Embedded SW Release note - Version 1.3.8.2

File upload: prevent on job, reduce priority (watchdog)
Report: packages filters introduced, please feel free to use them.
robustness in communication improved
large number of segments and gradient support - initial
at the end of job the screw does not return back
rockers - adjust values before and after loading the cart

21 files changed, 915 insertions, 236 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index d57d3b14b..3357cfc06 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -55,6 +55,7 @@ int32_t FileSentLength = 0;
 static char g_cCwdBuf[50] = "/";
 uint32_t WrittenBytes = 0;
 uint32_t ReadBytes = 0;
+Task_Handle CommRxTaskHandle;
 
 
 ErrorCode getErrorCode(FRESULT Fresult)
@@ -81,27 +82,34 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
     FileUploadResponse response = FILE_UPLOAD_RESPONSE__INIT;
 
     WrittenBytes=0;
-    UploadFileHandle = my_malloc(sizeof(FIL));
-    if (UploadFileHandle == 0)
+    if (JobIsActive())
         Fresult = FR_DENIED;
     else
     {
-        Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE  |FA_OPEN_ALWAYS| FA_CREATE_ALWAYS);
-        if (Fresult == FR_OK)
-        {
-            FileLength = request->length;
-            response.has_maxchunklength = true;
-            response.maxchunklength = MAX_CHUNK_LENGTH;
-            strcpy(FileHandleChar, "1234");
-            response.uploadid = FileHandleChar; //supporting only single file at each time.
-        }
+        UploadFileHandle = my_malloc(sizeof(FIL));
+        if (UploadFileHandle == 0)
+            Fresult = FR_DENIED;
         else
         {
-            free (UploadFileHandle);
-            UploadFileHandle = 0;
-        }
+            Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE | FA_OPEN_ALWAYS | FA_CREATE_ALWAYS);
+            if (Fresult == FR_OK)
+            {
+                FileLength = request->length;
+                response.has_maxchunklength = true;
+                response.maxchunklength = MAX_CHUNK_LENGTH;
+                strcpy(FileHandleChar, "1234");
+                response.uploadid = FileHandleChar; //supporting only single file at each time.
+            }
+            else
+            {
+                free (UploadFileHandle);
+                UploadFileHandle = 0;
+            }
 
+        }
     }
+    CommRxTaskHandle = Task_self();
+    Task_setPri(CommRxTaskHandle, 4);
 
 
     responseContainer = createContainer(MESSAGE_TYPE__FileUploadResponse,  requestContainer->token, false, &response, &file_upload_response__pack, &file_upload_response__get_packed_size);
@@ -123,6 +131,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
 {
     //uint32_t status = OK;
     FRESULT Fresult = FR_OK;
+    bool FileDone = false;
 
 
     MessageContainer responseContainer;
@@ -142,6 +151,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
         if(Fresult != FR_OK)
         {
             LOG_ERROR (Fresult,"f_write error");
+            FileDone = true;
         }
         else
         {
@@ -152,6 +162,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                 f_close(ReceivedFileHandle);
                 free (UploadFileHandle);
                 FileReceivedLength = 0;
+                FileDone = true;
             }
             else
             {
@@ -161,6 +172,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                     f_close(ReceivedFileHandle);
                     free (UploadFileHandle);
                     FileReceivedLength = 0;
+                    FileDone = true;
                 }
             }
         }
@@ -185,6 +197,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
     file_chunk_upload_request__free_unpacked(request,NULL);
     my_free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
+    if (FileDone == true)
+        Task_setPri(CommRxTaskHandle, 9);
 
     return OK;
 }
@@ -504,7 +518,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     #define MAX_NUM_OF_FILES 10
     DIR dir;
     FILINFO* fno[MAX_NUM_OF_FILES];
-    char FullPath[MAX_NUM_OF_FILES][50];
+    char FullPath[MAX_NUM_OF_FILES][100];
     int i,NumOfFiles = 0;
     FRESULT Fresult = FR_OK;
 
@@ -580,11 +594,14 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     }
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    if (container_buffer)
+    {
+        size_t container_size = message_container__pack(&responseContainer, container_buffer);
+        SendChars(container_buffer, container_size);
+    }
     my_free(responseContainer.data.data);
     my_free(FilesInfo);
     get_files_request__free_unpacked(request,NULL);
-    SendChars(container_buffer, container_size);
     for (i = 0;i < NumOfFiles;i++)
     {
         if (fno[i])
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 456c30290..a31f4bef8 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -21,6 +21,7 @@
 #include  <Communication/PMR/FirmwareUpgrade/VersionFileDescriptor.pb-c.h>
 #include  <Communication/PMR/FirmwareUpgrade/VersionPackageDescriptor.pb-c.h>
 
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 #include "drivers/FPGA/Full_Vme/ispvme/vmopcode.h"
 #include "Common/Utilities/Utils.h"
diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index e037f2bad..7f22a613a 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,3,8,12};
+TangoVersion_t _gTangoVersion = {1,3,8,2};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index c026ad4d2..f011653ec 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -242,7 +242,7 @@ Void reportService(UArg arg0, UArg arg1)
     ReportInitParams InitParams;
     InitParams.DistributorQueueMaxMsgs = 30;
     InitParams.DistributorTaskPriority = 6;
-    InitParams.MaxNumOfFilterNames = 1;//30
+    InitParams.MaxNumOfFilterNames = 30;
     InitParams.MaxNumberOfPrivateDistributors = 2;
     ReportInit (InitParams);
 
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 424eff1d8..1b5f000f2 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -400,7 +400,7 @@ Supports diagnostic <id> (--diag_suppress, - pds)
 #define HEAD6_PT100 TEMP_SENSE_AN_ENCLOSURETEMP3
 #define MIXER_PT100 TEMP_SENSE_ANALOG_MIXCHIP_TEMP
 
-/*
+
 extern PackageHandle ControlFilter;
 extern PackageHandle HeatersFilter;
 extern PackageHandle JobFilter  ;
@@ -415,6 +415,6 @@ extern PackageHandle FPGAFilter;
 extern PackageHandle LoadFilter;
 extern PackageHandle InitFilter;
 extern PackageHandle MaintFilter;
-*/
+
 
 #endif /* DATADEF_H */
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
index 637c91e7d..ac1cff75e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
@@ -33,7 +33,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     uint32_t ui32ProgAddr;
     uint32_t ui32BufferAddr;
     volatile uint32_t ui32Idx;
-    uint32_t ui32FlashEnd;
+    //uint32_t ui32FlashEnd;
 
 
     //
@@ -41,7 +41,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // If reserved space is configured, then the ending address is reduced
     // by the amount of the reserved block.
     //
-    ui32FlashEnd = ui32FlashStart + ui32FileSize;
+    //ui32FlashEnd = ui32FlashStart + ui32FileSize;
 
