Implemented motor group.

11 files changed, 817 insertions, 1 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml
new file mode 100644
index 000000000..64ed5bb43
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml
@@ -0,0 +1,270 @@
+<local:ElementEditor x:Class="Tango.MachineStudio.Technician.Editors.MotorGroupElementEditor"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+             xmlns:gif="http://wpfanimatedgif.codeplex.com"
+             xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:converters="clr-namespace:Tango.Editors.Converters;assembly=Tango.Editors"
+             xmlns:visuals="clr-namespace:Tango.Visuals;assembly=Tango.Visuals"
+             xmlns:local="clr-namespace:Tango.Editors;assembly=Tango.Editors"
+             mc:Ignorable="d" 
+             d:DesignHeight="164.393" d:DesignWidth="224.65" Background="Transparent" ClipToBounds="False" BorderThickness="0" MinWidth="1" MinHeight="1" RenderTransformOrigin="0.5,0.5" d:DataContext="{d:DesignInstance Type=items:MotorGroupItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:BoolToVisibilityConverter x:Key="BoolToVisibilityConverter"></converters:BoolToVisibilityConverter>
+        <sharedConverters:BooleanInverseConverter x:Key="BooleanInverseConverter" />
+
+        <!--Theme-->
+        <SolidColorBrush x:Key="BorderBrush" Color="Transparent"></SolidColorBrush>
+        <SolidColorBrush x:Key="CornersBrush" Color="Red"></SolidColorBrush>
+
+        <Grid x:Key="gridHoming">
+            <DockPanel>
+                <Button Click="OnHomingStopped" DockPanel.Dock="Right" Padding="0" Style="{StaticResource MaterialDesignFlatButton}" VerticalAlignment="Center" Margin="0 0 5 0" ToolTip="Stop Homing">
+                    <materialDesign:PackIcon Kind="Stop" Foreground="#FF5F5F" HorizontalAlignment="Center" VerticalAlignment="Center" Width="32" Height="32" />
+                </Button>
+                <ProgressBar Foreground="DimGray" BorderBrush="DimGray" Maximum="{Binding HomingMaximumProgress}" BorderThickness="1" Value="{Binding HomingProgress}" VerticalAlignment="Center" Height="10" Margin="5 0 5 0" Background="Transparent">
+
+                </ProgressBar>
+            </DockPanel>
+        </Grid>
+
+        <Grid x:Key="gridDefault">
+            <Viewbox Stretch="Fill">
+                <materialDesign:PackIcon Kind="Home" Margin="25 0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+            </Viewbox>
+
+            <Button Click="OnHomingStarted" Style="{StaticResource emptyButton}" Background="Transparent" BorderThickness="0"></Button>
+        </Grid>
+    </UserControl.Resources>
+
+    <UserControl.RenderTransform>
+        <RotateTransform Angle="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=Angle}"></RotateTransform>
+    </UserControl.RenderTransform>
+
+    <Grid>
+
+        <Grid Margin="5" IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="20*"/>
+                <ColumnDefinition Width="100*"/>
+                <ColumnDefinition Width="20*"/>
+            </Grid.ColumnDefinitions>
+
+            <Grid.RowDefinitions>
+                <RowDefinition Height="100*" />
+                <RowDefinition Height="30*" />
+            </Grid.RowDefinitions>
+
+            <Grid Grid.Column="1">
+                <Border BorderThickness="1" BorderBrush="Gray" CornerRadius="5">
+                    <Border.Background>
+                        <ImageBrush ImageSource="../Images/black-screen.jpg" Opacity="0.1" />
+                    </Border.Background>
+
+                    <Grid>
+                        <Image x:Name="image" Margin="5" gif:ImageBehavior.AnimatedSource="../Images/motor-group.gif" RenderOptions.BitmapScalingMode="Fant" gif:ImageBehavior.AutoStart="False" gif:ImageBehavior.AnimateInDesignMode="True" gif:ImageBehavior.RepeatBehavior="Forever"></Image>
+                    </Grid>
+                </Border>
+            </Grid>
+
+            <Grid>
+                <Border BorderBrush="Gray" BorderThickness="1 1 0 1" Margin="0 10" CornerRadius="5 0 0 5" PreviewMouseDown="OnBackwardPressed" PreviewMouseUp="OnBackwardReleased">
+                    <Border.Style>
+                        <Style TargetType="Border">
+                            <Setter Property="Background">
+                                <Setter.Value>
+                                    <LinearGradientBrush EndPoint="1,0">
+                                        <GradientStop Color="#AAAAAA" Offset="1" />
+                                        <GradientStop Color="#FFEEEEEE" Offset="0"/>
+                                    </LinearGradientBrush>
