streamline all job actions (end, abort) htrough the process task.

14 files changed, 228 insertions, 177 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 9492876a2..f2ecb16b4 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -14,12 +14,12 @@ Mailbox_Handle          CommunicationRxMsgQ = NULL;
 Mailbox_Handle          CommunicationTxMsgQ = NULL;
 
 typedef struct CommRxMessage{
-    uint16_t messageId;
+    //uint16_t messageId;
     uint16_t msgSize;
     uint32_t BuffId;
 }CommRxMessageStruc;
 typedef struct CommTxMessage{
-    uint16_t messageId;
+    //uint16_t messageId;
     uint16_t msgSize;
     char *Buff;
 }CommTxMessageStruc;
@@ -106,7 +106,7 @@ uint32_t CommunicationTaskMessageReceived(uint32_t buffer,uint16_t msgSize)
     CommRxMessageStruc Message;
     CommRxMsgCounter++;
 
-    Message.messageId = 1;
+    //Message.messageId = 1;
     Message.msgSize = msgSize;
     Message.BuffId = buffer;
     if (CommunicationRxMsgQ != NULL)
@@ -143,9 +143,9 @@ void communicationTask(UArg arg0, UArg arg1)
     while(1)
     {
         Mailbox_pend(CommunicationRxMsgQ , &Message, BIOS_WAIT_FOREVER);
-        switch (Message.messageId)
+        /*switch (Message.messageId)
         {
-            case 1:
+            case 1:*/
                 //ui32RxCount += Message.msgSize;
                 if (callback != NULL)
                 {
@@ -156,26 +156,33 @@ void communicationTask(UArg arg0, UArg arg1)
                 }
 
                 freeArray(Message.BuffId);
-                break;
+       /*         break;
             default:
                 break;
-        }
+        }*/
     }
 
 }
-
+int UnSentMessages=0;
 bool CommunicationTaskSendMessage(char* buffer,size_t length)
 {
     CommTxMessageStruc Message;
     CommTxMsgCounter++;
+    bool retcode = true;
 
-    Message.messageId = 1;
+    //Message.messageId = 1;
     Message.msgSize = length;
     Message.Buff = buffer;
+    UnSentMessages++;
     if (CommunicationTxMsgQ != NULL)
-        return Mailbox_post(CommunicationTxMsgQ , &Message, BIOS_NO_WAIT);
+        retcode = Mailbox_post(CommunicationTxMsgQ , &Message, BIOS_NO_WAIT);
+    if (retcode == false)
+    {
+        free (buffer);
+    }
+
 
-    return false;
+    return retcode;
 }
 int32_t SetCommunicationPath(bool UARTorUSB)
 {
@@ -194,23 +201,24 @@ void communicationTxTask(UArg arg0, UArg arg1)
 
     CommTxMessageStruc Message;
     //initArray(1);
-    CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 20, NULL,NULL);
+    CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 100, NULL,NULL);
 
     while(1)
     {
         Mailbox_pend(CommunicationTxMsgQ , &Message, BIOS_WAIT_FOREVER);
-        switch (Message.messageId)
+        UnSentMessages--;
+        /*switch (Message.messageId)
         {
-            case 1:
+            case 1:*/
                 if (CommType == isUSB)
                     USBCDCD_sendData(Message.Buff, Message.msgSize,10);
                 else if (CommType == isUART)
                     Uart_Tx(Message.Buff, Message.msgSize);
                 free (Message.Buff);
-                break;
+                /*break;
             default:
                 break;
-        }
+        }*/
     }
 
 }
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index b01750529..6417d6e64 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -58,15 +58,15 @@ void ConnectionRequest(MessageContainer* requestContainer)
     usnprintf(Version, 20, "%d.%d.%d.%d",_gTangoVersion.m_major,_gTangoVersion.m_minor,_gTangoVersion.m_patch,_gTangoVersion.m_build);
     DevInfo.version = Version;
 
