aboutsummaryrefslogtreecommitdiffstats
path: root/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
blob: 34387785c08193095d7249b3b5cc0c1371df1e3c (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
pre { line-height: 125%; }
td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
.highlight .hll { background-color: #ffffcc }
.highlight .c { color: #888888 } /* Comment */
.highlight .err { color: #a61717; background-color: #e3d2d2 } /* Error */
.highlight .k { color: #008800; font-weight: bold } /* Keyword */
.highlight .ch { color: #888888 } /* Comment.Hashbang */
.highlight .cm { color: #888888 } /* Comment.Multiline */
.highlight .cp { color: #cc0000; font-weight: bold } /* Comment.Preproc */
.highlight .cpf { color: #888888 } /* Comment.PreprocFile */
.highlight .c1 { color: #888888 } /* Comment.Single */
.highlight .cs { color: #cc0000; font-weight: bold; background-color: #fff0f0 } /* Comment.Special */
.highlight .gd { color: #000000; background-color: #ffdddd } /* Generic.Deleted */
.highlight .ge { font-style: italic } /* Generic.Emph */
.highlight .ges { font-weight: bold; font-style: italic } /* Generic.EmphStrong */
.highlight .gr { color: #aa0000 } /* Generic.Error */
.highlight .gh { color: #333333 } /* Generic.Heading */
.highlight .gi { color: #000000; background-color: #ddffdd } /* Generic.Inserted */
.highlight .go { color: #888888 } /* Generic.Output */
.highlight .gp { color: #555555 } /* Generic.Prompt */
.highlight .gs { font-weight: bold } /* Generic.Strong */
.highlight .gu { color: #666666 } /* Generic.Subheading */
.highlight .gt { color: #aa0000 } /* Generic.Traceback */
.highlight .kc { color: #008800; font-weight: bold } /* Keyword.Constant */
.highlight .kd { color: #008800; font-weight: bold } /* Keyword.Declaration */
.highlight .kn { color: #008800; font-weight: bold } /* Keyword.Namespace */
.highlight .kp { color: #008800 } /* Keyword.Pseudo */
.highlight .kr { color: #008800; font-weight: bold } /* Keyword.Reserved */
.highlight .kt { color: #888888; font-weight: bold } /* Keyword.Type */
.highlight .m { color: #0000DD; font-weight: bold } /* Literal.Number */
.highlight .s { color: #dd2200; background-color: #fff0f0 } /* Literal.String */
.highlight .na { color: #336699 } /* Name.Attribute */
.highlight .nb { color: #003388 } /* Name.Builtin */
.highlight .nc { color: #bb0066; font-weight: bold } /* Name.Class */
.highlight .no { color: #003366; font-weight: bold } /* Name.Constant */
.highlight .nd { color: #555555 } /* Name.Decorator */
.highlight .ne { color: #bb0066; font-weight: bold } /* Name.Exception */
.highlight .nf { color: #0066bb; font-weight: bold } /* Name.Function */
.highlight .nl { color: #336699; font-style: italic } /* Name.Label */
.highlight .nn { color: #bb0066; font-weight: bold } /* Name.Namespace */
.highlight .py { color: #336699; font-weight: bold } /* Name.Property */
.highlight .nt { color: #bb0066; font-weight: bold } /* Name.Tag */
.highlight .nv { color: #336699 } /* Name.Variable */
.highlight .ow { color: #008800 } /* Operator.Word */
.highlight .w { color: #bbbbbb } /* Text.Whitespace */
.highlight .mb { color: #0000DD; font-weight: bold } /* Literal.Number.Bin */
.highlight .mf { color: #0000DD; font-weight: bold } /* Literal.Number.Float */
.highlight .mh { color: #0000DD; font-weight: bold } /* Literal.Number.Hex */
.highlight .mi { color: #0000DD; font-weight: bold } /* Literal.Number.Integer */
.highlight .mo { color: #0000DD; font-weight: bold } /* Literal.Number.Oct */
.highlight .sa { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Affix */
.highlight .sb { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Backtick */
.highlight .sc { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Char */
.highlight .dl { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Delimiter */
.highlight .sd { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Doc */
.highlight .s2 { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Double */
.highlight .se { color: #0044dd; background-color: #fff0f0 } /* Literal.String.Escape */
.highlight .sh { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Heredoc */
.highlight .si { color: #3333bb; background-color: #fff0f0 } /* Literal.String.Interpol */
.highlight .sx { color: #22bb22; background-color: #f0fff0 } /* Literal.String.Other */
.highlight .sr { color: #008800; background-color: #fff0ff } /* Literal.String.Regex */
.highlight .s1 { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Single */
.highlight .ss { color: #aa6600; background-color: #fff0f0 } /* Literal.String.Symbol */
.highlight .bp { color: #003388 } /* Name.Builtin.Pseudo */
.highlight .fm { color: #0066bb; font-weight: bold } /* Name.Function.Magic */
.highlight .vc { color: #336699 } /* Name.Variable.Class */
.highlight .vg { color: #dd7700 } /* Name.Variable.Global */
.highlight .vi { color: #3333bb } /* Name.Variable.Instance */
.highlight .vm { color: #336699 } /* Name.Variable.Magic */
.highlight .il { color: #0000DD; font-weight: bold } /* Literal.Number.Integer.Long */
using System.Reflection;
using System.Resources;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Windows;

