+ switch (mode)
+ {
+ case CONTROL_START:
+ {
+ char filename[BUFSIZ];
+ const char *experiment_name = (const char*) arg;
+ int ret;
+
+ if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
+ {
+ Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
+ }
+
+ Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
+ // Open DataFile
+ Data_Open(&(a->data_file), filename);
+
+ a->activated = true; // Don't forget this
+ a->allow_actuation = true;
+
+ a->control_changed = false;
+
+ // Create the thread
+ ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
+ if (ret != 0)
+ {
+ Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
+ }
+ }
+ break;
+
+ case CONTROL_EMERGENCY: //TODO add proper case for emergency
+ case CONTROL_PAUSE:
+ a->allow_actuation = false;
+ break;
+ case CONTROL_RESUME:
+ a->allow_actuation = true;
+ break;
+ case CONTROL_STOP:
+ a->allow_actuation = false;
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+ Data_Close(&(a->data_file)); // Close DataFile
+ break;
+ default:
+ Fatal("Unknown control mode: %d", mode);
+ }