-    FPGA_ReadVersion(0, &Major, &Year, &Month, &Day);
+    FPGA_ReadVersion(1, &Major, &Year, &Month, &Day);
     usnprintf(FPGA1Version, 20, "%d.%d.%d.%d",Major,Year, Month, Day);
     DevInfo.fpga1version = FPGA1Version;
 
-    FPGA_ReadVersion(1, &Major, &Year, &Month, &Day);
+    FPGA_ReadVersion(2, &Major, &Year, &Month, &Day);
     usnprintf(FPGA2Version, 20, "%d.%d.%d.%d",Major,Year, Month, Day);
     DevInfo.fpga2version = FPGA2Version;
 
-    FPGA_ReadVersion(2, &Major, &Year, &Month, &Day);
+    FPGA_ReadVersion(3, &Major, &Year, &Month, &Day);
     usnprintf(FPGA3Version, 20, "%d.%d.%d.%d",Major,Year, Month, Day);
     DevInfo.fpga3version = FPGA3Version;
 
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index f132a6ebd..d53da6983 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -46,6 +46,7 @@
 
 uint32_t TxmsgId[50] = {0};
 uint32_t TxLength[50] = {0};
+uint32_t TxAddr[50] = {0};
 byte Txindex = 0;
 uint32_t msgId[50] = {0};
 uint32_t Length[50] = {0};
@@ -75,6 +76,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
 
     TxmsgId[Txindex] = type;
     TxLength[Txindex] = response_size;
+    TxAddr[Txindex] = response_buffer;
     if (Txindex++>=50)
         Txindex = 0;
 
@@ -93,6 +95,7 @@ void receive_callback(char* buffer, size_t length)
      DataLength[index] = requestContainer->data.len;
      if (index++>=50)
          index = 0;
+     REPORT_MSG(requestContainer->type,"Message received");
      switch(requestContainer->type)
      {
          case MESSAGE_TYPE__CalculateRequest:
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
index a5c122574..584d23c37 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
@@ -100,11 +100,11 @@ float Calculate_Speed_Sensor_Velocity( void ) // Call the function every 10mSec
     }
     else if(Prev_Enc_Position < Enc_Position)
     {
-        /*if((Enc_Position - Prev_Enc_Position)<10)//noise
+        if((Enc_Position - Prev_Enc_Position)<100)//noise
         {
             number_of_pulses = Enc_Position - Prev_Enc_Position;
         }
-        else*/
+        else
             number_of_pulses = Prev_Enc_Position + (0xFFF - Enc_Position);
     }
     else
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 473250338..a2edc6d56 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -17,7 +17,7 @@ var Task = xdc.useModule('ti.sysbios.knl.Task');
 
 //BIOS.heapSize = 30767;   // bios heapmem
 //Memory.defaultHeapSize = 48767;
-Program.heap = 30767;  //sysmem
+Program.heap = 50767;  //sysmem
 
