merge

15 files changed, 377 insertions, 187 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 608d17a7b..b316fd73f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -166,11 +166,51 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
         ACTIVITY_RED_LED_OFF; // Heaters indication - all the Heaters OFF
         if(power.color == fastBILNK)
             Pannel_Leds(POWER_ON_OFF,MODE_OFF);
-
+        else
         if((power.color == BLINK) && (counter % Blink_Freq == 0) )
         {
             Pannel_Leds(POWER_ON_OFF,MODE_OFF);
         }
+        ///////////////////////////////////////////////////////////
+        if(jog.color == fastBILNK)
+            Pannel_Leds(THREAD_JOGGING,MODE_OFF);
+        else
+        if((jog.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(THREAD_JOGGING,MODE_OFF);
+        }
+        ///////////////////////////////////////////////////////////
+        if(load.color == fastBILNK)
+            Pannel_Leds(THREAD_LOAD,MODE_OFF);
+        else
+        if((load.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(THREAD_LOAD,MODE_OFF);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart1.color == fastBILNK)
+            Pannel_Leds(CART_1,MODE_OFF);
+        else
+        if((cart1.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_1,MODE_OFF);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart2.color == fastBILNK)
+            Pannel_Leds(CART_2,MODE_OFF);
+        else
+        if((cart2.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_2,MODE_OFF);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart3.color == fastBILNK)
+            Pannel_Leds(CART_3,MODE_OFF);
+        else
+        if((cart3.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_3,MODE_OFF);
+        }
         flag = false;
     }
     else
@@ -181,11 +221,53 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
 
         if(power.color == fastBILNK)
             Pannel_Leds(POWER_ON_OFF,MODE_ON);
-
+        else
         if((power.color == BLINK) && (counter % Blink_Freq == 0) )
         {
             Pannel_Leds(POWER_ON_OFF,MODE_ON);
         }
+        ///////////////////////////////////////////////////////////
+        if(jog.color == fastBILNK)
+            Pannel_Leds(THREAD_JOGGING,MODE_ON);
+        else
+        if((jog.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(THREAD_JOGGING,MODE_ON);
+        }
+        ///////////////////////////////////////////////////////////
+        if(load.color == fastBILNK)
+            Pannel_Leds(THREAD_LOAD,MODE_ON);
+        else
+        if((load.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(THREAD_LOAD,MODE_ON);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart1.color == fastBILNK)
+            Pannel_Leds(CART_1,MODE_ON);
+        else
+        if((cart1.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_1,MODE_ON);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart2.color == fastBILNK)
+            Pannel_Leds(CART_2,MODE_ON);
+        else
+        if((cart2.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_2,MODE_ON);
+        }
+        ///////////////////////////////////////////////////////////
+        if(cart3.color == fastBILNK)
+            Pannel_Leds(CART_3,MODE_ON);
+        else
+        if((cart3.color == BLINK) && (counter % Blink_Freq == 0) )
+        {
+            Pannel_Leds(CART_3,MODE_ON);
+        }
+
+
 
         flag = true;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index c9bbe2df6..97489f431 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -255,6 +255,12 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
             else
                 Control_Dryer_Fan(STOP,0);//use START or STOP,  0 - 100%();
             break;
+        case INTERFACE_IOS__GPO_WASTECH_PUMP2://valve
+                Valve_Set(VALVE_WASTE_TANK, request->value);
+            break;
+        case INTERFACE_IOS__GPO_WHS_WTANKPUMP2:
+            SetWastePump( request->value);
+            break;
         default:
             responseContainer.has_error = true;
             responseContainer.error = ERROR_CODE__GENERAL_ERROR;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index d39c97621..5ef216264 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -29,6 +29,7 @@
 #include "Modules/AlarmHandling/AlarmHandling.h"
 #include "Modules/heaters/heaters_ex.h"
 #include "modules/thread/thread_ex.h"
+#include "modules/waste/waste.h"
 
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include  <PMR/Diagnostics/StartDiagnosticsRequest.pb-c.h>
@@ -104,7 +105,7 @@ DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
 HeaterState **heatersstates;
 HeaterState  HeaterInfo[HEATER_TYPE__MixerHeater+1];
 DigitalInterfaceState **digitalinterfacestates;
-DigitalInterfaceState DigitalOutputState[MAX_HEATERS_NUM+2];
+DigitalInterfaceState DigitalOutputState[MAX_HEATERS_NUM+8];
 /*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT+1];
 double dispenser2motorfrequency[DIAGNOSTICS_LIMIT+1];
 double dispenser3motorfrequency[DIAGNOSTICS_LIMIT+1];
@@ -168,8 +169,8 @@ void DiagnosticsInit(void)
         heater_state__init(&HeaterInfo[i]);
         heatersstates[i] = &HeaterInfo[i];
     }
-    digitalinterfacestates = (DigitalInterfaceState**)my_malloc(sizeof(DigitalInterfaceState *)*MAX_HEATERS_NUM);
-    for (i = 0;i<MAX_HEATERS_NUM;i++ )
+    digitalinterfacestates = (DigitalInterfaceState**)my_malloc(sizeof(DigitalInterfaceState *)*(MAX_HEATERS_NUM+8));
+    for (i = 0;i<(MAX_HEATERS_NUM+8);i++ )
     {
         digital_interface_state__init(&DigitalOutputState[i]);
         DigitalOutputState[i].has_interfaceio = true;
@@ -251,6 +252,18 @@ void DiagnosticsLoadDigitalValues(void)
     DigitalOutputState[11].interfaceio = INTERFACE_IOS__GPO_LED4;
     DigitalOutputState[11].value = DataUpdated;
 
