/****************************************************************************/ /* Copyright 1995 to 1996 MBARI */ /****************************************************************************/ /* Summary : System Hour Log Functions for vxWorks */ /* Filename : hourLog.c */ /* Author : Andrew Pearce */ /* Project : Tiburon */ /* Version : Version 1.0 */ /* Created : 10/12/94 */ /* Modified : 04/25/95 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: * $Log: */ /****************************************************************************/ #include /* vxWorks system declarations */ #include /* vxWorks semaphore functions */ #include /* vxWorks standard I/O functions */ #include /* vxWorks Message Queue Library */ #include "mbariTypes.h" /* MBARI style guide type declarations */ #include "mbariConst.h" /* Miscellaneous constants */ #include "rovPriority.h" /* MBARI Rov Application Priorities */ #include "usrTime.h" /* MBARI time and date functions */ #include "datamgr.h" /* Data Manager declarations */ #include "dm_errno.h" /* Data Manager error declarations */ #include "sio32.h" /* SIO32 Protocol Declarations */ #include "sio32Server.h" /* Sio32 server communication services */ #include "sio32Client.h" /* Sio32 client communication services */ #include "microDm.h" /* Microcontroller Data Manager Items */ #include "powerDM.h" /* Power System Data Manager Items */ #include "powerTypes.h" /* Power management Data Types */ #include "vmeIbc.h" /* VME Can IBC Definitions */ #include "thrusterDM.h" /* Thruster Data Manager Item Names */ #include "vbSystem.h" /* VB System Data Manager Item Names */ #include "ersDcon.h" /* Emergency Recovery Data Manager Items*/ #include "lightingDcon.h" /* Lighting Dcon Data Manager Items */ #include "sensorsDm.h" /* Sensors DM Prefix */ #include "tiburon.h" /* Tiburon definitions */ #include "hourLog.h" /* Application specific definitions */ #define HOUR_LOG_DM_RATE HOUR_LOG_UPDATE_RATE * 60 * USECS_PER_SEC MLocal FILE *logFile; /* Data Logging File Handle */ /****************************************************************************/ /* Function : updateElapsedTime */ /* Purpose : Update elapsed time DM item based on switch status DM item */ /* Inputs : DM Items for power switch and elased time, log period, */ /* elased time pointer and description string for log file */ /* Outputs : NONE, but DM Item and log file are modified */ /****************************************************************************/ MLocal Void updateElapsedTime( DM_Item pwrSwitchDm, DM_Item hourLogDm, Flt32 logPeriod, Flt32 *hourLog, const char* desc ) { switchStatus pwrSwitch = SWITCH_ON; /* Power Switch Status */ if ( (pwrSwitchDm == NO_ITEM) || /* Check Device Power Switch State */ (dm_read(pwrSwitchDm, (char *) &pwrSwitch, sizeof(pwrSwitch), (DM_Time *)NULL) == SUCCESS) ) { if (pwrSwitch == SWITCH_ON) /* Check switch state */ { /* Power is on so increment hours */ *hourLog += logPeriod; /* and update elapsed hour DM Item */ writeDmItem(hourLogDm, hourLog, sizeof(Flt32)); } /* if */ } /* if */ /* Write elapsed time to log file */ fprintf(logFile, "%s %.2f hours\n", desc, *hourLog); } /* updateElapsedTime() */ /****************************************************************************/ /* Function : updateSubmergedTime */ /* Purpose : Update in water time DM item based on in water DM item */ /* Inputs : DM Items for in-water status and elased time, log period, */ /* elased time pointer and description string for log file */ /* Outputs : NONE, but DM Item and log file are modified */ /****************************************************************************/ MLocal Void updateSubmergedTime( DM_Item inWaterDm, DM_Item hourLogDm, Flt32 logPeriod, Flt32 *hourLog, const char* desc ) { MBool inWater; /* Vehicle In Water Status */ if (dm_read(inWaterDm, (char *) &inWater, sizeof(inWater), (DM_Time *) NULL) == SUCCESS) { if (inWater == TRUE) { /* and update elapsed hour DM Item */ *hourLog += logPeriod; writeDmItem(hourLogDm, hourLog, sizeof(Flt32)); } /* if */ } /* if */ /* Write elapsed time to log file */ fprintf(logFile, "%s %.2f hours\n", desc, *hourLog ); } /* updateSubmergedTime() */ MLocal Void updateCycleCount( DM_Item lightSwitchDm, DM_Item