X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=40f9b46f292a7687d5abf8a6a357eb5f52f35360;hb=e0f849d11ae14ee0637786b6663436aafff90254;hp=b3cb361af1cc36a7c318ed68a41b6c5d361a55b1;hpb=ea228f75c1f6d83f9a02a5ad5a7341caabac65c8;p=matches%2FMCTX3420.git

diff --git a/server/actuator.c b/server/actuator.c
index b3cb361..40f9b46 100644
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -1,17 +1,20 @@
 /**
  * @file actuator.c
- * @purpose Implementation of Actuator related functionality
+ * @brief Implementation of Actuator related functionality
  */
 
 #include "actuator.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"
 };
 
 /**
@@ -25,64 +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));
-}
-
-/**
- * Stop an Actuator
- * @param s - The Actuator to stop
- */
-void Actuator_Stop(Actuator * a)
-{
-	// Stop
-	a->activated = false;
-	Actuator_SetControl(a, NULL);
-	pthread_join(a->thread, NULL); // Wait for thread to exit
-	Data_Close(&(a->data_file)); // Close DataFile
-
 }
 
 /**
- * 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);
 }
 
 /**
@@ -143,14 +175,44 @@ 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)
 	{
-		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);
@@ -173,6 +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");
@@ -200,8 +263,6 @@ void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma
 }
 
 
-
-
 /**
  * Handle a request for an Actuator
  * @param context - FCGI context
@@ -211,7 +272,7 @@ 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 +281,7 @@ 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},