Implemented directional homing for motors and dispensers.

9 files changed, 99 insertions, 17 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml
index 630dddec7..78b7d63c0 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml
@@ -35,7 +35,32 @@
                 <materialDesign:PackIcon Kind="Home" Margin="25 0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="Gainsboro" />
             </Viewbox>
 
-            <Button Click="OnHomingStarted" Style="{StaticResource emptyButton}" Cursor="Hand" Background="Transparent" BorderThickness="0"></Button>
+            <UniformGrid Columns="2">
+                <Button Click="OnHomingBackwardStarted" HorizontalAlignment="Left" Width="60" Background="Transparent" BorderThickness="0">
+                    <Button.Style>
+                        <Style TargetType="Button" BasedOn="{StaticResource emptyButton}">
+                            <Style.Triggers>
+                                <Trigger Property="IsMouseOver" Value="True">
+                                    <Setter Property="Opacity" Value="0.5"></Setter>
+                                </Trigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Button.Style>
+                    <materialDesign:PackIcon Kind="ChevronDoubleLeft" HorizontalAlignment="Center" VerticalAlignment="Center" Width="40" Height="40" Foreground="Gainsboro" />
+                </Button>
+                <Button Click="OnHomingForwardStarted" HorizontalAlignment="Right" Width="60" Background="Transparent" BorderThickness="0">
+                    <Button.Style>
+                        <Style TargetType="Button" BasedOn="{StaticResource emptyButton}">
+                            <Style.Triggers>
+                                <Trigger Property="IsMouseOver" Value="True">
+                                    <Setter Property="Opacity" Value="0.5"></Setter>
+                                </Trigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Button.Style>
+                    <materialDesign:PackIcon Kind="ChevronDoubleRight" HorizontalAlignment="Center" VerticalAlignment="Center" Width="40" Height="40" Foreground="Gainsboro" />
+                </Button>
+            </UniformGrid>
         </Grid>
     </UserControl.Resources>
 
@@ -112,7 +137,7 @@
                     </Grid.ColumnDefinitions>
 
                     <Grid Grid.Column="1">
-                        <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20" Style="{StaticResource TechWidgetBorderCenter}">
+                        <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20" Style="{StaticResource TechWidgetBorderCenterNoHover}">
                             <Grid>
                                 <ContentControl>
                                     <ContentControl.Style>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs
index f29d0a78d..f0056a740 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/DispenserElementEditor.xaml.cs
@@ -146,7 +146,7 @@ namespace Tango.MachineStudio.Technician.Editors
         private void OnHomingStarted(object sender, RoutedEventArgs e)
         {
             AnimateLeft();
-            DispenserItem.RaiseAction(MotorActionType.HomingStarted);
+            DispenserItem.RaiseAction(MotorActionType.HomingForwardStarted);
         }
 
         private void OnHomingStopped(object sender, RoutedEventArgs e)
@@ -182,5 +182,17 @@ namespace Tango.MachineStudio.Technician.Editors
                 propRotate.BeginAnimation(RotateTransform.AngleProperty, null);
             });
         }
+
+        private void OnHomingBackwardStarted(object sender, RoutedEventArgs e)
+        {
+            AnimateLeft();
+            DispenserItem.RaiseAction(MotorActionType.HomingBackwardStarted);
+        }
+
+        private void OnHomingForwardStarted(object sender, RoutedEventArgs e)
+        {
+            AnimateRight();
+            DispenserItem.RaiseAction(MotorActionType.HomingForwardStarted);
+        }
     }
 }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
index 25907fd8f..7e50b3349 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
@@ -37,7 +37,32 @@
                 <materialDesign:PackIcon Kind="Home" Margin="25 0" HorizontalAlignment="Center" VerticalAlignment="Center" Width="24" Height="24" Foreground="Gainsboro" />
             </Viewbox>
 
-            <Button Click="OnHomingStarted" Style="{StaticResource emptyButton}" Background="Transparent" BorderThickness="0"></Button>
+            <UniformGrid Columns="2">
+                <Button Click="OnHomingBackwardStarted" HorizontalAlignment="Left" Width="60" Background="Transparent" BorderThickness="0">
+                    <Button.Style>
+                        <Style TargetType="Button" BasedOn="{StaticResource emptyButton}">
+                            <Style.Triggers>
+                                <Trigger Property="IsMouseOver" Value="True">
+                                    <Setter Property="Opacity" Value="0.5"></Setter>
+                                </Trigger>
+                            </Style.Triggers> 
+                        </Style>
+                    </Button.Style>
+                    <materialDesign:PackIcon Kind="ChevronDoubleLeft" HorizontalAlignment="Center" VerticalAlignment="Center" Width="40" Height="40" Foreground="Gainsboro" />
+                </Button>
+                <Button Click="OnHomingForwardStarted" HorizontalAlignment="Right" Width="60" Background="Transparent" BorderThickness="0">
+                    <Button.Style>
+                        <Style TargetType="Button" BasedOn="{StaticResource emptyButton}">
+                            <Style.Triggers>
+                                <Trigger Property="IsMouseOver" Value="True">
+                                    <Setter Property="Opacity" Value="0.5"></Setter>
+                                </Trigger>
+                            </Style.Triggers>
+                        </Style>
+                    </Button.Style>
+                    <materialDesign:PackIcon Kind="ChevronDoubleRight" HorizontalAlignment="Center" VerticalAlignment="Center" Width="40" Height="40" Foreground="Gainsboro" />
+                </Button>
+            </UniformGrid>
         </Grid>
     </UserControl.Resources>
 
