static void check_setpoint_events(struct dive *dive, struct divecomputer *dc, struct plot_info *pi)
{
int i = 0;
pressure_t setpoint;
setpoint.mbar = 0;
struct event *ev = get_next_event(dc->events, "SP change");
if (!ev)
return;
do {
i = set_setpoint(pi, i, setpoint.mbar, ev->time.seconds);
setpoint.mbar = ev->value;
if (setpoint.mbar)
dc->divemode = CCR;
ev = get_next_event(ev->next, "SP change");
} while (ev);
set_setpoint(pi, i, setpoint.mbar, ~0u);
}
configuration_result* tempcont::configure(const configuration_device_section& conf, int run) {
std::map<const std::string,std::string>::const_iterator get=conf.attributes.find("get");
if (get!=conf.attributes.end()) {
temp_history* h=get_history(0);
configuration_result* res=h->as_result();
delete h;
return res;
}
std::map<const std::string,std::string>::const_iterator set=conf.attributes.find("set");
if (set!=conf.attributes.end()) {
// read new temperature setpoint
const char* temp_str=set->second.c_str();
char* temp_str_end=NULL;
double new_temperature=strtod(temp_str,&temp_str_end);
if (temp_str_end!=set->second.size()+temp_str) {
throw tempcont_error("could not read new temperature setpoint from attributes");
}
// set the temperature
double new_temp_return=set_setpoint(new_temperature);
if (new_temp_return!=new_temperature) {
char error_message[256];
snprintf(error_message, sizeof(error_message), "could not set new temperature setpoint %f!=%f",
new_temp_return,
new_temperature);
throw tempcont_error(error_message);
}
// report success
configuration_result* res=new configuration_result(0);
XMLCh* myname=XERCES_CPP_NAMESPACE_QUALIFIER XMLString::transcode(conf.name.c_str());
XERCES_CPP_NAMESPACE_QUALIFIER DOMElement* newelement=res->tag->createElement(myname);
res->tag->insertBefore(newelement,NULL);
XERCES_CPP_NAMESPACE_QUALIFIER XMLString::release(&myname);
return res;
}
return NULL;
}
int pos_controller_old::reset()
{
set_setpoint(pos);
return 0;
}
// wildi ToDo this thread must go into a separate file
void *
oak_digin_thread(void * args)
{
int ret ;
// wildi ToDo int *values = xmalloc(devInfo.numberOfChannels * sizeof(int));
int *values = malloc(200 * sizeof(int));
int rd_stat;
int bits = 0xff;
int print_bits = 0xff;
int bit;
int i ;
int lastDoorStateTest= DS_UNDEF ;
int lastDoorState= DS_UNDEF ;
int stop_motor= STOP_MOTOR_UNDEFINED ;
char bits_str[32] ;
struct timespec sl ;
struct timespec rsl ;
static struct timeval time_last_stat;
static struct timeval time_enq;
gettimeofday(&time_last_stat, NULL);
// debug
int print =0 ;
oak_thread_state= THREAD_STATE_UNDEFINED ; // make it "reentrant"
sl.tv_sec= 0. ;
sl.tv_nsec= (long ) 200 * 1000 * 1000 ;
if( test_oak== TEST_OAK) {
fprintf( stderr, "oak_digin_thread: test_oak== TEST_OK, sleep %d milliseconds\n", SLEEP_TEST_OAK_MILLISECONDS);
}
fprintf( stderr, "oak_digin_thread: thread started\n");
while (1) {
oak_digin_thread_heart_beat++ ;
if( oak_digin_thread_heart_beat > HEART_BEAT_UPPER_LIMIT) {
oak_digin_thread_heart_beat= 0 ;
}
rd_stat = readInterruptReport(oakDiginHandle, values);
if ((rd_stat < 0) && (errno == EINTR)) {
oak_thread_state= THREAD_STATE_UNDEFINED ;
// wildi ToDo something sensible here values[1]=
fprintf( stderr, "oak_digin_thread: problems reading from oak device\n") ;
}
bits = values[1] & 0xff ;
print_bits= values[1] & 0xff ;
print= 0 ;
for (i = 0; i < 8; i++) {
bit = (print_bits & 0x1) ;
if( bit) {
bits_str[7-i]= '1' ;
print++ ;
} else {
bits_str[7-i]= '0' ;
}
print_bits = print_bits >> 1;
}
bits_str[8]= '\0' ;
//fprintf( stderr, "oak_digin_thread: doorState=%d, bits %s\n", doorState, bits_str) ;
// turn off the motor first
if((( bits & OAK_MASK_CLOSED) > 0) && (( doorState== DS_STOPPED_CLOSED) || ( doorState== DS_RUNNING_OPEN))) {
// let the motor open the door
stop_motor= STOP_MOTOR_UNDEFINED ;
} else if((( bits & OAK_MASK_OPENED) > 0) && (( doorState== DS_STOPPED_OPENED) || ( doorState== DS_RUNNING_CLOSE) || ( doorState== DS_RUNNING_CLOSE_UNDEFINED))) {
// let the motor close the door
stop_motor= STOP_MOTOR_UNDEFINED ;
} else if((( bits & OAK_MASK_CLOSED) > 0) && ( motorState== SSD650V_MS_RUNNING)) { // 2nd expr. necessary not to overload SSD650v on RS 232
stop_motor= STOP_MOTOR ;
fprintf( stderr, "oak_digin_thread: found ( bits & OAK_MASK_CLOSED) > 0), bits %s\n", bits_str) ;