+                                </Setter.Value>
+                            </Setter>
+                            <Style.Triggers>
+                                <EventTrigger RoutedEvent="PreviewMouseDown">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                                <EventTrigger RoutedEvent="PreviewMouseUp">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Border.Style>
+
+                    <Viewbox Stretch="Fill" Margin="-10 20">
+                        <materialDesign:PackIcon Kind="ChevronLeft" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+                    </Viewbox>
+                </Border>
+            </Grid>
+
+            <Grid Grid.Column="2">
+                <Border BorderBrush="Gray" BorderThickness="0 1 1 1" Margin="0 10" CornerRadius="0 10 10 0" PreviewMouseDown="OnForwardPressed" PreviewMouseUp="OnForwardReleased">
+                    <Border.Style>
+                        <Style TargetType="Border">
+                            <Setter Property="Background">
+                                <Setter.Value>
+                                    <LinearGradientBrush EndPoint="1,0">
+                                        <GradientStop Color="#AAAAAA" Offset="0" />
+                                        <GradientStop Color="#FFEEEEEE" Offset="1"/>
+                                    </LinearGradientBrush>
+                                </Setter.Value>
+                            </Setter>
+                            <Style.Triggers>
+                                <EventTrigger RoutedEvent="PreviewMouseDown">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                                <EventTrigger RoutedEvent="PreviewMouseUp">
+                                    <EventTrigger.Actions>
+                                        <BeginStoryboard>
+                                            <Storyboard>
+                                                <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                            </Storyboard>
+                                        </BeginStoryboard>
+                                    </EventTrigger.Actions>
+                                </EventTrigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Border.Style>
+
+                    <Viewbox Stretch="Fill" Margin="-10 20">
+                        <materialDesign:PackIcon Kind="ChevronRight" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="#202020" />
+                    </Viewbox>
+                </Border>
+            </Grid>
+
+            <Grid Grid.Column="1" Grid.Row="1">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="20*"/>
+                    <ColumnDefinition Width="115*"/>
+                    <ColumnDefinition Width="20*"/>
+                </Grid.ColumnDefinitions>
+
+                <Grid Grid.Column="1">
+                    <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20">
+                        <Border.Style>
+                            <Style TargetType="Border">
+                                <Setter Property="Background">
+                                    <Setter.Value>
+                                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                            <GradientStop Color="#979797" Offset="1" />
+                                            <GradientStop Color="#FFEEEEEE" Offset="0"/>
+                                        </LinearGradientBrush>
+                                    </Setter.Value>
+                                </Setter>
+                                <Style.Triggers>
+                                    <EventTrigger RoutedEvent="PreviewMouseDown">
+                                        <EventTrigger.Actions>
+                                            <BeginStoryboard>
+                                                <Storyboard>
+                                                    <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFCECECE" Duration="00:00:0.1" />
+                                                </Storyboard>
+                                            </BeginStoryboard>
+                                        </EventTrigger.Actions>
+                                    </EventTrigger>
+                                    <EventTrigger RoutedEvent="PreviewMouseUp">
+                                        <EventTrigger.Actions>
+                                            <BeginStoryboard>
+                                                <Storyboard>
