Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

78 files changed, 3496 insertions, 654 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index d57d3b14b..3357cfc06 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -55,6 +55,7 @@ int32_t FileSentLength = 0;
 static char g_cCwdBuf[50] = "/";
 uint32_t WrittenBytes = 0;
 uint32_t ReadBytes = 0;
+Task_Handle CommRxTaskHandle;
 
 
 ErrorCode getErrorCode(FRESULT Fresult)
@@ -81,27 +82,34 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
     FileUploadResponse response = FILE_UPLOAD_RESPONSE__INIT;
 
     WrittenBytes=0;
-    UploadFileHandle = my_malloc(sizeof(FIL));
-    if (UploadFileHandle == 0)
+    if (JobIsActive())
         Fresult = FR_DENIED;
     else
     {
-        Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE  |FA_OPEN_ALWAYS| FA_CREATE_ALWAYS);
-        if (Fresult == FR_OK)
-        {
-            FileLength = request->length;
-            response.has_maxchunklength = true;
-            response.maxchunklength = MAX_CHUNK_LENGTH;
-            strcpy(FileHandleChar, "1234");
-            response.uploadid = FileHandleChar; //supporting only single file at each time.
-        }
+        UploadFileHandle = my_malloc(sizeof(FIL));
+        if (UploadFileHandle == 0)
+            Fresult = FR_DENIED;
         else
         {
-            free (UploadFileHandle);
-            UploadFileHandle = 0;
-        }
+            Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE | FA_OPEN_ALWAYS | FA_CREATE_ALWAYS);
+            if (Fresult == FR_OK)
+            {
+                FileLength = request->length;
+                response.has_maxchunklength = true;
+                response.maxchunklength = MAX_CHUNK_LENGTH;
+                strcpy(FileHandleChar, "1234");
+                response.uploadid = FileHandleChar; //supporting only single file at each time.
+            }
+            else
+            {
+                free (UploadFileHandle);
+                UploadFileHandle = 0;
+            }
 
+        }
     }
+    CommRxTaskHandle = Task_self();
+    Task_setPri(CommRxTaskHandle, 4);
 
 
     responseContainer = createContainer(MESSAGE_TYPE__FileUploadResponse,  requestContainer->token, false, &response, &file_upload_response__pack, &file_upload_response__get_packed_size);
@@ -123,6 +131,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
 {
     //uint32_t status = OK;
     FRESULT Fresult = FR_OK;
+    bool FileDone = false;
 
 
     MessageContainer responseContainer;
@@ -142,6 +151,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
         if(Fresult != FR_OK)
         {
             LOG_ERROR (Fresult,"f_write error");
+            FileDone = true;
         }
         else
         {
@@ -152,6 +162,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                 f_close(ReceivedFileHandle);
                 free (UploadFileHandle);
                 FileReceivedLength = 0;
+                FileDone = true;
             }
             else
             {
@@ -161,6 +172,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                     f_close(ReceivedFileHandle);
                     free (UploadFileHandle);
                     FileReceivedLength = 0;
+                    FileDone = true;
                 }
             }
         }
@@ -185,6 +197,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
     file_chunk_upload_request__free_unpacked(request,NULL);
     my_free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
+    if (FileDone == true)
+        Task_setPri(CommRxTaskHandle, 9);
 
     return OK;
 }
@@ -504,7 +518,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     #define MAX_NUM_OF_FILES 10
     DIR dir;
     FILINFO* fno[MAX_NUM_OF_FILES];
-    char FullPath[MAX_NUM_OF_FILES][50];
+    char FullPath[MAX_NUM_OF_FILES][100];
     int i,NumOfFiles = 0;
     FRESULT Fresult = FR_OK;
 
@@ -580,11 +594,14 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     }
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    if (container_buffer)
+    {
+        size_t container_size = message_container__pack(&responseContainer, container_buffer);
+        SendChars(container_buffer, container_size);
+    }
     my_free(responseContainer.data.data);
     my_free(FilesInfo);
     get_files_request__free_unpacked(request,NULL);
-    SendChars(container_buffer, container_size);
     for (i = 0;i < NumOfFiles;i++)
     {
         if (fno[i])
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 456c30290..d54280fee 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -21,6 +21,7 @@
 #include  <Communication/PMR/FirmwareUpgrade/VersionFileDescriptor.pb-c.h>
 #include  <Communication/PMR/FirmwareUpgrade/VersionPackageDescriptor.pb-c.h>
 
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 #include "drivers/FPGA/Full_Vme/ispvme/vmopcode.h"
 #include "Common/Utilities/Utils.h"
@@ -35,10 +36,20 @@ char activateString[100];
 char ActivateToken[36+1]={0};
 bool Reboot = false;
 
+
+bool SwUpgradeActive(void)
+{
+    if (ActivateVersionControlId != 0xFF)
+    {
+        Reboot = false;
+        return true;
+    }
+    return false;
+}
 uint32_t ActivateVersionCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
-    ActivateVersionResponse response = ACTIVATE_VERSION_RESPONSE__INIT;
-    MessageContainer responseContainer;
+    //ActivateVersionResponse response = ACTIVATE_VERSION_RESPONSE__INIT;
+    //MessageContainer responseContainer;
 
     usnprintf(activateString, 1000, "file %d of %d bytes %d of %d",CurrentRunningFile,NumberOfFiles,vme_index,CurrentFileSize);
 
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
index 9af76f96f..6f817fe90 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
@@ -11,6 +11,7 @@
 
 uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer);
 uint32_t    ValidateVersionRequestFunc(MessageContainer* requestContainer);
+bool SwUpgradeActive(void);
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index e037f2bad..030c4229e 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,3,8,12};
+TangoVersion_t _gTangoVersion = {1,3,8,3};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index c026ad4d2..f011653ec 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -242,7 +242,7 @@ Void reportService(UArg arg0, UArg arg1)
     ReportInitParams InitParams;
     InitParams.DistributorQueueMaxMsgs = 30;
     InitParams.DistributorTaskPriority = 6;
-    InitParams.MaxNumOfFilterNames = 1;//30
+    InitParams.MaxNumOfFilterNames = 30;
     InitParams.MaxNumberOfPrivateDistributors = 2;
     ReportInit (InitParams);
 
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index ad57c36ab..b0c063a5e 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -43,6 +43,7 @@
 #include "Communication/CommunicationTask.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
+#include "StateMachines/Initialization/PowerIdle.h"
 #include "Common/report/report.h"
 #include "Connection.h"
 
@@ -130,6 +131,8 @@ void receive_callback(char* buffer, size_t length)
      if (requestContainer == NULL)
          return;
    //  HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,requestContainer->type,0,0, "Container");
+    if (requestContainer->type != MESSAGE_TYPE__KeepAliveRequest) //user action resets the idle counter
+        resetIdleCounter();
 
      msgId[index] = requestContainer->type;
      Length[index] = length;
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 424eff1d8..1b5f000f2 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -400,7 +400,7 @@ Supports diagnostic <id> (--diag_suppress, - pds)
 #define HEAD6_PT100 TEMP_SENSE_AN_ENCLOSURETEMP3
 #define MIXER_PT100 TEMP_SENSE_ANALOG_MIXCHIP_TEMP
 
-/*
+
 extern PackageHandle ControlFilter;
 extern PackageHandle HeatersFilter;
 extern PackageHandle JobFilter  ;
@@ -415,6 +415,6 @@ extern PackageHandle FPGAFilter;
 extern PackageHandle LoadFilter;
 extern PackageHandle InitFilter;
 extern PackageHandle MaintFilter;
-*/
+
 
 #endif /* DATADEF_H */
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 342a9d759..a268ad0d5 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -842,13 +842,13 @@ uint8_t Pannel_Leds(PANEL_BUTTON_OR_CRAT_ID Pannel_Led_Id, OPERATION_MODE LED_Mo
                 Machine_Idle_Mode = false;
             break;
         case THREAD_JOGGING:
-                F3_low_var_LED2 = Low_Reg;
-                F3_high_var_LED2 = High_Reg;
-            break;
-        case THREAD_LOAD:
                 F3_low_var_LED3 = Low_Reg;
                 F3_high_var_LED3 = High_Reg;
             break;
+        case THREAD_LOAD:
+                F3_low_var_LED2 = Low_Reg;
+                F3_high_var_LED2 = High_Reg;
+            break;
         case CART_1:
                 F3_LOw_Cart_Led1 = Low_Reg;
                 F3_High_Cart_Led1 = High_Reg;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index ea5161b15..26f6d5c56 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -796,7 +796,7 @@ void FPGA_SetMotMicroStep(TimerMotors_t _motorId)//
 
     for (i = 0; i < 8; i++)
     {
-        if (MotorsCfg[_motorId].microstep == MultiStep[i])
+        if (MotorDriverRequest[_motorId].microstep == MultiStep[i])
         {
             good = i;
             break;
@@ -931,8 +931,73 @@ void FPGA_SetMotStop(TimerMotors_t _motorId)
 //    FPGA_SPI_Transnit(_motorId);
 }
 
+void FPGA_SetMotKvalHold(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_HOLD;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalHold > 0x7F))
+        MotorDriverRequest[_motorId].KvalHold = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalHold<<16;
 
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
 
+void FPGA_SetMotKvalRun(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_RUN;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalRun > 0x7F))
+        MotorDriverRequest[_motorId].KvalRun = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalRun<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
+
+void FPGA_SetMotKvalAcc(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_ACC;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalAcc > 0x7F))
+        MotorDriverRequest[_motorId].KvalAcc = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalAcc<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
+
+void FPGA_SetMotKvalDec(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_DEC;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalDec > 0x7F))
+        MotorDriverRequest[_motorId].KvalDec = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalDec<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
 
 ///////////////////////////////////////////////////////////////////////////////
 /*
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
index cc9d85cca..e2937e597 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -27,6 +27,11 @@ void FPGA_SetMotPosition(TimerMotors_t _motorId);
 void FPGA_SetMotSpeed(TimerMotors_t _motorId);
 void FPGA_SetMotSpeedDirect(TimerMotors_t _motorId);
 
+void FPGA_SetMotKvalHold(TimerMotors_t _motorId);
+void FPGA_SetMotKvalRun(TimerMotors_t _motorId);
+void FPGA_SetMotKvalAcc(TimerMotors_t _motorId);
+void FPGA_SetMotKvalDec(TimerMotors_t _motorId);
+
 void FPGA_SetMotorsInit();
 uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index b921a883c..106e60316 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -344,13 +344,42 @@ uint32_t MotorSetMaxSpeed(TimerMotors_t _motorId, uint32_t MaxSpeed)
 
 uint32_t MotorSetMicroStep(TimerMotors_t _motorId, uint32_t microstep)
 {
-    MotorsCfg[_motorId].microstep = microstep;
+    MotorDriverRequest[_motorId].microstep = microstep;
     FPGA_SetMotMicroStep(_motorId);
 
     return OK;
 }
 
+uint32_t MotorSetKvalHold(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalHold = Value;
+    FPGA_SetMotKvalHold(_motorId);
+
+    return OK;
+}
+uint32_t MotorSetKvalRun(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalRun = Value;
+    FPGA_SetMotKvalRun(_motorId);
 
+    return OK;
+}
+
+uint32_t MotorSetKvalAcc(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalAcc = Value;
+    FPGA_SetMotKvalAcc(_motorId);
+
+    return OK;
+}
+
+uint32_t MotorSetKvalDec(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalDec = Value;
+    FPGA_SetMotKvalDec(_motorId);
+
+    return OK;
+}
 
 uint32_t MotorMove(TimerMotors_t _motorId,bool direction, uint32_t Steps)
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index ecc70765b..3b9eba3d8 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -86,6 +86,11 @@ typedef struct
   uint32_t Speed;
   uint32_t Position;
   uint8_t Stop;
+  uint8_t KvalHold;
+  uint8_t KvalRun;
+  uint8_t KvalAcc;
+  uint8_t KvalDec;
+  int32_t microstep;
 }MotorDriverRequestStruct;
 
 typedef struct
@@ -182,6 +187,11 @@ uint32_t MotorSetSpeedWithCallback (TimerMotors_t _motorId, uint32_t _freq, call
 
 uint32_t SetMotHome(TimerMotors_t _motorId);
 
+uint32_t MotorSetKvalHold(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalRun(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalAcc(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalDec(TimerMotors_t _motorId, uint8_t Value);
+
 void MotorActionsInit(void);
 
 uint32_t MotorGetStatus(TimerMotors_t _motorId);
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
index 637c91e7d..ac1cff75e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
@@ -33,7 +33,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     uint32_t ui32ProgAddr;
     uint32_t ui32BufferAddr;
     volatile uint32_t ui32Idx;
-    uint32_t ui32FlashEnd;
+    //uint32_t ui32FlashEnd;
 
 
     //
@@ -41,7 +41,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // If reserved space is configured, then the ending address is reduced
     // by the amount of the reserved block.
     //
-    ui32FlashEnd = ui32FlashStart + ui32FileSize;
+    //ui32FlashEnd = ui32FlashStart + ui32FileSize;
 
 
     //
@@ -68,7 +68,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // stick updater).
     //
     ui32ProgAddr = ui32FlashStart;
-    ui32BufferAddr = buffer;
+    ui32BufferAddr = (uint32_t)buffer;
     ui32Remaining = ui32FileSize;
     while(ui32Remaining)
     {
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 2147652e2..046f8291e 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -46,7 +46,7 @@
 
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "StateMachines/Initialization/InitSequence.h"
-
+#include "StateMachines/Initialization/PowerIdle.h"
 #include <Drivers/SSI_Comm/SSI_Comm.h>
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/Uart_Comm/Uart.h"
@@ -245,7 +245,7 @@ int main(void)
 //    HWControlId = AddControlCallback( MainHWInitCallBackFunction, 2* eOneSecond/*eHundredMillisecond*/, MainDummyFunction,0,0, 0 );
 
     Start_InitSequence();
-
+    PowerIdleInit();
     BIOS_start();
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 7c0f9a6c1..81c4a230b 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -337,7 +337,7 @@ const AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
 
 char AlarmStorePath[25] ="0://SysInfo//AlarmPrm.cfg";
 
-bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
+//bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool EventsNotificationRequestAccepted = false;
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
@@ -471,7 +471,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                     if (JobIsActive())
                     {
-                        if (DispenserInUse[Disp_i] == false)
+                        if (DispenserUsedInJob[Disp_i] == false)
                             AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                     }
                 }
@@ -481,7 +481,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                 MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                 if (JobIsActive())
                 {
-                    if (DispenserInUse[Disp_i] == false)
+                    if (DispenserUsedInJob[Disp_i] == false)
                         AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                 }
                 break;
@@ -505,24 +505,26 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
 }
 JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
 {
-    JobTicket* JobTicket = CurrentJob;
+    //JobTicket* JobTicket = CurrentJob;
     EventType HeaterEventType[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_2_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_2_OVERTEMPERATURE,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_4_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_5_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_6_OVERTEMPERATURE,
                                                   EVENT_TYPE__MIXER_OVERTEMPERATURE};
     EventType HeaterEventTypeUnder[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_2_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__MIXER_UNDERTEMPERATURE_B};
-    int Segment_i,Brush_i,Dispenser_i,DispenserId,Alarm_i,Heater_i,AlarmId=0;
+    int Dispenser_i,Alarm_i,Heater_i,AlarmId=0;
     HeaterState HeaterState;
 
-    for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
-    {
-        DispenserInUse[Dispenser_i] = false;
-    }
+    //for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+    //{
+    //    DispenserInUse[Dispenser_i] = false;
+    //}
     JobEndReasonEnum status = JOB_OK;
-    if (JobTicket->n_segments == 0)
+    IDS_MapDispenserUsedinJob(CurrentJob);
+    if (n_segments == 0)
         return OK;
-    for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+
+    /*for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
         {
         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
             {
@@ -540,11 +542,12 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 }//if dispensers
             }//for brush
         }//for segments
+        */
     if (Configured[Module_IDS])
     {
         for (Dispenser_i=0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
         {
-            if (DispenserInUse[Dispenser_i] == true)
+            if (DispenserUsedInJob[Dispenser_i] == true)
             {
                 for (Alarm_i = 0;Alarm_i<MAX_SYSTEM_ALARMS;Alarm_i++)
                 {
@@ -664,7 +667,6 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
         {
             if (AlarmState[Alarm_i].Status != value)
             {
-                AlarmState[Alarm_i].Status = value;
                 if (value == true)
                 {
                     // no need to call consequent actionsAlarmHandlingConsequentActions(Alarm_i, AlarmItem[Alarm_i].Severity);
@@ -676,12 +678,14 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
                         AlarmState[Alarm_i].EventPtr->has_type = true;
                         AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
                         AlarmState[Alarm_i].EventPtr->message = AlarmItem[Alarm_i].EventName;
+                        AlarmState[Alarm_i].Status = value;
                         Report("Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
                     }
                 }
                 else
                 {
                     Report("Alarm OFF ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                    AlarmState[Alarm_i].Status = value;
                     if (AlarmState[Alarm_i].EventPtr)
                         my_free(AlarmState[Alarm_i].EventPtr);
                 }
@@ -1017,20 +1021,33 @@ void SendEventNotifications(void)
             response.n_events++;
         }
     }
-    response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
-    if(response.events)
+
+    if (response.n_events)
     {
-        for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
+        response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
+        if(response.events)
         {
-            if (AlarmState[i].Status == true)
+            for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
             {
-                if (AlarmState[i].EventPtr)
+                if (AlarmState[i].Status == true)
                 {
-                    response.events[e]=AlarmState[i].EventPtr;
-                    e++;
+                    if (AlarmState[i].EventPtr)
+                    {
+                        response.events[e]=AlarmState[i].EventPtr;
+                        e++;
+                    }
                 }
             }
         }
+        else
+        {
+            LOG_ERROR(response.n_events,"events malloc error");
+            return;
+        }
+    }
+    else
+    {
+        response.events = NULL;
     }
     responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &response, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
     responseContainer.continuous = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 738f59686..d34ac9ff9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -484,6 +484,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (watchdogCriticalAlarm == false)
             {
                 Control_WD(ENABLE,5);  //activate heaters/dispenser watchdog, 0.5 seconds
+                //LOG_ERROR (1111, "Control_WD");
             }
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 74f8c8746..f5aec59f6 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -175,7 +175,7 @@ uint32_t EmbeddedParametersInit(void)
         LoadConfigurationParameters(Params);
         DataUpdated=true;
         free (buffer);
-        configuration_parameters__free_unpacked(NULL,Params);
+        configuration_parameters__free_unpacked(Params,NULL);
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 4befb83ea..21d425221 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -13,6 +13,7 @@
 #include "Modules/General/buttons.h"
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+//#include "StateMachines/Initialization/PowerOffSequence.h"
 
 #include <stdlib.h>
 #include <stdint.h>
@@ -22,6 +23,7 @@
 #include "Modules/Thread/Thread_ex.h"
 
 #include "Modules/General/buttons.h"
+#include "StateMachines/Initialization/PowerOffSequence.h"
 
 //int MachineOnOff();
 int PowerDown();
@@ -67,7 +69,7 @@ uint32_t ButtonJogCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint8_t  thraedJogging(uint8_t off);
 uint32_t setJoggingEnableCondition( button *pBtn);
-uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn);
+uint32_t joggingMachine(  button *pBtn);    //uint8_t OnOffPB,
 
 
 uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
@@ -86,6 +88,7 @@ bool Read_PWR_Button();//TODO move to GPIO folder
 int PowerDown()
 {
     bool ret = OK;
+    PowerOffInit();
 
     return ret;
 }
@@ -98,6 +101,51 @@ int PowerUp()
 }
 
 
+bool SetPowerMachineState(PBmachineState state)
+{
+    bool ret = OK;
+    switch ( state )
+    {
+        case sttOFF:
+            power.state = state;
+            break;
+        case sttON:
+            power.state = state;
+            break;
+        case sttDISABLE:
+            jog.state = state;
+            break;
+        case sttENABLE:
+            jog.state = state;
+            break;
+        case sttIDLE:
+            power.state = state;
+            break;
+        case sttJOGGING:
+            jog.state = state;
+            break;
+        case sttRDY:
+            load.state = state;
+            break;
+        case sttPRELOAD:
+            load.state = state;
+            break;
+        case sttLOADING:
+            load.state = state;
+            break;
+        case sttLOADSUCSESS:
+            load.state = state;
+            break;
+        case sttLOADFAIL:
+            load.state = state;
+            break;
+        default:
+              break;
+    }
+
+
+    return ret;
+}
 /*
  * read GPIO status
  * port: GPIO_PORTN_BASE
@@ -145,17 +193,17 @@ uint32_t Buttons_Init(void)
 
 //    power.bttn_status = 0 ;
 //    power.bttn_name = "power";  //option
-    power.bttn_status = 0;    // 0=release 1=press
+    power.bttn_status = release;    // 0=release 1=press
     power.Action = OFFPB ;   //off,short,long,count,replong
-    power.color = colorOFF;   //off, blue, blink, bithing
-    power.state = sttOFF; //sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
+    power.color = BLUE;   //off, blue, blink, bithing
+    power.state = sttON; //sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     power.count = 0;
 
     AddControlCallback( ButtonPowerCBFunction, BUTTOMS_SAMPLE_TIME, ButtonPowerCallBackFunction, 0,0,0 ); // eFiftyMillisecond
 
 //    jog.bttn_status = 0 ;
 //    jog.bttn_name = "jog";  //option
-    jog.bttn_status = 0;    // 0=release 1=press
+    jog.bttn_status = release;    // 0=release 1=press
     jog.Action = OFFPB ;   //OFFPB,short,long,count,replong
     jog.color = colorOFF;   //colorOFF, BLUE, BLINK,
     jog.state = sttOFF; // sttDISABLE, sttENABLE, sttJOGGING
@@ -164,7 +212,7 @@ uint32_t Buttons_Init(void)
 
 //   load.bttn_status = 0 ;
 //    load.bttn_name = "load";  //option
-   load.bttn_status = 0;    // 0=release 1=press
+   load.bttn_status = release;    // 0=release 1=press
    load.Action = OFFPB ;   //OFFPB,short,long,count,replong
    load.color = colorOFF;   //colorOFF, BLUE, BLINK,
    load.state = sttOFF; // sttDISABLE, sttENABLE, sttJOGGING
@@ -184,8 +232,15 @@ uint32_t ButtonPowerCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    setJoggingEnableCondition(&jog);
-    joggingMachine(ReadValue, &jog);
+
+    jog.bttn_status = ReadValue;
+    //if (ReadValue == press)
+    {
+        setJoggingEnableCondition(&jog);
+        joggingMachine(&jog);
+    }
+
+
     return 0;
 }
 
@@ -193,8 +248,16 @@ uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     uint8_t parameter = 2;
-    REPORT_MSG(parameter," ------------ Start thread loading empty function  ----------------- ");
-    LoadStatMachine(&load);
+
+    if ((load.bttn_status == release) && (ReadValue == press))
+    {
+        REPORT_MSG(parameter," ------------ Start thread loading empty function  ----------------- ");
+        load.bttn_status = press;
+        LoadStatMachine(&load);
+
+    }
+    else load.bttn_status = ReadValue;
+
     return 0;
 }
 
@@ -306,6 +369,7 @@ uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn)
 uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
 {
     uint8_t parameter = 1;
+    Report(" ------------ StateMachine   state  action ----------------- ",__FILE__,__LINE__,pBtn->state,RpWarning,pBtn->Action,0);
 
     switch (pBtn->state)// sttON/sttOFF/sttIDLE
         {
@@ -314,6 +378,8 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
                 {
                     case LONGPB:    //Power Down
                         pBtn->state = sttOFF;
+                        pBtn->color =  colorOFF;
+                        Pannel_Leds(POWER_ON_OFF,MODE_OFF);//AVI+
                         PowerDown();// todo
                         REPORT_MSG(parameter," ------------ Power state is OFF  ----------------- ");
                         break;
@@ -333,6 +399,8 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
                     case SHORTPB:   //powerup?
                          // to do ?
                         pBtn->state = sttON;
+                        pBtn->color = BLUE ;
+                        Pannel_Leds(POWER_ON_OFF,MODE_ON);//AVI+
                         PowerUp(); //todo
                         REPORT_MSG(parameter," ------------ Power state is ON  ----------------- ");
                         break;
@@ -345,6 +413,8 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
                 {
                     case LONGPB:    //Power off from idle
                         pBtn->state = sttOFF;
+                        pBtn->color =  colorOFF;
+                        Pannel_Leds(POWER_ON_OFF,MODE_OFF);//AVI+
                         PowerDown(); // todo
                         Pannel_Leds(POWER_ON_OFF,MODE_OFF); //AVI+ - TODO option MODE_ON to stop Breathing and the led will turn off in power down
                         REPORT_MSG(parameter," ------------ Power state is OFF  ----------------- ");
@@ -395,14 +465,18 @@ uint32_t    setJoggingEnableCondition( button *pBtn)
             )
         {
             pBtn->state = sttDISABLE;
-            REPORT_MSG(parameter," ------------ Jogging : sttDISABLE  ----------------- ");
+            REPORT_MSG(parameter," ------------ Jogging : setJoggingEnableCondition  sttDISABLE  ----------------- ");
+            pBtn->color = colorOFF;
+            Pannel_Leds(THREAD_JOGGING, MODE_OFF); //AVI+
         //    ThreadAbortJoggingFunc();
         }
 
     else
     {
         pBtn->state = sttENABLE;
-        REPORT_MSG(parameter," ------------ Jogging : sttENABLE  ----------------- ");
+//        REPORT_MSG(parameter," ------------ Jogging : setJoggingEnableCondition  sttENABLE  ----------------- ");
+        pBtn->color = BLUE;
+        Pannel_Leds(THREAD_JOGGING, MODE_ON); //AVI+
         //ThreadJoggingFunc(40);
     }
 
@@ -422,7 +496,7 @@ return 0;
  */
 
 
-uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn)
+uint32_t joggingMachine(  button *pBtn) //uint8_t OnOffPB,
 {
 
     uint8_t parameter = 4;
@@ -430,26 +504,66 @@ uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn)
     if (sttDISABLE == pBtn->state)
     {
         // jogging is disable
-        REPORT_MSG(parameter," ------------ Jogging is Disable   ----------------- ");
+        REPORT_MSG(parameter," ------------joggingMachine: Jogging is Disable   ----------------- ");
+        pBtn->Action = OFFPB;
         pBtn->color =  colorOFF;
         Pannel_Leds(THREAD_JOGGING,MODE_OFF);//AVI+
     }
     else
     {
-        if (!OnOffPB)
+        if ( (pBtn->Action != OFFPB) && (pBtn->bttn_status == release))
         {
-            REPORT_MSG(parameter," ------------ stop Jogging    ----------------- ");
+            REPORT_MSG(parameter," ------------joggingMachine:  Jogging OnOffPB == 00----------------- ");
+            REPORT_MSG(parameter," ------------joggingMachine: stop Jogging    ----------------- ");
+            pBtn->Action = OFFPB;
             ThreadAbortJoggingFunc(); // to do!!!!
             pBtn->color =  BLUE;
-            Pannel_Leds(THREAD_JOGGING,MODE_ON);//AVI+
+            Pannel_Leds(THREAD_JOGGING, MODE_ON);//AVI+
         }
-        else
+        else if ((pBtn->Action == OFFPB) && (pBtn->bttn_status == press))
         {
-            REPORT_MSG(parameter," ------------ start Jogging    ----------------- ");
+            pBtn->Action = LONGPB;
+            REPORT_MSG(parameter," ------------joggingMachine: Jogging OnOffPB == 1   ----------------- ");
+            REPORT_MSG(parameter," ------------joggingMachine: start Jogging    ----------------- ");
             pBtn->color =  BLINK;
             ThreadJoggingFunc(40);
         }
+//        if (pBtn->bttn_status == press)ThreadJoggingFunc(40);
+//        else
+//        {
+//            pBtn->Action = OFFPB;
+//            REPORT_MSG(parameter," ??????????????????? joggingMachine: start Jogging    ???????????????????");
+//        }
     }
+
+
+
+//        if (OnOffPB == release)
+//        {
+//            REPORT_MSG(parameter," ------------joggingMachine:  Jogging OnOffPB == 00----------------- ");
+//            REPORT_MSG(parameter," ------------joggingMachine: stop Jogging    ----------------- ");
+//            pBtn->Action = OFFPB;
+//            ThreadAbortJoggingFunc(); // to do!!!!
+//            pBtn->color =  BLUE;
+//            Pannel_Leds(THREAD_JOGGING, MODE_ON);//AVI+
+//        }
+//        else
+//        {
+//            if (pBtn->Action == OFFPB)
+//            {
+//                pBtn->Action = LONGPB;
+//                REPORT_MSG(parameter," ------------joggingMachine: Jogging OnOffPB == 1   ----------------- ");
+//                REPORT_MSG(parameter," ------------joggingMachine: start Jogging    ----------------- ");
+//                pBtn->color =  BLINK;
+//                ThreadJoggingFunc(40);
+//            }
+//            else
+//            {
+//                REPORT_MSG(parameter," ??????????????????? joggingMachine: start Jogging    ???????????????????");
+//            }
+//
+//        }
+//    }
 return 0;
 }
 
