// Files containing GPIO and PWM definitions
#include "bbb_pin.h"
-
-
-
/** Number of actuators **/
int g_num_actuators = 0;
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);
+ if (init != NULL)
+ {
+ if (!init(name, user_id))
+ Fatal("Couldn't initialise actuator %s", name);
+ }
+
Actuator_SetValue(a, initial_value, false);
return g_num_actuators;
{
case CONTROL_START:
{
+ // Set filename
char filename[BUFSIZ];
- const char *experiment_name = (const char*) arg;
+ const char *experiment_path = (const char*) arg;
+ int ret;
- if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
+ ret = snprintf(filename, BUFSIZ, "%s/actuator_%d", experiment_path, a->id);
+
+ if (ret >= BUFSIZ)
{
- Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
+ Fatal("Experiment path \"%s\" too long (%d, limit %d)",
+ experiment_path, ret, BUFSIZ);
}
Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
*/
void Actuator_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < ACTUATORS_MAX; i++)
+ for (int i = 0; i < g_num_actuators; i++)
Actuator_SetMode(&g_actuators[i], mode, arg);
}
Actuator_SetValue(a, a->control.start, true);
// Currently does discrete steps after specified time intervals
+
+ struct timespec wait;
+ DOUBLE_TO_TIMEVAL(a->control.stepsize, &wait);
while (!a->control_changed && a->control.steps > 0 && a->activated)
{
- usleep(1e6*(a->control.stepwait));
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &wait, NULL);
a->control.start += a->control.stepsize;
Actuator_SetValue(a, a->control.start, true);
}
if (a->control_changed)
continue;
- usleep(1e6*(a->control.stepwait));
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &wait, NULL);
//TODO:
// Note that although this loop has a sleep in it which would seem to make it hard to enforce urgent shutdowns,
}
// Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
+ struct timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), a->last_setting.value};
// Record value change
if (record)
*/
void Actuator_Handler(FCGIContext * context, char * params)
{
- struct timeval now;
- gettimeofday(&now, NULL);
+ struct timespec now;
+ clock_gettime(CLOCK_MONOTONIC, &now);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
char * name = "";
FCGI_RejectJSON(context, "No id or name supplied");
return;
}
- else if (id < 0 || id >= ACTUATORS_MAX)
+ else if (id < 0 || id >= g_num_actuators)
{
FCGI_RejectJSON(context, "Invalid Actuator id");
return;
return;
}
Actuator_SetControl(a, &c);
-
}
// Begin response