Update Titlepage with links to individual sections

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

diff --git a/server/actuator.c b/server/actuator.c
index 2be4194..7473485 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -35,7 +35,7 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
        a->init = init; // Set init function
 
        a->sanity = sanity;
-
+       a->cleanup = cleanup;
        pthread_mutex_init(&(a->mutex), NULL);
 
        if (init != NULL)
@@ -51,16 +51,35 @@ int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn
 
 
 /**
- * One off initialisation of *all* Actuators
+ * Initialisation of *all* Actuators
  */
-#include "actuators/ledtest.h"
-#include "actuators/filetest.h"
+#include "actuators/pregulator.h"
+#include "actuators/relays.h"
 void Actuator_Init()
 {
        //Actuator_Add("ledtest",0,  Ledtest_Set, NULL,NULL,NULL);
-       Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity, 0);
+       //Actuator_Add("filetest", 0, Filetest_Set, Filetest_Init, Filetest_Cleanup, Filetest_Sanity, 0);
+       Actuator_Add("pregulator", 0, Pregulator_Set, Pregulator_Init, Pregulator_Cleanup, Pregulator_Sanity, 0);
+       Actuator_Add("can_select", RELAY_CANSELECT, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 0);
+       Actuator_Add("can_enable", RELAY_CANENABLE, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 0);
+       Actuator_Add("main_pressure", RELAY_MAIN, Relay_Set, Relay_Init, Relay_Cleanup, Relay_Sanity, 1);
+}
+
+/**
+ * Deinitialise actuators
+ */
+void Actuator_Cleanup()
+{
+       for (int i = 0; i < g_num_actuators; ++i)
+       {
+               Actuator * a = g_actuators+i;
+               if (a->cleanup != NULL)
+                       a->cleanup(a->user_id);
+       }
+       g_num_actuators = 0;
 }
 
+
 /**
  * Sets the actuator to the desired mode. No checks are
  * done to see if setting to the desired mode will conflict with
@@ -143,8 +162,12 @@ void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
  */
 void Actuator_SetModeAll(ControlModes mode, void * arg)
 {
+       if (mode == CONTROL_START)
+               Actuator_Init();
        for (int i = 0; i < g_num_actuators; i++)
                Actuator_SetMode(&g_actuators[i], mode, arg);
+       if (mode == CONTROL_STOP)
+               Actuator_Cleanup();
 }
 
 /**
@@ -171,9 +194,12 @@ 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.stepwait, &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 +207,7 @@ 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 +257,8 @@ 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 +322,8 @@ 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 = "";
@@ -378,7 +404,7 @@ void Actuator_Handler(FCGIContext * context, char * params)
        
                ActuatorControl c = {0.0, 0.0, 0.0, 0}; // Need to set default values (since we don't require them all)
                // sscanf returns the number of fields successfully read...
-               int n = sscanf(set, "%lf,%lf,%lf,%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
+               int n = sscanf(set, "%lf_%lf_%lf_%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
                if (n != 4)
                {
                        //      If the user doesn't provide all 4 values, the Actuator will get set *once* using the first of the provided values
@@ -431,3 +457,9 @@ Actuator * Actuator_Identify(const char * name)
        }
        return NULL;
 }
+
+DataPoint Actuator_LastData(int id)
+{
+       Actuator * a = &(g_actuators[id]);
+       return a->last_setting;
+}