#include "global.h"

#if WEI_YUAN_SONG_MACHINE

unsigned char JSDC_cFirstFlg = 0,JSDC_cSeBiaoStep = 0;        
unsigned short JSDC_SecondToothNum = 0;
unsigned char JSDC_cCntEn = 0;
unsigned long JSDC_dwSeBiaoDelayCnt = 0;
long JSDC_RemainLength = 0;
static unsigned char cFengZhenTimes = 0;
static long cRealPos;

unsigned long CalEncodePulse(void);


void JSDC_DelayAction(void);
void JSDC_InitAction(void);
void JSDC_ExtiActionX30(void);
void JSDC_Action(void);

void JSDC_ModeSelect(void);
void JSDC_ChuiQi(void);
void JSDC_XiaChong(void);
void JSDC_SetAlarmCode(unsigned alarm_code);
void JSDC_StartStopAction(void);
void JSDC_AutoRunStep(void);
void JSDC_FenZhen(void);
void JSDC_Motor(void);


void JSDC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JSDC_ALARM_ADDR,alarm_code);
    JSDC_bAlarmStop = 1;
}

void JSDC_InitAction(void)
{   
    float buff_pulse,buff_dist;
    
    if USE_ENCODE
    {
        buff_pulse  = JSDC_PARAM_CYCLE_BM_PULSE;
        buff_dist   = JSDC_PARAM_CYCLE_BM_LENGTH;    
    }
    else
    {
        buff_pulse  = JSDC_PARAM_CYCLE_PULSE;
        buff_dist   = JSDC_PARAM_CYCLE_LENGTH;      
    }

    XGearRatio  =  buff_pulse/buff_dist;
    if(JSDC_XC_MODE)JSDC_XiaChong_MOTOR = 1;
}

//手动动作
void JSDC_ManualAction(void)
{              
    //清理产量
    if(bClearTotal)
    {
        bClearTotal       = 0;
        ClrcToTal(JSDC_TOTAL_ADDR);
    }
    
    if(!JSDC_bRunning)
    {
        if(JSDC_bAdd)
        {
            JSDC_bAdd = 0;    
            if(JSDC_SET_ALL_LENGTH < 9999999)
            {
                SetData32bits(12,JSDC_SET_ALL_LENGTH+50);
                JSDC_bSetCM = 1;
            }
        }
              
        if(JSDC_bDec)
        {
            JSDC_bDec = 0;
            if(JSDC_SET_ALL_LENGTH >= 50)
            {
                SetData32bits(12,JSDC_SET_ALL_LENGTH-50);  
                JSDC_bSetCM = 1;
            }
        }
        
        if(JSDC_bLeftFZ)
        {
            JSDC_bLeftFZ = 0;
            JSDC_LFZ_VAVLE = ~JSDC_LFZ_VAVLE;
        }
        
        if(JSDC_bRightFZ)
        {
            JSDC_bRightFZ = 0;
            JSDC_RFZ_VAVLE = ~JSDC_RFZ_VAVLE;
        }
        
        if(JSDC_bLSD)
        {
            JSDC_bLSD = 0;
            JSDC_LSD_VAVLE = ~JSDC_LSD_VAVLE;
        }
        
        if(JSDC_bGZ)
        {
            JSDC_bGZ = 0;
            JSDC_GZ_VAVLE = ~JSDC_GZ_VAVLE;
        }
        
        if(JSDC_bXC || JSDC_ManXiaChong_UP)
        {
            JSDC_bXC = 0;
            
            if(JSDC_XiaChongStep == 0)
            {
                JSDC_XiaChongStep = 1;
            }
        }
        
        if(JSDC_bCQ)
        {
            JSDC_bCQ = 0;  
            JSDC_ChuiQi_VAVLE = 1;
            JSDC_ChuiQiDelay = dwTickCount + JSDC_PARAM_CHUIQI_TIME;
        }
        
        if(JSDC_bMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,20,JSDC_DIR_P);   
        }
        else 
        {
            if(X_DRV)AxisDecStop(X_AXIS);  
        }
        
        if(JSDC_bSetCM)
        {
            JSDC_bSetCM = 0;    
            SetData32bits(8,CalInch(JSDC_SET_ZIPPER_LENGTH));
            JSDC_SET_KONGWEI_LENGTH_INCH = CalInch(JSDC_SET_KONGWEI_LENGTH);
            SetData32bits(14,CalInch(JSDC_SET_ALL_LENGTH));
        }
        
        if(JSDC_bSetInch)
        {
            JSDC_bSetInch = 0;  
            SetData32bits(6,CalLengthCM(JSDC_SET_ZIPPER_LENGTH));
            JSDC_SET_KONGWEI_LENGTH = CalLengthCM(JSDC_SET_KONGWEI_LENGTH_INCH);
            SetData32bits(12,CalLengthCM(JSDC_SET_ALL_LENGTH));            
         
