#include "bbb_pin.h"
+
+
+/** Number of actuators **/
+int g_num_actuators = 0;
+
/** Array of Actuators (global to this file) initialised by Actuator_Init **/
-static Actuator g_actuators[NUMACTUATORS];
+static Actuator g_actuators[ACTUATORS_MAX];
+/**
+ * Add and initialise an Actuator
+ * @param name - Human readable name of the actuator
+ * @param read - Function to call whenever the actuator should be read
+ * @param init - Function to call to initialise the actuator (may be NULL)
+ * @returns Number of actuators added so far
+ */
+int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity)
+{
+ if (++g_num_actuators > ACTUATORS_MAX)
+ {
+ Fatal("Too many sensors; Increase ACTUATORS_MAX from %d in actuator.h and recompile", ACTUATORS_MAX);
+ }
+ Actuator * a = &(g_actuators[g_num_actuators-1]);
+ a->id = g_num_actuators-1;
+ a->user_id = user_id;
+ Data_Init(&(a->data_file));
+ a->name = name;
+ a->set = set; // Set read function
+ a->init = init; // Set init function
+ if (init != NULL)
+ init(name, user_id); // Call it
+ a->sanity = sanity;
+
+ pthread_mutex_init(&(a->mutex), NULL);
+
+ return g_num_actuators;
+}
-/** Human readable names for the Actuators **/
-const char * g_actuator_names[NUMACTUATORS] = {
- "actuator_test0", "gpio1_16", "EHRPWM0A_duty@60Hz"
-};
/**
* One off initialisation of *all* Actuators
*/
+#include "actuators/ledtest.h"
+#include "actuators/filetest.h"
void Actuator_Init()
{
- for (int i = 0; i < NUMACTUATORS; ++i)
- {
- g_actuators[i].id = i;
- Data_Init(&(g_actuators[i].data_file));
- pthread_mutex_init(&(g_actuators[i].mutex), NULL);
- }
-
- // Initialise pins used
- GPIO_Export(GPIO1_16);
- PWM_Export(EHRPWM0A);
-
+ //Actuator_Add("ledtest",0, Ledtest_Set, NULL,NULL,NULL);
+ Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity);
}
/**
*/
void Actuator_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < NUMACTUATORS; i++)
+ for (int i = 0; i < ACTUATORS_MAX; i++)
Actuator_SetMode(&g_actuators[i], mode, arg);
}
if (!a->activated)
break;
- Actuator_SetValue(a, a->control.value);
+ Actuator_SetValue(a, a->control.start);
+ // Currently does discrete steps after specified time intervals
+ while (a->control.steps > 0 && a->activated)
+ {
+ usleep(1e6*(a->control.stepwait));
+ a->control.start += a->control.stepsize;
+ Actuator_SetValue(a, a->control.start);
+
+ a->control.steps--;
+ }
+ usleep(1e6*(a->control.stepwait));
+
+ //TODO:
+ // Note that although this loop has a sleep in it which would seem to make it hard to enforce urgent shutdowns,
+ // You can call the Actuator's cleanup function immediately (and this loop should later just exit)
+ // tl;dr This function isn't/shouldn't be responsible for the emergency Actuator stuff
+ // (That should be handled by the Fatal function... at some point)
}
//TODO: Cleanup?
*/
void Actuator_SetValue(Actuator * a, double value)
{
+ if (a->sanity != NULL && !a->sanity(a->user_id, value))
+ {
+ //ARE YOU INSANE?
+ Fatal("Insane value %lf for actuator %s", value, a->name);
+ }
+ if (!(a->set(a->user_id, value)))
+ {
+ Fatal("Failed to set actuator %s to %lf", a->name, value);
+ }
+
// Set time stamp
struct timeval t;
gettimeofday(&t, NULL);
-
+ // Record and save DataPoint
DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
- //TODO: Set actuator
- switch (a->id)
- {
- case ACTUATOR_TEST0:
- {
- // Onboard LEDs test actuator
- FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
- const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
- char buf[50];
- bool turn_on = value;
-
- for (int i = 0; i < 4; i++)
- {
- snprintf(buf, 50, led_format, i);
- if ((led_handle = fopen(buf, "w")) != NULL)
- {
- if (turn_on)
- fwrite("1", sizeof(char), 1, led_handle);
- else
- fwrite("0", sizeof(char), 1, led_handle);
- fclose(led_handle);
- }
- else
- Log(LOGDEBUG, "LED fopen failed: %s", strerror(errno));
- }
- }
- break;
- case ACTUATOR_TEST1:
- GPIO_Set(GPIO1_16, (bool)(value));
- break;
- case ACTUATOR_TEST2:
- {
- // PWM analogue actuator (currently generates one PWM signal with first PWM module)
- static long freq = 16666666; // This is 60Hz
- PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle
- break;
- }
- }
-
- Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
-
- // Record the value
Data_Save(&(a->data_file), &d, 1);
}
* @param format - Format
* @param id - ID of Actuator
*/
-void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat format)
+void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONLong("id", id);
- FCGI_JSONPair("name", g_actuator_names[id]);
+ FCGI_JSONLong("id", a->id);
+ FCGI_JSONLong("user_id", a->user_id); //TODO: Don't need to show this?