 
     //
@@ -68,7 +68,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // stick updater).
     //
     ui32ProgAddr = ui32FlashStart;
-    ui32BufferAddr = buffer;
+    ui32BufferAddr = (uint32_t)buffer;
     ui32Remaining = ui32FileSize;
     while(ui32Remaining)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 7c0f9a6c1..8e76badfe 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -337,7 +337,7 @@ const AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
 
 char AlarmStorePath[25] ="0://SysInfo//AlarmPrm.cfg";
 
-bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
+//bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool EventsNotificationRequestAccepted = false;
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
@@ -471,7 +471,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                     if (JobIsActive())
                     {
-                        if (DispenserInUse[Disp_i] == false)
+                        if (DispenserUsedInJob[Disp_i] == false)
                             AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                     }
                 }
@@ -481,7 +481,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                 MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                 if (JobIsActive())
                 {
-                    if (DispenserInUse[Disp_i] == false)
+                    if (DispenserUsedInJob[Disp_i] == false)
                         AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                 }
                 break;
@@ -505,24 +505,26 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
 }
 JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
 {
-    JobTicket* JobTicket = CurrentJob;
+    //JobTicket* JobTicket = CurrentJob;
     EventType HeaterEventType[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_2_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_2_OVERTEMPERATURE,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_4_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_5_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_6_OVERTEMPERATURE,
                                                   EVENT_TYPE__MIXER_OVERTEMPERATURE};
     EventType HeaterEventTypeUnder[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_2_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__MIXER_UNDERTEMPERATURE_B};
-    int Segment_i,Brush_i,Dispenser_i,DispenserId,Alarm_i,Heater_i,AlarmId=0;
+    int Dispenser_i,Alarm_i,Heater_i,AlarmId=0;
     HeaterState HeaterState;
 
-    for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
-    {
-        DispenserInUse[Dispenser_i] = false;
-    }
+    //for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+    //{
+    //    DispenserInUse[Dispenser_i] = false;
+    //}
     JobEndReasonEnum status = JOB_OK;
-    if (JobTicket->n_segments == 0)
+    IDS_MapDispenserUsedinJob(CurrentJob);
+    if (n_segments == 0)
         return OK;
-    for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+
+    /*for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
         {
         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
             {
@@ -540,11 +542,12 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 }//if dispensers
             }//for brush
         }//for segments
+        */
     if (Configured[Module_IDS])
     {
         for (Dispenser_i=0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
         {
-            if (DispenserInUse[Dispenser_i] == true)
+            if (DispenserUsedInJob[Dispenser_i] == true)
             {
                 for (Alarm_i = 0;Alarm_i<MAX_SYSTEM_ALARMS;Alarm_i++)
                 {
@@ -664,7 +667,6 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
         {
             if (AlarmState[Alarm_i].Status != value)
             {
-                AlarmState[Alarm_i].Status = value;
                 if (value == true)
                 {
                     // no need to call consequent actionsAlarmHandlingConsequentActions(Alarm_i, AlarmItem[Alarm_i].Severity);
@@ -676,12 +678,14 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
                         AlarmState[Alarm_i].EventPtr->has_type = true;
                         AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
                         AlarmState[Alarm_i].EventPtr->message = AlarmItem[Alarm_i].EventName;
+                        AlarmState[Alarm_i].Status = value;
                         Report("Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
                     }
                 }
                 else
                 {
                     Report("Alarm OFF ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                    AlarmState[Alarm_i].Status = value;
                     if (AlarmState[Alarm_i].EventPtr)
                         my_free(AlarmState[Alarm_i].EventPtr);
                 }
@@ -1017,20 +1021,33 @@ void SendEventNotifications(void)
             response.n_events++;
         }
     }
-    response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
-    if(response.events)
+
+    if (response.n_events)
     {
-        for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
+        response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
+        if(response.events)
         {
-            if (AlarmState[i].Status == true)
+            for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
             {
-                if (AlarmState[i].EventPtr)
+                if (AlarmState[i].Status == true)
                 {
-                    response.events[e]=AlarmState[i].EventPtr;
-                    e++;
+                    if (AlarmState[i].EventPtr)
+                    {
+                        response.events[e]=AlarmState[i].EventPtr;
+                        e++;
+                    }
                 }
             }
         }
+        else
+        {
+            LOG_ERROR(response.n_events,"events malloc error");
+            return ERROR;
+        }
+    }
+    else
+    {
+        response.events = NULL;
     }
     responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &response, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
     responseContainer.continuous = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 738f59686..d34ac9ff9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -484,6 +484,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (watchdogCriticalAlarm == false)
             {
                 Control_WD(ENABLE,5);  //activate heaters/dispenser watchdog, 0.5 seconds
+                //LOG_ERROR (1111, "Control_WD");
             }
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 16ec83b16..8ddc2f84d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -33,6 +33,7 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 char HomingToken[NUM_OF_MOTORS][36+1]={0};
+
 /********************************************************************************
  * Motor Homing
  ********************************************************************************/
@@ -40,12 +41,6 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
 {
     MessageContainer responseContainer;
     MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
-    if((deviceID == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)||(deviceID == HARDWARE_MOTOR_TYPE__MOTO_RLOADING))
-    {
-        MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
-        MotorSetKvalRun(deviceID, MotorsCfg[deviceID].kvalrun);
-        Task_sleep(10);
-    }
 
     responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
     responseContainer.continuous = true;
@@ -100,13 +95,6 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                 }
                 else
                 {
-                    if((MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)||(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING))
-                    {
-                        MotorSetMicroStep(MotorId, 1);
-                        MotorSetKvalRun(MotorId, 35);
-                        Task_sleep(10);
-                    }
-
                     if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
                     {
                         MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback,10000);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 74f8c8746..f5aec59f6 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -175,7 +175,7 @@ uint32_t EmbeddedParametersInit(void)
         LoadConfigurationParameters(Params);
         DataUpdated=true;
         free (buffer);
-        configuration_parameters__free_unpacked(NULL,Params);
+        configuration_parameters__free_unpacked(Params,NULL);
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index ba08101f8..80a55d63e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -5,6 +5,7 @@
 #include "drivers/motors/motor.h"
 #include "ids_ex.h"
 
+extern uint32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 0fcd73b59..3eaa2f9c2 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -238,7 +238,7 @@ void IDS_Dispenser_Content_Init (void)
             IDS_Dispenser_Data[i].has_nanolitterperpulse = true;
         }
         free (buffer);
-        dispenser_data__free_unpacked(NULL,StoredDispenserData);
+        dispenser_data__free_unpacked(StoredDispenserData,NULL);
     }
     return;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index ded3642a0..2e8d33e1a 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -33,6 +33,8 @@ extern bool EnableLubrication;
 extern bool EnableIntersegment;
 extern double IntersegmentLength;
 