 Clock.timerId = 7;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 261b9e049..a5911828d 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -94,96 +94,97 @@ typedef struct
     bool Status;
     EventType EventType;
     Event *EventPtr;
+    char *EventName;
 }AlarmHandlingItem;
 AlarmHandlingItem  AlarmItem[MAX_SYSTEM_ALARMS]={
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_8,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Empty,NULL},
-/*{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_2,false,true,DEBUG_LOG_CATEGORY__Warning,1,0,0,false,EVENT_TYPE__Dispenser2LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_3,false,true,DEBUG_LOG_CATEGORY__Warning,2,0,0,false,EVENT_TYPE__Dispenser3LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_4,false,true,DEBUG_LOG_CATEGORY__Warning,3,0,0,false,EVENT_TYPE__Dispenser4LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_5,false,true,DEBUG_LOG_CATEGORY__Warning,4,0,0,false,EVENT_TYPE__Dispenser5LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL},*/
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL},
-{100,PressureAlarm,1,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Pressure,NULL},
-{100,PressureAlarm,2,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Pressure,NULL},
-{100,PressureAlarm,3,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Pressure,NULL},
-{100,PressureAlarm,4,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Pressure,NULL},
-{100,PressureAlarm,5,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Pressure,NULL},
-{100,PressureAlarm,6,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Pressure,NULL},
-{100,PressureAlarm,7,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Pressure,NULL},
-{100,PressureAlarm,8,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Pressure,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerOverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederOverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewOverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderOverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerOverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverCurrent,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerOverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederOverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewOverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderOverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerOverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverTemperature,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerUnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederUnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewUnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderUnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerUnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7UnderVoltage,NULL},
-//{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8UnderVoltage,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDryerStall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorFeederStall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorScrewStall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorWinderStall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorPoolerStall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser1Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser2Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser3Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser4Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser5Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser6Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser7Stall,NULL},
-{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser8Stall,NULL},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Empty,NULL,"Dispenser1Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Empty,NULL,"Dispenser2Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Empty,NULL,"Dispenser3Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Empty,NULL,"Dispenser4Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Empty,NULL,"Dispenser5Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Empty,NULL,"Dispenser6Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Empty,NULL,"Dispenser7Empty"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_8,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Empty,NULL,"Dispenser8Empty"},
+/*{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL,"Dispenser1LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_2,false,true,DEBUG_LOG_CATEGORY__Warning,1,0,0,false,EVENT_TYPE__Dispenser2LowLevel,NULL,"Dispenser2LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_3,false,true,DEBUG_LOG_CATEGORY__Warning,2,0,0,false,EVENT_TYPE__Dispenser3LowLevel,NULL,"Dispenser3LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_4,false,true,DEBUG_LOG_CATEGORY__Warning,3,0,0,false,EVENT_TYPE__Dispenser4LowLevel,NULL,"Dispenser4LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_5,false,true,DEBUG_LOG_CATEGORY__Warning,4,0,0,false,EVENT_TYPE__Dispenser5LowLevel,NULL,"Dispenser5LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL,"Dispenser6LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL,"Dispenser7LowLevel"},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL,"Dispenser8LowLevel"},*/
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
+//{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
+//{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead6OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead1OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead2OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead3OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead4OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead5OverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
+{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
+{100,PressureAlarm,1,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Pressure,NULL,"Dispenser1Pressure"},
+{100,PressureAlarm,2,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Pressure,NULL,"Dispenser2Pressure"},
+{100,PressureAlarm,3,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Pressure,NULL,"Dispenser3Pressure"},
+{100,PressureAlarm,4,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Pressure,NULL,"Dispenser4Pressure"},
+{100,PressureAlarm,5,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Pressure,NULL,"Dispenser5Pressure"},
+{100,PressureAlarm,6,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Pressure,NULL,"Dispenser6Pressure"},
+{100,PressureAlarm,7,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Pressure,NULL,"Dispenser7Pressure"},
+{100,PressureAlarm,8,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Pressure,NULL,"Dispenser8Pressure"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerOverCurrent,NULL,"MotorDryerOverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederOverCurrent,NULL,"MotorFeederOverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewOverCurrent,NULL,"MotorScrewOverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderOverCurrent,NULL,"MotorWinderOverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerOverCurrent,NULL,"MotorPoolerOverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1OverCurrent,NULL,"MotorDispenser1OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2OverCurrent,NULL,"MotorDispenser2OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3OverCurrent,NULL,"MotorDispenser3OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4OverCurrent,NULL,"MotorDispenser4OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5OverCurrent,NULL,"MotorDispenser5OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverCurrent,NULL,"MotorDispenser6OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverCurrent,NULL,"MotorDispenser7OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_OCD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverCurrent,NULL,"MotorDispenser8OverCurrent"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerOverTemperature,NULL,"MotorDryerOverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederOverTemperature,NULL,"MotorFeederOverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewOverTemperature,NULL,"MotorScrewOverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderOverTemperature,NULL,"MotorWinderOverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerOverTemperature,NULL,"MotorPoolerOverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1OverTemperature,NULL,"MotorDispenser1OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2OverTemperature,NULL,"MotorDispenser2OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3OverTemperature,NULL,"MotorDispenser3OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4OverTemperature,NULL,"MotorDispenser4OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5OverTemperature,NULL,"MotorDispenser5OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverTemperature,NULL,"MotorDispenser6OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverTemperature,NULL,"MotorDispenser7OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverTemperature,NULL,"MotorDispenser8OverTemperature"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerUnderVoltage,NULL,"MotorDryerUnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederUnderVoltage,NULL,"MotorFeederUnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewUnderVoltage,NULL,"MotorScrewUnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderUnderVoltage,NULL,"MotorWinderUnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerUnderVoltage,NULL,"MotorPoolerUnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1UnderVoltage,NULL,"MotorDispenser1UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2UnderVoltage,NULL,"MotorDispenser2UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3UnderVoltage,NULL,"MotorDispenser3UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4UnderVoltage,NULL,"MotorDispenser4UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5UnderVoltage,NULL,"MotorDispenser5UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6UnderVoltage,NULL,"MotorDispenser6UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7UnderVoltage,NULL,"MotorDispenser7UnderVoltage"},
+//{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8UnderVoltage,NULL,"MotorDispenser8UnderVoltage"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDryerStall,NULL,"MotorDryerStall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorFeederStall,NULL,"MotorFeederStall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorScrewStall,NULL,"MotorScrewStall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorWinderStall,NULL,"MotorWinderStall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorPoolerStall,NULL,"MotorPoolerStall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser1Stall,NULL,"MotorDispenser1Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser2Stall,NULL,"MotorDispenser2Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser3Stall,NULL,"MotorDispenser3Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser4Stall,NULL,"MotorDispenser4Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser5Stall,NULL,"MotorDispenser5Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser6Stall,NULL,"MotorDispenser6Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser7Stall,NULL,"MotorDispenser7Stall"},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser8Stall,NULL,"MotorDispenser8Stall"},
 };
 char TestMessage[5]="Test";
 
