/**
* Helper: Begin Actuator response in a given format
* @param context - the FCGIContext
* @param format - Format
* @param id - ID of Actuator
*/
void Actuator_BeginResponse(FCGIContext * context, Actuator * a, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", a->id);
FCGI_JSONLong("user_id", a->user_id); //TODO: Don't need to show this?
FCGI_JSONPair("name", a->name);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
break;
}
}
/**
* Helper: Begin sensor response in a given format
* @param context - the FCGIContext
* @param id - ID of sensor
* @param format - Format
*/
void Sensor_BeginResponse(FCGIContext * context, Sensor * s, DataFormat format)
{
// Begin response
switch (format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", s->id);
FCGI_JSONLong("user_id", s->user_id); //NOTE: Might not want to expose this?
FCGI_JSONPair("name", s->name);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
break;
}
}
/**
* Handle a request for an Actuator
* @param context - FCGI context
* @param params - Parameters passed
*/
void Actuator_Handler(FCGIContext * context, char * params)
{
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
char * name = "";
char * set = "";
double start_time = 0;
double end_time = current_time;
char * fmt_str;
// key/value pairs
FCGIValue values[] = {
{"id", &id, FCGI_INT_T},
{"name", &name, FCGI_STRING_T},
{"set", &set, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
{"format", &fmt_str, FCGI_STRING_T}
};
// enum to avoid the use of magic numbers
typedef enum {
ID,
NAME,
SET,
START_TIME,
END_TIME,
FORMAT
} ActuatorParams;
// Fill values appropriately
if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
{
// Error occured; FCGI_RejectJSON already called
return;
}
// Get the Actuator identified
Actuator * a = NULL;
if (FCGI_RECEIVED(values[NAME].flags))
{
if (FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "Can't supply both id and name");
return;
}
a = Actuator_Identify(name);
if (a == NULL)
{
FCGI_RejectJSON(context, "Unknown actuator name");
return;
}
}
else if (!FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "No id or name supplied");
return;
}
else if (id < 0 || id >= g_num_actuators)
{
FCGI_RejectJSON(context, "Invalid Actuator id");
return;
}
else
{
a = &(g_actuators[id]);
}
DataFormat format = Data_GetFormat(&(values[FORMAT]));
if (FCGI_RECEIVED(values[SET].flags))
{
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
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
// (see Actuator_Loop)
// Not really a problem if n = 1, but maybe generate a warning for 2 <= n < 4 ?
Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n, 4);
}
// SANITY CHECKS
if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start)))
{
FCGI_RejectJSON(context, "Bad Actuator setting");
return;
}
Actuator_SetControl(a, &c);
}
// Begin response
Actuator_BeginResponse(context, a, format);
if (format == JSON)
FCGI_JSONPair("set", set);
// Print Data
Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Actuator_EndResponse(context, a, format);
}
