#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE

void TBJ_InitAction(void);
void TBJ_Action(void);

void TBJ_ChuiQi(void);
void TBJ_ChaoSheng(void);
void TBJ_HeMo(void);
void TBJ_SetAlarmCode(unsigned alarm_code);
void TBJ_StartStopAction(void);
void TBJ_AutoRunStep(void);
void TBJ_Motor(void);
void TBJ_SongJiao(void);


void TBJ_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(TBJ_ALARM_ADDR,alarm_code);
    TBJ_bAlarmStop = 1;
}

void TBJ_InitAction(void)
{   
    XGearRatio = 1;
}

void TBJ_ChuiQi(void)
{
   if(TBJ_CQ_VAVLE && (dwTickCount >= TBJ_CQ_Delay))
   {
       TBJ_CQ_VAVLE = 0;
   }
}

void TBJ_ChaoSheng(void)
{
   if(TBJ_CS_OUT && (dwTickCount >= TBJ_CS_Delay))
   {
       TBJ_CS_OUT = 0;
   }
}

//手动动作
void TBJ_ManualAction(void)
{                  
    if(!TBJ_bRunning)
    {     
          //警告跳出
        if(bClearTotal)
        {
            bClearTotal       = 0;
            ClrcToTal(TBJ_TOTAL_ADDR);
        }
        if(TBJ_bMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,TBJ_PARAM_HIGH_SPEED,TBJ_DIR_P);   
        }
        else 
        {
            if(X_DRV)AxisDecStop(X_AXIS);  
        }
      
        if(TBJ_bGouZhen)
        {
            TBJ_bGouZhen = 0;
            TBJ_GZ_VAVLE = ~TBJ_GZ_VAVLE;
        }
        
        if(TBJ_bQianDao)
        {
            TBJ_bQianDao = 0;
            TBJ_QDB_VAVLE = ~TBJ_QDB_VAVLE;
        }
        
        if(TBJ_bJiaJiao)
        {
            TBJ_bJiaJiao = 0;
            TBJ_JJ_VAVLE = ~TBJ_JJ_VAVLE;
        }
        
        if(TBJ_bSongJiao)
        {
            TBJ_bSongJiao = 0;
            TBJ_SJ_VAVLE = ~TBJ_SJ_VAVLE;
        }
        
        if(TBJ_bCS)
        {
            TBJ_bCS = 0;
            TBJ_CS_OUT = 1;
            TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_TIME;
        }
        
        if(TBJ_bChuiQi)
        {
            TBJ_bChuiQi = 0;
            TBJ_CQ_VAVLE = 1;
            TBJ_CQ_Delay = dwTickCount + TBJ_PARAM_CQ_TIME;
        }
        
        if(TBJ_bSM)
        {
            TBJ_bSM = 0;
            TBJ_SM_VAVLE = ~TBJ_SM_VAVLE;
        }

        if(TBJ_bXM)
        {
            TBJ_bXM = 0;
            TBJ_XM_VAVLE = ~TBJ_XM_VAVLE;
        }
        
        if(TBJ_bHeMo)
        {
            TBJ_bHeMo = 0;
            if(TBJ_HeMoStep == 0)TBJ_HeMoStep = 1;
        }
        
        if(TBJ_bFenJiao)
        {
            TBJ_bFenJiao = 0;
            TBJ_FJ_VAVLE = ~TBJ_FJ_VAVLE;
        }
    }
}

void TBJ_SongJiao(void)
{
    if(TBJ_SongJiaoStep == 1)
    {
        TBJ_SongJiaoStep = 2;
    }
    else if(TBJ_SongJiaoStep == 2)
    {
        TBJ_SongJiaoStep = 3;
    }
    else if(TBJ_SongJiaoStep == 3)
    {
        TBJ_SongJiaoStep = 4;
    }
    else if(TBJ_SongJiaoStep == 4)
    {
        TBJ_SongJiaoStep = 5;
    }
    else if(TBJ_SongJiaoStep == 5)
    {
        TBJ_SongJiaoStep = 6;
    }
    else if(TBJ_SongJiaoStep == 6)
    {
        TBJ_SongJiaoStep = 0;
    }
}

//打孔动作
void TBJ_Action(void)
{	
    TBJ_ManualAction();
    TBJ_ChuiQi();
    TBJ_ChaoSheng();
    TBJ_HeMo();
    TBJ_StartStopAction();     
    TBJ_AutoRunStep();
    TBJ_Motor();
    TBJ_SongJiao();
}

