merge conflicts

4 files changed, 60 insertions, 107 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 856812c12..852c19a1a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -67,6 +67,7 @@
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
 
+    uint32_t UnloadingStart = 0;
     uint8_t NumberOfDrierLoaderCycles = 0;
     uint32_t status = OK;
     uint32_t LoadingControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF;
@@ -184,8 +185,6 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
-            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
-
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -215,6 +214,8 @@
 //move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
+        Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
+
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
@@ -614,7 +615,7 @@
         LoadArmInfo.LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
-        SetOriginMotorSpeed(19);
+        SetOriginMotorSpeed(30);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
@@ -670,14 +671,14 @@
         CallbackCounter++;
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        UnloadingStart = msec_millisecondCounter;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         LoadArmInfo.LoadArmBackLash = 5;
-
         status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
+                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
-        LoadArmInfo.LoadArmBackLash = 5;
+        //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         load.color = BLINK;
         return OK;
@@ -840,7 +841,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
-    if (index == POOLER_MOTOR)
+   /* if (index == POOLER_MOTOR)
     {
         if ((TranslatedReadValue)<(-1200))
         {
@@ -868,7 +869,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         }
 
-    }
+    }*/
 /*    LoadCounter++;
     if ((LoadCounter % 5001) == 0)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 741fed7af..4db985954 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -62,7 +62,7 @@ static uint32_t WindingConeLocation;
 static uint32_t WinderBackToBaseTime = 800;
 
 InternalWinderConfigStruc InternalWinderCfg = {0};
-#define READ_SCREW_ENCODER
+//#define READ_SCREW_ENCODER
 #ifdef READ_SCREW_ENCODER
 uint32_t ScrewLocationLimitSwitch = 0,ScrewLocationStart = 0;
 uint32_t ScrewLocationRun[3];
@@ -107,6 +107,8 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
     InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
+    if (request->rotationsperpassage > 6.1)
+        InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
     InternalWinderCfg.diameter = request->diameter;
     usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses,
               (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate);
@@ -138,13 +140,13 @@ uint32_t Winder_Prepare(void *JobDetails)
      * report ready to the job STM
      */
 
-    /*if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
+    if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
     {
         REPORT_MSG(LIMIT, "No cone in winder");
-        PrepareReady(Module_Winder,ModuleFail);
-        AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
-        return ERROR;
-    }*/
+     //   PrepareReady(Module_Winder,ModuleFail);
+     //   AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
+     //   return ERROR;
+    }
 
 #ifdef READ_SCREW_ENCODER
     ScrewLocationRun[0] = 0;
@@ -279,7 +281,6 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__
 double WinderReferenceSpeed=0;
 double  TotalWinderSpeed=0;
 bool Add100 = false;
-double Rotations = 6.0;
 int flipflop = 0;
 uint32_t motspeed;
 float speedf;
@@ -288,14 +289,8 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
     double temp,tempScrewSpeed;
-    double screw_horizontal_speed = 0;
-    double RotationsPerSecond;
-    //double Averagewinderspeed = 0;
-
-//    {
-//        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-//        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-//        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
+    //double screw_horizontal_speed = 0;
+    //double RotationsPerSecond;
         if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
         {
             if (WinderMotorSpeedRollOver == false)
@@ -305,17 +300,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             }
 //            WinderMotorSpeedCounter=0;
         }
-//    }
-    /*if (flipflop == 0)
-    {
-        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }
-    else if (flipflop == 1)
-    {
-        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }
-    flipflop ++;
-    */
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
         return OK;
     //deley TODO
@@ -353,16 +337,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
          Report("Winder difference",__FILE__,CalculationDirectionChangeCounter,ScrewLocationPrev[0],RpWarning,ScrewLocationRun[0], 0);
      }
      ScrewLocationPrev[0] = ScrewLocationRun[0];
-     //else
-     //    Report("winder run error value" ,__FILE__,WinderRun,ScrewLocationRun[0],RpWarning,ScrewLocationRun[1], 0);
-
-         //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
-    //REPORT_MSG(abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps");
-    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10);
-    //usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended,  winderspeed,  rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter,
-    //          abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf);
-    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
-    //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
 #endif
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -388,24 +362,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //        Report("Bottom Backing ",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0);
         }
     }
-   /* if (WinderMotorSpeedRollOver)
-    {
-        if (WinderCalculation%60000 == 0)//100 minutes
-        {
-            Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
-            //Report("WinderSpeedUpdated",__FILE__,__LINE__,(int)TotalWinderSpeed,RpWarning,(int)Averagewinderspeed,0);
-            WinderReferenceSpeed = Averagewinderspeed;
-        }
-        WinderCalculation++;
-    }*/
-    //WinderReferenceSpeed = 1000;
-    //ScrewNumberOfSteps = 1000;
-    screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
-  //  if (Rotations > 6.6)//7.0)
-  //      Rotations = 6.0;
-    RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
-    //ROM_IntMasterDisable();
     tempScrewSpeed = ScrewSpeed;
 
