fix bug where thread jogging caused next jobs to be without ink, and other small problems

9 files changed, 87 insertions, 54 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index c8fdb452e..169cf5a11 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -245,65 +245,67 @@ void DiagnosticLoadMotor(int MotorId, int frequency)
     if (MotorCounterIndex[MotorId]>=DIAGNOSTICS_LIMIT )
         MotorCounterIndex[MotorId] = 0;
 }
-void DiagnosticsLoadDigitalValues(void)
+uint32_t DiagnosticsLoadDigitalValues(void)
 {
-    DigitalOutputState[0].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR3_CTRL;
+    uint32_t index = 0;
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR3_CTRL;
     if(F2_CTRL_Reg.ushort & CLEANER_PUMP_SSR3_CTRL)
-        DigitalOutputState[0].value = true;
+        DigitalOutputState[index++].value = true;
     else
-        DigitalOutputState[0].value = false;
+        DigitalOutputState[index++].value = false;
 
-    DigitalOutputState[1].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR1_CTRL;
-    DigitalOutputState[1].value = GetHeaterState(1);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR1_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(1);
 
-    DigitalOutputState[2].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR2_CTRL;
-    DigitalOutputState[2].value = GetHeaterState(2);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DRYER_SSR2_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(2);
 
-    DigitalOutputState[3].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR8_CTRL;
-    DigitalOutputState[3].value = GetHeaterState(3);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR8_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(3);
 
-    DigitalOutputState[4].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR7_CTRL;
-    DigitalOutputState[4].value = GetHeaterState(4);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR7_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(4);
 
-    DigitalOutputState[5].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR6_CTRL;
-    DigitalOutputState[5].value = GetHeaterState(5);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR6_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(5);
 
-    DigitalOutputState[6].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR5_CTRL;
-    DigitalOutputState[6].value = GetHeaterState(6);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DYEINGH_SSR5_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(6);
 
-    DigitalOutputState[7].interfaceio = INTERFACE_IOS__GPO_DILUTORPUMP_SSR10_CTRL;
-    DigitalOutputState[7].value = GetHeaterState(7);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_DILUTORPUMP_SSR10_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(7);
 
-    DigitalOutputState[8].interfaceio = INTERFACE_IOS__GPO_EXTWINDER_SSR11_CTRL;
-    DigitalOutputState[8].value = GetHeaterState(8);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_EXTWINDER_SSR11_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(8);
 
-    DigitalOutputState[9].interfaceio = INTERFACE_IOS__GPO_MIXCHIP_SSR4_CTRL;
-    DigitalOutputState[9].value = GetHeaterState(9);
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_MIXCHIP_SSR4_CTRL;
+    DigitalOutputState[index++].value = GetHeaterState(9);
 
-    DigitalOutputState[10].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR13_CTRL;
-    DigitalOutputState[10].value = ReadHeadMagnetBit();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR13_CTRL;
+    DigitalOutputState[index++].value = ReadHeadMagnetBit();
 
-    DigitalOutputState[11].interfaceio = INTERFACE_IOS__GPO_LED4;
-    DigitalOutputState[11].value = DataUpdated;
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED4;
+    DigitalOutputState[index++].value = DataUpdated;
 
-    DigitalOutputState[12].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_FULL;
-    DigitalOutputState[12].value = WHS_IsContainerFull();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_FULL;
+    DigitalOutputState[index++].value = WHS_IsContainerFull();
 
-    DigitalOutputState[13].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_WARN;
-    DigitalOutputState[13].value = WHS_IsContainerEmpty();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_WARN;
+    DigitalOutputState[index++].value = WHS_IsContainerEmpty();
 
-    DigitalOutputState[14].interfaceio = INTERFACE_IOS__GPO_SPARE1_1; /*waste lower cartridge presence*/
-    DigitalOutputState[14].value = WHS_WasteCartridgeLowerPresent();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_1; /*waste lower cartridge presence*/
+    DigitalOutputState[index++].value = WHS_WasteCartridgeLowerPresent();
 
-    DigitalOutputState[15].interfaceio = INTERFACE_IOS__GPO_SPARE1_2; /*waste middle cartridge presence*/
-    DigitalOutputState[15].value = WHS_WasteCartridgeMiddlePresent();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_2; /*waste middle cartridge presence*/
+    DigitalOutputState[index++].value = WHS_WasteCartridgeMiddlePresent();
 
-    DigitalOutputState[16].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR12_CTRL; /*lubricant valve*/
-    DigitalOutputState[16].value = GetLubricantState();
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR12_CTRL; /*lubricant valve*/
+    DigitalOutputState[index++].value = GetLubricantState();
 
-    DigitalOutputState[17].interfaceio = INTERFACE_IOS__GPO_TFEED_BREAK_1; /*Secondary Pump Active*/
-    DigitalOutputState[17].value = SecondaryPumpActive;
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_TFEED_BREAK_1; /*Secondary Pump Active*/
+    DigitalOutputState[index++].value = SecondaryPumpActive;
 
+    return index;
 }
 void DiagnosticLoadTemperature(int HeaterId, int temperature)
 {
@@ -682,8 +684,7 @@ void SendDiagnostics(void)
     //response.digitalpins = DigitalPinArray;
     response.n_componentsstates = 0;
 