//合模动作
void TBJ_HeMo(void)
{
    if(TBJ_HeMoStep == 1)
    {
         TBJ_HeMoDelay = dwTickCount + TBJ_PARAM_HM_DELAY;
         TBJ_HeMoStep = 2;
    }
    else if((TBJ_HeMoStep == 2) && (dwTickCount >= TBJ_HeMoDelay))
    {
         TBJ_XM_VAVLE = 1;
         TBJ_HeMoDelay = dwTickCount + VAVLE_ALARM_TIME;
         TBJ_HeMoStep = 3;
    }
    else if(TBJ_HeMoStep == 3)
    {
        if(TBJ_XM_LIMIT_IN)
        {
            TBJ_SM_VAVLE = 1;
            TBJ_HeMoDelay = dwTickCount + VAVLE_ALARM_TIME;
            TBJ_HeMoStep = 4;
        }
        else if(dwTickCount >= TBJ_HeMoDelay)
        {
            TBJ_SetAlarmCode(TBJ_HM_LIMIT_ALARM);
        }
    }
    else if(TBJ_HeMoStep == 4)
    {
        if(TBJ_SM_LIMIT_IN)
        {
            TBJ_HeMoDelay = dwTickCount + TBJ_PARAM_DELAY_CS;
            TBJ_HeMoStep = 5;
        }
        else if(dwTickCount >= TBJ_HeMoDelay)
        {
            TBJ_SetAlarmCode(TBJ_HM_LIMIT_ALARM);
        }    
    }
    else if((TBJ_HeMoStep == 5) && (dwTickCount >= TBJ_HeMoDelay))
    {
        TBJ_CS_OUT = 1;
        TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_TIME;
        TBJ_HeMoStep = 6;
    }
    else if((TBJ_HeMoStep == 6) && (TBJ_CS_OUT == 0))
    {
        TBJ_HeMoDelay = dwTickCount + TBJ_PARAM_COLD_TIME;
        TBJ_HeMoStep = 7;
    }
    else if((TBJ_HeMoStep == 7) && (dwTickCount >= TBJ_HeMoDelay))
    {
        TBJ_SM_VAVLE = 0;
        TBJ_XM_VAVLE = 0;
        TBJ_HeMoDelay = dwTickCount + VAVLE_ALARM_TIME;
        TBJ_HeMoStep = 7;
    }
    else if(TBJ_HeMoStep == 7)
    {
        if(!TBJ_SM_LIMIT_IN && !TBJ_XM_LIMIT_IN)
        {
            TBJ_HeMoStep = 0;
        }
        else if(dwTickCount >= TBJ_HeMoDelay)
        {
            if(TBJ_SM_LIMIT_IN)TBJ_SetAlarmCode(TBJ_HM_LIMIT_ALARM);
            else if(TBJ_XM_LIMIT_IN)TBJ_SetAlarmCode(TBJ_HM_LIMIT_ALARM);
        }
    }
}

//启动停止故障停止动作
void TBJ_StartStopAction(void)
{
    if((START_IN_UP || TBJ_bStart) && !TBJ_bRunning && (TBJ_AutoStep ==0))
    {
        if(GetTotal(TBJ_TOTAL_ADDR) >= SET_TOTAL)TBJ_SetAlarmCode(TBJ_TOTAL_ALARM);
        else
        {                      
            TBJ_AutoStep = 1;
            TBJ_bRunning = 1;
            TBJ_AutoDelay = 0;
        }
        TBJ_bStart   = 0;
    }
    
    if(TBJ_KaDai_IN && (GetAlarmCode(TBJ_ALARM_ADDR) == 0))
    {
        TBJ_SetAlarmCode(TBJ_KADAI_ALARM);        
    }

            
    if(STOP_IN_UP || TBJ_bStop)
    {
        TBJ_bStop = 0;
        if(TBJ_bRunning && (SingOneFlg == 0))
        {
            SingOneFlg = 1;
        }
        else
        {
             TBJ_GZ_VAVLE        = 0;
             TBJ_QDB_VAVLE        = 0;
             TBJ_JJ_VAVLE        = 0;
             TBJ_SJ_VAVLE        = 0;
             TBJ_FJ_VAVLE        = 0;
             TBJ_SM_VAVLE        = 0;
             TBJ_XM_VAVLE        = 0;
             TBJ_CQ_VAVLE        = 0;
             TBJ_CS_OUT          = 0;
             
