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[matches/MCTX3420.git]
/
server
/
actuator.c
diff --git
a/server/actuator.c
b/server/actuator.c
index
50a27de
..
f5d7cd6
100644
(file)
--- a/
server/actuator.c
+++ b/
server/actuator.c
@@
-52,7
+52,6
@@
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)
{
@@
-62,34
+61,43
@@
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);
@@
-129,8
+137,6
@@
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);
}
@@
-256,8
+262,6
@@
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