Version 1.3.0.8 changes for connection resiliance: priorities, diagnostics and alarm handling

9 files changed, 46 insertions, 42 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index eadfdd1d0..1bbd5a8ad 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {001,003,000,006};
+TangoVersion_t _gTangoVersion = {1,3,0,8};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 5afc618ff..eb4ebbaf1 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -126,7 +126,7 @@ uint32_t CommunicationTaskMessageReceived(uint32_t buffer,uint16_t msgSize)
  *  this communication task is created statically in system initialization, in blocking mode
  *  over one of the chosen ommunication methods (USB or Blutooth).
  ******************************************************************************/
-uint32_t cLength[50] = {0};
+uint32_t cLength[51] = {0};
 byte cindex = 0;
 void communicationTask(UArg arg0, UArg arg1)
 {
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 0c3ad2f8e..8543f0493 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -76,7 +76,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         container.data.data = response_buffer;
         container.data.len = response_size;
 
-    if (SuspendLargeMessages == true)
+   // if (SuspendLargeMessages == true)
     {
 //        Report("EndJobMessage",__FILE__,__LINE__,(int)type,RpWarning,(int)response_size,0);
         TxmsgId[Txindex] = type;
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 240a79a6f..f12df421c 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -122,16 +122,17 @@ ControlTaskParams.stackSize = 2048;
 ControlTaskParams.priority = 11;
 Program.global.control = Task.create("&controlTask", ControlTaskParams);
 
-var CommRxTaskParams = new Task.Params();
-CommRxTaskParams.instance.name = "communication";
-CommRxTaskParams.priority = 10;
-CommRxTaskParams.stackSize = 8192;
-Program.global.communication = Task.create("&communicationTask", CommRxTaskParams);
+var AlarmHandlingTaskParams = new Task.Params();
+AlarmHandlingTaskParams.instance.name = "AlarmHandling";
+AlarmHandlingTaskParams.stackSize = 1024;
+AlarmHandlingTaskParams.priority = 10;
+Program.global.AlarmHandling = Task.create("&AlarmHandlingTask", AlarmHandlingTaskParams);
 
-var HeaterControlTaskParams = new Task.Params();
-HeaterControlTaskParams.instance.name = "HeatersControl";
-HeaterControlTaskParams.priority = 9;
-Program.global.HeatersControl = Task.create("&HeatersControlTask", HeaterControlTaskParams);
+var CommTxTaskParams = new Task.Params();
+CommTxTaskParams.instance.name = "communicationTx";
+CommTxTaskParams.priority = 9;
+CommTxTaskParams.stackSize = 4096;
+Program.global.communicationTx = Task.create("&communicationTxTask", CommTxTaskParams);
 
 var ProcessTaskParams = new Task.Params();
 ProcessTaskParams.instance.name = "process";
@@ -139,17 +140,16 @@ ProcessTaskParams.stackSize = 2048;
 ProcessTaskParams.priority = 8;
 Program.global.process = Task.create("&jobTask", ProcessTaskParams);
 
-var CommTxTaskParams = new Task.Params();
-CommTxTaskParams.instance.name = "communicationTx";
-CommTxTaskParams.priority = 7;
-CommTxTaskParams.stackSize = 4096;
-Program.global.communicationTx = Task.create("&communicationTxTask", CommTxTaskParams);
+var HeaterControlTaskParams = new Task.Params();
+HeaterControlTaskParams.instance.name = "HeatersControl";
+HeaterControlTaskParams.priority = 7;
+Program.global.HeatersControl = Task.create("&HeatersControlTask", HeaterControlTaskParams);
 
-var AlarmHandlingTaskParams = new Task.Params();
-AlarmHandlingTaskParams.instance.name = "AlarmHandling";
-AlarmHandlingTaskParams.stackSize = 1024;
-AlarmHandlingTaskParams.priority = 6;
-Program.global.AlarmHandling = Task.create("&AlarmHandlingTask", AlarmHandlingTaskParams);
+var CommRxTaskParams = new Task.Params();
+CommRxTaskParams.instance.name = "communicationRx";
+CommRxTaskParams.priority = 6;
+CommRxTaskParams.stackSize = 8192;
+Program.global.communication = Task.create("&communicationTask", CommRxTaskParams);
 
 var MillisecLowTaskParams = new Task.Params();
 MillisecLowTaskParams.instance.name = "MilliSecondLow";
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index c54976195..8d5955636 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -498,8 +498,8 @@ uint32_t AlarmHandlingEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint32_t AlarmHandlingStart(void)
 {
 
-    if (EventsNotificationRequestAccepted == false)
-        return ERROR;
+    //if (EventsNotificationRequestAccepted == false)
+    //    return ERROR;
     if ( AlarmHandlingActive == false)
     {
             AlarmHandlingActive = true;
@@ -684,7 +684,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
     //Motor Status
     //machine cover open
 