+    DigitalOutputState[12].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_FULL;
+    DigitalOutputState[12].value = WHS_IsContainerOverflow();
+
+    DigitalOutputState[13].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_WARN;
+    DigitalOutputState[13].value = WHS_IsContainerFull();
+
+    DigitalOutputState[14].interfaceio = INTERFACE_IOS__GPO_SPARE1_1; /*waste lower cartridge presence*/
+    DigitalOutputState[14].value = WHS_WasteCartridgeLowerPresent();
+
+    DigitalOutputState[15].interfaceio = INTERFACE_IOS__GPO_SPARE1_2; /*waste middle cartridge presence*/
+    DigitalOutputState[15].value = WHS_WasteCartridgeMiddlePresent();
+
 }
 void DiagnosticLoadTemperature(int HeaterId, int temperature)
 {
@@ -586,7 +599,7 @@ void SendDiagnostics(void)
     response.n_componentsstates = 0;
 
     DiagnosticsLoadDigitalValues();
-    response.n_digitalinterfacestates = MAX_HEATERS_NUM;
+    response.n_digitalinterfacestates = MAX_HEATERS_NUM+6;
     response.digitalinterfacestates = digitalinterfacestates;
 
     for (i=HEATER_TYPE__DryerAirHeater;i<=HEATER_TYPE__MixerHeater;i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 1483f2889..6f1dc2052 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -142,7 +142,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
             EmbeddedParameters.has_dispenserbuildpressurelag = true;
             EmbeddedParameters.dispenserbuildpressurelag=50;
             EmbeddedParameters.has_acheatersloweroperationlimit = true;
-            EmbeddedParameters.acheatersloweroperationlimit = 995;
+            EmbeddedParameters.acheatersloweroperationlimit = 980;
             EmbeddedParameters.has_acheatersupperoperationlimit = true;
             EmbeddedParameters.acheatersupperoperationlimit = 1005;
             EmbeddedParameters.has_dcheatersloweroperationlimit = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 21d425221..74cb81aac 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -13,7 +13,6 @@
 #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>
@@ -24,33 +23,13 @@
 
 #include "Modules/General/buttons.h"
 #include "StateMachines/Initialization/PowerOffSequence.h"
+#include "StateMachines/Initialization/PowerIdle.h"
 
-//int MachineOnOff();
 int PowerDown();
 int PowerUp();
 int thredJog();
 
 
-/*
-typedef enum
-{
-    OFFPB = 0,
-    COUNTPB ,
-    SHORTPB ,
-    LONGPB  ,
-    REPLONGPB //repeat long PB
-}PBstat;
-*/
-typedef enum
-{
-    MSEC = 0,
-    lESS200 ,
-    LESS500 ,
-    LESS5000 ,
-    MORE5000
-}timems;
-
-
 
 //enum PBstat OnOffPBstate = OFFPB;
 //enum PBstat ret
@@ -58,7 +37,7 @@ typedef enum
 
 
 
-button power , jog, load;
+button power, jog, load, cart1, cart2, cart3;
 uint32_t ButtonPowerCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ButtonPowerCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn);
@@ -68,7 +47,7 @@ uint32_t StateMachine( button *pBtn);
 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 setJoggingEnableCondition( button *pBtn);
 uint32_t joggingMachine(  button *pBtn);    //uint8_t OnOffPB,
 
 
@@ -87,8 +66,8 @@ bool Read_PWR_Button();//TODO move to GPIO folder
 
 int PowerDown()
 {
-    bool ret = OK;
-    PowerOffInit();
+    bool ret = !OK;
+    ret = PowerOffInit();
 
     return ret;
 }
@@ -100,42 +79,25 @@ int PowerUp()
     return ret;
 }
 
-
 bool SetPowerMachineState(PBmachineState state)
 {
     bool ret = OK;
     switch ( state )
     {
         case sttOFF:
-            power.state = state;
-            break;
         case sttON:
+        case sttIDLE:
             power.state = state;
-            break;
+           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;
@@ -190,9 +152,7 @@ uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 uint32_t Buttons_Init(void)
 {
-
-//    power.bttn_status = 0 ;
-//    power.bttn_name = "power";  //option
+    strcpy(power.bttn_name, "power");
     power.bttn_status = release;    // 0=release 1=press
     power.Action = OFFPB ;   //off,short,long,count,replong
     power.color = BLUE;   //off, blue, blink, bithing
@@ -201,8 +161,7 @@ uint32_t Buttons_Init(void)
 
     AddControlCallback( ButtonPowerCBFunction, BUTTOMS_SAMPLE_TIME, ButtonPowerCallBackFunction, 0,0,0 ); // eFiftyMillisecond
 