+                                                    <ColorAnimation Storyboard.TargetProperty="Background.GradientStops[1].Color" To="#FFEEEEEE" Duration="00:00:0.1" />
+                                                </Storyboard>
+                                            </BeginStoryboard>
+                                        </EventTrigger.Actions>
+                                    </EventTrigger>
+                                </Style.Triggers>
+                            </Style>
+                        </Border.Style>
+
+                        <Grid>
+                            <ContentControl>
+                                <ContentControl.Style>
+                                    <Style TargetType="ContentControl">
+                                        <Setter Property="Content" Value="{StaticResource gridDefault}">
+
+                                        </Setter>
+                                        <Style.Triggers>
+                                            <DataTrigger Binding="{Binding IsHoming}" Value="True">
+                                                <Setter Property="Content" Value="{StaticResource gridHoming}">
+                                                </Setter>
+                                            </DataTrigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </ContentControl.Style>
+
+                            </ContentControl>
+                        </Grid>
+                    </Border>
+                </Grid>
+            </Grid>
+
+
+        </Grid>
+
+        <!--Content-->
+        <Grid>
+            <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
+                <TextBlock Text="{Binding GroupName}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
+            </Border>
+        </Grid>
+        <!--Content-->
+
+
+        <Border BorderThickness="1" BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=BorderBrush,TargetNullValue={StaticResource BorderBrush},FallbackValue={StaticResource BorderBrush}}" Visibility="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=(local:ElementsEditor.IsSelected),Converter={StaticResource BoolToVisibilityConverter}}">
+            <Grid>
+                <ContentPresenter Content="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=InnerContent}"></ContentPresenter>
+
+                <Thumb Opacity="0" DragDelta="MoveDrag" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb HorizontalAlignment="Left" Cursor="SizeWE" Opacity="0" DragDelta="DragLeft" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb HorizontalAlignment="Right" Cursor="SizeWE" Opacity="0" DragDelta="DragRight" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb VerticalAlignment="Top" Cursor="SizeNS" Opacity="0" DragDelta="DragTop" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+                <Thumb VerticalAlignment="Bottom" Cursor="SizeNS" Opacity="0" DragDelta="DragBottom" DragStarted="DragStarted" DragCompleted="OnDragEnded"></Thumb>
+
+                <Grid ClipToBounds="False" HorizontalAlignment="Center" VerticalAlignment="Top" Margin="0 -20 0 0" Width="10" Height="10">
+                    <Ellipse Stroke="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" StrokeThickness="2"></Ellipse>
+                    <Rectangle HorizontalAlignment="Center" VerticalAlignment="Stretch" Margin="0 10 0 -8" StrokeThickness="1" Stroke="Red"></Rectangle>
+                    <Thumb Opacity="0" DragDelta="DragAngle" DragStarted="DragStarted" Cursor="Arrow" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="-8 -8 0 0">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="2 2 0 0"></Border>
+                    <Thumb Opacity="0" DragDelta="DragTopLeft" DragStarted="DragStarted" Cursor="SizeNWSE" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0 -8 -8 0">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="0 2 2 0"></Border>
+                    <Thumb Opacity="0" DragDelta="DragTopRight" DragStarted="DragStarted" Cursor="SizeNESW" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Right" VerticalAlignment="Bottom" Margin="0 0 -8 -8">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="0 0 2 2"></Border>
+                    <Thumb Opacity="0" DragDelta="DragBottomRight" DragStarted="DragStarted" Cursor="SizeNWSE" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+
+                <Grid Width="10" Height="10" HorizontalAlignment="Left" VerticalAlignment="Bottom" Margin="-8 0 0 -8">
+                    <Border BorderBrush="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=CornersBrush,TargetNullValue={StaticResource CornersBrush},FallbackValue={StaticResource CornersBrush}}" BorderThickness="2 0 0 2"></Border>
