X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=4df06bc828a02047674c358fe9277c057e5d36a2;hb=466cbf5433adfc4fef7065164918201039159aff;hp=ff51732bb38861b227b05d1f3f284c5931a82d88;hpb=4fbe722e8fc016b6812ebdef40003359781490ba;p=matches%2FMCTX3420.git diff --git a/server/actuator.c b/server/actuator.c index ff51732..4df06bc 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 "gpio.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", "actuator_test1", "actuator_test2" }; /** @@ -28,61 +31,76 @@ void Actuator_Init() } /** - * Start an Actuator - * @param a - The Actuator to start - * @param experiment_name - Prepended to DataFile filename + * 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_Start(Actuator * a, const char * experiment_name) +void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg) { - // Set filename - char filename[BUFSIZ]; - if (sprintf(filename, "%s_a%d", experiment_name, a->id) >= BUFSIZ) + switch (mode) { - Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ); + case CONTROL_START: + { + char filename[BUFSIZ]; + const char *experiment_name = (const char*) arg; + int ret; + + 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); + + 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); + } + } + break; + + case CONTROL_EMERGENCY: //TODO add proper case for emergency + case CONTROL_PAUSE: + a->allow_actuation = false; + 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 + Data_Close(&(a->data_file)); // Close DataFile + break; + default: + Fatal("Unknown control mode: %d", mode); } - - 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 - - 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 - */ -void Actuator_StopAll() -{ - for (int i = 0; i < NUMACTUATORS; ++i) - Actuator_Stop(g_actuators+i); } /** - * 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); } /** @@ -106,6 +124,8 @@ 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); } @@ -143,13 +163,63 @@ 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 pin digital actuator + { + // Quick actuator function for testing pins + // GPIOPin can be passed as argument, but is just defined here for testing purposes + // Modify this to only export on first run, only unexport on shutdown + pinExport(60); + pinDirection(60, 1); + pinSet(value, 60); + pinUnexport(60); + } + break; + case ACTUATOR_TEST2: + // PWM analogue actuator (currently generates one PWM signal with first PWM module) + /* + { + if (pwminit == 0) { // If inactive, start the pwm module + pwm_init(); + } + if (pwmstart == 0) { + pwm_start(); + pwm_set_period(FREQ); // Frequency is 50Hz defined in pwm header file + } + if(value >= 0 && value <= 1000) { + double duty = value/1000 * 100; // Convert pressure to duty percentage + pwm_set_duty((int)duty); // Set duty percentage for actuator (0-100%) + } + } + */ break; } @@ -211,7 +281,7 @@ 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;