-//    jog.bttn_status = 0 ;
-//    jog.bttn_name = "jog";  //option
+    strcpy(jog.bttn_name, "jog");
     jog.bttn_status = release;    // 0=release 1=press
     jog.Action = OFFPB ;   //OFFPB,short,long,count,replong
     jog.color = colorOFF;   //colorOFF, BLUE, BLINK,
@@ -210,12 +169,11 @@ uint32_t Buttons_Init(void)
     jog.count = 0;
    AddControlCallback( ButtonJogCBFunction, BUTTOMS_SAMPLE_TIME, ButtonJogCallBackFunction, 0,0,0 ); //
 
-//   load.bttn_status = 0 ;
-//    load.bttn_name = "load";  //option
+   strcpy(load.bttn_name, "load");
    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
+   load.state = sttRDY; //
    load.count = 0;
 
    AddControlCallback( ButtonLoadCBFunction, BUTTOMS_SAMPLE_TIME, ButtonLoadCallBackFunction, 0,0,0 ); //
@@ -232,15 +190,12 @@ uint32_t ButtonPowerCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-
     jog.bttn_status = ReadValue;
     //if (ReadValue == press)
     {
-        setJoggingEnableCondition(&jog);
+        //setJoggingEnableCondition(&jog);
         joggingMachine(&jog);
     }
-
-
     return 0;
 }
 
@@ -452,36 +407,36 @@ return 0;
 
 
 
-uint32_t    setJoggingEnableCondition( button *pBtn)
-{
-    uint8_t parameter = 3;
-
-    if (0
-//         to do : what are the conditions for enable / disable
-//            1.
-//            2.
-//            3.
-//            ...
-            )
-        {
-            pBtn->state = 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 : setJoggingEnableCondition  sttENABLE  ----------------- ");
-        pBtn->color = BLUE;
-        Pannel_Leds(THREAD_JOGGING, MODE_ON); //AVI+
-        //ThreadJoggingFunc(40);
-    }
-
-return 0;
-}
+//uint32_t    setJoggingEnableCondition( button *pBtn)
+//{
+//    uint8_t parameter = 3;
+//
+//    if (0
+////         to do : what are the conditions for enable / disable
+////            1.
+////            2.
+////            3.
+////            ...
+//            )
+//        {
+//            pBtn->state = 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 : setJoggingEnableCondition  sttENABLE  ----------------- ");
+//        pBtn->color = BLUE;
+//        Pannel_Leds(THREAD_JOGGING, MODE_ON); //AVI+
+//        //ThreadJoggingFunc(40);
+//    }
+//
+//return 0;
+//}
 
 
 
@@ -575,13 +530,14 @@ return 0;
 
 uint32_t LoadStatMachine( button *pBtn)
 {
-    //uint8_t parameter = 5;
+    uint8_t parameter = 5;
 
     //REPORT_MSG(parameter," ------------ start loading    ----------------- ");
     Report(" ------------ start loading    ----------------- ",__FILE__,__LINE__,pBtn->state,RpWarning,pBtn->color,0);
     switch (pBtn->state)
     {
         case sttRDY :
+            REPORT_MSG(parameter," ------------ load.state = sttRDY    ----------------- ");
             switch (pBtn->Action)
             {
                 case (SHORTPB):
@@ -589,7 +545,6 @@ 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
@@ -607,6 +562,7 @@ uint32_t LoadStatMachine( button *pBtn)
             }
             break;
         case sttPRELOAD:
+            REPORT_MSG(parameter," ------------ load.state = sttPRELOAD    ----------------- ");
             switch (pBtn->Action)
             {
                 case (SHORTPB):
@@ -624,7 +580,6 @@ uint32_t LoadStatMachine( button *pBtn)
                     {
                         pBtn->state = sttLOADFAIL ;
                         pBtn->color = fastBILNK ;    // to do
-                        Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
                     }
                     break;
                 default :
@@ -632,6 +587,7 @@ uint32_t LoadStatMachine( button *pBtn)
             }
             break;
         case sttLOADING:
+            REPORT_MSG(parameter," ------------ load.state = sttLOADING    ----------------- ");
             break;
 //        case sttLOADSUCSESS ?????
 //            break;
@@ -639,6 +595,7 @@ uint32_t LoadStatMachine( button *pBtn)
 //            break;
 
         default: //sttDISABLE
+            REPORT_MSG(parameter," ------------ load.state = default    ----------------- ");
             pBtn->color =  colorOFF;
             Pannel_Leds(THREAD_LOAD, MODE_OFF);//AVI+
             break;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.h b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
index 8b064bbcc..2d14eb000 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
@@ -29,10 +29,12 @@ typedef enum
 {
     sttOFF = 0,
     sttON,
+    sttIDLE,
+
     sttDISABLE,
     sttENABLE,
-    sttIDLE,
     sttJOGGING,
+
     sttRDY,
     sttPRELOAD,
     sttLOADING,
@@ -50,7 +52,7 @@ typedef struct Button
     uint32_t count;
 }button;
 
