Merge branch 'master' of github:szmoore/MCTX3420

[matches/MCTX3420.git] / server / actuator.c

diff --git a/server/actuator.c b/server/actuator.c
index 04938ba..1c105db 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -8,9 +8,6 @@
 // Files containing GPIO and PWM definitions
 #include "bbb_pin.h"
 
-
-
-
 /** Number of actuators **/
 int g_num_actuators = 0;
 
@@ -36,12 +33,17 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
        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;
@@ -74,12 +76,17 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
        {
                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);
@@ -136,7 +143,7 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
  */
 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);
 }
 
@@ -164,9 +171,12 @@ void * Actuator_Loop(void * 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);
                        
@@ -174,7 +184,7 @@ void * Actuator_Loop(void * arg)
                }
                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,
@@ -224,8 +234,8 @@ void Actuator_SetValue(Actuator * a, double value, bool record)
        }
 
        // 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)
@@ -289,8 +299,8 @@ void Actuator_EndResponse(FCGIContext * context, Actuator * a, DataFormat format
  */
 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 = "";
@@ -349,7 +359,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
                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;
@@ -386,7 +396,6 @@ void Actuator_Handler(FCGIContext * context, char * params)
                        return;
                }
                Actuator_SetControl(a, &c);
-
        }
        
        // Begin response