#include "global.h"

#if TONG_YONG_MACHINE

void DK_InitAction(void);
void DK_ChuiQi(void);
void DK_Action(void);
void DK_XiaChong(void);
void DK_SetAlarmCode(unsigned alarm_code);
void DK_StartStopAction(void);
void DK_AutoRunStep(void);
void DK_Motor(void);

unsigned char DK_SingOneFlg = 0;

void DK_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(DK_ALARM_ADDR,alarm_code);
    DK_bAlarmStop = 1;
}

void DK_InitAction(void)
{   
    float buff_pulse,buff_dist;
       
    buff_pulse  = DK_PARAM_CYCLE_PULSE;
    buff_dist   = DK_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist;
}

void DK_ChuiQi(void)
{ 
    if(DK_CQ_VAVLE && (dwTickCount>=DK_CQ_Delay)) DK_CQ_VAVLE = 0; 
}


//手动动作
void DK_ManualAction(void)
{                  
    if(!DK_bRunning)
    {     
          //警告跳出
        if(bClearTotal)
        {
            bClearTotal       = 0;
            ClrcToTal(DK_TOTAL_ADDR);
        }
        if(DK_bMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,10,DK_DIR_N);
        }

        if(DK_bBackMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,10,DK_DIR_P);
        }
        
        if(!DK_bMotor && !DK_bBackMotor)
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(DK_bGZ)
        {
           DK_bGZ = 0;
           DK_GZ_VAVLE = ~DK_GZ_VAVLE;
        }   
        
        if(DK_GZSwitch_IN_UP)DK_GZ_VAVLE = 1;
        if(DK_GZSwitch_IN_DW)DK_GZ_VAVLE = 0;
        
        if(DK_bCQ)
        {
           DK_bCQ = 0;         
           DK_CQ_Delay = dwTickCount + DK_PARAM_CQ_TIME;
           DK_CQ_VAVLE = 1;
        }  
        
        if(DK_bXM)
        {
           DK_bXM = 0;
           DK_XM_VAVLE = ~DK_XM_VAVLE;
        }  

        if(DK_bSM)
        {
           DK_bSM = 0;
           DK_SM_VAVLE = ~DK_SM_VAVLE;
        }  
        
        if(DK_bRJ || DK_RJSwitch_IN_UP)
        {
           DK_bRJ = 0;
           if(DK_XiaChongStep==0)DK_XiaChongStep=1;
        }          
    }
}


//打孔动作
void DK_Action(void)
{	
    DK_ManualAction();
    DK_ChuiQi();
    DK_XiaChong();
    DK_StartStopAction();     
    DK_AutoRunStep();
    DK_Motor();
}

//下冲动作
void DK_XiaChong(void)
{
    if(DK_XiaChongStep == 1)
    {
         DK_XiaChongDelay = dwTickCount + DK_PARAM_SM_DELAY;
         DK_XiaChongStep = 2;
    }
    else if((DK_XiaChongStep == 2)&& (dwTickCount >= DK_XiaChongDelay))
    {
         DK_SM_VAVLE     = 1;
         DK_XiaChongStep = 3;
         DK_XiaChongDelay = dwTickCount + DK_VAVLE_ALARM_TIME;
    }
    else if(DK_XiaChongStep == 3)
    {
         if(DK_SM_LIMIT_IN)
         {
            DK_XiaChongStep = 4;
         }
         else if(dwTickCount >= DK_XiaChongDelay)
           DK_SetAlarmCode(DK_SM_LIMIT_ALARM);
    }
    else if(DK_XiaChongStep == 4)
    {
         if(DK_PARAM_XM_ENABLE)
         {
             DK_XiaChongDelay = dwTickCount + DK_PARAM_XM_DELAY;
             DK_XiaChongStep = 5;
         }
         else
             DK_XiaChongStep = 7;
    }
    else if((DK_XiaChongStep == 5) && (dwTickCount >= DK_XiaChongDelay))
    {    
         DK_XM_VAVLE     = 1;
         DK_XiaChongDelay = dwTickCount + DK_VAVLE_ALARM_TIME;
         DK_XiaChongStep = 6; 
    }
    else if(DK_XiaChongStep == 6)
    {
        if(DK_XM_LIMIT_IN)
        {
            DK_XiaChongStep = 7;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
          DK_SetAlarmCode(DK_XM_LIMIT_ALARM);
    }
    else if(DK_XiaChongStep == 7)
    {
        DK_XiaChongDelay = dwTickCount + DK_PARAM_CS_DELAY;
        DK_XiaChongStep = 8;
    }
    else if((DK_XiaChongStep == 8) && (dwTickCount >= DK_XiaChongDelay))
    {
        if(!DK_PARAM_CS_ENABLE)DK_CS_OUT = 1;
        DK_XiaChongDelay = dwTickCount + DK_PARAM_CS_TIME;
        DK_XiaChongStep = 9;
    }
    else if((DK_XiaChongStep == 9) && (dwTickCount >= DK_XiaChongDelay))
    {
        if(!DK_PARAM_CS_ENABLE)DK_CS_OUT = 0;
        DK_XiaChongDelay = dwTickCount + DK_PARAM_CS_COLD_TIME;        
        DK_XiaChongStep = 10;
    }
    else if((DK_XiaChongStep == 10) && (dwTickCount >= DK_XiaChongDelay))
    {
        DK_SM_VAVLE = 0;
        if(DK_PARAM_XM_ENABLE)DK_XM_VAVLE = 0;
        DK_GZ_VAVLE = 0;
        DK_XiaChongStep = 11;
        DK_XiaChongDelay = dwTickCount + DK_VAVLE_ALARM_TIME;
    }
    else if((DK_XiaChongStep == 11))
    {
        if(!DK_SM_LIMIT_IN && !DK_XM_LIMIT_IN)
        {
           DK_XiaChongStep = 0;
           DK_XiaChongDelay = dwTickCount;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
        {
           if(DK_SM_LIMIT_IN)
               DK_SetAlarmCode(DK_SM_LIMIT_ALARM);
           else 
               DK_SetAlarmCode(DK_XM_LIMIT_ALARM);
        }
    }
}