+ FCGI_JSONPair("name", a->name);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
* @param id - ID of the Actuator
* @param format - Format
*/
-void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat format)
+void Actuator_EndResponse(FCGIContext * context, Actuator * a, DataFormat format)
{
// End response
switch (format)
gettimeofday(&now, NULL);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
- double set = 0;
+ char * name = "";
+ char * set = "";
double start_time = 0;
double end_time = current_time;
char * fmt_str;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
- {"set", &set, FCGI_DOUBLE_T},
+ {"id", &id, FCGI_INT_T},
+ {"name", &name, FCGI_STRING_T},
+ {"set", &set, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
{"format", &fmt_str, FCGI_STRING_T}
// enum to avoid the use of magic numbers
typedef enum {
ID,
+ NAME,
SET,
START_TIME,
END_TIME,
// Get the Actuator identified
Actuator * a = NULL;
- if (id < 0 || id >= NUMACTUATORS)
+
+ if (FCGI_RECEIVED(values[NAME].flags))
+ {
+ if (FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "Can't supply both id and name");
+ return;
+ }
+ a = Actuator_Identify(name);
+ if (a == NULL)
+ {
+ FCGI_RejectJSON(context, "Unknown actuator name");
+ return;
+ }
+
+ }
+ else if (!FCGI_RECEIVED(values[ID].flags))
+ {
+ FCGI_RejectJSON(context, "No id or name supplied");
+ return;
+ }
+ else if (id < 0 || id >= ACTUATORS_MAX)
{
FCGI_RejectJSON(context, "Invalid Actuator id");
return;
}
+ else
+ {
+ a = &(g_actuators[id]);
+ }
- a = g_actuators+id;
DataFormat format = Data_GetFormat(&(values[FORMAT]));
- // Begin response
- Actuator_BeginResponse(context, id, format);
- // Set?
+
+
if (FCGI_RECEIVED(values[SET].flags))
{
- if (format == JSON)
- FCGI_JSONDouble("set", set);
+
- ActuatorControl c;
- c.value = set;
-
+ ActuatorControl c = {0.0, 0.0, 0.0, 0}; // Need to set default values (since we don't require them all)
+ // sscanf returns the number of fields successfully read...
+ int n = sscanf(set, "%lf,%lf,%lf,%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
+ if (n != 4)
+ {
+ // If the user doesn't provide all 4 values, the Actuator will get set *once* using the first of the provided values
+ // (see Actuator_Loop)
+ // Not really a problem if n = 1, but maybe generate a warning for 2 <= n < 4 ?
+ Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n);
+ }
+ // SANITY CHECKS
+ if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start)))
+ {
+ FCGI_RejectJSON(context, "Bad Actuator setting");
+ return;
+ }
Actuator_SetControl(a, &c);
+
}
+
+ // Begin response
+ Actuator_BeginResponse(context, a, format);
+ if (format == JSON)
+ FCGI_JSONPair("set", set);
// Print Data
Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
- Actuator_EndResponse(context, id, format);
+ Actuator_EndResponse(context, a, format);
+}
+
+/**
+ * Get the name of an Actuator given its id
+ * @param id - ID of the actuator
+ * @returns The Actuator's name
+ */
+const char * Actuator_GetName(int id)
+{
+ return g_actuators[id].name;
+}
+
+/**
+ * Identify an Actuator from its name string
+ * @param name - The name of the Actuator
+ * @returns Actuator
+ */
+Actuator * Actuator_Identify(const char * name)
+{
+ for (int i = 0; i < g_num_actuators; ++i)
+ {
+ if (strcmp(g_actuators[i].name, name) == 0)
+ return &(g_actuators[i]);
+ }
+ return NULL;
}
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