thermferm/thermferm.c

/*****************************************************************************
 * Copyright (C) 2014
 *   
 * Michiel Broek <mbroek at mbse dot eu>
 *
 * This file is part of the mbsePi-apps
 *
 * This is free software; you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation; either version 2, or (at your option) any
 * later version.
 *
 * mbsePi-apps is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with EC-65K; see the file COPYING.  If not, write to the Free
 * Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 *****************************************************************************/

#include "lock.h"
#include "logger.h"
#include "rdconfig.h"
#include "devices.h"
#include "server.h"
#include "thermferm.h"
#include "lcd-pcf8574.h"
#include "lcd-buffer.h"
#include "futil.h"
#include "units.h"
#include "xutil.h"


char			*current_unit = NULL;
int			tempA = 80;
int			tempB = 80;

key_t			key = 5680;		/* key to be passed to shmget()		*/
int			shmid;

int			my_shutdown = FALSE;
static pid_t		pgrp, mypid;

extern int		debug;
extern sys_config	Config;
#ifdef HAVE_WIRINGPI_H
extern int		lcdHandle;
extern unsigned char	lcdbuf[MAX_LCDS][20][4];
#endif
int			lcdupdate;
#ifndef HAVE_WIRINGPI_H
pthread_t		threads[4];
#endif
extern const char       UNITMODE[5][8];


int  server(void);
void help(void);
void die(int);
#ifdef HAVE_WIRINGPI_H
void sendRCswitch(char *, int);
void stopLCD(void);
void stopRCswitch(void);
#endif


void help(void)
{
    fprintf(stdout, "mbsePi-apps thermferm v%s starting\n\n", VERSION);
    fprintf(stdout, "Usage: thermferm [-d] [-h]\n");
    fprintf(stdout, "  -d --debug              Debug and run in foreground\n");
    fprintf(stdout, "  -h --help               Display this help\n");
}


void die(int onsig)
{
    switch (onsig) {
	case SIGHUP:	syslog(LOG_NOTICE, "Got SIGHUP, shutting down");
			break;
	case SIGINT:	syslog(LOG_NOTICE, "Keyboard interrupt, shutting down");
			break;
	case SIGTERM:	syslog(LOG_NOTICE, "Got SIGTERM, shutting down");
			break;
	default:	syslog(LOG_NOTICE, "die() on signal %d", onsig);
    }

    my_shutdown = TRUE;
}


#ifdef HAVE_WIRINGPI_H
void stopLCD(void)
{
    mb_lcdClear(lcdHandle);
    setBacklight(0);
}
#endif


int main(int argc, char *argv[])
{
    int		rc, c, i;
    pid_t	frk;

    while (1) {
	int option_index = 0;
	static struct option long_options[] = {
	    {"debug", 0, 0, 'c'},
	    {"help", 0, 0, 'h'},
	    {0, 0, 0, 0}
	};

	c = getopt_long(argc, argv, "dh", long_options, &option_index);
	if (c == -1)
	    break;

	switch (c) {
	    case 'd':	debug = TRUE;
			break;
	    case 'h':	help();
			return 1;
	}
    }

    openlog("thermferm", LOG_PID|LOG_CONS|LOG_NOWAIT, LOG_USER);
    syslog(LOG_NOTICE, "mbsePi-apps thermferm v%s starting", VERSION);
    if (debug)
	fprintf(stdout, "mbsePi-apps thermferm v%s starting\n", VERSION);

    if (rdconfig()) {
	fprintf(stderr, "Error reading configuration\n");
	syslog(LOG_NOTICE, "halted");
	return 1;
    }

    /*
     *  Catch all the signals we can, and ignore the rest. Note that SIGKILL can't be ignored
     *  but that's live. This daemon should only be stopped by SIGTERM.
     *  Don't catch SIGCHLD.
     */
    for (i = 0; i < NSIG; i++) {
    	if ((i != SIGCHLD) && (i != SIGKILL) && (i != SIGSTOP))
	    signal(i, (void (*))die);
    }

#ifdef HAVE_WIRINGPI_H
    if (wiringPiSetup () )
	return 1;

    if ((rc = initLCD (Config.lcd_cols, Config.lcd_rows))) {
	fprintf(stderr, "Cannot initialize LCD display, rc=%d\n", rc);
	return 1;
    }
#endif

    if (debug) {
	/*
	 * For debugging run in foreground.
	 */
	rc = server();
    } else {
	/*
	 * Server initialization is complete. Now we can fork the 
	 * daemon and return to the user. We need to do a setpgrp
	 * so that the daemon will no longer be assosiated with the
	 * users control terminal. This is done before the fork, so
	 * that the child will not be a process group leader. Otherwise,
	 * if the child were to open a terminal, it would become
	 * associated with that terminal as its control terminal.
	 */
	if ((pgrp = setpgid(0, 0)) == -1) {
	    syslog(LOG_NOTICE, "setpgpid failed");
	}