@@ -220,7 +221,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            //EndState(NULL,event_type__descriptor.name[EventId]);
+            AbortJob(event_type__descriptor.name[EventId]);
         }
 //Stop Job
         break;
@@ -228,7 +229,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            //EndState(NULL,event_type__descriptor.name[EventId]);
+            AbortJob(event_type__descriptor.name[EventId]);
         }
         watchdogCriticalAlarm = true;
         //stop job
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index 1e674d323..23b0a817b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -18,9 +18,11 @@
 #include  <PMR/Diagnostics/SetDigitalOutResponse.pb-c.h>
 
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
-#include "Drivers/I2C_Communication/DAC/blower.h"
+#include "drivers/I2C_Communication/DAC/blower.h"
 #include "drivers/Valves/Valve.h"
-#include "Drivers/Heater/Heater.h"
+#include "drivers/Heater/Heater.h"
+
+#include "modules/ids/ids_ex.h"
 
 /********************************************************************************
  *Blower Diagnostic
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 27e02710a..0d0eca408 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -492,12 +492,15 @@ void SendDiagnostics(void)
     /*
     response.n_digitalinterfacestates = MAX_HEATERS_NUM;
     response.digitalinterfacestates = (DigitalInterfaceState**)malloc(sizeof(DigitalInterfaceState)*MAX_HEATERS_NUM);
-    DiagnosticsLoadDigitalValues();
-    for (i=0;i<MAX_HEATERS_NUM;i++)
+    if (response.digitalinterfacestates)
     {
-        response.digitalinterfacestates[i] = &DigitalOutputState[i];
+        DiagnosticsLoadDigitalValues();
+        for (i=0;i<MAX_HEATERS_NUM;i++)
+        {
+            response.digitalinterfacestates[i] = &DigitalOutputState[i];
+        }
     }
-    */
+	*/
     //response.digitalpins = DigitalPinArray;
     response.n_componentsstates = 0;
 /*    if (blowervolatgedisplay == true)
@@ -540,7 +543,8 @@ void SendDiagnostics(void)
         free(diagnosticsresponseContainer.data.data);
     }
     DiagnosticsReset();
-
+    if (response.digitalinterfacestates)
+        free(response.digitalinterfacestates);
 }
 uint32_t DiagnosticsControlId = 0xff;
 uint32_t Diagnostics10MSControlId = 0xff;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index ff9ff3795..45ca5991c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -38,7 +38,7 @@ double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
 HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {  HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
 
 bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
-
+bool IDS_Active = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
@@ -114,6 +114,7 @@ void DispenserPrepareReady(void)
 {
     int Motor_i, HW_Motor_Id, Pid_Id,i;
     //start IDS control for all motors
+    IDS_Active = true;
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
         HW_Motor_Id = DispenserIdToMotorId[Motor_i];
@@ -154,6 +155,8 @@ void DispenserPrepareReady(void)
  uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
  {
      int i;
+	 if (IDS_Active == false)
+	 	return ERROR;
      DispenserPreSegmentReady[deviceID] = true;
      for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
      {
@@ -180,6 +183,8 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
     /* wait for all dispensers  to get to the required pressure
      * move the presegment ready when all dispensers are ready.
      */
+    if (JobTicket->n_segments == 0)
+        return OK;
     if (SegmentId>=JobTicket->n_segments)
         {
             LOG_ERROR(SegmentId,"Error Segment");
@@ -336,6 +341,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
  uint32_t IDSEndState(void *JobDetails)
 {
      int Dispenser_i;
+     IDS_Active = false;
      for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
         MotorStop(DispenserIdToMotorId[Dispenser_i],Hard_Hiz);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f97082365..50c99bf62 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -22,6 +22,8 @@
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
 bool Winder_ScrewHoming = false;
+bool Winder_Active = false;
+
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag);
 uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
 
@@ -71,7 +73,7 @@ uint32_t Winder_Prepare(void)
 {
     uint32_t status = 0;
     //JobTicket* JobTicket = JobDetails;
-
+    Winder_Active = true;
     //float process_speed = JobTicket->processparameters->dyeingspeed;
     double ScrewSpeed = 1000;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
     //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
@@ -214,6 +216,8 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         BusyfirstCall = false;
         return OK;
     }
+    if (Winder_Active == false)
+        return OK;
     wtick++;
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
@@ -226,7 +230,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
                 wgap_counter = 0;
         }
         else
-            return;
+            return OK;
         CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection);
         Steps = ScrewNumberOfSteps;
         if (ScrewCurrentDirection == false)
@@ -296,7 +300,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",RotationsPerSecond,screw_horizontal_speed,ScrewSpeed);
+        usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
         //LOG_ERROR(segmentfirst_speed,Message);
         //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
         SendJobProgress(0.0,0,false, Message);
@@ -325,6 +329,7 @@ uint32_t Winder_End(void)
     int pend;
     //stop screw
     ScrewNumberOfSteps = 0;
+    Winder_Active = false;
     if (ScrewControlId != 0xFF)
         RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 54a47e927..69eafe152 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -377,10 +377,13 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     {
                         //consider applying the debouce parameters later
                         //BreakSensordebouncetimemilli
-                        //LOG_ERROR(index, "ReadBreakSensor Error");
                         JobEndReason = JOB_THREAD_BREAK;
-                        //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
-                       EndState(CurrentJob,"ReadBreakSensor Error" );
+                        ThreadControlActive = false;
+                        SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
+                        SegmentReady(Module_Thread,ModuleFail);
+                       //EndState(CurrentJob,"ReadBreakSensor Error" );
+                        LOG_ERROR(index, "ReadBreakSensor Error");
+                        return OK;
                     }
                 }
             }
@@ -390,9 +393,14 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
         {
             usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
-            JobAbortedByUser = true;
+            //JobAbortedByUser = true;
+            ThreadControlActive = false;
             JobEndReason = JOB_DANCER_FAIL;
-            EndState(CurrentJob,Message );
+            SendJobProgress(0.0,0,false, Message);
+            //EndState(CurrentJob,Message );
+            SegmentReady(Module_Thread,ModuleFail);
+            LOG_ERROR (index, "Dancer Failure");
+            return OK;
         }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index f1e2629aa..182ee0997 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -304,12 +304,11 @@ void JobAbortFunc(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
     abort_job_request__free_unpacked(request,NULL);
     JobAbortedByUser = true;
-    EndState(CurrentJob, "Job Aborted by user");
-    CurrentJob = NULL;
+    AbortJob("Job Aborted by user");
     //We keep the job request until it is done
-    if (CurrentJobRequest!= NULL)
+    /*if (CurrentJobRequest!= NULL)
         job_request__free_unpacked(CurrentJobRequest,NULL);
-    CurrentJobRequest = NULL;
+    CurrentJobRequest = NULL;*/
 