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
@@ -468,7 +424,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/3);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
@@ -481,7 +436,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/20);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 226bb2559..0df950f34 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -154,12 +154,12 @@ char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
 uint32_t StoreDancerConfigMessage()
 {
     uint32_t status = OK;
-  /*  FRESULT Fresult = FR_OK;
-  //  HardwareConfiguration DancerConfig;
-  //  HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
+  //  FRESULT Fresult = FR_OK;
+    HardwareConfiguration DancerConfig;
+    HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
   //  uint8_t* response_buffer;
   //  size_t response_size = 0;
-  //  int Dancer_i;
+    int Dancer_i;
 
     hardware_configuration__init(&DancerConfig);
     DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
@@ -174,7 +174,7 @@ uint32_t StoreDancerConfigMessage()
         DancerConfig.n_dancers++;
         DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint;
     }
-    */
+
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint);
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint);
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 9d408a4a6..34934af0c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -118,7 +118,7 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
   if (Current_Read < Previous_Read)
   {
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
-    Report("Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
+    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
   }
   else
     Time_Pass = Current_Read - Previous_Read;
@@ -192,7 +192,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             usnprintf(Lenstr, 100, "length huge: length %d, diff 0x%x, pos 0x%x prev 0x%x",(int)length*100,(int)positionDiff,PreviousPosition,prevprev);
             SendJobProgress(0.0,0,false, Lenstr);
-            Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+            ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
             length = 0;
 
         }
@@ -224,7 +224,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
         SendJobProgress(0.0,0,false, Lenstr);
-        Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+        ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
         // segment/intersegment/distance to spool finished
         if (ProcessedLengthFuncPtr)
             ProcessedLengthFuncPtr();
@@ -282,7 +282,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             usnprintf(Lenstr, 100, "length huge: length %d, diff 0x%x, pos 0x%x prev 0x%x",(int)length*100,(int)positionDiff,PreviousPosition,prevprev);
             SendJobProgress(0.0,0,false, Lenstr);
-            Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+            ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
             length = 0;
 
