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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ConfigurationHandler/Controls/FailsafeControl.cpp@262:696cd48bb04a, 2016-10-24 (annotated)

Committer:
jmarkel44
Date:
Mon Oct 24 21:09:31 2016 +0000
Revision:
262:696cd48bb04a
Parent:
261:4e9a588c938e
Child:
269:97243a7f56ba
general high and low failsafe controls working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 250:1cd8ec63e9e9 1 /******************************************************************************
jmarkel44 250:1cd8ec63e9e9 2 *
jmarkel44 250:1cd8ec63e9e9 3 * File: CompositeControl.cpp
jmarkel44 250:1cd8ec63e9e9 4 * Desciption: ICE Composite Control Class implementation
jmarkel44 250:1cd8ec63e9e9 5 *
jmarkel44 250:1cd8ec63e9e9 6 *****************************************************************************/
jmarkel44 250:1cd8ec63e9e9 7 #include "FailsafeControl.h"
jmarkel44 250:1cd8ec63e9e9 8 #include "cJSON.h"
jmarkel44 250:1cd8ec63e9e9 9 #include "mDot.h"
jmarkel44 250:1cd8ec63e9e9 10 #include "global.h"
jmarkel44 252:3c9863f951b7 11 #include "ModbusMasterApi.h"
jmarkel44 250:1cd8ec63e9e9 12 #include <string>
jmarkel44 250:1cd8ec63e9e9 13 #include <iostream>
jmarkel44 250:1cd8ec63e9e9 14 #include <iomanip>
jmarkel44 250:1cd8ec63e9e9 15
jmarkel44 250:1cd8ec63e9e9 16 extern mDot *GLOBAL_mdot;
jmarkel44 250:1cd8ec63e9e9 17
jmarkel44 250:1cd8ec63e9e9 18 //
jmarkel44 250:1cd8ec63e9e9 19 // method: load
jmarkel44 250:1cd8ec63e9e9 20 // description: load a composite control
jmarkel44 250:1cd8ec63e9e9 21 //
jmarkel44 250:1cd8ec63e9e9 22 // @param none
jmarkel44 250:1cd8ec63e9e9 23 // @return none
jmarkel44 250:1cd8ec63e9e9 24 //
jmarkel44 250:1cd8ec63e9e9 25 bool FailsafeControl::load(std::string _controlFile)
jmarkel44 250:1cd8ec63e9e9 26 {
jmarkel44 250:1cd8ec63e9e9 27 controlFile = _controlFile;
jmarkel44 250:1cd8ec63e9e9 28
jmarkel44 250:1cd8ec63e9e9 29 // open and read from the control file
jmarkel44 250:1cd8ec63e9e9 30 mDot::mdot_file file = GLOBAL_mdot->openUserFile(controlFile.c_str(), mDot::FM_RDONLY);
jmarkel44 250:1cd8ec63e9e9 31 if ( file.fd < 0 ) {
jmarkel44 250:1cd8ec63e9e9 32 logError("%s: failed to open %s\n", __func__, controlFile.c_str());
jmarkel44 250:1cd8ec63e9e9 33 return false;
jmarkel44 250:1cd8ec63e9e9 34 }
jmarkel44 250:1cd8ec63e9e9 35
jmarkel44 250:1cd8ec63e9e9 36 // read the data into a buffer
jmarkel44 250:1cd8ec63e9e9 37 char dataBuf[MAX_FILE_SIZE];
jmarkel44 250:1cd8ec63e9e9 38
jmarkel44 250:1cd8ec63e9e9 39 int bytes_read = GLOBAL_mdot->readUserFile(file, (void *)dataBuf, sizeof(dataBuf));
jmarkel44 250:1cd8ec63e9e9 40 if ( bytes_read != sizeof(dataBuf) ) {
jmarkel44 250:1cd8ec63e9e9 41 logError("%s: failed to read %d bytes from %s", __func__, sizeof(dataBuf), controlFile.c_str());