+extern bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS];
+bool IDS_MapDispenserUsedinJob(void *JobDetails);
 
 void IDS_ModuleInit (void);
 void Calculateinit(void);
@@ -68,6 +70,7 @@ uint32_t IDS_Dispenser_Start_Motor_and_Open_Valve(int DispenserId, int MotorSpee
 
 void IDS_Dispenser_Content_Calculation (char DispenserId);
 
+uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails);
 
 float CalculateDispenserPressure (int DispenserId);
 float GetDispenserPressure(int DispenserId);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 9e9c82131..1bdf15b29 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -84,7 +84,6 @@ uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t deviceID, uint32_t ReadValue
     if ((GetDispenserPressure(DispenserId)>=InitialDispenserPressure)||(DispenserHomingTime[DispenserId]>InitialDispenserTimeout))
     {
         MotorStop(deviceID,Hard_Hiz);
-
         MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
         HomingActive[DispenserId]= false;
         Report("End backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
@@ -169,6 +168,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID)
     Enable_MidTank_Pressure_Reading(deviceID);
     status |= MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
     status |= MotorStop(deviceID, Hard_Hiz);
+    JobEndReason = JOB_OUT_OF_DYE;
     return status;
 }
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID)
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 38c139141..d868354dd 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -12,10 +12,18 @@
 #include "../thread/thread.h"
 #include "PMR/Hardware/Hardwaremotor.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
+#include "PMR/Printing/JobSegment.pb-c.h"
+#include "PMR/Printing/JobTicket.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
 #include "drivers/motors/motor.h"
 #include "drivers/valves/valve.h"
 
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
+
 #include "modules/heaters/heaters.h"
 
 #include "drivers/Flash_ram/FlashProgram.h"
@@ -33,7 +41,8 @@ typedef struct
 }DispenserControlConfig_t;
 HardwarePidControl *DispensersControl;// = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;
 #define LUBRICANT_DISPENSER 7
-#define MAX_DYE_DISPENSERS 7
+#define CLEANER_DISPENSER 7
+#define MAX_DYE_DISPENSERS 6
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
@@ -45,7 +54,8 @@ bool IDS_Active = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
 uint32_t IDS_Valve_DistanceToSpoolReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue);
-bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue);
+//bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -122,7 +132,7 @@ void DispenserPrepareReady(void)
             return; //not all configured Dispensers are ready
         }
     }
-    REPORT_MSG(Module_IDS,"DispenserPrepareReady");
+    REPORT_MSG(Module_IDS,"All Dispensers Prepare Ready");
     PrepareReady(Module_IDS,ModuleDone);
 }
 //********************************************************************************************************************
@@ -137,45 +147,296 @@ void DispenserPrepareReady(void)
 
      return OK; // all configured heaters are ready
  }
- bool IDS_MapDispenserUsedinJob(void *JobDetails)
+/*
+ void OpenJobFile();
+void CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
+ */
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJobshort(void *JobDetails)
+ {
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     FRESULT Fresult = FR_OK;
+     uint32_t status = OK;
+
+     for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+     {
+         DispenserUsedInJob[Dispenser_i] = false;
+     }
+     Fresult = OpenJobFile();
+     if (Fresult == FR_OK)
+     {
+         Segment = GetNextSegmentFromJobFile();
+         while(Segment)
+         {
+             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
+             {
+                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
+                 {
+                     BrushStop = GetNextBrushStopFromJobFile();
+                     if (BrushStop)
+                     {
+                         if (BrushStop->n_dispensers)
+                         {
+                             for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
+                             {
+                                 //prepare the SW structures
+                                 DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                 if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                 {
+                                     DispenserUsedInJob[DispenserId] = true;
+                                     /*if(DispenserId == LUBRICANT_DISPENSER)
+                                     {
+                                        lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                         JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                        REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                     }*/
+                                 }
+                             }//for dispenser
+                         }//if dispensers
+                         else
+                         {
+                             LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
+                         }
+                         FreeBrushStopFileData(BrushStop);
+                         BrushStop = NULL;
+                     }
+                     else
+                     {
+                         LOG_ERROR (BrushStop, "malloc error");
+                         status = ERROR;
+                     }
+                 }//for brushstops
+             }// if brush stop count
+             FreeSegmentFileData(Segment);
+             Segment = GetNextSegmentFromJobFile();
+         }
+         FreeSegmentFileData(Segment);
+         CloseJobFile();
+     }
+     return status;
+
+ }
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails)
  {
      JobTicket* JobTicket = JobDetails;
-     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+     uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     uint32_t Bytes = 0,readBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+     uint32_t status = OK;
+     FRESULT Fresult = FR_OK;
+     FIL *FileHandle = 0;  //the system supports a single active file
+
+/*
+ Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
+
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
 
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+ */
      for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          DispenserUsedInJob[Dispenser_i] = false;
      }
-     if (JobTicket->n_segments == 0)
-         return false;
+     n_segments = 0;
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         FileHandle = my_malloc(sizeof(FIL));
 