//启动停止故障停止动作
void DK_StartStopAction(void)
{
    if(DK_bRunning)
         DK_PARAM_RUN_STATE = 1;
    else
         DK_PARAM_RUN_STATE = 0;
    
    if((START_IN_UP || DK_bStart || DK_bSingle) && !DK_bRunning && (DK_AutoStep ==0))
    {
        if(DK_GZ_VAVLE || DK_GZ_IN)DK_SetAlarmCode(DK_START_GZ_ALARM);
        else if(DK_SM_VAVLE || DK_SM_LIMIT_IN)DK_SetAlarmCode(DK_START_SM_ALARM);
        else if(DK_XM_VAVLE || DK_XM_LIMIT_IN)DK_SetAlarmCode(DK_START_XM_ALARM);        
        else
        {    
            if(DK_bSingle)
            {
               DK_SingOneFlg = 1;        
               DK_bSingle = 0;
            }
            DK_AutoStep = 1;
            DK_bRunning = 1;
            DK_PROSPEED       = 0;
        }
        DK_bStart   = 0;
        DK_bSingle = 0;
    }
    
/*    if(DK_KaDai_IN && (GetAlarmCode(DK_ALARM_ADDR) == 0))
    {
        DK_SetAlarmCode(DK_KADAI_ALARM);        
    }
*/
            
    if(STOP_IN_UP || DK_bStop)
    {
        DK_bStop = 0;
        if(DK_bRunning)
        {
            DK_bRunning       = 0;
            DK_SingOneFlg        = 0;
            DK_AutoStep       = 0;
            DK_MotorStep      = 0;
            AxisEgmStop(X_AXIS);   
        }
        else
        {
            DK_bRunning       = 0;
            DK_AutoStep       = 0;
            DK_MotorStep      = 0;
            DK_XiaChongStep   = 0;
            DK_GZ_VAVLE       = 0;
            DK_CQ_VAVLE       = 0;
            DK_SM_VAVLE       = 0;
            DK_XM_VAVLE       = 0;
            DK_SZ_OUT         = 1;
            DK_CS_OUT         = 0;
            DK_SingOneFlg        = 0; 
            AxisEgmStop(X_AXIS);
        }
    }
    
    if(DK_bAlarmStop)
    {
        DK_bAlarmStop     = 0;              
        DK_bRunning       = 0;
        DK_AutoStep       = 0;
        DK_MotorStep      = 0;
        DK_XiaChongStep   = 0;
        DK_GZ_VAVLE       = 0;
        DK_CQ_VAVLE       = 0;
        DK_SM_VAVLE       = 0;
        DK_XM_VAVLE       = 0;
        DK_SZ_OUT         = 1;
        DK_CS_OUT         = 0;
        DK_SingOneFlg        = 0; 
        DK_PROSPEED       = 0;
        AxisEgmStop(X_AXIS);
        DISPLAY_DATA4++;
    }
}

//电机动作
void DK_Motor(void)	 //
{
        static long save_buff,length_buff;

