Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c


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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;

namespace Tango.Scripting.Editors.Intellisense
{
    public class MethodCompletionItemPopup : CompletionItemPopupControl
    {
        static MethodCompletionItemPopup()
        {
            DefaultStyleKeyProperty.OverrideMetadata(typeof(MethodCompletionItemPopup), new FrameworkPropertyMetadata(typeof(MethodCompletionItemPopup)));
        }
    }
}
/************************************************************************************************************************
 * 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/ids/ids_ex.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
///////////////////////////////////////////////////////////////////////////////////////////

double 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};
double 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;
// job parameters
bool EnableLubrication = false;
bool EnableIntersegment = false;
double IntersegmentLength = 0;


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);

bool SegmentState = false;
bool PreSegmentState = false;
bool DTSState = false;
void SendSegmentFail(void);

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;
    Report("Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
  }
  else
    Time_Pass = Current_Read - Previous_Read;

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

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

        if (length > 1000)
        {
            usnprintf(Lenstr, 100, "length huge: length %d, diff 0x%x, pos 0x%x prev 0x%x",(int)length*100,(int)positionDiff,PreviousPosition,prevprev);
            SendJobProgress(0.0,0,false, Lenstr);
            Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
            length = 0;

        }

    }
    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;
    double 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] >= (int)MotorsControl[index].pvinputfilterfactormode)
        MotorSamplePointer[index] = 0;
    for (i=0;i<(int)MotorsControl[index].pvinputfilterfactormode;i++)
        avreageSampleValue += SpeedSamples[i];
    avreageSampleValue = avreageSampleValue / (int)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 (fabs(calculated_speed-CurrentControlledSpeed[index])>2)
        {
            CurrentControlledSpeed[index] = calculated_speed;
            MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
        }
    }
 return OK;
}
float _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;
}

int controlIndex = 0;
bool keepdata = true;
int32_t KeepReadValue = 0;
//double eNormalizedError[100];
//int    TranslatedreadValue[100];
#ifdef TEST_PID_THREAD
#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];

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;
    char time[150];
    int len;
    ThreadControlActive = true;
    SetOriginMotorSpeed(50.0);
    MotorControlConfig[FEEDER_MOTOR].m_params.epsilon = 0;
    MotorsControl[FEEDER_MOTOR].controloutputtype = 0.001;
    MotorControlConfig[FEEDER_MOTOR].m_params.dt = 0.001;
    DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint = 10000;
    MotorsControl[FEEDER_MOTOR].pvinputfilterfactormode = 1;
    len = usnprintf(time, 150, "params: speed 50, divider %d p %d * %d i %d * %d Dt*1000 %d Norm Coef %d initial speed %d",NORMAL_COEF_DIVIDER,(int)MotorsControl[FEEDER_MOTOR].proportionalgain,(int)MotorsControl[FEEDER_MOTOR].outputonoffhysteresisvalue,
                    (int)MotorsControl[FEEDER_MOTOR].integraltime,(int)MotorsControl[FEEDER_MOTOR].setpointramprateorsoftstartramp,(int)(MotorsControl[FEEDER_MOTOR].controloutputtype*1000),
                    (int)(NormalizedErrorCoEfficient[FEEDER_MOTOR]*1000000000),OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
    Report(time,__FILE__,__LINE__,111,RpError,111,0);
    Task_sleep(100);
    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;
}
#endif
bool dancerinvalid = false;
int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
char TMessage[150];
//char time[150];
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,avreageMotorSampleValue = 0;
    //double tempcalcspeed = 0;
    double calculated_speed;
    double NormalizedError;

    if (ThreadControlActive == false)
        return OK;
#ifndef TEST_PID_THREAD
    if (PrepareState == true)
        return OK;
#endif
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;