+                    <Thumb Opacity="0" DragDelta="DragBottomLeft" DragStarted="DragStarted" Cursor="SizeNESW" DragCompleted="OnDragEnded"></Thumb>
+                </Grid>
+            </Grid>
+        </Border>
+    </Grid>
+</local:ElementEditor>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml.cs
new file mode 100644
index 000000000..4e29296b0
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorGroupElementEditor.xaml.cs
@@ -0,0 +1,177 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Controls.Primitives;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Markup;
+using System.Windows.Media;
+using System.Windows.Media.Animation;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using Tango.Editors;
+using Tango.Integration.Observables;
+using Tango.MachineStudio.Technician.TechItems;
+using Tango.SharedUI.Components;
+
+namespace Tango.MachineStudio.Technician.Editors
+{
+    [ContentProperty("InnerContent")]
+    public partial class MotorGroupElementEditor : ElementEditor
+    {
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        public MotorGroupElementEditor()
+            : base()
+        {
+            InitializeComponent();
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        public MotorGroupElementEditor(MotorGroupItem motorGroupItem)
+            : this()
+        {
+            MotorGroupItem = motorGroupItem;
+            DataContext = MotorGroupItem;
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        /// <param name="bounds">The bounds.</param>
+        public MotorGroupElementEditor(MotorGroupItem monitorItem, Rect bounds)
+            : this(monitorItem)
+        {
+            Left = bounds.Left;
+            Top = bounds.Top;
+            Width = bounds.Width;
+            Height = bounds.Height;
+        }
+
+        private MotorGroupItem _monitorItem;
+
+        public MotorGroupItem MotorGroupItem
+        {
+            get { return _monitorItem; }
+            set
+            {
+                _monitorItem = value; RaisePropertyChanged(nameof(MotorGroupItem));
+
+                if (_monitorItem != null)
+                {
+                    _monitorItem.HomingCompleted -= _monitorItem_HomingCompleted;
+                    _monitorItem.HomingCompleted += _monitorItem_HomingCompleted;
+                }
+            }
+        }
+
+        private void _monitorItem_HomingCompleted(object sender, EventArgs e)
+        {
+            StopAnimation();
+        }
+
+
+        /// <summary>
+        /// Clones this instance.
+        /// </summary>
+        /// <returns></returns>
+        public override IElementEditor Clone()
+        {
+            try
+            {
+                var clonedItem = MotorGroupItem.Clone() as MotorGroupItem;
+                MotorGroupElementEditor cloned = new MotorGroupElementEditor(clonedItem);
+                cloned.Top = Top;
+                cloned.Left = Left;
+                cloned.Width = Width;
+                cloned.Height = Height;
+                cloned.Angle = Angle;
+                return cloned;
+            }
+            catch (Exception ex)
+            {
+                throw new InvalidOperationException("Could not clone this editor. You may have to create a custom editor and implement a custom Clone method.", ex);
+            }
+        }
+
+        /// <summary>
+        /// Gets the hosted element.
+        /// </summary>
+        [ParameterIgnore]
+        public override Object HostedElement
+        {
+            get { return MotorGroupItem; }
+        }
+
+        private void OnForwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.ForwardPressed);
+            AnimateRight();
+        }
+
+        private void OnForwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.ForwardReleased);
+            StopAnimation();
+        }
+
+        private void OnBackwardPressed(object sender, MouseButtonEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.BackwardPressed);
+            AnimateLeft();
+        }
+
+        private void OnBackwardReleased(object sender, MouseButtonEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.BackwardReleased);
+            StopAnimation();
+        }
+
+        private void OnHomingStarted(object sender, RoutedEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.HomingStarted);
+            AnimateLeft();
+        }
+
+        private void OnHomingStopped(object sender, RoutedEventArgs e)
+        {
+            MotorGroupItem.RaiseAction(MotorActionType.HomingStopped);
+            StopAnimation();
+        }
+
