some fixes in dispenser handling, implement setheaterstate, procedures and stubs updated

10 files changed, 73 insertions, 30 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index b14efbd55..307e4eecb 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -349,6 +349,9 @@ void receive_callback(char* buffer, size_t length)
          case MESSAGE_TYPE__StartEventsNotificationRequest:
              StartEventsNotificationRequestFunc(requestContainer);
              break;
+         case MESSAGE_TYPE__SetHeaterStateRequest:
+             SetHeaterStateRequestFunc(requestContainer);
+             break;
          case MESSAGE_TYPE__StopEventsNotificationRequest:
              StopEventsNotificationRequestFunc(requestContainer);
              break;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 8c12b4ea3..f33edee50 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -222,7 +222,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
     //SetMotorSpeed (deviceId, parameter);
     MotorCallback[MotorId] = callback;
     MotorTimeout[MotorId] = 0;
-    MotorTimeLag[MotorId] = 40;
+    MotorTimeLag[MotorId] = 20;
     MotorTimeLimit[MotorId] = timeout;
     if (MotorId ==HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
     {
@@ -233,7 +233,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
 
     //MotorStop(MotorId,Hard_Hiz );
     MotorMove(MotorId,direction,Steps );
-    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/40, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index e8e2e4ed0..78398119b 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -446,6 +446,7 @@ uint16_t FluidLevelWarning = 20,FluidLevelError = 50;
 int NumOfSystemAlarms = MAX_SYSTEM_ALARMS;
 //bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool EventsNotificationRequestAccepted = false;
+char AlarmReasonStr[100];
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
 //Dyeing head over temperature
@@ -594,7 +595,8 @@ void     AlarmHandlingLoadFlags(void)
     CheckCurrentAlarms = (AlarmhandlingFlags && 0x0002);
     CheckTamperAlarms = (AlarmhandlingFlags && 0x0004);
     CheckMotorAlarms = (AlarmhandlingFlags && 0x0008);
-    ReportWithPackageFilter(AlarmFilter,"Alarm group setting", __FILE__,__LINE__,0, RpMessage, 1*CheckHardLimitAlarms+2*CheckCurrentAlarms+3*CheckTamperAlarms+4*CheckMotorAlarms, 0);
+    usnprintf(AlarmReasonStr, 100, "Alarm group from EEPPROM Current %d Motor %d Tamper %d",CheckCurrentAlarms,CheckMotorAlarms,CheckTamperAlarms);
+    ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,0, RpMessage, 1*CheckHardLimitAlarms+2*CheckCurrentAlarms+3*CheckTamperAlarms+4*CheckMotorAlarms, 0);
 }
 
 void     AlarmHandlingSetFlags(bool checkHardLimitAlarms,bool checkCurrentAlarms, bool checkTamperAlarms, bool checkMotorAlarms)
@@ -604,7 +606,9 @@ void     AlarmHandlingSetFlags(bool checkHardLimitAlarms,bool checkCurrentAlarms
     CheckCurrentAlarms = checkCurrentAlarms;
     CheckTamperAlarms = checkTamperAlarms;
     CheckMotorAlarms = checkMotorAlarms;
-    ReportWithPackageFilter(AlarmFilter,"Alarm group setting", __FILE__,__LINE__,0, RpMessage, 1*CheckHardLimitAlarms+2*CheckCurrentAlarms+3*CheckTamperAlarms+4*CheckMotorAlarms, 0);
+    usnprintf(AlarmReasonStr, 100, "Alarm group setting Current %d Motor %d Tamper %d",CheckCurrentAlarms,CheckMotorAlarms,CheckTamperAlarms);
+    ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,0, RpMessage, 1*CheckHardLimitAlarms+2*CheckCurrentAlarms+3*CheckTamperAlarms+4*CheckMotorAlarms, 0);
+
     if (CheckHardLimitAlarms) flags |= 0x1;
     if (CheckCurrentAlarms) flags |= 0x2;
     if (CheckTamperAlarms) flags |= 0x4;
@@ -615,7 +619,6 @@ void     AlarmHandlingSetFlags(bool checkHardLimitAlarms,bool checkCurrentAlarms
         AlarmhandlingFlags = flags;
     }
 }
-char AlarmReasonStr[100];
 JobEndReasonEnum getEndReason(uint32_t AlarmId)
 {
     switch (AlarmItem[AlarmId].AlarmSource)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
index 00d5a2a65..c428faea3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
@@ -22,6 +22,8 @@ void HeatingTestSendResonse(uint32_t status, bool last,bool heater1Active,bool h
 uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature);
 void HeatingTestRequest(MessageContainer* requestContainer);
 void HeatingTestPollRequest(MessageContainer* requestContainer);
+void SetHeaterStateRequestFunc(MessageContainer* requestContainer);
+
 
