#include "global.h"


#if JIA_CHENG_WEI_YE_MACHINE


void HuaXian_AlarmProtect(void);
void HuaXian_ManualAction(void);
void HuaXian_AutoAction(void);
void HuaXian_StepCheckStart(void);
void HuaXian_Motor(void);
void HuaXian_ActionStep(void);


static unsigned long cZipCnt = 0;
static unsigned short cHuaXianTimesCnt = 0;


 
void HX_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(HX_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void HuaXian_InitAction(void)
{
    float length_buff,pulse_buff;
    
    length_buff = HX_PARAM_CYCLE_LENGTH;
    pulse_buff  = HX_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
        
    CalFreqTab_X_Free(15);
    HX_SZ_OUT   = 1;
}

void HuaXian_Action(void)
{
    HuaXian_AlarmProtect();
    HuaXian_Motor();
    HuaXian_ManualAction();
    HuaXian_ActionStep();
    HuaXian_AutoAction();
    HuaXian_StepCheckStart();   // 调用脚踏开关检测程序
}


//手动动作
void HuaXian_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        if(HX_bClearTotal) //切断计数清零
        {
            HX_bClearTotal       = 0;
            ClrcToTal(HX_TOTAL_ADDR);
        }
        
        if(HX_bDown)
        {
            HX_bDown = 0;
            HX_DOWN_VAVLE = ~HX_DOWN_VAVLE;
        }
        
        if(HX_bHX)
        {
            HX_bHX = 0;
            HX_HX_VAVLE   = ~HX_HX_VAVLE;
        }
        
        if(HX_bGZ)
        {
            HX_bGZ = 0;
            HX_GZ_VAVLE = ~HX_GZ_VAVLE;
        }
        
        if(HX_bHXRun)
        {
            HX_bHXRun = 0;
            if(HX_HuaXianStep==0)HX_HuaXianStep=1;
        }
        
//电机控制        
        if(HX_bGoMotor)
        {           
            HX_SZ_OUT   = 0;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, HX_DIR_N, 5,1,5,30);  
        }
        
        if(HX_bBackMotor)
        {
            HX_SZ_OUT   = 0;      
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, HX_DIR_P, 5,1,5,30);
        }
        
        if(!HX_bGoMotor && !HX_bBackMotor && (HX_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
    }
}



void HuaXian_AlarmProtect(void)
{ 
    dwRealPos = GetPos(X_AXIS);
}

void HuaXian_ActionStep(void)
{
     switch(HX_HuaXianStep)
     {
         case 0:break;
         case 1:
               HX_HuaXianStep = 2;
               HX_HXDelay = dwTickCount+VAVLE_ALARM_TIME;
         break;
         case 2:
               if(HX_DOWN_UP_IN)
               {
                   HX_HuaXianStep = 3;
                   HX_HXDelay = dwTickCount+HX_PARAM_DELAY_DOWN;                  
               }
               else if(dwTickCount >= HX_HXDelay)HX_SetAlarmCode(HX_DW_UP_ALARM);
         break;
         case 3:
              if(dwTickCount >= HX_HXDelay)
              {
                   HX_DOWN_VAVLE = 1;
                   HX_HXDelay = dwTickCount+VAVLE_ALARM_TIME;
                   HX_HuaXianStep = 4;
              }
         break;
         case 4:
               if(HX_DOWN_DOWN_IN)
               {
                   HX_HuaXianStep = 5;
                   HX_HXDelay = dwTickCount+HX_PARAM_DELAY_HX;                  
               }
               else if(dwTickCount >= HX_HXDelay)HX_SetAlarmCode(HX_DW_DOWN_ALARM);
         break;
         case 5:
              if(dwTickCount >= HX_HXDelay)
              {
                   HX_HX_VAVLE = 1;
                   HX_HXDelay = dwTickCount+VAVLE_ALARM_TIME;
                   HX_HuaXianStep = 6;
              }
         break;
         case 6:
               if(HX_HX_LIMIT_IN)
               {
                   HX_HuaXianStep = 7;
                   HX_HXDelay = dwTickCount+HX_PARAM_DELAY_DOWNBACK;                  
               }
               else if(dwTickCount >= HX_HXDelay)HX_SetAlarmCode(HX_HX_LIMIT);
         break;
         case 7:
              if(dwTickCount >= HX_HXDelay)
              {
                   HX_DOWN_VAVLE = 0;
                   HX_HXDelay = dwTickCount+VAVLE_ALARM_TIME;
                   HX_HuaXianStep = 8;
              }
         break;
         case 8:
               if(!HX_DOWN_DOWN_IN)
               {
                   HX_HuaXianStep = 9;
                   HX_HXDelay = dwTickCount+HX_PARAM_DELAY_HXBACK;                  
               }
               else if(dwTickCount >= HX_HXDelay)HX_SetAlarmCode(HX_DW_DOWN_ALARM);
         break;
         case 9:
              if(dwTickCount >= HX_HXDelay)
              {
                   HX_HX_VAVLE = 0;
                   cHuaXianTimesCnt++;
                   if((cHuaXianTimesCnt >= HX_PARAM_HX_TIMES) || !bRunning)HX_GZ_VAVLE = 0;
                   