+        private void AnimateRight()
+        {
+            WpfAnimatedGif.ImageBehavior.GetAnimationController(image).Play();
+        }
+
+        private void AnimateLeft()
+        {
+            WpfAnimatedGif.ImageBehavior.GetAnimationController(image).Play();
+        }
+
+        public void StopAnimation()
+        {
+            this.Dispatcher.Invoke(() =>
+            {
+                WpfAnimatedGif.ImageBehavior.GetAnimationController(image).Pause();
+            });
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.gif b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.gif
new file mode 100644
index 000000000..682a20da7
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.gif
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.png
new file mode 100644
index 000000000..0dca92823
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/motor-group.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml
new file mode 100644
index 000000000..4210d12a6
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml
@@ -0,0 +1,54 @@
+<UserControl x:Class="Tango.MachineStudio.Technician.PropertiesTemplates.MotorGroupTemplate"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:converters="clr-namespace:Tango.MachineStudio.Technician.Converters"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+              xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
+             xmlns:local="clr-namespace:Tango.MachineStudio.Technician.PropertiesTemplates"
+             mc:Ignorable="d" 
+             d:DesignHeight="500" d:DesignWidth="200" d:DataContext="{d:DesignInstance Type=items:MotorGroupItem, IsDesignTimeCreatable=False}">
+
+    <UserControl.Resources>
+        <converters:MonitorsToSingleChannleMonitorsConverter x:Key="MonitorsToSingleChannleMonitorsConverter" />
+
+        <Style TargetType="{x:Type TabItem}" BasedOn="{StaticResource {x:Type TabItem}}">
+            <Setter Property="mahapps:ControlsHelper.HeaderFontSize" Value="14" />
+            <Setter Property="Margin" Value="2" />
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <StackPanel>
+            <GroupBox Header="GROUP NAME">
+                <TextBox Text="{Binding GroupName,UpdateSourceTrigger=PropertyChanged}"></TextBox>
+            </GroupBox>
+            <GroupBox Header="MOTORS" Margin="0 10 0 0">
+                <StackPanel>
+                    <TextBlock FontSize="10">Selected Motors</TextBlock>
+                    <Grid>
+                        <ComboBox Margin="0 5 0 0" ItemsSource="{Binding SelectedMotors}">
+                            <ComboBox.ItemTemplate>
+                                <DataTemplate>
+                                    <StackPanel Orientation="Horizontal">
+                                        <CheckBox IsChecked="{Binding IsSelected,Mode=TwoWay}" VerticalAlignment="Center"></CheckBox>
+                                        <TextBlock Margin="5 0 0 0" VerticalAlignment="Center" Text="{Binding Data.Description}"></TextBlock>
+                                    </StackPanel>
+                                </DataTemplate>
+                            </ComboBox.ItemTemplate>
+                        </ComboBox>
+                        <TextBlock IsHitTestVisible="False" VerticalAlignment="Center" Margin="5 0 0 0">
+                            <Run Text="{Binding SelectedMotors.SynchedSource.Count,Mode=OneWay}"></Run>
+                            <Run>Motors</Run>
+                        </TextBlock>
+                    </Grid>
+
+                    <TextBlock FontSize="10" Margin="0 20 0 0"><Run>Speed</Run> <Run Text="{Binding Speed,StringFormat={}{0:N0} ms,FallbackValue=0}"></Run></TextBlock>
+                    <Slider Margin="0 5 0 0" Minimum="1" Maximum="1000" Value="{Binding Speed,Mode=TwoWay}"></Slider>
+                </StackPanel>
+            </GroupBox>
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml.cs
new file mode 100644
index 000000000..8d2c3df8a
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorGroupTemplate.xaml.cs
@@ -0,0 +1,31 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using Tango.Integration.Observables;
+using Tango.MachineStudio.Technician.TechItems;
+using Tango.SharedUI.Components;
+
+namespace Tango.MachineStudio.Technician.PropertiesTemplates
+{
+    /// <summary>
+    /// Interaction logic for MonitorTemplate.xaml
+    /// </summary>
+    public partial class MotorGroupTemplate : UserControl
+    {
+        public MotorGroupTemplate()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
index 2b90207b0..e8b14e277 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Tango.MachineStudio.Technician.csproj