-     for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+         Fresult = FileOpen(JobTicket->jobdescriptionfile, &Bytes, FileHandle);
+         if (Fresult == FR_OK)
          {
-         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+             while((readBytes < Bytes)&&(status == OK))
              {
-                 if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                 Fresult = f_read(FileHandle,&SegmentSize,4,&ImmediateRead );
+                 if (Fresult == FR_OK)
                  {
-                     for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                     readBytes += ImmediateRead;
+                     SegmentPtr = my_malloc (SegmentSize);
+                     if (SegmentPtr)
                      {
-                         //prepare the SW structures
-                         DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
-                         if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                         Fresult = f_read(FileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                         if (Fresult == FR_OK)
                          {
-                             DispenserUsedInJob[DispenserId] = true;
-                             if(DispenserId == LUBRICANT_DISPENSER)
+                             readBytes += ImmediateRead;
+                             n_segments++;
+                             Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
                              {
-                                lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
-                                                 JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
-                                REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                 REPORT_MSG (Segment->brushstopscount, "Segment->brushstopscount");
+                                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
+                                 {
+                                     if (status == ERROR)
+                                         break;
+                                     Fresult = f_read(FileHandle,&BrushStopSize,4,&ImmediateRead );
+                                     if (Fresult == FR_OK)
+                                     {
+                                         readBytes += ImmediateRead;
+                                         BrushStopPtr = my_malloc (BrushStopSize);
+                                         if (BrushStopPtr)
+                                         {
+                                             Fresult = f_read(FileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+                                             if (Fresult == FR_OK)
+                                             {
+                                                 readBytes += ImmediateRead;
+                                                 BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+                                                 REPORT_MSG (BrushStopSize, "BrushStop");
+                                                 if (BrushStop->n_dispensers)
+                                                 {
+                                                     for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
+                                                     {
+                                                         //prepare the SW structures
+                                                         DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                                         if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                                         {
+                                                             DispenserUsedInJob[DispenserId] = true;
+                                                         }
+                                                     }//for dispenser
+                                                 }//if dispensers
+                                                 else
+                                                 {
+                                                     LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
+                                                 }
+                                                 job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+                                                 BrushStop = NULL;
+                                             } //read brush stop data
+                                             else
+                                             {
+                                                 LOG_ERROR (Fresult, "f_read error");
+                                                 status = ERROR;
+                                             }
+                                             my_free(BrushStopPtr);
+                                             BrushStopPtr = NULL;
+                                         }//brushstop malloc ok
+                                         else
+                                         {
+                                             LOG_ERROR (BrushStopPtr, "malloc error");
+                                             status = ERROR;
+                                         }
+                                     }//brushstop size read ok
+                                     else
+                                     {
+                                         LOG_ERROR (Fresult, "f_read error");
+                                         status = ERROR;
+                                     }
+                                 }//for brushstops
+                             }// if brush stop count
+                             else
+                             {
+                                 LOG_ERROR (0, "no brushstops error");
+                                 status = ERROR;
                              }
+                             job_description_file_segment__free_unpacked(Segment,NULL);
+                             Segment = NULL;
+                         }// read segment data
+                         my_free(SegmentPtr);
+                         SegmentPtr = NULL;
+                         Task_sleep(10);
+                     }//segment malloc
+                     else
+                     {
+                         LOG_ERROR (SegmentPtr, "malloc error");
+                         status = ERROR;
+                     }
+                 }//segment read size
+                 else
+                 {
+                     LOG_ERROR (Fresult, "f_read error");
+                     status = ERROR;
+                 }
+             }//while(readBytes < Bytes)
+         }
+         else
+         {
+             LOG_ERROR (Fresult, "FileOpen error");
+             status = ERROR;
+         }
+     }//file job
 
-                         }
-                     }//for dispenser
-                 }//if dispensers
-             }//for brush
-         }//for segments
+     if (SegmentPtr)
+         my_free(SegmentPtr);
+     if (BrushStopPtr)
+         my_free(BrushStopPtr);
+     if (Segment != NULL)
+             job_description_file_segment__free_unpacked(Segment,NULL);
+     if (BrushStop != NULL)
+         job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+     Fresult = f_close(FileHandle);
+     REPORT_MSG (n_segments, "Finished checking the file");
+     return status;
+
+ }
+/************************************************************************************************************************************/
+ bool IDS_MapDispenserUsedinJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         return (IDS_MapDispenserUsedinFileJob(JobDetails));
+         //return (IDS_MapDispenserUsedinFileJobshort(JobDetails));
+     }
+     else
+     {
+         for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+         {
+             DispenserUsedInJob[Dispenser_i] = false;
+         }
+         if (n_segments == 0)
+             return false;
 
-     return false;
+         for (Segment_i=0;Segment_i<n_segments;Segment_i++)
+             {
+             for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+                 {
+                     if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                     {
+                         for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                         {
+                             //prepare the SW structures
+                             DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
+                             if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                             {
+                                 DispenserUsedInJob[DispenserId] = true;
+                                 if(DispenserId == LUBRICANT_DISPENSER)
+                                 {
+                                    lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                     JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                    REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                 }
+
+                             }
+                         }//for dispenser
+                     }//if dispensers
+                 }//for brush
+             }//for segments
+     }
+
+     return true;
 
  }
 
@@ -214,7 +475,7 @@ void DispenserPrepareReady(void)
             //ValveCommand (Enable,MixerDirection);
     }
     //set 3 dancers to the profile positions
-    IDS_MapDispenserUsedinJob(JobDetails);
+    //IDS_MapDispenserUsedinJob(JobDetails);
     for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
     {
         if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
@@ -229,32 +490,6 @@ void DispenserPrepareReady(void)
     DispenserPrepareReady();
     return OK;
 }
-bool IDS_isDispenserUsedNextSegment(void *SegmentDetails,int DispenserId, int SegmentId)
-{
-    JobSegment* Segment = SegmentDetails;
-    int Dispenser_i,n_dispensers;
-    if (Segment->brushstops[0]->n_dispensers)
-    {
-        n_dispensers = Segment->brushstops[0]->n_dispensers;
-        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
-        {
-            if (DispenserId == Segment->brushstops[0]->dispensers[Dispenser_i]->index) //dispenser is in use next segment
-            {
-                if (Segment->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond>0)
-                {
-                    return true;
-                }
-                else
-                {
-                    return false;
-                }
-            }
-        }
-    }
-
-    return false;
-
-}
  //********************************************************************************************************************
  uint32_t IDS_Valve_PresegmentValveReady(uint32_t deviceID, uint32_t ReadValue)
  {
@@ -287,8 +522,17 @@ bool IDS_isDispenserUsedNextSegment(void *SegmentDetails,int DispenserId, int Se
 
  int lInterSegmentLength = 0;
  int InterSegmentStepsLimit = 0,InterSegmentStepsCount = 0;
- int InterSegmentWFCFTime;
+ uint32_t InterSegmentStartSprayCleaner;
+ uint32_t InterSegmentStartRocking;
+ uint32_t InterSegmentCenterRockers;
+ uint32_t InterSegmentStartWFCFDispensers;
+ bool EnableCleaning = false;
+
+
  uint32_t DispenserPreSegmentControlId = 0xFF;
+ uint32_t BrushStopControlId = 0xFF;
+ uint32_t PreSegmentControlId = 0xFF;
+
 //********************************************************************************************************************
 
  uint32_t IDSPreSegmentStateCallbackRunner(uint32_t IfIndex, uint32_t ReadValue)
@@ -313,19 +557,49 @@ This means that for each Pre-segment we must calculate: TW,TU,Tending,
 This means that for each segment we must calculate: Tx,Ty.
 