            JSDC_bSetCM = 1;
        }
    }
}
//高速输入X30/X16定时器中断
void JSDC_ExtiActionX30(void)
{

}

//高速输入X31/X17外部色标信号中断
void JSDC_ExtiActionX31(void)
{

}


//胶牙定寸动作
void JSDC_Action(void)
{	
    JSDC_ManualAction();
    JSDC_ChuiQi();
    JSDC_Motor();
    JSDC_XiaChong();
    JSDC_StartStopAction();     
    JSDC_AutoRunStep();
}


//输入拉链长度返回所输入拉链长度所对应的齿数
unsigned long JS_GetToothNum(unsigned long zipper_length)
{
    float length_buff1,tooth_buff,length_buff2;
    length_buff1 = zipper_length;
    tooth_buff   = JY_JIZHUN_CISHU;
    length_buff2 = JY_JIZHUN_LEN;
    return (unsigned long)round(length_buff1 * tooth_buff / length_buff2);
}



//吹气动作
void JSDC_ChuiQi(void)
{ 
    if(JSDC_ChuiQi_VAVLE)
    {
        if(JSDC_ChuiQiDelay < dwTickCount)JSDC_ChuiQi_VAVLE = 0;			
    }
}

void JSDC_FenZhen(void)
{
    if(JSDC_SX_ENABLE == 0)JSDC_FenZhenStep = 0;   
      
    if(bRunning)
    {
        if((dwTickCount >= JSDC_FenZhenDelay) && JSDC_LSD_VAVLE)JSDC_LSD_VAVLE = 0;
    }
    switch(JSDC_FenZhenStep)
    {
        case 0:
                break;
        case 1:	//锁带(右分针)
                if(dwTickCount >= JSDC_FenZhenDelay)
                {
                    JSDC_FenZhenStep = 2;
                    JSDC_RFZ_VAVLE = 1;
                    JSDC_FenZhenDelay  = dwTickCount + JSDC_VAVLE_ALARM_TIME;
                }
                break;	
        case 2:
                if(JSDC_RFZ_IN)	//分针到位
                {
                    JSDC_RSD_VAVLE = 1;
                    cFengZhenTimes = 0;
                    JSDC_FenZhenStep = 3;	
                    JSDC_FenZhenDelay  = dwTickCount + JSDC_PARAM_LFZ_DELAY;
                }
                else if(dwTickCount >= JSDC_FenZhenDelay)	//右分针不到位警告
                {
                    cFengZhenTimes++;
                    JSDC_RFZ_VAVLE = 0;
                    if(cFengZhenTimes >= 3)
                    {
                        JSDC_SetAlarmCode(JSDC_RFZ_ALARM);
                    }
                    else
                    {
                        JSDC_FenZhenStep = 1;
                        JSDC_FenZhenDelay  = dwTickCount + 300;	
                    }	
                }
                break;	
        case 3:
                if(dwTickCount >= JSDC_FenZhenDelay)
                {
                    JSDC_LFZ_VAVLE = 1;
                    JSDC_FenZhenStep = 4;	
                    JSDC_FenZhenDelay  = dwTickCount + JSDC_VAVLE_ALARM_TIME;
                }
                break;
        case 4:
                if(JSDC_LFZ_IN)
                {
                    JSDC_LSD_VAVLE = 1;
                    JSDC_FenZhenStep = 0;	
                    JSDC_LSDDelay = dwTickCount + JSDC_PARAM_LSD_DELAY;		
                }
                else if(dwTickCount >= JSDC_FenZhenDelay)		//左分针不到位警告		
                {
                    JSDC_SetAlarmCode(JSDC_LFZ_ALARM);
                }	
        break;
    }
}


