
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<-m.Scan
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fmt.Println("Scanning I2C bus")
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newdevs := m.Update()
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for _,v := range newdevs {
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go m.ConnectDevice(v)
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}
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}
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}
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func (m *I2CMonitor) ConnectDevice(addr int) {
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m.Connect <-addr
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}
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func (m *I2CMonitor) CreateDevice(addr int) error {
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m.mu.Lock()
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defer m.mu.Unlock()
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dev := &I2Cdev{Active:true}
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m.Devices[addr] = dev
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return nil
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}
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func (m *I2CMonitor) GetStatus(addr int) bool {
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m.mu.Lock()
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defer m.mu.Unlock()
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_,exists := m.Devices[addr]
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if exists {
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return m.Devices[addr].Active
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} else {
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return false
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}
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}
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func (d *I2Cdev) GetStatus() bool {
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return d.Active
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}
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@ -0,0 +1,29 @@
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package reactor
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import (
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"sync"
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)
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// implements grpc handler and device update handler
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type SystemUpdates struct {
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sync.Mutex
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pending map[int]*Dev
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}
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type Dev struct {
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Status string
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Type string
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}
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func (s *SystemUpdates) DeviceUpdateHandler(a int, st, t string) {
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s.Lock()
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defer s.Unlock()
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s.pending[a] = &Dev{Status:st,Type:t}
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}
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func (s *SystemUpdates) GetPendingChanges() (map[int]*Dev, chan bool) {
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// calls chld routine to block and return w/ buffer contents
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// chan is used to send grpc res
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// true = empty buffer
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// false = release lock unchanged
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res := s.LockAndWait()
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@ -1,86 +1,111 @@
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package sensor
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import (
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"sync"
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_"fmt"
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"time"
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"sync"
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_ "FRMS/internal/pkg/I2C"
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"log"
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)
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type Manager struct {
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Addr int
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Sensor *SensorInfo
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I2CMonitor I2Cmonitor
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Kill chan<- bool
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mu sync.Mutex
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*Dev
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I2CDevice
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SystemUpdates
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*Active
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Hb time.Duration
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}
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// implementing sensor skeleton
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type SensorStatus uint32
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const (
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READY SensorStatus = iota
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ALIVE
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SENDING
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KILLED
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)
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type SystemUpdates interface {
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DeviceUpdateHandler(int, string, string)
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}
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func (s SensorStatus) String() string {
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return [...]string{"Ready","Active","Sending","Disabled"}[s]
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type Active struct {
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sync.Mutex
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bool
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int
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}
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type SensorInfo struct {
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Status SensorStatus
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type Dev struct {
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// last known values
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Addr int
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Type string
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mu sync.Mutex
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Status string // could be more efficient but to hell with it
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}
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func (s *SensorInfo) GetStatus() uint32{
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s.mu.Lock()
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defer s.mu.Unlock()
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return uint32(s.Status)
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type I2CDevice interface {
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// basic device info
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GetAddr() int
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GetStatus() string
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GetType() string
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}
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func (s *SensorInfo) GetType() string{
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s.mu.Lock()
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defer s.mu.Unlock()
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return s.Type
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func NewDeviceManager(i2c I2CDevice,sys SystemUpdates) *Manager {
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m := &Manager{Hb:time.Duration(1*time.Second)}
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m.I2CDevice = i2c
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m.SystemUpdates = sys
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m.Active = &Active{}
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m.Dev = &Dev{Addr:i2c.GetAddr(),Type:i2c.GetType(),Status:i2c.GetStatus()}
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return m
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}
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// i2c stuff
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type I2Cmonitor interface {
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GetStatus(int) bool
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func (m *Manager) Start() {
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// goal is to start a long running monitoring routine
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if !m.Activate() {
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log.Fatal("Manager already running!")
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} // atomically activated if this runs
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go m.Monitor()
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}
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func NewSensorManager(addr int,i I2Cmonitor) (*Manager,error) {
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m := &Manager{Addr:addr,I2CMonitor:i}
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go m.Start()
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return m, nil
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func (m *Manager) Exit() {
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if !m.Deactivate() {
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log.Fatal("Manager already exited!")