// General Information about an assembly is controlled through the following
// set of attributes. Change these attribute values to modify the information
// associated with an assembly.
[assembly: AssemblyTitle("Tango.Scripting.IDE")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("Tango.Scripting.IDE")]
[assembly: AssemblyCopyright("Copyright ©  2019")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]

// Setting ComVisible to false makes the types in this assembly not visible 
// to COM components.  If you need to access a type in this assembly from 
// COM, set the ComVisible attribute to true on that type.
[assembly: ComVisible(false)]

//In order to begin building localizable applications, set
//<UICulture>CultureYouAreCodingWith</UICulture> in your .csproj file
//inside a <PropertyGroup>.  For example, if you are using US english
//in your source files, set the <UICulture> to en-US.  Then uncomment
//the NeutralResourceLanguage attribute below.  Update the "en-US" in
//the line below to match the UICulture setting in the project file.

//[assembly: NeutralResourcesLanguage("en-US", UltimateResourceFallbackLocation.Satellite)]


[assembly:ThemeInfo(
    ResourceDictionaryLocation.None, //where theme specific resource dictionaries are located
                             //(used if a resource is not found in the page,
                             // or application resource dictionaries)
    ResourceDictionaryLocation.SourceAssembly //where the generic resource dictionary is located
                                      //(used if a resource is not found in the page,
                                      // app, or any theme specific resource dictionaries)
)]


// Version information for an assembly consists of the following four values:
//
//      Major Version
//      Minor Version
//      Build Number
//      Revision
//
// You can specify all the values or you can default the Build and Revision Numbers
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
361' href='#n361'>361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825
/************************************************************************************************************************
 * Thread_print.c
 * Printing module is responsible for :
     * operating diffrent winding algorithms with predefined parameters from the UI
     * operating the dispensers according to predefined dispensing rate from the UI
 **************************************************************************************************************************/
#include "include.h"
#include <DataDef.h>
#include "thread.h"
#include "thread_ex.h"
#include "../control/control.h"
#include "../control/pidalgo.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareMotorType.pb-c.h"
#include "PMR/Hardware/HardwareDancerType.pb-c.h"
#include "PMR/Printing/JobSegment.pb-c.h"
#include "PMR/Printing/JobTicket.pb-c.h"
#include  <PMR/Diagnostics/EventType.pb-c.h>

#include <utils/ustdlib.h>

#include "StateMachines/Printing/PrintingSTM.h"

#include "drivers/Motors/Motor.h"
//#include "drivers/SSI_Comm/ssi_comm.h"
#include "drivers/SSI_Comm/Dancer/Dancer.h"
#include "drivers/Heater/TemperatureSensor.h"
#include "drivers/Heater/Heater.h"
#include "drivers/Motors/Motor.h"
#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
#include "modules/heaters/heaters.h"
#include "modules/General/process.h"
#include "Modules/AlarmHandling/AlarmHandling.h"
#include "Control/MillisecTask.h"

////////////////////////////////State machine operation////////////////////////////////////
//the state machine operation is used to operate in runtime correct profile flow execution
//by recieved esign flow of the user from the UI
///////////////////////////////////////////////////////////////////////////////////////////

uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};

TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF};
uint32_t    SpeedControlId=0xFF;
uint32_t    PoolerSpeedControlId=0xFF;

double DancerError[NUM_OF_DANCERS] = {0.0};
int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
uint32_t JobCounter = 0;

MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM];

uint32_t PreviousPosition = 0, CurrentPosition = 0;
double CurrentRequestedLength = 0.0;
double CurrentProcessedLength = 0.0;
double TotalProcessedLength = 0.0;
double LengthCalculationMultiplier;

uint32_t PoolerPreviousPosition = 0, PoolerCurrentPosition = 0;
double PoolerTotalProcessedLength = 0.0;
double PoolerLengthCalculationMultiplier;

double TempPoolerTotalProcessedLength = 0.0;
double TempTotalProcessedLength = 0.0;

bool PrepareState = false;
int CurrentSegmentId = 0;
typedef  void (* ProcessedLengthFunc)(void);
ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
// segment/intersegment/distance to spool finished
void ThreadSegmentEnded(void);
void ThreadInterSegmentEnded(void);
void ThreadDistanceToSpoolEnded(void);
uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue);
void SetOriginMotorSpeed(float process_speed);

double KeepNormalizedError = 0;
bool ThreadControlActive = false;
////////////////////////Slow Motor State////////////////////////////////////
//uint32_t ThreadPreSegmentState(void *JobDetails);

////////////////////////////////////////////////////////////////////////////
/********************************************************************
*
*    Name        : GTIME_Delta_Time_Pass
*
*    Parameters  : start_time.
*
*    Return      : time pass from start time
*
*    Description :
*
*********************************************************************/

uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read)
{
    uint32_t Time_Pass;
//  #define   MAX_COUNTER 0x3FFF  //14 bits
    #define   MAX_COUNTER 0x3FFFFF  //22 bits


  if (Current_Read < Previous_Read)
    Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
  else
    Time_Pass = Current_Read - Previous_Read;

  return (Time_Pass);
}
/*****************************************************************************************
 *
 *
 *
 *
 *
 *
 * **************************************************************************************/
uint32_t initialpos = 0xFFFF;
uint32_t Poolerinitialpos = 0xFFFF;

void ThreadUpdateProcessLength (double length, void *Funcptr)
{
    CurrentRequestedLength = length*100;//Centimetres
    CurrentProcessedLength = 0;
    ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
    initialpos = 0xFFFF;
    Poolerinitialpos = 0xFFFF;
}
char Lenstr[150];
uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    uint32_t positionDiff = 0;
    double length = 0.0;

    int index = MAX_THREAD_MOTORS_NUM;
 //   if (ThreadControlActive == false)
 //       return OK;
 //   if (PrepareState == true)
 //       return OK;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;
//    if (CurrentRequestedLength == 0.0)
//        return OK;
    if (index != FEEDER_MOTOR)
    {
        LOG_ERROR (IfIndex, "Wrong Motor");
        return 0xFFFFFFFF;
    }
    CurrentPosition = MotorGetPosition(ThreadMotorIdToMotorId[index]);
//    if (CurrentPosition == 0)
//        return OK; //unusable data
    if (initialpos == 0xFFFF)
    {
        PreviousPosition = CurrentPosition;
        initialpos = 0;
    }
    positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
    //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
    PreviousPosition = CurrentPosition;

    // total length = (position diff / full cycle) * pulley perimeter
    //(positionDiff/pulseperround)*((2*PI*motor_Radius)

    //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
    length = (double)(positionDiff)*LengthCalculationMultiplier;

    CurrentProcessedLength+=length;

    static int pooler_counter = 0;
    pooler_counter++;
    TotalProcessedLength+= (length/100);
    TempTotalProcessedLength = TotalProcessedLength;
    if (pooler_counter%10 == 0)
    {
        if (PrepareState == true)
        {
            //later - add temperatures
             TemperatureListString(Lenstr);

            SendJobProgress(0.0,0,false, Lenstr);
        }
        else
        {
            SendJobProgress(TotalProcessedLength,0,false, NULL);
        }

    }
    if ((CurrentProcessedLength>=CurrentRequestedLength )&&(CurrentRequestedLength > 0.0))
    {
        usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
        SendJobProgress(0.0,0,false, Lenstr);
        Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
        // segment/intersegment/distance to spool finished
        if (ProcessedLengthFuncPtr)
            ProcessedLengthFuncPtr();