-extern button power , jog, load;
+extern button power, jog, load, cart1, cart2, cart3;
 
 uint32_t Buttons_Init(void);
 uint32_t Button_load_Init(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 93048681d..75ed06b05 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -218,7 +218,7 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->heatertype = HeaterType;
     HeaterState->has_setpoint = true;
     HeaterState->setpoint = HeaterCmd[HeaterId].targettemperatue/100;
-    //    HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse;
+    //HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse;
     HeaterState->has_currentvalue = true;
     HeaterState->currentvalue = temp/100;//MillisecGetTemperatures(HeaterId2PT100Id[HeaterId])/100;
     HeaterState->has_isactive = true;
@@ -227,11 +227,16 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->isrampingup = 1-HeaterReady[HeaterId];
     HeaterState->has_isinsetpoint = true;
     HeaterState->isinsetpoint = HeaterReady[HeaterId];
-    /*if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
+    if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)
     {
         HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit;
         //HeaterState->isrampingup = InitialHeating;
-    }*/
+    }
+    if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary)
+    {
+        HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit;
+        //HeaterState->isrampingup = InitialHeating;
+    }
     return;
 }
 uint32_t HeatersSingleHeaterEnd(HardwarePidControlType HeaterId)
@@ -667,10 +672,10 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
             LOG_ERROR (MaxreadValue/100, "Heater Over the max temperature, turned off");
         }
         DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
-        HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain] = true;
+        HeaterMaxTempFlag[index] = true;
         //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
         DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
-        HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true;
+        //HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true;
         //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
         return OK;
     }
@@ -842,17 +847,18 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     return OK;
                 }
 //        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))
-        if (readValue < (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))
+        if (readValue < (/*HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000*/HeaterCmd[index].targettemperatue-1000))
                 {
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
                     return OK;
                 }
 
-        if ((readValue > (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
+        if ((readValue > (HeaterCmd[index].targettemperatue-1000)/*(HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000)*/)&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
         {
 //////////////////
             //InitialHeating = false;
+            Report("AC PID Activating",__FILE__,__LINE__,readValue,RpWarning,(HeaterCmd[index].targettemperatue-1000), 0);
             DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0);
             HeatersControlStart();
@@ -891,15 +897,30 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         }
         else  //PID active
         {
-            if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+            if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
             {
-                HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 0;
+                HeaterPIDConfig[index].m_integral = 0;
+            }
+            else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)))
+            {
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 10000;
+                HeaterPIDConfig[index].m_integral = 0;
             }
             else
             {
-                HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+                {
+                    HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                          &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                }
+                else
+                {
+                    HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                          &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                }
             }
 //            len = usnprintf(ACheatstr, 254, "ACD Id, Temp , Integral, Output{ %d, %d ,%d, %d} ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
             //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
@@ -1015,15 +1036,31 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         {
             //check only for the proportional band limits
             HeaterPIDConfig[index].m_mesuredParam = readValue;
-            if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+            if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
             {
-                HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 0;
+                HeaterPIDConfig[index].m_integral = 0;
+            }
+            else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)))
+            {
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 10000;
+                HeaterPIDConfig[index].m_integral = 0;
             }
             else
             {
-                HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+                {
+                    HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                          &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                }
+                else
+                {
+                    HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                          &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                }
+
             }
             //        error[index][Counter[index]]    = HeaterPIDConfig[index].m_preError;
             //        integral[index][Counter[index]] = HeaterPIDConfig[index].m_integral;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 6d80355b7..f3c5ad8da 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -661,7 +661,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
                      if (MotorsCfg[HW_Motor_Id].hardwaremotortype
                              != DispenserIdToMotorId[DispenserId])
                          continue;
-
+                     if ((DispenserId == CLEANER_DISPENSER)||(DispenserId == LUBRICANT_DISPENSER))
+                     {
+                         continue;
+                     }
                      //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
                      segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
                              / Dispensers[Dispenser_i]->nanoliterperpulse;
@@ -799,6 +802,13 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
                 DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
                 continue;
             }
+            if ((DispenserId == CLEANER_DISPENSER)||(DispenserId == LUBRICANT_DISPENSER))
+            {
+                REPORT_MSG(DispenserId,"Dispenser PreSegment cleaner or lubricant");
+                DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
+                continue;
+            }
+
             //REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
             IDS_Dispenser_Set_Flow_Params(DispenserId,0,0);
             if (Dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
@@ -842,7 +852,10 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype
                     != DispenserIdToMotorId[DispenserId])
                 continue;
-
+            if ((DispenserId == CLEANER_DISPENSER)||(DispenserId == LUBRICANT_DISPENSER))
+            {
+                continue;
+            }
             //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
             segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
                     / Dispensers[Dispenser_i]->nanoliterperpulse;
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
index e2f2013c9..4867587d9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
@@ -22,41 +22,7 @@
 #include "driverlib/rom.h"
 
 
-char Read_HW_Version(unsigned char *Brd_ID, unsigned char *Assy_ID)
-{
-    //TODO Move in GPIO Initialisation
-
-    // -----------  Set HW Version GPIO as Input -----------
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTS_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1);
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTJ_BASE, GPIO_PIN_5 | GPIO_PIN_4 | GPIO_PIN_7);
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_3 | GPIO_PIN_5);
-
-    //Set HW Version GPIO to Pull down
-    GPIOPadConfigSet(GPIO_PORTS_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    GPIOPadConfigSet(GPIO_PORTJ_BASE, GPIO_PIN_5 | GPIO_PIN_4 | GPIO_PIN_7, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_3 | GPIO_PIN_5,              GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    // ------------------------------------------------------
 