@@ -461,9 +575,10 @@ return 0;
 
 uint32_t LoadStatMachine( button *pBtn)
 {
-    uint8_t parameter = 5;
+    //uint8_t parameter = 5;
 
-    REPORT_MSG(parameter," ------------ start loadong    ----------------- ");
+    //REPORT_MSG(parameter," ------------ start loading    ----------------- ");
+    Report(" ------------ start loading    ----------------- ",__FILE__,__LINE__,pBtn->state,RpWarning,pBtn->color,0);
     switch (pBtn->state)
     {
         case sttRDY :
@@ -474,12 +589,18 @@ uint32_t LoadStatMachine( button *pBtn)
                 case (REPLONGPB):
                     pBtn->state = sttPRELOAD;
                     pBtn->color =  BLINK;
+                    Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
                     if (ThreadLoadStateMachine( THREAD_LOAD_INIT))
-                        {
-                            pBtn->state = sttPRELOAD ;    // to do
-                            pBtn->color =  BLUE;
-                        }
-                    else pBtn->state = sttDISABLE ;
+                    {
+                        pBtn->state = sttPRELOAD ;    // to do
+                        pBtn->color =  BLUE;
+                        Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
+                    }
+                    else
+                    {
+                        pBtn->state = sttDISABLE ;
+                        Pannel_Leds(THREAD_LOAD, MODE_OFF);//AVI+
+                    }
                     break;
                 default :
                     break;
@@ -491,15 +612,19 @@ uint32_t LoadStatMachine( button *pBtn)
                 case (SHORTPB):
                 case (LONGPB):
                 case (REPLONGPB):
-                  if (ThreadLoadStateMachine( THREAD_LOAD_INITIAL_TENSION))
+                    pBtn->color =  BLUE;
+                    Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
+                    if (ThreadLoadStateMachine( THREAD_LOAD_INITIAL_TENSION))
                     {
                         pBtn->state = sttLOADSUCSESS ;    // to do
                         pBtn->color =  BLUE;
+                        Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
                     }
                     else
                     {
                         pBtn->state = sttLOADFAIL ;
                         pBtn->color = fastBILNK ;    // to do
+                        Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
                     }
                     break;
                 default :
@@ -515,6 +640,7 @@ uint32_t LoadStatMachine( button *pBtn)
 
         default: //sttDISABLE
             pBtn->color =  colorOFF;
+            Pannel_Leds(THREAD_LOAD, MODE_OFF);//AVI+
             break;
     }
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.h b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
index adf975979..8b064bbcc 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
@@ -3,6 +3,12 @@
 
 typedef enum
 {
+    release = 0,
+    press
+} PB_Status;
+
+typedef enum
+{
     colorOFF = 0,
     BLUE,
     BLINK,
@@ -32,7 +38,7 @@ typedef enum
     sttLOADING,
     sttLOADSUCSESS,
     sttLOADFAIL
-} PBmachinState;
+} PBmachineState;
 
 typedef struct Button
 {
@@ -40,7 +46,7 @@ typedef struct Button
     int     bttn_status;    // 0=release 1=press
     PBstat  Action;         // enum : offPB,shortPB,longPB,countPB,replongPB
     PBcolor color;          // enum : off, blue, blink, bithing
-    PBmachinState state;    // enum : sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
+    PBmachineState state;    // enum : sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     uint32_t count;
 }button;
 
@@ -49,5 +55,9 @@ extern button power , jog, load;
 uint32_t Buttons_Init(void);
 uint32_t Button_load_Init(void);
 uint32_t Button_JOG_Init(void);
+bool SetPowerMachineState(PBmachineState state);
+
+
+
 
 #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 458bb35f2..277891861 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -20,6 +20,7 @@
 #include "modules/ids/ids_ex.h"
 #include "third_party/fatfs/src/ffconf.h"
 #include "Common/SWUpdate/FileSystem.h"
+#include "StateMachines/Initialization/PowerIdle.h"
 
 
 
@@ -210,6 +211,7 @@ void ProcessRequestFunc(MessageContainer* requestContainer)
 
 
     //REPORT_MSG (ProcessParams->dryerzone1temp,"Process Params Dryer");
+    PowerIdleOutOfIdleState();
 
     if (status == 0)
         status = HandleProcessParameters(ProcessParams);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index ba08101f8..80a55d63e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -5,6 +5,7 @@
 #include "drivers/motors/motor.h"
 #include "ids_ex.h"
 
+extern uint32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 0fcd73b59..b33b531a3 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -238,13 +238,31 @@ void IDS_Dispenser_Content_Init (void)
             IDS_Dispenser_Data[i].has_nanolitterperpulse = true;
         }
         free (buffer);
-        dispenser_data__free_unpacked(NULL,StoredDispenserData);
+        dispenser_data__free_unpacked(StoredDispenserData,NULL);
     }
     return;
 
     //==================================
 }
 uint16_t seconds_counter = 0;
+uint32_t IDS_Dispenser_Store_Data (void)
+{
+    FRESULT Status = FR_OK;
+    IDSDispenserData.n_dispenserinfo = MAX_SYSTEM_DISPENSERS;
+    IDSDispenserData.dispenserinfo = dispenserdata;
+    uint8_t* response_buffer = my_malloc(dispenser_data__get_packed_size(&IDSDispenserData));
+    size_t response_size = 0;
+    if (response_buffer)
+    {
+        response_size = dispenser_data__pack(&IDSDispenserData, response_buffer);
+        Status = FileWrite(response_buffer,response_size,DispenserStorePath);
+        my_free(response_buffer);
+    }
+    else
+        return ERROR;
+
+    return Status;
+}
 void IDS_Dispenser_Content_Calculation (char DispenserId)
 {
     assert (DispenserId<MAX_SYSTEM_DISPENSERS);
@@ -258,24 +276,12 @@ void IDS_Dispenser_Content_Calculation (char DispenserId)
     {
         if (seconds_counter++>=600)//3600)
         {
+            seconds_counter = 0;
             if (IDS_Dispenser_Data[DispenserId].consumedinnanolitter)
             {
                 REPORT_MSG(IDS_Dispenser_Data[DispenserId].consumedinnanolitter,"Saving Dispenser Data" );
             }
-            seconds_counter = 0;
-            IDSDispenserData.n_dispenserinfo = MAX_SYSTEM_DISPENSERS;
-            IDSDispenserData.dispenserinfo = dispenserdata;
-            uint8_t* response_buffer = my_malloc(dispenser_data__get_packed_size(&IDSDispenserData));
-            size_t response_size = 0;
-            if (response_buffer)
-            {
-                response_size = dispenser_data__pack(&IDSDispenserData, response_buffer);
-            }
-
-            FileWrite(response_buffer,response_size,DispenserStorePath);
-            my_free(response_buffer);
-            //dispenser_data__free_unpacked(response_size,NULL);
-
+            IDS_Dispenser_Store_Data();
         }
     }
 }
@@ -285,7 +291,7 @@ void IDS_Dispenser_Set_Flow_Params (char DispenserId,double nanolitterperpulse,c
     IDS_Dispenser_Data[DispenserId].nanolitterperpulse = nanolitterperpulse;
     IDS_Dispenser_Data[DispenserId].microsteps = microsteps;
     IDS_Dispenser_Data[DispenserId].direction = 1;
-    Report("IDS_Dispenser_Set_Flow_Params",__FILE__,DispenserId,(int)nanolitterperpulse,RpWarning,microsteps,0);
+    //Report("IDS_Dispenser_Set_Flow_Params",__FILE__,DispenserId,(int)nanolitterperpulse,RpWarning,microsteps,0);
 }
 void IDS_Dispenser_RefillStarted (char DispenserId)
 {
@@ -294,7 +300,7 @@ void IDS_Dispenser_RefillStarted (char DispenserId)
     IDS_Dispenser_Data[DispenserId].nanolitterperpulse = assumedFlow;
     IDS_Dispenser_Data[DispenserId].microsteps = 1;
     IDS_Dispenser_Data[DispenserId].direction = 0;
-    Report("IDS_Dispenser_RefillStarted",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)(assumedFlow*100),0);
+    //Report("IDS_Dispenser_RefillStarted",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)(assumedFlow*100),0);
 }
 void IDS_Dispenser_RefillEnded (char DispenserId)
 {
@@ -302,7 +308,7 @@ void IDS_Dispenser_RefillEnded (char DispenserId)
     IDS_Dispenser_Data[DispenserId].numberofrefills++;
     IDS_Dispenser_Data[DispenserId].direction = 1;
     IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;
-    Report("IDS_Dispenser_RefillEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
+    //Report("IDS_Dispenser_RefillEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
 }
 void IDS_Dispenser_MovingDirection (char DispenserId, bool direction)
 {
@@ -314,6 +320,6 @@ void IDS_Dispenser_MovingDirection (char DispenserId, bool direction)
     {
         IDS_Dispenser_Data[DispenserId].direction = 0;
     }
-    Report("IDS_Dispenser_MovingDirection",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)direction,0);
+    //Report("IDS_Dispenser_MovingDirection",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)direction,0);
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index ded3642a0..9b2442698 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -33,6 +33,8 @@ extern bool EnableLubrication;
 extern bool EnableIntersegment;
 extern double IntersegmentLength;
 
+extern bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS];
+bool IDS_MapDispenserUsedinJob(void *JobDetails);
 
 void IDS_ModuleInit (void);
 void Calculateinit(void);
@@ -67,7 +69,9 @@ uint32_t IDS_Dispenser_Close_Valve_And_Stop_Motor(int DispenserId, callback_fptr
 uint32_t IDS_Dispenser_Start_Motor_and_Open_Valve(int DispenserId, int MotorSpeed, callback_fptr callback);
 
 void IDS_Dispenser_Content_Calculation (char DispenserId);
+uint32_t IDS_Dispenser_Store_Data (void);
 
+uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails);
 
 float CalculateDispenserPressure (int DispenserId);
 float GetDispenserPressure(int DispenserId);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 80db2a4e6..1bdf15b29 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -147,7 +147,7 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
         //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
-        MotorSetMicroStep(deviceID, 1);
+        MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
         Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
@@ -168,6 +168,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID)
     Enable_MidTank_Pressure_Reading(deviceID);
     status |= MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
     status |= MotorStop(deviceID, Hard_Hiz);
+    JobEndReason = JOB_OUT_OF_DYE;
     return status;
 }
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID)
@@ -192,7 +193,8 @@ uint32_t IDS_StopHomeDispenser (uint32_t deviceID)
     Disable_MidTank_Pressure_Reading(deviceID);
     Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
     Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
+
+    MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
     return OK;
 }
 
@@ -232,7 +234,7 @@ uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr c
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)deviceID, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
         //Valve_Set((Valves_t) request->index, Dispenser_Mixer);
-        MotorSetMicroStep(deviceID, 1);
+        MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
         //Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 38c139141..2a8cac415 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -12,10 +12,18 @@
 #include "../thread/thread.h"
 #include "PMR/Hardware/Hardwaremotor.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
+#include "PMR/Printing/JobSegment.pb-c.h"
+#include "PMR/Printing/JobTicket.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
 #include "drivers/motors/motor.h"
 #include "drivers/valves/valve.h"
 
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
+
 #include "modules/heaters/heaters.h"
 
 #include "drivers/Flash_ram/FlashProgram.h"
@@ -33,7 +41,8 @@ typedef struct
 }DispenserControlConfig_t;
 HardwarePidControl *DispensersControl;// = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;
 #define LUBRICANT_DISPENSER 7
-#define MAX_DYE_DISPENSERS 7
+#define CLEANER_DISPENSER 6
+#define MAX_DYE_DISPENSERS 6
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
@@ -45,7 +54,8 @@ bool IDS_Active = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
 uint32_t IDS_Valve_DistanceToSpoolReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue);
-bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue);
+//bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -56,6 +66,18 @@ bool         DispenserDistanceToSpoolReady[MAX_SYSTEM_DISPENSERS] = {true,true,t
 bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool         DispensersAlarmState[ MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 int JobBrushStopId = 0;
+int lInterSegmentLength = 0;
+ int InterSegmentStepsLimit = 0,InterSegmentStepsCount = 0;
+ uint32_t InterSegmentStartSprayCleaner;
+ uint32_t InterSegmentStartRocking;
+ uint32_t InterSegmentCenterRockers;
+ uint32_t InterSegmentStartWFCFDispensers;
+ bool EnableCleaning = true;
+
+
+ uint32_t DispenserPreSegmentControlId = 0xFF;
+ uint32_t BrushStopControlId = 0xFF;
+ uint32_t PreSegmentControlId = 0xFF;
 
 uint32_t IDS_DispenserControlInit()
 {
@@ -122,7 +144,7 @@ void DispenserPrepareReady(void)
             return; //not all configured Dispensers are ready
         }
     }
-    REPORT_MSG(Module_IDS,"DispenserPrepareReady");
+    REPORT_MSG(Module_IDS,"All Dispensers Prepare Ready");
     PrepareReady(Module_IDS,ModuleDone);
 }
 //********************************************************************************************************************
@@ -137,45 +159,306 @@ void DispenserPrepareReady(void)
 
      return OK; // all configured heaters are ready
  }
- bool IDS_MapDispenserUsedinJob(void *JobDetails)
+/*
+ void OpenJobFile();
+void CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
+ */
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJobshort(void *JobDetails)
  {
      JobTicket* JobTicket = JobDetails;
-     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     FRESULT Fresult = FR_OK;
+     uint32_t status = OK;
 
      for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          DispenserUsedInJob[Dispenser_i] = false;
      }
-     if (JobTicket->n_segments == 0)
-         return false;
+     if (EnableCleaning == true)
+         DispenserUsedInJob[CLEANER_DISPENSER] = true;
+     if (JobTicket->enablelubrication == true)
+         DispenserUsedInJob[LUBRICANT_DISPENSER] = true;
 
-     for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+     Fresult = OpenJobFile();
+     if (Fresult == FR_OK)
+     {
+         Segment = GetNextSegmentFromJobFile();
+         while(Segment)
          {
-         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
              {
-                 if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
                  {
-                     for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                     BrushStop = GetNextBrushStopFromJobFile();
+                     if (BrushStop)
                      {
-                         //prepare the SW structures
-                         DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
-                         if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                         if (BrushStop->n_dispensers)
                          {
-                             DispenserUsedInJob[DispenserId] = true;
-                             if(DispenserId == LUBRICANT_DISPENSER)
+                             for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
                              {
-                                lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
-                                                 JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
-                                REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                 //prepare the SW structures
+                                 DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                 if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                 {
+                                     DispenserUsedInJob[DispenserId] = true;
+                                     /*if(DispenserId == LUBRICANT_DISPENSER)
+                                     {
+                                        lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                         JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                        REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                     }*/
+                                 }
+                             }//for dispenser
+                         }//if dispensers
+                         else
+                         {
+                             LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
+                         }
+                         FreeBrushStopFileData(BrushStop);
+                         BrushStop = NULL;
+                     }
+                     else
+                     {
+                         LOG_ERROR (BrushStop, "malloc error");
+                         status = ERROR;
+                     }
+                 }//for brushstops
+             }// if brush stop count
+             FreeSegmentFileData(Segment);
+             Segment = GetNextSegmentFromJobFile();
+         }
+         FreeSegmentFileData(Segment);
+         CloseJobFile();
+     }
+     return status;
+
+ }
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     uint32_t Bytes = 0,readBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+     uint32_t status = OK;
+     FRESULT Fresult = FR_OK;
+     FIL *FileHandle = 0;  //the system supports a single active file
+
+/*
+ Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
+
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
+
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+ */
+     for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+     {
+         DispenserUsedInJob[Dispenser_i] = false;
+     }
+     n_segments = 0;
+     if (EnableCleaning == true)
+         DispenserUsedInJob[CLEANER_DISPENSER] = true;
+     if (JobTicket->enablelubrication == true)
+         DispenserUsedInJob[LUBRICANT_DISPENSER] = true;
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         FileHandle = my_malloc(sizeof(FIL));
+
+         Fresult = FileOpen(JobTicket->jobdescriptionfile, &Bytes, FileHandle);
+         if (Fresult == FR_OK)
+         {
+             while((readBytes < Bytes)&&(status == OK))
+             {
+                 Fresult = f_read(FileHandle,&SegmentSize,4,&ImmediateRead );
+                 if (Fresult == FR_OK)
+                 {
+                     readBytes += ImmediateRead;
+                     SegmentPtr = my_malloc (SegmentSize);
+                     if (SegmentPtr)
+                     {
+                         Fresult = f_read(FileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                         if (Fresult == FR_OK)
+                         {
+                             readBytes += ImmediateRead;
+                             n_segments++;
+                             Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
+                             {
+                                 REPORT_MSG (Segment->brushstopscount, "Segment->brushstopscount");
+                                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
+                                 {
+                                     if (status == ERROR)
+                                         break;
+                                     Fresult = f_read(FileHandle,&BrushStopSize,4,&ImmediateRead );
+                                     if (Fresult == FR_OK)
+                                     {
+                                         readBytes += ImmediateRead;
+                                         BrushStopPtr = my_malloc (BrushStopSize);
+                                         if (BrushStopPtr)
+                                         {
+                                             Fresult = f_read(FileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+                                             if (Fresult == FR_OK)
+                                             {
+                                                 readBytes += ImmediateRead;
+                                                 BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+                                                 REPORT_MSG (BrushStopSize, "BrushStop");
+                                                 if (BrushStop->n_dispensers)
+                                                 {
+                                                     for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
+                                                     {
+                                                         //prepare the SW structures
+                                                         DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                                         if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                                         {
+                                                             DispenserUsedInJob[DispenserId] = true;
+                                                         }
+                                                     }//for dispenser
+                                                 }//if dispensers
+                                                 else
+                                                 {
+                                                     LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
+                                                 }
+                                                 job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+                                                 BrushStop = NULL;
+                                             } //read brush stop data
+                                             else
+                                             {
+                                                 LOG_ERROR (Fresult, "f_read error");
+                                                 status = ERROR;
+                                             }
+                                             my_free(BrushStopPtr);
+                                             BrushStopPtr = NULL;
+                                         }//brushstop malloc ok
+                                         else
+                                         {
+                                             LOG_ERROR (BrushStopPtr, "malloc error");
+                                             status = ERROR;
+                                         }
+                                     }//brushstop size read ok
+                                     else
+                                     {
+                                         LOG_ERROR (Fresult, "f_read error");
+                                         status = ERROR;
+                                     }
+                                 }//for brushstops
+                             }// if brush stop count
+                             else
+                             {
+                                 LOG_ERROR (0, "no brushstops error");
+                                 status = ERROR;
                              }
+                             job_description_file_segment__free_unpacked(Segment,NULL);
+                             Segment = NULL;
+                         }// read segment data
+                         my_free(SegmentPtr);
+                         SegmentPtr = NULL;
+                         Task_sleep(10);
+                     }//segment malloc
+                     else
+                     {
+                         LOG_ERROR (SegmentPtr, "malloc error");
+                         status = ERROR;
+                     }
+                 }//segment read size
+                 else
+                 {
+                     LOG_ERROR (Fresult, "f_read error");
+                     status = ERROR;
+                 }
+             }//while(readBytes < Bytes)
+         }
+         else
+         {
+             LOG_ERROR (Fresult, "FileOpen error");
+             status = ERROR;
+         }
+     }//file job
 
-                         }
-                     }//for dispenser
-                 }//if dispensers
-             }//for brush
-         }//for segments
+     if (SegmentPtr)
+         my_free(SegmentPtr);
+     if (BrushStopPtr)
+         my_free(BrushStopPtr);
+     if (Segment != NULL)
+             job_description_file_segment__free_unpacked(Segment,NULL);
+     if (BrushStop != NULL)
+         job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+     Fresult = f_close(FileHandle);
+     REPORT_MSG (n_segments, "Finished checking the file");
+     return status;
+
+ }
+/************************************************************************************************************************************/
+ bool IDS_MapDispenserUsedinJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         return (IDS_MapDispenserUsedinFileJob(JobDetails));
+         //return (IDS_MapDispenserUsedinFileJobshort(JobDetails));
+     }
+     else
+     {
+         for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+         {
+             DispenserUsedInJob[Dispenser_i] = false;
+         }
+         if (n_segments == 0)
+             return false;
+
+         for (Segment_i=0;Segment_i<n_segments;Segment_i++)
+             {
+             for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+                 {
+                     if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                     {
+                         for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                         {
+                             //prepare the SW structures
+                             DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
+                             if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                             {
+                                 DispenserUsedInJob[DispenserId] = true;
+                                 if(DispenserId == LUBRICANT_DISPENSER)
+                                 {
+                                    lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                     JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                    REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                 }
 
-     return false;
+                             }
+                         }//for dispenser
+                     }//if dispensers
+                 }//for brush
+             }//for segments
+     }
+
+     return true;
 
  }
 
@@ -214,47 +497,26 @@ void DispenserPrepareReady(void)
             //ValveCommand (Enable,MixerDirection);
     }
     //set 3 dancers to the profile positions
-    IDS_MapDispenserUsedinJob(JobDetails);
+    //IDS_MapDispenserUsedinJob(JobDetails);
     for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
     {
         if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
         {
+            IDS_StopHomeDispenser(i);
             DispenserReady[i] = false;
             IDS_Dispenser_Build_Pressure(i, IDS_PrepareReady);
             REPORT_MSG(i,"Dispenser prepare called");
         }
         else
+        {
             DispenserReady[i] = true;
+            IDS_HomeDispenser (i, 1000 , NULL);
+        }
+
     }
     DispenserPrepareReady();
     return OK;
 }
-bool IDS_isDispenserUsedNextSegment(void *SegmentDetails,int DispenserId, int SegmentId)
-{
-    JobSegment* Segment = SegmentDetails;
-    int Dispenser_i,n_dispensers;
-    if (Segment->brushstops[0]->n_dispensers)
-    {
-        n_dispensers = Segment->brushstops[0]->n_dispensers;
-        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
-        {
-            if (DispenserId == Segment->brushstops[0]->dispensers[Dispenser_i]->index) //dispenser is in use next segment
-            {
-                if (Segment->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond>0)
-                {
-                    return true;
-                }
-                else
-                {
-                    return false;
-                }
-            }
-        }
-    }
-
-    return false;
-
-}
  //********************************************************************************************************************
  uint32_t IDS_Valve_PresegmentValveReady(uint32_t deviceID, uint32_t ReadValue)
  {
@@ -280,20 +542,24 @@ bool IDS_isDispenserUsedNextSegment(void *SegmentDetails,int DispenserId, int Se
              return OK; //not all configured heaters are ready
          }
      }
-     REPORT_MSG(deviceID,"IDS_Valve_Presegment all Ready!!");
+     REPORT_MSG(deviceID,"IDS Presegment Ready!!");
      PreSegmentReady(Module_IDS,ModuleDone);
   return OK; // all configured heaters are ready
  }
 
- int lInterSegmentLength = 0;
- int InterSegmentStepsLimit = 0,InterSegmentStepsCount = 0;
- int InterSegmentWFCFTime;
- uint32_t DispenserPreSegmentControlId = 0xFF;
+
 //********************************************************************************************************************
+ JobDescriptionFileBrushStop * FileBrushStop;
+ char IdsMessage[100];
 
  uint32_t IDSPreSegmentStateCallbackRunner(uint32_t IfIndex, uint32_t ReadValue)
  {
- /*
+     JobDispenser **Dispensers;
+ //set the speed only before the first segment, speed is constant accros job
+     int Dispenser_i,n_dispensers,DispenserId;
+     TimerMotors_t HW_Motor_Id;
+     double segmentfirst_speed;
+/*
   IDS Pre-Segment (Inter-Segment) activity
 1.     Cleaning
 2.     Build pressure toward the waste valve
@@ -313,19 +579,110 @@ This means that for each Pre-segment we must calculate: TW,TU,Tending,
 This means that for each segment we must calculate: Tx,Ty.
 
   */
+/*uint32_t InterSegmentStartSprayCleaner = 500;
+uint32_t InterSegmentStartRocking = 1000;
+uint32_t InterSegmentCenterRockers = 3000;
+uint32_t InterSegmentStartWFCFDispensers = lInterSegmentLength-1500;
+uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
+*/
      //InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps
-     InterSegmentStepsCount++;
-     if (InterSegmentStepsCount == InterSegmentStepsLimit)
+     InterSegmentStepsCount+=100;
+     if (InterSegmentStepsCount == lInterSegmentLength)
      {
-         IDS_Valve_PresegmentReady(1,0);
+         //IDS_Valve_PresegmentReady(1,0);
+         Report("End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
          SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner);
      }
+     if (EnableCleaning == true)
+     {
+         if (InterSegmentStartSprayCleaner == InterSegmentStepsCount)
+         {
+             Report("Start Spray Cleaner",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+         }
+         if (InterSegmentStartRocking == InterSegmentStepsCount)
+         {
+             Report("Start cleaning rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+         }
+         if (InterSegmentCenterRockers == InterSegmentStepsCount)
+         {
+             Report("Stop spray and center rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
+             //IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+         }
+     }
+     if (InterSegmentStartWFCFDispensers == InterSegmentStepsCount)
+     {
+         Report("start dispensers at rate * WFCF",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+         if (FileBrushStop)
+         {
+             REPORT_MSG(FileBrushStop->index,"WFCFBrushStopRead Index");
+             Dispensers = FileBrushStop->dispensers;
+             n_dispensers = FileBrushStop->n_dispensers;
+             if (n_dispensers)
+             {
+                 for (Dispenser_i = 0; Dispenser_i < n_dispensers; Dispenser_i++)
+                 {
+                     DispenserId = Dispensers[Dispenser_i]->index;
+                     HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+                     if (MotorsCfg[HW_Motor_Id].hardwaremotortype
+                             != DispenserIdToMotorId[DispenserId])
+                         continue;
+
+                     //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
+                     segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
+                             / Dispensers[Dispenser_i]->nanoliterperpulse;
+                     if (Dispensers[Dispenser_i]->dispenserstepdivision
+                             != DISPENSER_STEP_DIVISION__Auto)
+                     {
+                         //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
+                         segmentfirst_speed /=
+                                 Dispensers[Dispenser_i]->dispenserstepdivision; //the dye supply is calculated based on a 1/8 microstep
+                         IDS_Dispenser_Set_Flow_Params(
+                                 DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                                 Dispensers[Dispenser_i]->dispenserstepdivision);
+                     }
+                     else
+                     {
+                         //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
+                         IDS_Dispenser_Set_Flow_Params(
+                                 DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                                 MotorsCfg[HW_Motor_Id].microstep);
+                     }
+                     if ((int) segmentfirst_speed > 0)
+                     {
+#define WFCF 80
+                         segmentfirst_speed *= (100+WFCF);
+                         segmentfirst_speed /= 100;
+                         DispenserSegmentReady[DispenserId] = false;
+                         //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                         IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
+                                                                  segmentfirst_speed,
+                                                                  NULL);                         usnprintf(IdsMessage, 80,
+                                   "WFCF Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                                   DispenserId,
+                                   (int) Dispensers[Dispenser_i]->nanolitterpersecond,
+                                   (int) Dispensers[Dispenser_i]->nanoliterperpulse,
+                                   (int) segmentfirst_speed);
+                         //REPORT_MSG(segmentfirst_speed,IdsMessage);
+                         Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                         SendJobProgress(0.0, 0, false, IdsMessage);
+                     }
+                 }
+             }
+         }
+         //startDispensersAtSegmentSpeed*1=WFCFClenerSpray(speed);
+     }
      return OK;
  }
-
 uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 {
     JobSegment* Segment = SegmentDetails;
+    JobDispenser **Dispensers;
 //set the speed only before the first segment, speed is constant accros job
     int Dispenser_i,n_dispensers,DispenserId;
     TimerMotors_t HW_Motor_Id;
@@ -339,7 +696,9 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     REPORT_MSG(SegmentId,"IDSPreSegmentState");
     if (JobBrushStopId>=Segment->n_brushstops)
     {
-        LOG_ERROR(JobBrushStopId,"Error JobBrushStopId");
+        LOG_ERROR(Segment->n_brushstops,"Error JobBrushStopId");
+        JobEndReason = JOB_OUT_OF_DYE;
+        PreSegmentReady(Module_IDS,ModuleFail);
         return ERROR;
     }
 
@@ -347,148 +706,258 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     if ((EnableIntersegment == true)&&(IntersegmentLength>0))
     {
         Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away
-        lInterSegmentLength = ((IntersegmentLength*100)/dyeingspeed);
-        InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps
-        InterSegmentStepsCount = 0;
-        /*DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
-        if (DispenserPreSegmentControlId == 0xFF)
+        if (SegmentId>0)
         {
-            Report("Add control callback failed",__FILE__,__LINE__,(int)InterSegmentLength,RpWarning,(int)0,0);
-            return ERROR;
-        }*/
+            lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
+            lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
+            InterSegmentStepsCount = 0;
+            DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
+            if (DispenserPreSegmentControlId == 0xFF)
+            {
+                Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
+                return ERROR;
+            }
+            Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)IntersegmentLength,0);
+            if (EnableCleaning == true)
+            {
+                InterSegmentStartSprayCleaner = 500;
+                InterSegmentStartRocking = 1000;
+                InterSegmentCenterRockers = 3000;
+            }
+            InterSegmentStartWFCFDispensers = lInterSegmentLength-5000;
+        }
     }
 
