X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=771631849dd7d0f4621a73cffa11f15863fa3f36;hb=HEAD;hp=3e26e376e349a7f6dae5c9d09a81b47934f3db19;hpb=c3a1f0d6a3c293a45ab9f24a63b43e3f5aa7bd15;p=matches%2FMCTX3420.git diff --git a/server/actuator.c b/server/actuator.c index 3e26e37..7716318 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; @@ -19,11 +16,15 @@ static Actuator g_actuators[ACTUATORS_MAX]; /** * Add and initialise an Actuator * @param name - Human readable name of the actuator - * @param read - Function to call whenever the actuator should be read + * @param user_id - Caller specified ID to be associated with this actuator + * @param set - Function to call whenever the actuator should be set * @param init - Function to call to initialise the actuator (may be NULL) + * @param cleanup - Function to call to deinitialise the actuator (may be NULL) + * @param sanity - Function to call to check that a user specified value is sane (may be NULL) + * @param initial_value - The initial value to set the actuator to * @returns Number of actuators added so far */ -int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity) +int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity, double initial_value) { if (++g_num_actuators > ACTUATORS_MAX) { @@ -36,27 +37,53 @@ 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; + a->sanity = sanity; + a->cleanup = cleanup; 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; } /** - * 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); + //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 @@ -72,12 +99,17 @@ 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); @@ -134,8 +166,12 @@ 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(); } /** @@ -160,17 +196,22 @@ void * Actuator_Loop(void * arg) if (!a->activated) break; - Actuator_SetValue(a, a->control.start); + Actuator_SetValue(a, a->control.start, true); // Currently does discrete steps after specified time intervals - while (a->control.steps > 0 && a->activated) + + 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); + Actuator_SetValue(a, a->control.start, true); a->control.steps--; } - usleep(1e6*(a->control.stepwait)); + if (a->control_changed) + continue; + 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, @@ -205,13 +246,15 @@ void Actuator_SetControl(Actuator * a, ActuatorControl * c) * Set an Actuator value * @param a - The Actuator * @param value - The value to set + * @param record - Whether or not to record the value to the Actuator's DataFile. */ -void Actuator_SetValue(Actuator * a, double value) +void Actuator_SetValue(Actuator * a, double value, bool record) { if (a->sanity != NULL && !a->sanity(a->user_id, value)) { //ARE YOU INSANE? - Fatal("Insane value %lf for actuator %s", value, a->name); + Log(LOGERR,"Insane value %lf for actuator %s", value, a->name); + return; } if (!(a->set(a->user_id, value))) { @@ -219,18 +262,26 @@ void Actuator_SetValue(Actuator * a, double value) } // Set time stamp - struct timeval t; - gettimeofday(&t, NULL); - // Record and save DataPoint - DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value}; - Data_Save(&(a->data_file), &d, 1); + struct timespec t; + clock_gettime(CLOCK_MONOTONIC, &t); + DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), a->last_setting.value}; + // Record value change + if (record) + { + d.time_stamp -= 1e-6; + Data_Save(&(a->data_file), &d, 1); + d.value = value; + d.time_stamp += 1e-6; + Data_Save(&(a->data_file), &d, 1); + } + a->last_setting = d; } /** * Helper: Begin Actuator response in a given format * @param context - the FCGIContext + * @param a - the actuator to begin a response for * @param format - Format - * @param id - ID of Actuator */ void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat format) { @@ -252,7 +303,7 @@ void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat form /** * Helper: End Actuator response in a given format * @param context - the FCGIContext - * @param id - ID of the Actuator + * @param a - the actuator to end a response for * @param format - Format */ void Actuator_EndResponse(FCGIContext * context, Actuator * a, DataFormat format) @@ -276,8 +327,8 @@ 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 = ""; @@ -336,7 +387,7 @@ void Actuator_Handler(FCGIContext * context, char * params) FCGI_RejectJSON(context, "No id or name supplied"); return; } - else if (id < 0 || id >= ACTUATORS_MAX) + else if (id < 0 || id >= g_num_actuators) { FCGI_RejectJSON(context, "Invalid Actuator id"); return; @@ -358,13 +409,13 @@ 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 // (see Actuator_Loop) // Not really a problem if n = 1, but maybe generate a warning for 2 <= n < 4 ? - Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n); + Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n, 4); } // SANITY CHECKS if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start))) @@ -373,7 +424,6 @@ void Actuator_Handler(FCGIContext * context, char * params) return; } Actuator_SetControl(a, &c); - } // Begin response @@ -412,3 +462,14 @@ Actuator * Actuator_Identify(const char * name) } return NULL; } + +/** + * Returns the last DataPoint that is currently available. + * @param id - The actuator ID for which to retrieve data from + * @return The last DataPoint + */ +DataPoint Actuator_LastData(int id) +{ + Actuator * a = &(g_actuators[id]); + return a->last_setting; +}