-    DiagnosticsLoadDigitalValues();
-    response.n_digitalinterfacestates = 18;
+    response.n_digitalinterfacestates = DiagnosticsLoadDigitalValues();
     response.digitalinterfacestates = digitalinterfacestates;
 
     for (i=HEATER_TYPE__DryerAirHeater;i<=HEATER_TYPE__MixerHeater;i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index f5606f704..14c083b4d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -66,6 +66,9 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
 
     TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+    if (LoadArmRounds <= 2)
+            LoadArmRounds = 20;
+
     int speed = request->speed;
     if (speed == 0) speed = 150;
     if (MotorId <= NUM_OF_MOTORS)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
index 29d5e0b31..1e4b1c0b3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -157,6 +157,11 @@ uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
                     Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                     SysCtlDelay(180000);
                     direction = MotorsCfg[MotorId].directionthreadwize;
+                    if (request->index == LUBRICANT_DISPENSER)
+                    {
+                        REPORT_MSG (request->index, "Open lubrication valve");
+                        Lubricant_2Way_Valve (START);
+                    }
                     break;
                 case MOTOR_DIRECTION__Backward:
                     Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
@@ -204,6 +209,12 @@ uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
     MotorStop(MotorId,Hard_Hiz);
     Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
 
+    if (request->index == LUBRICANT_DISPENSER)
+    {
+        REPORT_MSG (request->index, "Close lubrication valve");
+        Lubricant_2Way_Valve (STOP);
+    }
+
     responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse,  requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size);
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index e691cad69..c979d3c1d 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -204,7 +204,7 @@ uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    uint8_t parameter = 2;
+    //uint8_t parameter = 2;
 
     if ((load.bttn_status == press) && ( ReadValue == release ))
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index de8db6f9e..a160a0d6a 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -192,8 +192,8 @@ uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
     IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
     Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
     DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
-    Task_sleep(10);
     MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
+    Task_sleep(10);
     MotorSetSpeed(motorId, InitialDispenserSpeed);
     CurrentDispenserSpeed[DispenserId] = InitialDispenserSpeed;
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 607d0d07a..043f83b7b 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -271,7 +271,15 @@ void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
          CloseJobFile();
      }
      GeneralHwReady = true;
-     REPORT_MSG (n_segments, "Finished checking the file");
+     int ActiveDispensers = 0;
+     for (Dispenser_i = 0; Dispenser_i < MAX_DYE_DISPENSERS; Dispenser_i++)
+     {
+         if (DispenserUsedInJob[Dispenser_i] == true) //we actually should check for all dispensers
+         {
+             ActiveDispensers++;
+         }
+     }
+     Report("Finished checking the file", __FILE__, __LINE__, n_segments, RpWarning,   ActiveDispensers, 0);
      return status;
 
  }
@@ -644,7 +652,7 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
  //********************************************************************************************************************
  uint32_t IDSPrepareState(void *JobDetails)
 {
-    int Motor_i, HW_Motor_Id, Pid_Id;
+    int Motor_i, Pid_Id;
     //start IDS control for all motors
     IDS_Active = true;
     Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
@@ -654,7 +662,7 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
 
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
-        HW_Motor_Id = DispenserIdToMotorId[Motor_i];
+        //HW_Motor_Id = DispenserIdToMotorId[Motor_i];
         Pid_Id = Motor_i;/*IDSMotorIdToControlId[Motor_i];*/
             DispenserControlConfig[Motor_i].m_params.MAX = 1;
             DispenserControlConfig[Motor_i].m_params.MIN = DispensersControl[Pid_Id].outputproportionalpowerlimit*-1;
@@ -1516,6 +1524,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      //MotorStop(HW_Motor_Id,Hard_Hiz);
      if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
      {
+         Report("IDS_Valve_EndValveReady start homing",__FILE__,deviceID,(int)AutoHoming_Config,RpWarning,(int)AutoHoming_JobEnd_PowerOn_off,0);
+
          if (deviceID!=LUBRICANT_DISPENSER)
          IDS_HomeDispenser (deviceID, 1000 , NULL);
      }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 9ad42d739..c68156e68 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -567,13 +567,13 @@
     {
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
         LoadArmInfo.LoadArmRounds = 0;
-        uint32_t numberOfSteps = 0;
+        //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
-        numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+        //numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         MotorControlConfig[POOLER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 4cbe1f70f..60bf8123f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -322,16 +322,19 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 #ifdef READ_SCREW_ENCODER
     int WinderRun;
      WinderRun = abs(ScrewLocationRun[1] - ScrewLocationRun[0]);
-     if ((WinderRun < 50000)&&(Add100 == false))
+     if ((WinderRun < 20000)&&(Add100 == false))
      {
-         WinderRunSum+=WinderRun;
          WinderRunSamples++;
-         WinderRunAverage = WinderRunSum/WinderRunSamples;
-         if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
+         if (WinderRunSamples>10)
          {
-             usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
-                       (int)(100*WinderRun/ScrewNumberOfSteps));
-             Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
+             WinderRunSum+=WinderRun;
+             WinderRunAverage = WinderRunSum/(WinderRunSamples-10);
+             if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
+             {
+                 usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
+                           (int)(100*WinderRun/ScrewNumberOfSteps));
+                 Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
+             }
          }
      }
      else
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 5d84bb5d0..88d62a495 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -11,6 +11,9 @@
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
 #include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+
+#include "Modules/AlarmHandling/AlarmHandling.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
@@ -49,6 +52,8 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
     HardwareMotor *request;
     if (HWrequest == NULL)
         return ERROR;
+    AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,OFF);
+
     for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++)
     {
         request = HWrequest->motors[MotorId];