                   HX_HXDelay = dwTickCount+VAVLE_ALARM_TIME;
                   HX_HuaXianStep = 10;
              }
               else if(dwTickCount >= HX_HXDelay)HX_SetAlarmCode(HX_HX_LIMIT);
         break;
         case 10:
                if(HX_DOWN_UP_IN && HX_HX_ORIGIN_IN)
               {
                   if((cHuaXianTimesCnt >= HX_PARAM_HX_TIMES) ||  !bRunning)
                   {
                       HX_HuaXianStep = 0;
                       HX_HXDelay = dwTickCount;   
                   }
                   else
                   {
                       HX_HuaXianStep = 1;
                       HX_HXDelay = dwTickCount;                    
                   }
               }
               else if(dwTickCount >= HX_HXDelay)
               {
                    if(!HX_DOWN_UP_IN)
                       HX_SetAlarmCode(HX_DW_UP_ALARM);
                    else
                       HX_SetAlarmCode(HX_HX_ORIGIN);
               }
         break;
         default:;
     }
}

void HuaXian_AutoAction(void)
{  
    if(bRunning)
    {
        switch(HX_AutoStep)
        {
            case 1:
                  if(dwTickCount >= HX_AutoDelay)
                  {	  
                      if(HX_MotorStep == 0)
                      {
                          HX_MotorStep = 30;  
                          HX_AutoStep = 2;	  
                      }
                  }	
                  break;	
            case 2:	 
                  if(HX_MotorStep == 0)
                  {   
                      HX_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(HX_HuaXianStep == 0)
                  {
                      cHuaXianTimesCnt = 0;
                      HX_HuaXianStep = 1;
                      HX_AutoStep = 4;	
                  }
                  break;
            case 4:
                  if(HX_HuaXianStep == 0)
                  {
                      HX_AutoStep = 5;	
                  }
                  break;
            case 5:	 
                  cZipCnt++;
                  AddToTal(HX_TOTAL_ADDR);
                  CalProSP(HX_PROSPEED_ADDR);
                  
                  
                  if((GetTotal(HX_TOTAL_ADDR) >= HX_PARAM_SET_TOTAL) || SingOneFlg)
                  {
                      bRunning = 0;
                      HX_AutoStep = 0; 
                      SingOneFlg = 0;
                      
                      if(GetTotal(HX_TOTAL_ADDR) >= HX_PARAM_SET_TOTAL) HX_SetAlarmCode(HX_TOTAL_ALARM);
                  }
                  else
                  {
                      HX_AutoStep = 1; 
                      HX_AutoDelay = dwTickCount + HX_PARAM_DELAY_DELAY_START;
                  }
                  break;
        }	
    }
}

void HuaXian_StepCheckStart(void)
{
//		启动      			
    if((START_IN_UP) || bStart || HX_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (HX_AutoStep == 0))
        {
            if(!HX_DOWN_UP_IN)HX_SetAlarmCode(HX_DW_UP_ALARM);
            else if(!HX_HX_ORIGIN_IN)HX_SetAlarmCode(HX_HX_ORIGIN);
            else if(HX_GOUZHEN_IN)HX_SetAlarmCode(HX_GZ_ALARM);
            else if(HX_GZ_VAVLE)HX_SetAlarmCode(HX_GZ_OUT_ALARM);
            else if(GetAlarmCode(HX_ALARM_ADDR) != 0);
            else if(GetTotal(HX_TOTAL_ADDR) >= HX_PARAM_SET_TOTAL) HX_SetAlarmCode(HX_TOTAL_ALARM);
            else
            {
                bRunning    = 1;
                HX_AutoStep = 1;
                if(HX_bSingle) SingOneFlg= 1;
                cZipCnt      = 0;
            }
        }
        HX_bSingle = 0;
    }