-    if (Segment->brushstops[JobBrushStopId]->n_dispensers)
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
     {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
         n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (BrushStopControlId != 0xFF)
+        {
+            RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+            BrushStopControlId = 0xFF;
+        }
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
+    {
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-            HW_Motor_Id = DispenserIdToMotorId[DispenserId];
-            if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
-            {
-                REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
-                continue;
-            }
+            DispenserId = Dispensers[Dispenser_i]->index;
             DispenserPreSegmentReady[DispenserId] = false;
         }
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
+            DispenserId = Dispensers[Dispenser_i]->index;
             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
             {
                 REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
+                DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
                 continue;
             }
-            REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
+            //REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
             IDS_Dispenser_Set_Flow_Params(DispenserId,0,0);
-            if (Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
+            if (Dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
             {
-                MotorSetMicroStep(HW_Motor_Id, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
+                MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
             }
             else
             {
                 MotorSetMicroStep(HW_Motor_Id, MotorsCfg[HW_Motor_Id].microstep);
             }
+            MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
+            CurrentDispenserSpeed[DispenserId] = 0;
+            IDS_Valve_PresegmentReady(DispenserId,0); //27/03/19 to be removed when the presegment handler will be added
+            //REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
+        }
+    }
+
+    return OK;
+}
+//********************************************************************************************************************
+
+uint32_t SegmentNumOfBrushStops = 0;
+double BrushStopTime = 0;
+
+void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
+{
+    int Dispenser_i,DispenserId;
+    TimerMotors_t HW_Motor_Id;
+    double segmentfirst_speed;
+    Report("IDS_StartBrushStop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)0,0);
+
+    if (n_dispensers)
+    {
+        for (Dispenser_i = 0; Dispenser_i < n_dispensers; Dispenser_i++)
+        {
+            DispenserId = Dispensers[Dispenser_i]->index;
+            HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+            if (MotorsCfg[HW_Motor_Id].hardwaremotortype
+                    != DispenserIdToMotorId[DispenserId])
+                continue;
 
-            if (Segment->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond==0)
+            //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
+            segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
+                    / Dispensers[Dispenser_i]->nanoliterperpulse;
+            if (Dispensers[Dispenser_i]->dispenserstepdivision
+                    != DISPENSER_STEP_DIVISION__Auto)
             {
-                MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
-                IDS_Valve_PresegmentReady(DispenserId,0);
-                //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                REPORT_MSG(DispenserId,"Dispenser Not Used Next Segment");
+                //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
+                segmentfirst_speed /=
+                        Dispensers[Dispenser_i]->dispenserstepdivision; //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        Dispensers[Dispenser_i]->dispenserstepdivision);
             }
             else
             {
-                if (IntersegmentLength&&(SegmentId>0)) //there is an intersegment, stop all the dispensers. otherwise stop only dispensers that are not in use in the next segment.
-                {
-                    //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
-                    IDS_Valve_PresegmentReady(DispenserId,0);
-                    //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                    REPORT_MSG(DispenserId,"Dispenser Used Next Segment with intersegment");
-                }
-                else
-                {
-                    IDS_Valve_PresegmentReady(DispenserId,0);
-                }
-                REPORT_MSG(DispenserId,"Dispenser is Used Next Segment");
+                //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        MotorsCfg[HW_Motor_Id].microstep);
+            }
+            if ((int) segmentfirst_speed > 0)
+            {
+                DispenserSegmentReady[DispenserId] = false;
+                //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                /*IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
+                                                         segmentfirst_speed,
+                                                         NULL);*/
+                Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+                CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
+                usnprintf(IdsMessage, 80,
+                          "Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                          DispenserId,
+                          (int) Dispensers[Dispenser_i]->nanolitterpersecond,
+                          (int) Dispensers[Dispenser_i]->nanoliterperpulse,
+                          (int) segmentfirst_speed);
+                //REPORT_MSG(segmentfirst_speed,IdsMessage);
+                Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                SendJobProgress(0.0, 0, false, IdsMessage);
+            }
+            else
+            {
+                DispenserSegmentReady[DispenserId] = true;
+                //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,NULL);*/
+                MotorStop(HW_Motor_Id, Hard_Hiz);
+                CurrentDispenserSpeed[DispenserId] = 0;
+                Report("inActive dispenser stopped", __FILE__, __LINE__, DispenserId, RpWarning,   segmentfirst_speed, 0);
             }
         }
     }
+}
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
+{
+    JobDispenser **Dispensers = NULL;
+    int n_dispensers = 0;
+    JobSegment* Segment = (void *)IfIndex;
 
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
+    {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
+        n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
+    {
+        IDS_StartBrushStop(n_dispensers, Dispensers);
+    }
+    JobBrushStopId++;
+    Report("brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+    if (JobBrushStopId >= SegmentNumOfBrushStops)
+    {
+        Report("last brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+        SafeRemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+        BrushStopControlId = 0Xff;
+    }
     return OK;
 }
 //********************************************************************************************************************
-
- uint32_t IDS_Valve_SegmentReady(uint32_t deviceID, uint32_t ReadValue)
- {
-     int i;
-     DispenserSegmentReady[deviceID] = true;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
-     {
-         if (DispenserSegmentReady[i] == false)
-         {
-             return OK; //not all configured heaters are ready
-         }
-     }
-     SegmentReady(Module_IDS,ModuleDone);
-  return OK; // all configured heaters are ready
- }
-
- char IdsMessage[100];
-//********************************************************************************************************************
 uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 {
      JobSegment* Segment = SegmentDetails;
-     int Dispenser_i,n_dispensers,DispenserId;
-     TimerMotors_t HW_Motor_Id;
-     double segmentfirst_speed;
+     JobDispenser **Dispensers;
+     int n_dispensers;
 
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
-     if (Segment->brushstops[JobBrushStopId]->n_dispensers)
+
+     SegmentNumOfBrushStops = Segment->n_brushstops;
+     BrushStopTime = Segment->length/SegmentNumOfBrushStops;  //brushstop in meters
+     BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
+     BrushStopTime *= 1000; //brushstop in millisecond
+     Report("IDSSegmentState",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)SegmentNumOfBrushStops,0);
+     if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
      {
+         Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
          n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
-         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
+     }
+     else
+     {
+         if (FileBrushStop)
          {
-             DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
-             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
-                 continue;
-             //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
-             segmentfirst_speed = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond/
-                     Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse;
-             if (Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
-             {
-                 //MotorSetMicroStep(HW_Motor_Id, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-                 segmentfirst_speed/=Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,  Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-             }
-             else
-             {
-                 //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,MotorsCfg[HW_Motor_Id].microstep);
-             }
-             if ((int)segmentfirst_speed > 0)
-                 {
-                     DispenserSegmentReady[DispenserId] = false;
-                     //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                     IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
-                     usnprintf(IdsMessage, 80, "Dispenser %d nl/sec %d nl/pulse %d speed %d",Dispenser_i,(int)Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond,
-                               (int)Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse,(int)segmentfirst_speed);
-                     //REPORT_MSG(segmentfirst_speed,IdsMessage);
-                     Report(IdsMessage,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
-                     SendJobProgress(0.0,0,false, IdsMessage);
-
-
-                 }
+             Dispensers = FileBrushStop->dispensers;
+             n_dispensers = FileBrushStop->n_dispensers;
+         }
+         else
+         {
+             LOG_ERROR(FileBrushStop,"BrushStopReadError");
          }
      }
 
+    IDS_StartBrushStop(n_dispensers, Dispensers);
+    JobBrushStopId++;
+    if ((BrushStopTime)&&(SegmentNumOfBrushStops > 1))
+    {
+        BrushStopControlId = AddControlCallback( IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
+        if (BrushStopControlId == 0xFF)
+        {
+            Report("Add control callback failed",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)0,0);
+            return ERROR;
+        }
+        Report("Add control callback ",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)n_dispensers,0);
+
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = NULL;
+    }
+
     return OK;
 }
  //********************************************************************************************************************
@@ -513,6 +982,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
               return OK; //not all configured heaters are ready
           }
       }
+      REPORT_MSG(deviceID,"IDS_Valve_DistanceToSpoolReady End called");
       DistanceToSpoolReady(Module_IDS,ModuleDone);
    return OK; // all configured heaters are ready
   }
@@ -542,6 +1012,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      //TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[deviceID];
      //REPORT_MSG(deviceID,"Dispenser End called");
      //MotorStop(HW_Motor_Id,Hard_Hiz);
+     IDS_HomeDispenser (deviceID, 1000 , NULL);
+
      return OK;
  }
 //********************************************************************************************************************
@@ -551,6 +1023,14 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      IDS_Active = false;
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
      REPORT_MSG(0,"Dispenser End Start");
+     if (BrushStopControlId != 0xFF)
+     {
+         RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+         BrushStopControlId = 0xFF;
+     }
+     if (FileBrushStop)
+         FreeBrushStopFileData(FileBrushStop);
+     FileBrushStop = NULL;
      for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          if (DispenserUsedInJob[Dispenser_i] == true)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 919e84582..d041b648e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -7,6 +7,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
+#include "StateMachines/Initialization/PowerOffSequence.h"
 
 //#include "graphics_adapter.h"
 
@@ -20,7 +21,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     ProgressResponse response = PROGRESS_RESPONSE__INIT;
     response.has_progress = true;
-
+    PowerOffInit();
     int i = 0;
     for (i = 0; i < request->amount; i++)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 74a07e99c..ab5075ab9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -78,6 +78,13 @@
     //RUN MOTOR A FULL CYCLE
     //RUN A MOTOR NUMBER OF STEPS
     //RUN CONTROL FOR A SINGLE DANCER
+    bool ThreadLoadingActive(void)
+    {
+        if ((LoadStages > THREAD_LOAD_INIT)&&(LoadStages < THREAD_LOAD_END))
+            return true;
+        else
+            return false;
+    }
     uint32_t Thread_Load_Init(void)
     {
         void* buffer = NULL;
@@ -200,6 +207,7 @@
     }
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
+
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -222,6 +230,13 @@
                 else
                 {
                     LoadStages++;
+                    if (LoadStages == THREAD_LOAD_LIFT_ROCKERS)
+                    {
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
+                    }
                     if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
                         //ThreadLoadStateMachine(LoadStages);
@@ -237,9 +252,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 80,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 80,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
         return OK;
     }
     uint32_t Thread_Load_Open_Covers(void)
@@ -270,10 +285,15 @@
     //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35);
+        Task_sleep(10);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index d8564963c..1f7836ea5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -288,7 +288,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
+//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -382,8 +382,8 @@ uint32_t Winder_End(void)
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     ScrewsStopControlTimer();
     //move the cart to the edge so the spool can be easily replaced
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
-
+    //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
     return OK;
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 69ac4b6ad..d7ce917c0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -67,9 +67,11 @@ typedef enum
     THREAD_LOAD_END
 }THREAD_LOAD_STAGES_ENUM;
 uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue);
+bool ThreadLoadingActive(void);
 
 
 void ThreadLoadPollRequest(MessageContainer* requestContainer);
 void ThreadLoadRequest(MessageContainer* requestContainer);
 
+
 #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 9f5ece15a..a4208ad25 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -83,6 +83,11 @@ void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 
+bool SegmentState = false;
+bool PreSegmentState = false;
+bool DTSState = false;
+void SendSegmentFail(void);
+
 double KeepNormalizedError = 0;
 bool ThreadControlActive = false;
 ////////////////////////Slow Motor State////////////////////////////////////
@@ -128,6 +133,7 @@ uint32_t Poolerinitialpos = 0xFFFF;
 
 void ThreadUpdateProcessLength (double length, void *Funcptr)
 {
+    REPORT_MSG(length,"ThreadUpdateProcessLength");
     CurrentRequestedLength = length*100;//Centimetres
     CurrentProcessedLength = 0;
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
@@ -436,7 +442,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                             JobEndReason = JOB_THREAD_BREAK;
                             ThreadControlActive = false;
                             SendJobProgress(0.0,0,false, TMessage);
-                            SegmentReady(Module_Thread,ModuleFail);
+                            SendSegmentFail();
                             //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                             //EndState(CurrentJob,"ReadBreakSensor Error" );
                             LOG_ERROR(index, "ReadBreakSensor Error");
@@ -466,7 +472,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, TMessage);
             //EndState(CurrentJob,TMessage );
-            SegmentReady(Module_Thread,ModuleFail);
+            SendSegmentFail();
             /*switch (index)
             {
                 case POOLER_MOTOR:
@@ -711,7 +717,7 @@ void SetOriginMotorSpeed(float process_speed)
 uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
 {
 //set the speed only before the first segment, speed is constant across all job segments and intersegments
-    JobSegment* Segment = SegmentDetails;
+    //JobSegment* Segment = SegmentDetails;
 
     float process_speed = dyeingspeed;
     if (dyeingspeed == 0)
@@ -750,10 +756,13 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
-    if ((InitialProcess==false) && (EnableIntersegment == true) && (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
+    if ((InitialProcess==false) && (EnableIntersegment == true)) //&& (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
     {//add initial presegment and cleaning before first segment
         ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded);
         REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength");
+        SegmentState = false;
+        PreSegmentState = true;
+        DTSState = false;
     }
     else
     {
@@ -766,6 +775,17 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
     return OK;
 }
 int REPSegmentId = 0;
+void SendSegmentFail(void)
+{
+    if (SegmentState == true)
+        SegmentReady(Module_Thread,ModuleFail);
+    else if (PreSegmentState == true)
+        PreSegmentReady(Module_Thread,ModuleFail);
+    else if (DTSState == true)
+        DistanceToSpoolReady(Module_Thread,ModuleFail);
+
+}
+
 void ThreadInterSegmentEnded(void)
 {
     REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
@@ -792,6 +812,9 @@ uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId)
     CurrentSegmentId = SegmentId;
     REPORT_MSG (seglength," ThreadSegmentState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
+    SegmentState = true;
+    PreSegmentState = false;
+    DTSState = false;
     return OK;
 }
 
@@ -801,6 +824,9 @@ uint32_t ThreadDistanceToSpoolState(void )
     seglength = dryerbufferlength;
     REPORT_MSG (seglength,"ThreadDistanceToSpoolState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
+    SegmentState = false;
+    PreSegmentState = false;
+    DTSState = true;
     return OK;
 }
 
@@ -816,6 +842,7 @@ char Endstr[150];
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
+     TotalProcessedLength = 0.0;
     SetOriginMotorSpeed(0);
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogClose();
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
index 66428039f..bda01564f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
@@ -97,7 +97,7 @@ typedef enum
 
 U8 WHS_init(void);
 U8 WHS_HW_test(void);
-
+bool WHS_IsEmptying();
 
 
 #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index 689a2bc95..9531b67d6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -99,7 +99,15 @@ struct WHS_information
 struct WHS_information WHS_info;
 
 
-
+bool WHS_IsEmptying()
+{
+    bool ret =  false;
+    if ( WHS_info.sttMachine == WHS_emptying )
+    {
+        ret = true;
+    }
+    return ret;
+}
 
 /* --------    cartridge function  ----*/
 
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index 356301dda..d62cee15e 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,11 @@
+Embedded SW Release note - Version 1.3.8.2
+File upload: prevent on job, reduce priority (watchdog)
+Report: packages filters introduced, please feel free to use them.
+robustness in communication improved
+large number of segments and gradient support - initial
+at the end of job the screw does not return back
+rockers - adjust values before and after loading the cart
+
 Embedded SW Release note - Version 1.3.8.12
 Prepare continous response on sw upgarde - test!
 Lubrication supported throughout the job - test!
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index 017eb2126..64cb99918 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -23,6 +23,8 @@
 #include "InitSequence.h"
 
 #include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Valves/Valve.h"
 
 #include "heaters/heaters_ex.h"
 
@@ -38,7 +40,7 @@
         INIT_SEQUENCE_MACHINE_READY_TO_DYE,
         INIT_SEQUENCE_END,
     }INIT_SEQUENCE_STAGES_ENUM;
-    INIT_SEQUENCE_STAGES_ENUM InitStages = INIT_SEQUENCE_INIT;
+    INIT_SEQUENCE_STAGES_ENUM InitStages = INIT_SEQUENCE_INIT, StoredInitStages = INIT_SEQUENCE_INIT;
     MACHINE_STATE_STAGES_ENUM MachineState = MACHINE_STATE_INIT;
 
 MACHINE_STATE_STAGES_ENUM GetMachineState(void)
@@ -49,7 +51,9 @@ void SetMachineState(MACHINE_STATE_STAGES_ENUM NewState)
 {
     MachineState = NewState;
 }
-uint32_t HWControlId;
+uint32_t HWControlId,InitSchedulerControlId;
+uint32_t MidTankControlId;
+
 uint32_t RESET_Cause = 0;
 
 void InitSequenceResetReason(void);
@@ -72,7 +76,7 @@ uint32_t InitSequenceCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     {
         ActivateHeadMagnet();
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     else
     {
@@ -81,11 +85,23 @@ uint32_t InitSequenceCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     }
         return OK;
 }
+/*******************************************************************************************************/
+uint32_t InitScheduler(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (InitStages > StoredInitStages)
+    {
+        StoredInitStages = InitStages;
+        InitSequenceStateMachine(InitStages);
+    }
+    return OK;
+}
+/*******************************************************************************************************/
 
 uint32_t Start_InitSequence(void)
 {
     MachineState = MACHINE_STATE_HW_CONFIG;
     HWControlId = AddControlCallback( InitSequenceCallBackFunction, 4* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    InitSchedulerControlId = AddControlCallback( InitScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
 void InitSequenceResetReason(void)
@@ -104,7 +120,7 @@ void InitSequenceResetReason(void)
     LOG_ERROR(RESET_Cause,"Reset Reason Register");
     SysCtlResetCauseClear(RESET_Cause);
     InitStages++;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
 
     //return OK;
 }
@@ -113,7 +129,7 @@ void InitSequenceBuiltInTestCallBack(uint32_t IfIndex, uint32_t BusyFlag)
     if (1)//BIT OK
     {
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     else
     {
@@ -127,6 +143,44 @@ uint32_t InitSequenceBuiltInTest(void)
     InitSequenceBuiltInTestCallBack(0,0);
     return OK;
 }
+int MidTankOperationCounter = 0;
+uint32_t InitSequenceMidTankCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    int MidTankOpenAir = 8;
+    int MidTankReadPressure = 16;
+    int MidTankCloseAir = 24;
+    int MidTankEnd = 32;
+    int portId;
+
+    if (MidTankOperationCounter >= MidTankEnd)
+    {
+        SafeRemoveControlCallback(MidTankControlId, InitSequenceMidTankCallBackFunction);
+    }
+    else if (MidTankOperationCounter >= MidTankCloseAir)
+    {
+        //close air valve for midtank (MidTankOperationCounter-MidTankCloseAir)
+        portId = (MidTankOperationCounter - MidTankCloseAir) ; //0-7
+        Disable_MidTank_Pressure_Reading(portId);
+        Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
+    }
+    else if (MidTankOperationCounter >= MidTankReadPressure)
+    {
+        //read pressure for midtank (MidTankOperationCounter-MidTankCloseAir)
+        for (portId = 0;portId < MAX_SYSTEM_DISPENSERS;portId++)
+        {
+            Read_MidTank_Pressure_Sensor(portId);
+        }
+    }
+    else if (MidTankOperationCounter >= MidTankOpenAir)
+    {
+        //open air valve for midtank (MidTankOperationCounter-MidTankOpenAir)
+        portId = (MidTankOperationCounter - MidTankOpenAir) ; //0-7
+        Enable_MidTank_Pressure_Reading(portId);
+        Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
+    }
+    MidTankOperationCounter++;
+    return OK;
+}
 uint32_t InitSequenceBlowerCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
     if (SafeRemoveControlCallback(HWControlId, InitSequenceBlowerCallBackFunction )==OK)
@@ -137,7 +191,7 @@ uint32_t InitSequenceBlowerCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
         Control_Voltage_To_Blower(BlowerCfg.heatingvoltage);
     Safety_Init();
     InitStages++;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
     return OK;
 }
 uint32_t InitSequenceInitialBlowerActivation(void)
@@ -150,6 +204,8 @@ uint32_t InitSequenceInitialBlowerActivation(void)
             Control_Voltage_To_Blower(BlowerCfg.voltage);
         HWControlId = AddControlCallback( InitSequenceBlowerCallBackFunction, 10* eOneSecond/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
     }
+    MidTankControlId = AddControlCallback( InitSequenceMidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+
     return OK;
 }
 int NumOfCheckedDispnsers = 0;
@@ -159,7 +215,7 @@ uint32_t InitSequenceDispenserPressureBuildUpTestCallBackFunction(uint32_t IfInd
     if(NumOfCheckedDispnsers==0)
     {
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
         MachineState = MACHINE_STATE_DISPENSER_PRESSURE_BUILDUP_TEST;
 
     }
@@ -187,7 +243,7 @@ uint32_t InitSequenceThreadDetection(void)
 {
     InitStages++;
     MachineState = MACHINE_STATE_THREAD_DETECTION;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
     return OK;
 }
 
