Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

1 files changed, 17 insertions, 14 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 373e4bbd9..13b98bcb0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -445,7 +445,7 @@
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, 500);
 
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
-        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (2000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
+        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (5000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
 
         return OK;
     }
@@ -607,7 +607,7 @@
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                               numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
+                               numberOfSteps-400,    Thread_Load_Dryer_Loading_Callback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
@@ -1079,7 +1079,6 @@ uint32_t ThreadLoadingReport(void)
     MessageContainer responseContainer;
     bool last = false;
     StartThreadLoadingResponse response = START_THREAD_LOADING_RESPONSE__INIT;
-    ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT;
 
     if (ThreadLoadingToken[0] == 0)
         return OK;
@@ -1093,7 +1092,6 @@ uint32_t ThreadLoadingReport(void)
             if (LoadStages == THREAD_LOAD_INITIAL_TENSION)
             {
                 response.state = THREAD_LOADING_STATE__ReadyForLoading;
-                last = true;
             }
         }
         else
@@ -1101,32 +1099,30 @@ uint32_t ThreadLoadingReport(void)
             response.state = THREAD_LOADING_STATE__PreparationError;
             response.errorreason = LoadErrorMsg;
         }
-        responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
-        responseContainer.continuous = true;
     }
     else if (MessageState == 2)
     {
-        Cresponse.has_state = true;
+        response.has_state = true;
         if (LoadStatus == OK)
         {
-            Cresponse.state = THREAD_LOADING_STATE__Finalizing;
+            response.state = THREAD_LOADING_STATE__Finalizing;
             if (LoadStages >= THREAD_LOAD_JOG_THREAD)
             {
-                Cresponse.state = THREAD_LOADING_STATE__Completed;
+                response.state = THREAD_LOADING_STATE__Completed;
                 last = true;
             }
         }
         else
         {
-            Cresponse.state = THREAD_LOADING_STATE__FinalizationError;
-            Cresponse.errorreason = LoadErrorMsg;
+            response.state = THREAD_LOADING_STATE__FinalizationError;
+            response.errorreason = LoadErrorMsg;
         }
-        responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, ThreadLoadingToken, last, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size);
-        responseContainer.continuous = true;
     }
     else return ERROR;
 
     //-------------------------------------------------------------------------------------------
+    responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
+    responseContainer.continuous = true;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
@@ -1149,9 +1145,16 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer)
 uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer)
 {
     ContinueThreadLoadingRequest *request = continue_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-    ustrncpy (ThreadLoadingToken, requestContainer->token,36);
+    ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT;
+    MessageContainer responseContainer;
     MessageState = 2;
     ThreadLoadingReport();
+    responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, requestContainer->token, true, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size);
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    my_free(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
     return OK;
 
 }