TempController.cpp

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/*
Compile and link:
    g++ TemController.cpp CSC5262.cpp -L../ -lhubo -lpthread -lrt -o TemController
Run:
    sudo ./TemController
Purpose:
    The demo uses a Raspberry Pi to illustrate:
    - a 2-way controller that reads a MCP9701 temperature on analog input channel 0 and switches RCSocket (31/1) and relay 7
      when the temperature is out of limits TEMP_ON and TEMP_OFF.
    - a 2-way controller that reads the darkness of a foto resistor on analog input channel 1 and switches relay 6 
      when the the digits are out of limits LIGHT_ON and LIGHT_OFF.
*/

#include <stdio.h>
#include <assert.h>
#include <pthread.h>    

#include "../hubolib.h"
#include "../hubocfg.h"
#include "CSC5262.h"

using namespace std;
using namespace HuboLib;
using namespace BCM2835;


// Global initialization.
bool InitializeApplication      ();

// Initialize Hubo hardware.
bool InitializeHuboHardware     ();

// Helper for temporary priority changes.
bool SaveThreadPriority         ();
void BoostThreadPriority        ();
void RestoreThreadPriority      ();
sched_param                     g_param;
int                             g_policy        = 0;
pthread_t                       g_threadHandle  = 0;

// RCSocket to control remote switches.
#define FAMILY_CODE             (31)
#define TEMP_CONTROLLER_SOCKET  (1)
#define REED_CONTACT_SOCKET     (2)
CSC5262 rcSwitch                (350, 17, true);

// Temperature control
// Sensor:      MCP9701(A) on analog input 0
// Actuator:    RCSocket 31/1, Relay 7
void TemperatureControl         ();
bool GetTemperature             (int channel, double& temperature);
#define TEMP_ON                 (27.0)
#define TEMP_OFF                (29.0)
#define TEMP_SENSOR_AI_CHANNEL  (0)
#define TEMP_CONTROLLER_RELAY   (7)

// Light control 
// Sensor:      foto resistor on voltage devider (of 5V) on analog input 1
// Actuator:    Relay 6
void BrightnessControl          ();
bool GetDarkness                (int channel, unsigned short& brightness);
#define LIGHT_OFF               (2000)
#define LIGHT_ON                (2500)
#define LIGHT_SENSOR_AI_CHANNEL (1)
#define LIGHT_CONTROLLER_RELAY  (6)


int main(int argc, char *argv[])
{
    // Initialization.
    if (!InitializeApplication())
    {
        printf ("Failed to initialize. Are you running the program as sudoer?\n");
        return -1;
    }       

    while (1)
    {
        // Update brightsness controller.
        BrightnessControl();

        // Update temperature controller.
        TemperatureControl();

        // Sleep some time.
        Delay_MicroSeconds(1000L*1000L);
    }
    
    // Even if we should never get here...
    Uninitialize();
    
    return 0;
}

void BrightnessControl ()
{
    unsigned short darkness = 0;
    if (!GetDarkness (LIGHT_SENSOR_AI_CHANNEL, darkness))
        return;
    
    // printf ("Darkness = %d digit.\n", darkness);

    if (darkness > LIGHT_ON)
    {
        // Turn relay on.
        Set_DO_Channel(LIGHT_CONTROLLER_RELAY, true);
    }
    else
        if (darkness < LIGHT_OFF)
        {
            // Turn relay off.
            Set_DO_Channel(LIGHT_CONTROLLER_RELAY, false);
        }
        else 
            printf ("-> no change.\n");
}

bool GetDarkness (int channel, unsigned short& darkness)
{
    unsigned long   adcCount; 
    double          volt;
    
    if (!Get_AI_Channel (channel, adcCount, volt))
        return false;
    
    darkness = (unsigned short) adcCount;

    return true;
}

void TemperatureControl ()
{
    double temperature = 0.0;
    if (!GetTemperature (TEMP_SENSOR_AI_CHANNEL, temperature))
        return;
    
    printf ("Temperature = %lf deg. C ", temperature);