             
            TBJ_HeMoStep    = 0;
            TBJ_bRunning       = 0;
            TBJ_AutoStep       = 0;
            AxisEgmStop(X_AXIS);
        }
    }
    
    if(TBJ_bAlarmStop)
    {
        TBJ_bAlarmStop        = 0;              
        AxisEgmStop(X_AXIS);
        TBJ_AutoStep     = 0;
        TBJ_HeMoStep    = 0;
        TBJ_bRunning          = 0;
        SingOneFlg    = 0;
    }
}

//电机动作
void TBJ_Motor(void)	 //
{
        static long save_buff,length_buff;
   
	switch(TBJ_MotorStep)
	{
		case 0:
			break;
                case 1:   
                        QD_MotorStep = 2;
                        break;
                case 2:
                            save_buff = GetPos(X_AXIS);
                            if(dwZipCnt <= 1)
                            {
                                AxisContinueMove(X_AXIS,TBJ_PARAM_LOW_SPEED,TBJ_DIR_P);         //第一条走低速
                            }
                            else 
                            {                                
                                AxisMoveTwoPos(X_AXIS,TBJ_PARAM_HIGH_SPEED,(length_buff - TBJ_PARAM_LOWSPEED_LENGTH),TBJ_PARAM_LOW_SPEED,0xFFFFFF,TBJ_DIR_P);//第二条开始走两段速
                            }
                            
                            TBJ_MotorDelay = dwTickCount + GUO_LIAN_OVER_TIME;  
                            QD_MotorStep = 3;            
			break;
		case 3:
                            if(TBJ_GUO_LIAN_IN_UP)
                            {
                                QD_MotorStep = 4;     
                                TBJ_MotorDelay = dwTickCount + TBJ_PARAM_DELAY_GZ;  
                            }
                            else if(dwTickCount >= TBJ_MotorDelay)
                            {
                                
                            }
                            
                            if(TBJ_GZ_IN)
                            {   
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 6;
                            }
			break;
		case 4:
                        if(dwTickCount >= TBJ_MotorDelay)
                        {
                            TBJ_GZ_VAVLE    = 1;
                            QD_MotorStep   = 5;
                        }    
                        
                        if(TBJ_GZ_IN)
                        {   
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 6;
                        }
			break;
		case 5:
                        if(TBJ_GZ_IN)
                        {   
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if(!X_DRV)
                        {
                            if(dwZipCnt == 1)length_buff = GetPos(X_AXIS) - save_buff; //以第二条测量出来的长度为准来做减速
                            QD_MotorStep   = 0;
                        }   
                        break;
	}

}

//自动运行动作
void TBJ_AutoRunStep(void)
{    
    if(TBJ_bRunning)
    {
        if(TBJ_AutoStep == 1)
        {
            dwZipCnt        = 0;
            TBJ_AutoStep     = 2;
        }
        else if((TBJ_AutoStep == 2) && (dwTickCount >= TBJ_AutoDelay))
        {       
            if(QD_MotorStep == 0)QD_MotorStep = 1;
            TBJ_AutoStep     = 3;
        }
        else if(TBJ_AutoStep == 3)
        {
            if(QD_MotorStep == 0)
            {
                TBJ_AutoStep  = 4;            
            }
        }
        else if(TBJ_AutoStep == 4)
        {
            if(TBJ_HeMoStep == 0)TBJ_HeMoStep = 1;
            TBJ_AutoStep     = 5;      
        }
        else if(TBJ_AutoStep == 5)
        {
            if(TBJ_HeMoStep == 0)
            {
                TBJ_AutoStep = 6;
            }
        }       
        else if(TBJ_AutoStep == 6)
        {
             AddToTal(TBJ_TOTAL_ADDR);
             dwZipCnt++;
             if((GetTotal(TBJ_TOTAL_ADDR) >= TBJ_PARAM_SET_TOTAL) || SingOneFlg)
             {
                  if(SingOneFlg)
                  {
                      TBJ_AutoStep = 0;
                      TBJ_bRunning = 0; 
                      SingOneFlg    = 0;
                  }
                  else
                  {
                      TBJ_SetAlarmCode(TBJ_TOTAL_ALARM);             
                  }
             }    
             else
             {
                  TBJ_AutoStep = 2;
                  TBJ_AutoDelay = TBJ_PARAM_CYCLE_DELAY + dwTickCount;
                  CalProSP(TBJ_PROSPEED_ADDR);
             }
        }    
    }
}


#endif