	frk = fork();
	switch (frk) {
	    case -1:	
		    	syslog(LOG_NOTICE, "Daemon fork failed: %s", strerror(errno));
			syslog(LOG_NOTICE, "Finished, rc=1");
#ifdef HAVE_WIRINGPI_H
			stopLCD();
#endif
			exit(1);
	    case 0:	/*
			 * Run the daemon
			 */
			fclose(stdin);
			if (open("/dev/null", O_RDONLY) != 0) {
			    syslog(LOG_NOTICE, "Reopen of stdin to /dev/null failed");
			    _exit(2);
			}
			fclose(stdout);
			if (open("/dev/null", O_WRONLY | O_APPEND | O_CREAT,0600) != 1) {
			    syslog(LOG_NOTICE, "Reopen of stdout to /dev/null failed");
			    _exit(2);
			}
			fclose(stderr);
			if (open("/dev/null", O_WRONLY | O_APPEND | O_CREAT,0600) != 2) {
			    syslog(LOG_NOTICE, "Reopen of stderr to /dev/null failed");
			    _exit(2);
			}
			mypid = getpid();
			rc = server();
			break;
			/* Not reached */
	    default:
			/*
			 * Here we detach this process and let the child
			 * run the deamon process.
			 */
			syslog(LOG_NOTICE, "Starting daemon with pid %d", frk);
			exit(0);
	}
    }

    syslog(LOG_NOTICE, "Finished, rc=%d", rc);
    return rc;
}


int server(void)
{
    char                buf[1024], *filename, target[40], heater[40], cooler[40], fan[40], door[40];
    time_t		now, last = (time_t)0;
    units_list		*unit;
    int			rc, run = 1, seconds = 0, minutes = 0;
    float		err = 0.0, sp, pv, P_err, I_err = 0.0, D_err, Out;
#ifdef HAVE_WIRINGPI_H
    struct tm		*tm;
    int			row;
#else
    long		t = 0;
#endif

    if (lockprog((char *)"thermferm")) {
	syslog(LOG_NOTICE, "Can't lock");
	return 1;
    }

    rc = devices_detect();
    if (rc) {
	syslog(LOG_NOTICE, "Detected %d new devices", rc);
	if (debug)
	    fprintf(stdout, "Detected %d new devices\n", rc);
	wrconfig();
    }

#ifdef HAVE_WIRINGPI_H
    rc = piThreadCreate(my_devices_loop);
#else
    rc = pthread_create(&threads[t], NULL, my_devices_loop, (void *)t );
#endif
    if (rc) {
	fprintf(stderr, "my_devices_loop thread didn't start rc=%d\n", rc);
	syslog(LOG_NOTICE, "my_devices_loop thread didn't start rc=%d", rc);
#ifndef HAVE_WIRINGPI_H
    } else {
	t++;
#endif
    }

#ifdef HAVE_WIRINGPI_H
    rc = piThreadCreate(my_server_loop);
#else
    rc = pthread_create(&threads[t], NULL, my_server_loop, (void *)t );
#endif
    if (rc) {
	fprintf(stderr, "my_server_loop thread didn't start rc=%d\n", rc);
	syslog(LOG_NOTICE, "my_server_loop thread didn't start rc=%d", rc);
#ifndef HAVE_WIRINGPI_H
    } else {
	t++;
#endif
    }

#ifdef HAVE_WIRINGPI_H
    rc = piThreadCreate(my_units_loop);
#else
    rc = pthread_create(&threads[t], NULL, my_units_loop, (void *)t );
#endif
    if (rc) {
	fprintf(stderr, "my_units_loop thread didn't start rc=%d\n", rc);
	syslog(LOG_NOTICE, "my_units_loop thread didn't start rc=%d", rc);
#ifndef HAVE_WIRINGPI_H
    } else {
	t++;
#endif
    }

#ifdef HAVE_WIRINGPI_H
    lcd_buf_write(1, (char *)"    ThermFerm   ");
    lcd_buf_write(2, (char *)" Version %s     ", VERSION);
#endif

    for (unit = Config.units; unit; unit = unit->next) {
	if (unit->mode != UNITMODE_OFF) {
	    initlog(unit->name);
	}
    }

    do {
	if (my_shutdown)
	    run = 0;

	/*
	 * Timed schedulers
	 */
	now = time(NULL);
	if (now != last) {
	    last = now;
	    seconds++;

