X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=40f9b46f292a7687d5abf8a6a357eb5f52f35360;hb=0ef0945e8d83258400fabc61fa81725c5e8e533f;hp=2caa03c513560f5b5b2b3819562e789a973870bf;hpb=9e7cfbbc6137056bba8ed8644fc6ecfe398553fe;p=matches%2FMCTX3420.git diff --git a/server/actuator.c b/server/actuator.c index 2caa03c..40f9b46 100644 --- a/server/actuator.c +++ b/server/actuator.c @@ -1,18 +1,20 @@ /** * @file actuator.c - * @purpose Implementation of Actuator related functionality + * @brief Implementation of Actuator related functionality */ #include "actuator.h" -#include "control.h" #include "options.h" +// Files containing GPIO and PWM definitions +#include "bbb_pin.h" + /** Array of Actuators (global to this file) initialised by Actuator_Init **/ static Actuator g_actuators[NUMACTUATORS]; /** Human readable names for the Actuators **/ const char * g_actuator_names[NUMACTUATORS] = { - "actuator_test0", "actuator_test1" + "actuator_test0", "gpio1_16", "EHRPWM0A_duty@60Hz" }; /** @@ -26,93 +28,93 @@ void Actuator_Init() Data_Init(&(g_actuators[i].data_file)); pthread_mutex_init(&(g_actuators[i].mutex), NULL); } -} -/** - * Start an Actuator - * @param a - The Actuator to start - * @param experiment_name - Prepended to DataFile filename - */ -void Actuator_Start(Actuator * a, const char * experiment_name) -{ - // Set filename - char filename[BUFSIZ]; - if (sprintf(filename, "%s_a%d", experiment_name, a->id) >= BUFSIZ) - { - Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ); - } - - Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename); - // Open DataFile - Data_Open(&(a->data_file), filename); - - a->activated = true; // Don't forget this + // Initialise pins used + GPIO_Export(GPIO1_16); + PWM_Export(EHRPWM0A); + PWM_Export(EHRPWM0B); - a->control_changed = false; - - // Create the thread - 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 - */ -void Actuator_Stop(Actuator * a) -{ - // Stop - 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 + * Sets the actuator to the desired mode. No checks are + * done to see if setting to the desired mode will conflict with + * the current mode - the caller must guarantee this itself. + * @param a The actuator whose mode is to be changed + * @param mode The mode to be changed to + * @param arg An argument specific to the mode to be set. + * e.g for CONTROL_START it represents the experiment name. */ -void Actuator_StopAll() +void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg) { - for (int i = 0; i < NUMACTUATORS; ++i) - Actuator_Stop(g_actuators+i); + switch (mode) + { + case CONTROL_START: + { + char filename[BUFSIZ]; + const char *experiment_name = (const char*) arg; + + if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ) + { + Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ); + } + + 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->control_changed = false; + + 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->activated = false; + Actuator_SetControl(a, NULL); + pthread_join(a->thread, NULL); // Wait for thread to exit + + Log(LOGDEBUG, "Paused actuator %d", a->id); + break; + + break; + case CONTROL_STOP: + 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); + } } /** - * Start all Actuators + * Sets all actuators to the desired mode. + * @see Actuator_SetMode for more information. + * @param mode The mode to be changed to + * @param arg An argument specific to the mode to be set. */ -void Actuator_StartAll(const char * experiment_name) +void Actuator_SetModeAll(ControlModes mode, void * arg) { - for (int i = 0; i < NUMACTUATORS; ++i) - Actuator_Start(g_actuators+i, experiment_name); + for (int i = 0; i < NUMACTUATORS; i++) + Actuator_SetMode(&g_actuators[i], mode, arg); } /** @@ -177,10 +179,40 @@ void Actuator_SetValue(Actuator * a, double value) //TODO: Set actuator switch (a->id) { - case ACTUATOR_TEST0: + case ACTUATOR_TEST0: + { + // Onboard LEDs test actuator + 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: + GPIO_Set(GPIO1_16, (bool)(value)); break; + case ACTUATOR_TEST2: + { + // PWM analogue actuator (currently generates one PWM signal with first PWM module) + static long freq = 16666666; // This is 60Hz + PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle + break; + } } Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value); @@ -203,6 +235,7 @@ void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat for case JSON: FCGI_BeginJSON(context, STATUS_OK); FCGI_JSONLong("id", id); + FCGI_JSONPair("name", g_actuator_names[id]); break; default: FCGI_PrintRaw("Content-type: text/plain\r\n\r\n"); @@ -230,8 +263,6 @@ void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma } - - /** * Handle a request for an Actuator * @param context - FCGI context