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

2 files changed, 24 insertions, 7 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
index 8a075bfd4..db15a9ffd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
@@ -44,7 +44,7 @@ bool WHS_IsContainerFull();
 bool WHS_WasteCartridgeLowerPresent();
 bool WHS_WasteCartridgeMiddlePresent();
 bool WHS_IsEmptying();
-uint32_t Waste_CheckState(void);
+uint32_t Waste_CheckState(int *AlarmId);
 uint32_t Waste_Prepare(void);
 bool WHS_IsVocPpmOverAlarmLimit();
 void setWastePrepareValues(float HeadLimit,float WasteLimit);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 1de7f1319..bfed5d0ee 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -22,6 +22,7 @@
 #include "CartridgeValidationResponse.pb-c.h"
 #include "Modules/General/buttons.h"
 #include "modules/General/process.h"
+#include "Modules/General/MachineStatus.h"
 #include "Modules/IFS/ifs.h"
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h>
@@ -36,7 +37,7 @@ bool DoorState = OPEN;
 uint32_t timeout_counter = 0;
 int wasteLevel = 0;
 WasteCartridgeEnum SelectedCard = MaxWasteCartridges;
-CartridgeStateEnum CartState[MaxWasteCartridges];
+CartridgeStateEnum CartState[MaxWasteCartridges];// = {CartridgeStateOUT,CartridgeStateOUT,CartridgeStateOUT};
 uint32_t Cartridge_Cover_Control;
 button *CartLed[MaxWasteCartridges] = {0, &cart2, &cart3};
 WasteTankStateEnum WasteTankState = WasteTankStateIdle;
@@ -65,6 +66,7 @@ void cartCART_INSERTED (WasteCartridgeEnum CartId)
     if (CartState[CartId] != CartridgeStateOUT)
         Report("Cartridges Cart inserted wrong state", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
     CartState[CartId] = CartridgeStateIN;
+    Pannel_Leds((CartId == WasteCartridge_middle)?CART_2:CART_3, MODE_ON);
     CartLed[CartId]->color = colorON;
 
     Report("Cartridges Cart inserted", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
@@ -77,6 +79,7 @@ void cartCART_EXTRACTED(WasteCartridgeEnum CartId) //{called from polling functi
 
     Report("Cartridges Cart extracted", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
     CartState[CartId] = CartridgeStateOUT;
+    Pannel_Leds((CartId == WasteCartridge_middle)?CART_2:CART_3, MODE_OFF);
     CartLed[CartId]->color = colorOFF;
     if (init==0)
         WHS_Set_IFS_Clearing_Suction(NUM_OF_MIDTANKS);
@@ -259,6 +262,10 @@ bool RdWasteTankOverFlowSensor()
     return 0;
 }
 
+int WHS_GetCartridgeFillPercent()
+{
+    return (((wasteLevel - wasteLevelEmpty) * 100) / WASTE_CARTRIDGE_SIZE);
+}
 bool WHS_IsContainerFull()
 {
     return RdWasteTankFullSensor();
@@ -343,6 +350,7 @@ void Waste_StateMachine_OneSecond_Call(void)
     if ((Is_Cartridge_Present(CART_2) != cartGetPresence(WasteCartridge_middle)) || (init)) {
         if (Is_Cartridge_Present(CART_2)) {
             cartCART_INSERTED(WasteCartridge_middle);
+            CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle, CARTRIDGE_STATE__Inserted, 0);
         } else {
             cartCART_EXTRACTED(WasteCartridge_middle);
         }
@@ -350,6 +358,7 @@ void Waste_StateMachine_OneSecond_Call(void)
     if ((Is_Cartridge_Present(CART_3) != cartGetPresence(WasteCartridge_lower)) || (init)) {
         if (Is_Cartridge_Present(CART_3)) {
             cartCART_INSERTED(WasteCartridge_lower);
+            CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower, CARTRIDGE_STATE__Inserted, 0);
         } else {
             cartCART_EXTRACTED(WasteCartridge_lower);
         }
@@ -451,15 +460,18 @@ void Waste_StateMachine(void)
 