@@ -201,7 +257,7 @@ uint32_t InitSequenceStartHeatingCallBackFunction(uint32_t IfIndex, uint32_t Bus
         else
             Report("Remove control callback failed",__FILE__,__LINE__,(int)HWControlId,RpWarning,(int)InitSequenceStartHeatingCallBackFunction,0);
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     return OK;
 }
@@ -267,6 +323,7 @@ uint32_t InitSequenceStateMachine( INIT_SEQUENCE_STAGES_ENUM ReadValue)
             break;
         default:
             LOG_ERROR(ReadValue,"ERROR IN INIT STATE MACHINE");
+            RemoveControlCallback( InitSchedulerControlId,InitScheduler);
             break;
     }
 return OK;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
new file mode 100644
index 000000000..7d42ad8f5
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -0,0 +1,130 @@
+/*
+ * PowerIdle.c
+ *
+ *  Created on: Apr 3, 2019
+ *      Author: shlomo
+ */
+#include "modules/General/GeneralHardware.h"
+#include "modules/General/Safety.h"
+#include "modules/thread/thread.h"
+#include "modules/ids/ids.h"
+#include "modules/control/control.h"
+#include "modules/AlarmHandling/AlarmHandling.h"
+#include "modules/heaters/heaters_ex.h"
+#include "modules/Diagnostics/Diagnostics.h"
+#include "Modules/General/process.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+#include "InitSequence.h"
+
+#include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Valves/Valve.h"
+
+#include "Modules/General/buttons.h"
+
+#include "heaters/heaters_ex.h"
+
+#define DEFAULT_IDLE_TIME_LIMIT 3600
+int powerIdleSecondsCounter = 0;
+int powerIdleSecondsLimit = DEFAULT_IDLE_TIME_LIMIT;
+bool powerIdleState = false;
+bool machineActive = false;
+uint32_t IdleControlId = 0xFF;
+ProcessParameters ActiveProcessParameters;
+void PowerIdleSetIdle(void)
+{
+    memcpy (&ActiveProcessParameters,&ProcessParametersKeep,sizeof(ProcessParameters));
+    ProcessParameters ProcessParametersClear;
+    ProcessParametersClear.dryerzone1temp = 80;
+    ProcessParametersClear.dryerzone2temp = 80;
+    ProcessParametersClear.dryerzone3temp = 80;
+    ProcessParametersClear.mixertemp      = 0;
+    ProcessParametersClear.headzone1temp  = 80;
+    ProcessParametersClear.headzone2temp  = 80;
+    ProcessParametersClear.headzone3temp  = 80;
+    ProcessParametersClear.headzone4temp  = 80;
+    ProcessParametersClear.headzone5temp  = 80;
+    ProcessParametersClear.headzone6temp  = 80;
+    ProcessParametersClear.dyeingspeed = 40;
+    if (HandleProcessParameters(&ProcessParametersClear)!= OK)
+    {
+        LOG_ERROR (1, "Turn Heaters idle failed");
+        return;
+    }
+    if (BlowerCfg.enabled == true)
+    {
+        Turn_the_Blower_On();//Turn on with the Default_Voltage
+        if (BlowerCfg.heatingvoltage)
+            Control_Voltage_To_Blower(BlowerCfg.heatingvoltage);
+        else
+            Control_Voltage_To_Blower(BlowerCfg.voltage-500);
+    }
+}
+
+uint32_t PowerIdleCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (machineActive == true)
+        return OK;
+    if (powerIdleSecondsCounter%10 == 0)
+        Report("PowerIdle Idle counter ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+
+    if (++powerIdleSecondsCounter>=powerIdleSecondsLimit)
+    {
+        if (powerIdleState == false)
+        {
+            Report("PowerIdle Idle activated ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+            powerIdleState = true;
+            SetPowerMachineState(sttIDLE);
+            //move to idle state
+            PowerIdleSetIdle();
+        }
+    }
+    return OK;
+}
+void PowerIdleInit(void)
+{
+    IdleControlId = AddControlCallback( PowerIdleCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    if (IdleControlId == 0xFF)
+        Report("AddControlCallback failed",__FILE__,__LINE__,(int)IdleControlId,RpWarning,(int)0,0);
+    Report("PowerIdleInit ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)0,0);
+
+}
+int getIdleCounter (void) {return powerIdleSecondsCounter;}
+void setIdleLimit (int Limit) {powerIdleSecondsLimit = Limit;}
+void setmachineActive(bool Active){machineActive = Active;}
+void resetIdleCounter (void) {powerIdleSecondsCounter = 0;}
+bool getIdleState (void) {return powerIdleState;}
+
+void PowerIdleOutOfIdleState(void)
+{
+    Report("PowerIdle Out of Idle  ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+    powerIdleSecondsCounter = 0;
+    if (powerIdleState == true)
+    {
+        powerIdleState = false;
+        SetPowerMachineState(sttON);
+        if (HandleProcessParameters(&ActiveProcessParameters)!= OK)
+        {
+            LOG_ERROR (1, "Turn Heaters active failed");
+            return ;
+        }
+    }
+
+}
+void PowerIdleActivateIdleState(void)
+{
+    Report("PowerIdle Activate Idle  ",__FILE__,__LINE__,(int)machineActive,RpWarning,(int)powerIdleSecondsCounter,0);
+    if (machineActive == true)
+    {
+        LOG_ERROR(machineActive, "machine is active, cannot switch on idle state");
+        return;
+    }
+    powerIdleSecondsCounter = 0;
+    if (powerIdleState == false)
+    {
+        powerIdleState = true;
+        PowerIdleSetIdle();
+    }
+
+}
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h
new file mode 100644
index 000000000..efe0e7cb4
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h
@@ -0,0 +1,27 @@
+/*
+ * PowerIdle.h
+ *
+ *  Created on: Apr 3, 2019
+ *      Author: shlomo
+ */
+
+#ifndef STATEMACHINES_INITIALIZATION_POWERIDLE_H_
+#define STATEMACHINES_INITIALIZATION_POWERIDLE_H_
+
+int getIdleCounter (void);
+
+void setIdleLimit (int Limit);
+
+void resetIdleCounter (void);
+bool getIdleState (void);
+
+void PowerIdleOutOfIdleState(void);
+void PowerIdleActivateIdleState(void);
+
+void setmachineActive(bool Active);
+void PowerIdleInit(void);
+
+
+
+
+#endif /* STATEMACHINES_INITIALIZATION_POWERIDLE_H_ */
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
new file mode 100644
index 000000000..454204229
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -0,0 +1,347 @@
+/*
+ * PowerOffSequence.c
+ *
+ *  Created on: Apr 2, 2019
+ *      Author: shlomo
+ */
+
+
+#include "modules/General/GeneralHardware.h"
+#include "modules/General/Safety.h"
+#include "modules/thread/thread.h"
+#include "modules/waste/waste.h"
+#include "modules/ids/ids.h"
+#include "modules/control/control.h"
+#include "modules/AlarmHandling/AlarmHandling.h"
+#include "modules/heaters/heaters_ex.h"
+#include "modules/Diagnostics/Diagnostics.h"
+#include "Modules/General/process.h"
+
+#include "Modules/Thread/Thread_ex.h"
+#include "Common/SWUpdate/FirmwareUpgrade.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+#include "PowerIdle.h"
+#include "InitSequence.h"
+
+#include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Heater/TemperatureSensor.h"
+#include "drivers/Valves/Valve.h"
+
+#include "heaters/heaters_ex.h"
+
+#include "PowerOffSequence.h"
+/*
+    typedef enum
+    {
+        POWER_OFF_INIT,
+        POWER_OFF_HEAD_CLEAN,
+        POWER_OFF_MIXER_FLUSH,
+        POWER_OFF_HEATERS_OFF,
+        POWER_OFF_STORE_DATA,
+        POWER_OFF_WAIT_FOR_PROCESSES,//wait for waste emptying, ink filling, thread loading
+        POWER_OFF_STOP_RUNNING_JOB,
+        POWER_OFF_SET_VALVE_POSITION,
+        POWER_OFF_WAIT_FOR_TEMPERATURE,
+        POWER_OFF_TURN_OFF_DRYER_FAN,
+        POWER_OFF_TURN_OFF_COOLER,
+        POWER_OFF_TURN_OFF_BLOWER,
+        POWER_OFF_POWER_OFF,
+        POWER_OFF_MAX,
+    }POWER_OFF_STAGES_ENUM;
+*/
+POWER_OFF_STAGES_ENUM PowerOffMachineState = POWER_OFF_INIT,StoredMachineState = POWER_OFF_INIT;
+uint32_t PowerOffControlId = 0xFF;
+uint32_t WaitForProcessControlId = 0xFF;
+uint32_t PowerOffSequenceStateMachine( POWER_OFF_STAGES_ENUM ReadValue);
+
+/*******************************************************************************************************/
+uint32_t PowerOffScheduler(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (PowerOffMachineState > StoredMachineState)
+    {
+        StoredMachineState = PowerOffMachineState;
+        PowerOffSequenceStateMachine (PowerOffMachineState);
+    }
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffInit(void)
+{
+    LOG_ERROR(0,"Power Off Init");
+    PowerOffMachineState = POWER_OFF_HEAD_CLEAN;
+    PowerOffControlId = AddControlCallback( PowerOffScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffCancel(void)
+{
+    if (PowerOffMachineState >= POWER_OFF_HEAD_CLEAN)
+        PowerOffMachineState = POWER_OFF_CANCELLED;
+    return OK;
+}
+
+/*******************************************************************************************************/
+uint32_t PowerOffHeadClean(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_MIXER_FLUSH;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffMixerFlush(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_HEATERS_OFF;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffHeatersOff(void)
+{
+    ProcessParameters ProcessParametersClear;
+    ProcessParametersClear.dryerzone1temp = 0;
+    ProcessParametersClear.dryerzone2temp = 0;
+    ProcessParametersClear.dryerzone3temp = 0;
+    ProcessParametersClear.mixertemp      = 0;
+    ProcessParametersClear.headzone1temp  = 0;
+    ProcessParametersClear.headzone2temp  = 0;
+    ProcessParametersClear.headzone3temp  = 0;
+    ProcessParametersClear.headzone4temp  = 0;
+    ProcessParametersClear.headzone5temp  = 0;
+    ProcessParametersClear.headzone6temp  = 0;
+    ProcessParametersClear.dyeingspeed = 40;
+    if (HandleProcessParameters(&ProcessParametersClear)!= OK)
+    {
+        LOG_ERROR (PowerOffMachineState, "Turn Off Heaters  failed");
+        return ERROR;
+    }
+
+    PowerOffMachineState = POWER_OFF_STORE_DATA;
+
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffStoreData(void)
+{
+    //TBD
+    REPORT_MSG (PowerOffMachineState, "Store Data");
+    IDS_Dispenser_Store_Data();
+    PowerOffMachineState = POWER_OFF_WAIT_FOR_PROCESSES;
+    return OK;
+}
+/*******************************************************************************************************/
+int WaitForProcessCounter = 0;
+uint32_t PowerOffWaitForProcessesCallback(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if ((WHS_IsEmptying()||
+        //MidTankFillingActive()||
+        ThreadLoadingActive()||
+        SwUpgradeActive())&&
+        (WaitForProcessCounter++<900))
+    {
+        REPORT_MSG (PowerOffMachineState, "On going processes, wait for end of process");
+        resetIdleCounter();
+    }
+    else
+    {
+        PowerOffMachineState = POWER_OFF_SET_VALVE_POSITION;
+        SafeRemoveControlCallback(WaitForProcessControlId, PowerOffWaitForProcessesCallback);
+        WaitForProcessControlId = 0xFF;
+    }
+ return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForProcesses(void)
+{
+    int i;
+    REPORT_MSG (PowerOffMachineState, "Stop dispensers homing");
+    for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+        IDS_StopHomeDispenser(i);
+    if (WHS_IsEmptying()||
+        //MidTankFillingActive()||
+        ThreadLoadingActive()||
+        SwUpgradeActive())
+    {
+        WaitForProcessCounter = 0; //15 minutes wait
+        REPORT_MSG (PowerOffMachineState, "On going processes, wait for end of process");
+        WaitForProcessControlId = AddControlCallback( PowerOffWaitForProcessesCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    }
+    else
+    {
+        PowerOffMachineState = POWER_OFF_STOP_RUNNING_JOB;
+    }
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffStopRunningJob(void)
+{
+    if (JobIsActive())
+    {
+        REPORT_MSG (PowerOffMachineState, "Stop running job");
+        AbortJob("Power off pressed");
+    }
+    PowerOffMachineState = POWER_OFF_SET_VALVE_POSITION;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffSetValvePosition(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_WAIT_FOR_TEMPERATURE;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForTemperatureCallback(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    uint32_t MaxTemp = 0,readTemp;
+    readTemp = TemperatureSensorRead( MIXER_PT100);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP1);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP2);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP3);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP4);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP5);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( HEAD6_PT100);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DRYER_TEMP1);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+
+#define POWER_OFF_TEMP_THRESHOLD 10000
+
+    if ((MaxTemp>POWER_OFF_TEMP_THRESHOLD)&&(WaitForProcessCounter++<1800))
+    {
+        Report("On going cooling down, wait for end of cooling",__FILE__,__LINE__,(int)MaxTemp,RpWarning,(int)WaitForProcessCounter,0);
+        resetIdleCounter();
+    }
+    else
+    {
+        Report("ended cooling down, wait for end of cooling",__FILE__,__LINE__,(int)MaxTemp,RpWarning,(int)WaitForProcessCounter,0);
+        PowerOffMachineState = POWER_OFF_TURN_OFF_DRYER_FAN;
+        SafeRemoveControlCallback(WaitForProcessControlId, PowerOffWaitForTemperatureCallback);
+        WaitForProcessControlId = 0xFF;
+    }
+ return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForTemperature(void)
+{
+    if (WaitForProcessControlId == 0xFF)
+    {
+        WaitForProcessCounter = 0;
+        WaitForProcessControlId = AddControlCallback( PowerOffWaitForTemperatureCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    }
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffDryerFan(void)
+{
+    Control_Dryer_Fan(STOP,75);//use START or STOP,  0 - 100%
+    PowerOffMachineState = POWER_OFF_TURN_OFF_COOLER;
+
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffCooler(void)
+{
+    uint32_t DeActivateChiller();
+    PowerOffMachineState = POWER_OFF_TURN_OFF_BLOWER;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffBlower(void)
+{
+    Turn_the_Blower_Off();//Turn off
+    PowerOffMachineState = POWER_OFF_POWER_OFF;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffPowerOff(void)
+{
+    int i;
+    for (i = 0;i<10;i++)
+    {
+        REPORT_MSG (10-i, "Power off in x seconds");
+        Task_sleep (1000);
+    }
+    Power_Off();
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffSequenceStateMachine( POWER_OFF_STAGES_ENUM ReadValue)
+{
+    uint32_t status = OK;
+
+    REPORT_MSG(ReadValue,"PowerOffSequenceStateMachine");
+    switch (ReadValue)
+    {
+    case POWER_OFF_INIT:
+        break;
+    case POWER_OFF_HEAD_CLEAN:
+        status = PowerOffHeadClean();
+        break;
+    case POWER_OFF_MIXER_FLUSH:
+        status = PowerOffMixerFlush();
+        break;
+    case POWER_OFF_HEATERS_OFF:
+        status = PowerOffHeatersOff();
+        break;
+    case POWER_OFF_STORE_DATA:
+        status = PowerOffStoreData();
+        break;
+    case POWER_OFF_WAIT_FOR_PROCESSES: //wait for waste emptying: ink filling: thread loading
+        status = PowerOffWaitForProcesses();
+        break;
+    case POWER_OFF_STOP_RUNNING_JOB:
+        status = PowerOffStopRunningJob();
+        break;
+    case POWER_OFF_SET_VALVE_POSITION:
+        status = PowerOffSetValvePosition();
+        break;
+    case POWER_OFF_WAIT_FOR_TEMPERATURE:
+        status = PowerOffWaitForTemperature();
+        break;
+    case POWER_OFF_TURN_OFF_DRYER_FAN:
+        status = PowerOffTurnOffDryerFan();
+        break;
+    case POWER_OFF_TURN_OFF_COOLER:
+        status = PowerOffTurnOffCooler();
+        break;
+    case POWER_OFF_TURN_OFF_BLOWER:
+        status = PowerOffTurnOffBlower();
+        break;
+    case POWER_OFF_POWER_OFF:
+        status = PowerOffPowerOff();
+        break;
+    case POWER_OFF_ERROR:
+    case POWER_OFF_CANCELLED:
+        RemoveControlCallback( PowerOffControlId,PowerOffScheduler);
+        PowerOffControlId = 0xFF;
+        RemoveControlCallback(WaitForProcessControlId, PowerOffWaitForProcessesCallback);
+        RemoveControlCallback(WaitForProcessControlId, PowerOffWaitForTemperatureCallback);
+        WaitForProcessControlId = 0xFF;
+        LOG_ERROR(ReadValue,"POWER OFF Cancelled");
+        break;
+    default:
+        LOG_ERROR(ReadValue,"ERROR IN POWER OFF STATE MACHINE");
+        break;
+    }
+return OK;
+}
+
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
new file mode 100644
index 000000000..af4d4230d
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
@@ -0,0 +1,36 @@
+/*
+ * PowerOffSequence.h
+ *
+ *  Created on: Apr 2, 2019
+ *      Author: shlomo
+ */
+
+#ifndef STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_
+#define STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_
+
+    typedef enum
+    {
+        POWER_OFF_INIT,
+        POWER_OFF_HEAD_CLEAN,
+        POWER_OFF_MIXER_FLUSH,
+        POWER_OFF_HEATERS_OFF,
+        POWER_OFF_STORE_DATA,
+        POWER_OFF_WAIT_FOR_PROCESSES,//wait for waste emptying, ink filling, thread loading
+        POWER_OFF_STOP_RUNNING_JOB,
+        POWER_OFF_SET_VALVE_POSITION,
+        POWER_OFF_WAIT_FOR_TEMPERATURE,
+        POWER_OFF_TURN_OFF_DRYER_FAN,
+        POWER_OFF_TURN_OFF_COOLER,
+        POWER_OFF_TURN_OFF_BLOWER,
+        POWER_OFF_POWER_OFF,
+        POWER_OFF_ERROR,
+        POWER_OFF_CANCELLED,
+        POWER_OFF_MAX,
+    }POWER_OFF_STAGES_ENUM;
+
+
+uint32_t PowerOffInit(void);
+uint32_t PowerOffCancel(void);//POWER_OFF_CANCELLED
+
+
+#endif /* STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_ */
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 69361bbae..b5034a11c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -37,6 +37,7 @@
 #include "PMR/Printing/CurrentJobResponse.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobRequest.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobResponse.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
 #include "PMR/Printing/JobStatus.pb-c.h"
 #include "PMR/Printing/AbortJobRequest.pb-c.h"
 #include "PMR/Printing/AbortJobResponse.pb-c.h"
@@ -58,6 +59,7 @@
 #include "PMR/Diagnostics/ThreadAbortJoggingRequest.pb-c.h"
 #include "PMR/Diagnostics/ThreadAbortJoggingResponse.pb-c.h"
 
+#include "StateMachines/Initialization/PowerIdle.h"
 
 #include "./printingSTM.h"
 #include "modules/thread/thread_ex.h"
@@ -88,7 +90,7 @@ JobSegment *TSegment;
 JobSpool *Tspool;
 bool CopyConfigured[MAX_SYSTEM_MODULES];
 char ErrorMsg[100];
-
+JobUploadStrategy uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
 
 ModuleStateEnum PrepareWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle};
 
@@ -377,6 +379,7 @@ uint32_t ThreadJoggingFunc(int speed)
         {
         //load essential job prameters to enable thread running
             Ticket.n_segments = 1;
+            n_segments = 1;
             Ticket.segments = my_malloc(sizeof(Ticket.segments));
             TSegment = my_malloc(sizeof(JobSegment));
             Tspool = my_malloc(sizeof(JobSpool));
@@ -587,7 +590,7 @@ void JobRequestFunc(MessageContainer* requestContainer)
     ErrorCode error = ERROR_CODE__NONE;
     JobEndReasonEnum JobAlarmReason = JOB_OK;
 
-    if (JobActive == false)
+    if (JobActive == true)
     {
 		LOG_ERROR(JobActive, "Job started while active");
 	}
@@ -612,7 +615,17 @@ void JobRequestFunc(MessageContainer* requestContainer)
             if (CurrentRequest!= NULL)
                 job_request__free_unpacked(CurrentRequest,NULL);
             CurrentRequest = request;
-
+            n_segments = 0;
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                LOG_ERROR(JobActive, "Job upload strategy file");
+                uploadstrategy = JOB_UPLOAD_STRATEGY__JobDescriptionFile;
+            }
+            else
+            {
+                uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
+                n_segments = CurrentJob->n_segments;
+            }
             status  = PASSED;
             JobEndReason = JOB_OK;
             JobAlarmReason = AlarmHandlingPrepareJob(CurrentJob);
@@ -649,7 +662,8 @@ void JobRequestFunc(MessageContainer* requestContainer)
         }
         if (status == PASSED)
         {
-            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,Ticket->n_segments, Ticket->intersegmentlength);
+            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,n_segments, Ticket->intersegmentlength);
+            OpenJobFile();
             StartJob(CurrentJob);
         }
     }
@@ -941,6 +955,7 @@ Void jobTask(UArg arg0, UArg arg1)
             case JobRequestMsg:
                 JobEndReason = JOB_OK;
                 JobActive = true;
+                setmachineActive(true);
                 /*ValidateState (CurrentJob);
                 break;
             case ValidationResultsOk:*/
@@ -964,6 +979,8 @@ Void jobTask(UArg arg0, UArg arg1)
                 break;
             case PrintingResultsOk:
                 JobActive = false;
+                setmachineActive(false);
+                resetIdleCounter();
                 CurrentJob = NULL;
                   //if (CurrentRequest!= NULL)
                   //    job_request__free_unpacked(CurrentRequest,NULL);
@@ -975,6 +992,8 @@ Void jobTask(UArg arg0, UArg arg1)
                 break;
             case PrintingResultsFail:
                 JobActive = false;
+                setmachineActive(false);
+                resetIdleCounter();
                 CurrentJob = NULL;
                   //if (CurrentRequest!= NULL)
                   //    job_request__free_unpacked(CurrentRequest,NULL);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 53057c170..c52ed8b4c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -25,6 +25,10 @@
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
 #include "modules/General/process.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 ////////////////////////////////State machine operation////////////////////////////////////
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
@@ -38,7 +42,7 @@ static uint32_t PreSegmentState(void *Segment, int);
 static uint32_t SegmentState(void *Segment, int);
 uint32_t EndState(void *JobDetails, char *Message);
 //static uint32_t ExitState(void *JobDetails);
-
+uint16_t n_segments = 0;
 /**********************************************************************
 * the array and enum of PrintingState_t below must be in sync order
 ***********************************************************************/
@@ -65,9 +69,174 @@ ModuleStateEnum EndWaiting[MAX_SYSTEM_MODULES] =        {ModuleIdle,ModuleIdle,M
 bool Configured[MAX_SYSTEM_MODULES] = {false,false,false,false,false};
 
 bool SuspendLargeMessages = false;
+/*
+Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
 
-/********************************************************************************************************************
- * this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
+
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+*/
+
+//job file reading functions
+uint32_t bBytes = 0,readbBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+FRESULT Fresult = FR_OK;
+uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+FIL *JobRequestFileHandle = 0;  //the system supports a single active file
+FRESULT OpenJobFile()
+{
+    //n_segments = 0;
+    if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+    {
+        JobRequestFileHandle = my_malloc(sizeof(FIL));
+
+        Fresult = FileOpen(CurrentJob->jobdescriptionfile, &bBytes, JobRequestFileHandle);
+        if (Fresult == FR_OK)
+        {
+            readbBytes = 0;
+        }
+        REPORT_MSG(bBytes,"OpenJobFile");
+    }
+    return Fresult;
+}
+FRESULT CloseJobFile()
+{
+    Fresult = f_close(JobRequestFileHandle);
+    readbBytes = 0;
+    ImmediateRead = 0;
+    SegmentSize = 0;
+    BrushStopSize = 0;
+    my_free (JobRequestFileHandle);
+    JobRequestFileHandle = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+    REPORT_MSG(Fresult,"CloseJobFile");
+
+    return Fresult;
+}
+JobDescriptionFileSegment *GetNextSegmentFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileSegment *Segment = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    if(readbBytes < bBytes)
+    {
+        Fresult = f_read(JobRequestFileHandle,&SegmentSize,4,&ImmediateRead );
+        if (Fresult == FR_OK)
+        {
+            readbBytes += ImmediateRead;
+            if (SegmentPtr)
+                my_free(SegmentPtr);
+            SegmentPtr = my_malloc (SegmentSize);
+            if (SegmentPtr)
+            {
+                Fresult = f_read(JobRequestFileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                if (Fresult == FR_OK)
+                {
+                    readbBytes += ImmediateRead;
+                    //n_segments++;
+                    Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                }
+            }// read segment data
+            my_free(SegmentPtr);
+        }//segment malloc
+        else
+        {
+            LOG_ERROR (SegmentPtr, "malloc error");
+            status = ERROR;
+        }
+    }//segment read size
+    else
+    {
+        LOG_ERROR (Fresult, "f_read error");
+        status = ERROR;
+    }
+    return Segment;
+}
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment)
+{
+    job_description_file_segment__free_unpacked(Segment,NULL);
+    Segment = NULL;
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+}
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileBrushStop *BrushStop = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    Fresult = f_read(JobRequestFileHandle,&BrushStopSize,4,&ImmediateRead );
+    if (Fresult == FR_OK)
+    {
+        readbBytes += ImmediateRead;
+        if (BrushStopPtr)
+            my_free(BrushStopPtr);
+
+        BrushStopPtr = my_malloc (BrushStopSize);
+        if (BrushStopPtr)
+        {
+            Fresult = f_read(JobRequestFileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+            if (Fresult == FR_OK)
+            {
+                readbBytes += ImmediateRead;
+                BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+            }//brushstop malloc ok
+            else
+            {
+                LOG_ERROR (Fresult, "f_read error");
+                status = ERROR;
+            }
+            my_free(BrushStopPtr);
+        }//brushstop size read ok
+        else
+        {
+            LOG_ERROR (BrushStopPtr, "malloc error");
+            status = ERROR;
+        }
+    }// if brush stop count
+    else
+    {
+        LOG_ERROR (0, "f_read error brush stop size error");
+        status = ERROR;
+    }
+    REPORT_MSG(BrushStop->index,"BrushStop file Read Index");
+
+    return BrushStop;
+}
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop)
+{
+    REPORT_MSG(BrushStop->index,"Free BrushStop file Read Index");
+    if (BrushStop)
+        job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+    BrushStop = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+}
+/************************************************************************************************************************************/
+/* this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
  * according to the configuration map
  */
 
@@ -233,8 +402,8 @@ uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
 
     assert (ModuleId<MAX_SYSTEM_MODULES);
     assert (result<=ModuleFail);
-    REPORT_MSG (ModuleId, "SegmentReady");
-    Report("IDSSegmentState",__FILE__,__LINE__,(int)ModuleId,RpWarning,(int)result,0);
+    //REPORT_MSG (ModuleId, "SegmentReady");
+    Report("SegmentReady",__FILE__,__LINE__,(int)ModuleId,RpWarning,(int)result,0);
 
     if (SegmentWaiting[ModuleId] != ModuleWaiting)
     {
@@ -410,6 +579,7 @@ uint32_t EndState(void *JobDetails, char *Message)
         //EndWaiting[Module_Thread] = ModuleWaiting;
         ThreadEndState();
     }
+    CloseJobFile();
     //ROM_IntMasterEnable();
     SendJobProgress(0.0,0,true,Message);
 
@@ -436,16 +606,18 @@ void StartPrinting(void)
 //********************************************************************************************************************
 //********************************************************************************************************************
 
-void StopPrinting(void)
-{
-}
 int SegmentId = 0;
+JobDescriptionFileSegment *Segment;
+JobSegment SSegment;
+
+//********************************************************************************************************************
+//********************************************************************************************************************
 void PrintSTMMsgHandler(void * msg)
 {
     JobMessageStruc *Message = msg;
     PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message->messageData;
 
-    Report("PrintSTMMsgHandler",__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
+    Report("PrintSTMMsgHandler",__FILE__,__LINE__, 1000,RpMessage,Message->messageId,PrtMessage->messageId);
 
     if ((Message->messageId != PrintMessage)&&(Message->messageId != Abort))
     {
@@ -456,10 +628,28 @@ void PrintSTMMsgHandler(void * msg)
     {
         case PrintRequest:
             SegmentId = 0;
-            PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                Segment = GetNextSegmentFromJobFile();
+                SSegment.length = Segment->length;
+                SSegment.has_length = Segment->has_length;
+                SSegment.n_brushstops = Segment->brushstopscount;
+                PreSegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsOk:
-            SegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                SegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                SegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsFail:
             EndState(CurrentJob, "PreSegment Failed");
@@ -467,8 +657,9 @@ void PrintSTMMsgHandler(void * msg)
             break;
         case SegmentResultsOk:
             SegmentId++;
-            LOG_ERROR(SegmentId, "SegmentResultsOk segmentId");
-            if (SegmentId >= CurrentJob->n_segments)
+            //REPORT_MSG(SegmentId, "SegmentResultsOk segmentId");
+            Report("SegmentResultsOk segmentId",__FILE__,__LINE__, SegmentId,RpMessage,n_segments,0);
+            if (SegmentId >= n_segments)
                 {
                   if (dryerbufferlength == 0)
                     EndState(CurrentJob, "Job Ended");
@@ -477,7 +668,21 @@ void PrintSTMMsgHandler(void * msg)
                 }
             else
             {
-                PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+                if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+                {
+                    if (Segment)
+                        FreeSegmentFileData(Segment);
+
+                    Segment = GetNextSegmentFromJobFile();
+                    SSegment.length = Segment->length;
+                    SSegment.has_length = Segment->has_length;
+                    SSegment.n_brushstops = Segment->brushstopscount;
+                    PreSegmentState(&SSegment,SegmentId);
+                }
+                else
+                {
+                    PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+                }
             }
             break;
         case SegmentResultsFail:
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
index 878e063b5..d7d8262f4 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
@@ -17,6 +17,9 @@
 #include "PMR/Printing/JobRequest.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 #include "PMR/Printing/JobResponse.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 
 #define MAX_MSG_LEN    100
 typedef enum
@@ -166,8 +169,10 @@ uint32_t    CurrentJobRequestFunc(MessageContainer* requestContainer);
 uint32_t    ResumeCurrentJobRequestFunc(MessageContainer* requestContainer);
 
 bool JobIsActive(void);
+
 extern bool SuspendLargeMessages;
 
+extern uint16_t n_segments;
 void SendJobProgress(double ProcessedLength,int SegmentId, bool done, char *Message);
 
 uint32_t PrepareReady(int ModuleId, ModuleStateEnum result);
@@ -179,4 +184,12 @@ uint32_t EndState(void *JobDetails, char *Message);
 
 bool GetHeatersPrepareWaiting(void);
 
+extern JobUploadStrategy uploadstrategy;
+FRESULT OpenJobFile();
+FRESULT CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
 #endif /* STATEMACHINES_PRINTSTM_H_ */
diff --git a/Software/PMR/Messages/EmbeddedParameters/ConfigurationParameters.proto b/Software/PMR/Messages/EmbeddedParameters/ConfigurationParameters.proto
index 733651a34..1752307ad 100644
--- a/Software/PMR/Messages/EmbeddedParameters/ConfigurationParameters.proto
+++ b/Software/PMR/Messages/EmbeddedParameters/ConfigurationParameters.proto
@@ -62,7 +62,20 @@ message ConfigurationParameters
 	double IDS_CleaningSpeed = 26;
 	//cleaning dispenser stop before segment  start
 	double IDS_CleaningStopBeforeSegmentTime = 27;
-	double IDS_LeftCleaningMotorSpeed = 28;
-	double IDS_RightCleaningMotorSpeed = 29;
+	//cleaning dispenser start during pre segment
+	double IDS_CleaningStartSprayPreSegmentTime = 28;
+	double IDS_LeftCleaningMotorSpeed = 29;
+	double IDS_RightCleaningMotorSpeed = 30;
+
+	uint32 SwitchToIdleTimeinSeconds = 31;
+	uint32 IdleDrierTemperature = 32;
+	uint32 IdleHeadTemperature = 33;
+	uint32 IdleMixerTemperature = 34;
+
+	uint32 PowerOffTemperatureLimit = 35; //temperature to allow machine power off
+
+	double IDS_PreSegment_WFCF_TimeBeforeSegment = 36;
+
+
 
 }
diff --git a/Software/PMR/Messages/TCC/DetectionBenchmark.proto b/Software/PMR/Messages/TCC/DetectionBenchmark.proto
index a512dfa5f..0a6fb42f2 100644
--- a/Software/PMR/Messages/TCC/DetectionBenchmark.proto
+++ b/Software/PMR/Messages/TCC/DetectionBenchmark.proto
@@ -9,7 +9,7 @@ message DetectionBenchmark
 	int32 Green = 2;
 	int32 Blue = 3;
 
