diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 31 |
1 files changed, 17 insertions, 14 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 373e4bbd9..13b98bcb0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -445,7 +445,7 @@ MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, 500); // MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000); - MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (2000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000); + MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (5000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000); return OK; } @@ -607,7 +607,7 @@ CallbackCounter++; Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, - numberOfSteps, Thread_Load_Dryer_Loading_Callback, 100000); + numberOfSteps-400, Thread_Load_Dryer_Loading_Callback, 100000); //Keep Notation How Many Rotations In The Dryer //LoadArmInfo.LoadArmBackLash = 0; @@ -1079,7 +1079,6 @@ uint32_t ThreadLoadingReport(void) MessageContainer responseContainer; bool last = false; StartThreadLoadingResponse response = START_THREAD_LOADING_RESPONSE__INIT; - ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT; if (ThreadLoadingToken[0] == 0) return OK; @@ -1093,7 +1092,6 @@ uint32_t ThreadLoadingReport(void) if (LoadStages == THREAD_LOAD_INITIAL_TENSION) { response.state = THREAD_LOADING_STATE__ReadyForLoading; - last = true; } } else @@ -1101,32 +1099,30 @@ uint32_t ThreadLoadingReport(void) response.state = THREAD_LOADING_STATE__PreparationError; response.errorreason = LoadErrorMsg; } - responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size); - responseContainer.continuous = true; } else if (MessageState == 2) { - Cresponse.has_state = true; + response.has_state = true; if (LoadStatus == OK) { - Cresponse.state = THREAD_LOADING_STATE__Finalizing; + response.state = THREAD_LOADING_STATE__Finalizing; if (LoadStages >= THREAD_LOAD_JOG_THREAD) { - Cresponse.state = THREAD_LOADING_STATE__Completed; + response.state = THREAD_LOADING_STATE__Completed; last = true; } } else { - Cresponse.state = THREAD_LOADING_STATE__FinalizationError; - Cresponse.errorreason = LoadErrorMsg; + response.state = THREAD_LOADING_STATE__FinalizationError; + response.errorreason = LoadErrorMsg; } - responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, ThreadLoadingToken, last, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size); - responseContainer.continuous = true; } else return ERROR; //------------------------------------------------------------------------------------------- + responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size); + responseContainer.continuous = true; uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); size_t container_size = message_container__pack(&responseContainer, container_buffer); my_free(responseContainer.data.data); @@ -1149,9 +1145,16 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer) uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer) { ContinueThreadLoadingRequest *request = continue_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); - ustrncpy (ThreadLoadingToken, requestContainer->token,36); + ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT; + MessageContainer responseContainer; MessageState = 2; ThreadLoadingReport(); + responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, requestContainer->token, true, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size); + responseContainer.continuous = false; + uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + my_free(responseContainer.data.data); + SendChars((char*)container_buffer, container_size); return OK; } |