         }
@@ -300,9 +300,12 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         if (PrepareState == true)
         {
+#ifdef Use_Head_Card
+            strcpy(Lenstr,"Heating up");
+#else
             //later - add temperatures
              TemperatureListString(Lenstr);
-
+#endif
             SendJobProgress(0.0,0,false, Lenstr);
         }
         else
@@ -315,7 +318,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
         SendJobProgress(0.0,0,false, Lenstr);
-        Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+        ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
         // segment/intersegment/distance to spool finished
         if (ProcessedLengthFuncPtr)
             ProcessedLengthFuncPtr();
@@ -421,7 +424,7 @@ void testDancersControl()
     len = usnprintf(time, 150, "params: speed 50, divider %d p %d * %d i %d * %d Dt*1000 %d Norm Coef %d initial speed %d",NORMAL_COEF_DIVIDER,(int)MotorsControl[FEEDER_MOTOR].proportionalgain,(int)MotorsControl[FEEDER_MOTOR].outputonoffhysteresisvalue,
                     (int)MotorsControl[FEEDER_MOTOR].integraltime,(int)MotorsControl[FEEDER_MOTOR].setpointramprateorsoftstartramp,(int)(MotorsControl[FEEDER_MOTOR].controloutputtype*1000),
                     (int)(NormalizedErrorCoEfficient[FEEDER_MOTOR]*1000000000),OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
-    Report(time,__FILE__,__LINE__,111,RpError,111,0);
+    ReportWithPackageFilter(ThreadFilter,time,__FILE__,__LINE__,111,RpError,111,0);
     Task_sleep(100);
     ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm20);
     ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm10);
@@ -478,7 +481,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         if (ReadValue < 10)
         {
             MotorFailedSample[index]++;
-            Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
+            ReportWithPackageFilter(ThreadFilter,"Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
             return OK;
         }
         if (ReadValue == 0x3FFF)
@@ -533,7 +536,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                             SendSegmentFail();
                             //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                             //EndState(CurrentJob,"ReadBreakSensor Error" );
-                            LOG_ERROR(index, "ReadBreakSensor Error");
+                            ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
                             return OK;
                         } //passed limit
                     }//ReadBreakSensor()==ERROR
@@ -541,7 +544,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     {
                         if (BreakSensorCounter)
                         {
-                            LOG_ERROR(BreakSensorCounter, "ReadBreakSensor Spike");
+                            ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Spike",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
                         }
                         BreakSensorCounter = 0;
                     }
@@ -559,7 +562,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 	                        SendSegmentFail();
 	                        //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
 	                        //EndState(CurrentJob,"ReadBreakSensor Error" );
-	                        LOG_ERROR(index, "thread speed too low Error");
+                            ReportWithPackageFilter(ThreadFilter,"thread speed too low Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
 	                        return OK;
 						}
                     }
@@ -573,7 +576,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             keepdata = false;
             usnprintf(TMessage, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
-            Report(TMessage,__FILE__,__LINE__,avreageSampleValue,RpWarning,DancerStopActivityLimit[index],0);
+            ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,__LINE__,avreageSampleValue,RpWarning,DancerStopActivityLimit[index],0);
             //JobAbortedByUser = true;
             ThreadControlActive = false;
             //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
@@ -593,7 +596,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true);
                     break;
             }*/
-            LOG_ERROR (DancerId, "Dancer Failure");
+            ReportWithPackageFilter(ThreadFilter,"Dancer Failure",__FILE__,DancerId,(int)avreageSampleValue,RpError,(int)JobCounter,0);
             return OK;
         }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
@@ -613,7 +616,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             //if (index == WINDER_MOTOR) //feeder unit handles errors opposite to left unit
             //{
-              //  Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,CurrentControlledSpeed[index],0);
+              //  ReportWithPackageFilter(ThreadFilter,"MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,CurrentControlledSpeed[index],0);
             //}
             /`*if (JobCounter >= 3000)
             {
@@ -624,7 +627,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 for (i=0;i<MAX_CONTROL_SAMPLES;i++)
                     avreageMotorSampleValue += MotorSpeedSamples[index][i];
                 avreageMotorSampleValue = avreageMotorSampleValue / MAX_CONTROL_SAMPLES;
-                //Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,avreageMotorSampleValue,0);
+                //ReportWithPackageFilter(ThreadFilter,"MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,avreageMotorSampleValue,0);
                 OriginalMotorSpd_2PPS[index] = avreageMotorSampleValue;
             }*`/
         }*/
@@ -640,7 +643,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
             /*if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit
             {
-                Report("MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0);
+                ReportWithPackageFilter(ThreadFilter,"MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0);
             }*/
 #ifdef TEST_PID_THREAD
             int len;
@@ -659,7 +662,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                                 ReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000),
                                 (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000),
                                 (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed);
-                Report(TMessage,__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
+                ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
                 //Task_sleep(100);
                 //if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                 //    controlIndex = 0;
@@ -725,6 +728,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,false);
+    AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,false);
+
 