    if(MotorControlConfig[index].m_isEnabled )
    {
        //if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true)
        //    return OK;
        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;
        }
        KeepReadValue = ReadValue;
        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] >= (int)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<(int)MotorsControl[index].pvinputfilterfactormode;i++)
            avreageSampleValue += MotorSamples[index][i];
        avreageSampleValue = avreageSampleValue / (int)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
                            usnprintf(TMessage, 60, "ReadBreakSensor Error");
                            //BreakSensordebouncetimemilli
                            JobEndReason = JOB_THREAD_BREAK;
                            ThreadControlActive = false;
                            SendJobProgress(0.0,0,false, TMessage);
                            SendSegmentFail();
                            //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);
            Report(TMessage,__FILE__,__LINE__,avreageSampleValue,RpWarning,DancerStopActivityLimit[index],0);
            //JobAbortedByUser = true;
            ThreadControlActive = false;
            //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
            JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
            SendJobProgress(0.0,0,false, TMessage);
            //EndState(CurrentJob,TMessage );
            SendSegmentFail();
            /*switch (index)
            {
                case POOLER_MOTOR:
                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true);
                    break;
                case FEEDER_MOTOR:
                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,true);
                    break;
                case WINDER_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;
        }
        /*if ((JobCounter % 100) == 0)
        {
            //if (index == WINDER_MOTOR) //feeder unit handles errors opposite to left unit
            //{
              //  Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,CurrentControlledSpeed[index],0);
            //}
            /`*if (JobCounter >= 3000)
            {
                MotorSpeedSamples[index][MotorSpeedSamplePointer[index]] = CurrentControlledSpeed[index];//(-1 * TranslatedReadValue);
                MotorSpeedSamplePointer[index]++;
                if (MotorSpeedSamplePointer[index] >= MAX_CONTROL_SAMPLES)
                    MotorSpeedSamplePointer[index] = 0;
                for (i=0;i<MAX_CONTROL_SAMPLES;i++)
                    avreageMotorSampleValue += MotorSpeedSamples[index][i];
                avreageMotorSampleValue = avreageMotorSampleValue / MAX_CONTROL_SAMPLES;
                //Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,avreageMotorSampleValue,0);
                OriginalMotorSpd_2PPS[index] = avreageMotorSampleValue;
            }*`/
        }*/
        calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
        //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index];
#ifndef TEST_PID_THREAD
        if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
#else
        if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
#endif
        {
            CurrentControlledSpeed[index] = calculated_speed;
            MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
            /*if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit
            {
                Report("MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0);
            }*/
#ifdef TEST_PID_THREAD
            int len;
            if ((JobCounter % 2000) == index*100)
             //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;*/
                len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d",
                                ReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000),
                                (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000),
                                (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed);
                Report(TMessage,__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
                //Task_sleep(100);
                //if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                //    controlIndex = 0;
            }
#endif
        }
		else
		{
           MotorFailedSample[index]++;
           //LOG_ERROR(index,"No change in speed");
		}

    }

 return OK;
}

//********************************************************************************************************************
double 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;
    JobTicket* JobTicket = JobDetails;
    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);

    EnableLubrication = JobTicket->enablelubrication;
    EnableIntersegment = JobTicket->enableintersegment;
    IntersegmentLength = JobTicket->intersegmentlength;


    //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;
                }
#ifndef TEST_PID_THREAD
                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);
#endif
            }
            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;
                }
#ifndef TEST_PID_THREAD
                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
#endif
            }
            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;
                }
#ifndef TEST_PID_THREAD
                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
#endif
            }
//            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;
    }
#ifdef TEST_PID_THREAD
    testDancersControl();
#endif
    PrepareReady(Module_Thread,ModuleDone);
    //set 3 dancers to the profile positions
    InitialProcess = true;
    initialpos = 0xFFFF;
    Poolerinitialpos = 0xFFFF;
    return OK;
}

void SetOriginMotorSpeed(float process_speed)
{
    int i,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;
        //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);

        for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
            MotorSpeedSamples[Motor_i][i] = motor_speed;
    }
}

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

    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;
#ifndef TEST_PID_THREAD
        // 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]);
#endif
#ifdef HUNDRED_MICROSECONDS_DANCER_READ
     MillisecLogInit();
#endif

        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);
        }
        if (EnableLubrication == true)
        {
            IDS_StartLubrication();
        }
    }
    // 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) && (EnableIntersegment == true)) //&& (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
    {//add initial presegment and cleaning before first segment
        ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded);
        REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength");
        SegmentState = false;
        PreSegmentState = true;
        DTSState = false;
    }
    else
    {
        ThreadUpdateProcessLength (0,(void *)NULL);
        PreSegmentReady(Module_Thread,ModuleDone);
        JobCounter = 0;
        InitialProcess = false;
    }

    return OK;
}
int REPSegmentId = 0;
void SendSegmentFail(void)
{
    if (SegmentState == true)
        SegmentReady(Module_Thread,ModuleFail);
    else if (PreSegmentState == true)
        PreSegmentReady(Module_Thread,ModuleFail);
    else if (DTSState == true)
        DistanceToSpoolReady(Module_Thread,ModuleFail);

}

void ThreadInterSegmentEnded(void)
{
    REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
    //ThreadUpdateProcessLength (0,(void *)NULL);
    PreSegmentReady(Module_Thread,ModuleDone);
}
void ThreadSegmentEnded(void)
{
    REPORT_MSG (REPSegmentId," ThreadSegmentEnded");
    SegmentReady(Module_Thread,ModuleDone);
}
void ThreadDistanceToSpoolEnded(void)
{
    REPORT_MSG (REPSegmentId," ThreadDistanceToSpoolEnded");
    DistanceToSpoolReady(Module_Thread,ModuleDone);
}
double seglength = 0.0;
//********************************************************************************************************************
uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId)
{
    JobSegment* Segment = SegmentDetails;
    REPSegmentId = SegmentId;
    seglength = Segment->length;
    CurrentSegmentId = SegmentId;
    REPORT_MSG (seglength," ThreadSegmentState");
    ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
    SegmentState = true;
    PreSegmentState = false;
    DTSState = false;
    return OK;
}

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

char Endstr[150];
//********************************************************************************************************************
 uint32_t ThreadEndState(void )
{
     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);
     //TotalProcessedLength = 0.0;
     SetOriginMotorSpeed(0);
#ifdef HUNDRED_MICROSECONDS_DANCER_READ
     MillisecLogClose();
#endif
     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);
     IDS_StopLubrication();
    return OK;
}


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

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

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

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