some fixes from Beta +

1 files changed, 117 insertions, 30 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index fb5de9011..40000b8bb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -74,6 +74,8 @@
     int32_t keepkvalrun,keepkvalhold;
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
+    bool SecondTry = false,TryAgain = false;
+    int MessageState = 0; //0 - none, 1 = start, 2 = continue
 
     uint32_t UnloadingStart = 0;
     uint8_t NumberOfDrierLoaderCycles = 0;
@@ -112,7 +114,8 @@
         else
             return false;
     }
-    uint32_t Thread_Load_Init(void)
+    bool InitCalled = false;
+    uint32_t Thread_Load_Init(THREAD_LOAD_STAGES_ENUM Stage)
     {
         //void* buffer = NULL;
         //uint32_t Bytes = 0;
@@ -128,7 +131,8 @@
         //EEPROM_STORAGE_DRYER_CYCLES
         MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
 
-        Read_Dryer_ENC_Position();
+
+        Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0);
 
         //if (LoadArmInfo.LoadArmRounds <= 2)
         //        LoadArmInfo.LoadArmRounds = 20;
@@ -151,8 +155,12 @@
         StopInitSequence();
         memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters));
         //NumberOfDrierLoaderCycles = loadLoadArmParameters();
-        LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        if (Stage == THREAD_LOAD_INIT)
+        {
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+        }
+        InitCalled = true;
 
         return OK;
     }
@@ -179,6 +187,7 @@
             LOG_ERROR (LoadStages, "Thread_Load_Init failed");
             strcpy(LoadErrorMsg,"Thread_Load_Init failed");
             LoadStatus = ERROR;
+            TryAgain = true;
         }
         else
         {
@@ -273,13 +282,37 @@
         //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly
         return OK;
     }*/
-    uint32_t Thread_Load_Jog_Feeder_To_Middle_Point_Callback(uint32_t deviceID, uint32_t BusyFlag)
+    uint32_t Thread_Load_Jog_Feeder_To_Middle_Point_Callback(uint32_t deviceID, uint32_t Condition)
     {
-        CallbackCounter--;
-        Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
-        //storeLoadArmParameters();
-        LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        if (Condition == true)
+        {
+            CallbackCounter--;
+            Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            //storeLoadArmParameters();
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+        }
+        else
+        {
+            CallbackCounter--;
+            Report("Thread_Load_Jog_Feeder_To_Middle_Point TimeOut!",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            //storeLoadArmParameters();
+            if (SecondTry == true)
+            {
+                LoadStages++;
+                ThreadLoadStateMachine(LoadStages);
+                LoadStatus = OK;
+            }
+            else
+            {
+                TimeoutsCounter = 0;
+                load.color = fastBILNK;
+                usnprintf(LoadErrorMsg, 100, "Thread_Load_Jog_Feeder_To_Middle_Point TimeOut!");
+                LoadStatus = ERROR;
+                ThreadLoadingReport();
+                TryAgain = true;
+            }
+        }
 
         return OK;
     }
@@ -321,6 +354,7 @@
                     usnprintf(LoadErrorMsg, 100, "Load sequence timeout %d motor %d",LoadStages, MotorId);
                     LoadStatus = ERROR;
                     ThreadLoadingReport();
+                    TryAgain = true;
                 }
                 else
                 {
@@ -371,10 +405,10 @@
     uint32_t Thread_Load_Lift_Dancers(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        keepkvalhold = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].kvalhold;
+        /*keepkvalhold = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].kvalhold;
         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 40);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000);*/
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
@@ -387,8 +421,17 @@
         keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
         if (keepkvalrun>=25)
             keepkvalrun = 25;
+
+        Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0);
+
         Report("Thread_Load_Lift_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
 
+        Report("Thread_Load_Lift_right dancer",__FILE__,__LINE__,0,RpMessage,0,0);
+        keepkvalhold = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].kvalhold;
+        MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 40);
+        CallbackCounter++;
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 22,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000);
+
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 8);
@@ -489,7 +532,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,2000);
+        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,4000);
         return OK;
     }
 
@@ -529,14 +572,16 @@
     }
     float numberOfSteps = 0;
     float numberOfCycles = 0;
-    uint32_t DrierPrevLocation = 0;
+    double DrierPrevLocation = 0;
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         numberOfCycles++;
-        uint32_t temp = Control_Read_Dryer_Position(0,0);
-        if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
+
+        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,(int)TotalLoadedLen,(int)DrierPrevLocation,RpMessage,ReadValue,0);
+
+        if ((fabs (TotalLoadedLen  -DrierPrevLocation)>50  )&&(ReadValue == NOTBUSY))
         {
-            DrierPrevLocation = temp;
+            DrierPrevLocation = TotalLoadedLen ;
             //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
             //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
             if (LoadStages != THREAD_LOAD_DRYER_LOADING)
@@ -558,6 +603,8 @@
         else
         {
             LOG_ERROR(LoadStages,"Load sequence timeout - drier loading");
+            TryAgain = true;
+            SecondTry = false;
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
             MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
             TimeoutsCounter = 0;
@@ -727,6 +774,8 @@
     {
         numberOfCycles++;
         uint32_t temp = Control_Read_Dryer_Position(0,0);
+        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
+        //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
         if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
         {
             DrierPrevLocation = temp;
@@ -754,6 +803,7 @@
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
             MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-numberOfCycles);
             TimeoutsCounter = 0;
+            CallbackCounter = 0;
             if(PullerControlId != 0xFF)
             {
                 MotorStop(ThreadMotorIdToMotorId[POOLER_MOTOR],Hard_Hiz);
@@ -851,15 +901,15 @@
 
         MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation);
 
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage, LoadArmInfo.LoadArmRounds,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 //        status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
 //                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                numberOfSteps-400,    Thread_Load_Dryer_UnLoading_Callback, 10000);
 
-        Screw_Dir = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize;
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,30000);
+        Screw_Dir = 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize;
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,20000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
@@ -877,11 +927,24 @@
         {
         case THREAD_LOAD_INIT:
             //LoadStages++;
-            Thread_Load_Init();
+            MessageState = 1;
+
+            Thread_Load_Init(ReadValue);
             break;
         case THREAD_LOAD_REDUCE_HEAT:  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
             //LoadStages++;
+            MessageState = 1;
+            if (InitCalled == false)
+            {
+                REPORT_MSG(ReadValue,"Thread_Load_Init called from 1");
+                Thread_Load_Init(ReadValue);
+            }
+            else
+            {
+                REPORT_MSG(ReadValue,"Thread_Load_Init called from 0");
+            }
             Thread_Load_Reduce_Heat();
+            InitCalled = false;
             break;
         case THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION://USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINS STOPPER. MOVE SLOWLY
             //LoadStages++;
@@ -939,6 +1002,7 @@
             ThreadLoadingReport();
             break;
         case THREAD_LOAD_END:
+            MessageState = 0;
             LoadStages = THREAD_LOAD_END;
             Thread_Load_End();
             break;
@@ -961,9 +1025,19 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
         return ERROR;
     }
     Report("ThreadLoadButton",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
-    if (LoadStages > ReadValue)
+    if (LoadStatus == ERROR)
     {
-        ThreadLoadStateMachine(LoadStages+1);
+        if ((SecondTry == false)&&(TryAgain == true))
+        {
+            LoadStatus = OK;
+            SecondTry = true;
+            ThreadLoadStateMachine(LoadStages);
+        }
+        else
+        {
+            SecondTry = false;
+            ThreadLoadStateMachine(LoadStages+1);
+        }
     }
     else
     {
@@ -1071,7 +1145,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
     NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
     MotorControlConfig[index].m_mesuredParam = NormalizedError;
-    MotorControlConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
+    MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                           &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
     if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
     {
@@ -1209,7 +1283,7 @@ void ThreadLoadPollRequest(MessageContainer* requestContainer)
     stub_heating_test_poll_request__free_unpacked(request,NULL);
 }
 char ThreadLoadingToken[36+1] = {0};
-int MessageState = 0; //0 - none, 1 = start, 2 = continue
+char DefaultErrSrt[] = "OK";
 uint32_t ThreadLoadingReport(void)
 {
     MessageContainer responseContainer;
@@ -1219,7 +1293,14 @@ uint32_t ThreadLoadingReport(void)
     if (ThreadLoadingToken[0] == 0)
         return OK;
 
-    if (MessageState == 1)
+    if (MessageState == 0)
+    {
+        response.has_state = true;
+        response.state = THREAD_LOADING_STATE__None;
+        response.errorreason = DefaultErrSrt;
+
+    }
+    else if (MessageState == 1)
     {
         response.has_state = true;
         if (LoadStatus == OK)
@@ -1228,6 +1309,7 @@ uint32_t ThreadLoadingReport(void)
             if (LoadStages == THREAD_LOAD_INITIAL_TENSION)
             {
                 response.state = THREAD_LOADING_STATE__ReadyForLoading;
+                response.errorreason = DefaultErrSrt;
             }
         }
         else
@@ -1242,10 +1324,11 @@ uint32_t ThreadLoadingReport(void)
         if (LoadStatus == OK)
         {
             response.state = THREAD_LOADING_STATE__Finalizing;
-            if (LoadStages >= THREAD_LOAD_JOG_THREAD)
+            if (LoadStages > THREAD_LOAD_JOG_THREAD)
             {
                 response.state = THREAD_LOADING_STATE__Completed;
-                last = true;
+                response.errorreason = DefaultErrSrt;
+                //last = true;
             }
         }
         else
@@ -1273,7 +1356,7 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer)
 {
     StartThreadLoadingRequest *request = start_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (ThreadLoadingToken, requestContainer->token,36);
-    MessageState = 1;
+    //MessageState = 1;
     Report("StartThreadLoadingFunc",__FILE__,__LINE__,0,RpWarning,(int)LoadStages,0);
     ThreadLoadingReport();
     return OK;
@@ -1301,6 +1384,10 @@ uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer)
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
+    if (LoadStages == THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+    {
+        ThreadLoadStateMachine(LoadStages);
+    }
     return OK;
 
 }
@@ -1311,7 +1398,7 @@ uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer)
     MessageContainer responseContainer;
     MessageState = 2;
     Thread_Load_End();
-    Report("StopThreadLoadingFunc",__FILE__,__LINE__,(int)11,RpWarning,(int)LoadStages,0);
+    Report("StopThreadLoadingFunc",__FILE__,__LINE__,0xFF,RpWarning,(int)LoadStages,0);
 
     responseContainer = createContainer(MESSAGE_TYPE__StopThreadLoadingResponse, requestContainer->token, true, &Cresponse, &stop_thread_loading_response__pack, &stop_thread_loading_response__get_packed_size);
     responseContainer.continuous = false;