    }
return OK;
}

uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    uint32_t positionDiff = 0;
    double length = 0.0;
    int index = MAX_THREAD_MOTORS_NUM;
    if (ThreadControlActive == false)
        return OK;
    if (PrepareState == true)
        return OK;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;
//    if (CurrentRequestedLength == 0.0)
//        return OK;
    if (index != POOLER_MOTOR)
    {
        LOG_ERROR (IfIndex, "Wrong Motor");
        return 0xFFFFFFFF;
    }
    PoolerCurrentPosition = MotorGetPosition(ThreadMotorIdToMotorId[index]);
//    if (CurrentPosition == 0)
//        return OK; //unusable data
    if (Poolerinitialpos == 0xFFFF)
    {
        PoolerPreviousPosition = PoolerCurrentPosition;
        Poolerinitialpos = 0;
    }
    positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
    //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
    PoolerPreviousPosition = PoolerCurrentPosition;

    length = (double)(positionDiff)*PoolerLengthCalculationMultiplier;
    PoolerTotalProcessedLength+= (length/100);
    TempPoolerTotalProcessedLength = PoolerTotalProcessedLength;

return OK;
}



float SpeedSamples[MAX_CONTROL_SAMPLES] = {0};

uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    //read value is the dancer angle
    int index=MAX_THREAD_MOTORS_NUM;
    int32_t i, avreageSampleValue = 0;
    //double tempcalcspeed = 0;
    uint32_t calculated_speed;
    float speed = getSensorSpeedData();
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;
    SpeedSamples[MotorSamplePointer[index]] = speed;//(-1 * TranslatedReadValue);
    MotorSamplePointer[index]++;
    if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
        MotorSamplePointer[index] = 0;
    for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
        avreageSampleValue += SpeedSamples[i];
    avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
    if(MotorControlConfig[index].m_isEnabled && (MotorControlConfig[index].m_SetParam != 0))
    {
        MotorControlConfig[index].m_mesuredParam = ReadValue;
        MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation(MotorControlConfig[index].m_SetParam , MotorControlConfig[index].m_mesuredParam,
                                                                              &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
        //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
        calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
        if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
        {
            CurrentControlledSpeed[index] = calculated_speed;
            MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
        }
    }
 return OK;
}
uint32_t _speed;
uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    int index;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;

    if(MotorControlConfig[index].m_isEnabled )
    {
        int MotorId = ThreadMotorIdToMotorId[index];
        _speed = MotorGetSpeedFromFPGA_Res ((TimerMotors_t)MotorId);
    }
    return OK;
}
//double eNormalizedError[100];
//int    TranslatedreadValue[100];
/*#define MAX_THREAD_CONTROL_LOG 100
double calculatedError[MAX_THREAD_CONTROL_LOG+1];
double NormError[MAX_THREAD_CONTROL_LOG+1];
double mIntegral[MAX_THREAD_CONTROL_LOG+1];
int    MotorId[MAX_THREAD_CONTROL_LOG+1];
int    readValue[MAX_THREAD_CONTROL_LOG+1];
int    AveragereadValue[MAX_THREAD_CONTROL_LOG+1];
int    calculatedspeed[MAX_THREAD_CONTROL_LOG+1];
int    timestamp[MAX_THREAD_CONTROL_LOG+1];*/
int controlIndex = 0;
bool keepdata = true;
/*int32_t KeepReadValue = 0;
void testDancersControl()
{
    int mm20,mm10,mm5,mm2,mm1;
    mm20 = (20*DancerStopActivityLimit[FEEDER_MOTOR])/(DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].maximalmovementmm*2);
    mm2 = mm20/10;
    mm5 = mm20/4;
    mm10 = mm20/2;
    mm1 = mm20/20;
    ThreadControlActive = true;
    SetOriginMotorSpeed(30.0);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm20);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm10);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm5);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm2);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm1);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm1);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm2);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm5);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm10);
    ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm20);
    ThreadControlActive = false;
}*/
bool dancerinvalid = false;
int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
char TMessage[60];
uint16_t BreakSensorCounter = 0;
uint16_t BreakSensorLatchCounter = 0;
uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
//#define MAX_CONTROL_SAMPLES 6
//extern uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
//extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];

