Software/Embedded_SW/Embedded/Modules/IDS/IDS.h


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#define MODULES_IDS_IDS_H_
#include "PMR/common/MessageContainer.pb-c.h"
#include "PMR/Hardware/HardwareDispenser.pb-c.h"
#include "drivers/motors/motor.h"
#include "ids_ex.h"

#define LUBRICANT_DISPENSER 7
#define CLEANER_DISPENSER 6

extern uint32_t DispenserPrepareSpeed ;
extern double   DispenserPreparePressure ;
extern uint32_t DispenserPrepareTimeout ;
extern uint32_t DispenserPrepareTimeLag ;
extern uint32_t InitialDispenserSpeed;

extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
uint32_t DispenserConfigMessage(HardwareDispenser * request);


extern HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS];

extern bool DispensersAlarmState[ MAX_SYSTEM_DISPENSERS];

extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];

extern bool HomingActive[MAX_SYSTEM_DISPENSERS];
extern bool PrimingActive[MAX_SYSTEM_DISPENSERS];

extern uint32_t LeftRockerSpeed;
extern uint32_t RightRockerSpeed;

uint32_t IDS_Dispenser_EmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue);

/*typedef struct
{
    uint16_t NumberOfRefills;
    double   TotalConsumedInNanoLitter;
    double   ConsumedInNanoLitter;
    double   NanoLitterPerPulse;
    char     MicroSteps;
    int      direction;

}IDS_Dispenser_Data;*/
void IDS_Dispenser_RefillStarted (char DispenserId,char  MicroSteps);
void IDS_Dispenser_RefillEnded (char DispenserId,char  MicroSteps);

//uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);

uint32_t IDS_Cleaning_Move_Actuators(void);
//uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
//uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);

#endif  //MODULES_IDS_IDS_H_