3 * @purpose Implementation of Actuator related functionality
9 /** Array of Actuators (global to this file) initialised by Actuator_Init **/
10 static Actuator g_actuators[NUMACTUATORS];
12 /** Human readable names for the Actuators **/
13 const char * g_actuator_names[NUMACTUATORS] = {
14 "actuator_test0", "actuator_test1"
18 * One off initialisation of *all* Actuators
22 for (int i = 0; i < NUMACTUATORS; ++i)
24 g_actuators[i].id = i;
25 Data_Init(&(g_actuators[i].data_file));
26 pthread_mutex_init(&(g_actuators[i].mutex), NULL);
32 * @param a - The Actuator to start
33 * @param experiment_name - Prepended to DataFile filename
35 void Actuator_Start(Actuator * a, const char * experiment_name)
38 char filename[BUFSIZ];
39 if (sprintf(filename, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
41 Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
44 Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
46 Data_Open(&(a->data_file), filename);
48 a->activated = true; // Don't forget this
50 a->control_changed = false;
53 pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
58 * @param s - The Actuator to stop
60 void Actuator_Stop(Actuator * a)
64 Actuator_SetControl(a, NULL);
65 pthread_join(a->thread, NULL); // Wait for thread to exit
66 Data_Close(&(a->data_file)); // Close DataFile
73 void Actuator_StopAll()
75 for (int i = 0; i < NUMACTUATORS; ++i)
76 Actuator_Stop(g_actuators+i);
82 void Actuator_StartAll(const char * experiment_name)
84 for (int i = 0; i < NUMACTUATORS; ++i)
85 Actuator_Start(g_actuators+i, experiment_name);
89 * Actuator control thread
90 * @param arg - Cast to an Actuator*
91 * @returns NULL to keep pthreads happy
93 void * Actuator_Loop(void * arg)
95 Actuator * a = (Actuator*)(arg);
100 pthread_mutex_lock(&(a->mutex));
101 while (!a->control_changed)
103 pthread_cond_wait(&(a->cond), &(a->mutex));
105 a->control_changed = false;
106 pthread_mutex_unlock(&(a->mutex));
109 Log(LOGDEBUG, "About to Setvalue");
110 Actuator_SetValue(a, a->control.value);
115 // Keep pthreads happy
120 * Set an Actuators control variable
121 * @param a - Actuator to control
122 * @param c - Control to set to
124 void Actuator_SetControl(Actuator * a, ActuatorControl * c)
126 pthread_mutex_lock(&(a->mutex));
129 a->control_changed = true;
130 Log(LOGDEBUG, "About to broadcast");
131 pthread_cond_broadcast(&(a->cond));
132 pthread_mutex_unlock(&(a->mutex));
137 * Set an Actuator value
138 * @param a - The Actuator
139 * @param value - The value to set
141 void Actuator_SetValue(Actuator * a, double value)
145 gettimeofday(&t, NULL);
147 DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
148 Log(LOGDEBUG, "id: %d", a->id);
153 {//LED actuator test code, should blink onboard LED next to Ethernet port
154 FILE *LEDHandle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
155 char *LEDBrightness = "/sys/class/leds/beaglebone:green:usr3/brightness";
156 int val = (!!(int)value);
157 Log(LOGDEBUG, "Val: %d", val);
159 if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
160 fwrite("1", sizeof(char), 1, LEDHandle);
162 } else perror("fail");
165 if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
166 fwrite("0", sizeof(char), 1, LEDHandle);
170 else perror("Pin value should be 1 or 0");
177 Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
180 Data_Save(&(a->data_file), &d, 1);
185 * Helper: Begin Actuator response in a given format
186 * @param context - the FCGIContext
187 * @param format - Format
188 * @param id - ID of Actuator
190 void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat format)
196 FCGI_BeginJSON(context, STATUS_OK);
197 FCGI_JSONLong("id", id);
200 FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
206 * Helper: End Actuator response in a given format
207 * @param context - the FCGIContext
208 * @param id - ID of the Actuator
209 * @param format - Format
211 void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat format)
228 * Handle a request for an Actuator
229 * @param context - FCGI context
230 * @param params - Parameters passed
232 void Actuator_Handler(FCGIContext * context, char * params)
235 gettimeofday(&now, NULL);
236 double current_time = TIMEVAL_DIFF(now, g_options.start_time);
239 double start_time = 0;
240 double end_time = current_time;
244 FCGIValue values[] = {
245 {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
246 {"set", &set, FCGI_DOUBLE_T},
247 {"start_time", &start_time, FCGI_DOUBLE_T},
248 {"end_time", &end_time, FCGI_DOUBLE_T},
249 {"format", &fmt_str, FCGI_STRING_T}
252 // enum to avoid the use of magic numbers
261 // Fill values appropriately
262 if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
264 // Error occured; FCGI_RejectJSON already called
268 // Get the Actuator identified
270 if (id < 0 || id >= NUMACTUATORS)
272 FCGI_RejectJSON(context, "Invalid Actuator id");
278 DataFormat format = Data_GetFormat(&(values[FORMAT]));
281 Actuator_BeginResponse(context, id, format);
284 if (FCGI_RECEIVED(values[SET].flags))
287 FCGI_JSONDouble("set", set);
292 Actuator_SetControl(a, &c);
296 Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
299 Actuator_EndResponse(context, id, format);