jmarkel44 250:1cd8ec63e9e9 42 // caller should destroy the object
jmarkel44 250:1cd8ec63e9e9 43 return false;
jmarkel44 250:1cd8ec63e9e9 44 }
jmarkel44 250:1cd8ec63e9e9 45
jmarkel44 250:1cd8ec63e9e9 46 // close the file
jmarkel44 250:1cd8ec63e9e9 47 GLOBAL_mdot->closeUserFile(file);
jmarkel44 250:1cd8ec63e9e9 48
jmarkel44 250:1cd8ec63e9e9 49 // parse the data
jmarkel44 250:1cd8ec63e9e9 50 cJSON * root = cJSON_Parse(dataBuf);
jmarkel44 250:1cd8ec63e9e9 51
jmarkel44 250:1cd8ec63e9e9 52 id = cJSON_GetObjectItem(root, "id")->valuestring;
jmarkel44 250:1cd8ec63e9e9 53 priority = atoi(cJSON_GetObjectItem(root, "priority")->valuestring);
jmarkel44 250:1cd8ec63e9e9 54 input = cJSON_GetObjectItem(root, "input")->valuestring;
jmarkel44 250:1cd8ec63e9e9 55 output = cJSON_GetObjectItem(root, "output")->valuestring;
jmarkel44 250:1cd8ec63e9e9 56
jmarkel44 250:1cd8ec63e9e9 57 hfs_data.value = atof(cJSON_GetObjectItem(root, "hfsValue")->valuestring);
jmarkel44 250:1cd8ec63e9e9 58 hfs_data.dutyCycle = atoi(cJSON_GetObjectItem(root, "hfsDutyCycle")->valuestring);
jmarkel44 250:1cd8ec63e9e9 59 hfs_data.interval = atoi(cJSON_GetObjectItem(root, "hfsInterval")->valuestring);
jmarkel44 250:1cd8ec63e9e9 60
jmarkel44 250:1cd8ec63e9e9 61 lfs_data.value = atof(cJSON_GetObjectItem(root, "lfsValue")->valuestring);
jmarkel44 250:1cd8ec63e9e9 62 lfs_data.dutyCycle = atoi(cJSON_GetObjectItem(root, "lfsDutyCycle")->valuestring);
jmarkel44 250:1cd8ec63e9e9 63 lfs_data.interval = atoi(cJSON_GetObjectItem(root, "lfsInterval")->valuestring);
jmarkel44 250:1cd8ec63e9e9 64
jmarkel44 250:1cd8ec63e9e9 65 return true;
jmarkel44 250:1cd8ec63e9e9 66 }
jmarkel44 250:1cd8ec63e9e9 67
jmarkel44 250:1cd8ec63e9e9 68 //
jmarkel44 250:1cd8ec63e9e9 69 // method: start
jmarkel44 250:1cd8ec63e9e9 70 // description: start the failsafe control
jmarkel44 250:1cd8ec63e9e9 71 //
jmarkel44 250:1cd8ec63e9e9 72 // @param none
jmarkel44 250:1cd8ec63e9e9 73 // @return none
jmarkel44 250:1cd8ec63e9e9 74 //
jmarkel44 250:1cd8ec63e9e9 75 void FailsafeControl::start(void)
jmarkel44 250:1cd8ec63e9e9 76 {
jmarkel44 250:1cd8ec63e9e9 77 currentState = STATE_START;
jmarkel44 250:1cd8ec63e9e9 78 }
jmarkel44 250:1cd8ec63e9e9 79
jmarkel44 250:1cd8ec63e9e9 80 //
jmarkel44 250:1cd8ec63e9e9 81 // method: update
jmarkel44 252:3c9863f951b7 82 // description: update the faisafe control using the FSM
jmarkel44 250:1cd8ec63e9e9 83 //
jmarkel44 250:1cd8ec63e9e9 84 // @param none
jmarkel44 250:1cd8ec63e9e9 85 // @return none
jmarkel44 250:1cd8ec63e9e9 86 //
jmarkel44 250:1cd8ec63e9e9 87 void FailsafeControl::update(void)
jmarkel44 250:1cd8ec63e9e9 88 {
jmarkel44 260:fe726583ba1d 89 switch (this->currentState) {