   */
+/*uint32_t InterSegmentStartSprayCleaner = 500;
+uint32_t InterSegmentStartRocking = 1000;
+uint32_t InterSegmentCenterRockers = 3000;
+uint32_t InterSegmentStartWFCFDispensers = lInterSegmentLength-1500;*/
      //InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps
-     InterSegmentStepsCount++;
-     if (InterSegmentStepsCount == InterSegmentStepsLimit)
+     InterSegmentStepsCount+=100;
+     if (InterSegmentStepsCount == lInterSegmentLength)
      {
-         IDS_Valve_PresegmentReady(1,0);
+         //IDS_Valve_PresegmentReady(1,0);
+         Report("End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
          SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner);
      }
+     if (EnableCleaning == true)
+     {
+         if (InterSegmentStartSprayCleaner == InterSegmentStepsCount)
+         {
+             Report("Start Spray Cleaner",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //startClenerSpray(speed);
+         }
+         if (InterSegmentStartRocking == InterSegmentStepsCount)
+         {
+             Report("Start cleaning rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //startRocking(leftspeed,rightspeed);
+         }
+         if (InterSegmentCenterRockers == InterSegmentStepsCount)
+         {
+             Report("Stop spray and center rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //stopClenerSpray(speed);
+             //centerRockers();
+         }
+     }
+     if (InterSegmentStartWFCFDispensers == InterSegmentStepsCount)
+     {
+         Report("start dispensers at rate * WFCF",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+         //startDispensersAtSegmentSpeed*1=WFCFClenerSpray(speed);
+     }
      return OK;
  }
-
+JobDescriptionFileBrushStop * FileBrushStop;
 uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 {
     JobSegment* Segment = SegmentDetails;
+    JobDispenser **Dispensers;
 //set the speed only before the first segment, speed is constant accros job
     int Dispenser_i,n_dispensers,DispenserId;
     TimerMotors_t HW_Motor_Id;
@@ -339,7 +613,9 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     REPORT_MSG(SegmentId,"IDSPreSegmentState");
     if (JobBrushStopId>=Segment->n_brushstops)
     {
-        LOG_ERROR(JobBrushStopId,"Error JobBrushStopId");
+        LOG_ERROR(Segment->n_brushstops,"Error JobBrushStopId");
+        JobEndReason = JOB_OUT_OF_DYE;
+        PreSegmentReady(Module_IDS,ModuleFail);
         return ERROR;
     }
 
@@ -347,148 +623,248 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     if ((EnableIntersegment == true)&&(IntersegmentLength>0))
     {
         Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away
-        lInterSegmentLength = ((IntersegmentLength*100)/dyeingspeed);
-        InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps
-        InterSegmentStepsCount = 0;
-        /*DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
-        if (DispenserPreSegmentControlId == 0xFF)
+        if (SegmentId>0)
         {
-            Report("Add control callback failed",__FILE__,__LINE__,(int)InterSegmentLength,RpWarning,(int)0,0);
-            return ERROR;
-        }*/
+            lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
+            lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
+            InterSegmentStepsCount = 0;
+            DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
+            if (DispenserPreSegmentControlId == 0xFF)
+            {
+                Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
+                return ERROR;
+            }
+            Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)IntersegmentLength,0);
+            if (EnableCleaning == true)
+            {
+                InterSegmentStartSprayCleaner = 500;
+                InterSegmentStartRocking = 1000;
+                InterSegmentCenterRockers = 3000;
+            }
+            InterSegmentStartWFCFDispensers = lInterSegmentLength-1500;
+        }
     }
 
-    if (Segment->brushstops[JobBrushStopId]->n_dispensers)
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
     {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
         n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (BrushStopControlId != 0xFF)
+        {
+            RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+            BrushStopControlId = 0xFF;
+        }
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
+    {
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-            HW_Motor_Id = DispenserIdToMotorId[DispenserId];
-            if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
-            {
-                REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
-                continue;
-            }
+            DispenserId = Dispensers[Dispenser_i]->index;
             DispenserPreSegmentReady[DispenserId] = false;
         }
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
+            DispenserId = Dispensers[Dispenser_i]->index;
             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
             {
                 REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
+                DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
                 continue;
             }
             REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
             IDS_Dispenser_Set_Flow_Params(DispenserId,0,0);
-            if (Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
+            if (Dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
             {
-                MotorSetMicroStep(HW_Motor_Id, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
+                MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
             }
             else
             {
                 MotorSetMicroStep(HW_Motor_Id, MotorsCfg[HW_Motor_Id].microstep);
             }
+            MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
+            CurrentDispenserSpeed[DispenserId] = 0;
+            IDS_Valve_PresegmentReady(DispenserId,0); //27/03/19 to be removed when the presegment handler will be added
+            //REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
+        }
+    }
 
-            if (Segment->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond==0)
+    return OK;
+}
+//********************************************************************************************************************
+
+ char IdsMessage[100];
+uint32_t SegmentNumOfBrushStops = 0;
+double BrushStopTime = 0;
+
+void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
+{
+    int Dispenser_i,DispenserId;
+    TimerMotors_t HW_Motor_Id;
+    double segmentfirst_speed;
+    Report("IDS_StartBrushStop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)0,0);
+
+    if (n_dispensers)
+    {
+        for (Dispenser_i = 0; Dispenser_i < n_dispensers; Dispenser_i++)
+        {
+            DispenserId = Dispensers[Dispenser_i]->index;
+            HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+            if (MotorsCfg[HW_Motor_Id].hardwaremotortype
+                    != DispenserIdToMotorId[DispenserId])
+                continue;
+
+            //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
+            segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
+                    / Dispensers[Dispenser_i]->nanoliterperpulse;
+            if (Dispensers[Dispenser_i]->dispenserstepdivision
+                    != DISPENSER_STEP_DIVISION__Auto)
             {
-                MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
-                IDS_Valve_PresegmentReady(DispenserId,0);
-                //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                REPORT_MSG(DispenserId,"Dispenser Not Used Next Segment");
+                //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
+                segmentfirst_speed /=
+                        Dispensers[Dispenser_i]->dispenserstepdivision; //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        Dispensers[Dispenser_i]->dispenserstepdivision);
             }
             else
             {
-                if (IntersegmentLength&&(SegmentId>0)) //there is an intersegment, stop all the dispensers. otherwise stop only dispensers that are not in use in the next segment.
-                {
-                    //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
-                    IDS_Valve_PresegmentReady(DispenserId,0);
-                    //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                    REPORT_MSG(DispenserId,"Dispenser Used Next Segment with intersegment");
-                }
-                else
-                {
-                    IDS_Valve_PresegmentReady(DispenserId,0);
-                }
-                REPORT_MSG(DispenserId,"Dispenser is Used Next Segment");
+                //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        MotorsCfg[HW_Motor_Id].microstep);
+            }
+            if ((int) segmentfirst_speed > 0)
+            {
+                DispenserSegmentReady[DispenserId] = false;
+                //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
+                                                         segmentfirst_speed,
+                                                         NULL);
+                usnprintf(IdsMessage, 80,
+                          "Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                          DispenserId,
+                          (int) Dispensers[Dispenser_i]->nanolitterpersecond,
+                          (int) Dispensers[Dispenser_i]->nanoliterperpulse,
+                          (int) segmentfirst_speed);
+                //REPORT_MSG(segmentfirst_speed,IdsMessage);
+                Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                SendJobProgress(0.0, 0, false, IdsMessage);
             }
         }
     }
+}
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
+{
+    JobDispenser **Dispensers = NULL;
+    int n_dispensers = 0;
+    JobSegment* Segment = (void *)IfIndex;
 