        DISPLAY_DATA0  = dwRealPos;
        if(DK_bRunning)dwRealPos = GetPos(X_AXIS);
        
	switch(DK_MotorStep)
	{
		case 0:
			break;
                case 1:   
                        if(DK_SZ_OUT)
                        {
                            DK_SZ_OUT         = 0;
                            DK_MotorDelay  = dwTickCount + 100;
                        }
                        DK_MotorStep = 2;
                        break;
                case 2:
                        if(dwTickCount >= DK_MotorDelay)
                        {
                            if(!X_DRV)AxisContinueMove(X_AXIS,DK_PARAM_HIGH_SPEED,DK_DIR_N);
                            DK_MotorDelay  = dwTickCount + DK_PARAM_NO_ZIPPER_TIME;
                            DK_MotorStep = 3;            
                        }
			break;
		case 3:
                        if(DK_GuoLian_IN_UP)
                        {
                            if(X_DRV)AxisChangeSpeed(X_AXIS,DK_PARAM_LOW_SPEED);
                            DK_MotorStep   = 4;
                            DK_MotorDelay  = dwTickCount + DK_PARAM_GZ_DELAY;
                        }  
                        else if(dwTickCount >= DK_MotorDelay)
                            DK_SetAlarmCode(DK_GUOLIAN_ALARM);    
                        break;
                case 4:
                        if(dwTickCount >= DK_MotorDelay)
                        {
                            DK_GZ_VAVLE  = 1;
                            DK_CQ_Delay = dwTickCount + DK_PARAM_CQ_TIME;
                            DK_CQ_VAVLE = 1;
                            DK_MotorDelay  = dwTickCount + DK_VAVLE_ALARM_TIME;
                            DK_MotorStep = 5;     
                        }
			break;
                case 5:
                        if(DK_GZ_IN)
                        {
                            save_buff    = dwRealPos;
                            DK_MotorStep = 6;     
                        }
                        else if(dwTickCount >= DK_MotorDelay)
                            DK_SetAlarmCode(DK_GZ_ALARM);
			break;
                case 6:
                        if(dwRealPos  >= (DK_PARAM_DELAY_STOP_MOTOR + save_buff))
                        {
                            AxisEgmStop(X_AXIS);
                            DK_MotorStep = 7;  
                        }
                        break;
                case 7:
                        if(!X_DRV)
                        {
                            DK_MotorStep = 8;   
                        }
                        break;
                case 8:
                        {
                            DK_MotorDelay = dwTickCount;
                            DK_MotorStep = 0;     
                        }
                        break;
	}

}

//自动运行动作
void DK_AutoRunStep(void)
{    
    DISPLAY_DATA0  = DK_XiaChongStep;
    DISPLAY_DATA1  = DK_ManualStep;
    DISPLAY_DATA2  = DK_MotorStep;
    DISPLAY_DATA3  = DK_AutoStep;
    if(DK_bRunning)
    {
        if(DK_AutoStep == 1)
        {
            DK_AutoStep     = 2;
        }
        else if((DK_AutoStep == 2) && (dwTickCount >= DK_AutoDelay))
        {       
            if(DK_MotorStep == 0)
            {
                DK_MotorStep = 1;
                DK_AutoStep     = 3;
            }
        }
        else if(DK_AutoStep == 3)
        {
            if(DK_MotorStep == 0)
            {
                DK_AutoStep  = 4;            
            }
        }
        else if(DK_AutoStep == 4)
        {
            DK_AutoStep  = 5;       
        }   
        else if(DK_AutoStep == 5)
        {
            if(DK_MotorStep == 0)
            {
               if(DK_SingOneFlg)
               {
                  DK_AutoStep = 0;
                  DK_bRunning = 0; 
                  DK_SingOneFlg    = 0;
               } 
               else
                  DK_AutoStep  = 6;            
            }  
        }   
        else if(DK_AutoStep == 6)
        {
            if(DK_XiaChongStep == 0)
            {
                DK_XiaChongStep = 1;            
                DK_AutoStep     = 7;     
            }
        }
        else if(DK_AutoStep == 7)
        {
            if(DK_XiaChongStep == 0)
            {
                DK_AutoStep = 8;
            }
        }       
        else if(DK_AutoStep == 8)
        {
             AddToTal(DK_TOTAL_ADDR);
             AddToTal(DK_ALLTOTAL_ADDR);   
             {
                  DK_AutoStep = 2;
                  DK_AutoDelay = DK_PARAM_CYCLE_DELAY + dwTickCount;
                  CalProSP(DK_PROSPEED_ADDR);
             }
        }    
    }
}


#endif