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/************************************************************************************************************************
* Printing.c
* High managment logical unit of slow motors in the system ( 6 dispensers and the screw motor)
* profile run up begins from screw homing to begin position and only then from fast motors activation.
* when every slow motor tuches the limit switch (no matter whether its screw or dispenser)
* an interrupt occures in the system and as long as its pushing the limit switch all the system is prevented from operation.
* because of that the work flow with interrupts must be :
* design a function handle (what to do in the moment the interrupt arrives)
* configure the wanted interrupt in the cfg file (according to the defined port and pin and its interrupt number and the handler)
* enable interupt for predefined gpio in the application
* when the interrupt arrives the handle will be automatically called
* in case of the limit switches since the operation is continuess the interrupt must be disabled in order to continue the application running.
* then the operation is not continues (like butten pushing) there is no need in disabling the interrupts
* 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 "./printingSTM.h"
#include "modules/thread/thread_ex.h"
#include "modules/ids/ids_ex.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
///////////////////////////////////////////////////////////////////////////////////////////
/********************************************************************************************
* functions describes motor operation flow and movement state during profile execution
* used to operate in runtime correct profileflow execution
*********************************************************************************************/
static uint32_t EntryState(void *JobDetails);
static uint32_t PrepareState(void *JobDetails);
static uint32_t PreSegmentState(void *JobDetails, int);
static uint32_t SegmentState(void *JobDetails, int);
static uint32_t EndState(void *JobDetails);
static uint32_t ExitState(void *JobDetails);
/**********************************************************************
* the array and enum of PrintingState_t below must be in sync order
***********************************************************************/
//static uint32_t (* state[])(void *JobDetails) = { EntryState, PrepareState, PreSegmentState, SegmentState, EndState, ExitState};
typedef enum
{
PrintRequest,
PreSegmentResultsOk,
PreSegmentResultsFail,
SegmentResultsOk,
SegmentResultsFail,
FinishResultsOk,
FinishResultsFail,
PrintSystemFailure
}PrintSTMEventsEnum;
typedef struct
{
PrintingState_t m_sourceState;
uint32_t m_returnCode;
PrintingState_t m_destinationState;
} Transition_t;
////////////////////////Slow Motor State////////////////////////////////////
//static PrintingState_t gPrintingState;
////////////////////////////////////////////////////////////////////////////
ModuleStateEnum SegmentWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle};
ModuleStateEnum PreSegmentWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle};
ModuleStateEnum PrintWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle};
//********************************************************************************************************************
/********************************************************************************************************************
*function describes entry point of motor in profile execution - accelerate from stop position
*function described above used to operate motor operation flow and movement state during profile execution
*********************************************************************************************************************/
static uint32_t EntryState(void *JobDetails)
{
return OK;
}
uint32_t PreSegmentReady(int ModuleId, ModuleStateEnum result)
{
int i;
bool ready = true;
uint32_t status = OK;
JobMessageStruc Message;
PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message.messageData;
assert (ModuleId<MAX_SYSTEM_MODULES);
assert (result<=ModuleFail);
PreSegmentWaiting[ModuleId] = result;
if (result == ModuleFail) status = ERROR;
for (i=0;i<MAX_SYSTEM_MODULES ;i++)
{
if (PreSegmentWaiting[i] == ModuleWaiting)
ready = false;
}
if ((ready == false)&&(status == OK)) return OK;
else
{
Message.messageId = PrintMessage;
if (status == OK) PrtMessage->messageId = PreSegmentResultsOk;
else PrtMessage->messageId = PreSegmentResultsFail;
//memcpy(Message.messageData,JobDetails,MAX_MSG_LEN);
Message.msglen = 10;
if (JobmsgQ != NULL)
Mailbox_post(JobmsgQ , &Message, BIOS_NO_WAIT);
}
return 0;
}
//********************************************************************************************************************
static uint32_t PreSegmentState(void *JobDetails, int SegmentId)
{
PreSegmentWaiting[Module_Thread] = ModuleWaiting;
ThreadPreSegmentState(JobDetails);
PreSegmentWaiting[Module_Winder] = ModuleWaiting;
Winder_Presegment(JobDetails);
PreSegmentWaiting[Module_IDS] = ModuleWaiting;
IDSPreSegmentState(JobDetails,SegmentId);
return OK;
}
//********************************************************************************************************************
uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
{
int i;
bool ready = true;
uint32_t status = OK;
JobMessageStruc Message;
PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message.messageData;
assert (ModuleId<MAX_SYSTEM_MODULES);
assert (result<=ModuleFail);
SegmentWaiting[ModuleId] = result;
if (result == ModuleFail) status = ERROR;
for (i=0;i<MAX_SYSTEM_MODULES ;i++)
{
if (SegmentWaiting[i] == ModuleWaiting)
ready = false;
}
if ((ready == false)&&(status == OK)) return OK;
else
{
Message.messageId = PrintMessage;
if (status == OK) PrtMessage->messageId = SegmentResultsOk;
else PrtMessage->messageId = SegmentResultsFail;
//memcpy(Message.messageData,JobDetails,MAX_MSG_LEN);
Message.msglen = 10;
if (JobmsgQ != NULL)
Mailbox_post(JobmsgQ , &Message, BIOS_NO_WAIT);
}
return 0;
}
//********************************************************************************************************************
static uint32_t SegmentState(void *JobDetails, int SegmentId)
{
SegmentWaiting[Module_Thread] = ModuleWaiting;
ThreadSegmentState(JobDetails,SegmentId);
//SegmentWaiting[Module_Winder] = ModuleWaiting;
//Winder_Segment(JobDetails);
SegmentWaiting[Module_IDS] = ModuleWaiting;
IDSSegmentState(JobDetails,SegmentId);
return OK;
}
//********************************************************************************************************************
static uint32_t EndState(void *JobDetails)
{
return OK;
}
//********************************************************************************************************************
static uint32_t ExitState(void *JobDetails)
{
return OK;
}
//********************************************************************************************************************
void PrintingsInit(void)
{
}
//********************************************************************************************************************
void StartPrinting(void)
{
}
//********************************************************************************************************************
//********************************************************************************************************************
void StopPrinting(void)
{
}
void PrintSTMMsgHandler(void * msg)
{
JobMessageStruc *Message = msg;
PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message->messageData;
Report(REPORT_LINE("PrintSTMMsgHandler"),__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
if (Message->messageId != PrintMessage)
{
//REPORT_ERR ...
return;
}
static int SegmentId = 0;
switch(PrtMessage->messageId)
{
case PrintRequest:
SegmentId = 0;
PreSegmentState(&CurrentJob,SegmentId);
break;
case PreSegmentResultsOk:
SegmentState(&CurrentJob,SegmentId);
break;
case PreSegmentResultsFail:
ExitState(Message->messageData);
break;
case SegmentResultsOk:
SegmentId++;
if (SegmentId == CurrentJob->n_segments)
{
//if (CurrentJob->) handle distance to spool
EndState(&CurrentJob);
}
else
{
PreSegmentState(&CurrentJob,SegmentId);
}
break;
case SegmentResultsFail:
break;
case FinishResultsOk:
break;
case FinishResultsFail:
break;
case PrintSystemFailure:
break;
default:
break;
}
}
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