@@ -94,7 +119,7 @@
                     </Border>
                 </Grid>
 
-                <Grid Grid.Column="1" Grid.Row="1" Visibility="{Binding HardwareMotorType.SupportsHoming,Converter={StaticResource BoolToVisibilityConverter}}">
+                <Grid Grid.Column="1" Grid.Row="1" Visibility="Visible">
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="20*"/>
                         <ColumnDefinition Width="115*"/>
@@ -102,7 +127,7 @@
                     </Grid.ColumnDefinitions>
 
                     <Grid Grid.Column="1">
-                        <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20" Style="{StaticResource TechWidgetBorderCenter}">
+                        <Border BorderBrush="Gray" BorderThickness="1 0 1 1" CornerRadius="0 0 20 20" Style="{StaticResource TechWidgetBorderCenterNoHover}">
                             <Grid>
                                 <ContentControl>
                                     <ContentControl.Style>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs
index 9e76667dd..7a8f8309f 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml.cs
@@ -143,12 +143,6 @@ namespace Tango.MachineStudio.Technician.Editors
             MotorItem.RaiseAction(MotorActionType.BackwardReleased);
         }
 
-        private void OnHomingStarted(object sender, RoutedEventArgs e)
-        {
-            AnimateLeft();
-            MotorItem.RaiseAction(MotorActionType.HomingStarted);
-        }
-
         private void OnHomingStopped(object sender, RoutedEventArgs e)
         {
             StopAnimation();
@@ -187,5 +181,17 @@ namespace Tango.MachineStudio.Technician.Editors
         {
 
         }
+
+        private void OnHomingBackwardStarted(object sender, RoutedEventArgs e)
+        {
+            AnimateLeft();
+            MotorItem.RaiseAction(MotorActionType.HomingBackwardStarted);
+        }
+
+        private void OnHomingForwardStarted(object sender, RoutedEventArgs e)
+        {
+            AnimateRight();
+            MotorItem.RaiseAction(MotorActionType.HomingForwardStarted);
+        }
     }
 }
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
index 5d9954605..3ca4c19e0 100644
--- 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
@@ -146,7 +146,7 @@ namespace Tango.MachineStudio.Technician.Editors
 
         private void OnHomingStarted(object sender, RoutedEventArgs e)
         {
-            MotorGroupItem.RaiseAction(MotorActionType.HomingStarted);
+            MotorGroupItem.RaiseAction(MotorActionType.HomingForwardStarted);
             AnimateLeft();
         }
 
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/ThreadMotionElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/ThreadMotionElementEditor.xaml.cs
index 6de37f3a2..76ff39d9c 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/ThreadMotionElementEditor.xaml.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/ThreadMotionElementEditor.xaml.cs
@@ -133,7 +133,7 @@ namespace Tango.MachineStudio.Technician.Editors
 
         private void OnHomingStarted(object sender, RoutedEventArgs e)
         {
-            ThreadMotionItem.RaiseAction(MotorActionType.HomingStarted);
+            ThreadMotionItem.RaiseAction(MotorActionType.HomingForwardStarted);
             AnimateLeft();
         }
 
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs
index 57dabbbb2..e42c87627 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorActionType.cs
@@ -15,7 +15,8 @@ namespace Tango.MachineStudio.Technician.TechItems
         ForwardReleased,
         BackwardPressed,
         BackwardReleased,
-        HomingStarted,
+        HomingForwardStarted,
+        HomingBackwardStarted,
         HomingStopped,
     }
 }
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 b0dac90f1..a02e09e9a 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
@@ -1262,7 +1262,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                             MotorType = (PMR.Hardware.HardwareMotorType)item.HardwareMotorType.Code,
                         });
                     }
-                    else if (action == MotorActionType.HomingStarted)
+                    else if (action == MotorActionType.HomingForwardStarted || action == MotorActionType.HomingBackwardStarted)
                     {
                         item.HomingProgress = 0;
                         item.IsHoming = true;
@@ -1272,6 +1272,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                         {
                             MotorType = (PMR.Hardware.HardwareMotorType)item.HardwareMotorType.Code,
                             Speed = item.Speed,
+                            Direction = action == MotorActionType.HomingBackwardStarted ? MotorDirection.Backward : MotorDirection.Forward
                         })
                         .Subscribe((response) =>
                         {
@@ -1353,7 +1354,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                             Index = item.TechDispenser.Code,
                         });
                     }
-                    else if (action == MotorActionType.HomingStarted)
+                    else if (action == MotorActionType.HomingForwardStarted || action == MotorActionType.HomingBackwardStarted)
                     {
                         item.HomingProgress = 0;
                         item.IsHoming = true;
@@ -1363,6 +1364,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                         {
                             Index = item.TechDispenser.Code,
                             Speed = item.Speed,
+                            Direction = action == MotorActionType.HomingBackwardStarted ? MotorDirection.Backward : MotorDirection.Forward
                         })
                         .Subscribe((response) =>
                         {
diff --git a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Resources/MaterialDesign.xaml b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Resources/MaterialDesign.xaml
index 62723755e..2f65fe817 100644
--- a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Resources/MaterialDesign.xaml
+++ b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Resources/MaterialDesign.xaml
@@ -587,6 +587,17 @@
                     </EventTrigger>
                 </Style.Triggers>
             </Style>
+
+            <Style x:Key="TechWidgetBorderCenterNoHover" TargetType="Border">
+                <Setter Property="Background">
+                    <Setter.Value>
+                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                            <GradientStop Color="#232323" Offset="1" />
+                            <GradientStop Color="#FF646464" Offset="0"/>
+                        </LinearGradientBrush>
+                    </Setter.Value>
+                </Setter>
+            </Style>
         </ResourceDictionary>
 
     </ResourceDictionary.MergedDictionaries>