Implemented directional homing for motors and dispensers.

13 files changed, 191 insertions, 33 deletions

diff --git a/Software/Visual_Studio/Build/Shortcuts/Machine Emulator.lnk b/Software/Visual_Studio/Build/Shortcuts/Machine Emulator.lnk
index 8ac0b2b47..e25d54541 100644
--- a/Software/Visual_Studio/Build/Shortcuts/Machine Emulator.lnk
+++ b/Software/Visual_Studio/Build/Shortcuts/Machine Emulator.lnk
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>
diff --git a/Software/Visual_Studio/Tango.PMR/Common/ErrorCode.cs b/Software/Visual_Studio/Tango.PMR/Common/ErrorCode.cs
index 92596a89d..a1a225ab2 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/ErrorCode.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/ErrorCode.cs
@@ -22,14 +22,19 @@ namespace Tango.PMR.Common {
     static ErrorCodeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "Cg9FcnJvckNvZGUucHJvdG8SEFRhbmdvLlBNUi5Db21tb24qiAIKCUVycm9y",
+            "Cg9FcnJvckNvZGUucHJvdG8SEFRhbmdvLlBNUi5Db21tb24q1AMKCUVycm9y",
             "Q29kZRIICgROT05FEAASEQoNR0VORVJBTF9FUlJPUhABEgsKB0JBRF9DUkMQ",
             "AhIeChpJTlZBTElEX0RJR0lUQUxfUElOX05VTUJFUhADEhsKF1VOQVVUSE9S",
             "SVpFRF9DT05ORUNUSU9OEAQSHwobQ09OVElOVU9VU19SRVNQT05TRV9BQk9S",
-            "VEVEEAUSDgoKSk9CX0ZBSUxFRBAGEhYKEUlOVkFMSURfVVBMT0FEX0lEEOgH",
-            "EhMKDkZJTEVfTk9UX0ZPVU5EEOkHEhcKEklOVkFMSURfUFJPQ0VTU19JRBDq",
-            "BxIdChhGSUxFX0xFTkdUSF9PVVRfT0ZfUkFOR0UQ6wdCHAoaY29tLnR3aW5l",
-            "LnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
+            "VEVEEAUSDgoKSk9CX0ZBSUxFRBAGEhUKEUlOVkFMSURfUEFSQU1FVEVSEAcS",
+            "FgoRSU5WQUxJRF9VUExPQURfSUQQ6AcSEwoORklMRV9OT1RfRk9VTkQQ6QcS",
+            "FwoSSU5WQUxJRF9QUk9DRVNTX0lEEOoHEh0KGEZJTEVfTEVOR1RIX09VVF9P",
+            "Rl9SQU5HRRDrBxIaChVKT0JfVU5TUEVDSUZJRURfRVJST1IQ0A8SFQoQSk9C",
+            "X1RIUkVBRF9CUkVBSxDRDxIbChZKT0JfV0lOREVSX0RBTkNFUl9GQUlMENIP",
+            "EhsKFkpPQl9QT09MRVJfREFOQ0VSX0ZBSUwQ0w8SGwoWSk9CX0ZFRURFUl9E",
+            "QU5DRVJfRkFJTBDUDxITCg5KT0JfT1VUX09GX0RZRRDVDxIUCg9KT0JfT1RI",
+            "RVJfQUxBUk0Q1g9CHAoaY29tLnR3aW5lLnRhbmdvLnBtci5jb21tb25iBnBy",
+            "b3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.ErrorCode), }, null));
@@ -58,6 +63,7 @@ namespace Tango.PMR.Common {
     /// </summary>
     [pbr::OriginalName("CONTINUOUS_RESPONSE_ABORTED")] ContinuousResponseAborted = 5,
     [pbr::OriginalName("JOB_FAILED")] JobFailed = 6,
+    [pbr::OriginalName("INVALID_PARAMETER")] InvalidParameter = 7,
     /// <summary>
     ///IO
     /// </summary>
@@ -74,6 +80,16 @@ namespace Tango.PMR.Common {
     ///Returned by FileChunkUploadResponse when the uploaded file size exceeds the expected Length from FileUploadRequest.
     /// </summary>
     [pbr::OriginalName("FILE_LENGTH_OUT_OF_RANGE")] FileLengthOutOfRange = 1003,
+    /// <summary>
+    ///Job Failure
+    /// </summary>
+    [pbr::OriginalName("JOB_UNSPECIFIED_ERROR")] JobUnspecifiedError = 2000,
+    [pbr::OriginalName("JOB_THREAD_BREAK")] JobThreadBreak = 2001,
+    [pbr::OriginalName("JOB_WINDER_DANCER_FAIL")] JobWinderDancerFail = 2002,
+    [pbr::OriginalName("JOB_POOLER_DANCER_FAIL")] JobPoolerDancerFail = 2003,
+    [pbr::OriginalName("JOB_FEEDER_DANCER_FAIL")] JobFeederDancerFail = 2004,
+    [pbr::OriginalName("JOB_OUT_OF_DYE")] JobOutOfDye = 2005,
+    [pbr::OriginalName("JOB_OTHER_ALARM")] JobOtherAlarm = 2006,
   }
 