    BoostThreadPriority ();

    if (temperature < TEMP_ON)
    {
        // Turn heating rc switch on.
        printf ("-> heating on.\n");
        rcSwitch.SwitchSocket(FAMILY_CODE, TEMP_CONTROLLER_SOCKET, true, 4, 10);
        
        // Turn relay on.
        Set_DO_Channel(TEMP_CONTROLLER_RELAY, true);
    }
    else
        if (temperature > TEMP_OFF)
        {
            // Turn heating rc switch off.
            printf ("-> heating off.\n");
            rcSwitch.SwitchSocket(FAMILY_CODE, TEMP_CONTROLLER_SOCKET, false, 4, 10);       

            // Turn relay off.
            Set_DO_Channel(TEMP_CONTROLLER_RELAY, false);
        }
        else 
            printf ("-> no change.\n");

    RestoreThreadPriority ();
}

bool GetTemperature (int channel, double& temperature)
{
    unsigned long   adcCount; 
    double          volt;
    
    if (!Get_AI_Channel (channel, adcCount, volt))
        return false;
    
    temperature = Get_MCP9701_Temperature(volt);

    return true;
}

bool InitializeApplication()
{
    // Try reading thread scheduling information.
    if (!SaveThreadPriority())
    {
        printf ("Failed to save scheduling parameter. Are you running the program as sudoer?\n");
        return false;
    }   

    // If this call doesn't return true then we must not use the GPIO part of Hubo library!
    printf ("Initializing GPIO.\n");
    if (!IsGPIOInitialized ())
    {
        printf ("GPIO not properly initialized. Are you running the program as sudoer?\n");
        return false;
    }
    
    // Initialize Hubo hardware and expect at least one slave board installed.
    if (!InitializeHuboHardware ())
    {
        printf ("Hubo hardware containing at least one cascaded slave could not be found.\n");
        return false;
    }

    return true;
}

bool InitializeHuboHardware()
{
    // If required - set the I2C device to work with. The Raspberry Pi uses "/dev/i2c-1" which is default, the Banana Pi uses "/dev/i2c-0"
    #ifdef BPI
        g_I2CConfig.m_sI2CDevice = "/dev/i2c-0";
    #endif

    printf ("Initializing Hubo hardware.\n");

    // Initialize the library once in your program.
    Initialize();
    Set_Cycle_Time(20);

    // Wait until all background buffers are filled.

    // Define all channels to be read (set to 1) from the ADC.
    unsigned short overSampling[MAX_MCP3x08_CHANNELS] = { 1, 1, 1, 1, 1, 1, 1, 1 };
    Set_MCP3x08_Oversampling (overSampling);
    
    // Wait as long until we have valid values in the buffer.
    printf ("Waiting for MCP3x08 buffered values... ");
    Wait_For_MCP3x08_Buffered_Values();
    printf ("received.\n");

    printf ("Waiting for MCP23017 buffered values... ");
    Wait_For_MCP23017_Buffered_Values ();
    printf ("received.\n");

    return true;
}

bool SaveThreadPriority()
{
    printf ("Saving thread parameters.\n");

    // Thread handle.
    g_threadHandle = pthread_self();

    // Save current scheduling parameters of thread.
    int ret = pthread_getschedparam (g_threadHandle, &g_policy, &g_param);
    
    assert (ret == 0);
    return ret == 0;
}

void BoostThreadPriority()
{
    // Scheduling params.
    sched_param param = g_param;

    // Set scheduling parameters of thread to real time values (FIFO scheduling type and max prio).
    param.sched_priority = sched_get_priority_max(SCHED_FIFO); // New max priority for new scheduling concept.
    int ret              = pthread_setschedparam(g_threadHandle, SCHED_FIFO, &param);
    assert (ret == 0);
}

void RestoreThreadPriority()
{
    // Restore scheduling parameters of thread.
    int ret = pthread_setschedparam(g_threadHandle, g_policy, &g_param);
    assert (ret == 0);
}