X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Factuator.c;h=f5d7cd647a51904ffc1a9d2e3e8f387fa3979c1a;hb=f7835777d9a2e85ab310919a150a200ea55c7222;hp=af69c7f195f0940d64a5158ce34baf4adf976b7d;hpb=01d1e74d5b4cefd75d9ff4a5a2a404a71a225712;p=matches%2FMCTX3420.git

diff --git a/server/actuator.c b/server/actuator.c
index af69c7f..f5d7cd6 100644
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -5,13 +5,16 @@
 
 #include "actuator.h"
 #include "options.h"
+// Files containing GPIO and PWM definitions
+#include "bbb_pin.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", "gpio1_16", "EHRPWM0A_duty@60Hz"
 };
 
 /**
@@ -25,6 +28,11 @@ void Actuator_Init()
 		Data_Init(&(g_actuators[i].data_file));
 		pthread_mutex_init(&(g_actuators[i].mutex), NULL);
 	}
+
+	// Initialise pins used
+	GPIO_Export(GPIO1_16);
+	PWM_Export(EHRPWM0A);
+	
 }
 
 /**
@@ -44,7 +52,6 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
 			{
 				char filename[BUFSIZ];
 				const char *experiment_name = (const char*) arg;
-				int ret;
 
 				if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
 				{
@@ -54,34 +61,43 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
 				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->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);
 				}
+
+				Log(LOGDEBUG, "Resuming actuator %d", a->id);
 			}
 		break;
 
 		case CONTROL_EMERGENCY: //TODO add proper case for emergency
 		case CONTROL_PAUSE:
-			a->allow_actuation = false;
+			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;
-		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	
+			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);
@@ -121,8 +137,6 @@ 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);
 	}
@@ -164,10 +178,40 @@ void Actuator_SetValue(Actuator * a, double 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_Set(GPIO1_16, (bool)(value));
+			break;
+		case ACTUATOR_TEST2:
+		{
+			// PWM analogue actuator (currently generates one PWM signal with first PWM module)
+			static long freq = 16666666; // This is 60Hz
+			PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle
 			break;
+		}
 	}
 
 	Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
@@ -190,6 +234,7 @@ void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat for
 		case JSON:
 			FCGI_BeginJSON(context, STATUS_OK);
 			FCGI_JSONLong("id", id);
+			FCGI_JSONPair("name", g_actuator_names[id]);
 			break;
 		default:
 			FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
@@ -217,8 +262,6 @@ void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma
 }
 
 
-
-
 /**
  * Handle a request for an Actuator
  * @param context - FCGI context