/**
* @file actuator.c
- * @purpose Implementation of Actuator related functionality
+ * @brief Implementation of Actuator related functionality
*/
#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"
};
/**
Data_Init(&(g_actuators[i].data_file));
pthread_mutex_init(&(g_actuators[i].mutex), NULL);
}
-}
-
-/**
- * Start an Actuator
- * @param a - The Actuator to start
- * @param experiment_name - Prepended to DataFile filename
- */
-void Actuator_Start(Actuator * a, const char * experiment_name)
-{
- // Set filename
- char filename[BUFSIZ];
- if (sprintf(filename, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
- {
- Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
- }
-
- Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
- // Open DataFile
- Data_Open(&(a->data_file), filename);
- a->activated = true; // Don't forget this
+ // Initialise pins used
+ GPIO_Export(GPIO1_16);
+ PWM_Export(EHRPWM0A);
+ PWM_Export(EHRPWM0B);
- a->control_changed = false;
-
- // Create the thread
- pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
}
/**
- * Stop an Actuator
- * @param s - The Actuator to stop
+ * Sets the actuator to the desired mode. No checks are
+ * done to see if setting to the desired mode will conflict with
+ * the current mode - the caller must guarantee this itself.
+ * @param a The actuator whose mode is to be changed
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
+ * e.g for CONTROL_START it represents the experiment name.
*/
-void Actuator_Stop(Actuator * a)
+void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
{
- // Stop
- a->activated = false;
- Actuator_SetControl(a, NULL);
- pthread_join(a->thread, NULL); // Wait for thread to exit
- Data_Close(&(a->data_file)); // Close DataFile
+ switch (mode)
+ {
+ case CONTROL_START:
+ {
+ char filename[BUFSIZ];
+ const char *experiment_name = (const char*) arg;
+
+ if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
+ {
+ Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, 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->control_changed = false;
+
+ ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
+ if (ret != 0)
+ {
+ Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
+ }
-/**
- * Stop all Actuators
- */
-void Actuator_StopAll()
-{
- for (int i = 0; i < NUMACTUATORS; ++i)
- Actuator_Stop(g_actuators+i);
+ Log(LOGDEBUG, "Resuming actuator %d", a->id);
+ }
+ break;
+
+ case CONTROL_EMERGENCY: //TODO add proper case for emergency
+ case CONTROL_PAUSE:
+ 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;
+
+ break;
+ case CONTROL_STOP:
+ 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);
+ }
}
/**
- * Start all Actuators
+ * Sets all actuators to the desired mode.
+ * @see Actuator_SetMode for more information.
+ * @param mode The mode to be changed to
+ * @param arg An argument specific to the mode to be set.
*/
-void Actuator_StartAll(const char * experiment_name)
+void Actuator_SetModeAll(ControlModes mode, void * arg)
{
- for (int i = 0; i < NUMACTUATORS; ++i)
- Actuator_Start(g_actuators+i, experiment_name);
+ for (int i = 0; i < NUMACTUATORS; i++)
+ Actuator_SetMode(&g_actuators[i], mode, arg);
}
/**
struct timeval t;
gettimeofday(&t, NULL);
- DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
+ DataPoint d = {TIMEVAL_DIFF(t, *Control_GetStartTime()), value};
//TODO: Set actuator
switch (a->id)
{
- case ACTUATOR_TEST0: //LED actuator test code, should blink onboard LED next to Ethernet port
- FILE *LEDHandle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
- char *LEDBrightness = "/sys/class/leds/beaglebone\:green\:usr0/brightness";
- if(value == 1) {
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
- fwrite("1", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
+ 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));
}
- else if(value == 0) {
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
- fwrite("0", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
}
- else perror("Pin value should be 1 or 0");
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);
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");
}
-
-
/**
* Handle a request for an Actuator
* @param context - FCGI context
{
struct timeval now;
gettimeofday(&now, NULL);
- double current_time = TIMEVAL_DIFF(now, g_options.start_time);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
double set = 0;
double start_time = 0;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)},
+ {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
{"set", &set, FCGI_DOUBLE_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
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