Changed actuator state to be an atomic bool

pad_server/src/actuator.c

@@ -1,4 +1,5 @@
 #include "state.h"
+#include <stdatomic.h>
 #include <stdint.h>
 
 /* String names of the actuators. */
@@ -29,7 +30,7 @@ static const char *ACTUATOR_STR[] = {
  */
 void actuator_init(actuator_t *act, uint8_t id, actuate_f on, actuate_f off, void *priv) {
     act->id = id;
-    act->state = false;
+    act->state = ATOMIC_VAR_INIT(false);
     act->on = on;
     act->off = off;
     act->priv = priv;
@@ -40,14 +41,41 @@ void actuator_init(actuator_t *act, uint8_t id, actuate_f on, actuate_f off, voi
  * @param act The actuator to turn on.
  * @return 0 for success, an error code on failure.
  */
-int actuator_on(actuator_t *act) { return act->on(act); }
+int actuator_on(actuator_t *act) {
+    int err = act->on(act);
+    if (err == -1) {
+        return err;
+    }
+    atomic_store(&act->state, true);
+    return 0;
+}
 
 /*
  * Turn the actuator off.
  * @param act The actuator to turn off.
  * @return 0 for an error code on failure.
  */
-int actuator_off(actuator_t *act) { return act->off(act); }
+int actuator_off(actuator_t *act) {
+    int err = act->off(act);
+    if (err == -1) {
+        return err;
+    }
+    atomic_store(&act->state, false);
+    return 0;
+}
+
+/*
+ * Helper method to set the actuator status
+ * @param act The actuator
+ * @param new_state the new state for said actutator
+ */
+int actuator_set(actuator_t *act, bool new_state) {
+    if (new_state) {
+        return actuator_on(act);
+    } else {
+        return actuator_off(act);
+    }
+}
 
 /*
  * Get the string name of the actuator.

pad_server/src/actuator.h

@@ -1,6 +1,7 @@
 #ifndef _ACTUATOR_H_
 #define _ACTUATOR_H_
 
+#include <stdatomic.h>
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -34,17 +35,17 @@ typedef int (*actuate_f)(struct actuator *act);
  * Could be a valve, servo, etc.
  */
 typedef struct actuator {
-    act_id_e id;   /* The unique numeric ID of the actuator */
-    bool state;    /* The actuator state, true being on and false being off*/
-    actuate_f on;  /* Function to turn the actuator on. */
-    actuate_f off; /* Function to turn the actuator off. */
-    void *priv;    /* Any private information needed by the actuator control functions */
+    act_id_e id;       /* The unique numeric ID of the actuator */
+    atomic_bool state; /* The actuator state, true being on and false being off*/
+    actuate_f on;      /* Function to turn the actuator on. */
+    actuate_f off;     /* Function to turn the actuator off. */
+    void *priv;        /* Any private information needed by the actuator control functions */
 } actuator_t;
 
 int actuator_on(actuator_t *act);
 int actuator_off(actuator_t *act);
 void actuator_init(actuator_t *act, uint8_t id, actuate_f on, actuate_f off, void *priv);
-int actuator_set(actuator_t actuator, bool new_state);
+int actuator_set(actuator_t *act, bool new_state);
 // const char *actuator_name(actuator_t *act); Conflicts with state.h, commenting for now. - Tony
 
 #endif // _ACTUATOR_H_

pad_server/src/state.c

@@ -1,6 +1,7 @@
 #include <errno.h>
 #include <pthread.h>
 #include <semaphore.h>
+#include <stdatomic.h>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -54,31 +55,16 @@ int padstate_change_level(padstate_t *state, arm_lvl_e new_arm) {
 }
 
 /*
- * Changes the state of the actuator in a thread safe way, no checks are done
+ * Obtains state of actuator given id using
  * @param id The actuator id
- * @param new_state The new actuator state
+ * @param act_state Variable to store actuator state
  * @return 0 for success, -1 for error
  */
-int padstate_actuate(padstate_t *state, uint8_t id, bool new_state) {
-    int err;
-    err = pthread_rwlock_wrlock(&state->rw_lock);
-    if (err) return err;
-
-    state->actuators[id].state = new_state;
-
-    return pthread_rwlock_unlock(&state->rw_lock);
-}
-
 int padstate_get_actstate(padstate_t *state, uint8_t act_id, bool *act_state) {
     if (act_id >= NUM_ACTUATORS) return -1;
 
-    int err;
-    err = pthread_rwlock_rdlock(&state->rw_lock);
-    if (err) return err;
-
-    *act_state = state->actuators[act_id].state;
-
-    return pthread_rwlock_unlock(&state->rw_lock);
+    *act_state = atomic_load(&state->actuators[act_id].state);
+    return 0;
 }
 
 /*
@@ -101,10 +87,7 @@ int pad_actuate(padstate_t *state, uint8_t id, uint8_t req_state) {
         return -1;
     }
 
-    fprintf(stderr, "arming level: %d\n", arm_lvl);
-
     bool is_solenoid_valve = id >= ID_XV1 && id <= ID_XV12;
-    fprintf(stderr, "%ul\n", arm_lvl);
 
     switch (arm_lvl) {
     case ARMED_PAD:
@@ -145,17 +128,8 @@ int pad_actuate(padstate_t *state, uint8_t id, uint8_t req_state) {
         return ACT_OK;
     }
 
-    err = padstate_actuate(state, id, new_state);
-    if (err) {
-        errno = err;
-        return -1;
-    }
+    err = actuator_set(&state->actuators[id], new_state);
 
-    if (new_state == true) {
-        err = actuator_on(&state->actuators[id]);
-    } else {
-        err = actuator_off(&state->actuators[id]);
-    }
     if (err) {
         return -1;
     }

pad_server/src/state.h

@@ -21,7 +21,6 @@ typedef struct {
 void padstate_init(padstate_t *state);
 int padstate_get_level(padstate_t *state, arm_lvl_e *arm_val);
 int padstate_change_level(padstate_t *state, arm_lvl_e new_arm);
-int padstate_actuate(padstate_t *state, uint8_t id, bool new_state);
 int padstate_get_actstate(padstate_t *state, uint8_t act_id, bool *act_val);
 int pad_actuate(padstate_t *state, uint8_t id, uint8_t req_state);