//下冲动作
void JSDC_XiaChong(void)
{
    if(JSDC_XiaChongStep == 1)
    { 
         if(JSDC_XC_MODE)
         {
             JSDC_XiaChongDelay = dwTickCount + XIACONG_DELAY_TIME;
             JSDC_ShaChe_VAVLE = 0;
             JSDC_XiaChongStep = 2;         
         }
         else
         {
             if(JSDC_XC_ORIGIN_IN)
             {
                 JSDC_XiaChongDelay = dwTickCount + XIACONG_DELAY_TIME;
                 JSDC_XiaChongStep = 20;                      
             }  
             else
             {
                 JSDC_SetAlarmCode(JSDC_XIACHONG_LIMIT_ALARM);
             }
         }
    }
    else if((JSDC_XiaChongStep == 2) && (dwTickCount >= JSDC_XiaChongDelay))
    {
         JSDC_XiaChongDelay = dwTickCount + JSDC_PARAM_XC_ALARM_TIME;
         JSDC_XiaChongStep = 3;
    }
    else if(JSDC_XiaChongStep == 3)
    {
        if(JSDC_XC_ORIGIN_IN_UP)
        {
            JSDC_XiaChongDelay = dwTickCount + JSDC_PARAM_SHACHE_DELAY_TIME;
            JSDC_XiaChongStep = 4;
        }
        else if(dwTickCount >= JSDC_XiaChongDelay)
        {
            JSDC_SetAlarmCode(JSDC_XIACHONG_LIMIT_ALARM);
            JSDC_XiaChong_MOTOR = 0;
            JSDC_ShaChe_VAVLE = 0;
        }
    }
    else if((JSDC_XiaChongStep == 4) && (dwTickCount >= JSDC_XiaChongDelay))
    {
         JSDC_ShaChe_VAVLE = 1;
         
         if(JSDC_SC_MODE)
         {
             JSDC_XiaChongStep = 6;
         } 
         else
         {
             JSDC_XiaChongStep = 5;
             JSDC_XiaChongDelay = dwTickCount + JSDC_PARAM_SHACHE_TIME;         
         }
    }
    else if((JSDC_XiaChongStep == 5) && (dwTickCount >= JSDC_XiaChongDelay))
    {
         JSDC_ShaChe_VAVLE = 0;
         JSDC_XiaChongStep = 6;
    }
    else if(JSDC_XiaChongStep == 6)
    {
         JSDC_GZ_VAVLE    = 0;
         JSDC_XiaChongStep = 0;
    }
    else if((JSDC_XiaChongStep == 20) && (dwTickCount >= JSDC_XiaChongDelay))
    {
        JSDC_XiaChong_MOTOR = 1;
        JSDC_XiaChongStep   = 21;
        JSDC_XiaChongDelay = dwTickCount + JSDC_PARAM_XC_ALARM_TIME;
    }
    else if(JSDC_XiaChongStep == 21)
    {
        if(JSDC_XC_LIMIT_IN)
        {
            JSDC_XiaChong_MOTOR = 0;
            JSDC_GZ_VAVLE    = 0;
            JSDC_XiaChongDelay = dwTickCount + JSDC_PARAM_XC_ALARM_TIME;
            JSDC_XiaChongStep = 22;
        }
        else if(dwTickCount >= JSDC_XiaChongDelay)
        {
            JSDC_SetAlarmCode(JSDC_XIACHONG_LIMIT_ALARM);
        }
    }
    else if(JSDC_XiaChongStep == 22)
    {
       if(JSDC_XC_ORIGIN_IN)
       {
           JSDC_XiaChongStep = 0;                      
       }  
       else if(dwTickCount >= JSDC_XiaChongDelay)
       {
           JSDC_SetAlarmCode(JSDC_XIACHONG_ORIGIN_ALARM);
       }
    }
}

//启动停止故障停止动作
void JSDC_StartStopAction(void)
{
    if((START_IN_UP || JSDC_bStart) && !JSDC_bRunning && (JSDC_AutoStep ==0))
    {
        if(!JSDC_XC_ORIGIN_IN)JSDC_SetAlarmCode(JSDC_START_XIACHONG_ALARM);
        else if(GetTotal(JSDC_TOTAL_ADDR) >= SET_TOTAL)JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);
        else
        {                      
            JSDC_AutoStep = 1;
            JSDC_bRunning = 1;
            JSDC_AutoDelay = 0;
        }
        JSDC_bStart   = 0;
    }
            
    if(STOP_IN_UP || JSDC_bStop)
    {
        JSDC_bStop = 0;

        if(JSDC_bRunning && (SingOneFlg == 0))
        {
            SingOneFlg = 1;
        }
        else
        {
            JSDC_ChuiQi_VAVLE = 1;
            JSDC_ChuiQiDelay = dwTickCount + JSDC_PARAM_CHUIQI_TIME * 10;
            JSDC_bRunning       = 0;
            JSDC_AutoStep       = 0;
            AxisEgmStop(X_AXIS);
            SingOneFlg = 0;
        }
    }
    
