+ switch (mode)
+ {
+ case CONTROL_START:
+ {
+ // Set filename
+ char filename[BUFSIZ];
+ const char *experiment_path = (const char*) arg;
+ int ret;
+
+ ret = snprintf(filename, BUFSIZ, "%s/actuator_%d", experiment_path, a->id);
+
+ if (ret >= BUFSIZ)
+ {
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, BUFSIZ);
+ }
+
+ Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
+ // Open DataFile
+ Data_Open(&(a->data_file), filename);
+ }
+ case CONTROL_RESUME: //Case fallthrough; no break before
+ {
+ int ret;
+ a->activated = true; // Don't forget this
+ a->control_changed = false;
+
+ ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
+ if (ret != 0)
+ {
+ Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
+ }
+
+ Log(LOGDEBUG, "Resuming actuator %d", a->id);
+ }
+ break;
+
+ case CONTROL_EMERGENCY: //TODO add proper case for emergency
+ case CONTROL_PAUSE:
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+
+ Log(LOGDEBUG, "Paused actuator %d", a->id);
+ break;
+
+ break;
+ case CONTROL_STOP:
+ if (a->activated) //May have been paused before
+ {
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+ }
+ Data_Close(&(a->data_file)); // Close DataFile
+
+ Log(LOGDEBUG, "Stopped actuator %d", a->id);
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
+ }