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Image: Fix function type, try to ensure image is not cached, add buffer releases.
[matches/MCTX3420.git]
/
server
/
actuator.c
diff --git
a/server/actuator.c
b/server/actuator.c
index
af69c7f
..
c71b05a
100644
(file)
--- a/
server/actuator.c
+++ b/
server/actuator.c
@@
-44,7
+44,6
@@
void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
{
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- int ret;
if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
{
@@
-54,34
+53,43
@@
void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
// Open DataFile
Data_Open(&(a->data_file), filename);
-
+ }
+ case CONTROL_RESUME: //Case fallthrough; no break before
+ {
+ int ret;
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);
}
+
+ Log(LOGDEBUG, "Resuming actuator %d", a->id);
}
break;
case CONTROL_EMERGENCY: //TODO add proper case for emergency
case CONTROL_PAUSE:
- a->allow_actuation = false;
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+
+ Log(LOGDEBUG, "Paused actuator %d", a->id);
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
+ if (a->activated) //May have been paused before
+ {
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+ }
Data_Close(&(a->data_file)); // Close DataFile
+
+ Log(LOGDEBUG, "Stopped actuator %d", a->id);
break;
default:
Fatal("Unknown control mode: %d", mode);
@@
-121,8
+129,6
@@
void * Actuator_Loop(void * arg)
pthread_mutex_unlock(&(a->mutex));
if (!a->activated)
break;
- else if (!a->allow_actuation)
- continue;
Actuator_SetValue(a, a->control.value);
}
@@
-164,7
+170,28
@@
void Actuator_SetValue(Actuator * a, double value)
//TODO: Set actuator
switch (a->id)
{
- case ACTUATOR_TEST0:
+ case ACTUATOR_TEST0:
+ {
+ 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:
break;
@@
-217,8
+244,6
@@
void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma
}
-
-
/**
* Handle a request for an Actuator
* @param context - FCGI context
UCC
git Repository :: git.ucc.asn.au