support stop loading message and some fixes to the thread loading

9 files changed, 236 insertions, 46 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index eea72d6b5..5c16bda14 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -1114,7 +1114,8 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                              if ((doubleValue >= (float)(AlarmItem[Alarm_i].AlarmValue*CurrentAlarmHighLimit)) || (doubleValue <= (float)(AlarmItem[Alarm_i].AlarmValue*CurrentAlarmLowLimit)))
                              {
                                  Status = true;
-                                 ReportWithPackageFilter(AlarmFilter,"OverCurrent Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,AlarmItem[Alarm_i].EventType, RpMessage, (int)(doubleValue*100), 0);
+                                 if (AlarmState[Alarm_i].Status == false)
+									 ReportWithPackageFilter(AlarmFilter,"OverCurrent Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,(int)(AlarmItem[Alarm_i].AlarmValue*100), RpMessage, (int)(doubleValue*100), 0);
                              }
                          }
                          else
@@ -1122,7 +1123,8 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                              if (doubleValue <= 0.1)
                              {
                                  Status = true;
-                                 ReportWithPackageFilter(AlarmFilter,"loop break Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,AlarmItem[Alarm_i].EventType, RpMessage, (int)(doubleValue*100), 0);
+                                 if (AlarmState[Alarm_i].Status == false)
+	                                 ReportWithPackageFilter(AlarmFilter,"loop break Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,(int)(AlarmItem[Alarm_i].AlarmValue*100), RpMessage, (int)(doubleValue*100), 0);
                              }
                          }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 1605092e5..fb3fd1afb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -442,7 +442,7 @@ uint32_t MillisecLoop(uint32_t tick)
                /*else if(Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID) - move to the function  control_HeadCard_PT100
                {
                    //HeadCard_Toggle_PT100(Sensor_i);
-                   //deley??
+                   //delay??
                    //HeadADCPT100_SendReadDataCommand(Sensor_i);
                }
                else if(Sensor_i < MAX_WHS_CARD_TEMP_SENS_ID)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 6b2cf0021..61767c2d6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -386,9 +386,9 @@ void DiagnosticTenMsecCollection(void)
     /*if (JobIsActive()== false)
         return;*/
 
-    DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0,0));
-    DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0,0));
-    DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0,0));
+    DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0));
+    DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0));
+    DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0));
 
     DiagnosticLoadDancerError(WINDER_DANCER,ThreadGetMotorCalculatedError(WINDER_DANCER));
     DiagnosticLoadDancerError(POOLER_DANCER,ThreadGetMotorCalculatedError(POOLER_DANCER));
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 9fdcaaf1f..28bb191fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -1308,6 +1308,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 
 uint32_t SegmentNumOfBrushStops = 0;
 double BrushStopTime = 0;
+uint32_t BrushStopCounter = 0;
 
 void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
 {
@@ -1383,6 +1384,13 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
     int n_dispensers = 0;
     JobSegment* Segment = (void *)IfIndex;
 
+    if(BrushStopCounter++ <  BrushStopTime)
+    {
+        return OK;
+    }
+    BrushStopCounter = 0;
+
+
     if (JobEndSequence == true)
     {
         Report("JobEndSequence",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
@@ -1478,7 +1486,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
     JobBrushStopId++;
     if ((BrushStopTime)&&(SegmentNumOfBrushStops > 1))
     {
-        BrushStopControlId = AddControlCallback(NULL, IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
+        BrushStopCounter = BrushStopTime+10; //move the IDS brush stop handling to highest priority in timing
+        BrushStopControlId = AddControlCallback(NULL, IDSBrushStopRestartCallback, eOneMillisecond,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
         if (BrushStopControlId == 0xFF)
         {
             Report("Add control callback failed",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)0,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 45cc80dff..6fd2e0eb1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -14,6 +14,7 @@
 #include "drivers/adc_sampling/adc.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/ADC_Sampling/adc.h"
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #include "Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h"
 #include "Drivers/I2C_Communication/Head_Card/Fan/fan_click.h"
@@ -254,6 +255,19 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     }
     else
+    if(request->amount == 0xB1)  //fast refresh for pressure
+    {
+        LOG_ERROR(request->delay,"Set loading arm center");
+        Read_Dryer_ENC_Position();
+        Task_sleep(500);
+        Read_Dryer_ENC_Position();
+        Task_sleep(500);
+
+        response.progress = (double)MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CENTER,Read_Dryer_ENC_Position(0,0));
+        response.has_progress = true;
+
+    }
+    else
     if((request->amount == 0xDF) && (request->delay == 0xDF)) //Power off
     {
         PowerOffInit();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 13b98bcb0..f3eb9cb60 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -40,6 +40,8 @@
 #include "PMR/ThreadLoading/StartThreadLoadingResponse.pb-c.h"
 #include "PMR/ThreadLoading/ContinueThreadLoadingRequest.pb-c.h"
 #include "PMR/ThreadLoading/ContinueThreadLoadingResponse.pb-c.h"
+#include "PMR/ThreadLoading/StopThreadLoadingRequest.pb-c.h"
+#include "PMR/ThreadLoading/StopThreadLoadingResponse.pb-c.h"
 