} else if((( bits & OAK_MASK_OPENED) > 0) && ( motorState== SSD650V_MS_RUNNING)){
stop_motor= STOP_MOTOR ;
fprintf( stderr, "oak_digin_thread: found (bits & OAK_MASK_OPENED) > 0), bits %s\n", bits_str) ;
} else if ( (bits & OAK_MASK_END_SWITCHES) > 0) {
// the motor is turned off and eventually OAK devices too (no cummunication possible)
stop_motor= STOP_MOTOR ;
} else if ( (bits & OAK_MASK_END_SWITCHES) == 0) { // both end switches are zero
// the door is inbetween, (or beyond the software end switches :-(( = very close to the end switches)
//fprintf( stderr, "oak_digin_thread: might be a bad reading from oak device\n") ; // see above ToDo
// wildi ToDo: not yet defined what to do
}
// test
if( test_oak== TEST_OAK) {
if( lastDoorStateTest != doorState) {
lastDoorStateTest= doorState ;
gettimeofday(&time_last_stat, NULL);
fprintf( stderr, "oak_digin_thread: status change resetting timer\n") ;
}
if( motorState== SSD650V_MS_RUNNING) {
gettimeofday(&time_enq, NULL);
if (difftimeval(&time_enq, &time_last_stat) > (SLEEP_TEST_OAK_MILLISECONDS * 1000)) { // milliseconds
stop_motor= STOP_MOTOR ;
fprintf( stderr, "oak_digin_thread: motorState== (DS_RUNNING_OPEN|DS_RUNNING_CLOSE), stopping now, diff %d[msec]\n", (int)difftimeval(&time_enq, &time_last_stat)) ;
gettimeofday(&time_last_stat, NULL);
fprintf( stderr, "oak_digin_thread: stopping motor after time ellapsed\n") ;
}
}
if(( print > 0) && ( stop_motor != STOP_MOTOR)) {
stop_motor= STOP_MOTOR ;
fprintf( stderr, "oak_digin_thread: print stop_motor= STOP_MOTOR \n") ;
}
}
// end test
// manual mode, in case an endswitch erroneously indicates contact
if(ignoreEndswitch==NOT_IGNORE_END_SWITCH){
if( stop_motor== STOP_MOTOR) {
fprintf( stderr, "oak_digin_thread: stopping motor now\n") ;
while(( ret= motor_off()) != SSD650V_MS_STOPPED) { //
fprintf( stderr, "oak_digin_thread: can not turn motor off\n") ;
ret= nanosleep( &sl, &rsl) ;
if((errno== EFAULT) || ( errno== EINTR)||( errno== EINVAL )) {
fprintf( stderr, "Error in nanosleep\n") ;
errno= 0 ;
}
}
set_setpoint(0.);
fprintf( stderr, "oak_digin_thread: motor stopped\n") ;
stop_motor= STOP_MOTOR_UNDEFINED ;
struct ln_date utm;
ln_get_date_from_sys( &utm) ;
sprintf( date_time, "%4d-%02d-%02dT%02d:%02d:%02d", utm.years, utm.months, utm.days, utm.hours, utm.minutes, (int) utm.seconds) ;
}
}
// door status
if( motorState== SSD650V_MS_STOPPED) {
// change status here
if( bits & OAK_MASK_CLOSED) { // true if OAK sees the door
doorState= DS_STOPPED_CLOSED ;
if( lastDoorState != doorState) {
lastDoorState= doorState ;
fprintf( stderr, "oak_digin_thread: state is DS_STOPPED_CLOSED\n") ;
}
} else if( bits & OAK_MASK_OPENED) { // true if OAK sees the door
doorState= DS_STOPPED_OPENED ;
if( lastDoorState != doorState) {
lastDoorState= doorState ;
fprintf( stderr, "oak_digin_thread: state is DS_STOPPED_OPENED\n") ;
}
} else {
doorState= DS_STOPPED_UNDEF ;
lastDoorState= doorState ;
//fprintf( stderr, "oak_digin_thread: state is DS_STOPPED_UNDEFINED\n") ;
}
} else if( motorState== SSD650V_MS_RUNNING) {
// keep status here
if( doorState == DS_RUNNING_OPEN) {
} else if( doorState == DS_RUNNING_CLOSE) {
} else if( doorState == DS_RUNNING_CLOSE_UNDEFINED) {
} else {
// should occasianally occur if the door is stopped manually
doorState= DS_RUNNING_UNDEF ;
lastDoorState= doorState ;
//fprintf( stderr, "oak_digin_thread: motorState== SSD650V_MS_RUNNING, state is DS_RUNNING_UNDEF\n") ;
}
} else if( motorState== SSD650V_MS_UNDEFINED) {
doorState= DS_UNDEF ;
lastDoorState= doorState ;
if( bits & OAK_MASK_OPENED) { // true if OAK sees the door
fprintf( stderr, "oak_digin_thread: state is DS_UNDEF, door is opened, motor is undefined\n") ;
} else if( bits & OAK_MASK_CLOSED) { // true if OAK sees the door
fprintf( stderr, "oak_digin_thread: state is DS_UNDEF, door is closed, motor is undefined\n") ;
} else {
fprintf( stderr, "oak_digin_thread: state is DS_UNDEF, door is undefined, motor is undefined\n") ;
}
} else {
// should never occur
doorState= DS_UNDEF ;
lastDoorState= doorState ;
fprintf( stderr, "oak_digin_thread: state is DS_UNDEF, should never never occur\n") ;
}
CHECK_OAK_CALL(rd_stat); // wildi ToDo: what's that?
} /* while (1) */
return NULL;
}