    //read value is the dancer angle
    int i,index=MAX_THREAD_MOTORS_NUM;
    int DancerId;
    int32_t TranslatedReadValue, avreageSampleValue = 0;
    //double tempcalcspeed = 0;
    uint32_t calculated_speed;
    double NormalizedError;

    if (ThreadControlActive == false)
        return OK;
    if (PrepareState == true)
        return OK;

    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;

    if(MotorControlConfig[index].m_isEnabled )
    {
        DancerId = ThreadMotorIdToDancerId[index];
        if (ReadValue < 10)
        {
            MotorFailedSample[index]++;
            Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
            return OK;
        }
        if (ReadValue == 0x3FFF)
        {
            MotorFailedSample[index]++;
            if (dancerinvalid == false)
            {
                dancerinvalid = true;
                LOG_ERROR(index, "Dancer value invalid.");
            }
            return OK;
        }
        TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
        if (index == POOLER_MOTOR)
        {
			//pooler dancer is right sided: data is opposite
            TranslatedReadValue = (-1*TranslatedReadValue);
            JobCounter++;
        }
        //TranslatedReadValue = 0;//test
        MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
        MotorSamplePointer[index]++;
        if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
            MotorSamplePointer[index] = 0;
#ifdef TEST_LONGER_PID_THREAD
        else // test: handle tension once in pvinputfilterfactormode milliseconds
            return OK;
#endif
        for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
            avreageSampleValue += MotorSamples[index][i];
        avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;

        if (BreakSensorenabled == true)
        {
            if (index == POOLER_MOTOR)
            {
                if (JobCounter > eOneSecond)
                {
                    if (ReadBreakSensor()==ERROR)
                    {
                        BreakSensorCounter++;
                        BreakSensorLatchCounter++;
                        if (BreakSensorCounter>=BreakSensordebouncetimemilli)
                        {
                            //consider applying the debouce parameters later
                            //BreakSensordebouncetimemilli
                            JobEndReason = JOB_THREAD_BREAK;
                            ThreadControlActive = false;
                            SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
                            SegmentReady(Module_Thread,ModuleFail);
                            AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                            //EndState(CurrentJob,"ReadBreakSensor Error" );
                            LOG_ERROR(index, "ReadBreakSensor Error");
                            return OK;
                        } //passed limit
                    }//ReadBreakSensor()==ERROR
                    else //reset counter - we are looking for consequent calls
                    {
                        if (BreakSensorCounter)
                        {
                            LOG_ERROR(BreakSensorCounter, "ReadBreakSensor Spike");
                        }
                        BreakSensorCounter = 0;
                    }
                }
            }
        }

        //Stop Execution if the dancer moves too much
        if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
        {
            keepdata = false;
            usnprintf(TMessage, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
            //JobAbortedByUser = true;
            ThreadControlActive = false;
            //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
            JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
            SendJobProgress(0.0,0,false, TMessage);
            //EndState(CurrentJob,TMessage );
            SegmentReady(Module_Thread,ModuleFail);
            switch (index)
            {
                case POOLER_MOTOR:
                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true);
                    break;
                case WINDER_MOTOR:
                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,true);
                    break;
                case FEEDER_MOTOR:
                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true);
                    break;
            }
            LOG_ERROR (DancerId, "Dancer Failure");
            return OK;
        }
        NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
        MotorControlConfig[index].m_mesuredParam = NormalizedError;
        DancerError[DancerId] = NormalizedError;
        MotorControlConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                              &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
        if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
        {
            MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
        }
        else
        {
            //KeepNormalizedError = NormalizedError;
        }
        calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
        if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
        {
            /*if (keepdata == true)
            {
                 calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
                    MotorId[controlIndex] = index;
                    readValue[controlIndex] = ReadValue;
                    AveragereadValue[controlIndex] = avreageSampleValue;
                    calculatedspeed[controlIndex] = calculated_speed;
                    NormError[controlIndex]
                                    = MotorControlConfig[index].m_mesuredParam;
                    mIntegral[controlIndex] = MotorControlConfig[index].m_integral;
                    timestamp[controlIndex] = msec_millisecondCounter;
                 if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                     controlIndex = 0;
            }*/
            CurrentControlledSpeed[index] = calculated_speed;
            MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
        }
		else
           MotorFailedSample[index]++;