-    if (tick%eOneSecond == 0)
+    if ((tick%eOneSecond == 0)&&(EventsNotificationRequestAccepted==true))
         SendEventNotifications();
     return OK;
 }
@@ -814,7 +814,7 @@ uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer)
 //    ReportInitParams InitParams;
     //ControlStart();
     EventsNotificationRequestAccepted = true;
-    AlarmHandlingStart();
+    //AlarmHandlingStart();
 
     StartEventsNotificationRequest* request = start_events_notification_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (AlarmHandlingToken, requestContainer->token,36);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 6915cc657..fed1311bd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -181,7 +181,7 @@ int32_t  TotalWinderSpeed=0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     uint32_t Steps;
-    double temp;
+    double temp,tempScrewSpeed;
     double screw_horizontal_speed = 0;
     double RotationsPerSecond;
     int32_t Averagewinderspeed = 0;
@@ -232,16 +232,17 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     }
     screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    ROM_IntMasterDisable();
-    ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    //ROM_IntMasterDisable();
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
     temp = SYS_CLK_FREQ;
     temp *= ScrewNumberOfSteps;
-    temp /= ScrewSpeed;
-    if (ScrewRunningTime != temp)
+    temp /= tempScrewSpeed;
+    if ((ScrewRunningTime != temp)||(ScrewSpeed != tempScrewSpeed))
     {
+        ScrewSpeed = tempScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
-        ROM_IntMasterEnable();
+        //ROM_IntMasterEnable();
         //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
         usnprintf(ScrewStr, 100, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",(int)ScrewNumberOfSteps,(int)ScrewSpeed,(int)temp,(int)WinderReferenceSpeed);
         //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
@@ -253,7 +254,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     }
 
     /********************************************************************************/
-    ROM_IntMasterEnable();
+    //ROM_IntMasterEnable();
     return OK;
 
 }
@@ -313,6 +314,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         REPORT_MSG(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
 //        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         //ScrewDirection = 1-ScrewDirection;
+        REPORT_MSG(SegmentId,"Winder pre segment - SegmentId");
         REPORT_MSG(ScrewSpeed,"Winder pre segment - ScrewSpeed");
         //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ScrewsStartControlTimer ();
@@ -398,12 +400,10 @@ void ScrewTimerInterrupt(int ARG0)
 {
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     ROM_IntMasterDisable();
-    //ScrewDirectionChange(0,NOTBUSY);
 
     if (SCREW_TimerActivated == true)
     {
         MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
-//        ScrewCurrentDirection = 1-ScrewCurrentDirection;
         MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
         ScrewDirectionChangeCounter++;
@@ -412,11 +412,11 @@ void ScrewTimerInterrupt(int ARG0)
     {
         TimerDisable(Screw_timerBase, TIMER_A);
     }
-    Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
+    ROM_IntMasterEnable();
+    //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
     //
     // Enable all interrupts.
     //
-    ROM_IntMasterEnable();
     return ;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 72391e3a9..94858cae2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -462,7 +462,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
             //JobAbortedByUser = true;
             ThreadControlActive = false;
-            MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
+            //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, Message);
             //EndState(CurrentJob,Message );
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 34ac6a857..e044808ca 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -925,7 +925,8 @@ Void jobTask(UArg arg0, UArg arg1)
                       job_request__free_unpacked(CurrentRequest,NULL);
                   CurrentRequest = NULL;
                   SuspendLargeMessages = false;
-                  DiagnosticsStart();
+                  LOG_ERROR(4,"ResumeLargeMessages PrintingResultsOk");
+                  //DiagnosticsStart();
                 //CleanState(CurrentJob);
                 break;
             case PrintingResultsFail:
@@ -935,7 +936,8 @@ Void jobTask(UArg arg0, UArg arg1)
                       job_request__free_unpacked(CurrentRequest,NULL);
                   CurrentRequest = NULL;
                   SuspendLargeMessages = false;
-                  DiagnosticsStart();
+                  LOG_ERROR(3,"ResumeLargeMessages PrintingResultsFail");
+                  //DiagnosticsStart();
 
                 //send message data as a validation error message to host
                 ExitState(Message.messageData);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 12c925bd8..85421fae5 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -333,9 +333,10 @@ uint32_t DistanceToSpoolReady(int ModuleId, ModuleStateEnum result)
         else
             {
                 SuspendLargeMessages = true;
-                DiagnosticsStop();
+                //DiagnosticsStop();
                 PrtMessage->messageId = FinishResultsFail;
                 SendJobProgress(0.0, 0, false, "DistanceToSpool Fail");
+                LOG_ERROR(1,"SuspendLargeMessages DistanceToSpoolReady");
             }
         //memcpy(Message.messageData,JobDetails,MAX_MSG_LEN);
         Message.msglen = 10;
@@ -374,7 +375,8 @@ uint32_t EndState(void *JobDetails, char *Message)
 {
     //ROM_IntMasterDisable();
     SuspendLargeMessages = true;
-    DiagnosticsStop();
+    LOG_ERROR(2,"SuspendLargeMessages EndState");
+    //DiagnosticsStop();
     if (Configured[Module_Winder])
     {
         PrepareWaiting[Module_Winder] = ModuleIdle;