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

diff --git a/server/actuator.c b/server/actuator.c
index 1c105db..7716318 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -16,8 +16,12 @@ static Actuator g_actuators[ACTUATORS_MAX];
 /** 
  * Add and initialise an Actuator
  * @param name - Human readable name of the actuator
- * @param read - Function to call whenever the actuator should be read
+ * @param user_id - Caller specified ID to be associated with this actuator
+ * @param set - Function to call whenever the actuator should be set
  * @param init - Function to call to initialise the actuator (may be NULL)
+ * @param cleanup - Function to call to deinitialise the actuator (may be NULL)
+ * @param sanity - Function to call to check that a user specified value is sane (may be NULL)
+ * @param initial_value - The initial value to set the actuator to
  * @returns Number of actuators added so far
  */
 int Actuator_Add(const char * name, int user_id, SetFn set, InitFn init, CleanFn cleanup, SanityFn sanity, double initial_value)
@@ -35,7 +39,7 @@ 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 +55,35 @@ 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 +166,12 @@ 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();
 }
 
 /**
@@ -173,7 +200,7 @@ void * Actuator_Loop(void * arg)
                // Currently does discrete steps after specified time intervals
 
                struct timespec wait;
-               DOUBLE_TO_TIMEVAL(a->control.stepsize, &wait);
+               DOUBLE_TO_TIMEVAL(a->control.stepwait, &wait);
                while (!a->control_changed && a->control.steps > 0 && a->activated)
                {
                        clock_nanosleep(CLOCK_MONOTONIC, 0, &wait, NULL);
@@ -219,6 +246,7 @@ void Actuator_SetControl(Actuator * a, ActuatorControl * c)
  * Set an Actuator value
  * @param a - The Actuator
  * @param value - The value to set
+ * @param record - Whether or not to record the value to the Actuator's DataFile.
  */
 void Actuator_SetValue(Actuator * a, double value, bool record)
 {
@@ -252,8 +280,8 @@ void Actuator_SetValue(Actuator * a, double value, bool record)
 /**
  * Helper: Begin Actuator response in a given format
  * @param context - the FCGIContext
+ * @param a - the actuator to begin a response for
  * @param format - Format
- * @param id - ID of Actuator
  */
 void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat format)
 {
@@ -275,7 +303,7 @@ void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat form
 /**
  * Helper: End Actuator response in a given format
  * @param context - the FCGIContext
- * @param id - ID of the Actuator
+ * @param a - the actuator to end a response for
  * @param format - Format
  */
 void Actuator_EndResponse(FCGIContext * context, Actuator * a, DataFormat format)
@@ -381,7 +409,7 @@ 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
@@ -434,3 +462,14 @@ Actuator * Actuator_Identify(const char * name)
        }
        return NULL;
 }
+
+/**
+ * Returns the last DataPoint that is currently available.
+ * @param id - The actuator ID for which to retrieve data from
+ * @return The last DataPoint
+ */
+DataPoint Actuator_LastData(int id)
+{
+       Actuator * a = &(g_actuators[id]);
+       return a->last_setting;
+}