    }

 return OK;
}

//********************************************************************************************************************
uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
{
    return  CurrentControlledSpeed[MotorId];
}
//********************************************************************************************************************
double ThreadGetMotorCalculatedError(int DancerId)
{
    switch (DancerId)
    {
        case FEEDER_DANCER:
            return  (double)MotorControlConfig[FEEDER_MOTOR].m_calculatedError;
        case POOLER_DANCER:
            return  (double)MotorControlConfig[POOLER_MOTOR].m_calculatedError;
        case WINDER_DANCER:
            return  (double)MotorControlConfig[WINDER_MOTOR].m_calculatedError;

    }
    return 0;
}

//********************************************************************************************************************
uint32_t ThreadInitialTestStub(HardwareMotor * request)
{


    //MotorsConfigMessage(request);
     ThreadPrepareState(request);
     ThreadPreSegmentState(request,0);
    return OK;
}
bool InitialProcess = false;

//********************************************************************************************************************
 uint32_t ThreadPrepareState(void *JobDetails)
{
    int Motor_i, HW_Motor_Id, Pid_Id;
    CurrentSegmentId = 0;

    JobCounter = 0;
    TotalProcessedLength = 0.0;
    PoolerTotalProcessedLength = 0.0;
    PrepareState = true;
    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,false);
    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,false);
    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,false);
    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,false);
    AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,false);

    //start thread control for all motors
    for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
    {
        HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
        Pid_Id = Motor_i;/*ThreadMotorIdToControlId[Motor_i];*/
            MotorControlConfig[Motor_i].m_params.MAX = 1;
            MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1;
            MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
            MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
            MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
            MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp;
            MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue;
            MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon;
            MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype;
            MotorControlConfig[Motor_i].m_ingnoreValue =  MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses
            MotorControlConfig[Motor_i].m_calculatedError = 0;
            MotorControlConfig[Motor_i].m_integral = 0;
            MotorControlConfig[Motor_i].m_isEnabled = true;
            MotorControlConfig[Motor_i].m_isReady = true;
            MotorControlConfig[Motor_i].m_mesuredParam = 0;
            MotorControlConfig[Motor_i].m_preError = 0;
            MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage

            MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);

            if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
            {
                if (SpeedControlId != 0xFF)
                {
                    RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
                    SpeedControlId = 0xFF;
                }
                //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
                SpeedControlId = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
            }
            if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
            {
                if (PoolerSpeedControlId != 0xFF)
                {
                    if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
                        LOG_ERROR(Motor_i,"Remove Control Failed");
                     PoolerSpeedControlId = 0xFF;
                }
                //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
                PoolerSpeedControlId = AddControlCallback(PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
            }
            if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
            {
                if (ControlIdtoMotorId[Motor_i] != 0xFF)
                {
                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
                        LOG_ERROR(Motor_i,"Remove Control Failed");
                    ControlIdtoMotorId[Motor_i] = 0xFF;
                    CurrentControlledSpeed[Motor_i] = 0;
                }
                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
                //AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
            }
            if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
            {
                if (ControlIdtoMotorId[Motor_i] != 0xFF)
                {
                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
                        LOG_ERROR(Motor_i,"Remove Control Failed");
                    CurrentControlledSpeed[Motor_i] = 0;
                    ControlIdtoMotorId[Motor_i] = 0xFF;
                }
                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
            }
            if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
            {
                if (ControlIdtoMotorId[Motor_i] != 0xFF)
                {
                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
                        LOG_ERROR(Motor_i,"Remove Control Failed");
                    CurrentControlledSpeed[Motor_i] = 0;
                    ControlIdtoMotorId[Motor_i] = 0xFF;
                }
                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
            }
//            if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
//                AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
            if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                continue;
    }
    //testDancersControl();
    PrepareReady(Module_Thread,ModuleDone);
    //set 3 dancers to the profile positions
    InitialProcess = true;
    return OK;
}

void SetOriginMotorSpeed(float process_speed)
{
    int Motor_i, HW_Motor_Id;
    for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++)
    {
        HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
        //(Speed*uStep*PPR)/((2*PI*motor_Radius)
        //        double motor_speed = (process_speed *  MotorsCfg[HW_Motor_Id].pulseperround *  MotorsCfg[HW_Motor_Id].microstep)/(2*PI* MotorsCfg[HW_Motor_Id].pulleyradius);
        double motor_speed = (process_speed
                * MotorsCfg[HW_Motor_Id].pulseperround)
                / (2 * PI * MotorsCfg[HW_Motor_Id].pulleyradius);
        //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
        OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
        CurrentControlledSpeed[Motor_i] = (int) motor_speed;
    }
}