    if(JSDC_bAlarmStop)
    {
        JSDC_bAlarmStop        = 0;              
        AxisEgmStop(X_AXIS);
        JSDC_AutoStep     = 0;
        JSDC_bRunning          = 0;
        SingOneFlg = 0;
    }
}

unsigned long  JSDC_ToothTransPulse(unsigned long tooth)
{
    return(JY_JIZHUN_LEN * tooth * 2000 / 250 / JY_JIZHUN_CISHU);
}


//电机控制动作
void JSDC_Motor(void)	 //
{        
    static long save_buff,length_buff,low_speed_buff,total_length,move_pos_buff;
    cRealPos = GetPos(X_AXIS);
    SetData32bits(16,cRealPos);//刷新编码器位置
    user_datas[121] = cRealPos;
    switch(JSDC_MotorStep)
    {
        case 0: break;
        case 1://使用编码器/电机长度定寸
                if(JSDC_NOW_POS >= JSDC_SET_ALL_LENGTH)
                    JSDC_MotorStep = 0;
                else
                    JSDC_MotorStep = 2;
            break;
        case 2:  
                    total_length = JSDC_SET_ALL_LENGTH - JSDC_NOW_POS;
                    move_pos_buff = JSDC_NOW_POS;
                    AxisMovePos(X_AXIS,JSDC_PARAM_HIGH_SPEED,total_length);
                    MoveChangSpeedPos(X_AXIS, JSDC_PARAM_LOW_SPEED,(PosToPulse(X_AXIS,JSDC_PARAM_LOWSPEED_LENGTH) + MV_Cal_Dec_pulse(JSDC_PARAM_HIGH_SPEED,JSDC_PARAM_LOW_SPEED,30)));  
                    JSDC_MotorStep = 3;                        
            break;
        case 3:
            if((JSDC_NOW_POS - move_pos_buff) >= total_length)AxisEgmStop(X_AXIS);
            if(!X_DRV)JSDC_MotorStep = 0;   
            break;
        case 10://使用电机长度定寸走刀口长度
                JSDC_MotorStep = 11;
            break;
        case 11:
                AxisMovePos(X_AXIS,JSDC_PARAM_HIGH_SPEED,JSDC_SET_ALL_LENGTH);
                JSDC_MotorStep = 12;                        
            break;
        case 12:
            if(!X_DRV)JSDC_MotorStep = 0;   
            break;
        case 20://使用勾针定寸
                JSDC_MotorStep   = 21;
                break;
        case 21:	                                       
                if(dwTickCount >= JSDC_MotorDelay)
                {   
                    save_buff = GetPos(X_AXIS);
                    if(dwZipCnt == 0)AxisContinueMove(X_AXIS,JSDC_PARAM_LOW_SPEED,JSDC_DIR_P);         //第一条走低速
                    else
                        AxisMoveTwoPos(X_AXIS,JSDC_PARAM_HIGH_SPEED,(length_buff - JSDC_PARAM_LOWSPEED_LENGTH),JSDC_PARAM_LOW_SPEED,0xFFFFFF,JSDC_DIR_P);
                    
                    JSDC_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                    JSDC_MotorStep   = 22;
                }
                break; 
        case 22:	
                if(1)
                {
                    JSDC_MotorDelay =    dwTickCount +  JSDC_PARAM_GZ_DELAY;
                    JSDC_MotorStep   = 23;
                }  
                else if(dwTickCount >= JSDC_MotorDelay)
                {
                    JSDC_SetAlarmCode(JSDC_NO_ZIPPER_ALARM);
                }             
                break;
        case 23:	
                if(JSDC_GZ_RESET_MODE)
                {
                    if(dwZipCnt < 2)   //第一第二条勾针自己复位
                    {               
                        if(dwTickCount >= JSDC_MotorDelay)
                        {
                            JSDC_GZ_VAVLE    = 1;
                            JSDC_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            JSDC_MotorStep   = 24;
                        }
                    }
                    else
                    {
                        if((GetPos(X_AXIS) - save_buff) >= JSDC_GZ_RESET_LENGTH)
                        {
                            JSDC_GZ_VAVLE    = 1;
                            JSDC_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            JSDC_MotorStep   = 24;              
                        }                    
                    }
                }
                else
                {
                    if(dwTickCount >= JSDC_MotorDelay)
                    {
                        JSDC_GZ_VAVLE    = 1;
                        JSDC_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                        JSDC_MotorStep   = 24;
                    }
                }
                break;
        case 24:	
                if(JSDC_GZ_IN)
                {
                    AxisEgmStop(X_AXIS);                          
                    JSDC_MotorStep   = 25;
                }
                else if(dwTickCount >= JSDC_MotorDelay)
                {
                    JSDC_SetAlarmCode(JSDC_GZ_ALARM);
                }
                break;
        case 25:
                if(!X_DRV)
                {
                    JSDC_MotorDelay  =    dwTickCount + JSDC_PARAM_YD_DELAY;
                    JSDC_MotorStep   = 26;
                }
                break;
        case 26:
                if(dwTickCount >= JSDC_MotorDelay)                                             
                { 
                    if(dwZipCnt == 1)length_buff = GetPos(X_AXIS) - save_buff;
                    JSDC_MotorStep   = 27;
                }
                break;
        case 27:
                    JSDC_MotorStep   = 0;
                break;
 
