X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=f2ab4fec0f6771a3f78e2cf3f0be1aac5b68afab;hb=5a9a05166c4b22e7b7a522063d3dd6f75d1fa589;hp=e650cf88c5a877a4a08608dabe03e378617ca80a;hpb=450583abb79d5fedb0debabed073d9b191dac80c;p=matches%2FMCTX3420.git

diff --git a/server/actuator.c b/server/actuator.c
index e650cf8..f2ab4fe 100644
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -36,12 +36,17 @@ 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;
 
 	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;
@@ -164,9 +169,12 @@ 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.stepsize, &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);
 			
@@ -174,7 +182,7 @@ 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,
@@ -224,8 +232,8 @@ 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)
@@ -289,8 +297,8 @@ 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 = "";