//********************************************************************************************************************
uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
{
//set the speed only before the first segment, speed is constant across all job segments and intersegments
    JobTicket* JobTicket = JobDetails;

    float process_speed = dyeingspeed;
    if (dyeingspeed == 0)
    {
        LOG_ERROR (dyeingspeed," job speed zero");
        return ERROR;
    }
    REPORT_MSG (dyeingspeed," ThreadPreSegmentState");
    if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
    {
        SetOriginMotorSpeed(process_speed);
        ThreadControlActive = true;
        PrepareState = false;
        // set the new speed in the dryer motor to the speed of the new segment
        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);

        if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
        {
            MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
            MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
        }
        if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
        {
            MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
            MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
        }
    }
    // activate control fr all motors
    //set speed for both rocker motors
    //wait for all motors to get to the required speed (set the target speed for the control to check)
    //call the job state machine when the thread system is ready
    if ((InitialProcess==false) && JobTicket->enableintersegment == true)
    {
        ThreadUpdateProcessLength (JobTicket->intersegmentlength,(void *)ThreadInterSegmentEnded);
    }
    else
    {
        ThreadUpdateProcessLength (0,(void *)NULL);
        PreSegmentReady(Module_Thread,ModuleDone);
        JobCounter = 0;
        InitialProcess = false;
    }

    return OK;
}
int REPSegmentId = 0;
void ThreadInterSegmentEnded(void)
{
    REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
    PreSegmentReady(Module_Thread,ModuleDone);
}
void ThreadSegmentEnded(void)
{
    REPORT_MSG (REPSegmentId," ThreadSegmentState");
    SegmentReady(Module_Thread,ModuleDone);
}
void ThreadDistanceToSpoolEnded(void)
{
    REPORT_MSG (REPSegmentId," ThreadDistanceToSpoolEnded");
    DistanceToSpoolReady(Module_Thread,ModuleDone);
}
double seglength = 0.0;
//********************************************************************************************************************
uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
{
    JobTicket* JobTicket = JobDetails;
    REPSegmentId = SegmentId;
    seglength = JobTicket->segments[SegmentId]->length;
    CurrentSegmentId = SegmentId;
    REPORT_MSG (seglength," ThreadSegmentState");
    ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
    return OK;
}

//********************************************************************************************************************
uint32_t ThreadDistanceToSpoolState(void )
{
    seglength = dryerbufferlength;
    REPORT_MSG (seglength,"ThreadDistanceToSpoolState");
    ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
    return OK;
}

char Endstr[150];
//********************************************************************************************************************
 uint32_t ThreadEndState(void *JobDetails)
{
     int Motor_i;
     ThreadControlActive = false;

     usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
     SendJobProgress(0.0,0,false, Endstr);
     Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);

     ThreadUpdateProcessLength (0.0,(void *)NULL);
    SetOriginMotorSpeed(0);

     if (SpeedControlId != 0xFF)
     {
         if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK)
             LOG_ERROR(SpeedControlId,"RemoveControl Failed");
         SpeedControlId = 0xFF;
     }
     if (PoolerSpeedControlId != 0xFF)
     {
         if(RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
             LOG_ERROR(PoolerSpeedControlId,"RemoveControl Failed");
         PoolerSpeedControlId = 0xFF;
     }

     for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
     {
         if (ControlIdtoMotorId[Motor_i] != 0xFF)
         {
             if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction) == OK)
                 ControlIdtoMotorId[Motor_i] = 0xFF;
             else
                 LOG_ERROR (ControlIdtoMotorId[Motor_i],"Remove Control failed");
         }
        MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
     }
     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);

    return OK;
}



//********************************************************************************************************************

void ThreadStartPrinting(void)
{
    //PrintingIterate();
}

//********************************************************************************************************************
//********************************************************************************************************************

void ThreadStopPrinting(void)
{
    //PrintingIterate();
}