 //#include <stdint.h>
 //#include <stdbool.h>
@@ -86,6 +88,7 @@
     uint32_t ThreadLoadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue);
     uint32_t Thread_Load_Dryer_UnLoading(void);
     uint32_t ThreadLoadingReport(void);
+    bool ThreadLoaded(void);
 
     typedef struct
     {
@@ -115,7 +118,7 @@
         //uint32_t Bytes = 0;
         //FRESULT Fresult = FR_OK;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-
+        load.color = BLINK;
         LoadStatus = OK;
         LoadArmInfo.LoadArmBackLash = MCU_E2PromDryerBacklashRead();
         REPORT_MSG(LoadArmInfo.LoadArmBackLash, "Thread Load MCU_E2PromDryerBacklashRead");
@@ -125,8 +128,10 @@
         //EEPROM_STORAGE_DRYER_CYCLES
         MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
 
-        if (LoadArmInfo.LoadArmRounds <= 2)
-                LoadArmInfo.LoadArmRounds = 20;
+        Read_Dryer_ENC_Position();
+
+        //if (LoadArmInfo.LoadArmRounds <= 2)
+        //        LoadArmInfo.LoadArmRounds = 20;
         Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmInfo.LoadArmRounds,RpWarning,LoadArmInfo.LoadArmBackLash,0);
 
         /*Fresult = f_mkdir(SW_INFO_DIR);
@@ -225,7 +230,7 @@
             WinderControlId = 0xFF;
         }
 
-        MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
+        MotorAbortMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
         /*Task_sleep(5)
         MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
         MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
@@ -301,7 +306,6 @@
         if (CallbackCounter)
         {
             CallbackCounter--;
-            load.color = BLINK;
             if (ReadValue != LIMIT)
             {
                 //returned with a timeout
@@ -321,7 +325,6 @@
                 else
                 {
                     LoadStages++;
-                    load.color = colorON;
                     if (LoadStages == THREAD_LOAD_CLOSE_DANCERS)
                     {
                         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, keepkvalhold);
@@ -332,7 +335,7 @@
                     }
                     else
                     {
-                        load.color = fastBILNK;
+                        load.color = colorON;
                         ThreadLoadingReport();
                     }
                 }
@@ -402,6 +405,7 @@
     uint32_t Thread_Load_Initial_Tension(void) //Check Spool Presence, run Winder Until Break Sensor Is Identifieing Movement For A Second
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
+        load.color = BLINK;
         if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
         {
             REPORT_MSG(LIMIT, "No cone in winder");
@@ -525,30 +529,57 @@
     }
     float numberOfSteps = 0;
     float numberOfCycles = 0;
+    uint32_t DrierPrevLocation = 0;
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         numberOfCycles++;
-        //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
-        if (LoadStages != THREAD_LOAD_DRYER_LOADING)
+        uint32_t temp = Control_Read_Dryer_Position(0,0);
+        if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
         {
-            return OK;
-        }
-        if (numberOfCycles<LoadArmInfo.LoadArmRounds)
-        {
-            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                                   numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
+            DrierPrevLocation = temp;
+            //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
+            if (LoadStages != THREAD_LOAD_DRYER_LOADING)
+            {
+                return OK;
+            }
+            if (numberOfCycles<LoadArmInfo.LoadArmRounds)
+            {
+                MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 10000);
+            }
+            else
+            {
+                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
+                Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
+            }
         }
         else
         {
-            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
+            LOG_ERROR(LoadStages,"Load sequence timeout - drier loading");
+            Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
+            TimeoutsCounter = 0;
+            load.color = fastBILNK;
+            usnprintf(LoadErrorMsg, 100, "Load sequence timeout %d motor %d",LoadStages, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);
+            LoadStatus = ERROR;
+            MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
+            if(LoadingControlId != 0xFF)
+            {
+                MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+                RemoveControlCallback(LoadingControlId, ThreadLoadControlCBFunction );
+                LoadingControlId = 0xFF;
+            }
+            if (SpeedTControlId != 0xFF)
+            {
+               RemoveControlCallback(SpeedTControlId, ThreadLoadLengthCBFunction );
+               SpeedTControlId = 0xFF;
+            }
+            Report("Total Feeder load",__FILE__,__LINE__,dryerbufferCentimeters,RpMessage,TotalLoadedLen,0);
+
+            ThreadLoadingReport();
         }
-        /*if(LoadingControlId != 0xFF)
-        {
-            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
-            RemoveControlCallback(LoadingControlId, ThreadLoadControlCBFunction );
-            LoadingControlId = 0xFF;
-        }*/
         return OK;
     }
 
