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calibration.c
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calibration.c
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#include <stdio.h>
#include <sqlite3.h>
#include <string.h>
#include <limits.h>
#include <float.h>
#include <aul/common.h>
#include <aul/parse.h>
#include <kernel.h>
#include <kernel-priv.h>
#define SQL_SELECT_CALIBRATION "SELECT value FROM calibration WHERE domain%s AND name='%s' AND sig='%c' AND updated=(SELECT MAX(updated) FROM calibration WHERE domain%s AND name='%s' AND sig='%c');"
#define SQL_INSERT_CALIBRATION "INSERT INTO calibration VALUES (%s, '%s', '%c', '%s', DATETIME('NOW'), %s);"
extern sqlite3 * database;
extern calibration_t calibration;
static bool cal_getentry(const char * domain, const char * name, const char sig, char * tovalue, size_t tovalue_size)
{
labels(done);
bool success = false;
sqlite3_stmt * stmt = NULL;
const char * value = NULL;
string_t domain_query = (domain == NULL)? string_new(" IS NULL") : string_new("='%s'", domain);
string_t query = string_new(SQL_SELECT_CALIBRATION, domain_query.string, name, sig, domain_query.string, name, sig);
if (sqlite3_prepare_v2(database, query.string, -1, &stmt, NULL) != SQLITE_OK)
{
LOGK(LOG_ERR, "Could not compile SQL calibration query");
goto done;
}
if (sqlite3_step(stmt) != SQLITE_ROW)
{
LOGK(LOG_DEBUG, "No calibration entry in database for %s", name);
goto done;
}
value = (const char *)sqlite3_column_text(stmt, 0);
if (strlen(value) >= tovalue_size)
{
LOGK(LOG_WARN, "Saved calibration size too big for entry %s in domain %s", name, domain);
goto done;
}
strcpy(tovalue, value);
success = true;
done:
sqlite3_finalize(stmt);
return success;
}
static bool cal_setentry(const char * domain, const char * name, const char sig, const char * value, const char * comment)
{
string_t domain_query = (domain == NULL)? string_new("NULL") : string_new("'%s'", domain);
string_t comment_query = (comment == NULL)? string_new("NULL") : string_new("'%s'", comment);
string_t query = string_new(SQL_INSERT_CALIBRATION, domain_query.string, name, sig, value, comment_query.string);
char * sql_err = NULL;
if (sqlite3_exec(database, query.string, NULL, NULL, &sql_err) != SQLITE_OK)
{
LOGK(LOG_ERR, "Could not execute SQL calibration insert query: %s", sql_err);
return false;
}
return true;
}
static bool cal_updatecache(calentry_t * entry)
{
size_t wrote = 0;
char cache[CAL_SIZE_CACHE] = {0};
switch (entry->signature)
{
case T_INTEGER:
{
wrote = snprintf(cache, CAL_SIZE_CACHE, "%d", *(int *)entry->backing);
break;
}
case T_DOUBLE:
{
wrote = snprintf(cache, CAL_SIZE_CACHE, "%f", *(double *)entry->backing);
break;
}
default:
{
LOGK(LOG_ERR, "Unknown calibration entry type %s with sig %c", entry->name, entry->signature);
return false;
}
}
if (wrote >= (CAL_SIZE_CACHE - 1))
{
// Truncated!
LOGK(LOG_ERR, "Could not cache calibration entry name %s in domain %s, too big!", entry->name, (entry->domain == NULL)? "(none)" : entry->domain);
return false;
}
strcpy(entry->cache, cache);
return true;
}
static bool cal_updatebacking(calentry_t * entry, const char * value)
{
exception_t * e = NULL;
switch (entry->signature)
{
case T_INTEGER:
{
int v = parse_int(value, &e);
if (!exception_check(&e)) *(int *)entry->backing = v;
break;
}
case T_DOUBLE:
{
double v = parse_double(value, &e);
if (!exception_check(&e)) *(double *)entry->backing = v;
break;
}
default:
{
LOGK(LOG_ERR, "Unknown calibration entry type %s with sig %c", entry->name, entry->signature);
return false;
}
}
if (exception_check(&e))
{
LOGK(LOG_ERR, "Could not set calibration entry %s: %s", entry->name, exception_message(e));
exception_free(e);
return false;
}
return true;
}
void cal_init()
{
memset(&calibration, 0, sizeof(calibration_t));
list_init(&calibration.entries);
list_init(&calibration.previews);
list_init(&calibration.modechanges);
}
void cal_sort()
{
int cal_compare(list_t * a, list_t * b)
{
calentry_t * ca = list_entry(a, calentry_t, calibration_list);
calentry_t * cb = list_entry(b, calentry_t, calibration_list);
return strcmp(ca->name, cb->name);
}
list_sort(&calibration.entries, cal_compare);
}
void cal_doregister(const char * domain, const char * name, const char sig, const constraint_t constraints, const char * desc, void * backing, calpreview_f onpreview, void * onpreview_object)
{
// Sanity check
{
if (name == NULL || backing == NULL)
{
LOGK(LOG_ERR, "Bad arguments to cal_register!");
return;
}
switch (sig)
{
case T_DOUBLE:
case T_INTEGER:
case T_BOOLEAN:
break;
default:
{
LOGK(LOG_ERR, "Invalid calibration type '%c' to entry %s in domain %s", sig, name, (domain == NULL)? "(none)" : domain);
return;
}
}
}
// Check to see if entry has already been registered
// TODO IMPORTANT - FINISH ME
// TODO - Add destroy function to entry!