-	int32 L = 4;
-	int32 A = 5;
-	int32 B = 6;
+	double L = 4;
+	double A = 5;
+	double B = 6;
 }
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/Poweroff_progress.cs b/Software/Stubs Collection/stubs/Poweroff_progress.cs
new file mode 100644
index 000000000..a10bc4ed4
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Poweroff_progress.cs
@@ -0,0 +1,23 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+
+
+ProgressRequest progressRequest = new ProgressRequest();
+progressRequest.Amount = 10;
+progressRequest.Delay = 10;
+
+	var response = stubManager.Run<ProgressResponse>(progressRequest);
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/technician view files/lp4 Tech Board.tpf b/Software/Stubs Collection/stubs/technician view files/lp4 Tech Board.tpf
index 630461d99..f1c80020c 100644
--- a/Software/Stubs Collection/stubs/technician view files/lp4 Tech Board.tpf
+++ b/Software/Stubs Collection/stubs/technician view files/lp4 Tech Board.tpf
@@ -24,13 +24,13 @@
           <Width>575</Width>
           <Height>201.64159292035407</Height>
           <Angle>0</Angle>
-          <ItemGuid>D7585119-4A42-4370-8F1E-F3E62553E588</ItemGuid>
+          <ItemGuid>AFB7B6F7-8FFB-4A7F-B814-04F0C163CAA1</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>701</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="ControllerItem">
           <ID>ba743caa-95f2-4b20-8c32-8e5943ada3fc</ID>
@@ -41,9 +41,9 @@
           <Angle>0</Angle>
           <ItemGuid>78482AA4-3DF6-421F-944C-64328D3C3EF2</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
-          <UpdateInterval>10</UpdateInterval>
           <OptimalRangeMinimum>0</OptimalRangeMinimum>
           <OptimalRangeMaximum>70</OptimalRangeMaximum>
+          <UpdateInterval>10</UpdateInterval>
           <IsSetToDefault>true</IsSetToDefault>
         </TechItem>
         <TechItem xsi:type="DigitalOutItem">
@@ -123,13 +123,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>DryerAirHeater</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>97.389999999999986</CurrentValue>
+            <SetPoint>165</SetPoint>
+            <CurrentValue>149.02</CurrentValue>
             <IsActive>false</IsActive>
-            <IsRampingUp>false</IsRampingUp>
-            <IsInSetPoint>true</IsInSetPoint>
+            <IsRampingUp>true</IsRampingUp>
+            <IsInSetPoint>false</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>165</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>0ac64716-d30c-489b-939e-a26d06445866</ID>
@@ -143,7 +143,7 @@
           <HeaterState>
             <HeaterType>DryerMainHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>170.61999999999998</CurrentValue>
+            <CurrentValue>249.91</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -162,7 +162,7 @@
           <HeaterState>
             <HeaterType>DryerSecondaryHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>167.51</CurrentValue>
+            <CurrentValue>251.47</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -180,13 +180,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone3</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>87.97</CurrentValue>
+            <SetPoint>110</SetPoint>
+            <CurrentValue>109.75999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>110</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>7e8dd386-cca6-4d07-8a3e-af5403756002</ID>
@@ -199,13 +199,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone2</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>92.71</CurrentValue>
+            <SetPoint>110</SetPoint>
+            <CurrentValue>109.67999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>110</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>32a91e5f-27c8-490d-b187-8e39b6626a13</ID>
@@ -218,13 +218,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone1</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>68.76</CurrentValue>
+            <SetPoint>80</SetPoint>
+            <CurrentValue>79.76</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>80</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>c844235a-8a29-4c2e-a964-e8f546d2ced7</ID>
@@ -238,7 +238,7 @@
           <HeaterState>
             <HeaterType>MixerHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>72.5</CurrentValue>
+            <CurrentValue>283.75</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -256,13 +256,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone4</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>89.149999999999991</CurrentValue>
+            <SetPoint>120</SetPoint>
+            <CurrentValue>119.64999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>120</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>e6b3eb18-482b-450e-b8a8-d2ac6bba4fd4</ID>
@@ -275,13 +275,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone5</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>109.14999999999999</CurrentValue>
+            <SetPoint>130</SetPoint>
+            <CurrentValue>129.72</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>130</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>efff2e67-e3a3-4667-9208-4704707d7cda</ID>
@@ -294,13 +294,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone6</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>105.57</CurrentValue>
+            <SetPoint>140</SetPoint>
+            <CurrentValue>139.54</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>140</SetPoint>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
           <ID>f9936dba-cef8-41e3-a715-eb629dca1870</ID>
@@ -421,7 +421,7 @@
           <ItemGuid>96B89605-F999-43FE-A1CD-2645BFB33A36</ItemGuid>
           <ColorNumber>-1</ColorNumber>
           <UpdateInterval>10</UpdateInterval>
-          <DecimalPoints>0</DecimalPoints>
+          <DecimalPoints>2</DecimalPoints>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
           <ID>6be024c6-3d1b-4267-9b77-44473aba56b7</ID>
@@ -433,7 +433,7 @@
           <ItemGuid>FC60060A-3736-4910-B41A-FF6DABDF0E9E</ItemGuid>
           <ColorNumber>-1</ColorNumber>
           <UpdateInterval>10</UpdateInterval>
-          <DecimalPoints>0</DecimalPoints>
+          <DecimalPoints>2</DecimalPoints>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
           <ID>7c720f3b-00e1-49dd-92f9-fdd1e9686623</ID>
@@ -445,7 +445,7 @@
           <ItemGuid>4CE6A82E-D841-4D33-BBB2-11F0743A441C</ItemGuid>
           <ColorNumber>-1</ColorNumber>
           <UpdateInterval>10</UpdateInterval>
-          <DecimalPoints>0</DecimalPoints>
+          <DecimalPoints>2</DecimalPoints>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>3ebd6759-521b-4ed1-a353-ee1ad7801f28</ID>
@@ -456,11 +456,11 @@
           <Angle>0</Angle>
           <ItemGuid>D126DB23-784B-4F0C-8F88-D89A65A7549F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>1460</Duration>
           <Min>0</Min>
           <Max>16384</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>984b4126-3dda-4624-a79f-0646eb0e1358</ID>
@@ -471,11 +471,11 @@
           <Angle>0</Angle>
           <ItemGuid>10102BC3-0EAE-47FF-A8E5-8640780CAA3D</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>1516</Duration>
           <Min>0</Min>
           <Max>16384</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>8ebc3ab7-a02d-4b12-93b3-2563443831d7</ID>
@@ -486,11 +486,11 @@
           <Angle>0</Angle>
           <ItemGuid>C0BCCD5C-346B-4C4A-A080-39D28E9E1A0C</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>1398</Duration>
           <Min>0</Min>
           <Max>16384</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>acafb268-5e97-4277-8dc8-173250a9e3f8</ID>
@@ -501,11 +501,22 @@
           <Angle>0</Angle>
           <ItemGuid>9FBC5460-BA59-486B-8D85-BD7D8A959F98</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>1273</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
+        </TechItem>
+        <TechItem xsi:type="MotorItem">
+          <ID>3ccb1485-b0e9-4d36-a931-a1b3865edeaa</ID>
+          <Left>460</Left>
+          <Top>38.28761061946841</Top>
+          <Width>267</Width>
+          <Height>221.90707964601768</Height>
+          <Angle>0</Angle>
+          <ItemGuid>08d15ca1-d7d1-460f-8f37-42c37c287cd1</ItemGuid>
+          <ColorNumber>-1</ColorNumber>
+          <Speed>952.3546144121359</Speed>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>be4cb8d9-b516-4604-a6a5-1638cbc50251</ID>
@@ -516,11 +527,11 @@
           <Angle>0</Angle>
           <ItemGuid>4CE6A82E-D841-4D33-BBB2-11F0743A441C</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>514</Duration>
           <Min>0</Min>
           <Max>100000</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>75b99507-4eba-4b11-b52e-26732d4c5479</ID>
@@ -531,11 +542,11 @@
           <Angle>0</Angle>
           <ItemGuid>F1DF490B-0577-4FA7-ACA1-0EEF4F934E8F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>4</DecimalPlaces>
           <Duration>1398</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>4</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>a30e48de-be76-4230-92d0-d27d6f37b940</ID>
@@ -546,11 +557,11 @@
           <Angle>0</Angle>
           <ItemGuid>5F12B974-2C9E-4DDD-9B20-733251A5D7E6</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>4</DecimalPlaces>
           <Duration>1398</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>4</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>5ac4b368-093a-4192-98d4-e9d24f229b13</ID>
@@ -561,31 +572,30 @@
           <Angle>0</Angle>
           <ItemGuid>84CF23C9-D20D-4C08-BE1D-80201FC43C06</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>4</DecimalPlaces>
           <Duration>1398</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>4</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="MonitorRecorderItem">
           <ID>9c34dc69-cfaa-48b4-9d02-8f0d9bba79dd</ID>
-          <Left>1358</Left>
-          <Top>123.61504424778764</Top>
-          <Width>170</Width>
-          <Height>573.5132743362833</Height>
-          <Angle>0</Angle>
-          <ColorNumber>-1</ColorNumber>
-          <SelectedMonitorsGuids />
-        </TechItem>
-        <TechItem xsi:type="ThreadMotionItem">
-          <ID>b083f678-c5ea-4700-bfa2-ca51ed62cf4b</ID>
-          <Left>480</Left>
-          <Top>23.300884955752224</Top>
-          <Width>317</Width>
-          <Height>192.52212389380532</Height>
+          <Left>1303</Left>
+          <Top>34.380530973454768</Top>
+          <Width>176</Width>
+          <Height>83.05309734512457</Height>
           <Angle>0</Angle>
           <ColorNumber>-1</ColorNumber>
-          <Speed>20</Speed>
+          <SelectedMonitorsGuids>
+            <string>F1DF490B-0577-4FA7-ACA1-0EEF4F934E8F</string>
+            <string>4CE6A82E-D841-4D33-BBB2-11F0743A441C</string>
+            <string>9ADF7823-B293-4275-9999-F62474D246AA</string>
+            <string>5F12B974-2C9E-4DDD-9B20-733251A5D7E6</string>
+            <string>FC60060A-3736-4910-B41A-FF6DABDF0E9E</string>
+            <string>96B89605-F999-43FE-A1CD-2645BFB33A36</string>
+            <string>84CF23C9-D20D-4C08-BE1D-80201FC43C06</string>
+            <string>89B7B89D-8050-4188-B568-35B1910CFB6F</string>
+          </SelectedMonitorsGuids>
         </TechItem>
       </Items>
     </MachineTechViewProjectTab>
@@ -685,7 +695,7 @@
           <Angle>0</Angle>
           <ItemGuid>8A957565-4165-49F7-854D-D21F95FFBE1B</ItemGuid>
           <ColorNumber>-724238</ColorNumber>
-          <Speed>1200</Speed>
+          <Speed>0</Speed>
           <DisplayName>Dispenser 8</DisplayName>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
@@ -791,7 +801,7 @@
           <Width>247</Width>
           <Height>122.24778761061873</Height>
           <Angle>0</Angle>
-          <ItemGuid>99cf8832-edf6-4343-9af4-a5808680becc</ItemGuid>
+          <ItemGuid>074b6ed8-0f87-4973-bbea-509838f9c3ed</ItemGuid>
           <ColorNumber>-1</ColorNumber>
         </TechItem>
         <TechItem xsi:type="DigitalOutItem">
@@ -813,9 +823,9 @@
           <Angle>0</Angle>
           <ItemGuid>78482AA4-3DF6-421F-944C-64328D3C3EF2</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
-          <UpdateInterval>10</UpdateInterval>
           <OptimalRangeMinimum>0</OptimalRangeMinimum>
           <OptimalRangeMaximum>70</OptimalRangeMaximum>
+          <UpdateInterval>10</UpdateInterval>
           <IsSetToDefault>true</IsSetToDefault>
         </TechItem>
         <TechItem xsi:type="DigitalOutItem">
@@ -849,11 +859,11 @@
           <Angle>0</Angle>
           <ItemGuid>D023F15D-3555-48E9-A9E9-5DF99F60D791</ItemGuid>
           <ColorNumber>0</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
           <ID>46bdfce3-1c69-45dd-bbe9-582d1ac1e6f2</ID>
@@ -1067,7 +1077,7 @@
           <Height>167.26548672566202</Height>
           <Angle>0</Angle>
           <ColorNumber>-1</ColorNumber>
-          <Speed>20</Speed>
+          <Speed>40</Speed>
         </TechItem>
         <TechItem xsi:type="BreakSensorItem">
           <ID>92607e12-2dd6-41c9-8f89-f051f386b734</ID>
@@ -1169,11 +1179,11 @@
           <Angle>0</Angle>
           <ItemGuid>D7585119-4A42-4370-8F1E-F3E62553E588</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>2962</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>c4e19f7c-e6e9-4f45-987e-f124456b2529</ID>
@@ -1184,11 +1194,11 @@
           <Angle>0</Angle>
           <ItemGuid>A8DB1D27-6B25-4FB4-A3F5-46A29BA51955</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>2817</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>b8b24455-1c20-417d-bd78-5fe4c7e3d023</ID>
@@ -1199,11 +1209,11 @@
           <Angle>0</Angle>
           <ItemGuid>6C0C1AB0-3EE9-40D7-8424-A79436FBC804</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>2982</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>2129a0cd-454f-4834-8197-3b048bf4b978</ID>
@@ -1214,11 +1224,11 @@
           <Angle>0</Angle>
           <ItemGuid>098F7CAB-030C-46B0-B2B8-A85AF2253032</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>2949</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>892fabb7-01fa-4b39-a19e-a557fafae0ac</ID>
@@ -1229,11 +1239,11 @@
           <Angle>0</Angle>
           <ItemGuid>DACEBF90-E2B4-4CC9-A973-B8B429AA0089</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>2628</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>4859974c-7224-42d5-97ca-0e2e549372f5</ID>
@@ -1244,11 +1254,11 @@
           <Angle>0</Angle>
           <ItemGuid>246C2551-5EFD-48E9-94F6-6313C5E5018F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>3153</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="PidItem">
           <ID>81b78212-14d8-4a66-bf3a-eeea9900e0d6</ID>
@@ -1319,11 +1329,11 @@
           <Angle>0</Angle>
           <ItemGuid>AFB7B6F7-8FFB-4A7F-B814-04F0C163CAA1</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>3153</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>9330a6be-17f1-4ecb-978d-719adf9fec1f</ID>
@@ -1334,11 +1344,11 @@
           <Angle>0</Angle>
           <ItemGuid>9A3877B2-9F98-4A5C-9A93-DECA2836FA8A</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>2</DecimalPlaces>
           <Duration>3153</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>2</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="PidItem">
           <ID>3228b2ba-83f3-4eb2-a6d2-7200301758a4</ID>
@@ -1371,13 +1381,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone4</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>89.149999999999991</CurrentValue>
+            <SetPoint>120</SetPoint>
+            <CurrentValue>119.64999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>120</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>4fa7a50d-5155-4785-95a0-508cd40fad4d</ID>
@@ -1390,13 +1400,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone1</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>68.76</CurrentValue>
+            <SetPoint>80</SetPoint>
+            <CurrentValue>79.76</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>80</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>9da56601-7b5b-4f0f-afbf-2b31970b104f</ID>
@@ -1409,13 +1419,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone3</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>87.97</CurrentValue>
+            <SetPoint>110</SetPoint>
+            <CurrentValue>109.75999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>110</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>b700e59d-f923-4f13-9dcc-942050548c22</ID>
@@ -1428,13 +1438,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone5</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>109.14999999999999</CurrentValue>
+            <SetPoint>130</SetPoint>
+            <CurrentValue>129.72</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>130</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>97bf8fa2-b07f-4f0e-87ac-820ea52d236e</ID>
@@ -1448,7 +1458,7 @@
           <HeaterState>
             <HeaterType>MixerHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>72.5</CurrentValue>
+            <CurrentValue>283.75</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -1466,13 +1476,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone2</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>92.71</CurrentValue>
+            <SetPoint>110</SetPoint>
+            <CurrentValue>109.67999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>110</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>3020fbc5-305e-4adf-9f1e-d7a48168e2e7</ID>
@@ -1485,13 +1495,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone6</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>105.57</CurrentValue>
+            <SetPoint>140</SetPoint>
+            <CurrentValue>139.54</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>140</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>a4049a51-7417-4eab-8bc1-837574307e93</ID>
@@ -1504,13 +1514,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>DryerAirHeater</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>97.389999999999986</CurrentValue>
+            <SetPoint>165</SetPoint>
+            <CurrentValue>149.02</CurrentValue>
             <IsActive>false</IsActive>
-            <IsRampingUp>false</IsRampingUp>
-            <IsInSetPoint>true</IsInSetPoint>
+            <IsRampingUp>true</IsRampingUp>
+            <IsInSetPoint>false</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>165</SetPoint>
         </TechItem>
       </Items>
     </MachineTechViewProjectTab>
@@ -1537,11 +1547,11 @@
           <Angle>0</Angle>
           <ItemGuid>098F7CAB-030C-46B0-B2B8-A85AF2253032</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>3bf6782d-117d-4589-a1d6-6454b67e3862</ID>
@@ -1552,11 +1562,11 @@
           <Angle>0</Angle>
           <ItemGuid>6C0C1AB0-3EE9-40D7-8424-A79436FBC804</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>c7a89d21-7383-4caa-941e-b42e1109b16a</ID>
@@ -1567,11 +1577,11 @@
           <Angle>0</Angle>
           <ItemGuid>246C2551-5EFD-48E9-94F6-6313C5E5018F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>300</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>4c789472-cb4f-4ede-b22a-c733591117c8</ID>
@@ -1584,13 +1594,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone3</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>87.97</CurrentValue>
+            <SetPoint>110</SetPoint>
+            <CurrentValue>109.75999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>110</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>ddda12e1-54ad-4ffd-9f77-5845372e134f</ID>
@@ -1603,13 +1613,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone4</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>89.149999999999991</CurrentValue>
+            <SetPoint>120</SetPoint>
+            <CurrentValue>119.64999999999999</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>120</SetPoint>
         </TechItem>
         <TechItem xsi:type="HeaterItem">
           <ID>479f6fd7-25bb-4583-985e-169e045895ce</ID>
@@ -1622,13 +1632,13 @@
           <ColorNumber>-1</ColorNumber>
           <HeaterState>
             <HeaterType>HeaterZone5</HeaterType>
-            <SetPoint>0</SetPoint>
-            <CurrentValue>109.14999999999999</CurrentValue>
+            <SetPoint>130</SetPoint>
+            <CurrentValue>129.72</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
-          <SetPoint>0</SetPoint>
+          <SetPoint>130</SetPoint>
         </TechItem>
         <TechItem xsi:type="ProcessParametersItem">
           <ID>2eed9e1e-31cd-4dc4-9d44-dd35798ff733</ID>
@@ -1764,9 +1774,9 @@
           <Angle>0</Angle>
           <ItemGuid>78482AA4-3DF6-421F-944C-64328D3C3EF2</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
-          <UpdateInterval>10</UpdateInterval>
           <OptimalRangeMinimum>0</OptimalRangeMinimum>
           <OptimalRangeMaximum>70</OptimalRangeMaximum>
+          <UpdateInterval>10</UpdateInterval>
           <IsSetToDefault>true</IsSetToDefault>
         </TechItem>
       </Items>
@@ -1783,11 +1793,11 @@
           <Angle>0</Angle>
           <ItemGuid>A499E5E0-A812-4032-8F96-B38C6762C4BD</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>3600</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>aae29286-81b3-476a-9f58-c0fd246cae96</ID>
@@ -1798,11 +1808,11 @@
           <Angle>0</Angle>
           <ItemGuid>F33667BD-D9FA-4DC7-BC2C-0E89E60AE4BE</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>3600</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="TextItem">
           <ID>7d94c7c4-1288-4f9d-b0e6-a06794829642</ID>
@@ -1885,11 +1895,11 @@
           <Angle>0</Angle>
           <ItemGuid>1F0F907A-EC16-4386-AFC8-B2B156F2A822</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>3600</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="TextItem">
           <ID>1c254a92-c075-453f-9667-cdcc91cf8e6a</ID>
@@ -1922,11 +1932,11 @@
           <Angle>0</Angle>
           <ItemGuid>6B1DF4B0-BCC2-400C-A3B7-31C5119A55BB</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>3600</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="TextItem">
           <ID>0bef6e9d-6da0-4f06-9e1a-c00142bde4c1</ID>
@@ -1959,11 +1969,11 @@
           <Angle>0</Angle>
           <ItemGuid>19645882-6587-4A50-BD85-AF06617DC654</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>3</DecimalPlaces>
           <Duration>3600</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>3</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="MonitorItem">
           <ID>39f6a02c-c4d9-47d0-b92d-bdea0ed5d3ce</ID>
@@ -1994,7 +2004,7 @@
           <Width>244</Width>
           <Height>127.67256637168146</Height>
           <Angle>0</Angle>
-          <ItemGuid>7F9C5DE0-9E24-494D-841F-976DB440DBFD</ItemGuid>
+          <ItemGuid>481228F8-BA5F-4CE8-9384-EC3ACE80DDDC</ItemGuid>
           <ColorNumber>-1</ColorNumber>
         </TechItem>
         <TechItem xsi:type="ValveItem">
@@ -2031,11 +2041,11 @@
           <Angle>0</Angle>
           <ItemGuid>96B89605-F999-43FE-A1CD-2645BFB33A36</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100000</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>3d0f66be-0002-403d-8d4b-0d49d85c0570</ID>
@@ -2046,11 +2056,11 @@
           <Angle>0</Angle>
           <ItemGuid>D126DB23-784B-4F0C-8F88-D89A65A7549F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>16384</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>6ce9bf4a-e710-4bc6-bcc1-e8055b77530c</ID>
@@ -2061,11 +2071,11 @@
           <Angle>0</Angle>
           <ItemGuid>FC60060A-3736-4910-B41A-FF6DABDF0E9E</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100000</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>da0aa379-4643-40cb-b990-45574e5545df</ID>
@@ -2076,11 +2086,11 @@
           <Angle>0</Angle>
           <ItemGuid>10102BC3-0EAE-47FF-A8E5-8640780CAA3D</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>16384</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>09b31ecb-8eaf-4c70-8057-1a11b5f10bad</ID>
@@ -2091,11 +2101,11 @@
           <Angle>0</Angle>
           <ItemGuid>89B7B89D-8050-4188-B568-35B1910CFB6F</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100000</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="SingleGraphItem">
           <ID>2a970ff9-b593-4df4-977f-7d29ce25d0c6</ID>
@@ -2106,11 +2116,11 @@
           <Angle>0</Angle>
           <ItemGuid>84CF23C9-D20D-4C08-BE1D-80201FC43C06</ItemGuid>
           <ColorNumber>-14774017</ColorNumber>
+          <DecimalPlaces>1</DecimalPlaces>
           <Duration>10</Duration>
           <Min>0</Min>
           <Max>100</Max>
           <UseAutoRange>true</UseAutoRange>
-          <DecimalPlaces>1</DecimalPlaces>
         </TechItem>
         <TechItem xsi:type="PidItem">
           <ID>eebe8aa9-cff0-45ef-b1dd-d71cbe3b2947</ID>
@@ -2157,5 +2167,5 @@
       </Items>
     </MachineTechViewProjectTab>
   </Tabs>
-  <SelectedTabIndex>2</SelectedTabIndex>
+  <SelectedTabIndex>0</SelectedTabIndex>
 </MachineTechViewProject>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/App.config b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/App.config
index a6a2b7fa9..8b30e609b 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/App.config
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/App.config
@@ -1,2 +1,75 @@
 <?xml version="1.0" encoding="utf-8"?>
-<configuration />
\ No newline at end of file
+<configuration>
+  <runtime>
+    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
+      <dependentAssembly>
+        <assemblyIdentity name="System.Collections.Immutable" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-1.2.2.0" newVersion="1.2.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Reflection.Metadata" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-1.4.2.0" newVersion="1.4.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.IO.FileSystem" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.IO.Compression" publicKeyToken="b77a5c561934e089" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.1.2.0" newVersion="4.1.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.IO.FileSystem.Primitives" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Security.Cryptography.Primitives" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.1.0" newVersion="4.0.1.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Xml.XPath.XDocument" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.2.0" newVersion="4.0.2.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Console" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.1.0" newVersion="4.0.1.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Diagnostics.StackTrace" publicKeyToken="b03f5f7f11d50a3a" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Microsoft.Data.Edm" publicKeyToken="31bf3856ad364e35" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-5.6.4.0" newVersion="5.6.4.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Microsoft.Data.Services.Client" publicKeyToken="31bf3856ad364e35" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-5.6.4.0" newVersion="5.6.4.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Microsoft.Data.OData" publicKeyToken="31bf3856ad364e35" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-5.6.4.0" newVersion="5.6.4.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Newtonsoft.Json" publicKeyToken="30ad4fe6b2a6aeed" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-9.0.0.0" newVersion="9.0.0.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="System.Reactive.Core" publicKeyToken="94bc3704cddfc263" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-3.0.3000.0" newVersion="3.0.3000.0" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="Microsoft.IdentityModel.Clients.ActiveDirectory" publicKeyToken="31bf3856ad364e35" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-3.19.8.16603" newVersion="3.19.8.16603" />
+      </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="WebGrease" publicKeyToken="31bf3856ad364e35" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-1.5.2.14234" newVersion="1.5.2.14234" />
+      </dependentAssembly>
+    </assemblyBinding>
+  </runtime>
+</configuration>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ColorCaptureSettings.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ColorCaptureSettings.cs
new file mode 100644
index 000000000..63ed247ef
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ColorCaptureSettings.cs
@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.MachineStudio.ColorCapture.Models;
+using Tango.Settings;
+
+namespace Tango.MachineStudio.ColorCapture
+{
+    public class ColorCaptureSettings : SettingsBase
+    {
+        public CaptureConfig Config { get; set; }
+
+        public ColorCaptureSettings()
+        {
+            Config = new CaptureConfig();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Controls/IndexedUniformGrid.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Controls/IndexedUniformGrid.cs
index af34e038d..93a5c07ab 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Controls/IndexedUniformGrid.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Controls/IndexedUniformGrid.cs
@@ -16,7 +16,7 @@ namespace Tango.MachineStudio.ColorCapture.Controls
             set { SetValue(ColumnsProperty, value); }
         }
         public static readonly DependencyProperty ColumnsProperty =
-            DependencyProperty.Register("Columns", typeof(int), typeof(IndexedUniformGrid), new PropertyMetadata(0));
+            DependencyProperty.Register("Columns", typeof(int), typeof(IndexedUniformGrid), new PropertyMetadata(0, (d, e) => (d as IndexedUniformGrid).Init()));
 
         public int Rows
         {
@@ -24,7 +24,7 @@ namespace Tango.MachineStudio.ColorCapture.Controls
             set { SetValue(RowsProperty, value); }
         }
         public static readonly DependencyProperty RowsProperty =
-            DependencyProperty.Register("Rows", typeof(int), typeof(IndexedUniformGrid), new PropertyMetadata(0));
+            DependencyProperty.Register("Rows", typeof(int), typeof(IndexedUniformGrid), new PropertyMetadata(0, (d, e) => (d as IndexedUniformGrid).Init()));
 
         public IndexedUniformGrid()
         {
@@ -33,6 +33,14 @@ namespace Tango.MachineStudio.ColorCapture.Controls
 
         private void IndexedUniformGrid_Loaded(object sender, RoutedEventArgs e)
         {
+            Init();
+        }
+
+        private void Init()
+        {
+            ColumnDefinitions.Clear();
+            RowDefinitions.Clear();
+
             for (int i = 0; i < Columns; i++)
             {
                 ColumnDefinitions.Add(new ColumnDefinition() { Width = new GridLength(1, GridUnitType.Star) });
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Graph/WpfGraphController.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Graph/WpfGraphController.cs
index dd32cde93..63ce7035e 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Graph/WpfGraphController.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Graph/WpfGraphController.cs
@@ -19,7 +19,7 @@ namespace Tango.MachineStudio.ColorCapture.Graph
             AddDataSeries(new WpfDataSeries()
             {
                  StrokeThickness = 1,
-                 Stroke = Colors.Black,
+                 Stroke = Colors.DodgerBlue,
             });
 