 
 }
@@ -322,39 +321,43 @@ void JobRequestFunc(MessageContainer* requestContainer)
     uint8_t* container_buffer;
 
 
-    if (CurrentJobRequest!= NULL)
+    /*if (CurrentJobRequest!= NULL)
         job_request__free_unpacked(CurrentJobRequest,NULL);
-
+    CurrentJobRequest = NULL;
+*/
     JobRequest* request = job_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    ustrncpy (JobToken, requestContainer->token,36);
-    previousJobLength = 0.0;
-    JobTicket *Ticket = request->jobticket;
-    int TicketSize = job_ticket__get_packed_size(Ticket);
-    if (TicketSize >= MAX_TICKET_SIZE)
-    {
-        LOG_ERROR (TicketSize, "job ticket message too long");
-        status = FAILED;
-    }
-    else
+    if (request != NULL)
     {
-        //memcpy(CurrentJob, Ticket,TicketSize);
-        CurrentJob = Ticket;
-        CurrentJobRequest = request;
+        ustrncpy (JobToken, requestContainer->token,36);
+        previousJobLength = 0.0;
+        JobTicket *Ticket = request->jobticket;
+        int TicketSize = job_ticket__get_packed_size(Ticket);
+        if (TicketSize >= MAX_TICKET_SIZE)
+        {
+            LOG_ERROR (TicketSize, "job ticket message too long");
+            status = FAILED;
+        }
+        else
+        {
+            //memcpy(CurrentJob, Ticket,TicketSize);
+            CurrentJob = Ticket;
+            CurrentJobRequest = request;
 
-        status  = PASSED;
-        if (Ticket->processparameters)
-            HandleProcessParameters(Ticket->processparameters);
-        if (Ticket->spool)
-            InternalWindingConfigMessage(Ticket->spool);
+            status  = PASSED;
+            if (Ticket->processparameters)
+                HandleProcessParameters(Ticket->processparameters);
+            if (Ticket->spool)
+                InternalWindingConfigMessage(Ticket->spool);
 
-//        PrepareWaiting[Module_Heaters] = ModuleWaiting;
-    }
-    if (status == PASSED)
-    {
-        StartJob(CurrentJob);
+    //        PrepareWaiting[Module_Heaters] = ModuleWaiting;
+        }
+        if (status == PASSED)
+        {
+            StartJob(CurrentJob);
+        }
     }
-
+    else
+        status = FAILED;
 