lightCycleCountDm, switchStatus *lightState, Int32 *lightCycleCount, const char* desc ) { switchStatus pwrSwitch; /* Power Switch Status */ /* Check Device Power Switch State */ if (dm_read(lightSwitchDm, (char *) &pwrSwitch, sizeof(pwrSwitch), (DM_Time *)NULL) == SUCCESS) { if (pwrSwitch != *lightState) /* Check if switch state has changed*/ { /* Yes so increment cycle counter */ *lightCycleCount++; writeDmItem(lightCycleCountDm, lightCycleCount, sizeof(Int32)); } /* if */ *lightState = pwrSwitch; /* Save light switch state */ } /* if */ /* Write elapsed time to log file */ fprintf(logFile, "%s %6d cycles\n", desc, *lightCycleCount); } /* updateCycleCount() */ /****************************************************************************/ /* Function : hourLogTask */ /* Purpose : Calculates powered-up times for ROV, Gyro and thrusters */ /* Inputs : NONE */ /* Outputs : NONE, but DM Item and log file are modified */ /****************************************************************************/ STATUS hourLogTask( Void ) { SEM_ID wakeupSem; /* Used wake up this task periodically */ time_t timeNow, startTime; /* Time from real-time clock */ struct tm *bootTime; /* Vehicle boot/reboot time */ char *bootTimeString; /* Boot timt string in ASCII */ char itemPrefix[32]; /* Data Manager Item Prefix Name */ char tempBuf[80]; /* Scratch buffer for fgets */ Int16 light; /* counter for light items */ Int32 updateTicks; /* Update rate in ticks */ Flt32 resolution; /* Elapsed time resolution (hours) */ /* Total elapsed times for sub-systes */ Flt32 vehicleHourLog, submergedHourLog, gyroHourLog, vbMotorHourLog; Flt32 portHorizHourLog, stbdHorizHourLog, portVertHourLog; Flt32 stbdVertHourLog, fwdLatHourLog, aftLatHourLog; Flt32 backupLightHourLog; Flt32 lightHourLog[NUM_LIGHTS] = {0.0}; Int32 lightCycleCount[NUM_LIGHTS] = {0}; switchStatus lightState[NUM_LIGHTS] = {SWITCH_OFF}; struct /* Data manager Item Handles */ { DM_Item gyroHourLog; /* Gyro compass Hour Log */ DM_Item vehicleHourLog; /* Vehicle Powered Up Hour Log */ DM_Item submergedHourLog; /* Vehicle Submerged Hour Log */ DM_Item portHorizHourLog; /* Port Horizontal Thruster Hour Log */ DM_Item stbdHorizHourLog; /* Port Horizontal Thruster Hour Log */ DM_Item portVertHourLog; /* Port Vertical Thruster Hour Log */ DM_Item stbdVertHourLog; /* Stbd Vertical Thruster Hour Log */ DM_Item fwdLatHourLog; /* Forward Lateral Thruster Hour Log */ DM_Item aftLatHourLog; /* Port Horizontal Thruster Hour Log */ DM_Item vbMotorHourLog; /* Variable Bouyancy Motor Hour Log */ DM_Item backupLightHourLog; /* Backup Light Hour Log */ DM_Item lightHourLog[NUM_LIGHTS]; /* Light Hour Logs */ DM_Item lightCycleCount[NUM_LIGHTS]; /* Light Cycle Count */ DM_Item vehicleInWater; /* Vehicle Submerged Status Flag */ DM_Item gyroPwrSwitch; /* Gyro compass Power Switch */ DM_Item portHorizPwrSwitch; /* Port Horizontal Power Switch */ DM_Item stbdHorizPwrSwitch; /* Stbd Horizontal Power Switch */ DM_Item portVertPwrSwitch; /* Port Horizontal Power Switch */ DM_Item stbdVertPwrSwitch; /* Stbd Horizontal Power Switch */ DM_Item fwdLatPwrSwitch; /* Forward Lateral Power Switch */ DM_Item aftLatPwrSwitch; /* Aft Lateral Power Switch */ DM_Item vbMotorPwrSwitch; /* VB System Power Switch */ DM_Item backupLightSwitch; /* Backup Light Power Switch */ DM_Item lightSwitch[NUM_LIGHTS];/* Light Power Switches */ } dmItems; dmItemList hourLogDmInit[] = /* Data Manager Item Table for init */ { { &dmItems.gyroPwrSwitch, "Gyro Power Switch", GYRO_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.portHorizPwrSwitch, "Port Horiz Thruster Power Switch", THRUSTER_PORT_HORIZ_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.stbdHorizPwrSwitch, "Stbd Horiz Thruster Power Switch", THRUSTER_STBD_HORIZ_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.portVertPwrSwitch, "Port Vert Thruster Power Switch", THRUSTER_PORT_VERT_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.stbdVertPwrSwitch, "Stbd Vert Thruster Power Switch", THRUSTER_STBD_VERT_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.fwdLatPwrSwitch, "Forward Lateral Thruster Power Switch", THRUSTER_FWD_LAT_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.aftLatPwrSwitch, "Aft