             var renderer = new GraphScrollingRenderer<WpfDataSeries, DoubleDataPoint, DoubleDataPoint>()
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/BenchmarkItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/BenchmarkItem.cs
new file mode 100644
index 000000000..d7d33e437
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/BenchmarkItem.cs
@@ -0,0 +1,95 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+using Tango.Core;
+using Tango.PMR.TCC;
+
+namespace Tango.MachineStudio.ColorCapture.Models
+{
+    public class BenchmarkItem : ExtendedObject
+    {
+        private int _Red;
+        public int Red
+        {
+            get { return _Red; }
+            set { _Red = value; RaisePropertyChangedAuto(); RaisePropertyChanged(nameof(Color)); }
+        }
+
+        private int _Green;
+        public int Green
+        {
+            get { return _Green; }
+            set { _Green = value; RaisePropertyChangedAuto(); RaisePropertyChanged(nameof(Color)); }
+        }
+
+        private int _Blue;
+        public int Blue
+        {
+            get { return _Blue; }
+            set { _Blue = value; RaisePropertyChangedAuto(); RaisePropertyChanged(nameof(Color)); }
+        }
+
+        private double _L;
+        public double L
+        {
+            get { return _L; }
+            set { _L = value; RaisePropertyChangedAuto(); }
+        }
+
+        private double _A;
+        public double A
+        {
+            get { return _A; }
+            set { _A = value; RaisePropertyChangedAuto(); }
+        }
+
+        private double _B;
+        public double B
+        {
+            get { return _B; }
+            set { _B = value; RaisePropertyChangedAuto(); }
+        }
+
+        public int Index { get; private set; }
+
+        public Color Color
+        {
+            get { return Color.FromArgb(255, (byte)Red, (byte)Green, (byte)Blue); }
+        }
+
+        public static BenchmarkItem FromDetectionBenchmark(DetectionBenchmark benchmark, int index)
+        {
+            BenchmarkItem item = new BenchmarkItem();
+
+            item.Red = benchmark.Red;
+            item.Green = benchmark.Green;
+            item.Blue = benchmark.Blue;
+
+            item.L = benchmark.L;
+            item.A = benchmark.A;
+            item.B = benchmark.B;
+
+            item.Index = index;
+
+            return item;
+        }
+
+        public DetectionBenchmark ToDetectionBenchmark()
+        {
+            DetectionBenchmark item = new DetectionBenchmark();
+
+            item.Red = Red;
+            item.Green = Green;
+            item.Blue = Blue;
+
+            item.L = L;
+            item.A = A;
+            item.B = B;
+
+            return item;
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureConfig.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureConfig.cs
new file mode 100644
index 000000000..c1f5d4f48
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureConfig.cs
@@ -0,0 +1,82 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.Core;
+using Tango.Core.Helpers;
+
+namespace Tango.MachineStudio.ColorCapture.Models
+{
+    public class CaptureConfig : ExtendedObject
+    {
+        private int _columns;
+        public int Columns
+        {
+            get { return _columns; }
+            set { _columns = value; RaisePropertyChangedAuto(); }
+        }
+
+        private int _rows;
+        public int Rows
+        {
+            get { return _rows; }
+            set { _rows = value; RaisePropertyChangedAuto(); }
+        }
+
+        private int _targetIndex;
+        public int TargetIndex
+        {
+            get { return _targetIndex; }
+            set { _targetIndex = value; RaisePropertyChangedAuto(); }
+        }
+
+        private String _samplesFolder;
+        public String SamplesFolder
+        {
+            get { return _samplesFolder; }
+            set { _samplesFolder = value; RaisePropertyChangedAuto(); }
+        }
+
+        private String _benchmarksFile;
+        public String BenchmarksFile
+        {
+            get { return _benchmarksFile; }
+            set { _benchmarksFile = value; RaisePropertyChangedAuto(); }
+        }
+
+        private String _templateFile;
+        public String TemplateFile
+        {
+            get { return _templateFile; }
+            set { _templateFile = value; RaisePropertyChangedAuto(); }
+        }
+
+        private int _sampleWidth;
+        public int SampleWidth
+        {
+            get { return _sampleWidth; }
+            set { _sampleWidth = value; RaisePropertyChangedAuto(); }
+        }
+
+        private int _sampleHeight;
+        public int SampleHeight
+        {
+            get { return _sampleHeight; }
+            set { _sampleHeight = value; RaisePropertyChangedAuto(); }
+        }
+
+        public CaptureConfig()
+        {
+            Columns = 10;
+            Rows = 11;
+            TargetIndex = 89;
+            SampleWidth = 300;
+            SampleHeight = 330;
+            SamplesFolder = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData), "Twine", "Tango", "TCC Samples");
+            BenchmarksFile = Path.Combine(AssemblyHelper.GetCurrentAssemblyFolder(), "TCC", "benchmarks_rgb_lab.csv");
+            TemplateFile = Path.Combine(AssemblyHelper.GetCurrentAssemblyFolder(), "TCC", "template.bmp");
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureItem.cs
new file mode 100644
index 000000000..66fe7d7af
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Models/CaptureItem.cs
@@ -0,0 +1,31 @@
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+
+namespace Tango.MachineStudio.ColorCapture.Models
+{
+    public class CaptureItem
+    {
+        public DateTime Time { get; set; }
+
+        [JsonIgnore]
+        public String Folder { get; set; }
+
+        [JsonIgnore]
+        public String Image { get; set; }
+
+        public Color CapturedColor { get; set; }
+        public Color ProcessedColor { get; set; }
+        public Color RefColor { get; set; }
+
+        public double RefL { get; set; }
+        public double RefA { get; set; }
+        public double RefB { get; set; }
+
+        public double DeltaE { get; set; }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Tango.MachineStudio.ColorCapture.csproj b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Tango.MachineStudio.ColorCapture.csproj
index 4d0c0fae5..1679f2af9 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Tango.MachineStudio.ColorCapture.csproj
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Tango.MachineStudio.ColorCapture.csproj
@@ -53,6 +53,15 @@
     <Reference Include="Microsoft.Practices.ServiceLocation, Version=1.3.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
       <HintPath>..\..\..\packages\CommonServiceLocator.1.3\lib\portable-net4+sl5+netcore45+wpa81+wp8\Microsoft.Practices.ServiceLocation.dll</HintPath>
     </Reference>
+    <Reference Include="Microsoft.WindowsAPICodePack.Shell, Version=1.1.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\Microsoft.WindowsAPICodePack-Shell.1.1.0.0\lib\Microsoft.WindowsAPICodePack.Shell.dll</HintPath>
+    </Reference>
+    <Reference Include="Microsoft.WindowsAPICodePack.ShellExtensions, Version=1.1.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\Microsoft.WindowsAPICodePack-Shell.1.1.0.0\lib\Microsoft.WindowsAPICodePack.ShellExtensions.dll</HintPath>
+    </Reference>
+    <Reference Include="Newtonsoft.Json, Version=9.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+      <HintPath>..\..\..\packages\Newtonsoft.Json.9.0.1\lib\net45\Newtonsoft.Json.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
     <Reference Include="System.ComponentModel.DataAnnotations" />
     <Reference Include="System.Data" />
@@ -87,10 +96,14 @@
     <Compile Include="..\..\..\Versioning\GlobalVersionInfo.cs">
       <Link>GlobalVersionInfo.cs</Link>
     </Compile>
+    <Compile Include="ColorCaptureSettings.cs" />
     <Compile Include="ColorLabModule.cs" />
     <Compile Include="Controls\ColorMatrixControl.cs" />
     <Compile Include="Controls\IndexedUniformGrid.cs" />
     <Compile Include="Graph\WpfGraphController.cs" />
+    <Compile Include="Models\BenchmarkItem.cs" />
+    <Compile Include="Models\CaptureConfig.cs" />
+    <Compile Include="Models\CaptureItem.cs" />
     <Compile Include="Properties\AssemblyInfo.cs">
       <SubType>Code</SubType>
     </Compile>
@@ -113,6 +126,7 @@
       <Generator>ResXFileCodeGenerator</Generator>
       <LastGenOutput>Resources.Designer.cs</LastGenOutput>
     </EmbeddedResource>
+    <None Include="App.config" />
     <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
@@ -140,6 +154,14 @@
       <Project>{a34ee0f0-649d-41c8-8489-b6f1cc6924ee}</Project>
       <Name>Tango.Core</Name>
     </ProjectReference>
+    <ProjectReference Include="..\..\..\Tango.CSV\Tango.CSV.csproj">
+      <Project>{58e8825f-0c96-449c-b320-1e82b0aa876b}</Project>
+      <Name>Tango.CSV</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\..\..\Tango.Logging\Tango.Logging.csproj">
+      <Project>{bc932dbd-7cdb-488c-99e4-f02cf441f55e}</Project>
+      <Name>Tango.Logging</Name>
+    </ProjectReference>
     <ProjectReference Include="..\..\..\Tango.PMR\Tango.PMR.csproj">
       <Project>{e4927038-348d-4295-aaf4-861c58cb3943}</Project>
       <Name>Tango.PMR</Name>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Themes/Generic.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Themes/Generic.xaml
index 0a2ebbca8..87a3f1bf2 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Themes/Generic.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Themes/Generic.xaml
@@ -30,10 +30,10 @@
                                 </ItemsControl.ItemTemplate>
                             </ItemsControl>
                             <controls:IndexedUniformGrid Columns="{TemplateBinding Columns}" Rows="{TemplateBinding Rows}">
-                                <Image Source="Images/topLeft.bmp" Stretch="Fill" Grid.Column="0" Grid.Row="0" />
-                                <Image Source="Images/topRight.bmp" Stretch="Fill" Grid.Column="{TemplateBinding Columns}" Grid.Row="0" />
-                                <Image Source="Images/bottomLeft.bmp" Stretch="Fill" Grid.Column="0" Grid.Row="{TemplateBinding Rows}" />
-                                <Image Source="Images/bottomRight.bmp" Stretch="Fill" Grid.Column="{TemplateBinding Columns}" Grid.Row="{TemplateBinding Rows}" />
+                                <Image Source="/Tango.MachineStudio.ColorCapture;component/Images/topLeft.bmp" Stretch="Fill" Grid.Column="0" Grid.Row="0" />
+                                <Image Source="/Tango.MachineStudio.ColorCapture;component/Images/topRight.bmp" Stretch="Fill" Grid.Column="{TemplateBinding Columns}" Grid.Row="0" />
+                                <Image Source="/Tango.MachineStudio.ColorCapture;component/Images/bottomLeft.bmp" Stretch="Fill" Grid.Column="0" Grid.Row="{TemplateBinding Rows}" />
+                                <Image Source="/Tango.MachineStudio.ColorCapture;component/Images/bottomRight.bmp" Stretch="Fill" Grid.Column="{TemplateBinding Columns}" Grid.Row="{TemplateBinding Rows}" />
                             </controls:IndexedUniformGrid>
                         </Grid>
                     </Border>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ViewModels/MainViewVM.cs
index f21c403de..5b9d20bc4 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/ViewModels/MainViewVM.cs
@@ -1,19 +1,28 @@
 using ColorMine.ColorSpaces;
 using ColorMine.ColorSpaces.Comparisons;
+using Microsoft.Win32;
+using Microsoft.WindowsAPICodePack.Dialogs;
 using System;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Diagnostics;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Media;
 using System.Windows.Media.Imaging;
+using Tango.Core;
 using Tango.Core.Commands;
+using Tango.CSV;
+using Tango.Logging;
 using Tango.MachineStudio.ColorCapture.Graph;
+using Tango.MachineStudio.ColorCapture.Models;
 using Tango.MachineStudio.Common;
 using Tango.MachineStudio.Common.Notifications;
 using Tango.MachineStudio.Common.Video;
+using Tango.PMR.TCC;
+using Tango.Settings;
 using Tango.TCC.BL;
 using Tango.Video.DirectCapture;
 
@@ -24,6 +33,10 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
         private INotificationProvider _notification;
         private CardDetector _cardDetector;
         private int _sampleCounter;
+        private bool _abort;
+        private BitmapSource _last_original_source;
+        private DetectionOutput _last_detection_output;
+        private byte[] templateBitmap;
 
         public IVideoCaptureProvider VideoProvider { get; set; }
 
@@ -44,7 +57,7 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
         public BitmapSource DetectedSource
         {
             get { return _detectedSource; }
-            set { _detectedSource = value; RaisePropertyChangedAuto(); }
+            set { _detectedSource = value; RaisePropertyChangedAuto(); InvokeUI(() => CreateSnapshotCommand.RaiseCanExecuteChanged()); }
         }
 
         private ObservableCollection<Color> _colors;
@@ -89,18 +102,60 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
             set { _measureB = value; RaisePropertyChangedAuto(); }
         }
 
+        public double DeltaE { get; set; }
 
         public WpfGraphController CaptureDeltaEController { get; set; }
 
         public RelayCommand ToggleCameraCommand { get; set; }
 
+        public SynchronizedObservableCollection<CaptureItem> CaptureItems { get; set; }
+
+        private ObservableCollection<BenchmarkItem> _benchmarks;
+        public ObservableCollection<BenchmarkItem> Benchmarks
+        {
+            get { return _benchmarks; }
+            set { _benchmarks = value; RaisePropertyChangedAuto(); }
+        }
+
+        private CaptureConfig _config;
+        public CaptureConfig Config
+        {
+            get { return _config; }
+            set { _config = value; RaisePropertyChangedAuto(); }
+        }
+
+        public RelayCommand ImportBenchmarksCommand { get; set; }
+
+        public RelayCommand ExportBenchmarksCommand { get; set; }
+
+        public RelayCommand CreateSnapshotCommand { get; set; }
+
+        public RelayCommand<CaptureItem> OpenCaptureItemCommand { get; set; }
+
+        public RelayCommand SelectSamplesFolderCommand { get; set; }
+
+        public RelayCommand SelectBenchmarksFileCommand { get; set; }
+
+        public RelayCommand SelectTemplateFileCommand { get; set; }
+
         public MainViewVM()
         {
+            Config = new CaptureConfig();
+            CaptureItems = new SynchronizedObservableCollection<CaptureItem>();
+            Benchmarks = new ObservableCollection<BenchmarkItem>();
             _cardDetector = new CardDetector();
             ToggleCameraCommand = new RelayCommand(ToggleCamera);
             CaptureDeltaEController = new WpfGraphController();
             CaptureDeltaEController.Range.AutoY = true;
             CaptureDeltaEController.Range.MaximumX = 1000;
+
+            ImportBenchmarksCommand = new RelayCommand(OpenBenchmarksFile);
+            ExportBenchmarksCommand = new RelayCommand(SaveBenchmarksFile);
+            CreateSnapshotCommand = new RelayCommand(CreateSnapshot, () => DetectedSource != null);
+            OpenCaptureItemCommand = new RelayCommand<CaptureItem>(OpenCaptureItem);
+            SelectSamplesFolderCommand = new RelayCommand(SelectSamplesFolder);
+            SelectBenchmarksFileCommand = new RelayCommand(SelectBenchmarkFile);
+            SelectTemplateFileCommand = new RelayCommand(SelectTemplateFile);
         }
 
         public MainViewVM(IVideoCaptureProvider videoProvider, INotificationProvider notificationProvider) : this()
@@ -110,16 +165,165 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
             SelectedVideoDevice = videoProvider.AvailableCaptureDevices.FirstOrDefault();
         }
 
+        private void SelectTemplateFile()
+        {
+            OpenFileDialog dlg = new OpenFileDialog();
+            dlg.Filter = "Bitmap Files|*.bmp";
+            if (dlg.ShowDialog().Value)
+            {
+                templateBitmap = File.ReadAllBytes(Config.TemplateFile);
+                Config.TemplateFile = dlg.FileName;
+            }
+        }
+
+        private void SelectBenchmarkFile()
+        {
+            OpenBenchmarksFile();
+        }
+
+        private void SelectSamplesFolder()
+        {
+            CommonOpenFileDialog dlg = new CommonOpenFileDialog();
+            dlg.Title = "Select samples folder.";
+            dlg.IsFolderPicker = true;
+            if (dlg.ShowDialog() == CommonFileDialogResult.Ok)
+            {
+                Config.SamplesFolder = dlg.FileName;
+            }
+        }
+
+        private void OpenCaptureItem(CaptureItem item)
+        {
+            using (_notification.PushTaskItem("Opening snapshot folder..."))
+            {
+                Process.Start("explorer.exe", string.Format("/select,\"{0}\"", item.Image));
+            }
+        }
+
+        private void CreateSnapshot()
+        {
+            try
+            {
+                DateTime now = DateTime.Now;
+
+                Directory.CreateDirectory(Config.SamplesFolder);
+
+                String sample_folder = Config.SamplesFolder + "\\" + now.ToFileName();
+                Directory.CreateDirectory(sample_folder);
+
+                String rectified_file = sample_folder + "\\rectified.bmp";
+                DetectedSource.SaveBmpFile(rectified_file);
+
+                String original_file = sample_folder + "\\source.bmp";
+                _last_original_source.SaveBmpFile(original_file);
+
+                String means_file = sample_folder + "\\means.bmp";
+                var bitmap = ColorDetector.DetectionOutputToImage(new DetectionInput()
+                {
+                    Columns = Config.Columns,
+                    Rows = Config.Rows,
+                    TargetIndex = Config.TargetIndex
+
+                }, _last_detection_output, Config.SampleWidth, Config.SampleHeight);
+
+                bitmap.Save(means_file);
+
+                String capture_item_file = sample_folder + "\\info.txt";
+
+                var rgb = new Lab(MeasureL, _measureA, _measureB).ToRgb();
+                Color refColor = Color.FromArgb(255, (byte)rgb.R, (byte)rgb.G, (byte)rgb.B);
+
+                var captureItem = new CaptureItem()
+                {
+                    Image = rectified_file,
+                    CapturedColor = CapturedColor,
+                    ProcessedColor = ProcessedColor,
+                    RefColor = refColor,
+                    DeltaE = DeltaE,
+                    RefL = MeasureL,
+                    RefA = MeasureA,
+                    RefB = MeasureB,
+                    Time = now,
+                    Folder = sample_folder,
+                };
+
+                File.WriteAllText(capture_item_file, captureItem.ToJsonString());
+
+                CaptureItems.Insert(0, captureItem);
+            }
+            catch (Exception ex)
+            {
+                LogManager.Log(ex, "Error in color capture snapshot save method.");
+                _notification.ShowError($"An error occurred while trying to create the snapshot. Please try again.\n{ex.Message}");
+            }
+        }
+
+        private void SaveBenchmarksFile()
+        {
+            SaveFileDialog dlg = new SaveFileDialog();
+            dlg.Filter = "CSV Files|*.csv";
+            if (dlg.ShowDialog().Value)
+            {
+                try
+                {
+                    ExportBenchmarks(dlg.FileName);
+                    _notification.ShowInfo("Benchmarks successfully saved.");
+                }
+                catch (Exception ex)
+                {
+                    _notification.ShowError($"An error occurred while trying to export the benchmark file.\n{ex.FlattenMessage()}");
+                }
+            }
+        }
+
+        private void OpenBenchmarksFile()
+        {
+            OpenFileDialog dlg = new OpenFileDialog();
+            dlg.Filter = "CSV Files|*.csv";
+            if (dlg.ShowDialog().Value)
+            {
+                try
+                {
+                    ImportBenchmarks(dlg.FileName);
+                    _notification.ShowInfo("Benchmarks successfully loaded.");
+                }
+                catch (Exception ex)
+                {
+                    _notification.ShowError($"An error occurred while trying to import the benchmark file.\n{ex.FlattenMessage()}");
+                }
+            }
+        }
+
+        private void ExportBenchmarks(String file)
+        {
+            ColorDetector.SaveBenchmarks(file, Benchmarks.ToList().Select(x => x.ToDetectionBenchmark()));
+        }
+
+        private void ImportBenchmarks(String file)
+        {
+            var marks = ColorDetector.LoadBenchmarks(file).ToList();
+            var benchmarks = marks.Select(x => BenchmarkItem.FromDetectionBenchmark(x, marks.IndexOf(x))).ToList();
+            Benchmarks = new ObservableCollection<BenchmarkItem>(benchmarks);
+            Config.BenchmarksFile = file;
+        }
+
         private void ToggleCamera()
         {
             if (SelectedVideoDevice != null)
             {
                 if (SelectedVideoDevice.IsStarted)
                 {
+                    _abort = true;
                     SelectedVideoDevice.Stop();
+                    ProcessedColor = System.Windows.Media.Colors.Transparent;
+                    CapturedColor = System.Windows.Media.Colors.Transparent;
+                    Colors = null;
+                    DetectedSource = null;
+                    CaptureDeltaEController.Clear();
                 }
                 else
                 {
+                    _abort = false;
                     SelectedVideoDevice.Resolution = new Resolution(1280, 720);
                     SelectedVideoDevice.Start();
                 }
@@ -140,15 +344,28 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
             }
         }
 
-        double deltaE = 0;
         private async void OnVideoFrameReceived(object sender, Video.DirectShow.EventArguments.FrameReceivedEventArgs args)
         {
+            if (_abort) return;
+
             if (_cardDetector.CanDetect)
             {
-                var result = await _cardDetector.Detect(args.BitmapSource);
+                var result = await _cardDetector.Detect(args.BitmapSource, new CardDetectionConfig()
+                {
+                    Benchmarks = Benchmarks.ToList().Select(x => x.ToDetectionBenchmark()).ToList(),
+                    Columns = Config.Columns,
+                    Rows = Config.Rows,
+                    DesiredBitmapWidth = Config.SampleWidth,
+                    DesiredBitmapHeight = Config.SampleHeight,
+                    TargetIndex = Config.TargetIndex,
+                    TemplateBitmapBytes = templateBitmap,
+                });
 
                 if (result.IsDetected)
                 {
+                    _last_original_source = result.Source;
+                    _last_detection_output = result.ColorDetectionOutput;
+
                     DetectedSource = result.DetectedBitmap;
 
                     if (Colors == null)
@@ -166,20 +383,54 @@ namespace Tango.MachineStudio.ColorCapture.ViewModels
 
                         CapturedColor = Color.FromArgb(255, (byte)result.ColorDetectionOutput.RawColor.R, (byte)result.ColorDetectionOutput.RawColor.G, (byte)result.ColorDetectionOutput.RawColor.B);
                         ProcessedColor = Color.FromArgb(255, (byte)result.ColorDetectionOutput.ProcessedColor.R, (byte)result.ColorDetectionOutput.ProcessedColor.G, (byte)result.ColorDetectionOutput.ProcessedColor.B);
-                    });
 
-                    //calculate delta E.
-                    Lab measureLab = new Lab(MeasureL, MeasureA, MeasureB);
-                    deltaE = measureLab.Compare(new Rgb(ProcessedColor.R, ProcessedColor.G, ProcessedColor.B), new CieDe2000Comparison());
+                        //calculate delta E.
+                        Lab measureLab = new Lab(MeasureL, MeasureA, MeasureB);
+                        DeltaE = measureLab.Compare(new Rgb(ProcessedColor.R, ProcessedColor.G, ProcessedColor.B), new CieDe2000Comparison());
+                    });
                 }
             }
 
-            CaptureDeltaEController.PushData(_sampleCounter++, deltaE);
+            CaptureDeltaEController.PushData(_sampleCounter++, DeltaE);
         }
 
         public override void OnApplicationReady()
         {
+            Config = SettingsManager.Default.GetOrCreate<ColorCaptureSettings>().Config;
+
+            //Load benchmarks.
+            if (File.Exists(Config.BenchmarksFile))
+            {
+                try
+                {
+                    ImportBenchmarks(Config.BenchmarksFile);
+                }
+                catch (Exception ex)
+                {
+                    LogManager.Log(ex, "Error loading benchmarks.");
+                }
+            }
+            else
+            {
+                LogManager.Log("Could not locate benchmarks csv file.", LogCategory.Warning);
+            }
+
+            //Load template bitmap.
+            if (File.Exists(Config.TemplateFile))
+            {
+                templateBitmap = File.ReadAllBytes(Config.TemplateFile);
+            }
+            else
+            {
+                LogManager.Log("Could not locate template bitmap file.", LogCategory.Warning);
+            }
+        }
 
+        public override void OnShuttingDown()
+        {
+            base.OnShuttingDown();
+            SettingsManager.Default.GetOrCreate<ColorCaptureSettings>().Config = Config;
+            SettingsManager.Default.Save();
         }
     }
 }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Views/MainView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Views/MainView.xaml
index 259e3160e..c1555fbcd 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Views/MainView.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/Views/MainView.xaml
@@ -10,190 +10,502 @@
              xmlns:graphX="clr-namespace:RealTimeGraphX.WPF.Surfaces;assembly=RealTimeGraphX.WPF"
              xmlns:componentsX="clr-namespace:RealTimeGraphX.WPF.Components;assembly=RealTimeGraphX.WPF"
              xmlns:controls="clr-namespace:Tango.MachineStudio.ColorCapture.Controls"
+             xmlns:sharedControls="clr-namespace:Tango.SharedUI.Controls;assembly=Tango.SharedUI"
              xmlns:realtimeGraphX="clr-namespace:RealTimeGraphX.WPF.Surfaces;assembly=RealTimeGraphX.WPF"
              xmlns:global="clr-namespace:Tango.MachineStudio.ColorCapture"
              xmlns:local="clr-namespace:Tango.MachineStudio.ColorCapture.Views"
              mc:Ignorable="d" 
-             d:DesignHeight="1080" d:DesignWidth="1920" Background="Transparent" d:DataContext="{d:DesignInstance Type=vm:MainViewVM, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.MainViewVM}">
-    <Grid Margin="20">
-        <Grid.RowDefinitions>
-            <RowDefinition Height="247*"/>
-            <RowDefinition Height="113*"/>
-        </Grid.RowDefinitions>
-        <Grid>
-            <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="1*"/>
-                <ColumnDefinition Width="1*"/>
-            </Grid.ColumnDefinitions>
+             d:DesignHeight="1080" d:DesignWidth="1920" Background="#202020" Foreground="#BBBBBB" d:DataContext="{d:DesignInstance Type=vm:MainViewVM, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.MainViewVM}">
+
+    <UserControl.Resources>
+        <SolidColorBrush x:Key="Foreground" Color="#BBBBBB" />
+        <SolidColorBrush x:Key="Background" Color="#202020" />
+        <SolidColorBrush x:Key="Accent" Color="{StaticResource AccentColor}" />
+        <SolidColorBrush x:Key="Red" Color="#FF5F5F" />
+        <SolidColorBrush x:Key="Green" Color="#68E46E" />
+        <SolidColorBrush x:Key="Blue" Color="#64B8EC" />
+        <SolidColorBrush x:Key="BorderBrush" Color="#3E3E3E" />
+        <SolidColorBrush x:Key="LightBackground" Color="#303030" />
+    </UserControl.Resources>
 