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
+    {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
+        n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
+    {
+        IDS_StartBrushStop(n_dispensers, Dispensers);
+    }
+    JobBrushStopId++;
+    Report("brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+    if (JobBrushStopId >= SegmentNumOfBrushStops)
+    {
+        Report("last brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+        SafeRemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+        BrushStopControlId = 0Xff;
+    }
     return OK;
 }
 //********************************************************************************************************************
-
- uint32_t IDS_Valve_SegmentReady(uint32_t deviceID, uint32_t ReadValue)
- {
-     int i;
-     DispenserSegmentReady[deviceID] = true;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
-     {
-         if (DispenserSegmentReady[i] == false)
-         {
-             return OK; //not all configured heaters are ready
-         }
-     }
-     SegmentReady(Module_IDS,ModuleDone);
-  return OK; // all configured heaters are ready
- }
-
- char IdsMessage[100];
-//********************************************************************************************************************
 uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 {
      JobSegment* Segment = SegmentDetails;
-     int Dispenser_i,n_dispensers,DispenserId;
-     TimerMotors_t HW_Motor_Id;
-     double segmentfirst_speed;
+     JobDispenser **Dispensers;
+     int n_dispensers;
 
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
-     if (Segment->brushstops[JobBrushStopId]->n_dispensers)
+
+     SegmentNumOfBrushStops = Segment->n_brushstops;
+     BrushStopTime = Segment->length/SegmentNumOfBrushStops;  //brushstop in meters
+     BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
+     BrushStopTime *= 1000; //brushstop in millisecond
+     Report("IDSSegmentState",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)SegmentNumOfBrushStops,0);
+     if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
      {
+         Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
          n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
-         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
+     }
+     else
+     {
+         if (FileBrushStop)
          {
-             DispenserId = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
-             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
-                 continue;
-             //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
-             segmentfirst_speed = Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond/
-                     Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse;
-             if (Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
-             {
-                 //MotorSetMicroStep(HW_Motor_Id, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-                 segmentfirst_speed/=Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,  Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-             }
-             else
-             {
-                 //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,MotorsCfg[HW_Motor_Id].microstep);
-             }
-             if ((int)segmentfirst_speed > 0)
-                 {
-                     DispenserSegmentReady[DispenserId] = false;
-                     //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                     IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
-                     usnprintf(IdsMessage, 80, "Dispenser %d nl/sec %d nl/pulse %d speed %d",Dispenser_i,(int)Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond,
-                               (int)Segment->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse,(int)segmentfirst_speed);
-                     //REPORT_MSG(segmentfirst_speed,IdsMessage);
-                     Report(IdsMessage,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
-                     SendJobProgress(0.0,0,false, IdsMessage);
-
-
-                 }
+             Dispensers = FileBrushStop->dispensers;
+             n_dispensers = FileBrushStop->n_dispensers;
+         }
+         else
+         {
+             LOG_ERROR(FileBrushStop,"BrushStopReadError");
          }
      }
 
+    IDS_StartBrushStop(n_dispensers, Dispensers);
+    JobBrushStopId++;
+    if ((BrushStopTime)&&(SegmentNumOfBrushStops > 1))
+    {
+        BrushStopControlId = AddControlCallback( IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
+        if (BrushStopControlId == 0xFF)
+        {
+            Report("Add control callback failed",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)0,0);
+            return ERROR;
+        }
+        Report("Add control callback ",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)n_dispensers,0);
+
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = NULL;
+    }
+
     return OK;
 }
  //********************************************************************************************************************
@@ -513,6 +889,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
               return OK; //not all configured heaters are ready
           }
       }
+      REPORT_MSG(deviceID,"IDS_Valve_DistanceToSpoolReady End called");
       DistanceToSpoolReady(Module_IDS,ModuleDone);
    return OK; // all configured heaters are ready
   }
@@ -551,6 +928,14 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      IDS_Active = false;
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
      REPORT_MSG(0,"Dispenser End Start");
+     if (BrushStopControlId != 0xFF)
+     {
+         RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+         BrushStopControlId = 0xFF;
+     }
+     if (FileBrushStop)
+         FreeBrushStopFileData(FileBrushStop);
+     FileBrushStop = NULL;
      for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          if (DispenserUsedInJob[Dispenser_i] == true)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index d8564963c..1f7836ea5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -288,7 +288,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
+//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -382,8 +382,8 @@ uint32_t Winder_End(void)
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     ScrewsStopControlTimer();
     //move the cart to the edge so the spool can be easily replaced
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
-
+    //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
     return OK;
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 9f5ece15a..07a32b2a6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -83,6 +83,11 @@ void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 
+bool SegmentState = false;
+bool PreSegmentState = false;
+bool DTSState = false;
+void SendSegmentFail(void);
+
 double KeepNormalizedError = 0;
 bool ThreadControlActive = false;
 ////////////////////////Slow Motor State////////////////////////////////////
@@ -128,6 +133,7 @@ uint32_t Poolerinitialpos = 0xFFFF;
 
 void ThreadUpdateProcessLength (double length, void *Funcptr)
 {
+    REPORT_MSG(length,"ThreadUpdateProcessLength");
     CurrentRequestedLength = length*100;//Centimetres
     CurrentProcessedLength = 0;
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
@@ -436,7 +442,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                             JobEndReason = JOB_THREAD_BREAK;
                             ThreadControlActive = false;
                             SendJobProgress(0.0,0,false, TMessage);
-                            SegmentReady(Module_Thread,ModuleFail);
+                            SendSegmentFail();
                             //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                             //EndState(CurrentJob,"ReadBreakSensor Error" );
                             LOG_ERROR(index, "ReadBreakSensor Error");
@@ -466,7 +472,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, TMessage);
             //EndState(CurrentJob,TMessage );
-            SegmentReady(Module_Thread,ModuleFail);
+            SendSegmentFail();
             /*switch (index)
             {
                 case POOLER_MOTOR:
@@ -750,10 +756,13 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
-    if ((InitialProcess==false) && (EnableIntersegment == true) && (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
+    if ((InitialProcess==false) && (EnableIntersegment == true)) //&& (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
     {//add initial presegment and cleaning before first segment
         ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded);
         REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength");
+        SegmentState = false;
+        PreSegmentState = true;
+        DTSState = false;
     }
     else
     {
@@ -766,6 +775,17 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
     return OK;
 }
 int REPSegmentId = 0;
+void SendSegmentFail(void)
+{
+    if (SegmentState == true)
+        SegmentReady(Module_Thread,ModuleFail);
+    else if (PreSegmentState == true)
+        PreSegmentReady(Module_Thread,ModuleFail);
+    else if (DTSState == true)
+        DistanceToSpoolReady(Module_Thread,ModuleFail);
+
+}
+
 void ThreadInterSegmentEnded(void)
 {
     REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
@@ -792,6 +812,9 @@ uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId)
     CurrentSegmentId = SegmentId;
     REPORT_MSG (seglength," ThreadSegmentState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
+    SegmentState = true;
+    PreSegmentState = false;
+    DTSState = false;
     return OK;
 }
 
