fix length calculation. read break sensor and log error

change communication tasks priorities

1 files changed, 13 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 5bf666383..6a0bac394 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -184,6 +184,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     if (MotorDataIndex == 99) MotorDataIndex = 0;
     static int pooler_counter = 0;
     pooler_counter++;
+    TotalProcessedLength+= (length/100);
     if (pooler_counter%10 == 0)
     {
         if (PrepareState == true)
@@ -195,7 +196,6 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         }
         else
         {
-            TotalProcessedLength+= (length/100);
             SendJobProgress(TotalProcessedLength,0,false, "Progress");
         }
 
@@ -353,7 +353,18 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
         //Stop Execution if the dancer moves too much
-
+        if (index == POOLER_MOTOR)
+        {
+            if (JobCounter > eOneSecond)
+            {
+                if (ReadBreakSensor()==ERROR)
+                {
+                    LOG_ERROR(index, "ReadBreakSensor Error");
+                    //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
+                   //EndState(CurrentJob,"ReadBreakSensor Error" );
+                }
+            }
+        }
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
         {
              usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);