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/*
* DiagnosticsJogging.c
*
* Created on: 16 aug 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 "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
#include "drivers/FPGA/FPGA.h"
#include <PMR/Diagnostics/DispenserJoggingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserJoggingResponse.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortJoggingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortJoggingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorJoggingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorJoggingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
#include "drivers/Motors/Motor.h"
#include "drivers/Valves/Valve.h"
#include "modules/ids/ids_ex.h"
#include "StateMachines/Printing/PrintingSTM.h"
/********************************************************************************
* Motor Jogging
********************************************************************************/
uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
{
uint32_t status = OK;
bool allowedInJob =true;
MessageContainer responseContainer;
MotorJoggingRequest* request = motor_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorJoggingResponse response = MOTOR_JOGGING_RESPONSE__INIT;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
bool direction;
int speed = request->speed;
if (speed == 0) speed = 150;
if (JobIsActive() == true)
{
switch (MotorId)
{
case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4:
case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7:case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8:
case HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING:case HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM:case HARDWARE_MOTOR_TYPE__MOTO_SCREW:case HARDWARE_MOTOR_TYPE__MOTO_WINDER:
case HARDWARE_MOTOR_TYPE__MOTO_LDRIVING:case HARDWARE_MOTOR_TYPE__MOTO_LLOADING:case HARDWARE_MOTOR_TYPE__MOTO_RDRIVING:case HARDWARE_MOTOR_TYPE__MOTO_RLOADING:
allowedInJob = false;
break;
default:
break;
}
}
if (MotorId <= NUM_OF_MOTORS)
{
if ((allowedInJob == true)&&(isMotorConfigured(MotorId) == true))
{
{
switch (request->direction)
{
case MOTOR_DIRECTION__Forward:
direction = MotorsCfg[MotorId].directionthreadwize;
break;
case MOTOR_DIRECTION__Backward:
direction = 1-MotorsCfg[MotorId].directionthreadwize;
break;
}
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
{
uint32_t Pos_Value = ((direction == 1)?0:2);
Report("MotorJoggingRequestFunc Dryer lid",__FILE__,MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType,direction,RpMessage,Pos_Value,0);
MotorGoTo(MotorId, Pos_Value );
}
else
{
MotorSetDirection(MotorId,direction);
MotorSetSpeed(MotorId, speed);
}
}
}
else
{
status = ERROR;
}
}
else
{
status = ERROR;
}
responseContainer = createContainer(MESSAGE_TYPE__MotorJoggingResponse, requestContainer->token, false, &response, &motor_jogging_response__pack, &motor_jogging_response__get_packed_size);
if (status!= OK)
{
responseContainer.has_error = true;
responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
responseContainer.errormessage = "JOb Active or incorrect parameters";
}
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;
}
uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
MotorAbortJoggingRequest* request = motor_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorAbortJoggingResponse response = MOTOR_ABORT_JOGGING_RESPONSE__INIT;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
MotorStop(MotorId,Hard_Hiz);
if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
MotorStop(MotorId,Hard_Stop );
responseContainer = createContainer(MESSAGE_TYPE__MotorAbortJoggingResponse, requestContainer->token, false, &response, &motor_abort_jogging_response__pack, &motor_abort_jogging_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 Jogging
********************************************************************************/
extern int32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
{
uint32_t status = OK;
MessageContainer responseContainer;
DispenserJoggingRequest* request = dispenser_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserJoggingResponse response = DISPENSER_JOGGING_RESPONSE__INIT;
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
int speed = request->speed;
if (speed == 0) speed = 150;
bool direction;
if (MotorId <= NUM_OF_MOTORS)
{
// if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
if ((JobIsActive())&&(DispenserUsedInJob[request->index] == true))
{
responseContainer.error = ERROR_CODE__GENERAL_ERROR;
responseContainer.errormessage = "Dispenser active in job";
}
else if (isMotorConfigured(MotorId) == true)
{
switch (request->direction)
{
case MOTOR_DIRECTION__Forward:
Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
SysCtlDelay(180000);
direction = MotorsCfg[MotorId].directionthreadwize;
if (request->index == LUBRICANT_DISPENSER)
{
REPORT_MSG (request->index, "Open lubrication valve");
Lubricant_2Way_Valve (START);
}
break;
case MOTOR_DIRECTION__Backward:
Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
SysCtlDelay(180000);
direction = 1-MotorsCfg[MotorId].directionthreadwize;
break;
}
MotorSetDirection(MotorId,direction);
MotorSetSpeed(MotorId, speed);
CurrentDispenserSpeed[request->index] = speed;
if(request->direction == MOTOR_DIRECTION__Backward)
CurrentDispenserSpeed[request->index] *= (-1);
}
else
{
status = ERROR;
}
}
else
{
status = ERROR;
}
responseContainer = createContainer(MESSAGE_TYPE__DispenserJoggingResponse, requestContainer->token, false, &response, &dispenser_jogging_response__pack, &dispenser_jogging_response__get_packed_size);
if (status!= OK)
{
responseContainer.has_error = true;
responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
responseContainer.errormessage = "JOb Active or incorrect parameters";
}
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;
}
uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
DispenserAbortJoggingRequest* request = dispenser_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserAbortJoggingResponse response = DISPENSER_ABORT_JOGGING_RESPONSE__INIT;
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
MotorStop(MotorId,Hard_Hiz);
CurrentDispenserSpeed[request->index] = 0;
Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
if (request->index == LUBRICANT_DISPENSER)
{
REPORT_MSG (request->index, "Close lubrication valve");
Lubricant_2Way_Valve (STOP);
}
responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse, requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_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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