jmarkel44 250:1cd8ec63e9e9 90 case STATE_INIT:
jmarkel44 261:4e9a588c938e 91 // do nothing - control must be started
jmarkel44 250:1cd8ec63e9e9 92 break;
jmarkel44 250:1cd8ec63e9e9 93 case STATE_START:
jmarkel44 260:fe726583ba1d 94 // control has been started, do some checking
jmarkel44 252:3c9863f951b7 95 if ( this->aboveHighFailsafe() ) {
jmarkel44 262:696cd48bb04a 96 // start high failsafe duty cycle
jmarkel44 260:fe726583ba1d 97 this->currentState = STATE_CONTROL_HFS_ON;
jmarkel44 262:696cd48bb04a 98 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 261:4e9a588c938e 99 this->startHfsDutyTimer();
jmarkel44 262:696cd48bb04a 100 } else if ( this->belowLowFailsafe() ) {
jmarkel44 262:696cd48bb04a 101 // start low failsafe duty cycle
jmarkel44 260:fe726583ba1d 102 this->currentState = STATE_CONTROL_LFS_ON;
jmarkel44 262:696cd48bb04a 103 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 104 this->startLfsDutyTimer();
jmarkel44 262:696cd48bb04a 105 } else {
jmarkel44 260:fe726583ba1d 106 this->currentState = STATE_CONTROL_OFF;
jmarkel44 252:3c9863f951b7 107 }
jmarkel44 252:3c9863f951b7 108 break;
jmarkel44 250:1cd8ec63e9e9 109 case STATE_CONTROL_OFF:
jmarkel44 260:fe726583ba1d 110 // control is acting normal, within bounds
jmarkel44 252:3c9863f951b7 111 if ( this->aboveHighFailsafe() ) {
jmarkel44 262:696cd48bb04a 112 // restart the high failsafe duty cycle
jmarkel44 260:fe726583ba1d 113 this->currentState = STATE_CONTROL_HFS_ON;
jmarkel44 262:696cd48bb04a 114 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 115 this->startHfsDutyTimer();
jmarkel44 252:3c9863f951b7 116 } else if ( this->belowLowFailsafe() ) {
jmarkel44 262:696cd48bb04a 117 // restart the low failsafe duty cycle
jmarkel44 260:fe726583ba1d 118 this->currentState = STATE_CONTROL_LFS_ON;
jmarkel44 262:696cd48bb04a 119 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 120 this->startLfsDutyTimer();
jmarkel44 252:3c9863f951b7 121 } else {
jmarkel44 252:3c9863f951b7 122 // do nothing
jmarkel44 252:3c9863f951b7 123 }
jmarkel44 252:3c9863f951b7 124 break;
jmarkel44 250:1cd8ec63e9e9 125 case STATE_CONTROL_LFS_ON:
jmarkel44 260:fe726583ba1d 126 // control is in low-failsafe with duty cycle ON
jmarkel44 252:3c9863f951b7 127 if ( !this->belowLowFailsafe() ) {
jmarkel44 260:fe726583ba1d 128 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 129 this->unregisterControl();
jmarkel44 260:fe726583ba1d 130 } else if ( this->dutyOnExpired() ) {
jmarkel44 260:fe726583ba1d 131 this->currentState = STATE_CONTROL_LFS_OFF;
jmarkel44 262:696cd48bb04a 132 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 252:3c9863f951b7 133 } else {
jmarkel44 260:fe726583ba1d 134 // do nothing
jmarkel44 252:3c9863f951b7 135 }