@@ -801,6 +824,9 @@ uint32_t ThreadDistanceToSpoolState(void )
     seglength = dryerbufferlength;
     REPORT_MSG (seglength,"ThreadDistanceToSpoolState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
+    SegmentState = false;
+    PreSegmentState = false;
+    DTSState = true;
     return OK;
 }
 
@@ -816,6 +842,7 @@ char Endstr[150];
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
+     TotalProcessedLength = 0.0;
     SetOriginMotorSpeed(0);
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogClose();
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index 356301dda..d62cee15e 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,11 @@
+Embedded SW Release note - Version 1.3.8.2
+File upload: prevent on job, reduce priority (watchdog)
+Report: packages filters introduced, please feel free to use them.
+robustness in communication improved
+large number of segments and gradient support - initial
+at the end of job the screw does not return back
+rockers - adjust values before and after loading the cart
+
 Embedded SW Release note - Version 1.3.8.12
 Prepare continous response on sw upgarde - test!
 Lubrication supported throughout the job - test!
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 69361bbae..972f79939 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -37,6 +37,7 @@
 #include "PMR/Printing/CurrentJobResponse.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobRequest.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobResponse.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
 #include "PMR/Printing/JobStatus.pb-c.h"
 #include "PMR/Printing/AbortJobRequest.pb-c.h"
 #include "PMR/Printing/AbortJobResponse.pb-c.h"
@@ -88,7 +89,7 @@ JobSegment *TSegment;
 JobSpool *Tspool;
 bool CopyConfigured[MAX_SYSTEM_MODULES];
 char ErrorMsg[100];
-
+JobUploadStrategy uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
 
 ModuleStateEnum PrepareWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle};
 
@@ -377,6 +378,7 @@ uint32_t ThreadJoggingFunc(int speed)
         {
         //load essential job prameters to enable thread running
             Ticket.n_segments = 1;
+            n_segments = 1;
             Ticket.segments = my_malloc(sizeof(Ticket.segments));
             TSegment = my_malloc(sizeof(JobSegment));
             Tspool = my_malloc(sizeof(JobSpool));
@@ -587,7 +589,7 @@ void JobRequestFunc(MessageContainer* requestContainer)
     ErrorCode error = ERROR_CODE__NONE;
     JobEndReasonEnum JobAlarmReason = JOB_OK;
 
-    if (JobActive == false)
+    if (JobActive == true)
     {
 		LOG_ERROR(JobActive, "Job started while active");
 	}
@@ -612,7 +614,17 @@ void JobRequestFunc(MessageContainer* requestContainer)
             if (CurrentRequest!= NULL)
                 job_request__free_unpacked(CurrentRequest,NULL);
             CurrentRequest = request;
-
+            n_segments = 0;
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                LOG_ERROR(JobActive, "Job upload strategy file");
+                uploadstrategy = JOB_UPLOAD_STRATEGY__JobDescriptionFile;
+            }
+            else
+            {
+                uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
+                n_segments = CurrentJob->n_segments;
+            }
             status  = PASSED;
             JobEndReason = JOB_OK;
             JobAlarmReason = AlarmHandlingPrepareJob(CurrentJob);
@@ -649,7 +661,8 @@ void JobRequestFunc(MessageContainer* requestContainer)
         }
         if (status == PASSED)
         {
-            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,Ticket->n_segments, Ticket->intersegmentlength);
+            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,n_segments, Ticket->intersegmentlength);
+            OpenJobFile();
             StartJob(CurrentJob);
         }
     }
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 53057c170..c52ed8b4c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -25,6 +25,10 @@
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
 #include "modules/General/process.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 ////////////////////////////////State machine operation////////////////////////////////////
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
@@ -38,7 +42,7 @@ static uint32_t PreSegmentState(void *Segment, int);
 static uint32_t SegmentState(void *Segment, int);
 uint32_t EndState(void *JobDetails, char *Message);
 //static uint32_t ExitState(void *JobDetails);
-
+uint16_t n_segments = 0;
 /**********************************************************************
 * the array and enum of PrintingState_t below must be in sync order
 ***********************************************************************/
@@ -65,9 +69,174 @@ ModuleStateEnum EndWaiting[MAX_SYSTEM_MODULES] =        {ModuleIdle,ModuleIdle,M
 bool Configured[MAX_SYSTEM_MODULES] = {false,false,false,false,false};
 
 bool SuspendLargeMessages = false;
+/*
+Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
 