@@ -565,7 +596,8 @@
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
-        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds);
+        //MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation);
         numberOfCycles = 0;
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmInfo.LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
 //        numberOfSteps -= 100;
@@ -607,8 +639,8 @@
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                               numberOfSteps-400,    Thread_Load_Dryer_Loading_Callback, 100000);
-
+                               numberOfSteps-400,    Thread_Load_Dryer_Loading_Callback, 10000);
+//shlomo
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
         //LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
@@ -668,8 +700,13 @@
         MotorStopAction(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID);
         MotorStopAction(HARDWARE_MOTOR_TYPE__MOTO_DH_LID);
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
+        if (LoadStages!=THREAD_LOAD_END)
+        {
+            usnprintf(LoadErrorMsg, 100, "Load sequence stopped by user on stage %d",LoadStages);
+            LoadStatus = ERROR;
+        }
         LoadStages = THREAD_LOAD_INIT;
-        load.color = colorOFF;
+        load.color = colorON;
         return OK;
     }
     FPGA_GPI_ENUM screw[2] = {GPI_LS_SCREW_LEFT,GPI_LS_SCREW_RIGHT};
@@ -682,13 +719,71 @@
             return OK;
         }
         Screw_Dir = 1-Screw_Dir;
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,15000);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,30000);
 
+        return OK;
+    }
+    uint32_t Thread_Load_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
+    {
+        numberOfCycles++;
+        uint32_t temp = Control_Read_Dryer_Position(0,0);
+        if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
+        {
+            DrierPrevLocation = temp;
+            //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
+            if (LoadStages != THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION)
+            {
+                return OK;
+            }
+            if (numberOfCycles<LoadArmInfo.LoadArmRounds)
+            {
+                MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                                       numberOfSteps,    Thread_Load_Dryer_UnLoading_Callback, 10000);
+            }
+            else
+            {
+                MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,10000);
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-numberOfCycles);
+                Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
+            }
+        }
+        else
+        {
+            LOG_ERROR(LoadStages,"Load sequence timeout - drier Unloading");
+            Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-numberOfCycles);
+            TimeoutsCounter = 0;
+            if(PullerControlId != 0xFF)
+            {
+                MotorStop(ThreadMotorIdToMotorId[POOLER_MOTOR],Hard_Hiz);
+                RemoveControlCallback(PullerControlId, ThreadLoadControlCBFunction );
+                PullerControlId = 0xFF;
+            }
+            if(WinderControlId != 0xFF)
+            {
+                MotorStop(ThreadMotorIdToMotorId[WINDER_MOTOR],Hard_Hiz);
+                RemoveControlCallback(WinderControlId, ThreadLoadControlCBFunction );
+                WinderControlId = 0xFF;
+            }
+
+            MotorAbortMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+            /*Task_sleep(5)
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
+
+            MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
+            load.color = fastBILNK;
+            usnprintf(LoadErrorMsg, 100, "Load sequence timeout %d motor %d",LoadStages, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);
+            LoadStatus = ERROR;
+            ThreadLoadingReport();
+        }
+        return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading(void)
     {
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
-        LoadArmInfo.LoadArmRounds = 0;
+        //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(22);
@@ -715,7 +810,7 @@
         MotorControlConfig[POOLER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].directionthreadwize);
 
-        PullerControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR);
+        PullerControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR);
         Report("AddControlCallback Puller",__FILE__,__LINE__,PullerControlId,RpMessage,IfTypeThread*0x100+POOLER_MOTOR,0);*/
 ////////////////////////
         MotorControlConfig[WINDER_MOTOR].m_params.MAX = 1;
@@ -747,16 +842,27 @@
         CallbackCounter++;
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
+        //Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
+        //MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
+//shlomo
         UnloadingStart = msec_millisecondCounter;
+        numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmInfo.LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+        numberOfCycles = 0;
+
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation);
+
         Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        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);
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+//        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);
+        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                               numberOfSteps-400,    Thread_Load_Dryer_UnLoading_Callback, 10000);
 
         Screw_Dir = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize;
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,15000);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,30000);
 