     EnableLubrication = JobTicket->enablelubrication;
     EnableIntersegment = JobTicket->enableintersegment;
@@ -735,16 +740,16 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
     if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT)
     {
         ReportWithPackageFilter(ThreadFilter,"Dyeing head is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpFatalError,LIMIT,0);
-        JobEndReason = JOB_LIDS_OPEN;
-        PrepareReady(Module_Thread,ModuleFail);
-        return ERROR;
+        //JobEndReason = JOB_LIDS_OPEN;
+        //PrepareReady(Module_Thread,ModuleFail);
+        //return ERROR;
     }
     if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) != LIMIT)
     {
         ReportWithPackageFilter(ThreadFilter,"Dryer lid is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpFatalError,LIMIT,0);
-        JobEndReason = JOB_LIDS_OPEN;
-        PrepareReady(Module_Thread,ModuleFail);
-        return ERROR;
+        //JobEndReason = JOB_LIDS_OPEN;
+        //PrepareReady(Module_Thread,ModuleFail);
+        //return ERROR;
     }
 
     //start thread control for all motors
@@ -774,7 +779,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
             {
-                Report("Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
+                ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
                 if (SpeedControlId != 0xFF)
                 {
                     RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
@@ -786,7 +791,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
             }
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
             {
-                Report("Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
+                ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
                 if (PoolerSpeedControlId != 0xFF)
                 {
                     if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
@@ -826,7 +831,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
             }
             if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
             {
-                Report("Winder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
+                ReportWithPackageFilter(ThreadFilter,"Winder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
                 if (ControlIdtoMotorId[Motor_i] != 0xFF)
                 {
                     if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
@@ -869,7 +874,7 @@ void SetOriginMotorSpeed(float process_speed)
         OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
         InitialDryerSpeed = 0.0;
         CurrentControlledSpeed[Motor_i] = (int) motor_speed;
-        //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
+        //ReportWithPackageFilter(ThreadFilter,"Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
 
         for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
             MotorSpeedSamples[Motor_i][i] = motor_speed;
@@ -881,8 +886,6 @@ void ThreadPreSegmentEnded(void)
     REPORT_MSG (0,"First ThreadPreSegmentEnded");
     PreSegmentReady(Module_Thread,ModuleDone);
 }
-#define DRYER_RAMPUP 1
-#ifdef DRYER_RAMPUP
 int DrierDivider = 10;
 uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
 {
@@ -895,12 +898,11 @@ uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
     }
 
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
-    Report("ThreadDryerRampUp",__FILE__,ControlIdtoMotorId[DRYER_MOTOR],(int)InitialDryerSpeed,RpWarning,(int)OriginalMotorSpd_2PPS[DRYER_MOTOR],0);
+    //ReportWithPackageFilter(ThreadFilter,"ThreadDryerRampUp",__FILE__,ControlIdtoMotorId[DRYER_MOTOR],(int)InitialDryerSpeed,RpWarning,(int)OriginalMotorSpd_2PPS[DRYER_MOTOR],0);
 
 
     return OK;
 }
-#endif
 
 //********************************************************************************************************************
 uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
@@ -922,16 +924,12 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
         PrepareState = false;
 #ifndef TEST_PID_THREAD
         // set the new speed in the dryer motor to the speed of the new segment
-#ifndef DRYER_RAMPUP
-        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);
-#else
         DrierDivider = dyeingspeed/5;  //ramp up drier in 5 cm/sec steps
-        Report("Drier ramp up",__FILE__,__LINE__,(int)dyeingspeed,RpWarning,(int)DrierDivider,0);
+        ReportWithPackageFilter(ThreadFilter,"Drier ramp up",__FILE__,__LINE__,(int)dyeingspeed,RpWarning,(int)DrierDivider,0);
         InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR]/DrierDivider;
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
         ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback("DryerRampUp",ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0);
 #endif
-#endif
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogInit();
 #endif
@@ -1051,7 +1049,7 @@ char Endstr[150];
 
      usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
      SendJobProgress(0.0,0,false, Endstr);
-     Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+     ReportWithPackageFilter(ThreadFilter,Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
      //TotalProcessedLength = 0.0;