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

1 files changed, 22 insertions, 12 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index f5462e398..fafc43fb5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -15,6 +15,8 @@
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 
+#include <utils/ustdlib.h>
+
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
@@ -178,7 +180,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     pooler_counter++;
     if (pooler_counter%10 == 0)
     {
-        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
+        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false, "Progress");
         //SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false);
 
     }
@@ -259,6 +261,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     int32_t TranslatedReadValue, avreageSampleValue = 0;
     uint32_t calculated_speed;
     double NormalizedError;
+    char Message[60];
+
     if (IfIndex>>8 != IfTypeThread)
     {
         LOG_ERROR (IfIndex, "Wrong  Interface type");
@@ -293,7 +297,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         //TranslatedReadValue = 0;//test
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
-        if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0;
+        if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
+            MotorSamplePointer[index] = 0;
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
@@ -301,7 +306,9 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
         {
-            EndState(CurrentJob);
+             usnprintf(Message, 60, "Dancer % limit%d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
+
+            EndState(CurrentJob,Message );
         }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
@@ -472,7 +479,9 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 //set the speed only before the first segment, speed is constant accros job
     JobTicket* JobTicket = JobDetails;
 
-    float process_speed = JobTicket->processparameters->dyeingspeed;
+    float process_speed;
+    if (JobTicket->processparameters)
+        process_speed= JobTicket->processparameters->dyeingspeed;
 
     SetOriginMotorSpeed(process_speed);
     //ControlStart();
@@ -483,14 +492,14 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
  //only for testing - when control works, these motors will take their speed from the dryer
     //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
 
-//#warning rocker disabled
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize)
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5);
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize)
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5);
-//#warning rocker disabled
+#warning rocker disabled
+//    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize)
+//        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
+//    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5);
+//    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize)
+//        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
+//    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5);
+#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
@@ -506,6 +515,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     {
         ThreadUpdateProcessLength (0,(void *)NULL);
         PreSegmentReady(Module_Thread,ModuleDone);
+        JobCounter = 0;
         InitialProcess = false;
     }