Merge branch 'master' of github:szmoore/MCTX3420

[matches/MCTX3420.git] / server / actuator.c

diff --git a/server/actuator.c b/server/actuator.c
index 2be4194..1c105db 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -171,9 +171,12 @@ 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);
                        
@@ -181,7 +184,7 @@ 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,
@@ -231,8 +234,8 @@ 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)
@@ -296,8 +299,8 @@ 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 = "";