Lateral Thruster Power Switch", THRUSTER_AFT_LAT_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.vbMotorPwrSwitch, "V.B. System Motor Power Switch", VB_MOTOR_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.backupLightSwitch, "Backup Light Power Switch", BACKUP_LIGHT_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[0], "Light 0 Power Switch", LIGHT_0_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[1], "Light 1 Power Switch", LIGHT_1_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[2], "Light 2 Power Switch", LIGHT_2_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[3], "Light 3 Power Switch", LIGHT_3_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[4], "Light 4 Power Switch", LIGHT_4_SWITCH_STATUS_DM, DM_ENUM, 1 }, { &dmItems.lightSwitch[5], "Light 5 Power Switch", LIGHT_5_SWITCH_STATUS_DM, DM_ENUM, 1 }, { NO_ITEM, NULL, NULL, DM_ENDT, 0 } }; /* Set hour log task priority */ taskPrioritySet(taskIdSelf(), HOUR_LOG_PRIORITY); timeNow = time ( (time_t *) 0); /* Read real-time clock for boot time */ bootTime = gmtime (&timeNow); bootTimeString = asctime(bootTime); /* Create wakeup semaphore */ if ((wakeupSem = semBCreate(SEM_Q_FIFO, SEM_EMPTY)) == NULL ) { logMsg("Hour Log Task: Error creating semaphore\n"); return; } /* if */ /* Clear Data Manager Item handles */ bzero(&dmItems, sizeof(dmItems)); /* Initialize DMgr Items from table */ if (initMicroDmItemList( hourLogDmInit, "", "Hour Log" ) != OK) return(ERROR); /* Error occurred so print message & exit*/ dmItems.vehicleInWater = initMicroDmItem(TIBURON_DM_PREFIX, TIBURON_IN_WATER_DM, DM_MBOOL, 1); dmItems.vehicleHourLog = initMicroDmItem(TIBURON_DM_PREFIX, TIBURON_POWER_ON_HOUR_LOG_DM, DM_FLT32, 1); dmItems.submergedHourLog = initMicroDmItem(TIBURON_DM_PREFIX, TIBURON_IN_WATER_HOUR_LOG_DM, DM_FLT32, 1); dmItems.gyroHourLog = initMicroDmItem(SENSOR_DM_PREFIX, GYRO_HOUR_LOG_DM, DM_FLT32, 1); dmItems.portHorizHourLog = initMicroDmItem(PORT_HORIZ_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.stbdHorizHourLog = initMicroDmItem(STBD_HORIZ_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.portVertHourLog = initMicroDmItem(PORT_VERT_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.stbdVertHourLog = initMicroDmItem(STBD_VERT_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.fwdLatHourLog = initMicroDmItem(FWD_LATERAL_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.aftLatHourLog = initMicroDmItem(AFT_LATERAL_THRUSTER_DM, HOUR_LOG_DM, DM_FLT32, 1); dmItems.vbMotorHourLog = initMicroDmItem(VB_MOTOR_DM_PREFIX, HOUR_LOG_DM, DM_FLT32, 1); dmItems.backupLightHourLog = initMicroDmItem(TIBURON_DM_PREFIX, BACKUP_LIGHT_HOUR_LOG_DM, DM_FLT32, 1); /* This task a provider of hour logs */ dm_start_provider(dmItems.vehicleHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.submergedHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.gyroHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.portHorizHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.stbdHorizHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.portVertHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.stbdVertHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.fwdLatHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.aftLatHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.vbMotorHourLog, HOUR_LOG_DM_RATE); dm_start_provider(dmItems.backupLightHourLog, HOUR_LOG_DM_RATE); /* This task is a consumer of switch states*/ dm_start_consumer(dmItems.gyroPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.vehicleInWater, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.portHorizPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.stbdHorizPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.portVertPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.stbdVertPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.fwdLatPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.aftLatPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.vbMotorPwrSwitch, DM_STATIC, wakeupSem); dm_start_consumer(dmItems.backupLightSwitch, DM_STATIC, wakeupSem); for (light = 0; light < NUM_LIGHTS; light++) { sprintf(itemPrefix, "%sLIGHT%d.", LIGHTING_IBC_DM_PREFIX, light); dmItems.lightHourLog[light] = initMicroDmItem(itemPrefix, HOUR_LOG_DM, DM_FLT32, 