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_3) == GPIO_PIN_3)
-        *Brd_ID |= 0x08;
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_2) == GPIO_PIN_2)
-        *Brd_ID |= 0x04;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_5) == GPIO_PIN_5)
-        *Brd_ID |= 0x02;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_4) == GPIO_PIN_4)
-        *Brd_ID |= 0x01;
-
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_3) == GPIO_PIN_3)
-        *Assy_ID |= 0x08;
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_5) == GPIO_PIN_5)
-        *Assy_ID |= 0x04;
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_1) == GPIO_PIN_1)
-        *Assy_ID |= 0x02;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_7) == GPIO_PIN_7)
-        *Assy_ID |= 0x01;
-
-    return PASSED;
-}
 
 void Stub_HWVersionRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 636889127..7995b1a42 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -21,7 +21,7 @@
 #include "drivers/SPI/SPI_Comm.h"
 
 #include "driverlib/ssi.h"
-
+/*
     unsigned long Run_Value = 136902 ;
     unsigned long Pos_Value;
     unsigned long Mov_Value ;
@@ -43,6 +43,28 @@
     unsigned long TestUint32_4;
     unsigned long TestUint32_5;
     unsigned long TestUint32_6;
+    */
+    extern unsigned long Run_Value ;
+    extern unsigned long Mov_Value ;
+    extern unsigned long Pos_Value;
+    extern bool Direction ;
+    extern unsigned long Time_2_Change_Direction ;
+    extern bool Display_Tx_ON_LCD;
+    extern bool Display_Rx_on_LCD;
+    extern unsigned long Init_MicroStep ;
+    extern unsigned long Init_Acc;
+    extern unsigned long Init_Dec;
+    extern bool TestBool_1;
+    extern bool TestBool_2;
+    extern bool TestBool_3;
+    extern bool TestBool_4;
+    extern bool TestBool_5;
+    extern unsigned long TestUint32_1;
+    extern unsigned long TestUint32_2;
+    extern unsigned long TestUint32_3;
+    extern unsigned long TestUint32_4;
+    extern unsigned long TestUint32_5;
+    extern unsigned long TestUint32_6;
 
 void Stub_L6470DriverRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h
deleted file mode 100644
index 0b4702861..000000000
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h
+++ /dev/null
@@ -1,3 +0,0 @@
-void Stub_L6470DriverRequest(MessageContainer* requestContainer);
-
-void temp_init_spi2();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 1f7836ea5..70f32ce6d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -322,7 +322,9 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps -= 100;
+        screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
         //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI);
         RotationsPerSecond =  OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
@@ -343,10 +345,8 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
     //     * 3. calculate cart travel length from winding parameters
     //     * 4. start move of travel length
     //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
-        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
-        ScrewNumberOfSteps -= 100;
         temp = SYS_CLK_FREQ;
-        temp *= InternalWinderCfg.segmentoffsetpulses;
+        temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
         REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
index bda01564f..74f7b40ef 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
@@ -38,14 +38,14 @@ typedef enum
 
 typedef enum
 {
-    SENSORnotFULL = 0,
-    SENSORFULL
+    SENSORFULL = 0,
+    SENSORnotFULL
 } WHS_FullSensorStatus;
 
 typedef enum
 {
-    SENSOREMPTY = 0,
-    SENSORnotEMPTY
+    SENSORnotEMPTY = 0,
+    SENSOREMPTY
 } WHS_EmptySensorStatus;
 
 typedef enum
@@ -99,6 +99,15 @@ U8 WHS_init(void);
 U8 WHS_HW_test(void);
 bool WHS_IsEmptying();
 
+bool WHS_IsContainerFull();
+bool WHS_IsContainerOverflow();
+bool WHS_WasteCartridgeLowerPresent();
+bool WHS_WasteCartridgeMiddlePresent();
+bool WHS_IsPumpActive();
+bool WHS_IsValveOpen();
+
+bool SetWastePump( bool power);
+
 
 #endif
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
index e69de29bb..8b1378917 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
@@ -0,0 +1 @@
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index 9531b67d6..8aa358e32 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -19,7 +19,7 @@
 #define CartridgeWaste2CallBackTime     eOneSecond
 #define STARTCOUNT  1
 #define STOPCOUNT   0
-#define PumpTimeout 60 //  minutes
+#define PumpTimeout 1200 //  seconds; 20 minutes, per Moty,  15/4/19
 
 
 /*------------Waste Tank function-----------------------*/
@@ -98,6 +98,14 @@ struct WHS_information
 
 struct WHS_information WHS_info;
 
