Merge branch 'master' of github:/szmoore/MCTX3420

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

diff --git a/server/actuator.c b/server/actuator.c
index 6d544f2..40f9b46 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -53,7 +53,6 @@ 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)
                                {
@@ -63,34 +62,43 @@ 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);
@@ -130,8 +138,6 @@ 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);
        }
@@ -257,8 +263,6 @@ void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma
 }
 
 
-
-
 /**
  * Handle a request for an Actuator
  * @param context - FCGI context