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/*
* DiagnosticsHoming.c
*
* Created on: July 29 2018
* Author: shlomo
*/
#include <DataDef.h>
#include "include.h"
#include <inc/hw_ints.h>
#include <Container.h>
#include "diagnostics.h"
#include "drivers/Motors/Motor.h"
#include <PMR/Diagnostics/DispenserHomingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserHomingResponse.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortHomingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortHomingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorHomingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorHomingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorAbortHomingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorAbortHomingResponse.pb-c.h>
#include "Modules/Control/control.h"
#include "drivers/Motors/Motor.h"
#include "drivers/Valves/Valve.h"
#include "Drivers/I2C_Communication/DAC/blower.h"
#include "drivers/Flash_ram/MCU_E2Prom.h"
#include "ids/ids_ex.h"
#include "General/process.h"
#include "StateMachines/Printing/PrintingSTM.h"
char HomingToken[NUM_OF_MOTORS][36+1]={0};
int HomingCounter[NUM_OF_MOTORS];
uint32_t HomingControlId[NUM_OF_MOTORS];
int NumberOfCycles;
/********************************************************************************
* Motor Homing
********************************************************************************/
//int32_t keepkvalright,keepkvalleft;
uint32_t MotorHomingProgressReport(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
bool last = false;
response.has_progress = true;
response.has_maxprogress = true;
response.maxprogress = 1000;
if (HomingCounter[deviceID]>=1000)
{
last = true;
SafeRemoveControlCallback(HomingControlId[deviceID],MotorHomingProgressReport);
Report("MotorHomingProgressReport stopped 1000",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0);
HomingControlId[deviceID] = 0xff;
}
response.progress = HomingCounter[deviceID]++;
Report("MotorHomingProgressReport",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0);
responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], last, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.has_continuous = true;
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);
SendChars(container_buffer, container_size);
return OK;
}
uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
{
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 24);
}
if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
{
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 24);
}
if (HomingControlId[deviceID] != 0xff)
{
Report("MotorHomingProgressReport stopped",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0);
RemoveControlCallback(HomingControlId[deviceID],MotorHomingProgressReport);
HomingControlId[deviceID] = 0xff;
}
if (deviceID == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
{
MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,NumberOfCycles);//it takes two cycles to identify a stop of the arm
}
responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.has_continuous = true;
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);
SendChars(container_buffer, container_size);
HomingToken[deviceID][0] = 0;
return OK;
}
uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
{
uint32_t numberOfSteps = 0;
uint32_t LoadArmRounds = (int)dryerbufferlength;
uint32_t status = FAILED;
MessageContainer responseContainer;
MotorHomingRequest* request = motor_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
int direction;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
if (LoadArmRounds <= 2)
LoadArmRounds = 30;
int speed = request->speed;
if (speed == 0) speed = 150;
if (MotorId <= NUM_OF_MOTORS)
{
if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
{
ustrncpy (HomingToken[MotorId], requestContainer->token,36);
if (request->direction == MOTOR_DIRECTION__Backward) //opening the loading system
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
{
if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType == CombinrdMotDriver)//reverse direction for powerstep
{
direction = DRIER_LID_CLOSE;
}
else
{
direction = DRIER_LID_OPEN;
}
Report("MotorHomingRequestFunc Dryer lid open",__FILE__,MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType,DRIER_LID_OPEN,RpMessage,GPI_LS_DRYER_LID_OPEN,0);
MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, GPI_LS_DRYER_LID_OPEN, MotorHomingRequestCallback,4000);
status = OK;
}
else
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
{
numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,numberOfSteps,RpMessage,LoadArmRounds,0);
MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, MotorHomingRequestCallback,0,1000);
NumberOfCycles = 0;
//MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
// numberOfSteps, MotorHomingRequestCallback,1000);
status = OK;
}
if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
{
//keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
}
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
{
//keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
}
MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback,30000);
status = OK;
}
}
}
else // closing the system into normal work
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
{
if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType == CombinrdMotDriver) //reverse direction for powerstep
{
direction = DRIER_LID_OPEN;
}
else
{
direction = DRIER_LID_CLOSE;
}
Report("MotorHomingRequestFunc Dryer lid close",__FILE__,MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType,DRIER_LID_CLOSE,RpMessage,GPI_LS_DRYER_LID_CLOSED,0);
MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, GPI_LS_DRYER_LID_CLOSED, MotorHomingRequestCallback,4000);
status = OK;
}
else
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
{
if (LoadArmRounds <= 2)
LoadArmRounds = 30;
numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
numberOfSteps -= 100;
NumberOfCycles = LoadArmRounds;
Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,numberOfSteps,RpMessage,LoadArmRounds,0);
MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
numberOfSteps, MotorHomingRequestCallback, 100000);
status = OK;
}
if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
{
//keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
}
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
{
//keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
}
MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback,30000);
status = OK;
}
}
}
}
}
if (status == OK)
{
HomingControlId[MotorId] = AddControlCallback(NULL, MotorHomingProgressReport, 2*eOneSecond, TemplateDataReadCBFunction,MotorId, 0, 0 );
HomingCounter[MotorId] = 0;
Report("MotorHomingProgressReport started",__FILE__,__LINE__,MotorId,RpMessage,HomingControlId[MotorId],0);
}
else
{
responseContainer.has_error = true;
responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
responseContainer.errormessage = "Job Active or incorrect motor ID";
responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, requestContainer->token, true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.has_continuous = true;
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);
SendChars(container_buffer, container_size);
}
return OK;
}
uint32_t MotorAbortHomingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
MotorAbortHomingRequest* request = motor_abort_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorAbortHomingResponse response = MOTOR_ABORT_HOMING_RESPONSE__INIT;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
MotorAbortMovetoLimitSwitch(MotorId);
MotorHomingRequestCallback(MotorId,0);
responseContainer = createContainer(MESSAGE_TYPE__MotorAbortHomingResponse, requestContainer->token, false, &response, &motor_abort_homing_response__pack, &motor_abort_homing_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(container_buffer, container_size);
return OK;
}
/********************************************************************************
* Dispenser Homing
********************************************************************************/
uint32_t DispenserHomingProgressReport(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
DispenserHomingResponse response = DISPENSER_HOMING_RESPONSE__INIT;
bool last = false;
response.has_progress = true;
response.has_maxprogress = true;
response.maxprogress = 5800000;
response.progress = IDS_Dispenser_Data[deviceID].consumedinnanolitter;
uint8_t MotorId = deviceID+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[MotorId], last, &response, &dispenser_homing_response__pack, &dispenser_homing_response__get_packed_size);
Report("DispenserHomingProgressReport",__FILE__,__LINE__,deviceID,RpMessage,IDS_Dispenser_Data[deviceID].consumedinnanolitter,0);
responseContainer.has_continuous = true;
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);
SendChars(container_buffer, container_size);
return OK;
}
uint32_t DispenserHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
DispenserHomingResponse response = DISPENSER_HOMING_RESPONSE__INIT;
uint8_t MotorId = deviceID+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
if (HomingControlId[MotorId] != 0xff)
{
RemoveControlCallback(HomingControlId[MotorId],DispenserHomingProgressReport);
HomingControlId[MotorId] = 0xff;
Report("DispenserHomingProgressReport stopped",__FILE__,__LINE__,deviceID,RpMessage,HomingControlId[MotorId],0);
}
//close dry air valve in the dispenser
//Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
//MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[MotorId], true, &response, &dispenser_homing_response__pack, &dispenser_homing_response__get_packed_size);
responseContainer.has_continuous = true;
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);
SendChars(container_buffer, container_size);
HomingToken[MotorId][0] = 0;
return OK;
}
uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
{
uint32_t status = OK;
MessageContainer responseContainer;
DispenserHomingRequest* request = dispenser_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserHomingResponse response = DISPENSER_HOMING_RESPONSE__INIT;
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
ustrncpy (HomingToken[MotorId], requestContainer->token,36);
int speed = request->speed;
if (speed == 0) speed = 500;
responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, requestContainer->token, false, &response, &dispenser_homing_response__pack, &dispenser_homing_response__get_packed_size);
responseContainer.has_continuous = true;
responseContainer.continuous = true;
if (MotorId <= NUM_OF_MOTORS)
{
//if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
if (isMotorConfigured(MotorId) == true)
{
if (request->direction == MOTOR_DIRECTION__Backward) //dispenser homing
status = IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
else //empty dispenser -
status = IDS_EmptyDispenser(request->index,speed,DispenserHomingRequestCallback);//return ERROR;
if (status == OK)
{
HomingControlId[MotorId] = AddControlCallback(NULL, DispenserHomingProgressReport, 2*eOneSecond, TemplateDataReadCBFunction,request->index, 0, 0 );
Report("DispenserHomingProgressReport started",__FILE__,__LINE__,request->index,RpMessage,HomingControlId[MotorId],0);
}
}
else
{
responseContainer.error = ERROR_CODE__GENERAL_ERROR;
responseContainer.errormessage = "Invalid Id or dispenser not configured";
}
}
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);
//USBCDCD_sendData(container_buffer, container_size,10);
SendChars(container_buffer, container_size);
return OK;
}
uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
DispenserAbortHomingRequest* request = dispenser_abort_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserAbortHomingResponse response = DISPENSER_ABORT_HOMING_RESPONSE__INIT;
IDS_StopHomeDispenser(request->index);
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
if (HomingControlId[MotorId] != 0xff)
{
RemoveControlCallback(HomingControlId[MotorId],DispenserHomingProgressReport);
HomingControlId[MotorId] = 0xff;
Report("DispenserHomingProgressReport stopped",__FILE__,__LINE__,request->index,RpMessage,HomingControlId[MotorId],0);
}
/*
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
MotorAbortMovetoLimitSwitch(MotorId);
//close dry air valve in the dispenser
Valve_Set((Valves_t) ((request->index)+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
*/
responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortHomingResponse, requestContainer->token, false, &response, &dispenser_abort_homing_response__pack, &dispenser_abort_homing_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(container_buffer, container_size);
return OK;
}
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