+bool WHS_IsContainerFull(){return WHS_info.WHS_sensors.waste_tank_full_sensor;}
+bool WHS_IsContainerOverflow(){return WHS_info.WHS_sensors.waste_tank_over_flow_sensor;}
+bool WHS_WasteCartridgeLowerPresent(){return WHS_info.WHS_sensors.waste_cartridge1_precense_sensor;}
+bool WHS_WasteCartridgeMiddlePresent(){return WHS_info.WHS_sensors.waste_cartridge2_precense_sensor;}
+bool WHS_IsPumpActive(){return WHS_info.WHS_pump.status;}
+bool WHS_IsValveOpen(){return WHS_info.WHS_valve;}
+
+
 
 bool WHS_IsEmptying()
 {
@@ -141,13 +149,17 @@ bool CartridgeAuthentication(cartridge_name cart_name)
     {
         case waste_cartridge1:
             WHS_info.cartridge_1.autheticate = PASSED;
+            //Pannel_Leds(CART_2, MODE_ON);
             break;
         case waste_cartridge2:
             WHS_info.cartridge_2.autheticate = PASSED;
+            //Pannel_Leds(CART_3, MODE_ON);
             break;
         default:
             WHS_info.cartridge_1.autheticate = FAILED;
             WHS_info.cartridge_2.autheticate = FAILED;
+            //Pannel_Leds(CART_2, MODE_OFF);
+            //Pannel_Leds(CART_3, MODE_OFF);
             break;
     }
     ret = OK;
@@ -231,7 +243,9 @@ bool SetValveDirection()
      *
      * */
     bool ret = notOK;
-    if (WHS_info.WHS_valve != no_waste_cartridge)
+    //if (WHS_info.WHS_valve != no_waste_cartridge)
+    if (WHS_info.active_cartridge == waste_cartridge1) WHS_info.WHS_valve = 1;
+    else WHS_info.WHS_valve = 2;
     {
         Valve_Set(VALVE_WASTE_TANK, WHS_info.WHS_valve);
         ret = OK;
@@ -258,6 +272,7 @@ U8 CartridgeWasteFilling(bool status)
         SetWastePump(OPEN);
         //WHS_info.WHS_pump.time = 0;
         REPORT_MSG(WHS_empty," ------------ WHS WHS_empty start PUMP  ----------------- ");
+        ret=OK;
     }
     else // stop Waste cartridge filling
     {
@@ -352,7 +367,7 @@ WHS_sttMachin UpdateStateMachine()
 bool initWHS_WasteTank()
 {
     WHS_info.WHS_sensors.waste_tank_empty_sensor = RdWasteTankEmptySensor();
-    WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;//RdWasteTankFullSensor();
+    WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;//;RdWasteTankFullSensor()
     UpdateStateMachine();
     AddControlCallback(WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
     return OK;
@@ -392,7 +407,7 @@ WHS_sensor FullSensorEvent()
     {
         WHS_info.event =  WHS_full_sensor;
         ret = WHS_full_sensor;
-        WHS_info.WHS_sensors.waste_tank_full_sensor = !WHS_info.WHS_sensors.waste_tank_full_sensor;
+        WHS_info.WHS_sensors.waste_tank_full_sensor = 1-WHS_info.WHS_sensors.waste_tank_full_sensor;
     }
     return ret;
 }
@@ -446,7 +461,10 @@ bool WasteTankCBFunction()
             if (WHS_info.WHS_sensors.waste_tank_empty_sensor == SENSORnotEMPTY)
             {
                 if (WHS_info.sttMachine == WHS_empty)
+                {
                     WHS_info.sttMachine = WHS_filling;
+                    REPORT_MSG(WHS_filling," ------------ WHS_filling ----------------- ");
+                }
                 else
                 {
                     REPORT_MSG(WHS_filling," ------------ WHS EMPTY sensor failed !!!!!!! ----------------- ");
@@ -457,9 +475,10 @@ bool WasteTankCBFunction()
                 if (WHS_info.sttMachine == WHS_emptying)
                 {
                     WHS_info.sttMachine = WHS_empty;
+                    REPORT_MSG(WHS_filling," ------------ WHS_empty ----------------- ");
                     ret = CartridgeWasteFilling(OFF);
                     WHS_info.Cartridge_Cover_device_Id = RemoveControlCallback(WHS_info.Cartridge_Cover_device_Id, WasteTankCBFunction );
-                   WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackTime, CartridgeCoverCallBackFunction, 0,0,0 );//eOneSecond
+                    WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackTime, CartridgeCoverCallBackFunction, 0,0,0 );//eOneSecond
                     //SafeRemoveControlCallback(Cartridge_Cover_device_Id, CartridgeCoverCBFunction );
                 }
                 else
@@ -471,24 +490,25 @@ bool WasteTankCBFunction()
         case WHS_full_sensor:
             if (WHS_info.WHS_sensors.waste_tank_full_sensor == SENSORFULL)
             {
-                if (WHS_info.sttMachine == WHS_filling)
-                {
-                    WHS_info.sttMachine = WHS_full;
-                    WHS_info.Cartridge_Cover_device_Id = RemoveControlCallback(WHS_info.Cartridge_Cover_device_Id, WasteTankCBFunction );
-                    WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackFastTime , CartridgeCoverCallBackFunction, 0,0,0 );//eTenMillisecond
-                    ret = CartridgeWasteFilling(ON);
-                    // cant start a new Job
-                }
-                else
+                WHS_info.sttMachine = WHS_full;
+                REPORT_MSG(WHS_emptying," ------------ WHS_full ----------------- ");
+                WHS_info.Cartridge_Cover_device_Id = RemoveControlCallback(WHS_info.Cartridge_Cover_device_Id, WasteTankCBFunction );
+                WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackFastTime , CartridgeCoverCallBackFunction, 0,0,0 );//eTenMillisecond
+                ret = CartridgeWasteFilling(ON);
+                if (ret != OK)
                 {
-                    REPORT_MSG(WHS_filling," ------------ WHS FULL sensor failed !!!!!!! ----------------- ");
+                    //recreate the full event until cartridge is inserted
+                    WHS_info.WHS_sensors.waste_tank_full_sensor = 1-WHS_info.WHS_sensors.waste_tank_full_sensor;
                 }
+
+                // cant start a new Job
             }
             else
             {
                 if (WHS_info.sttMachine == WHS_full)
                 {
                     WHS_info.sttMachine = WHS_emptying;
+                    REPORT_MSG(WHS_emptying," ------------ WHS_emptying ----------------- ");
                     // can start a new JOB
                 }
                 else
@@ -548,13 +568,15 @@ bool WasteTankCBFunction()
         case WHS_waste1_presence_sensor :
                     if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == WHS_CarteidgePrecense ) // waste cartridge 1 is inserted .
                     {
-                        SetCartridgeLED(waste_cartridge1, led_on);
+                        //SetCartridgeLED(waste_cartridge1, led_on);
+                        Pannel_Leds(CART_2, MODE_ON);
                         RdWasteCartridgeParam(waste_cartridge1);
+                        SetActiveWastCartridge();
+                        SetValveDirection();
                         if ( CartridgeAuthentication(waste_cartridge1)) // to define authentication
                         {
                             //WHS_info.cartridge_1.autheticate = PASSED; //='0'
                             //???WHS_info.WHS_valve = waste_cartridge1; // or we should do it only before pumping????
-                            //???SetValveDirection();    // or we should do it only before pumping????
                         }
                         else
                         {
@@ -564,6 +586,7 @@ bool WasteTankCBFunction()
                     }
                     else    // waste cartridge 1 take out
                     {
+                        Pannel_Leds(CART_2, MODE_OFF);
                         WHS_info.cartridge_1.autheticate = FAILED;
                         //???if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
                         //???{
@@ -582,7 +605,7 @@ bool WasteTankCBFunction()
         case WHS_waste2_presence_sensor :
                     if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == WHS_CarteidgePrecense ) // waste cartridge  is inserted .
                     {
-                       SetCartridgeLED(waste_cartridge2, led_on);
+                       Pannel_Leds(CART_3, MODE_ON);//SetCartridgeLED(waste_cartridge2, led_on);
                        RdWasteCartridgeParam(waste_cartridge2);
                        if ( CartridgeAuthentication(waste_cartridge2)) // to define authentication
                        {
@@ -598,6 +621,7 @@ bool WasteTankCBFunction()
                     }
                     else    // waste cartridge 2 take out
                     {
+                        Pannel_Leds(CART_3, MODE_OFF);
                         WHS_info.cartridge_2.autheticate = FAILED;
                         /*
                           if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
@@ -616,6 +640,7 @@ bool WasteTankCBFunction()
                     //SetActiveWastCartridge();
                     break;
         case WHS_Timeout:
+            REPORT_MSG(WHS_emptying," ------------ WHS_Timeout ----------------- ");
             AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  true);
             CartridgeWasteFilling(OFF);
             break;
@@ -633,11 +658,16 @@ bool WasteTankCBFunction()
 
