X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=c71b05a1c7916d6fb8e396563b0bfa5d0bc5963a;hb=a5e70d6d38c216b736c8ff55670872274dc99ff7;hp=3c09d0558ede9825ca213e4c06d803ae9e5cae79;hpb=46c219c69676ea4e6f467692b7db6e48a708ab80;p=matches%2FMCTX3420.git diff --git a/server/actuator.c b/server/actuator.c index 3c09d05..c71b05a 100644 --- a/server/actuator.c +++ b/server/actuator.c @@ -1,10 +1,9 @@ /** * @file actuator.c - * @purpose Implementation of Actuator related functionality + * @brief Implementation of Actuator related functionality */ #include "actuator.h" -#include "control.h" #include "options.h" /** Array of Actuators (global to this file) initialised by Actuator_Init **/ @@ -29,61 +28,84 @@ 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; + + 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); } - - 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); } /** @@ -144,11 +166,32 @@ 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: + { + 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: break; @@ -201,8 +244,6 @@ void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma } - - /** * Handle a request for an Actuator * @param context - FCGI context @@ -212,7 +253,7 @@ 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; @@ -256,33 +297,24 @@ void Actuator_Handler(FCGIContext * context, char * params) DataFormat format = Data_GetFormat(&(values[FORMAT])); - if (Control_Lock()) - { - // Begin response - Actuator_BeginResponse(context, id, format); - - // Set? - if (FCGI_RECEIVED(values[SET].flags)) - { - if (format == JSON) - FCGI_JSONDouble("set", set); - - ActuatorControl c; - c.value = set; - - Actuator_SetControl(a, &c); - } - - // Print Data - Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time); - - // Finish response - Actuator_EndResponse(context, id, format); + // Begin response + Actuator_BeginResponse(context, id, format); - Control_Unlock(); - } - else + // Set? + if (FCGI_RECEIVED(values[SET].flags)) { - FCGI_RejectJSON(context, "Experiment is not running."); + if (format == JSON) + FCGI_JSONDouble("set", set); + + ActuatorControl c; + c.value = set; + + Actuator_SetControl(a, &c); } + + // Print Data + Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time); + + // Finish response + Actuator_EndResponse(context, id, format); }