Add semi working control code

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

diff --git a/server/actuator.c b/server/actuator.c
index b3cb361..2caa03c 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -4,6 +4,7 @@
  */
 
 #include "actuator.h"
+#include "control.h"
 #include "options.h"
 
 /** Array of Actuators (global to this file) initialised by Actuator_Init **/
@@ -53,6 +54,25 @@ void Actuator_Start(Actuator * a, const char * experiment_name)
        pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
 }
 
+void Actuator_Pause(Actuator *a)
+{
+       if (a->activated)
+       {
+               a->activated = false;
+               Actuator_SetControl(a, NULL);
+               pthread_join(a->thread, NULL); // Wait for thread to exit       
+       }
+}
+
+void Actuator_Resume(Actuator *a)
+{
+       if (!a->activated)
+       {
+               a->activated = true; 
+               pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
+       }
+}
+
 /**
  * Stop an Actuator
  * @param s - The Actuator to stop
@@ -60,13 +80,23 @@ void Actuator_Start(Actuator * a, const char * experiment_name)
 void Actuator_Stop(Actuator * a)
 {
        // Stop
-       a->activated = false;
-       Actuator_SetControl(a, NULL);
-       pthread_join(a->thread, NULL); // Wait for thread to exit
+       Actuator_Pause(a);
        Data_Close(&(a->data_file)); // Close DataFile
 
 }
 
+void Actuator_PauseAll()
+{
+       for (int i = 0; i < NUMACTUATORS; ++i)
+               Actuator_Pause(g_actuators+i);  
+}
+
+void Actuator_ResumeAll()
+{
+       for (int i = 0; i < NUMACTUATORS; ++i)
+               Actuator_Resume(g_actuators+i); 
+}
+
 /**
  * Stop all Actuators
  */
@@ -143,7 +173,7 @@ void Actuator_SetValue(Actuator * a, double value)
        struct timeval t;
        gettimeofday(&t, NULL);
 
-       DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
+       DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
        //TODO: Set actuator
        switch (a->id)
        {
@@ -211,7 +241,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
 {
        struct timeval now;
        gettimeofday(&now, NULL);
-       double current_time = TIMEVAL_DIFF(now, g_options.start_time);
+       double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
        int id = 0;
        double set = 0;
        double start_time = 0;
@@ -220,7 +250,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
 
        // key/value pairs
        FCGIValue values[] = {
-               {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)}, 
+               {"id", &id, FCGI_REQUIRED(FCGI_INT_T)}, 
                {"set", &set, FCGI_DOUBLE_T},
                {"start_time", &start_time, FCGI_DOUBLE_T},
                {"end_time", &end_time, FCGI_DOUBLE_T},