 bool RdCartridgeCoverSensor()
 {
+    uint32_t parameter = 6 ;
+
+    //REPORT_MSG(parameter," ------------ RD Cartridge Cover Sensor    ----------------- ");
     bool ret = notOK;
     WHS_Read_GPI_Registers();
    // WHS_info.WHS_sensors.cartridge_cover = Get_COVER_1_State(CartridgesDoor);
    // ret = WHS_info.WHS_sensors.cartridge_cover;
     ret = Get_COVER_1_State(CartridgesDoor);
+    if ((ret == OPEN ) && (ret != WHS_info.WHS_sensors.cartridge_cover)) Report(" ------------ RD Cartridge Cover Sensor is = OPEN(1)    ----------------- ",__FILE__,__LINE__,ret,RpWarning,ret,0);
+    if ((ret == CLOSE ) && (ret != WHS_info.WHS_sensors.cartridge_cover)) REPORT_MSG(parameter," ------------ RD Cartridge Cover Sensor is = CLOSE(0)   ----------------- ");
     return ret;
 }
 
@@ -646,10 +676,14 @@ bool RdCartridgeCoverSensor()
 
 WHS_sensor CartridgeCoverCallBackFunction()
 {
+    uint32_t parameter = 6 ;
+
+
     WHS_sensor ret = WHS_no_event;
    //ret = RdCartridgeCoverSensor();
     if (WHS_info.WHS_sensors.cartridge_cover != RdCartridgeCoverSensor())
     {
+        REPORT_MSG(parameter," ------------ find  :  WHS_cartridge_cover_sensor event   ----------------- ");
         WHS_info.event = WHS_cartridge_cover_sensor;
         WHS_info.WHS_sensors.cartridge_cover = !WHS_info.WHS_sensors.cartridge_cover;
         ret = WHS_cartridge_cover_sensor;
@@ -659,10 +693,13 @@ WHS_sensor CartridgeCoverCallBackFunction()
 