1); dmItems.lightCycleCount[light] = initMicroDmItem(itemPrefix, CYCLE_LOG_DM, DM_INT32, 1); dm_start_provider(dmItems.lightHourLog[light], HOUR_LOG_DM_RATE); dm_start_consumer(dmItems.lightSwitch[light], DM_STATIC, wakeupSem); } /* for */ logMsg("Hour logging interval: %d minutes\n", HOUR_LOG_UPDATE_RATE); /* Zero elapsed all time values */ vehicleHourLog = submergedHourLog = gyroHourLog = portHorizHourLog = stbdHorizHourLog = portVertHourLog = stbdVertHourLog = fwdLatHourLog = aftLatHourLog = vbMotorHourLog = backupLightHourLog = 0.0; if ( (logFile = fopen(ELAPSED_HOUR_LOG, "r")) != NULL ) { /* Load initial values from log file */ fgets(tempBuf, 80, logFile); fscanf(logFile, "%*s%*s%*s%f%*s\n", &vehicleHourLog); fscanf(logFile, "%*s%*s%*s%f%*s\n", &submergedHourLog); fscanf(logFile, "%*s%*s%*s%f%*s\n", &gyroHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &portHorizHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &stbdHorizHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &portVertHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &stbdVertHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &fwdLatHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &aftLatHourLog); fscanf(logFile, "%*s%*s%*s%*s%*s%f%*s\n", &vbMotorHourLog); fscanf(logFile, "%*s%*s%*s%*s%f%*s\n", &backupLightHourLog); for (light = 0; light < NUM_LIGHTS; light++) fscanf(logFile, "%*s%*s%*s%f%*s\n", &lightHourLog[light]); for (light = 0; light < NUM_LIGHTS; light++) fscanf(logFile, "%*s%*s%*s%d%*s\n", &lightCycleCount[light]); fclose(logFile); } /* if */ /* Convert rate from minutes to ticks */ updateTicks = HOUR_LOG_UPDATE_RATE * 60 * sysClkRateGet(); startTime = time ( (time_t *) 0); /* Read real-time clock in seconds */ FOREVER { /* Pend until either a sem timeout or */ /* a Data Manager Item is written */ semTake(wakeupSem, updateTicks); /* calculate elapsed time */ timeNow = time ( (time_t *) 0); /* Read real-time clock in seconds */ resolution = ((Flt32) (timeNow - startTime)) / (60 * 60); startTime = timeNow; if ( (logFile = fopen(ELAPSED_HOUR_LOG, "w")) == NULL ) { logMsg( "Cannot open Elapsed Time file %s\n", ELAPSED_HOUR_LOG ); return (ERROR); /* DM automatically cleans up on task exit*/ } /* if */ fprintf(logFile, "Vehicle reboot at %s", bootTimeString); updateElapsedTime(NO_ITEM, dmItems.vehicleHourLog, resolution, &vehicleHourLog, "Vehicle on time"); updateSubmergedTime(dmItems.vehicleInWater, dmItems.submergedHourLog, resolution, &submergedHourLog, "Vehicle Submerged Time"); updateElapsedTime(dmItems.gyroPwrSwitch, dmItems.gyroHourLog, resolution, &gyroHourLog, "Gyro on time"); updateElapsedTime(dmItems.portHorizPwrSwitch, dmItems.portHorizHourLog, resolution, &portHorizHourLog, "Port Horiz Thruster on time"); updateElapsedTime(dmItems.stbdHorizPwrSwitch, dmItems.stbdHorizHourLog, resolution, &stbdHorizHourLog, "Stbd Horiz Thruster on time"); updateElapsedTime(dmItems.portVertPwrSwitch, dmItems.portVertHourLog, resolution, &portVertHourLog, "Port Vert Thruster on time"); updateElapsedTime(dmItems.stbdVertPwrSwitch, dmItems.stbdVertHourLog, resolution, &stbdVertHourLog, "Stbd Vert Thruster on time"); updateElapsedTime(dmItems.fwdLatPwrSwitch, dmItems.fwdLatHourLog, resolution, &fwdLatHourLog, "Fwd Lateral Thruster on time"); updateElapsedTime(dmItems.aftLatPwrSwitch, dmItems.aftLatHourLog, resolution, &aftLatHourLog, "Aft Lateral Thruster on time"); updateElapsedTime(dmItems.vbMotorPwrSwitch, dmItems.vbMotorHourLog, resolution, &vbMotorHourLog, "VB System Motor on time"); updateElapsedTime(dmItems.backupLightSwitch, dmItems.backupLightHourLog, resolution, &backupLightHourLog, "Backup Light on time"); for (light = 0; light < NUM_LIGHTS; light++) { sprintf(tempBuf, "Light %d on time", light); updateElapsedTime(dmItems.lightSwitch[light], dmItems.lightHourLog[light], resolution, &lightHourLog[light], tempBuf); } /* for */ for (light = 0; light < NUM_LIGHTS; light++) { sprintf(tempBuf, "Light %d", light); updateCycleCount(dmItems.lightSwitch[light], dmItems.lightCycleCount[light], &lightState[light], &lightCycleCount[light], tempBuf); } /* for */ fclose(logFile); } /* FOREVER */ } /* hourLogTask() */