             //start  emptying
             WasteTankState = WasteTankStateEmptying;
+            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, 0);
             break;
         case WasteTankStateEmptying:
             // if time out or emptying done - idle
+            activeCart = cartGetActiveCart();
             if (timeout_counter++ > WASTE_EMPTING_TIMEOUT) {
                 SetWastePump(CLOSE);
                 cartFILLING_END();
                 // RFID change status - TBD
                 WasteTankState = WasteTankStateIdle;
                 Report("WasteTankStateEmptying TimeOut", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
                 AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  true);
                 RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying);
                 timeout_counter = 0;
@@ -473,8 +485,10 @@ void Waste_StateMachine(void)
                 //if (cartNotAllFull() == false)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 Report("WasteTankStateEmptying done", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent());
                 timeout_counter = 0;
             }
+            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent());
 #ifdef WHS_DEBUG
             wasteLevel -= 100;
             timeout_counter += 10;
@@ -495,7 +509,7 @@ void Waste_StateMachine(void)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 Report("WasteTankStatePaused done", __FILE__, __LINE__, 0, RpMessage, 0, 0);
                 timeout_counter = 0;
-
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
             }
             break;
         default:
@@ -503,7 +517,7 @@ void Waste_StateMachine(void)
             break;
     }
 }
-uint32_t Waste_CheckState(void)
+uint32_t Waste_CheckState(int *AlarmId)
 {
     //check if the waste is ready to run - waste level not above overflow level and no cartridge in the slots
     if (wasteLevel > wasteLevelOverflow)
@@ -512,6 +526,7 @@ uint32_t Waste_CheckState(void)
         JobEndReason = JOB_SAFETY_CRITICAL_ALARM;
         usnprintf(AlarmReasonStr, 100, "cannot start a job with waste tank overflow");
         AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW,  true);
+        *AlarmId = EVENT_TYPE__WASTE_CONTAINER_OVERFLOW;
         //PrepareReady(Module_Waste,ModuleFail);
         return JOB_SAFETY_CRITICAL_ALARM;
     }
@@ -525,6 +540,7 @@ uint32_t Waste_CheckState(void)
         Report("cannot start a job with cartridges in the IFS", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
         JobEndReason = JOB_WASTE_HANDLING_PROBLEM;
         AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
+        *AlarmId = EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL;
         usnprintf(AlarmReasonStr, 100, "cannot start a job with cartridges in the IFS");
         //PrepareReady(Module_Waste,ModuleFail);
         return JOB_WASTE_HANDLING_PROBLEM;
@@ -565,7 +581,7 @@ uint32_t Waste_PrepareCallbak(uint32_t IfIndex, uint32_t ReadValue)
             Report("Module waste HeadOut_FlowReady ready", __FILE__, __LINE__, (int)(HeadOut_Flow*100), RpMessage, WHS_FlowReady, 0);
         HeadOut_FlowReady = true;
     }
-    if (Head_Type <HEAD_TYPE_FLAT)
+    if (Head_Type <=HEAD_TYPE_FLAT)
         headready = true;
     else if ((HeadIn_FlowReady == true)&&(HeadOut_FlowReady == true))
         headready = true;
@@ -609,6 +625,7 @@ bool WHS_IsVocPpmOverAlarmLimit()
     if( (  Latest_Gas_Sens_PPM > VocPpmAlarmLimit                                        ) ||     //PPM
         ( (Latest_Gas_Sens_PPM > VocPpmAlarmLimit90Percent) && (ReadingVocEverySec == true) )     ) //Hysteresis
     {
+        Report("VOC nearing alarm state", __FILE__, (int)(Latest_Gas_Sens_PPM*100), VocPpmAlarmLimit, RpMessage, counter, 0);
         //reading every sec
         ReadingVocEverySec = true;
         if(counter < 0xFF)
@@ -616,11 +633,11 @@ bool WHS_IsVocPpmOverAlarmLimit()
             counter++;
         }
 
-        if(counter > VocPpmLimitForXSec)//Sec
+        /*if(counter > VocPpmLimitForXSec)//Sec
         {
             AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE,true);
             return true;//Buzzer ON if defined
-        }
+        }*/
     }
     else
     {