         //Keep Notation How Many Rotations In The Dryer
-        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         load.color = BLINK;
         return OK;
     }
@@ -764,6 +870,7 @@
     uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue)
     {
         REPORT_MSG(ReadValue,"ThreadLoadStateMachine");
+        ThreadLoaded();
         if (LoadStages!=ReadValue)
             LoadStages = ReadValue;
         switch (ReadValue)
@@ -976,7 +1083,9 @@ 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))
         {
@@ -1012,6 +1121,33 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }*/
  return OK;
 }
+bool ThreadLoaded(void)
+{
+    uint32_t ReadValue;
+
+    int32_t PoolerValue,WinderValue,FeederValue;
+    //this function tests if there is a thread in the machine. all dancers are in lowermost position then there is no thread.
+
+    ReadValue = Control_Read_Dancer_Position(FEEDER_DANCER,0);
+    FeederValue = ReadValue - DancersCfg[FEEDER_DANCER].zeropoint;
+    Report("Feeder out",__FILE__,FeederValue,ReadValue,RpWarning,(int)DancersCfg[FEEDER_DANCER].zeropoint,0);
+    ReadValue = Control_Read_Dancer_Position(WINDER_DANCER,0);
+    WinderValue = ReadValue - DancersCfg[WINDER_DANCER].zeropoint;
+    Report("Winder out",__FILE__,WinderValue,ReadValue,RpWarning,(int)DancersCfg[WINDER_DANCER].zeropoint,0);
+    ReadValue = Control_Read_Dancer_Position(POOLER_DANCER,0);
+    PoolerValue = ReadValue - DancersCfg[POOLER_DANCER].zeropoint;
+        //pooler dancer is right sided: data is opposite
+    PoolerValue = (-1*PoolerValue);
+    Report("Puller out",__FILE__,PoolerValue,ReadValue,RpWarning,(int)DancersCfg[POOLER_DANCER].zeropoint,0);
+
+    if (((PoolerValue)<(-1200))&&((WinderValue)<(-1200))&&((FeederValue)<(-1200)))
+    {
+        Report("Thread is out",__FILE__,(-1*PoolerValue),(-1*WinderValue),RpWarning,(-1*FeederValue),0);
+        return true;
+    }
+    else
+        return false;
+}
 void ThreadLoadRequest(MessageContainer* requestContainer)
 {
 //#ifdef DEBUG_TEST_FUNCTIONS
@@ -1119,6 +1255,7 @@ uint32_t ThreadLoadingReport(void)
         }
     }
     else return ERROR;
+    Report("ThreadLoadingReport",__FILE__,MessageState,response.state,RpWarning,(int)LoadStages,0);
 
     //-------------------------------------------------------------------------------------------
     responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
@@ -1137,6 +1274,7 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer)
     StartThreadLoadingRequest *request = start_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (ThreadLoadingToken, requestContainer->token,36);
     MessageState = 1;
+    Report("StartThreadLoadingFunc",__FILE__,__LINE__,0,RpWarning,(int)LoadStages,0);
     ThreadLoadingReport();
     return OK;
 
@@ -1149,6 +1287,14 @@ uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer)
     MessageContainer responseContainer;
     MessageState = 2;
     ThreadLoadingReport();
+    if (request->processparameters)
+    {
+        dryerbufferlength = request->processparameters->dryerbufferlength;
+        LoadArmInfo.LoadArmRounds = (int)(request->processparameters->dryerbufferlength);
+
+    }
+    Report("ContinueThreadLoadingFunc",__FILE__,__LINE__,(int)(request->processparameters->dryerbufferlength),RpWarning,(int)LoadStages,0);
+
     responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, requestContainer->token, true, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size);
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
@@ -1158,3 +1304,21 @@ uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer)
     return OK;
 
 }
+uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer)
+{
+    StopThreadLoadingRequest *request = stop_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    StopThreadLoadingResponse Cresponse = STOP_THREAD_LOADING_RESPONSE__INIT;
+    MessageContainer responseContainer;
+    MessageState = 2;
+    Thread_Load_End();
+    Report("StopThreadLoadingFunc",__FILE__,__LINE__,(int)(request->processparameters->dryerbufferlength),RpWarning,(int)LoadStages,0);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StopThreadLoadingResponse, requestContainer->token, true, &Cresponse, &stop_thread_loading_response__pack, &stop_thread_loading_response__get_packed_size);
+    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);
+    my_free(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
+    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 4db985954..f0b709ff2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -143,9 +143,9 @@ uint32_t Winder_Prepare(void *JobDetails)
     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
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index cc0bf6c77..dd9395248 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -76,6 +76,7 @@ void ThreadLoadRequest(MessageContainer* requestContainer);
 
 uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer);
 uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer);
+uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer);
 
 uint32_t Thread_Load_End(void);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 0df950f34..fb3b78752 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -170,7 +170,7 @@ uint32_t StoreDancerConfigMessage()
         Dancers[Dancer_i].has_zeropoint = true;
         Dancers[Dancer_i].hardwaredancertype = Dancer_i;
         Dancers[Dancer_i].has_hardwaredancertype = true;
-        DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0,0);
+        DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
         DancerConfig.n_dancers++;
         DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint;
     }