-            <Border RenderOptions.BitmapScalingMode="Fant">
+    <Grid Margin="20">
+        <TabControl Background="{StaticResource Background}" Foreground="{StaticResource Foreground}">
+            <TabControl.Resources>
+                <Style TargetType="TabPanel">
+                    <Setter Property="HorizontalAlignment" Value="Center"/>
+                </Style>
+                <Style TargetType="TabItem" BasedOn="{StaticResource {x:Type TabItem}}">
+                    <Setter Property="Padding" Value="20,2"></Setter>
+                </Style>
+            </TabControl.Resources>
+            <TabItem Header="CAPTURE" Foreground="{StaticResource Foreground}">
+                <TabItem.HeaderTemplate>
+                    <DataTemplate>
+                        <TextBlock Text="{Binding}" FontSize="25" VerticalAlignment="Center">
+                            <TextBlock.Style>
+                                <Style TargetType="TextBlock">
+                                    <Style.Triggers>
+                                        <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=TabItem},Path=IsSelected}" Value="True">
+                                            <Setter Property="Foreground" Value="{StaticResource Accent}"></Setter>
+                                        </DataTrigger>
+                                    </Style.Triggers>
+                                </Style>
+                            </TextBlock.Style>
+                        </TextBlock>
+                    </DataTemplate>
+                </TabItem.HeaderTemplate>
                 <Grid>
-                    <DockPanel>
-                        <DockPanel DockPanel.Dock="Bottom" Margin="60 0" TextElement.FontSize="25">
-                            <TextBlock VerticalAlignment="Center">Capture Device</TextBlock>
-                            <Button DockPanel.Dock="Right" Command="{Binding ToggleCameraCommand}" CommandParameter="{Binding}" Style="{StaticResource MaterialDesignFloatingActionMiniButton}" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Width="60" Height="60" Padding="0">
-                                <materialDesign:PackIcon Width="40" Height="40">
-                                    <materialDesign:PackIcon.Style>
-                                        <Style TargetType="materialDesign:PackIcon">
-                                            <Setter Property="Kind" Value="Play"></Setter>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="600"/>
+                        <RowDefinition Height="1*"/>
+                    </Grid.RowDefinitions>
+                    <Grid>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="800"/>
+                            <ColumnDefinition Width="1*"/>
+                        </Grid.ColumnDefinitions>
+
+                        <Border RenderOptions.BitmapScalingMode="Fant">
+                            <Grid>
+                                <DockPanel>
+                                    <DockPanel DockPanel.Dock="Top" TextElement.FontSize="16">
+                                        <TextBlock VerticalAlignment="Center" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold">Capture Device</TextBlock>
+                                        <Button DockPanel.Dock="Right" Command="{Binding ToggleCameraCommand}" CommandParameter="{Binding}" Style="{StaticResource MaterialDesignFlatButton}" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" Width="50" Height="50" Padding="0">
+                                            <materialDesign:PackIcon Width="40" Height="40">
+                                                <materialDesign:PackIcon.Style>
+                                                    <Style TargetType="materialDesign:PackIcon">
+                                                        <Setter Property="Kind" Value="Play"></Setter>
+                                                        <Style.Triggers>
+                                                            <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="True">
+                                                                <Setter Property="Kind" Value="Stop"></Setter>
+                                                            </DataTrigger>
+                                                            <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="False">
+                                                                <Setter Property="Kind" Value="Play"></Setter>
+                                                            </DataTrigger>
+                                                        </Style.Triggers>
+                                                    </Style>
+                                                </materialDesign:PackIcon.Style>
+                                            </materialDesign:PackIcon>
+                                        </Button>
+                                        <ComboBox FontWeight="SemiBold" Margin="20 0" ItemsSource="{Binding VideoProvider.AvailableCaptureDevices}" SelectedItem="{Binding SelectedVideoDevice}" DisplayMemberPath="Device" BorderBrush="{StaticResource Foreground}"></ComboBox>
+                                    </DockPanel>
+
+                                    <Border Padding="2" Background="{StaticResource LightBackground}" BorderThickness="1" BorderBrush="{StaticResource Accent}" Margin="0 10 0 0">
+                                        <Image Source="{Binding SelectedVideoDevice.VideoSource,Mode=OneWay,IsAsync=True}" Stretch="Fill">
+                                            <Image.Style>
+                                                <Style TargetType="Image">
+                                                    <Setter Property="Visibility" Value="Hidden"></Setter>
+                                                    <Style.Triggers>
+                                                        <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="True">
+                                                            <Setter Property="Visibility" Value="Visible"></Setter>
+                                                        </DataTrigger>
+                                                        <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="False">
+                                                            <Setter Property="Visibility" Value="Hidden"></Setter>
+                                                        </DataTrigger>
+                                                    </Style.Triggers>
+                                                </Style>
+                                            </Image.Style>
+                                        </Image>
+                                    </Border>
+                                </DockPanel>
+                            </Grid>
+                        </Border>
+
+                        <Grid Grid.Column="1" Margin="200 60 0 0" HorizontalAlignment="Left">
+                            <Grid.RowDefinitions>
+                                <RowDefinition Height="180*"/>
+                                <RowDefinition Height="130*"/>
+                            </Grid.RowDefinitions>
+                            <Grid>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="500"/>
+                                    <ColumnDefinition Width="1*"/>
+                                </Grid.ColumnDefinitions>
+
+                                <TextBlock Margin="0 -20 0 0" FontWeight="SemiBold" Foreground="{StaticResource Accent}">Rectified Image</TextBlock>
+                                <Border Padding="2" Background="{StaticResource LightBackground}" HorizontalAlignment="Left" VerticalAlignment="Top" Width="300" Height="310"  BorderThickness="1" BorderBrush="{StaticResource Accent}">
+                                    <Image Source="{Binding DetectedSource,Mode=OneWay,IsAsync=True}" Stretch="Fill"></Image>
+                                </Border>
+
+                                <TextBlock Grid.Column="1" Margin="0 -20 0 0" FontWeight="SemiBold" Foreground="{StaticResource Accent}">Calculated Averages</TextBlock>
+                                <Border Padding="2" HorizontalAlignment="Left" Grid.Column="1" VerticalAlignment="Top" Width="300" Height="310" BorderThickness="1" BorderBrush="{StaticResource Accent}">
+                                    <controls:ColorMatrixControl Colors="{Binding Colors,Mode=OneWay}" Columns="10" Rows="11" Background="{StaticResource LightBackground}" />
+                                </Border>
+                            </Grid>
+
+                            <Grid Grid.Row="1">
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="500"/>
+                                    <ColumnDefinition Width="1*"/>
+                                </Grid.ColumnDefinitions>
+
+                                <Grid Height="120" VerticalAlignment="Top" HorizontalAlignment="Left">
+                                    <DockPanel>
+                                        <TextBlock Margin="0 10 0 0" DockPanel.Dock="Top" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold" FontSize="16">Captured Color</TextBlock>
+                                        <DockPanel Margin="0 5 0 0" TextElement.FontSize="16">
+                                            <UniformGrid DockPanel.Dock="Right" Rows="3" Margin="10 0 0 0" Width="55">
+                                                <TextBlock Foreground="{StaticResource Red}"><Run Text="R:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.R,Mode=OneWay}"></Run></TextBlock>
+                                                <TextBlock Foreground="{StaticResource Green}"><Run Text="G:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.G,Mode=OneWay}"></Run></TextBlock>
+                                                <TextBlock Foreground="{StaticResource Blue}"><Run Text="B:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.B,Mode=OneWay}"></Run></TextBlock>
+                                            </UniformGrid>
+                                            <Border Padding="2" Width="300" BorderThickness="1" BorderBrush="{StaticResource Accent}" Background="{StaticResource LightBackground}">
+                                                <Rectangle>
+                                                    <Rectangle.Fill>
+                                                        <SolidColorBrush Color="{Binding CapturedColor,Mode=OneWay}" />
+                                                    </Rectangle.Fill>
+                                                </Rectangle>
+                                            </Border>
+                                        </DockPanel>
+                                    </DockPanel>
+                                </Grid>
+
+                                <Grid Height="120" HorizontalAlignment="Left" VerticalAlignment="Top" Grid.Column="1">
+                                    <DockPanel>
+                                        <TextBlock Margin="0 10 0 0" DockPanel.Dock="Top" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold" FontSize="16">Processed Color</TextBlock>
+                                        <DockPanel Margin="0 5 0 0" TextElement.FontSize="16">
+                                            <UniformGrid DockPanel.Dock="Right" Rows="3" Margin="10 0 0 0" Width="55">
+                                                <TextBlock Foreground="{StaticResource Red}"><Run Text="R:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.R,Mode=OneWay}"></Run></TextBlock>
+                                                <TextBlock Foreground="{StaticResource Green}"><Run Text="G:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.G,Mode=OneWay}"></Run></TextBlock>
+                                                <TextBlock Foreground="{StaticResource Blue}"><Run Text="B:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.B,Mode=OneWay}"></Run></TextBlock>
+                                            </UniformGrid>
+                                            <Border Padding="2" Width="300" BorderThickness="1" BorderBrush="{StaticResource Accent}" Background="{StaticResource LightBackground}">
+                                                <Rectangle>
+                                                    <Rectangle.Fill>
+                                                        <SolidColorBrush Color="{Binding ProcessedColor,Mode=OneWay}" />
+                                                    </Rectangle.Fill>
+                                                </Rectangle>
+                                            </Border>
+                                        </DockPanel>
+                                    </DockPanel>
+                                </Grid>
+
+                                <DockPanel VerticalAlignment="Bottom" Grid.ColumnSpan="2" TextElement.FontSize="16">
+                                    <TextBlock HorizontalAlignment="Center" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold" FontSize="16">Delta E Reference Point</TextBlock>
+                                    <UniformGrid  Columns="3" Margin="20 0 70 0">
+                                        <DockPanel>
+                                            <TextBlock FontWeight="SemiBold">L:</TextBlock>
+                                            <mahapps:NumericUpDown  BorderBrush="{StaticResource BorderBrush}" MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureL,UpdateSourceTrigger=PropertyChanged}" Minimum="0" Maximum="100" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="{StaticResource LightBackground}" FontSize="16" Foreground="{StaticResource Accent}" BorderThickness="1" />
+                                        </DockPanel>
+
+                                        <DockPanel>
+                                            <TextBlock Margin="20 0 0 0" FontWeight="SemiBold">A:</TextBlock>
+                                            <mahapps:NumericUpDown BorderBrush="{StaticResource BorderBrush}" MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureA,UpdateSourceTrigger=PropertyChanged}" Minimum="-127" Maximum="128" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="{StaticResource LightBackground}" FontSize="16" Foreground="{StaticResource Accent}" BorderThickness="1" />
+                                        </DockPanel>
+
+                                        <DockPanel>
+                                            <TextBlock Margin="20 0 0 0" FontWeight="SemiBold">B:</TextBlock>
+                                            <mahapps:NumericUpDown BorderBrush="{StaticResource BorderBrush}" MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureB,UpdateSourceTrigger=PropertyChanged}" Minimum="-127" Maximum="128" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="{StaticResource LightBackground}" FontSize="16" Foreground="{StaticResource Accent}" BorderThickness="1" />
+                                        </DockPanel>
+                                    </UniformGrid>
+                                </DockPanel>
+                            </Grid>
+                        </Grid>
+                    </Grid>
+
+                    <Grid Grid.Row="1" Margin="0 40 0 0">
+                        <Grid>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="800"/>
+                                <ColumnDefinition Width="1*"/>
+                            </Grid.ColumnDefinitions>
+                            <DockPanel>
+                                <DockPanel DockPanel.Dock="Top" LastChildFill="False">
+                                    <TextBlock VerticalAlignment="Center" DockPanel.Dock="Left" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold" FontSize="16">Snapshots</TextBlock>
+                                    <Button Command="{Binding CreateSnapshotCommand}" Height="35" DockPanel.Dock="Right" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1">
+                                        <StackPanel Orientation="Horizontal">
+                                            <materialDesign:PackIcon Kind="ChevronDoubleDown" VerticalAlignment="Center" />
+                                            <TextBlock Margin="10 0 0 0">Create Snapshot</TextBlock>
+                                        </StackPanel>
+                                    </Button>
+                                </DockPanel>
+                                <sharedControls:DoubleClickDataGrid DoubleClickCommand="{Binding OpenCaptureItemCommand}" Style="{StaticResource {x:Type DataGrid}}" ItemsSource="{Binding CaptureItems}" GridLinesVisibility="None" AutoGenerateColumns="False" CanUserAddRows="False" CanUserDeleteRows="False" CanUserSortColumns="False" IsReadOnly="True" Margin="0 10 0 0" Background="{StaticResource LightBackground}" Grid.ColumnSpan="2" TextElement.Foreground="Gainsboro" BorderBrush="{StaticResource Accent}" BorderThickness="1">
+                                    <DataGrid.RowStyle>
+                                        <Style TargetType="DataGridRow" BasedOn="{StaticResource {x:Type DataGridRow}}">
+                                            <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                            <Setter Property="BorderBrush" Value="#202020"></Setter>
+                                            <Setter Property="VerticalContentAlignment" Value="Center"></Setter>
+                                            <Setter Property="BorderThickness" Value="0 0 0 1"></Setter>
                                             <Style.Triggers>
-                                                <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="True">
-                                                    <Setter Property="Kind" Value="Stop"></Setter>
-                                                </DataTrigger>
-                                                <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="False">
-                                                    <Setter Property="Kind" Value="Play"></Setter>
-                                                </DataTrigger>
+                                                <Trigger Property="IsMouseOver" Value="True">
+                                                    <Setter Property="Background" Value="Transparent"></Setter>
+                                                    <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                                    <Setter Property="Cursor" Value="Hand"></Setter>
+                                                </Trigger>
+                                                <Trigger Property="IsSelected" Value="True">
+                                                    <Setter Property="Background" Value="Transparent"></Setter>
+                                                    <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                                </Trigger>
+                                                <Trigger Property="IsFocused" Value="True">
+                                                    <Setter Property="Background" Value="Transparent"></Setter>
+                                                    <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                                </Trigger>
                                             </Style.Triggers>
                                         </Style>
-                                    </materialDesign:PackIcon.Style>
-                                </materialDesign:PackIcon>
-                            </Button>
-                            <ComboBox FontWeight="SemiBold" Margin="20 0 20 0" ItemsSource="{Binding VideoProvider.AvailableCaptureDevices}" SelectedItem="{Binding SelectedVideoDevice}" DisplayMemberPath="Device"></ComboBox>
-                        </DockPanel>
+                                    </DataGrid.RowStyle>
+                                    <DataGrid.CellStyle>
+                                        <Style TargetType="DataGridCell" BasedOn="{StaticResource {x:Type DataGridCell}}">
+                                            <Setter Property="BorderThickness" Value="0"/>
+                                            <Setter Property="FocusVisualStyle" Value="{x:Null}"/>
+                                            <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                            <Setter Property="VerticalContentAlignment" Value="Center"></Setter>
+                                            <Style.Triggers>
+                                                <Trigger Property="IsSelected" Value="True">
+                                                    <Setter Property="Background" Value="Transparent"></Setter>
+                                                    <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                                </Trigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </DataGrid.CellStyle>
+                                    <DataGrid.ColumnHeaderStyle>
+                                        <Style TargetType="DataGridColumnHeader" BasedOn="{StaticResource {x:Type DataGridColumnHeader}}">
+                                            <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                        </Style>
+                                    </DataGrid.ColumnHeaderStyle>
+                                    <DataGrid.Columns>
+                                        <DataGridTemplateColumn Header="#" Width="50">
+                                            <DataGridTemplateColumn.CellTemplate>
+                                                <DataTemplate>
+                                                    <Image Width="30" Height="30" Source="{Binding Image}"></Image>
+                                                </DataTemplate>
+                                            </DataGridTemplateColumn.CellTemplate>
+                                        </DataGridTemplateColumn>
+                                        <DataGridTextColumn Header="TIME" Binding="{Binding Time,StringFormat='HH:mm:ss.fff'}" />
+                                        <DataGridTemplateColumn Header="REF" Width="80">
+                                            <DataGridTemplateColumn.CellTemplate>
+                                                <DataTemplate>
+                                                    <Rectangle Width="60">
+                                                        <Rectangle.Fill>
+                                                            <SolidColorBrush Color="{Binding RefColor}"></SolidColorBrush>
+                                                        </Rectangle.Fill>
+                                                    </Rectangle>
+                                                </DataTemplate>
+                                            </DataGridTemplateColumn.CellTemplate>
+                                        </DataGridTemplateColumn>
+                                        <DataGridTemplateColumn Header="CAPTURED" Width="90">
+                                            <DataGridTemplateColumn.CellTemplate>
+                                                <DataTemplate>
+                                                    <Rectangle Width="60">
+                                                        <Rectangle.Fill>
+                                                            <SolidColorBrush Color="{Binding CapturedColor}"></SolidColorBrush>
+                                                        </Rectangle.Fill>
+                                                    </Rectangle>
+                                                </DataTemplate>
+                                            </DataGridTemplateColumn.CellTemplate>
+                                        </DataGridTemplateColumn>
+                                        <DataGridTemplateColumn Header="PROCESSED" Width="90">
+                                            <DataGridTemplateColumn.CellTemplate>
+                                                <DataTemplate>
+                                                    <Rectangle Width="60">
+                                                        <Rectangle.Fill>
+                                                            <SolidColorBrush Color="{Binding ProcessedColor}"></SolidColorBrush>
+                                                        </Rectangle.Fill>
+                                                    </Rectangle>
+                                                </DataTemplate>
+                                            </DataGridTemplateColumn.CellTemplate>
+                                        </DataGridTemplateColumn>
+
+                                        <DataGridTextColumn Header="REF L" Width="70" Binding="{Binding RefL}" />
+                                        <DataGridTextColumn Header="REF A" Width="70" Binding="{Binding RefA}" />
+                                        <DataGridTextColumn Header="REF B" Width="70" Binding="{Binding RefB}" />
+                                        <DataGridTextColumn Header="DELTA E" Binding="{Binding DeltaE}" />
+                                    </DataGrid.Columns>
+                                </sharedControls:DoubleClickDataGrid>
+                            </DockPanel>
+
+                            <DockPanel Grid.Column="1" Margin="120 0 60 0">
+                                <TextBlock HorizontalAlignment="Center" Margin="0 0 0 0" DockPanel.Dock="Top" Foreground="{StaticResource AccentColorBrush}" FontWeight="SemiBold" FontSize="16">Delta E Distance</TextBlock>
+                                <Grid>
+                                    <Border Margin="0 10 0 0" Padding="20 0 20 0" BorderThickness="1" BorderBrush="#202020">
+                                        <Grid>
+                                            <Grid.ColumnDefinitions>
+                                                <ColumnDefinition Width="55"/>
+                                                <ColumnDefinition Width="438*"/>
+                                            </Grid.ColumnDefinitions>
 
-                        <Border BorderThickness="3" BorderBrush="#202020" Margin="40">
-                            <Image Source="{Binding SelectedVideoDevice.VideoSource,Mode=OneWay,IsAsync=True}" Stretch="Fill">
-                                <Image.Style>
-                                    <Style TargetType="Image">
-                                        <Setter Property="Visibility" Value="Hidden"></Setter>
+                                            <Border Margin="0 1 0 2">
+                                                <componentsX:GraphAxisControl Orientation="Vertical" Foreground="{StaticResource Accent}" FontSize="12" Surface="{Binding ElementName=Graph}" StringFormat="Δ 0.00;-#" />
+                                            </Border>
+                                            <Border Grid.Column="1" BorderThickness="1" BorderBrush="{StaticResource Accent}" Margin="1 0 0 0" Background="{StaticResource LightBackground}">
+                                                <Grid>
+
+                                                    <componentsX:GraphGridLines Foreground="#3E3E3E" />
+
+                                                    <graphX:WpfGraphSurface x:Name="Graph"></graphX:WpfGraphSurface>
+                                                </Grid>
+                                            </Border>
+                                        </Grid>
+                                    </Border>
+                                </Grid>
+                            </DockPanel>
+                        </Grid>
+                    </Grid>
+                </Grid>
+            </TabItem>
+            <TabItem Header="BENCHMARKS" Foreground="{StaticResource Foreground}">
+                <TabItem.HeaderTemplate>
+                    <DataTemplate>
+                        <TextBlock Text="{Binding}" FontSize="25" VerticalAlignment="Center">
+                            <TextBlock.Style>
+                                <Style TargetType="TextBlock">
+                                    <Style.Triggers>
+                                        <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=TabItem},Path=IsSelected}" Value="True">
+                                            <Setter Property="Foreground" Value="{StaticResource Accent}"></Setter>
+                                        </DataTrigger>
+                                    </Style.Triggers>
+                                </Style>
+                            </TextBlock.Style>
+                        </TextBlock>
+                    </DataTemplate>
+                </TabItem.HeaderTemplate>
+
+                <Grid Margin="0 20 20 20">
+                    <DockPanel>
+                        <StackPanel Margin="0 10 0 0" HorizontalAlignment="Right" Orientation="Horizontal" DockPanel.Dock="Bottom">
+                            <Button Command="{Binding ImportBenchmarksCommand}" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1" Height="45" MinWidth="150">IMPORT</Button>
+                            <Button Command="{Binding ExportBenchmarksCommand}" Margin="10 0 0 0" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1" Height="45" MinWidth="150">EXPORT</Button>
+                        </StackPanel>
+
+                        <Grid>
+                            <DataGrid BorderBrush="{StaticResource Accent}" BorderThickness="1" AlternationCount="1000" SelectionMode="Single" SelectionUnit="FullRow" AutoGenerateColumns="False" CanUserAddRows="False" CanUserDeleteRows="False" CanUserSortColumns="False" IsReadOnly="True" GridLinesVisibility="None" ItemsSource="{Binding Benchmarks}" Background="{StaticResource LightBackground}">
+                                <DataGrid.RowStyle>
+                                    <Style TargetType="DataGridRow" BasedOn="{StaticResource {x:Type DataGridRow}}">
+                                        <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                        <Setter Property="BorderBrush" Value="#202020"></Setter>
+                                        <Setter Property="VerticalContentAlignment" Value="Center"></Setter>
+                                        <Setter Property="BorderThickness" Value="0 0 0 1"></Setter>
                                         <Style.Triggers>
-                                            <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="True">
-                                                <Setter Property="Visibility" Value="Visible"></Setter>
-                                            </DataTrigger>
-                                            <DataTrigger Binding="{Binding SelectedVideoDevice.IsStarted}" Value="False">
-                                                <Setter Property="Visibility" Value="Hidden"></Setter>
-                                            </DataTrigger>
+                                            <Trigger Property="IsMouseOver" Value="True">
+                                                <Setter Property="Background" Value="Transparent"></Setter>
+                                                <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                                <Setter Property="Cursor" Value="Hand"></Setter>
+                                            </Trigger>
+                                            <Trigger Property="IsSelected" Value="True">
+                                                <Setter Property="Background" Value="Transparent"></Setter>
+                                                <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                            </Trigger>
+                                            <Trigger Property="IsFocused" Value="True">
+                                                <Setter Property="Background" Value="Transparent"></Setter>
+                                                <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
-                                </Image.Style>
-                            </Image>
-                        </Border>
-                    </DockPanel>
-                </Grid>
-            </Border>
+                                </DataGrid.RowStyle>
+                                <DataGrid.CellStyle>
+                                    <Style TargetType="DataGridCell" BasedOn="{StaticResource {x:Type DataGridCell}}">
+                                        <Setter Property="BorderThickness" Value="0"/>
+                                        <Setter Property="FocusVisualStyle" Value="{x:Null}"/>
+                                        <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                        <Setter Property="VerticalContentAlignment" Value="Center"></Setter>
+                                        <Style.Triggers>
+                                            <Trigger Property="IsSelected" Value="True">
+                                                <Setter Property="Background" Value="Transparent"></Setter>
+                                                <Setter Property="Foreground" Value="{StaticResource AccentColorBrush}" />
+                                            </Trigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </DataGrid.CellStyle>
+                                <DataGrid.ColumnHeaderStyle>
+                                    <Style TargetType="DataGridColumnHeader" BasedOn="{StaticResource {x:Type DataGridColumnHeader}}">
+                                        <Setter Property="Foreground" Value="{StaticResource Foreground}"></Setter>
+                                    </Style>
+                                </DataGrid.ColumnHeaderStyle>
+                                <DataGrid.Columns>
 
-            <Grid Grid.Column="1">
-                <Grid.RowDefinitions>
-                    <RowDefinition Height="180*"/>
-                    <RowDefinition Height="130*"/>
-                </Grid.RowDefinitions>
-                <Grid>
-                    <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="1*"/>
-                        <ColumnDefinition Width="1*"/>
-                    </Grid.ColumnDefinitions>
+                                    <DataGridTextColumn Width="100" Header="#" Binding="{Binding Index}"></DataGridTextColumn>
+                                    <DataGridTextColumn Header="RED" Binding="{Binding Red}"></DataGridTextColumn>
+                                    <DataGridTextColumn Header="GREEN" Binding="{Binding Green}"></DataGridTextColumn>
+                                    <DataGridTextColumn Header="BLUE" Binding="{Binding Blue}"></DataGridTextColumn>
 
-                    <Border Margin="0 40 0 0" VerticalAlignment="Top" Width="300" Height="310"  BorderThickness="3" BorderBrush="#202020">
-                        <Image Source="{Binding DetectedSource,Mode=OneWay,IsAsync=True}" Stretch="Fill"></Image>
-                    </Border>
+                                    <DataGridTextColumn Header="L" Binding="{Binding L}"></DataGridTextColumn>
+                                    <DataGridTextColumn Header="A" Binding="{Binding A}"></DataGridTextColumn>
+                                    <DataGridTextColumn Header="B" Binding="{Binding B}"></DataGridTextColumn>
 
-                    <Border Margin="0 40 0 0" VerticalAlignment="Top" Width="300" Height="310" BorderThickness="3" BorderBrush="#202020" Grid.Column="1">
-                        <controls:ColorMatrixControl Colors="{Binding Colors,Mode=OneWay}" Columns="10" Rows="11" />
-                    </Border>
+                                    <DataGridTemplateColumn Header="#" Width="1*">
+                                        <DataGridTemplateColumn.CellTemplate>
+                                            <DataTemplate>
+                                                <Rectangle Width="200" HorizontalAlignment="Right">
+                                                    <Rectangle.Fill>
+                                                        <SolidColorBrush Color="{Binding Color}"></SolidColorBrush>
+                                                    </Rectangle.Fill>
+                                                </Rectangle>
+                                            </DataTemplate>
+                                        </DataGridTemplateColumn.CellTemplate>
+                                    </DataGridTemplateColumn>
+                                </DataGrid.Columns>
+                            </DataGrid>
+                        </Grid>
+                    </DockPanel>
                 </Grid>
+            </TabItem>
+            <TabItem Header="CONFIGURATION" Foreground="{StaticResource Foreground}">
+                <TabItem.HeaderTemplate>
+                    <DataTemplate>
+                        <TextBlock Text="{Binding}" FontSize="25" VerticalAlignment="Center">
+                            <TextBlock.Style>
+                                <Style TargetType="TextBlock">
+                                    <Style.Triggers>
+                                        <DataTrigger Binding="{Binding RelativeSource={RelativeSource AncestorType=TabItem},Path=IsSelected}" Value="True">
+                                            <Setter Property="Foreground" Value="{StaticResource Accent}"></Setter>
+                                        </DataTrigger>
+                                    </Style.Triggers>
+                                </Style>
+                            </TextBlock.Style>
+                        </TextBlock>
+                    </DataTemplate>
+                </TabItem.HeaderTemplate>
 
-                <Grid Grid.Row="1">
-                    <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="1*"/>
-                        <ColumnDefinition Width="1*"/>
-                    </Grid.ColumnDefinitions>
+                <Border Width="700" Margin="0 100 0 0" VerticalAlignment="Center" TextElement.FontSize="20" Background="{StaticResource LightBackground}" Padding="20" CornerRadius="10">
+                    <Grid>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="144*"/>
+                            <ColumnDefinition Width="293*"/>
+                            <ColumnDefinition Width="163*"/>
+                        </Grid.ColumnDefinitions>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="50"/>
+                            <RowDefinition Height="200"/>
+                            <RowDefinition Height="705*"/>
+                        </Grid.RowDefinitions>
 
-                    <Grid Width="300" Height="190" VerticalAlignment="Top">
-                        <DockPanel>
-                            <TextBlock DockPanel.Dock="Top" FontSize="20">Captured Color</TextBlock>
-                            <DockPanel Margin="0 10 0 0" TextElement.FontSize="20">
-                                <UniformGrid DockPanel.Dock="Right" Rows="3" Margin="10 0 0 0" Width="55">
-                                    <TextBlock><Run Text="R:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.R,Mode=OneWay}"></Run></TextBlock>
-                                    <TextBlock><Run Text="G:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.G,Mode=OneWay}"></Run></TextBlock>
-                                    <TextBlock><Run Text="B:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding CapturedColor.B,Mode=OneWay}"></Run></TextBlock>
-                                </UniformGrid>
-                                <Border BorderThickness="1" BorderBrush="#202020">
-                                    <Border.Background>
-                                        <SolidColorBrush Color="{Binding CapturedColor,Mode=OneWay}" />
-                                    </Border.Background>
-                                </Border>
-                            </DockPanel>
-                        </DockPanel>
-                    </Grid>
+                        <TextBlock VerticalAlignment="Bottom" Height="27">Columns</TextBlock>
+                        <TextBox Grid.Column="1" Text="{Binding Config.Columns}"></TextBox>
 
-                    <Grid Width="300" Height="190" VerticalAlignment="Top" Grid.Column="1">
-                        <DockPanel>
-                            <TextBlock DockPanel.Dock="Top" FontSize="20">Processed Color</TextBlock>
-                            <DockPanel Margin="0 10 0 0" TextElement.FontSize="20">
-                                <UniformGrid DockPanel.Dock="Right" Rows="3" Margin="10 0 0 0" Width="55">
-                                    <TextBlock><Run Text="R:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.R,Mode=OneWay}"></Run></TextBlock>
-                                    <TextBlock><Run Text="G:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.G,Mode=OneWay}"></Run></TextBlock>
-                                    <TextBlock><Run Text="B:"></Run> <Run FontWeight="SemiBold" FontStyle="Italic" Text="{Binding ProcessedColor.B,Mode=OneWay}"></Run></TextBlock>
-                                </UniformGrid>
-                                <Border BorderThickness="1" BorderBrush="#202020">
-                                    <Border.Background>
-                                        <SolidColorBrush Color="{Binding ProcessedColor,Mode=OneWay}" />
-                                    </Border.Background>
-                                </Border>
-                            </DockPanel>
-                        </DockPanel>
-                    </Grid>
-                </Grid>
-            </Grid>
-        </Grid>
+                        <TextBlock Grid.Row="1" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Rows</TextBlock>
+                        <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding Config.Rows}"></TextBox>
 
-        <Grid Grid.Row="1" Margin="0 10 0 0">
-            <Grid>
-                <Grid.ColumnDefinitions>
-                    <ColumnDefinition Width="1*"/>
-                    <ColumnDefinition Width="1*"/>
-                </Grid.ColumnDefinitions>
-                <DockPanel>
-                    <TextBlock DockPanel.Dock="Top">HISTORY</TextBlock>
-                    <DataGrid Margin="0 10 0 0" Background="Transparent" Grid.ColumnSpan="2">
-                        <DataGrid.Columns>
-                            <DataGridTextColumn Header="TIME" />
-                            <DataGridTextColumn Header="CAPTURED COLOR" />
-                            <DataGridTextColumn Header="PROCESSED COLOR" />
-                        </DataGrid.Columns>
-                    </DataGrid>
-                </DockPanel>
+                        <TextBlock Grid.Row="2" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Target Index</TextBlock>
+                        <TextBox Grid.Row="2" Grid.Column="1" Text="{Binding Config.TargetIndex}"></TextBox>
 
-                <DockPanel Grid.Column="1" Margin="75 0 110 0">
-                    <Grid DockPanel.Dock="Top" TextElement.FontSize="20" Margin="0 0 0 10">
-                        <DockPanel>
-                            <TextBlock HorizontalAlignment="Center">Delta E Reference Point</TextBlock>
-                            <StackPanel Orientation="Horizontal" Margin="20 0 0 0">
-                                <TextBlock FontWeight="SemiBold">L:</TextBlock>
-                                <mahapps:NumericUpDown MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureL,UpdateSourceTrigger=PropertyChanged}" Minimum="0" Maximum="100" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="Transparent" BorderThickness="1" />
+                        <TextBlock Grid.Row="3" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Sample Width</TextBlock>
+                        <TextBox Grid.Row="3" Grid.Column="1" Text="{Binding Config.SampleWidth}"></TextBox>
 
-                                <TextBlock Margin="20 0 0 0" FontWeight="SemiBold">A:</TextBlock>
-                                <mahapps:NumericUpDown MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureA,UpdateSourceTrigger=PropertyChanged}" Minimum="-127" Maximum="128" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="Transparent" BorderThickness="1" />
+                        <TextBlock Grid.Row="4" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Sample Height</TextBlock>
+                        <TextBox Grid.Row="4" Grid.Column="1" Text="{Binding Config.SampleHeight}"></TextBox>
 
-                                <TextBlock Margin="20 0 0 0" FontWeight="SemiBold">B:</TextBlock>
-                                <mahapps:NumericUpDown MinWidth="120" HorizontalContentAlignment="Left" Value="{Binding MeasureB,UpdateSourceTrigger=PropertyChanged}" Minimum="-127" Maximum="128" Margin="5 0 0 0" HasDecimals="True" HideUpDownButtons="True" Background="Transparent" BorderThickness="1" />
-                            </StackPanel>
-                        </DockPanel>
-                    </Grid>
-                    <Grid>
-                        <Border Padding="20" BorderThickness="1" BorderBrush="#202020">
-                            <Grid>
-                                <Grid.ColumnDefinitions>
-                                    <ColumnDefinition Width="55"/>
-                                    <ColumnDefinition Width="438*"/>
-                                </Grid.ColumnDefinitions>
+                        <TextBlock Grid.Row="5" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Samples Folder</TextBlock>
+                        <TextBox Grid.Row="5" Grid.Column="1" Text="{Binding Config.SamplesFolder}" IsReadOnly="True" FontSize="10"></TextBox>
+                        <Button Command="{Binding SelectSamplesFolderCommand}" Width="120" HorizontalAlignment="Right" VerticalAlignment="Bottom" Grid.Row="5" Grid.Column="2" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1">SELECT</Button>
 
-                                <Border Margin="0 1 0 2">
-                                    <componentsX:GraphAxisControl Orientation="Vertical" FontSize="10" Surface="{Binding ElementName=Graph}" StringFormat="Δ 0.00;-#" />
-                                </Border>
-                                <Border Grid.Column="1" BorderThickness="1" BorderBrush="Silver" Margin="1 0 0 0">
-                                    <Grid>
+                        <TextBlock Grid.Row="6" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Benchmarks</TextBlock>
+                        <TextBox Grid.Row="6" Grid.Column="1" Text="{Binding Config.BenchmarksFile}" IsReadOnly="True" FontSize="10"></TextBox>
+                        <Button Command="{Binding SelectBenchmarksFileCommand}" Width="120" HorizontalAlignment="Right" VerticalAlignment="Bottom" Grid.Row="6" Grid.Column="2" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1">SELECT</Button>
 