calentry_t * entry = malloc(sizeof(calentry_t));
memset(entry, 0, sizeof(calentry_t));
entry->domain = (domain == NULL || strlen(domain) == 0)? NULL : strdup(domain);
entry->name = strdup(name);
entry->signature = sig;
entry->constraints = constraints;
entry->description = strdup(desc);
entry->backing = backing;
entry->onpreview.callback = onpreview;
entry->onpreview.object = onpreview_object;
list_add(&calibration.entries, &entry->calibration_list);
// Read entry from database, put it in cache
if (!cal_getentry(domain, name, sig, entry->cache, CAL_SIZE_CACHE))
{
// Value not in database, read it from backing
if (!cal_updatecache(entry))
{
return;
}
}
// Write the calibration value back
cal_updatebacking(entry, entry->cache);
}
void cal_onpreview(const char * domain, calgpreview_f callback, void * object)
{
// Sanity check
{
if (callback == NULL)
{
return;
}
}
calpreview_t * onpreview = malloc(sizeof(calpreview_t));
if (onpreview == NULL)
{
LOGK(LOG_ERR, "Out of heap memory!");
return;
}
memset(onpreview, 0, sizeof(calpreview_t));
onpreview->domain = (domain == NULL)? NULL : strdup(domain);
onpreview->callback = callback;
onpreview->object = object;
list_add(&calibration.previews, &onpreview->calibration_list);
}
void cal_onmodechange(calmodechange_f callback, void * object)
{
// Sanity check
{
if (callback == NULL)
{
return;
}
}
calmodechange_t * onmodechange = malloc(sizeof(calmodechange_t));
if (onmodechange == NULL)
{
LOGK(LOG_ERR, "Out of heap memory!");
return;
}
memset(onmodechange, 0, sizeof(calmodechange_t));
onmodechange->callback = callback;
onmodechange->object = object;
list_add(&calibration.modechanges, &onmodechange->calibration_list);
}
calmode_t cal_getmode()
{
return calibration.mode;
}
iterator_t cal_iterator()
{
const void * cal_donext(const void * object, void ** itrobject)
{
unused(object);
list_t * list = *itrobject = list_next((list_t *)*itrobject);
return (list == &calibration.entries)? NULL : list_entry(list, calentry_t, calibration_list);
}
return iterator_new("calibration", cal_donext, NULL, NULL, &calibration.entries);
}
bool cal_next(iterator_t itr, const char ** domain, const char ** name, char * sig, const constraint_t ** constraints, const char ** desc, const char ** value)
{
const calentry_t * entry = iterator_next(itr, "calibration");
if (entry == NULL)
{
return false;
}
if (domain != NULL) *domain = entry->domain;
if (name != NULL) *name = entry->name;
if (sig != NULL) *sig = entry->signature;
if (constraints != NULL) *constraints = &entry->constraints;
if (desc != NULL) *desc = entry->description;
if (value != NULL) *value = entry->cache;
return true;
}
void cal_start()
{
if (calibration.mode == calmode_calibrating)
{
LOGK(LOG_WARN, "Already in calibration mode!");
return;
}
// Backup all existing calibration
{
list_t * pos = NULL;
list_foreach(pos, &calibration.entries)
{
calentry_t * entry = list_entry(pos, calentry_t, calibration_list);
if (entry->checkpoint != NULL)
{
LOGK(LOG_WARN, "Calibration backup has already been performed for calibration %s in domain %s!", entry->name, entry->domain);
continue;
}
entry->checkpoint = strdup(entry->cache);
}
}
// Set the mode
LOGK(LOG_INFO, "Entering calibration mode");
calibration.mode = calmode_calibrating;
// Notify the callbacks
{
list_t * pos = NULL;
list_foreach(pos, &calibration.modechanges)
{
calmodechange_t * change = list_entry(pos, calmodechange_t, calibration_list);
change->callback(change->object, calibration.mode, calstatus_ok);
}
}
}
const char * cal_preview(const char * domain, const char * name, const char * value, char * hint, size_t hint_length)
{
if (calibration.mode == calmode_runtime)
{
LOGK(LOG_WARN, "Cannot preview calibration, not presently in calibration mode!");
