3 * @brief Implementation of Actuator related functionality
8 // Files containing GPIO and PWM definitions
12 /** Array of Actuators (global to this file) initialised by Actuator_Init **/
13 static Actuator g_actuators[NUMACTUATORS];
15 /** Human readable names for the Actuators **/
16 const char * g_actuator_names[NUMACTUATORS] = {
17 "actuator_test0", "gpio1_16", "EHRPWM0A_duty@60Hz"
21 * One off initialisation of *all* Actuators
25 for (int i = 0; i < NUMACTUATORS; ++i)
27 g_actuators[i].id = i;
28 Data_Init(&(g_actuators[i].data_file));
29 pthread_mutex_init(&(g_actuators[i].mutex), NULL);
32 // Initialise pins used
33 GPIO_Export(GPIO1_16);
39 * Sets the actuator to the desired mode. No checks are
40 * done to see if setting to the desired mode will conflict with
41 * the current mode - the caller must guarantee this itself.
42 * @param a The actuator whose mode is to be changed
43 * @param mode The mode to be changed to
44 * @param arg An argument specific to the mode to be set.
45 * e.g for CONTROL_START it represents the experiment name.
47 void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
53 char filename[BUFSIZ];
54 const char *experiment_name = (const char*) arg;
56 if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
58 Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
61 Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
63 Data_Open(&(a->data_file), filename);
65 case CONTROL_RESUME: //Case fallthrough; no break before
68 a->activated = true; // Don't forget this
69 a->control_changed = false;
71 ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
74 Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
77 Log(LOGDEBUG, "Resuming actuator %d", a->id);
81 case CONTROL_EMERGENCY: //TODO add proper case for emergency
84 Actuator_SetControl(a, NULL);
85 pthread_join(a->thread, NULL); // Wait for thread to exit
87 Log(LOGDEBUG, "Paused actuator %d", a->id);
92 if (a->activated) //May have been paused before
95 Actuator_SetControl(a, NULL);
96 pthread_join(a->thread, NULL); // Wait for thread to exit
98 Data_Close(&(a->data_file)); // Close DataFile
100 Log(LOGDEBUG, "Stopped actuator %d", a->id);
103 Fatal("Unknown control mode: %d", mode);
108 * Sets all actuators to the desired mode.
109 * @see Actuator_SetMode for more information.
110 * @param mode The mode to be changed to
111 * @param arg An argument specific to the mode to be set.
113 void Actuator_SetModeAll(ControlModes mode, void * arg)
115 for (int i = 0; i < NUMACTUATORS; i++)
116 Actuator_SetMode(&g_actuators[i], mode, arg);
120 * Actuator control thread
121 * @param arg - Cast to an Actuator*
122 * @returns NULL to keep pthreads happy
124 void * Actuator_Loop(void * arg)
126 Actuator * a = (Actuator*)(arg);
128 // Loop until stopped
131 pthread_mutex_lock(&(a->mutex));
132 while (!a->control_changed)
134 pthread_cond_wait(&(a->cond), &(a->mutex));
136 a->control_changed = false;
137 pthread_mutex_unlock(&(a->mutex));
141 Actuator_SetValue(a, a->control.value);
146 // Keep pthreads happy
151 * Set an Actuators control variable
152 * @param a - Actuator to control
153 * @param c - Control to set to
155 void Actuator_SetControl(Actuator * a, ActuatorControl * c)
157 pthread_mutex_lock(&(a->mutex));
160 a->control_changed = true;
161 pthread_cond_broadcast(&(a->cond));
162 pthread_mutex_unlock(&(a->mutex));
167 * Set an Actuator value
168 * @param a - The Actuator
169 * @param value - The value to set
171 void Actuator_SetValue(Actuator * a, double value)
175 gettimeofday(&t, NULL);
177 DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
183 // Onboard LEDs test actuator
184 FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
185 const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
187 bool turn_on = value;
189 for (int i = 0; i < 4; i++)
191 snprintf(buf, 50, led_format, i);
192 if ((led_handle = fopen(buf, "w")) != NULL)
195 fwrite("1", sizeof(char), 1, led_handle);
197 fwrite("0", sizeof(char), 1, led_handle);
201 Log(LOGDEBUG, "LED fopen failed: %s", strerror(errno));
206 GPIO_Set(GPIO1_16, (bool)(value));
210 // PWM analogue actuator (currently generates one PWM signal with first PWM module)
211 static long freq = 16666666; // This is 60Hz
212 PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle
217 Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
220 Data_Save(&(a->data_file), &d, 1);
224 * Helper: Begin Actuator response in a given format
225 * @param context - the FCGIContext
226 * @param format - Format
227 * @param id - ID of Actuator
229 void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat format)
235 FCGI_BeginJSON(context, STATUS_OK);
236 FCGI_JSONLong("id", id);
237 FCGI_JSONPair("name", g_actuator_names[id]);
240 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
246 * Helper: End Actuator response in a given format
247 * @param context - the FCGIContext
248 * @param id - ID of the Actuator
249 * @param format - Format
251 void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat format)
266 * Handle a request for an Actuator
267 * @param context - FCGI context
268 * @param params - Parameters passed
270 void Actuator_Handler(FCGIContext * context, char * params)
273 gettimeofday(&now, NULL);
274 double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
277 double start_time = 0;
278 double end_time = current_time;
282 FCGIValue values[] = {
283 {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
284 {"set", &set, FCGI_DOUBLE_T},
285 {"start_time", &start_time, FCGI_DOUBLE_T},
286 {"end_time", &end_time, FCGI_DOUBLE_T},
287 {"format", &fmt_str, FCGI_STRING_T}
290 // enum to avoid the use of magic numbers
299 // Fill values appropriately
300 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
302 // Error occured; FCGI_RejectJSON already called
306 // Get the Actuator identified
308 if (id < 0 || id >= NUMACTUATORS)
310 FCGI_RejectJSON(context, "Invalid Actuator id");
316 DataFormat format = Data_GetFormat(&(values[FORMAT]));
319 Actuator_BeginResponse(context, id, format);
322 if (FCGI_RECEIVED(values[SET].flags))
325 FCGI_JSONDouble("set", set);
330 Actuator_SetControl(a, &c);
334 Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
337 Actuator_EndResponse(context, id, format);