@@ -106,6 +106,9 @@
     <Compile Include="Editors\IOElementEditor.xaml.cs">
       <DependentUpon>IOElementEditor.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Editors\MotorGroupElementEditor.xaml.cs">
+      <DependentUpon>MotorGroupElementEditor.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Editors\ThreadMotionElementEditor.xaml.cs">
       <DependentUpon>ThreadMotionElementEditor.xaml</DependentUpon>
     </Compile>
@@ -135,6 +138,9 @@
     <Compile Include="PropertiesTemplates\DispenserTemplate.xaml.cs">
       <DependentUpon>DispenserTemplate.xaml</DependentUpon>
     </Compile>
+    <Compile Include="PropertiesTemplates\MotorGroupTemplate.xaml.cs">
+      <DependentUpon>MotorGroupTemplate.xaml</DependentUpon>
+    </Compile>
     <Compile Include="PropertiesTemplates\ThreadMotionTemplate.xaml.cs">
       <DependentUpon>ThreadMotionTemplate.xaml</DependentUpon>
     </Compile>
@@ -156,6 +162,7 @@
     <Compile Include="TechItems\DispenserItem.cs" />
     <Compile Include="TechItems\MotorItem.cs" />
     <Compile Include="TechItems\MultiGraphItem.cs" />
+    <Compile Include="TechItems\MotorGroupItem.cs" />
     <Compile Include="TechItems\SingleGraphItem.cs" />
     <Compile Include="TechItems\MonitorItem.cs" />
     <Compile Include="TechItems\TechItem.cs" />
@@ -193,6 +200,10 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Editors\MotorGroupElementEditor.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Editors\ThreadMotionElementEditor.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -229,6 +240,10 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="PropertiesTemplates\MotorGroupTemplate.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="PropertiesTemplates\ThreadMotionTemplate.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -414,5 +429,11 @@
   <ItemGroup>
     <Resource Include="Images\cogs-small.gif" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\motor-group.gif" />
+  </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\motor-group.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs
new file mode 100644
index 000000000..35aae5cd7
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs
@@ -0,0 +1,158 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+using System.Xml.Serialization;
+using Tango.Integration.Observables;
+using Tango.SharedUI.Components;
+using Tango.SharedUI.Helpers;
+
+namespace Tango.MachineStudio.Technician.TechItems
+{
+    public class MotorGroupItem : TechItem
+    {
+        public event EventHandler<MotorActionType> ActionExecuted;
+        public event EventHandler HomingCompleted;
+
+        private SelectedObjectCollection<TechMotor> _selectedMotors;
+        [XmlIgnore]
+        public SelectedObjectCollection<TechMotor> SelectedMotors
+        {
+            get { return _selectedMotors; }
+            set { _selectedMotors = value; RaisePropertyChangedAuto(); }
+        }
+
+        private ObservableCollection<TechMotor> _techMotors;
+        [XmlIgnore]
+        public ObservableCollection<TechMotor> TechMotors
+        {
+            get { return _techMotors; }
+            set { _techMotors = value; RaisePropertyChangedAuto(); SetSelectedMotors(); }
+        }
+
+        private void SetSelectedMotors()
+        {
+            if (TechMotors != null)
+            {
+                SelectedMotors = new SelectedObjectCollection<TechMotor>(ObservablesEntitiesAdapter.Instance.TechMotors.ToObservableCollection(), TechMotors);
+            }
+        }
+
+        public List<String> ItemsGuids { get; set; }
+
+        private String _groupName;
+
+        public String GroupName
+        {
+            get { return _groupName; }
+            set { _groupName = value; RaisePropertyChangedAuto(); TechName = value; }
+        }
+
+
+        private bool _isHoming;
+        [XmlIgnore]
+        public bool IsHoming
+        {
+            get { return _isHoming; }
+            set
+            {
+                _isHoming = value;
+                RaisePropertyChangedAuto();
+            }
+        }
+
+        private bool _isHomingCompleted;
+
+        public bool IsHomingCompleted
+        {
+            get { return _isHomingCompleted; }
+            set
+            {
+                _isHomingCompleted = value;
+                RaisePropertyChangedAuto();
+
+                if (value)
+                {
+                    HomingCompleted?.Invoke(this, new EventArgs());
+                }
+            }
+        }
+
+        private double _homingProgress;
+        [XmlIgnore]
+        public double HomingProgress