#ifdef HAVE_WIRINGPI_H
	    row = 3;
	    tm = localtime(&now);
	    lcd_buf_write(row++, "   %02d-%02d-%04d   ", tm->tm_mday, tm->tm_mon + 1, tm->tm_year + 1900);
	    lcd_buf_write(row++, "    %02d:%02d:%02d    ", tm->tm_hour, tm->tm_min, tm->tm_sec);

	    for (unit = Config.units; unit; unit = unit->next) {
//		if (unit->mode != UNITMODE_OFF) {
		    lcd_buf_write(row++, "Unit %s              ", unit->name);
		    lcd_buf_write(row++, "Mode %s              ", UNITMODE[unit->mode]);
		    if (unit->air_address) {
		    	lcd_buf_write(row++, " Air %.3f %cC         ", unit->air_temperature / 1000.0, 0xdf);
		    }
		    if (unit->beer_address) {
			lcd_buf_write(row++, "Beer %.3f %cC         ", unit->beer_temperature / 1000.0, 0xdf);
		    }
//		}
	    }

	    lcd_buf_show();
#endif

	    if (seconds == 60) {
		seconds = 0;

		for (unit = Config.units; unit; unit = unit->next) {
		    if (unit->mode != UNITMODE_OFF) {

			if (unit->mode != UNITMODE_NONE) {
			    /*
			     * PID controller
			     */
			    sp = unit->beer_set;
			    pv = unit->beer_temperature / 1000.0;
			    if (unit->mode == UNITMODE_FRIDGE) {
				sp = unit->fridge_set;
				pv = unit->air_temperature / 1000.0;
			    } else if (unit->mode == UNITMODE_PROFILE) {
				sp = unit->prof_target;
			    }

			    unit->PID_err_old = err;
			    err = sp - pv;
			    if (err < unit->idle_rangeH && err > unit->idle_rangeL)
				err = 0;
			    P_err = err;
			    I_err += unit->PID_err_old;
			    D_err = err - unit->PID_err_old;

			    /*
			     * A postive value means heating, a negative value cooling.
			     */
			    Out = (5.0*P_err) + (0.25*I_err) + (-1.5*D_err);
			    //     Kp 0.1        Ki 0.3        Kd 0.02
			    if (debug)
				fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n",
						sp, pv, unit->PID_err_old, err, P_err, I_err, D_err, Out);
			    if (unit->heater_address) {
				if (Out >= 2)
				    unit->heater_state = 100;
				else
				    unit->heater_state = 0;
				device_out(unit->heater_address, unit->heater_state);
			    }
			    if (unit->cooler_address) {
				if (Out <= -2)
				    unit->cooler_state = 100;
				else
				    unit->cooler_state = 0;
				device_out(unit->cooler_address, unit->cooler_state);
			    }
			}

			snprintf(target, 39, "NA");
			snprintf(heater, 39, "NA");
			snprintf(cooler, 39, "NA");
			snprintf(fan, 39, "NA");
			snprintf(door, 39, "NA");

			if (unit->mode == UNITMODE_BEER)
			    snprintf(target, 39, "%.1f", unit->beer_set);
			else if (unit->mode == UNITMODE_FRIDGE)
			    snprintf(target, 39, "%.1f", unit->fridge_set);
			else if (unit->mode == UNITMODE_PROFILE)
			    snprintf(target, 39, "%.1f", unit->prof_target);

			if (unit->heater_address) {
			    snprintf(heater, 39, "%d", unit->heater_state);
			}
			if (unit->cooler_address) {
			    snprintf(cooler, 39, "%d", unit->cooler_state);
			}
			if (unit->fan_address) {
			    snprintf(fan, 39, "%d", unit->fan_state);
			}
			if (unit->door_address) {
			    snprintf(door, 39, "%d", unit->door_state);
			}

			snprintf(buf, 1023, "%s,%.3f,%.3f,%s,%s,%s,%s,%s", 
					UNITMODE[unit->mode], unit->air_temperature / 1000.0, 
					unit->beer_temperature / 1000.0, target, heater, cooler, fan, door);
			filename = xstrcpy(unit->name);
			filename = xstrcat(filename, (char *)".log");
			logger(filename, buf);
			free(filename);
			filename = NULL;
		    }
		}

		minutes++;
		if (minutes == 60)
		    minutes = 0;

		if ((minutes == 15) || (minutes == 45)) {
		    syslog(LOG_NOTICE, "minutes %d seconds %d", minutes, seconds);
		    wrconfig();
		}
	    }
	}
	usleep(100000);

    } while (run);

    if (debug)
	fprintf(stdout, (char *)"Out of loop\n");

    /*
     * Give threads time to cleanup
     */
    usleep(1500000);

#ifdef HAVE_WIRINGPI_H
    stopLCD();
#endif

    wrconfig();

    ulockprog((char *)"thermferm");

    if (debug)
	fprintf(stdout, "Goodbye\n");

    return 0;
}