X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=7473485d54d771b88a44c053d8f269261e0c12d7;hb=828cdbf49f52572e93c5c5a48e05277525a4055f;hp=9b9a1a8f73bdc975667b9b5829a5a309efcf3215;hpb=e3e7914fe2f59765e5f92371329652a02518928c;p=matches%2FMCTX3420.git

diff --git a/server/actuator.c b/server/actuator.c
index 9b9a1a8..7473485 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;
 
@@ -38,7 +35,7 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
 	a->init = init; // Set init function
 
 	a->sanity = sanity;
-
+	a->cleanup = cleanup;
 	pthread_mutex_init(&(a->mutex), NULL);
 
 	if (init != NULL)
@@ -54,16 +51,35 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
 
 
 /**
- * One off initialisation of *all* Actuators
+ * Initialisation of *all* Actuators
  */
-#include "actuators/ledtest.h"
-#include "actuators/filetest.h"
+#include "actuators/pregulator.h"
+#include "actuators/relays.h"
 void Actuator_Init()
 {
 	//Actuator_Add("ledtest",0,  Ledtest_Set, NULL,NULL,NULL);
-	Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity, 0);
+	//Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity, 0);
+	Actuator_Add("pregulator", 0, Pregulator_Set, Pregulator_Init, Pregulator_Cleanup, Pregulator_Sanity, 0);
+	Actuator_Add("can_select", RELAY_CANSELECT, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 0);
+	Actuator_Add("can_enable", RELAY_CANENABLE, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 0);
+	Actuator_Add("main_pressure", RELAY_MAIN, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 1);
 }
 
+/**
+ * Deinitialise actuators
+ */
+void Actuator_Cleanup()
+{
+	for (int i = 0; i < g_num_actuators; ++i)
+	{
+		Actuator * a = g_actuators+i;
+		if (a->cleanup != NULL)
+			a->cleanup(a->user_id);
+	}
+	g_num_actuators = 0;
+}
+
+
 /**
  * Sets the actuator to the desired mode. No checks are
  * done to see if setting to the desired mode will conflict with
@@ -79,12 +95,17 @@ 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);
@@ -141,8 +162,12 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
  */
 void Actuator_SetModeAll(ControlModes mode, void * arg)
 {
-	for (int i = 0; i < ACTUATORS_MAX; i++)
+	if (mode == CONTROL_START)
+		Actuator_Init();
+	for (int i = 0; i < g_num_actuators; i++)
 		Actuator_SetMode(&g_actuators[i], mode, arg);
+	if (mode == CONTROL_STOP)
+		Actuator_Cleanup();
 }
 
 /**
@@ -169,9 +194,12 @@ 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.stepwait, &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);
 			
@@ -179,7 +207,7 @@ 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,
@@ -229,8 +257,8 @@ 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)
@@ -294,8 +322,8 @@ 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 = "";
@@ -376,7 +404,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
 	
 		ActuatorControl c = {0.0, 0.0, 0.0, 0}; // Need to set default values (since we don't require them all)
 		// sscanf returns the number of fields successfully read...
-		int n = sscanf(set, "%lf,%lf,%lf,%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
+		int n = sscanf(set, "%lf_%lf_%lf_%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
 		if (n != 4)
 		{
 			//	If the user doesn't provide all 4 values, the Actuator will get set *once* using the first of the provided values
@@ -429,3 +457,9 @@ Actuator * Actuator_Identify(const char * name)
 	}
 	return NULL;
 }
+
+DataPoint Actuator_LastData(int id)
+{
+	Actuator * a = &(g_actuators[id]);
+	return a->last_setting;
+}