+        {
+            get { return _homingProgress; }
+            set
+            {
+                _homingProgress = value;
+                RaisePropertyChangedAuto();
+            }
+        }
+
+        private double _homingMaximumProgress;
+        [XmlIgnore]
+        public double HomingMaximumProgress
+        {
+            get { return _homingMaximumProgress; }
+            set { _homingMaximumProgress = value; RaisePropertyChangedAuto(); }
+        }
+
+        private bool _isForwardPressed;
+        [XmlIgnore]
+        public bool IsForwardPressed
+        {
+            get { return _isForwardPressed; }
+            set { _isForwardPressed = value; RaisePropertyChangedAuto(); }
+        }
+
+        private bool _isBackwardPressed;
+        [XmlIgnore]
+        public bool IsBackwardPressed
+        {
+            get { return _isBackwardPressed; }
+            set { _isBackwardPressed = value; RaisePropertyChangedAuto(); }
+        }
+
+        private double _speed;
+        public double Speed
+        {
+            get { return _speed; }
+            set { _speed = value; RaisePropertyChangedAuto(); }
+        }
+
+        public MotorGroupItem() : base()
+        {
+            ItemsGuids = new List<string>();
+            TechMotors = new ObservableCollection<TechMotor>();
+            Name = "Motor Group";
+            Description = "Motor Group Controller";
+            Image = ResourceHelper.GetImageFromResources("Images/motor-group.png");
+            Color = Colors.White;
+            GroupName = "Motor Group";
+        }
+
+        public MotorGroupItem(object dummyConstructor) : this()
+        {
+
+        }
+
+        public override TechItem Clone()
+        {
+            MotorGroupItem cloned = base.Clone() as MotorGroupItem;
+            cloned.TechMotors = new ObservableCollection<TechMotor>(TechMotors);
+            cloned.Speed = Speed;
+            cloned.ItemsGuids = ItemsGuids;
+            cloned.TechMotors = cloned.TechMotors.ToObservableCollection();
+            return cloned;
+        }
+
+        public void RaiseAction(MotorActionType action)
+        {
+            ActionExecuted?.Invoke(this, action);
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/TechItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/TechItem.cs
index 8361b6ef7..a7b5ae5b9 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/TechItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/TechItem.cs
@@ -21,6 +21,7 @@ namespace Tango.MachineStudio.Technician.TechItems
     [XmlInclude(typeof(MultiGraphItem))]
     [XmlInclude(typeof(SingleGraphItem))]
     [XmlInclude(typeof(ThreadMotionItem))]
+    [XmlInclude(typeof(MotorGroupItem))]
     public abstract class TechItem : ExtendedObject
     {
         public TechItem()
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
index d87652e42..1b0ee0a56 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
@@ -362,9 +362,14 @@ namespace Tango.MachineStudio.Technician.ViewModels
             }
             else if (item is ThreadMotionItem)
             {
-                var editor = CreateElement<ThreadMotionElementEditor, ThreadMotionItem, int>(bounds, 0);
+                var editor = CreateElement<ThreadMotionElementEditor, ThreadMotionItem, object>(bounds, null);
                 InitThreadMotionItem(editor.ThreadMotionItem);
             }
+            else if (item is MotorGroupItem)
+            {
+                var editor = CreateElement<MotorGroupElementEditor, MotorGroupItem, object>(bounds, null);
+                InitMotorGroupItem(editor.MotorGroupItem);
+            }
         }
 
         private Editor CreateElement<Editor, Tech, Value>(Rect bounds, Value value) where Editor : IElementEditor where Tech : TechItem
@@ -428,6 +433,11 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 var editor = CreateElement<ThreadMotionElementEditor>(item);
                 InitThreadMotionItem(editor.ThreadMotionItem);
             }
+            else if (item is MotorGroupItem)
+            {
+                var editor = CreateElement<MotorGroupElementEditor>(item);
+                InitMotorGroupItem(editor.MotorGroupItem);
+            }
         }
 
         public void OnElementsRemoved(List<IElementEditor> elements)
@@ -502,6 +512,16 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     var ioItem = element.HostedElement as IOItem;
                     InitIOItem(ioItem);
                 }
+                else if (element is ThreadMotionItem)
+                {
+                    var threadMotionItem = element.HostedElement as ThreadMotionItem;