jmarkel44 252:3c9863f951b7 136 break;
jmarkel44 250:1cd8ec63e9e9 137 case STATE_CONTROL_LFS_OFF:
jmarkel44 260:fe726583ba1d 138 // control is in low-failsafe with duty cycle OFF
jmarkel44 252:3c9863f951b7 139 if ( !this->belowLowFailsafe() ) {
jmarkel44 260:fe726583ba1d 140 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 141 this->unregisterControl();
jmarkel44 260:fe726583ba1d 142 } else if ( this->dutyOffExpired() ) {
jmarkel44 260:fe726583ba1d 143 this->currentState = STATE_CONTROL_LFS_ON;
jmarkel44 262:696cd48bb04a 144 this->startLfsDutyTimer();
jmarkel44 252:3c9863f951b7 145 } else {
jmarkel44 260:fe726583ba1d 146 // do nothing
jmarkel44 252:3c9863f951b7 147 }
jmarkel44 252:3c9863f951b7 148 break;
jmarkel44 250:1cd8ec63e9e9 149 case STATE_CONTROL_HFS_ON:
jmarkel44 260:fe726583ba1d 150 // control is in high-failsafe with duty cycle ON
jmarkel44 252:3c9863f951b7 151 if ( !this->aboveHighFailsafe() ) {
jmarkel44 260:fe726583ba1d 152 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 153 this->unregisterControl();
jmarkel44 260:fe726583ba1d 154 } else if ( this->dutyOnExpired() ) {
jmarkel44 260:fe726583ba1d 155 this->currentState = STATE_CONTROL_HFS_OFF;
jmarkel44 262:696cd48bb04a 156 sendMailToOutput(ACTION_CONTROL_OFF);
jmarkel44 260:fe726583ba1d 157 } else {
jmarkel44 260:fe726583ba1d 158 // do nothing
jmarkel44 252:3c9863f951b7 159 }
jmarkel44 252:3c9863f951b7 160 break;
jmarkel44 250:1cd8ec63e9e9 161 case STATE_CONTROL_HFS_OFF:
jmarkel44 260:fe726583ba1d 162 // control is in high-failsafe with cuty cycle OFF
jmarkel44 252:3c9863f951b7 163 if ( !this->aboveHighFailsafe() ) {
jmarkel44 260:fe726583ba1d 164 this->currentState = STATE_CONTROL_OFF;
jmarkel44 262:696cd48bb04a 165 this->unregisterControl();
jmarkel44 260:fe726583ba1d 166 } else if ( this->dutyOffExpired() ) {
jmarkel44 260:fe726583ba1d 167 this->currentState = STATE_CONTROL_LFS_ON;
jmarkel44 262:696cd48bb04a 168 sendMailToOutput(ACTION_CONTROL_ON);
jmarkel44 262:696cd48bb04a 169 this->startLfsDutyTimer();
jmarkel44 261:4e9a588c938e 170 } else {
jmarkel44 260:fe726583ba1d 171 // do nothing
jmarkel44 252:3c9863f951b7 172 }
jmarkel44 252:3c9863f951b7 173 break;
jmarkel44 250:1cd8ec63e9e9 174 default:
jmarkel44 250:1cd8ec63e9e9 175 break;
jmarkel44 250:1cd8ec63e9e9 176 }
jmarkel44 250:1cd8ec63e9e9 177 }
jmarkel44 250:1cd8ec63e9e9 178
jmarkel44 252:3c9863f951b7 179 bool FailsafeControl::belowLowFailsafe(void)
jmarkel44 252:3c9863f951b7 180 {
jmarkel44 252:3c9863f951b7 181 // read the modbus input
jmarkel44 252:3c9863f951b7 182 ModbusValue value;
jmarkel44 252:3c9863f951b7 183 ModbusMasterReadRegister(input, &value);
jmarkel44 252:3c9863f951b7 184 #if 0
jmarkel44 252:3c9863f951b7 185 if ( value.errflag ) {
