Update the actuator cleaning and relocate logic

5 files changed, 30 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
index 7a99b154f..d9fca9f4d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
@@ -12,6 +12,7 @@
 #include <Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include "modules/control/control.h"
+#include "modules/ids/ids.h"
 
 /*
 GPIO TCA9555RTWR
@@ -749,7 +750,7 @@ uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFla
         case ActuatorIdle:
             break;
         case ActuatorMoveDown:
-            if (count_time <=1)
+            if ((count_time <=1) && (CleaningStageCounter >1))
                 Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
             if (count_time > 10)
             {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index a48e0df0c..ee308ce62 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -54,4 +54,6 @@ uint32_t IDS_Cleaning_Move_Actuators(void);
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
 uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
 
+void Init_CleaningStageCounter();
+extern int CleaningStageCounter;
 #endif  //MODULES_IDS_IDS_H_
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 26ba52d76..abfb5f229 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -46,8 +46,13 @@ t delay2 – 2 sec
  */
 
 CleaningStageEnum CleaningStage = CleaningStageIdle;
-int CleaningStageCounter = 0;
-int Tup = 4,Tdelay1 = 9,Tdelay2 = 29;
+int Tup = 4,Tdelay1 = 9,Tdelay2 = 29;//set CleaningStageCounter to Tdelay1 - 1
+int CleaningStageCounter = 8;//Tdelay1 - 1 to start with stage moving down
+
+void Init_CleaningStageCounter()
+{
+    CleaningStageCounter = Tdelay1 - 1;
+}
 
 uint32_t IDS_Cleaning_Move_Actuators()
 {
@@ -55,25 +60,26 @@ uint32_t IDS_Cleaning_Move_Actuators()
        return OK;
    if (CleaningStageCounter == 1)
    {
-       Trigger_Head_Actuators_Stub(ACTIN, true, true);
+       Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
        //Trigger_Head_Actuators_Control(ACTIN, LOW,true);
        Report("IDS_Cleaning_Move_ActuatorUp", __FILE__, __LINE__, 1, RpWarning,   CleaningStageCounter, 0);
    }
    else if (CleaningStageCounter == Tup)
    {
-       Trigger_Head_Actuators_Stub(ACTIN, false, false);
+       Trigger_Head_Actuators_Stub(ACTIN, DISABLE, DONTCARE);
        //Trigger_Head_Actuators_Disable();
        Report("IDS_Cleaning_Stop_Actuator", __FILE__, __LINE__, Tup, RpWarning,   CleaningStageCounter, 0);
    }
    else if (CleaningStageCounter == Tdelay1)
    {
-       Trigger_Head_Actuators_Stub(ACTIN, true, false);
+       Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
        //Trigger_Head_Actuators_Control(ACTIN, LOW,false);
        Report("IDS_Cleaning_MoveDown", __FILE__, __LINE__, Tdelay1, RpWarning,   CleaningStageCounter, 0);
    }
    else if (CleaningStageCounter == Tdelay2)
    {
        CleaningStageCounter = 0;
+       Trigger_Head_Actuators_Stub(ACTIN, DISABLE, DONTCARE);
        Report("IDS_Cleaning_Stop_delay", __FILE__, __LINE__, Tdelay2, RpWarning,   CleaningStageCounter, 0);
    }
 
@@ -129,7 +135,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
     status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANER_DISPENSER,callback);
     Report("IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   status, 0);
     HeadCard_Actuators_Relocate();
-    CleaningStageCounter = 0;
+    Init_CleaningStageCounter();
     CleaningStage = CleaningStageIdle;
     Report("IDS_Cleaning_Stop_Cleaning_Solution actuator relocate", __FILE__, __LINE__, CleaningStage, RpWarning,   CleaningStageCounter, 0);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index c8e3d267e..d68c1c783 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -1811,7 +1811,9 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 
      }
 	IDS_StopLubrication();
-    return OK;
+	Init_CleaningStageCounter();//set the counter before relocating
+	HeadCard_Actuators_Relocate();
+	return OK;
 }
 uint32_t IDS_StartLubrication(void)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index f61eebfa8..c83b01dd0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -89,11 +89,17 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
 
     if(request->amount == 0xacc1e)
-        {
-            response.progress = IDS_Cleaning_Move_Actuators();
-            response.has_progress = true;
-        }
-        else
+    {
+        response.progress = IDS_Cleaning_Move_Actuators();
+        response.has_progress = true;
+    }
+    else
+    if(request->amount == 0xacc1ea)
+    {
+        response.progress = HeadCard_Actuators_Relocate();
+        response.has_progress = true;
+    }
+    else
     if(request->amount == 0xC04f)
     {