+                    InitThreadMotionItem(threadMotionItem);
+                }
+                else if (element is MotorGroupItem)
+                {
+                    var motorGroupItem = element.HostedElement as MotorGroupItem;
+                    InitMotorGroupItem(motorGroupItem);
+                }
             }
         }
 
@@ -722,6 +742,76 @@ namespace Tango.MachineStudio.Technician.ViewModels
             };
         }
 
+        private void InitMotorGroupItem(MotorGroupItem item)
+        {
+            item.ActionExecuted += async (x, action) =>
+            {
+                if (action == MotorActionType.ForwardPressed)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = motor.Code,
+                        Direction = MotorDirection.Forward,
+                    })));
+                }
+                else if (action == MotorActionType.ForwardReleased)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = motor.Code,
+                    })));
+                }
+                else if (action == MotorActionType.BackwardPressed)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = motor.Code,
+                        Direction = MotorDirection.Backward,
+                    })));
+                }
+                else if (action == MotorActionType.BackwardReleased)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = motor.Code,
+                    })));
+                }
+                //else if (action == MotorActionType.HomingStarted)
+                //{
+                //    item.HomingProgress = 0;
+                //    item.IsHoming = true;
+                //    item.IsHomingCompleted = false;
+
+                //    MachineOperator.StartMotorHoming(new MotorHomingRequest()
+                //    {
+                //        Code = item.TechMotor.Code
+                //    })
+                //    .Subscribe((response) =>
+                //    {
+
+                //        item.HomingMaximumProgress = response.Message.MaxProgress;
+                //        item.HomingProgress = response.Message.Progress;
+
+                //    }, () =>
+                //    {
+
+                //        item.IsHoming = false;
+                //        item.IsHomingCompleted = true;
+
+                //    });
+                //}
+                //else if (action == MotorActionType.HomingStopped)
+                //{
+                //    await MachineOperator.StopMotorHoming(new MotorAbortHomingRequest()
+                //    {
+                //        Code = item.TechMotor.Code,
+                //    });
+
+                //    item.IsHoming = false;
+                //}
+            };
+        }
+
         #endregion
 
         #region Public Methods
@@ -754,6 +844,11 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
                 foreach (var item in project.Items)
                 {
+                    if (item is MotorGroupItem)
+                    {
+                        (item as MotorGroupItem).TechMotors = ObservablesEntitiesAdapter.Instance.TechMotors.Where(x => (item as MotorGroupItem).ItemsGuids.Contains(x.Guid)).ToObservableCollection();
+                    }
+
                     AddTechItem(item);
                 }
             }
@@ -799,6 +894,12 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
             foreach (var element in Elements)
             {
+                if (element.HostedElement is MotorGroupItem)
+                {
+                    var group = element.HostedElement as MotorGroupItem;
+                    group.ItemsGuids = group.TechMotors.Select(x => x.Guid).ToList();
+                }
+
                 (element.HostedElement as TechItem).SetBounds(element.GetBounds());
                 project.Items.Add(element.HostedElement as TechItem);
             }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
index 7042be696..1658b97d8 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
@@ -355,6 +355,9 @@
                                 <DataTemplate DataType="{x:Type items:MonitorItem}">
                                     <templates:MonitorTemplate/>
                                 </DataTemplate>
+                                <DataTemplate DataType="{x:Type items:MotorGroupItem}">
+                                    <templates:MotorGroupTemplate/>
+                                </DataTemplate>
                                 <DataTemplate DataType="{x:Type items:ThreadMotionItem}">
                                     <templates:ThreadMotionTemplate/>
                                 </DataTemplate>