 WHS_sensor CartridgeWaste1CallBackFunction()
 {
+    uint32_t parameter = 6 ;
+
     WHS_sensor ret = WHS_no_event;
     //ret = RdCartridgeCoverSensor();
     if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor != RdWasteCartridge1Sensor())
     {
+        REPORT_MSG(parameter," ------------ find  : WHS_waste1_presence_sensor event   ----------------- ");
         WHS_info.event = WHS_waste1_presence_sensor;
         WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge1_precense_sensor;
         ret = WHS_waste1_presence_sensor;
@@ -672,10 +709,13 @@ WHS_sensor CartridgeWaste1CallBackFunction()
 
 WHS_sensor CartridgeWaste2CallBackFunction()
 {
+    uint32_t parameter = 6 ;
+
     WHS_sensor ret = WHS_no_event;
     //ret = RdCartridgeCoverSensor();
     if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor != RdWasteCartridge2Sensor())
     {
+        REPORT_MSG(parameter," ------------ find  : WHS_waste2_presence_sensor event   ----------------- ");
         WHS_info.event = WHS_waste2_presence_sensor;
         WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge2_precense_sensor;
         ret = WHS_waste2_presence_sensor;
@@ -686,15 +726,45 @@ WHS_sensor CartridgeWaste2CallBackFunction()
 /*------------------------------- Cartridge  Waste       -----------------------------------------*/
 bool InitWasteCartStatus()
 {
+    uint32_t parameter = 6 ;
+
     WHS_info.WHS_sensors.cartridge_cover = RdCartridgeCoverSensor();
-    WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = RdWasteCartridge1Sensor();
-    WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = RdWasteCartridge2Sensor();
+
+    if (RdWasteCartridge1Sensor())
+    {
+        REPORT_MSG(parameter," ------------  WHS_waste1_presence_sensor event   ----------------- ");
+        WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = WHS_CarteidgePrecense;
+        Pannel_Leds( CART_2,  MODE_ON);
+    }
+    else
+    {
+        REPORT_MSG(parameter," ------------  WHS_waste1_NOT !!!  presence_sensor   ----------------- ");
+        WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = WHS_CarteidgeNotPrecense;
+        Pannel_Leds( CART_2,  MODE_OFF);
+    }
+
+    if (RdWasteCartridge2Sensor())
+    {
+        REPORT_MSG(parameter," ------------  WHS_waste2_presence_sensor event   ----------------- ");
+        WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = WHS_CarteidgePrecense;
+        Pannel_Leds( CART_3,  MODE_ON);
+    }
+    else
+    {
+        REPORT_MSG(parameter," ------------  WHS_waste1_NOT !!!  presence_sensor   ----------------- ");
+        WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = WHS_CarteidgeNotPrecense;
+        Pannel_Leds( CART_3,  MODE_OFF);
+    }
+
+
+
     if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == WHS_CarteidgePrecense) CartridgeAuthentication(waste_cartridge1);
     if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == WHS_CarteidgePrecense) CartridgeAuthentication(waste_cartridge2);
     SetActiveWastCartridge();
 
     if (WHS_info.WHS_sensors.cartridge_cover == WHS_CartridgeCoverOPEN)
     {
+        REPORT_MSG(parameter," ------------ WHS_CartridgeCoverOPEN  : add callback for cart1 and cart 1   ----------------- ");
         WHS_info.Cartridge_Waste1_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeWaste1CallBackFunction, 0,0,0 );
         WHS_info.Cartridge_Waste2_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeWaste2CallBackFunction, 0,0,0 );
     }
@@ -725,12 +795,26 @@ bool RdWasteCartridge2Sensor()
 
 bool SetActiveWastCartridge()
 {
+    uint8_t parameter = 5;
+
     bool ret = notOK;
     if (( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == PRECENSE ) &&
-            (WHS_info.cartridge_1.autheticate == PASSED))    WHS_info.active_cartridge = waste_cartridge1;
+            (WHS_info.cartridge_1.autheticate == PASSED))
+        {
+            REPORT_MSG(parameter," ------------  WHS : active_cartridge = waste_cartridge  1   ----------------- ");
+            WHS_info.active_cartridge = waste_cartridge1;
+        }
     else if (( WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == PRECENSE) &&
-            (WHS_info.cartridge_2.autheticate == PASSED))    WHS_info.active_cartridge = waste_cartridge2;
-    else WHS_info.active_cartridge = no_waste_cartridge;
+            (WHS_info.cartridge_2.autheticate == PASSED))
+        {
+            REPORT_MSG(parameter," ------------  WHS : active_cartridge = waste_cartridge  2   ----------------- ");
+            WHS_info.active_cartridge = waste_cartridge2;
+        }
+    else
+        {
+            REPORT_MSG(parameter," ------------  WHS : NO active_cartridge   ----------------- ");
+            WHS_info.active_cartridge = no_waste_cartridge;
+        }
     return ret;
 
 }
@@ -911,6 +995,7 @@ U8 RdWaste2()
 U8 SetValve(bool value)
 {
     bool ret = notOK;
+    WHS_info.WHS_valve = value;
     ret = SetValveDirection( );
     return ret;
 }