merge

1 files changed, 26 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 3b17cd5dd..5390ed0a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -42,7 +42,7 @@ uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
 
 TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
 HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
-uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF};
+uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF};
 uint32_t    SpeedControlId=0xFF;
 uint32_t    PoolerSpeedControlId=0xFF;
 
@@ -582,8 +582,9 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (PoolerSpeedControlId != 0xFF)
                 {
-                    RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction);
-                    PoolerSpeedControlId = 0xFF;
+                    if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
+                        LOG_ERROR(Motor_i,"Remove Control Failed");
+                     PoolerSpeedControlId = 0xFF;
                 }
                 //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                 PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
@@ -593,7 +594,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (ControlIdtoMotorId[Motor_i] != 0xFF)
                 {
-                    RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
+                        LOG_ERROR(Motor_i,"Remove Control Failed");
                     ControlIdtoMotorId[Motor_i] = 0xFF;
                     CurrentControlledSpeed[Motor_i] = 0;
                 }
@@ -604,7 +606,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (ControlIdtoMotorId[Motor_i] != 0xFF)
                 {
-                    RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
+                        LOG_ERROR(Motor_i,"Remove Control Failed");
                     CurrentControlledSpeed[Motor_i] = 0;
                     ControlIdtoMotorId[Motor_i] = 0xFF;
                 }
@@ -614,7 +617,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (ControlIdtoMotorId[Motor_i] != 0xFF)
                 {
-                    RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
+                        LOG_ERROR(Motor_i,"Remove Control Failed");
                     CurrentControlledSpeed[Motor_i] = 0;
                     ControlIdtoMotorId[Motor_i] = 0xFF;
                 }
@@ -706,16 +710,20 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 
     return OK;
 }
+int REPSegmentId = 0;
 void ThreadInterSegmentEnded(void)
 {
+    LOG_ERROR (REPSegmentId,"ThreadInterSegmentEnded");
     PreSegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadSegmentEnded(void)
 {
+    LOG_ERROR (REPSegmentId," ThreadSegmentState");
     SegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadDistanceToSpoolEnded(void)
 {
+    LOG_ERROR (REPSegmentId," ThreadDistanceToSpoolEnded");
     DistanceToSpoolReady(Module_Thread,ModuleDone);
 }
 double seglength = 0.0;
@@ -723,8 +731,10 @@ double seglength = 0.0;
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
 {
     JobTicket* JobTicket = JobDetails;
+    REPSegmentId = SegmentId;
     seglength = JobTicket->segments[SegmentId]->length;
     CurrentSegmentId = SegmentId;
+    LOG_ERROR (seglength," ThreadSegmentState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
     return OK;
 }
@@ -733,6 +743,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
 uint32_t ThreadDistanceToSpoolState(void )
 {
     seglength = dryerbufferlength;
+    LOG_ERROR (seglength,"ThreadDistanceToSpoolState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
     return OK;
 }
@@ -753,20 +764,25 @@ char Endstr[150];
 
      if (SpeedControlId != 0xFF)
      {
-         RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
+         if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK)
+             LOG_ERROR(Motor_i,"RemoveControl Failed");
          SpeedControlId = 0xFF;
      }
      if (PoolerSpeedControlId != 0xFF)
      {
-         RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction);
+         if(RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
+             LOG_ERROR(Motor_i,"RemoveControl Failed");
          PoolerSpeedControlId = 0xFF;
      }
 
-     for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
+     for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
      {
          if (ControlIdtoMotorId[Motor_i] != 0xFF)
          {
-             RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+             if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction) == OK)
+                 ControlIdtoMotorId[Motor_i] == 0xFF;
+             else
+                 LOG_ERROR (ControlIdtoMotorId[Motor_i],"Remove Control failed");
          }
         MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
      }