    //停止
   if(STOP_IN_UP || bStop)
   {
        bStop = 0;
       
        if(bRunning)
        {
            bRunning   = 0;
            HX_AutoStep   = 0;
            HX_MotorStep  = 0;
            HX_HuaXianStep=0;
            
            HX_AutoDelay   = dwTickCount;
            HX_MotorDelay = dwTickCount;
            HX_HXDelay  = dwTickCount;

            SingOneFlg  = 0; 

            AxisDecStop(X_AXIS);  
        }
        else
        {
            bRunning   = 0;
            HX_AutoStep   = 0;
            HX_MotorStep  = 0;
            HX_HuaXianStep=0;
            
            HX_AutoDelay   = dwTickCount;
            HX_MotorDelay = dwTickCount;
            HX_HXDelay  = dwTickCount;

            SingOneFlg  = 0; 

            HX_GZ_VAVLE    = 0;
            HX_DOWN_VAVLE  = 0;
            HX_HX_VAVLE    = 0;
            HX_SZ_OUT      = 1;
            AxisDecStop(X_AXIS);  
            if(GetAlarmCode(HX_ALARM_ADDR) != 0)SetAlarmCode(HX_ALARM_ADDR,0);
        }
    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        bRunning   = 0;
        HX_AutoStep   = 0;
        HX_MotorStep  = 0;
        HX_HuaXianStep=0;
        
        HX_AutoDelay   = dwTickCount;
        HX_MotorDelay = dwTickCount;
        HX_HXDelay  = dwTickCount;

        SingOneFlg  = 0; 
        AxisDecStop(X_AXIS);  
    }
    
}   


//电机动作
void HuaXian_Motor(void)	 //
{
	switch(HX_MotorStep)
	{
                case 30:
                         if(HX_SZ_OUT)
                        {
                            HX_SZ_OUT   = 0;                       
                            HX_MotorDelay = dwTickCount + 50;
                        }
                        HX_MotorStep   = 31;
                        break;
                case 31:	
                        if(dwTickCount>=HX_MotorDelay)
                        {
                            MoveAction_Const_AccDec(X_AXIS, HX_DIR_P,HX_PARAM_HIGH_SPEED,1,5,30); 
                            HX_MotorDelay = dwTickCount + HX_PARAM_MOTOR_ALARM_TIME;
                            HX_MotorStep   = 32;
                        }
			break; 
		case 32:
                        if(HX_GOUZHEN_IN)
                        {
                            AxisEgmStop(X_AXIS); 
                            HX_MotorStep   = 35;
                        }
                        if(HX_GUO_LIAN_IN_UP)
                        {
                            if(X_DRV)MoveChangSpeed(X_AXIS,HX_PARAM_LOW_SPEED);
                            HX_MotorDelay = dwTickCount + HX_PARAM_DELAY_GZ;
                            HX_MotorStep   = 33;
                        }
                        else if(dwTickCount>=HX_MotorDelay)HX_SetAlarmCode(HX_NO_ZIPPER_ALARM);
			break;
                case 33:
                        if(dwTickCount>=HX_MotorDelay)
                        {
                            HX_GZ_VAVLE = 1;
                            HX_MotorDelay = dwTickCount + HX_PARAM_MOTOR_ALARM_TIME;
                            HX_MotorStep   = 34;
                        }
                        break;
                case 34:
                        if(HX_GOUZHEN_IN)
                        {
                            AxisEgmStop(X_AXIS); 
                            HX_MotorStep   = 35;
                        }
                        else if(dwTickCount>=HX_MotorDelay)HX_SetAlarmCode(HX_GZ_ALARM);
                        break;
		case 35:	
                        if(!X_DRV)
                        {
                            AxisMovePos(X_AXIS,HX_PARAM_LOW_SPEED,QD_PARAM_FZ_LENGTH); 
                            HX_MotorStep   = 36;
                        }
			break;
                case 36:   
                        if(!X_DRV)
                        {
                            HX_MotorDelay = dwTickCount;
                            HX_MotorStep   = 0;
                        }
                        break;
               
	}
}





#endif