// Initialise pins used
GPIO_Export(GPIO1_16);
PWM_Export(EHRPWM0A);
+ PWM_Export(EHRPWM0B);
}
{
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- int ret;
if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= 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->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);
pthread_mutex_unlock(&(a->mutex));
if (!a->activated)
break;
- else if (!a->allow_actuation)
- continue;
Actuator_SetValue(a, a->control.value);
}
}
-
-
/**
* Handle a request for an Actuator
* @param context - FCGI context
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
}
// Get the ADCs
// Set filename
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- int ret;
if (snprintf(filename, BUFSIZ, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
{
Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
// Open DataFile
Data_Open(&(s->data_file), filename);
-
- s->activated = true;
- s->record_data = true; // Don't forget this!
+ }
+ case CONTROL_RESUME: //Case fallthrough, no break before
+ {
+ int ret;
+ s->activated = true; // Don't forget this!
// Create the thread
ret = pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
{
Fatal("Failed to create Sensor_Loop for Sensor %d", s->id);
}
+
+ Log(LOGDEBUG, "Resuming sensor %d", s->id);
}
- break;
+ break;
+
case CONTROL_EMERGENCY:
case CONTROL_PAUSE:
- s->record_data = false;
- break;
- case CONTROL_RESUME:
- s->record_data = true;
- break;
- case CONTROL_STOP:
s->activated = false;
- s->record_data = false;
pthread_join(s->thread, NULL);
+ Log(LOGDEBUG, "Paused sensor %d", s->id);
+ break;
+
+ case CONTROL_STOP:
+ if (s->activated) //May have been paused before
+ {
+ s->activated = false;
+ pthread_join(s->thread, NULL);
+ }
Data_Close(&(s->data_file)); // Close DataFile
s->newest_data.time_stamp = 0;
s->newest_data.value = 0;
+ Log(LOGDEBUG, "Stopped sensor %d", s->id);
break;
default:
Fatal("Unknown control mode: %d", mode);
{
if( value > thresholds[id].max_error || value < thresholds[id].min_error)
{
- Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+ Log(LOGERR, "Sensor %s at %f is above or below its safety value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
//new function that stops actuators?
+ //Control_SetMode(CONTROL_EMERGENCY, NULL)
}
else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
{
- Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
+ Log(LOGWARN, "Sensor %s at %f is above or below its warning value of %f or %f\n", value, g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
}
}
static bool set = false;
GPIO_Set(GPIO0_30, true);
- d->value = (double)ADC_Read(ADC0); //ADC #0 on the Beaglebone
+ d->value = 0;//(double)ADC_Read(ADC0); //ADC #0 on the Beaglebone
//Log(LOGDEBUG, "Got value %f from ADC0", d->value);
GPIO_Set(GPIO0_30, false);
set = !set;
// Until the sensor is stopped, record data points
while (s->activated)
{
- if (s->record_data)
- {
- DataPoint d;
- //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
- if (Sensor_Read(s, &d)) // If new DataPoint is read:
- {
- //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
- Data_Save(&(s->data_file), &d, 1); // Record it
- }
- }
- else
+ DataPoint d;
+ //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
+ if (Sensor_Read(s, &d)) // If new DataPoint is read:
{
- //Do something? wait?
- usleep(100000);
+ //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
+ Data_Save(&(s->data_file), &d, 1); // Record it
}
}