return NULL;
}
// Sanity check
{
if (name == NULL || value == NULL)
{
LOGK(LOG_ERR, "Bad arguments to cal_preview!");
return NULL;
}
if (strlen(value) >= CAL_SIZE_CACHE)
{
LOGK(LOG_ERR, "Calibration value too long for entry %s in domain %s", name, (domain == NULL)? "(none)" : domain);
return NULL;
}
}
list_t * pos = NULL;
list_foreach(pos, &calibration.entries)
{
calentry_t * entry = list_entry(pos, calentry_t, calibration_list);
if (
((domain == NULL && entry->domain == NULL) || (domain != NULL && entry->domain != NULL && strcmp(domain, entry->domain) == 0)) &&
(strcmp(name, entry->name) == 0)
)
{
// We've found a match, update it
if (!constraint_check(&entry->constraints, value, hint, hint_length))
{
// Failed the constraint check
return entry->cache;
}
{
// Update the backing
if (!cal_updatebacking(entry, value))
{
// Could not update backing!
return entry->cache;
}
// Call the callback
if (entry->onpreview.callback != NULL)
{
entry->onpreview.callback(entry->onpreview.object, domain, name, entry->signature, entry->backing, hint, hint_length);
}
// Cache the backing (in case preview changed it)
cal_updatecache(entry);
}
// Call the global preview cbs
{
list_t * pos = NULL;
list_foreach(pos, &calibration.previews)
{
calpreview_t * preview = list_entry(pos, calpreview_t, calibration_list);
if ((domain == NULL && preview->domain == NULL) || (domain != NULL && preview->domain != NULL && strcmp(domain, preview->domain) == 0))
{
preview->callback(preview->object, domain, name, entry->signature, entry->backing, hint, hint_length);
}
}
}
return entry->cache;
}
}
LOGK(LOG_WARN, "Invalid calibration entry. Could not find calibration name %s in domain %s", name, (domain == NULL)? "(none)" : domain);
return NULL;
}
void cal_commit(const char * comment)
{
if (calibration.mode == calmode_runtime)
{
LOGK(LOG_WARN, "Cannot commit calibration, not presently in calibration mode!");
return;
}
// Save the backings
{
list_t * pos = NULL;
list_foreach(pos, &calibration.entries)
{
calentry_t * entry = list_entry(pos, calentry_t, calibration_list);
if (strcmp(entry->cache, entry->checkpoint) != 0)
{
// Calibration entry has changed, save to database
if (!cal_setentry(entry->domain, entry->name, entry->signature, entry->cache, comment))
{
LOGK(LOG_ERR, "Failed to commit calibration entry %s in domain %s", entry->name, (entry->domain == NULL)? "(none)" : entry->domain);
}
}
free(entry->checkpoint);
entry->checkpoint = NULL;
}
}
// Set the mode
LOGK(LOG_INFO, "Calibration committed with comment '%s'", (comment == NULL)? "(none)" : comment);
calibration.mode = calmode_runtime;
// Call the modechange functions
{
list_t * pos = NULL;
list_foreach(pos, &calibration.modechanges)
{
calmodechange_t * change = list_entry(pos, calmodechange_t, calibration_list);
change->callback(change->object, calibration.mode, calstatus_ok);
}
}
}
void cal_revert()
{
if (calibration.mode == calmode_runtime)
{
LOGK(LOG_WARN, "Cannot revert calibration, not presently in calibration mode!");
return;
}
// Revert the backings
{
list_t * pos = NULL;
list_foreach(pos, &calibration.entries)
{
calentry_t * entry = list_entry(pos, calentry_t, calibration_list);
if (strcmp(entry->cache, entry->checkpoint) != 0)
{
// Calibration entry has changed, revert it
strcpy(entry->cache, entry->checkpoint);
}
free(entry->checkpoint);
entry->checkpoint = NULL;
}
}
// Set the mode
LOGK(LOG_INFO, "Calibration reverted");
calibration.mode = calmode_runtime;
// Call the modechange functions
{
list_t * pos = NULL;
list_foreach(pos, &calibration.modechanges)
{
calmodechange_t * change = list_entry(pos, calmodechange_t, calibration_list);
change->callback(change->object, calibration.mode, calstatus_canceled);
}
}
}