&ACCESS RVO5
&REL 1
&COMMENT BrkTst-main task
&PARAM EDITMASK = *
&PARAM DISKPATH = TP/BrakeTest
DEF BRAKETESTREQ(AxesBitMask: IN)
;BRAKETESTREQ
;fold {h}
INT Idx, Key, AxesBitMask
BOOL Test_Ende
BOOL BraketestForce
BraketestForce=false
IF gBraketestForce THEN
  BraketestForce=true
ENDIF
gBraketestForce=false

ON_ERROR_PROCEED 
AxesBitMask=AxesBitMask*1

IF ($ERR.Number<>0) THEN
  AxesBitMask=-1
  ERR_CLEAR($ERR)
ELSE
  ERR_RAISE($ERR)
ENDIF
  
IF Varstate("$pro_ip.si01.name[]")==#declared THEN ;program selected
  MsgDialog(Key, "DlgPeformManuallyBrakeTest", brakeTestMdbName[], , "Cancel", "GoToPark", "BTman",,,,,FALSE)
  SWITCH  Key ;dialogue answer

  CASE 5
    BraketestForce=TRUE

  CASE 6
    BrakeTestStart()
    BraketestError()

  CASE 7
    Return

  DEFAULT
    Return
  ENDSWITCH
ELSE ;cyclic call
  IF NOT($BRAKETEST_REQ_INT) AND NOT(BraketestForce) THEN
    Return
  ENDIF
ENDIF

Test_Ende=false

RobotBrkState=#BT_UNTESTED

BrakeTestStart()

BAS (#INITMOV,0 )
repeat
 
PTP $AXIS_ACT

RobotBrkState = Test_BRAKE(AxesBitMask, BraketestForce)
 
 SWITCH RobotBrkState

   CASE #BT_WARNING,#BT_EXCESSIVE, #BT_MAXUNKNOWN, #BT_READY
     CountResultUnknown = 0
     Test_Ende = TRUE

   CASE #BT_ERROR
     BraketestError()
          
   CASE #BT_UNKNOWN
     Test_Ende = BraketestUnknown()
     
   CASE #BT_UNTESTED
     Test_Ende = TRUE

  ENDSWITCH

until Test_Ende

BrakeTestBack()

END

     
DEF BraketestError()
INT Key

Key = 0
MsgDialog(Key, "BT_BRAKE_ERROR", brakeTestMdbName[]," ", "GoToPark",,,,,,,FALSE)

BrakeTestPark()
WAIT FOR TRUE

repeat
  MsgNotify("ParkPositionReached", brakeTestMdbName[])
  halt
until false

END


DEFFCT BOOL BraketestUnknown()
INT Key
Key=0
CountResultUnknown = CountResultUnknown + 1

IF (CountResultUnknown >= MaxCountResultUnknown) THEN

  MsgDialog(Key, "BT_BRAKE_UNKNOWN", brakeTestMdbName[]," ", "TryAgain", "Cancel",,,,,,FALSE)
  IF Key==7 then
    Return FALSE
  ELSE
    Return TRUE
  ENDIF
ELSE
  Return TRUE
ENDIF
ENDFCT
;endfold