jmarkel44 252:3c9863f951b7 186 logError("%s: error reading %s:", __func__, input);
jmarkel44 252:3c9863f951b7 187 return false;
jmarkel44 252:3c9863f951b7 188 }
jmarkel44 252:3c9863f951b7 189 #endif
jmarkel44 252:3c9863f951b7 190 return ( value.value <= lfs_data.value );
jmarkel44 252:3c9863f951b7 191 }
jmarkel44 252:3c9863f951b7 192
jmarkel44 252:3c9863f951b7 193 bool FailsafeControl::aboveHighFailsafe(void)
jmarkel44 252:3c9863f951b7 194 {
jmarkel44 252:3c9863f951b7 195 // read the modbus input
jmarkel44 252:3c9863f951b7 196 ModbusValue value;
jmarkel44 252:3c9863f951b7 197 ModbusMasterReadRegister(input, &value);
jmarkel44 252:3c9863f951b7 198 // TODO: check the error flag
jmarkel44 252:3c9863f951b7 199 #if 0
jmarkel44 252:3c9863f951b7 200 if ( value.errflag ) {
jmarkel44 252:3c9863f951b7 201 logError("%s: error reading %s:", __func__, input);
jmarkel44 252:3c9863f951b7 202 return false;
jmarkel44 252:3c9863f951b7 203 }
jmarkel44 252:3c9863f951b7 204 #endif
jmarkel44 252:3c9863f951b7 205 return ( value.value >= hfs_data.value );
jmarkel44 252:3c9863f951b7 206 }
jmarkel44 252:3c9863f951b7 207
jmarkel44 261:4e9a588c938e 208 //
jmarkel44 261:4e9a588c938e 209 // method: startHfsDutyTimer
jmarkel44 261:4e9a588c938e 210 // description: start the high failsafe duty timer
jmarkel44 261:4e9a588c938e 211 //
jmarkel44 261:4e9a588c938e 212 // @param none
jmarkel44 261:4e9a588c938e 213 // @return none
jmarkel44 261:4e9a588c938e 214 //
jmarkel44 261:4e9a588c938e 215 void FailsafeControl::startHfsDutyTimer(void)
jmarkel44 252:3c9863f951b7 216 {
jmarkel44 261:4e9a588c938e 217 unsigned long currentTime = time(NULL);
jmarkel44 261:4e9a588c938e 218 unsigned long period = hfs_data.interval * 60;
jmarkel44 261:4e9a588c938e 219
jmarkel44 261:4e9a588c938e 220 duty_timer.offTime = currentTime + ((double)period * ((double)hfs_data.dutyCycle/100.0));
jmarkel44 261:4e9a588c938e 221 duty_timer.expirationTime = currentTime + period;
jmarkel44 262:696cd48bb04a 222
jmarkel44 261:4e9a588c938e 223 printf("\r%s: currentTime = %lu\n", __func__, currentTime);
jmarkel44 261:4e9a588c938e 224 printf("\r%s: off Time = %lu\n", __func__, duty_timer.offTime);
jmarkel44 261:4e9a588c938e 225 printf("\r%s: expiration = %lu\n", __func__, duty_timer.expirationTime);
jmarkel44 261:4e9a588c938e 226 }
jmarkel44 261:4e9a588c938e 227
jmarkel44 261:4e9a588c938e 228 //
jmarkel44 261:4e9a588c938e 229 // method: stopHfsDutyTimer
jmarkel44 261:4e9a588c938e 230 // description: stop the high failsafe duty timer
jmarkel44 261:4e9a588c938e 231 //
jmarkel44 261:4e9a588c938e 232 // @param none
jmarkel44 261:4e9a588c938e 233 // @return none
jmarkel44 261:4e9a588c938e 234 //
jmarkel44 261:4e9a588c938e 235 void FailsafeControl::stopHfsDutyTimer(void)