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}
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func (m *Manager) Start() {
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types := map[int]string{97:"DO Sensor",99:"pH Sensor",102:"RTD Sensor"}
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m.Sensor = &SensorInfo{Type:types[m.Addr]}
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}
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func (m *Manager) GetStatus() uint32 {
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b := m.I2CMonitor.GetStatus(m.Addr)
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m.Sensor.Update(b)
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return m.Sensor.GetStatus()
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func (m *Manager) Monitor() {
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for m.IsActive() {
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go m.DeviceStatus()
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time.Sleep(m.Hb)
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}
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func (m *Manager) GetType() string {
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return m.Sensor.GetType()
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}
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// I2C interface stuff
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func (m *Manager) DeviceStatus() {
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status := m.GetStatus()
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if status != m.Status { // changed
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go m.DeviceUpdateHandler(m.Addr,status,m.Type)
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m.Status = status
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}
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}
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func (s *SensorInfo) Update(b bool) {
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s.mu.Lock()
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defer s.mu.Unlock()
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if b {
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s.Status = ALIVE
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// atomic activation and deactivation
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func (a *Active) Activate() bool {
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// returns true if success, false otherwise
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a.Lock()
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defer a.Unlock()
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if a.bool { // already active
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return false
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} else {
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s.Status = KILLED
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a.bool = true
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a.int = 0
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return a.bool
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}
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}
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func (a *Active) Deactivate() bool {
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// returns true if success false otherise
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a.Lock()
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defer a.Unlock()
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if a.bool {
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a.bool = false
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return true
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} else { // already deactivated
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return a.bool // false
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}
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}
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func (a *Active) IsActive() bool {
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a.Lock()
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defer a.Unlock()
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return a.bool
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}
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@ -1,8 +0,0 @@
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package sensor
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import (
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_ "fmt"
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)
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@ -0,0 +1,103 @@
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this will be a living doc
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starting with for connection management:
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listener:
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- knows
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- ip:port to listen to
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- clients connect with{ip, port, clientType, model, id}
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- is able to
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- create coordinators for each clientType
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- send new clients to coordiantor handlers via chan
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- depends on
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- clients sending known data (gRPC)
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- NewCoordinator func
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- implements
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* shouldnt really have any callable methods
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coordinator: (General)
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- knows
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- what client ids have already connected
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- which managers correlate to which clients
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- is able to
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- create managers for new clients
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- start managers for clients
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- depends on
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- listener for client structure
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- manager for NewManager() function
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- implements
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- client connection handling
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- general manager call
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manager (general):
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- knows
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- client info
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- timeout
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- if it is active
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- is able to
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- establish a connection with a client
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- stop when the connection drops
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- depends on
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- coordinator for start calls
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- implements
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- client connection creation
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- client info storage
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manager (reactor):
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* embedds the gm
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- knows
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- devices attached to the reactor
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- underlying client manager
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- is able to
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- maintain device struct
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- no pings only control logic (i.e remove device, restart etc)
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- depends on
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- gm for client conn
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- coordiantor for starts
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- implements
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- reactor structure tracking
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manager (tui):
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* embedds the gm
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- knows
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- structure of the system (ie reactors:devices)
|
||||
- underlying client manager
|
||||
- is able to
|
||||
- keep track of system changes
|
||||
- updates client from buffer or concurrent grpc?
|
||||
- depends on
|
||||
- RM to get system info
|
||||
- coordinator for starts
|
||||
- implements
|
||||
- system tracking
|
||||
|
||||
reactor level coordinator: (right away this feels so fat compared)
|
||||
- knows
|
||||
- current connected devices
|
||||
- server to init to
|
||||
- its own hwinfo to establish itself as a client
|
||||
- is able to:
|
||||
- reach out to server on boot
|
||||
- transmit client details
|
||||
- keep reactor devices current
|
||||
- depends on
|
||||
- I2C package to notify of connected devices
|
||||
- hardware info to get its client info
|
||||
- server to handle connection
|
||||
- sm for new manager
|
||||
- implements
|
||||
- reactor status handler for updates to other coords/managers
|
||||
|
||||
device itself:
|
||||
- knows
|
||||
- probe status ( maybe)
|
||||
- data in buffer
|
||||
- is able to
|
||||
- clear buffer on request
|
||||
- respond to commands
|
||||
- implements
|
||||
- data collection
|
||||
- control execution
|
||||
- depends on
|
||||
- nothing its a driver
|
||||
- maybe the control logic??
|
||||
Loading…
Reference in New Issue