     JobResponse response = JOB_RESPONSE__INIT;
     JobStatus jobStatus = JOB_STATUS__INIT;
@@ -388,15 +391,14 @@ void JobRequestFunc(MessageContainer* requestContainer)
         responseContainer.has_error = true;
         responseContainer.error = ERROR_CODE__BAD_CRC;
     }
-
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars((char*)container_buffer, container_size);
-    //We keep the job request until it is done
-    //    job_request__free_unpacked(request,NULL);
-
-    //free(container_buffer);
-    //free(requestContainer);
+    if (container_buffer)
+    {
+        size_t container_size = message_container__pack(&responseContainer, container_buffer);
+        free(responseContainer.data.data);
+        SendChars((char*)container_buffer, container_size);
+        //We keep the job request until it is done
+        //    job_request__free_unpacked(request,NULL);
+    }
 }
 //********************************************************************************************************************
 char logmsg[254];
@@ -542,9 +544,18 @@ Void jobTask(UArg arg0, UArg arg1)
                 break;
             case PrintingResultsOk:
                 JobActive = false;
+                CurrentJob = NULL;
+                  if (CurrentJobRequest!= NULL)
+                      job_request__free_unpacked(CurrentJobRequest,NULL);
+                  CurrentJobRequest = NULL;
                 //CleanState(CurrentJob);
                 break;
             case PrintingResultsFail:
+                JobActive = false;
+                CurrentJob = NULL;
+                  if (CurrentJobRequest!= NULL)
+                      job_request__free_unpacked(CurrentJobRequest,NULL);
+                  CurrentJobRequest = NULL;
                 //send message data as a validation error message to host
                 ExitState(Message.messageData);
                 break;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index c23b8f75b..3f59ccd87 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -236,6 +236,7 @@ uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
 
     assert (ModuleId<MAX_SYSTEM_MODULES);
     assert (result<=ModuleFail);
+    LOG_ERROR (ModuleId, "SegmentReady");
 
     if (SegmentWaiting[ModuleId] != ModuleWaiting)
     {
@@ -364,11 +365,11 @@ static uint32_t DistanceToSpoolState(void *JobDetails)
 }
 
 //********************************************************************************************************************
+
 uint32_t EndState(void *JobDetails, char *Message)
 {
-    //ROM_IntMasterDisable();
-    SendJobProgress(0.0,0,true,Message);
-    //DiagnosticsStop();
+    ROM_IntMasterDisable();
+
     if (Configured[Module_Winder])
     {
         PrepareWaiting[Module_Winder] = ModuleIdle;
@@ -402,14 +403,16 @@ uint32_t EndState(void *JobDetails, char *Message)
         //EndWaiting[Module_Thread] = ModuleWaiting;
         ThreadEndState(CurrentJob);
     }
-    //ROM_IntMasterEnable();
-    JobMessageStruc JobMessage;
+    ROM_IntMasterEnable();
+    SendJobProgress(0.0,0,true,Message);
+
+/*    JobMessageStruc JobMessage;
 
     JobMessage.messageId = PrintingResultsOk;
     JobMessage.msglen = MAX_MSG_LEN;
     if (JobmsgQ != NULL)
         Mailbox_post(JobmsgQ , &JobMessage, BIOS_NO_WAIT);
-
+*/
     return OK;
 }
 //********************************************************************************************************************
@@ -443,7 +446,7 @@ void PrintSTMMsgHandler(void * msg)
 
     Report("PrintSTMMsgHandler",__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
 
-    if (Message->messageId != PrintMessage)
+    if ((Message->messageId != PrintMessage)&&(Message->messageId != Abort))
     {
         //REPORT_ERR ...
         return;
@@ -476,7 +479,7 @@ void PrintSTMMsgHandler(void * msg)
             }
             break;
         case SegmentResultsFail:
-            EndState(CurrentJob, "Job Failed");
+            EndState(CurrentJob, "Segment Failed");
             break;
         case FinishResultsOk:
             EndState(CurrentJob, "Job Ended");
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
index f64588e47..e0caaefae 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
@@ -152,7 +152,7 @@ uint32_t PreSegmentReady(int ModuleId, ModuleStateEnum result);
 uint32_t SegmentReady(int ModuleId, ModuleStateEnum result);
 uint32_t DistanceToSpoolReady(int ModuleId, ModuleStateEnum result);
 uint32_t PrintingHWConfiguration(void *Configuration);
-uint32_t EndState(void *JobDetails, char *Message);
+//uint32_t EndState(void *JobDetails, char *Message);
 
 bool GetHeatersPrepareWaiting(void);