jmarkel44 261:4e9a588c938e 236 {
jmarkel44 261:4e9a588c938e 237 printf("\r%s invoked\n", __func__);
jmarkel44 261:4e9a588c938e 238 memset(&duty_timer, 0, sizeof(duty_timer));
jmarkel44 252:3c9863f951b7 239 }
jmarkel44 252:3c9863f951b7 240
jmarkel44 261:4e9a588c938e 241 //
jmarkel44 261:4e9a588c938e 242 // method: startLfsDutyTimer
jmarkel44 261:4e9a588c938e 243 // descrption: start the low failsafe duty-timer
jmarkel44 261:4e9a588c938e 244 //
jmarkel44 261:4e9a588c938e 245 // @param none
jmarkel44 261:4e9a588c938e 246 // @return none
jmarkel44 261:4e9a588c938e 247 //
jmarkel44 261:4e9a588c938e 248 void FailsafeControl::startLfsDutyTimer(void)
jmarkel44 261:4e9a588c938e 249 {
jmarkel44 261:4e9a588c938e 250 unsigned long currentTime = time(NULL);
jmarkel44 261:4e9a588c938e 251 unsigned long period = lfs_data.interval * 60;
jmarkel44 261:4e9a588c938e 252
jmarkel44 261:4e9a588c938e 253 duty_timer.offTime = (double)period * ((double)lfs_data.dutyCycle/100.0);
jmarkel44 261:4e9a588c938e 254 duty_timer.expirationTime = currentTime + period;
jmarkel44 261:4e9a588c938e 255 }
jmarkel44 261:4e9a588c938e 256
jmarkel44 261:4e9a588c938e 257 //
jmarkel44 261:4e9a588c938e 258 // method: stopLfsDutyTimer
jmarkel44 261:4e9a588c938e 259 // description: stop the low failsafe duty-timer
jmarkel44 261:4e9a588c938e 260 //
jmarkel44 261:4e9a588c938e 261 // @param none
jmarkel44 261:4e9a588c938e 262 // @return none
jmarkel44 261:4e9a588c938e 263 //
jmarkel44 261:4e9a588c938e 264 void FailsafeControl::stopLfsDutyTimer(void)
jmarkel44 252:3c9863f951b7 265 {
jmarkel44 262:696cd48bb04a 266 printf("\r%s invoked\n", __func__);
jmarkel44 262:696cd48bb04a 267 memset(&duty_timer, 0, sizeof(duty_timer));
jmarkel44 261:4e9a588c938e 268 }
jmarkel44 261:4e9a588c938e 269
jmarkel44 261:4e9a588c938e 270 //
jmarkel44 261:4e9a588c938e 271 // method: dutyOnExpired
jmarkel44 261:4e9a588c938e 272 // description: returns true if ON cycle has expired; false otherwise
jmarkel44 261:4e9a588c938e 273 //
jmarkel44 261:4e9a588c938e 274 // @param none
jmarkel44 261:4e9a588c938e 275 // @return none
jmarkel44 261:4e9a588c938e 276 //
jmarkel44 261:4e9a588c938e 277 bool FailsafeControl::dutyOnExpired(void)
jmarkel44 261:4e9a588c938e 278 {
jmarkel44 261:4e9a588c938e 279 return (duty_timer.offTime < time(NULL));
jmarkel44 261:4e9a588c938e 280 }
jmarkel44 261:4e9a588c938e 281
jmarkel44 261:4e9a588c938e 282 //
jmarkel44 261:4e9a588c938e 283 // method: dutyOffExpired
jmarkel44 261:4e9a588c938e 284 // description: returns true if OFF cycle has expired; false otherwise
jmarkel44 261:4e9a588c938e 285 //
jmarkel44 261:4e9a588c938e 286 // @param none
jmarkel44 261:4e9a588c938e 287 // @return none
jmarkel44 261:4e9a588c938e 288 //