 bool HeaterCheckReady(void);
 bool isHeaterReady(uint8_t HeaterId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 56e71b345..783e337cc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -15,6 +15,8 @@
 #include "PMR/Hardware/HardwarePidControlType.pb-c.h"
 #include "PMR/Hardware/HardwarePidControl.pb-c.h"
 #include "PMR/Hardware/HardwareBlower.pb-c.h"
+#include "PMR/Diagnostics/SetHeaterStateRequest.pb-c.h"
+#include "PMR/Diagnostics/SetHeaterStateResponse.pb-c.h"
 #include "PMR/Diagnostics/HeaterType.pb-c.h"
 #include "PMR/Diagnostics/HeaterState.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
@@ -638,6 +640,40 @@ int GetFilteredHeaterRead(int HeaterId)
  * initialized all global data
  *************************************************************************************/
 bool HeaterRestarted[HEATER_TYPE_MAX_HEATERS] = {false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false};
+
+void SetHeaterStateRequestFunc(MessageContainer* requestContainer)
+{
+
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    SetHeaterStateRequest* request = set_heater_state_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    SetHeaterStateResponse response = SET_HEATER_STATE_RESPONSE__INIT;
+
+    if (request->has_heatertype)
+    {
+        if ((request->has_isactive)&&(request->has_setpoint))
+            status = HeaterCommandRequestMessage(request->heatertype,true,request->setpoint);
+        else
+            status = HeaterCommandRequestMessage(request->heatertype,false,request->setpoint);
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__SetHeaterStateResponse, requestContainer->token, true, &response, &set_heater_state_response__pack, &set_heater_state_response__get_packed_size);
+    if (status)
+    {
+        responseContainer.has_error = true;
+        responseContainer.error = (ErrorCode)status;
+    }
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
+
+    set_heater_state_request__free_unpacked(request,NULL);
+
+}
 uint32_t  HeaterCommandRequestMessage(int HeaterNum, bool OnOff, int Temperature)
 {
     //uint32_t status = NOT_SUPPORTED;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 75acec0b6..c8f435cb9 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -354,12 +354,16 @@ void IDS_Dispenser_Content_Calculation (char DispenserId)
     //double consumedintimeframe = (double)(CurrentDispenserSpeed[DispenserId]); //pulses only
     //consumedintimeframe = 10+DispenserId;
     IDS_Dispenser_Data[DispenserId].consumedinnanolitter += (CurrentDispenserSpeed[DispenserId]*4/10);//400 milliseconds ==> speed*4/10
+    if (IDS_Dispenser_Data[DispenserId].consumedinnanolitter<0)
+        IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;
     //if ((DispenserId == 2)&&(CurrentDispenserSpeed[DispenserId]>0))
-    //    ReportWithPackageFilter(IDSFilter,"IDS_Dispenser_Data ",__FILE__,DispenserId,(int)IDS_Dispenser_Data[DispenserId].consumedinnanolitter,RpWarning,(int)CurrentDispenserSpeed[DispenserId],0);
+    //    ReportWithPackageFilter(IDSFilter,"IDS_Dispenser_Data info",__FILE__,DispenserId,(int)IDS_Dispenser_Data[DispenserId].consumedinnanolitter,RpWarning,(int)CurrentDispenserSpeed[DispenserId],0);
+    //if ((DispenserId == 2)&&(CurrentDispenserSpeed[DispenserId]<0))
+    //    ReportWithPackageFilter(IDSFilter,"IDS_Dispenser_Data fill",__FILE__,DispenserId,(int)IDS_Dispenser_Data[DispenserId].consumedinnanolitter,RpWarning,(int)(-1*CurrentDispenserSpeed[DispenserId]),0);
 
     if (IDS_Dispenser_Data[DispenserId].consumedinnanolitter<0)
         IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;
-    if (CurrentDispenserSpeed[DispenserId]>0.1)
+    if (abs(CurrentDispenserSpeed[DispenserId])>0)
     {
         DispenserDataUpdated = true;
         IDS_Dispenser_Data[DispenserId].totalconsumedinnanolitter += (CurrentDispenserSpeed[DispenserId]/10);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 327d80eb1..d40f3c00b 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -452,10 +452,12 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
  uint32_t DispenserPrepareControlId = 0xFF;
  int NumOfActiveDispensers = 0;
  int DispenserBuildTimeCounter = 0;
-#define DISPENSER_UP_MOVEMENT
+ double TargetNumberOfStepsPreRun,MaximalPressurePreRun;
  int DispenserTotalPrepareSteps[MAX_SYSTEM_DISPENSERS];
  bool DispenserLastMovementDown[MAX_SYSTEM_DISPENSERS];
-#define PRESSURE_READ_TIME_GAP 100
+
+ #define PRESSURE_READ_TIME_GAP 100
+
 uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 {
     if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
@@ -582,10 +584,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
              {
                  DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
                  HW_Motor_Id = DispenserIdToMotorId[i];
-//#ifdef DISPENSER_UP_MOVEMENT
-                 if (DispenserTotalPrepareSteps[i]<InitialDispenserTimeout)
+
+                 if (DispenserTotalPrepareSteps[i]<TargetNumberOfStepsPreRun)
                  {
-                     AdjustDispenserSpeedToPressure(i,InitialDispenserPressure,pressure);
+                     AdjustDispenserSpeedToPressure(i,MaximalPressurePreRun,pressure);
                  }
                  else if (pressure > DispenserPreparePressure*1.2)
                  {
@@ -597,7 +599,6 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                      if (AdjustDispenserSpeedToPressure(i,DispenserPreparePressure,pressure) == true)
                          NumofReadyDispensers++;
                  }
-//#endif
                  ReportWithPackageFilter(IDSFilter,"IDS prepare",__FILE__,i,(int)DispenserTotalPrepareSteps[i],RpWarning,(int)(CurrentDispenserSpeed[i]*100),0);
              }
          }
@@ -758,7 +759,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     JobTicket* JobTicket = JobDetails;
 