-/********************************************************************************************************************
- * this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
+
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+*/
+
+//job file reading functions
+uint32_t bBytes = 0,readbBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+FRESULT Fresult = FR_OK;
+uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+FIL *JobRequestFileHandle = 0;  //the system supports a single active file
+FRESULT OpenJobFile()
+{
+    //n_segments = 0;
+    if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+    {
+        JobRequestFileHandle = my_malloc(sizeof(FIL));
+
+        Fresult = FileOpen(CurrentJob->jobdescriptionfile, &bBytes, JobRequestFileHandle);
+        if (Fresult == FR_OK)
+        {
+            readbBytes = 0;
+        }
+        REPORT_MSG(bBytes,"OpenJobFile");
+    }
+    return Fresult;
+}
+FRESULT CloseJobFile()
+{
+    Fresult = f_close(JobRequestFileHandle);
+    readbBytes = 0;
+    ImmediateRead = 0;
+    SegmentSize = 0;
+    BrushStopSize = 0;
+    my_free (JobRequestFileHandle);
+    JobRequestFileHandle = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+    REPORT_MSG(Fresult,"CloseJobFile");
+
+    return Fresult;
+}
+JobDescriptionFileSegment *GetNextSegmentFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileSegment *Segment = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    if(readbBytes < bBytes)
+    {
+        Fresult = f_read(JobRequestFileHandle,&SegmentSize,4,&ImmediateRead );
+        if (Fresult == FR_OK)
+        {
+            readbBytes += ImmediateRead;
+            if (SegmentPtr)
+                my_free(SegmentPtr);
+            SegmentPtr = my_malloc (SegmentSize);
+            if (SegmentPtr)
+            {
+                Fresult = f_read(JobRequestFileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                if (Fresult == FR_OK)
+                {
+                    readbBytes += ImmediateRead;
+                    //n_segments++;
+                    Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                }
+            }// read segment data
+            my_free(SegmentPtr);
+        }//segment malloc
+        else
+        {
+            LOG_ERROR (SegmentPtr, "malloc error");
+            status = ERROR;
+        }
+    }//segment read size
+    else
+    {
+        LOG_ERROR (Fresult, "f_read error");
+        status = ERROR;
+    }
+    return Segment;
+}
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment)
+{
+    job_description_file_segment__free_unpacked(Segment,NULL);
+    Segment = NULL;
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+}
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileBrushStop *BrushStop = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    Fresult = f_read(JobRequestFileHandle,&BrushStopSize,4,&ImmediateRead );
+    if (Fresult == FR_OK)
+    {
+        readbBytes += ImmediateRead;
+        if (BrushStopPtr)
+            my_free(BrushStopPtr);
+
+        BrushStopPtr = my_malloc (BrushStopSize);
+        if (BrushStopPtr)
+        {
+            Fresult = f_read(JobRequestFileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+            if (Fresult == FR_OK)
+            {
+                readbBytes += ImmediateRead;
+                BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+            }//brushstop malloc ok
+            else
+            {
+                LOG_ERROR (Fresult, "f_read error");
+                status = ERROR;
+            }
+            my_free(BrushStopPtr);
+        }//brushstop size read ok
+        else
+        {
+            LOG_ERROR (BrushStopPtr, "malloc error");
+            status = ERROR;
+        }
+    }// if brush stop count
+    else
+    {
+        LOG_ERROR (0, "f_read error brush stop size error");
+        status = ERROR;
+    }
+    REPORT_MSG(BrushStop->index,"BrushStop file Read Index");
+
+    return BrushStop;
+}
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop)
+{
+    REPORT_MSG(BrushStop->index,"Free BrushStop file Read Index");
+    if (BrushStop)
+        job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+    BrushStop = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+}
+/************************************************************************************************************************************/
+/* this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
  * according to the configuration map
  */
 
@@ -233,8 +402,8 @@ uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
 
     assert (ModuleId<MAX_SYSTEM_MODULES);
     assert (result<=ModuleFail);
-    REPORT_MSG (ModuleId, "SegmentReady");
-    Report("IDSSegmentState",__FILE__,__LINE__,(int)ModuleId,RpWarning,(int)result,0);
+    //REPORT_MSG (ModuleId, "SegmentReady");
+    Report("SegmentReady",__FILE__,__LINE__,(int)ModuleId,RpWarning,(int)result,0);
 
     if (SegmentWaiting[ModuleId] != ModuleWaiting)
     {
@@ -410,6 +579,7 @@ uint32_t EndState(void *JobDetails, char *Message)
         //EndWaiting[Module_Thread] = ModuleWaiting;
         ThreadEndState();
     }
+    CloseJobFile();
     //ROM_IntMasterEnable();
     SendJobProgress(0.0,0,true,Message);
 
@@ -436,16 +606,18 @@ void StartPrinting(void)
 //********************************************************************************************************************
 //********************************************************************************************************************
 
-void StopPrinting(void)
-{
-}
 int SegmentId = 0;
+JobDescriptionFileSegment *Segment;
+JobSegment SSegment;
+
+//********************************************************************************************************************
+//********************************************************************************************************************
 void PrintSTMMsgHandler(void * msg)
 {
     JobMessageStruc *Message = msg;
     PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message->messageData;
 
-    Report("PrintSTMMsgHandler",__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
+    Report("PrintSTMMsgHandler",__FILE__,__LINE__, 1000,RpMessage,Message->messageId,PrtMessage->messageId);
 
     if ((Message->messageId != PrintMessage)&&(Message->messageId != Abort))
     {
@@ -456,10 +628,28 @@ void PrintSTMMsgHandler(void * msg)
     {
         case PrintRequest:
             SegmentId = 0;
-            PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                Segment = GetNextSegmentFromJobFile();
+                SSegment.length = Segment->length;
+                SSegment.has_length = Segment->has_length;
+                SSegment.n_brushstops = Segment->brushstopscount;
+                PreSegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsOk:
-            SegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                SegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                SegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsFail:
             EndState(CurrentJob, "PreSegment Failed");
@@ -467,8 +657,9 @@ void PrintSTMMsgHandler(void * msg)
             break;
         case SegmentResultsOk:
             SegmentId++;
-            LOG_ERROR(SegmentId, "SegmentResultsOk segmentId");
-            if (SegmentId >= CurrentJob->n_segments)
+            //REPORT_MSG(SegmentId, "SegmentResultsOk segmentId");
+            Report("SegmentResultsOk segmentId",__FILE__,__LINE__, SegmentId,RpMessage,n_segments,0);
+            if (SegmentId >= n_segments)
                 {
                   if (dryerbufferlength == 0)
                     EndState(CurrentJob, "Job Ended");
@@ -477,7 +668,21 @@ void PrintSTMMsgHandler(void * msg)
                 }
             else
             {
-                PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+                if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+                {
+                    if (Segment)
+                        FreeSegmentFileData(Segment);
+
+                    Segment = GetNextSegmentFromJobFile();
+                    SSegment.length = Segment->length;
+                    SSegment.has_length = Segment->has_length;
+                    SSegment.n_brushstops = Segment->brushstopscount;
+                    PreSegmentState(&SSegment,SegmentId);
+                }
+                else
+                {
+                    PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+                }
             }
             break;
         case SegmentResultsFail:
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
index 878e063b5..d7d8262f4 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
@@ -17,6 +17,9 @@
 #include "PMR/Printing/JobRequest.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 #include "PMR/Printing/JobResponse.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 
 #define MAX_MSG_LEN    100
 typedef enum
@@ -166,8 +169,10 @@ uint32_t    CurrentJobRequestFunc(MessageContainer* requestContainer);
 uint32_t    ResumeCurrentJobRequestFunc(MessageContainer* requestContainer);
 
 bool JobIsActive(void);
+
 extern bool SuspendLargeMessages;
 
+extern uint16_t n_segments;
 void SendJobProgress(double ProcessedLength,int SegmentId, bool done, char *Message);
 
 uint32_t PrepareReady(int ModuleId, ModuleStateEnum result);
@@ -179,4 +184,12 @@ uint32_t EndState(void *JobDetails, char *Message);
 
 bool GetHeatersPrepareWaiting(void);
 
+extern JobUploadStrategy uploadstrategy;
+FRESULT OpenJobFile();
+FRESULT CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
 #endif /* STATEMACHINES_PRINTSTM_H_ */