jmarkel44 261:4e9a588c938e 289 bool FailsafeControl::dutyOffExpired(void)
jmarkel44 261:4e9a588c938e 290 {
jmarkel44 262:696cd48bb04a 291 return (duty_timer.expirationTime < time(NULL));
jmarkel44 252:3c9863f951b7 292 }
jmarkel44 252:3c9863f951b7 293
jmarkel44 252:3c9863f951b7 294 //
jmarkel44 260:fe726583ba1d 295 // method: sendMailToOutput
jmarkel44 252:3c9863f951b7 296 // description: send mail to the output task
jmarkel44 252:3c9863f951b7 297 //
jmarkel44 252:3c9863f951b7 298 // @param io_tag -> input/output tag
jmarkel44 252:3c9863f951b7 299 // @param action -> ON, OFF, UNREGISTER
jmarkel44 252:3c9863f951b7 300 // @return none
jmarkel44 252:3c9863f951b7 301 //
jmarkel44 260:fe726583ba1d 302 void FailsafeControl::sendMailToOutput(OutputAction action)
jmarkel44 252:3c9863f951b7 303 {
jmarkel44 252:3c9863f951b7 304 logInfo("%s: failsafe control attempting to send action %d\n",
jmarkel44 252:3c9863f951b7 305 __func__, action);
jmarkel44 252:3c9863f951b7 306
jmarkel44 252:3c9863f951b7 307 OutputControlMsg_t *output_mail = OutputMasterMailBox.alloc();
jmarkel44 252:3c9863f951b7 308 memset(output_mail, 0, sizeof(OutputControlMsg_t));
jmarkel44 252:3c9863f951b7 309
jmarkel44 252:3c9863f951b7 310 output_mail->action = action;
jmarkel44 252:3c9863f951b7 311 output_mail->controlType = CONTROL_FAILSAFE;
jmarkel44 252:3c9863f951b7 312 output_mail->priority = this->priority;
jmarkel44 252:3c9863f951b7 313
jmarkel44 252:3c9863f951b7 314 strncpy(output_mail->input_tag, this->input.c_str(), sizeof(output_mail->input_tag)-1);
jmarkel44 252:3c9863f951b7 315 strncpy(output_mail->output_tag, this->output.c_str(), sizeof(output_mail->output_tag)-1);
jmarkel44 252:3c9863f951b7 316 strncpy(output_mail->id, this->id.c_str(), sizeof(output_mail->id)-1);
jmarkel44 252:3c9863f951b7 317
jmarkel44 252:3c9863f951b7 318 OutputMasterMailBox.put(output_mail);
jmarkel44 252:3c9863f951b7 319 }
jmarkel44 252:3c9863f951b7 320
jmarkel44 252:3c9863f951b7 321
jmarkel44 250:1cd8ec63e9e9 322 //
jmarkel44 260:fe726583ba1d 323 // method: unregisterControl
jmarkel44 260:fe726583ba1d 324 // description: unregister this control with the output task
jmarkel44 260:fe726583ba1d 325 //
jmarkel44 260:fe726583ba1d 326 // @param none
jmarkel44 260:fe726583ba1d 327 // @return none
jmarkel44 260:fe726583ba1d 328 //
jmarkel44 260:fe726583ba1d 329 void FailsafeControl::unregisterControl(void)
jmarkel44 260:fe726583ba1d 330 {
jmarkel44 260:fe726583ba1d 331 logInfo("%s: %s attempting to unregister %s\n",
jmarkel44 260:fe726583ba1d 332 __func__, controlFile.c_str());
jmarkel44 260:fe726583ba1d 333
jmarkel44 260:fe726583ba1d 334 OutputControlMsg_t *output_mail = OutputMasterMailBox.alloc();
