X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=1c105db01a15f0a3b189a2fac47b183bc6c6deef;hb=65a6478cf9ddbca30a93a843ddb29f3eb744e5f7;hp=e650cf88c5a877a4a08608dabe03e378617ca80a;hpb=450583abb79d5fedb0debabed073d9b191dac80c;p=matches%2FMCTX3420.git

diff --git a/server/actuator.c b/server/actuator.c
index e650cf8..1c105db 100644
--- 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;
+
+				ret = snprintf(filename, BUFSIZ, "%s/actuator_%d", experiment_path, a->id);
 
-				if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
+				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 = "";