    }

}
//自动运行动作
void JSDC_AutoRunStep(void)
{    
    if(JSDC_bRunning)
    {
        if(JSDC_AutoStep == 1)
        {
            JSDC_AutoStep     = 2;          
        }              
        else if((JSDC_AutoStep == 2))
        {               
            JSDC_AutoStep     = 3;
            JSDC_RemainLength = JSDC_SET_KONGWEI_LENGTH;
        }
        else if(JSDC_AutoStep == 3)
        {
            if(JSDC_MotorStep == 0)JSDC_MotorStep = 1;
            JSDC_AutoStep     = 4;
        }
        else if(JSDC_AutoStep == 4)
        {
            if(JSDC_MotorStep == 0)
            {
                if(JSDC_FenZhenStep == 0)JSDC_FenZhenStep = 1;
                JSDC_AutoStep     = 5;
            }
        }
        else if(JSDC_AutoStep == 5)
        {
            if(JSDC_FenZhenStep == 0)
            {
                JSDC_XiaChongStep = 1;
                JSDC_AutoStep     = 6;
            }
        }
        else if(JSDC_AutoStep == 6)
        {
            if(JSDC_XiaChongStep == 0)
            {
                JSDC_AutoStep     = 7;              
                if(JSDC_RemainLength >= JSDC_PARAM_DAOKOU_LENGTH) 
                {
                    JSDC_RemainLength -= JSDC_PARAM_DAOKOU_LENGTH;
                    JSDC_AutoStep     = 3;
                }
                else
                {
                    JSDC_RemainLength = 0;
                    JSDC_AutoStep     = 7;
                }
            }
        }       
        else if(JSDC_AutoStep == 7)
        {
             AddToTal(JSDC_TOTAL_ADDR);
             if((GetTotal(JSDC_TOTAL_ADDR) >= SET_TOTAL) || JSDC_bStop || SingOneFlg)
             {
                  if(JSDC_bStop || SingOneFlg)
                  {
                      JSDC_bStop    = 0;
                      JSDC_AutoStep = 0;
                      JSDC_bRunning = 0; 
                      SingOneFlg    = 0;
                      JSDC_XiaChong_MOTOR = 0;
                  }
                  else
                  {
                      JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);             
                  }
             }    
             else
             {
                  JSDC_AutoStep = 1;
                  JSDC_AutoDelay = JSDC_PARAM_CYCLE_DELAY + dwTickCount;
                  CalProSP(JSDC_PROSPEED_ADDR);
             }
        }
        else if(JSDC_AutoStep == 8)
        {

        }
        else if((JSDC_AutoStep == 8))
        {

        } 
        else if((JSDC_AutoStep == 20)  && (dwTickCount >= JSDC_AutoDelay))   //色标动作
        {       
            
        }
        else if(JSDC_AutoStep == 21) 
        {

        }
        else if(JSDC_AutoStep == 22)
        {
            JSDC_AutoStep     = 23;
        }
        else if((JSDC_AutoStep == 23) && (dwTickCount >= JSDC_AutoDelay))
        {

        }
        else if(JSDC_AutoStep == 24)
        {

        }       
        else if(JSDC_AutoStep == 25)
        {

        }
        else if(JSDC_AutoStep == 26)
        {

        }
        else if((JSDC_AutoStep == 27))
        {

        } 
    }
}




#endif