     JobEndSequence = false;
-    if ((pressurebuildup>0.1)&&(pressurebuildup<4.0))
+    if ((pressurebuildup>0.1)&&(pressurebuildup<4.5))
     {
         ReportWithPackageFilter(IDSFilter,"Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(pressurebuildup*100),RpWarning,(int)(DispenserPreparePressure*100),0);
         DispenserPreparePressure = pressurebuildup;
@@ -778,6 +779,8 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
         CleaningDispenserSpeed = 0;
         EnableCleaning = false;
     }
+    TargetNumberOfStepsPreRun = InitialDispenserTimeout;
+    MaximalPressurePreRun = InitialDispenserPressure;
 
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
@@ -1840,7 +1843,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          DispenserPreSegmentControlId = 0xFF;
      }
 
-     IDS_Dispenser_Store_Data ();
+     //IDS_Dispenser_Store_Data ();
 
      for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 7295084e3..8856d873a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -898,6 +898,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         uint32_t timeout = 0xFFFFFFFFU;
         ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
 #endif
+        HeatersEnd();
         FRESULT iFResult = Init_Flash_File_System(true);
         if(iFResult != FR_OK)
         {
@@ -930,6 +931,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
     if((request->amount == 0x0CE) && (request->delay == 0x0CE)) //Get Gas Sensor
     {
         LOG_ERROR(request->delay,"FlashInit");
+        HeatersEnd();
         FlashInit();
         response.progress = (double)OK;
         response.has_progress = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index a4172185a..cd7c146fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -373,10 +373,7 @@
         }
         if (Head_Type == HEAD_TYPE_FLAT)
         {
-            Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
-            //Trigger_Head_Actuators_Stub(ACTOT, ENABLE, UP);
-            //Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
-            //Trigger_Head_Actuators_Control(ACTOT, LOW,true);//UP
+            Report("Thread_Load_Lift right actuator",__FILE__,__LINE__,LOW,RpMessage,false,0);
             Trigger_Head_Actuators_Control(ACTIN, LOW,true);//UP
         }
         return OK;
@@ -400,11 +397,8 @@
         }
         if (Head_Type == HEAD_TYPE_FLAT)
         {
-            Report("Thread_Load_Lift_ OT actuator",__FILE__,__LINE__,LOW,RpMessage,false,0);
+            Report("Thread_Load_Lift left actuator",__FILE__,__LINE__,LOW,RpMessage,false,0);
             Trigger_Head_Actuators_Stub(ACTOT, ENABLE, UP);
-            //Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
-            //Trigger_Head_Actuators_Control(ACTOT, LOW,true);//UP
-            //Trigger_Head_Actuators_Control(ACTIN, LOW,true);//UP
         }
 
         return OK;
@@ -476,7 +470,7 @@
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 250,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000);
         if (Head_Type == HEAD_TYPE_FLAT)
         {
-            Report("Thread_Load_Close_ OT actuator",__FILE__,__LINE__,LOW,RpMessage,true,0);
+            Report("Thread_Load_Close left actuator",__FILE__,__LINE__,LOW,RpMessage,true,0);
             Trigger_Head_Actuators_Stub(ACTOT, ENABLE, DOWN);
         }
 
@@ -516,12 +510,7 @@
         }
         if (Head_Type == HEAD_TYPE_FLAT)
         {
-            Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
-
-            //Trigger_Head_Actuators_Control(ACTIN, LOW,false);//DOWN
-            //Trigger_Head_Actuators_Stub(ACTOT, ENABLE, DOWN);
-
-            //Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
+            Report("Thread_Load_Close right actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
             HeadCard_Actuators_Relocate();
         }
         return OK;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index e16909c45..c217a68b3 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -1401,6 +1401,7 @@ Void jobTask(UArg arg0, UArg arg1)
                 JobResumed = false;
                 setmachineActive(false);
                 SetMachineStatus(MACHINE_STATE__Ready);
+                IDS_Dispenser_Store_Data();
                 resetIdleCounter();
                 CurrentJob = NULL;
                 if (IFS_Clearing_SuctionWaiting == true)