jmarkel44 260:fe726583ba1d 335 memset(output_mail, 0, sizeof(OutputControlMsg_t));
jmarkel44 260:fe726583ba1d 336
jmarkel44 260:fe726583ba1d 337 output_mail->action = ACTION_CONTROL_UNREGISTER;
jmarkel44 260:fe726583ba1d 338 output_mail->controlType = CONTROL_FAILSAFE;
jmarkel44 260:fe726583ba1d 339 output_mail->priority = this->priority;
jmarkel44 260:fe726583ba1d 340 strncpy(output_mail->output_tag, this->output.c_str(), sizeof(output_mail->output_tag)-1);
jmarkel44 260:fe726583ba1d 341 strncpy(output_mail->id, this->id.c_str(), sizeof(output_mail->id)-1);
jmarkel44 260:fe726583ba1d 342
jmarkel44 260:fe726583ba1d 343 OutputMasterMailBox.put(output_mail);
jmarkel44 260:fe726583ba1d 344 }
jmarkel44 260:fe726583ba1d 345
jmarkel44 260:fe726583ba1d 346 //
jmarkel44 250:1cd8ec63e9e9 347 // method: display
jmarkel44 250:1cd8ec63e9e9 348 // description: display the pertinents
jmarkel44 250:1cd8ec63e9e9 349 //
jmarkel44 250:1cd8ec63e9e9 350 // @param none
jmarkel44 250:1cd8ec63e9e9 351 // @return none
jmarkel44 250:1cd8ec63e9e9 352 //
jmarkel44 250:1cd8ec63e9e9 353 void FailsafeControl::display(void)
jmarkel44 250:1cd8ec63e9e9 354 {
jmarkel44 250:1cd8ec63e9e9 355 const char *mapper[] = { "INIT",
jmarkel44 250:1cd8ec63e9e9 356 "START",
jmarkel44 250:1cd8ec63e9e9 357 "CONTROL_OFF",
jmarkel44 250:1cd8ec63e9e9 358 "LFS_ON",
jmarkel44 250:1cd8ec63e9e9 359 "LFS_OFF",
jmarkel44 250:1cd8ec63e9e9 360 "HFS_ON",
jmarkel44 250:1cd8ec63e9e9 361 "HFS_OFF",
jmarkel44 250:1cd8ec63e9e9 362 "invalid"
jmarkel44 250:1cd8ec63e9e9 363 };
jmarkel44 250:1cd8ec63e9e9 364
jmarkel44 250:1cd8ec63e9e9 365 printf("\r\n");
jmarkel44 250:1cd8ec63e9e9 366 std::cout << left << setw(10) << setfill(' ') << "failsafe: ";
jmarkel44 253:ae850c19cf81 367 std::cout << left << setw(40) << setfill(' ') << controlFile;
jmarkel44 250:1cd8ec63e9e9 368 std::cout << left << setw(20) << setfill(' ') << id;
jmarkel44 250:1cd8ec63e9e9 369 std::cout << left << setw(6) << setfill(' ') << priority;
jmarkel44 250:1cd8ec63e9e9 370 std::cout << left << setw(20) << setfill(' ') << input;
jmarkel44 250:1cd8ec63e9e9 371 std::cout << left << setw(20) << setfill(' ') << output;
jmarkel44 250:1cd8ec63e9e9 372 std::cout << left << setw(16) << setfill(' ') << mapper[currentState];
jmarkel44 252:3c9863f951b7 373 std::cout << left << setw(12) << setfill(' ') << "lfs-> "
jmarkel44 252:3c9863f951b7 374 << lfs_data.value << ":" << lfs_data.dutyCycle << ":" << lfs_data.interval;
jmarkel44 252:3c9863f951b7 375 std::cout << right << setw(12) << setfill(' ') << "hfs-> "
jmarkel44 252:3c9863f951b7 376 << hfs_data.value << ":" << hfs_data.dutyCycle << ":" << hfs_data.interval;
jmarkel44 250:1cd8ec63e9e9 377
jmarkel44 250:1cd8ec63e9e9 378 std::cout.flush();
jmarkel44 252:3c9863f951b7 379 }