-                                        <componentsX:GraphGridLines Foreground="Silver" />
+                        <TextBlock Grid.Row="7" Grid.Column="0" VerticalAlignment="Bottom" Height="27">Template</TextBlock>
 
-                                        <graphX:WpfGraphSurface x:Name="Graph"></graphX:WpfGraphSurface>
-                                    </Grid>
-                                </Border>
-                            </Grid>
-                        </Border>
+                        <DockPanel Grid.Row="7" Grid.Column="1">
+                            <TextBox Margin="0 10 0 0" DockPanel.Dock="Bottom" Text="{Binding Config.TemplateFile}" IsReadOnly="True" FontSize="10"></TextBox>
+                            <Image Width="150" Height="150" Source="{Binding Config.TemplateFile}" Stretch="Fill"></Image>
+                        </DockPanel>
+                        <Button Command="{Binding SelectTemplateFileCommand}" Width="120" HorizontalAlignment="Right" VerticalAlignment="Bottom" Grid.Row="7" Grid.Column="2" Style="{StaticResource MaterialDesignFlatButton}" BorderBrush="{StaticResource Accent}" BorderThickness="1">SELECT</Button>
                     </Grid>
-                </DockPanel>
-            </Grid>
-        </Grid>
+                </Border>
+            </TabItem>
+        </TabControl>
     </Grid>
 </UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/packages.config b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/packages.config
index 37e4dd902..cf3d21396 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/packages.config
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorCapture/packages.config
@@ -7,4 +7,6 @@
   <package id="MahApps.Metro" version="1.5.0" targetFramework="net461" />
   <package id="MaterialDesignColors" version="1.1.2" targetFramework="net461" />
   <package id="MaterialDesignThemes" version="2.3.1.953" targetFramework="net461" />
+  <package id="Microsoft.WindowsAPICodePack-Shell" version="1.1.0.0" targetFramework="net461" />
+  <package id="Newtonsoft.Json" version="9.0.1" targetFramework="net461" />
 </packages>
\ No newline at end of file
diff --git a/Software/Visual_Studio/TCC/Benchmarks/benchmarks_rgb_lab.csv b/Software/Visual_Studio/TCC/Benchmarks/benchmarks_rgb_lab.csv
new file mode 100644
index 000000000..141397cd4
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Benchmarks/benchmarks_rgb_lab.csv
@@ -0,0 +1,111 @@
+Red,Green,Blue,L,A,B
+0,0,0,0,0,0
+169,169,169,71.12,0.133333333,-0.051666667
+112,112,112,52.7025,-1.2625,0.225
+198,198,198,79.77166667,0.398333333,-1.038333333
+83,83,83,42.17166667,-1.261666667,-0.135
+226,226,226,87.19833333,0.988333333,-2.736666667
+54,54,54,33.112,-1.636,1.224
+255,255,255,94.06833333,1.695,-4.553333333
+26,26,26,24.80833333,-1.2,1.33
+0,0,0,0,0,0
+26,26,26,24.05,-1.5425,1.7175
+179,45,131,46.21333333,53.01666667,-15.06166667
+237,72,35,55.83,49.84666667,47.51333333
+54,70,61,36.79333333,-7.683333333,4.253333333
+38,58,111,30.57833333,8.741666667,-28.87166667
+212,132,66,63.97,19.78,39.89666667
+72,107,66,45.735,-19.39833333,17.27666667
+142,76,97,46.27333333,27.43,-0.658333333
+97,95,162,46.68166667,15.74333333,-30.815
+140,140,140,61.34833333,1.033333333,-0.151666667
+255,255,255,93.77333333,1.765,-4.411666667
+158,154,201,67.955,11.27333333,-20.06
+255,236,0,87.50166667,-12.59166667,78.655
+255,182,4,75.95833333,9.428333333,67.96333333
+243,107,33,61.09,39,52.50833333
+235,35,65,51.09833333,62.24166667,27.82333333
+106,55,134,36.80166667,32.49333333,-30.18666667
+255,185,59,76.87166667,9.426666667,57.305
+243,157,192,74.25,30.54,-7.908333333
+169,169,169,70.22333333,0.92,0.1
+54,54,54,30.775,-0.525,0.32
+116,59,54,39.87,20.87,12.47
+65,108,99,47.85833333,-15.3,1.538333333
+140,76,119,46.595,29.31666667,-10.93333333
+53,59,81,32.97333333,2.943333333,-12.37833333
+138,75,128,46.22333333,30.45666667,-15.91666667
+137,180,113,68.87833333,-23.25666667,27.84333333
+0,158,179,61.18,-20.86,-16.83833333
+113,207,244,78.175,-12.04333333,-22.53833333
+112,112,112,51.61,-0.502,-0.136
+226,226,226,87.13333333,1.495,-3.138333333
+184,50,46,45.52833333,42.72833333,29.61
+238,99,157,62.11,50.415,-7.06
+42,86,65,39.50666667,-17.82333333,8.103333333
+90,176,65,63.03166667,-42.46666667,43.37333333
+233,34,35,50.54666667,60.89166667,42.66
+190,230,250,86.84666667,-4.345,-12.96333333
+17,57,134,32.005,14.47333333,-34.95666667
+0,162,227,63.635,-10.44333333,-33.42166667
+198,198,198,79.01,1.025,-0.918333333
+83,83,83,42.464,-1.92,0.73
+0,172,198,64.285,-21.78166667,-20.35333333
+255,249,205,92.19333333,-3.3,13.94333333
+142,153,81,63.36833333,-13.99,33.38
+230,136,63,66.125,23.97666667,44.36833333
+141,76,111,45.82333333,28.36666667,-7.24
+231,22,127,52.11333333,66.82,-3.993333333
+190,157,147,68.685,10.07166667,7.398333333
+81,180,118,65.39166667,-38.2,21.53333333
+83,83,83,40.794,-0.94,-0.32
+198,198,198,79.14666667,0.791666667,-1.766666667
+234,31,101,52.21833333,64.01666667,8.343333333
+255,203,59,81.59333333,1.206666667,60.66833333
+252,173,144,76.00166667,19.22,17.49833333
+237,73,123,58.05833333,54.47333333,3.016666667
+206,138,159,66.82333333,23.78333333,-2.453333333
+143,76,82,45.865,25.65,7.266666667
+0,129,159,52.54833333,-15.35166667,-20.88666667
+0,130,198,54.21666667,-3.341666667,-36.37833333
+226,226,226,86.78666667,1.36,-2.605
+112,112,112,51.81,-0.583333333,-0.52
+0,152,77,56.07833333,-46.975,31.68
+0,164,72,58.71666667,-49.065,37.25166667
+137,75,137,45.86333333,31.94666667,-19.99
+167,210,173,79.54,-16.565,10.95166667
+59,109,116,47.90833333,-11.37166667,-8.108333333
+141,166,82,66.06833333,-20.29,37.86166667
+186,134,159,63.88,20.75166667,-5.778333333
+202,209,33,78.01833333,-18.415,67.03833333
+54,54,54,32.25,-1.4925,1.52
+169,169,169,71.545,-0.0625,-0.33
+244,110,79,62.268,39.444,32.43
+140,178,84,68.00333333,-25.05166667,39.31166667
+131,124,169,57.03833333,10.89833333,-19.545
+255,240,90,88.664,-11.328,60.484
+35,110,154,47.93333333,-5.69,-27.08833333
+0,125,73,48.08833333,-39.07333333,20.28
+0,86,159,38.855,7.425,-39.47166667
+138,190,85,69.98666667,-29.77333333,41.79833333
+255,255,255,93.715,1.663333333,-4.443333333
+140,140,140,61.934,-0.202,-0.038
+249,207,225,85.474,13.868,-6.676
+0,155,119,57.845,-37.60333333,9.745
+93,167,88,61.77166667,-35.645,29.3
+245,234,143,88.21833333,-8.618333333,37.94666667
+0,183,236,68.89666667,-15.51,-31.53166667
+81,60,92,34.46833333,13.13166667,-14.09
+255,245,153,90.20666667,-7.895,34.44333333
+70,108,81,46.88666667,-18.28333333,11.555
+26,26,26,23.2425,-0.405,0.9525
+0,0,0,0,0,0
+255,255,255,94.11333333,1.658333333,-4.575
+54,54,54,32.195,-1.735,1.2575
+226,226,226,86.62833333,1.258333333,-2.736666667
+83,83,83,40.4025,-0.7875,-1.06
+198,198,198,79.255,1.036666667,-1.23
+112,112,112,51.55,-0.24,-1.1725
+169,169,169,70.695,0.278333333,-0.368333333
+140,140,140,61.43833333,0.363333333,-0.338333333
+0,0,0,0,0,0
diff --git a/Software/Visual_Studio/TCC/Images/bottomLeft.bmp b/Software/Visual_Studio/TCC/Images/bottomLeft.bmp
new file mode 100644
index 000000000..13b33704b
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Images/bottomLeft.bmp
diff --git a/Software/Visual_Studio/TCC/Images/bottomRight.bmp b/Software/Visual_Studio/TCC/Images/bottomRight.bmp
new file mode 100644
index 000000000..d2116fad2
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Images/bottomRight.bmp
diff --git a/Software/Visual_Studio/TCC/Images/template.bmp b/Software/Visual_Studio/TCC/Images/template.bmp
new file mode 100644
index 000000000..a64493e0f
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Images/template.bmp
diff --git a/Software/Visual_Studio/TCC/Images/topRight.bmp b/Software/Visual_Studio/TCC/Images/topRight.bmp
new file mode 100644
index 000000000..f008d454d
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Images/topRight.bmp
diff --git a/Software/Visual_Studio/TCC/Images/topleft.bmp b/Software/Visual_Studio/TCC/Images/topleft.bmp
new file mode 100644
index 000000000..8115cf359
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Images/topleft.bmp
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionConfig.cs b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionConfig.cs
new file mode 100644
index 000000000..bd8b394ad
--- /dev/null
+++ b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionConfig.cs
@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.PMR.TCC;
+
+namespace Tango.TCC.BL
+{
+    public class CardDetectionConfig
+    {
+        public List<DetectionBenchmark> Benchmarks { get; set; }
+        public int DesiredBitmapWidth { get; set; }
+        public int DesiredBitmapHeight { get; set; }
+        public int Columns { get; set; }
+        public int Rows { get; set; }
+        public int TargetIndex { get; set; }
+        public byte[] TemplateBitmapBytes { get; set; }
+
+        public CardDetectionConfig()
+        {
+            DesiredBitmapWidth = 300;
+            DesiredBitmapHeight = 330;
+            Columns = 10;
+            Rows = 11;
+            TargetIndex = 89;
+            Benchmarks = new List<DetectionBenchmark>();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionResult.cs b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionResult.cs
index 821d19330..0cf7f3d67 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionResult.cs
+++ b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetectionResult.cs
@@ -11,6 +11,7 @@ namespace Tango.TCC.BL
     public class CardDetectionResult
     {
         public bool IsDetected { get; set; }
+        public BitmapSource Source { get; set; }
         public BitmapSource DetectedBitmap { get; set; }
         public DetectionOutput ColorDetectionOutput { get; set; }
     }
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetector.cs b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetector.cs
index d10e99b81..c0f827e1b 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetector.cs
+++ b/Software/Visual_Studio/TCC/Tango.TCC.BL/CardDetector.cs
@@ -1,11 +1,13 @@
 using Google.Protobuf;
 using System;
 using System.Collections.Generic;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Media;
 using System.Windows.Media.Imaging;
+using Tango.Core.Helpers;
 using Tango.PMR.TCC;
 
 namespace Tango.TCC.BL
@@ -13,6 +15,8 @@ namespace Tango.TCC.BL
     public class CardDetector
     {
         private ColorDetector _colorDetector;
+        private static byte[] _defaultTemplate;
+        private static List<DetectionBenchmark> _defaultBenchmarks;
 
         private bool _canDetect;
         public bool CanDetect
@@ -23,11 +27,17 @@ namespace Tango.TCC.BL
 
         public CardDetector()
         {
+            if (_defaultTemplate == null)
+            {
+                _defaultTemplate = File.ReadAllBytes(AssemblyHelper.GetCurrentAssemblyFolder() + "\\TCC\\template.bmp");
+                _defaultBenchmarks = ColorDetector.LoadBenchmarks(AssemblyHelper.GetCurrentAssemblyFolder() + "\\TCC\\benchmarks_rgb_lab.csv").ToList();
+            }
+
             CanDetect = true;
             _colorDetector = new ColorDetector();
         }
 
-        public Task<CardDetectionResult> Detect(BitmapSource source)
+        public Task<CardDetectionResult> Detect(BitmapSource source, CardDetectionConfig config)
         {
             if (!CanDetect)
             {
@@ -42,12 +52,14 @@ namespace Tango.TCC.BL
             return Task.Factory.StartNew<CardDetectionResult>(() =>
             {
                 CardDetectionResult detectionResult = new CardDetectionResult();
+                detectionResult.Source = cloned;
 
                 Tango.TCC.CardDetector.CardDetection detector = new TCC.CardDetector.CardDetection();
                 var result = detector.Detect(cloned.ToBytes(PixelFormats.Rgb24), new TCC.CardDetector.CardDetectionConfig()
                 {
-                    DesiredBitmapWidth = 300,
-                    DesiredBitmapHeight = 310,
+                    DesiredBitmapWidth = config.DesiredBitmapWidth,
+                    DesiredBitmapHeight = config.DesiredBitmapHeight,
+                    TemplateBitmap = config.TemplateBitmapBytes != null ? config.TemplateBitmapBytes : _defaultTemplate.ToArray(),
                 });
 
                 if (result.IsDetected)
@@ -55,14 +67,25 @@ namespace Tango.TCC.BL
                     detectionResult.IsDetected = true;
                     detectionResult.DetectedBitmap = result.DetectedBitmap.ToBitmapSource();
 
-                    detectionResult.ColorDetectionOutput = _colorDetector.Detect(new DetectionInput()
+                    var input = new DetectionInput()
                     {
                         Bitmap = ByteString.CopyFrom(detectionResult.DetectedBitmap.ToBmpBytes()),
-                        Columns = 10,
-                        Rows = 11,
-                        TargetIndex = 89,
+                        Columns = config.Columns,
+                        Rows = config.Rows,
+                        TargetIndex = config.TargetIndex,
                         RequestColorMatrix = true,
-                    });
+                    };
+
+                    if (config.Benchmarks.Count > 0)
+                    {
+                        input.Benchmarks.AddRange(config.Benchmarks);
+                    }
+                    else
+                    {
+                        input.Benchmarks.AddRange(_defaultBenchmarks);
+                    }
+
+                    detectionResult.ColorDetectionOutput = _colorDetector.Detect(input);
                 }
 
                 CanDetect = true;
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.BL/ColorDetector.cs b/Software/Visual_Studio/TCC/Tango.TCC.BL/ColorDetector.cs
index e3c80cb20..a41124c42 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.BL/ColorDetector.cs
+++ b/Software/Visual_Studio/TCC/Tango.TCC.BL/ColorDetector.cs
@@ -7,6 +7,7 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Web.Hosting;
 using Tango.Core.Helpers;
+using Tango.CSV;
 using Tango.PMR;
 using Tango.PMR.TCC;
 
@@ -152,6 +153,24 @@ namespace Tango.TCC.BL
             return index == 1 || index == columns || index == columns * rows || index == (columns * rows) - columns + 1;
         }
 
+        public static IEnumerable<DetectionBenchmark> LoadBenchmarks(String file)
+        {
+            var benchmarks = CsvFile.Read<DetectionBenchmark>(new CsvSource(file)).ToList();
+            return benchmarks;
+        }
+
+        public static void SaveBenchmarks(String file,IEnumerable<DetectionBenchmark> benchmarks)
+        {
+            CsvFile<DetectionBenchmark> csvFile = new CsvFile<DetectionBenchmark>(new CsvDestination(file));
+
+            foreach (var item in benchmarks)
+            {
+                csvFile.Append(item);
+            }
+
+            csvFile.Dispose();
+        }
+
         public void Dispose()
         {
             if (!_isDisposed)
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.BL/Tango.TCC.BL.csproj b/Software/Visual_Studio/TCC/Tango.TCC.BL/Tango.TCC.BL.csproj
index bb82e8c5d..bb12c02cc 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.BL/Tango.TCC.BL.csproj
+++ b/Software/Visual_Studio/TCC/Tango.TCC.BL/Tango.TCC.BL.csproj
@@ -51,6 +51,7 @@
     <Reference Include="WindowsBase" />
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="CardDetectionConfig.cs" />
     <Compile Include="CardDetectionResult.cs" />
     <Compile Include="CardDetector.cs" />
     <Compile Include="ColorDetector.cs" />
@@ -59,6 +60,10 @@
     <Compile Include="Web\ColorDetectionResponse.cs" />
   </ItemGroup>
   <ItemGroup>
+    <Content Include="..\Benchmarks\benchmarks_rgb_lab.csv">
+      <Link>TCC\benchmarks_rgb_lab.csv</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
     <None Include="packages.config" />
   </ItemGroup>
   <ItemGroup>
@@ -66,6 +71,10 @@
       <Project>{a34ee0f0-649d-41c8-8489-b6f1cc6924ee}</Project>
       <Name>Tango.Core</Name>
     </ProjectReference>
+    <ProjectReference Include="..\..\Tango.CSV\Tango.CSV.csproj">
+      <Project>{58e8825f-0c96-449c-b320-1e82b0aa876b}</Project>
+      <Name>Tango.CSV</Name>
+    </ProjectReference>
     <ProjectReference Include="..\..\Tango.PMR\Tango.PMR.csproj">
       <Project>{e4927038-348d-4295-aaf4-861c58cb3943}</Project>
       <Name>Tango.PMR</Name>
@@ -96,6 +105,10 @@
       <Link>Tango.TCC.LoadTestLib.dll</Link>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>
+    <Content Include="..\Images\template.bmp">
+      <Link>TCC\template.bmp</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/ArucoUtils.cpp b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/ArucoUtils.cpp
index 76923a5c6..52721368a 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/ArucoUtils.cpp
+++ b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/ArucoUtils.cpp
@@ -81,8 +81,6 @@ Mat ArucoUtils::applyHomography(Mat image, vector<cv::Point> vertices, Size dest
 	pts_dst.push_back(Point2f(destination_size.width - 1, destination_size.height - 1));
 	pts_dst.push_back(Point2f(0, destination_size.height - 1));
 
-	Mat im_temp = image.clone();
-
 	Mat tform = findHomography(vertices, pts_dst);
 	warpPerspective(image, im_dst, tform, destination_size);
 	return im_dst;
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.cpp b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.cpp
index 546c228db..3f3415e48 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.cpp
+++ b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.cpp
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.h b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.h
index db8f51406..05b137a7b 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.h
+++ b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetection.h
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetectionConfig.h b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetectionConfig.h
index f014c2159..a6e104b53 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetectionConfig.h
+++ b/Software/Visual_Studio/TCC/Tango.TCC.CardDetector/CardDetectionConfig.h
@@ -1,5 +1,7 @@
 #pragma once
 
+using namespace System;
+
 namespace Tango
 {
 	namespace TCC
@@ -11,6 +13,7 @@ namespace Tango
 				CardDetectionConfig();
 				property double DesiredBitmapWidth;
 				property double DesiredBitmapHeight;
+				property cli::array<Byte>^ TemplateBitmap;
 			};
 		}
 	}
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/ColorDetection.cpp b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/ColorDetection.cpp
index 5a7734c0e..fe92c0f4c 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/ColorDetection.cpp
+++ b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/ColorDetection.cpp
@@ -462,7 +462,7 @@ size_t ColorDetection::DetectColorNew(uint8_t * input_buffer, size_t input_buffe
 				detectionOutput->colormatrix[i] = initDetectionColor(means[i].val[2], means[i].val[1], means[i].val[0]);
 			}
 		}
-
+		 
 		//Put original target color.
 		detectionOutput->rawcolor = initDetectionColor(target_mean.val[2], target_mean.val[1], target_mean.val[0]);
 
@@ -471,7 +471,7 @@ size_t ColorDetection::DetectColorNew(uint8_t * input_buffer, size_t input_buffe
 		detectionInput->benchmarks[0]->l;
 
 		//Put processed target color.
-		detectionOutput->processedcolor = initDetectionColor(255, 0, 0);
+		detectionOutput->processedcolor = initDetectionColor(target_mean.val[2] + 10, target_mean.val[1] + 10, target_mean.val[0] + 10);
 
 		detectionOutput->has_number = true;
 		detectionOutput->number = detectionInput->number + 10;
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.c b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.c
index afc3c7302..91e8dee86 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.c
+++ b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.c
@@ -94,7 +94,7 @@ static const ProtobufCFieldDescriptor detection_benchmark__field_descriptors[6]
     "L",
     4,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(DetectionBenchmark, has_l),
     offsetof(DetectionBenchmark, l),
     NULL,
@@ -106,7 +106,7 @@ static const ProtobufCFieldDescriptor detection_benchmark__field_descriptors[6]
     "A",
     5,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(DetectionBenchmark, has_a),
     offsetof(DetectionBenchmark, a),
     NULL,
@@ -118,7 +118,7 @@ static const ProtobufCFieldDescriptor detection_benchmark__field_descriptors[6]
     "B",
     6,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_INT32,
+    PROTOBUF_C_TYPE_DOUBLE,
     offsetof(DetectionBenchmark, has_b),
     offsetof(DetectionBenchmark, b),
     NULL,
diff --git a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.h b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.h
index d7368eed8..b7f5c863d 100644
--- a/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.h
+++ b/Software/Visual_Studio/TCC/Tango.TCC.ColorDetector/PMR/TCC/DetectionBenchmark.pb-c.h
@@ -33,11 +33,11 @@ struct  _DetectionBenchmark
   protobuf_c_boolean has_blue;
   int32_t blue;
   protobuf_c_boolean has_l;
-  int32_t l;
+  double l;
   protobuf_c_boolean has_a;
-  int32_t a;
+  double a;
   protobuf_c_boolean has_b;
-  int32_t b;
+  double b;
 };
 #define DETECTION_BENCHMARK__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&detection_benchmark__descriptor) \
diff --git a/Software/Visual_Studio/Tango.CSV/CsvFileReader.cs b/Software/Visual_Studio/Tango.CSV/CsvFileReader.cs
index 1ae9404a7..6d1deded2 100644
--- a/Software/Visual_Studio/Tango.CSV/CsvFileReader.cs
+++ b/Software/Visual_Studio/Tango.CSV/CsvFileReader.cs
@@ -273,6 +273,8 @@ namespace Tango.CSV
                 return (s) => String.IsNullOrEmpty(s) ? 0 : Int32.Parse(s);
             if (propertyType == typeof(DateTime))
                 return (s) => String.IsNullOrEmpty(s) ? DateTimeZero : DateTime.Parse(s);
+            else if (propertyType == typeof(Double))
+                return (s) => String.IsNullOrEmpty(s) ? 0.0 : Double.Parse(s);
             else
                 throw new NotImplementedException();
         }
diff --git a/Software/Visual_Studio/Tango.Core/ExtensionMethods/DateTimeExtensions.cs b/Software/Visual_Studio/Tango.Core/ExtensionMethods/DateTimeExtensions.cs
index 8e1b539fb..e22bb0fe3 100644
--- a/Software/Visual_Studio/Tango.Core/ExtensionMethods/DateTimeExtensions.cs
+++ b/Software/Visual_Studio/Tango.Core/ExtensionMethods/DateTimeExtensions.cs
@@ -19,4 +19,14 @@ public static class DateTimeExtensions
     {
         return date.ToString("HH:mm:ss.ff");
     }
+
+    /// <summary>
+    /// Returns a string which can be used as a file name.
+    /// </summary>
+    /// <param name="date">The date.</param>
+    /// <returns></returns>
+    public static String ToFileName(this DateTime date)
+    {
+        return string.Format("{0:dd-MM-yyyy HH-mm-ss}", DateTime.Now);
+    }
 }
diff --git a/Software/Visual_Studio/Tango.PMR/TCC/DetectionBenchmark.cs b/Software/Visual_Studio/Tango.PMR/TCC/DetectionBenchmark.cs
index a7e2d47ae..cd106db9a 100644
--- a/Software/Visual_Studio/Tango.PMR/TCC/DetectionBenchmark.cs
+++ b/Software/Visual_Studio/Tango.PMR/TCC/DetectionBenchmark.cs
@@ -24,8 +24,8 @@ namespace Tango.PMR.TCC {
           string.Concat(
             "ChhEZXRlY3Rpb25CZW5jaG1hcmsucHJvdG8SDVRhbmdvLlBNUi5UQ0MiXwoS",
             "RGV0ZWN0aW9uQmVuY2htYXJrEgsKA1JlZBgBIAEoBRINCgVHcmVlbhgCIAEo",
-            "BRIMCgRCbHVlGAMgASgFEgkKAUwYBCABKAUSCQoBQRgFIAEoBRIJCgFCGAYg",
-            "ASgFQhkKF2NvbS50d2luZS50YW5nby5wbXIudGNjYgZwcm90bzM="));
+            "BRIMCgRCbHVlGAMgASgFEgkKAUwYBCABKAESCQoBQRgFIAEoARIJCgFCGAYg",
+            "ASgBQhkKF2NvbS50d2luZS50YW5nby5wbXIudGNjYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
@@ -108,9 +108,9 @@ namespace Tango.PMR.TCC {
 
     /// <summary>Field number for the "L" field.</summary>
     public const int LFieldNumber = 4;
-    private int l_;
+    private double l_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int L {
+    public double L {
       get { return l_; }
       set {
         l_ = value;
@@ -119,9 +119,9 @@ namespace Tango.PMR.TCC {
 
     /// <summary>Field number for the "A" field.</summary>
     public const int AFieldNumber = 5;
-    private int a_;
+    private double a_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int A {
+    public double A {
       get { return a_; }
       set {
         a_ = value;
@@ -130,9 +130,9 @@ namespace Tango.PMR.TCC {
 
     /// <summary>Field number for the "B" field.</summary>
     public const int BFieldNumber = 6;
-    private int b_;
+    private double b_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int B {
+    public double B {
       get { return b_; }
       set {
         b_ = value;
@@ -167,9 +167,9 @@ namespace Tango.PMR.TCC {
       if (Red != 0) hash ^= Red.GetHashCode();
       if (Green != 0) hash ^= Green.GetHashCode();
       if (Blue != 0) hash ^= Blue.GetHashCode();
-      if (L != 0) hash ^= L.GetHashCode();
-      if (A != 0) hash ^= A.GetHashCode();
-      if (B != 0) hash ^= B.GetHashCode();
+      if (L != 0D) hash ^= L.GetHashCode();
+      if (A != 0D) hash ^= A.GetHashCode();
+      if (B != 0D) hash ^= B.GetHashCode();
       return hash;
     }
 
@@ -192,17 +192,17 @@ namespace Tango.PMR.TCC {
         output.WriteRawTag(24);
         output.WriteInt32(Blue);
       }
-      if (L != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(L);
+      if (L != 0D) {
+        output.WriteRawTag(33);
+        output.WriteDouble(L);
       }
-      if (A != 0) {
-        output.WriteRawTag(40);
-        output.WriteInt32(A);
+      if (A != 0D) {
+        output.WriteRawTag(41);
+        output.WriteDouble(A);
       }
-      if (B != 0) {
-        output.WriteRawTag(48);
-        output.WriteInt32(B);
+      if (B != 0D) {
+        output.WriteRawTag(49);
+        output.WriteDouble(B);
       }
     }
 
@@ -218,14 +218,14 @@ namespace Tango.PMR.TCC {
       if (Blue != 0) {
         size += 1 + pb::CodedOutputStream.ComputeInt32Size(Blue);
       }
-      if (L != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(L);
+      if (L != 0D) {
+        size += 1 + 8;
       }
-      if (A != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(A);
+      if (A != 0D) {
+        size += 1 + 8;
       }
-      if (B != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(B);
+      if (B != 0D) {
+        size += 1 + 8;
       }
       return size;
     }
@@ -244,13 +244,13 @@ namespace Tango.PMR.TCC {
       if (other.Blue != 0) {
         Blue = other.Blue;
       }
-      if (other.L != 0) {
+      if (other.L != 0D) {
         L = other.L;
       }
-      if (other.A != 0) {
+      if (other.A != 0D) {
         A = other.A;
       }
-      if (other.B != 0) {
+      if (other.B != 0D) {
         B = other.B;
       }
     }
@@ -275,16 +275,16 @@ namespace Tango.PMR.TCC {
             Blue = input.ReadInt32();
             break;
           }
-          case 32: {
-            L = input.ReadInt32();
+          case 33: {
+            L = input.ReadDouble();
             break;
           }
-          case 40: {
-            A = input.ReadInt32();
+          case 41: {
+            A = input.ReadDouble();
             break;
           }
-          case 48: {
-            B = input.ReadInt32();
+          case 49: {
+            B = input.ReadDouble();
             break;
           }
         }