   #endregion
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs
index a760d7ece..1b1082266 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/DispenserHomingRequest.cs
@@ -23,13 +23,15 @@ namespace Tango.PMR.Diagnostics {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChxEaXNwZW5zZXJIb21pbmdSZXF1ZXN0LnByb3RvEhVUYW5nby5QTVIuRGlh",
-            "Z25vc3RpY3MiNgoWRGlzcGVuc2VySG9taW5nUmVxdWVzdBINCgVJbmRleBgB",
-            "IAEoBRINCgVTcGVlZBgCIAEoAUIhCh9jb20udHdpbmUudGFuZ28ucG1yLmRp",
-            "YWdub3N0aWNzYgZwcm90bzM="));
+            "Z25vc3RpY3MaFE1vdG9yRGlyZWN0aW9uLnByb3RvInAKFkRpc3BlbnNlckhv",
+            "bWluZ1JlcXVlc3QSDQoFSW5kZXgYASABKAUSDQoFU3BlZWQYAiABKAESOAoJ",
+            "RGlyZWN0aW9uGAMgASgOMiUuVGFuZ28uUE1SLkRpYWdub3N0aWNzLk1vdG9y",
+            "RGlyZWN0aW9uQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3RpY3Ni",
+            "BnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { },
+          new pbr::FileDescriptor[] { global::Tango.PMR.Diagnostics.MotorDirectionReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserHomingRequest), global::Tango.PMR.Diagnostics.DispenserHomingRequest.Parser, new[]{ "Index", "Speed" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.DispenserHomingRequest), global::Tango.PMR.Diagnostics.DispenserHomingRequest.Parser, new[]{ "Index", "Speed", "Direction" }, null, null, null)
           }));
     }
     #endregion
@@ -62,6 +64,7 @@ namespace Tango.PMR.Diagnostics {
     public DispenserHomingRequest(DispenserHomingRequest other) : this() {
       index_ = other.index_;
       speed_ = other.speed_;
+      direction_ = other.direction_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -91,6 +94,17 @@ namespace Tango.PMR.Diagnostics {
       }
     }
 
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 3;
+    private global::Tango.PMR.Diagnostics.MotorDirection direction_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Diagnostics.MotorDirection Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as DispenserHomingRequest);
@@ -106,6 +120,7 @@ namespace Tango.PMR.Diagnostics {
       }
       if (Index != other.Index) return false;
       if (Speed != other.Speed) return false;
+      if (Direction != other.Direction) return false;
       return true;
     }
 
@@ -114,6 +129,7 @@ namespace Tango.PMR.Diagnostics {
       int hash = 1;
       if (Index != 0) hash ^= Index.GetHashCode();
       if (Speed != 0D) hash ^= Speed.GetHashCode();
+      if (Direction != 0) hash ^= Direction.GetHashCode();
       return hash;
     }
 
@@ -132,6 +148,10 @@ namespace Tango.PMR.Diagnostics {
         output.WriteRawTag(17);
         output.WriteDouble(Speed);
       }
+      if (Direction != 0) {
+        output.WriteRawTag(24);
+        output.WriteEnum((int) Direction);
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -143,6 +163,9 @@ namespace Tango.PMR.Diagnostics {
       if (Speed != 0D) {
         size += 1 + 8;
       }
+      if (Direction != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Direction);
+      }
       return size;
     }
 
@@ -157,6 +180,9 @@ namespace Tango.PMR.Diagnostics {
       if (other.Speed != 0D) {
         Speed = other.Speed;
       }
+      if (other.Direction != 0) {
+        Direction = other.Direction;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -175,6 +201,10 @@ namespace Tango.PMR.Diagnostics {
             Speed = input.ReadDouble();
             break;
           }
+          case 24: {
+            direction_ = (global::Tango.PMR.Diagnostics.MotorDirection) input.ReadEnum();
+            break;
+          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
index b3bd7765a..35e3562ae 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/MotorHomingRequest.cs
@@ -23,14 +23,16 @@ namespace Tango.PMR.Diagnostics {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChhNb3RvckhvbWluZ1JlcXVlc3QucHJvdG8SFVRhbmdvLlBNUi5EaWFnbm9z",
-            "dGljcxoXSGFyZHdhcmVNb3RvclR5cGUucHJvdG8iXQoSTW90b3JIb21pbmdS",
-            "ZXF1ZXN0EjgKCU1vdG9yVHlwZRgBIAEoDjIlLlRhbmdvLlBNUi5IYXJkd2Fy",
-            "ZS5IYXJkd2FyZU1vdG9yVHlwZRINCgVTcGVlZBgCIAEoAUIhCh9jb20udHdp",
-            "bmUudGFuZ28ucG1yLmRpYWdub3N0aWNzYgZwcm90bzM="));
+            "dGljcxoXSGFyZHdhcmVNb3RvclR5cGUucHJvdG8aFE1vdG9yRGlyZWN0aW9u",
+            "LnByb3RvIpcBChJNb3RvckhvbWluZ1JlcXVlc3QSOAoJTW90b3JUeXBlGAEg",
+            "ASgOMiUuVGFuZ28uUE1SLkhhcmR3YXJlLkhhcmR3YXJlTW90b3JUeXBlEg0K",
+            "BVNwZWVkGAIgASgBEjgKCURpcmVjdGlvbhgDIAEoDjIlLlRhbmdvLlBNUi5E",
+            "aWFnbm9zdGljcy5Nb3RvckRpcmVjdGlvbkIhCh9jb20udHdpbmUudGFuZ28u",
+            "cG1yLmRpYWdub3N0aWNzYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareMotorTypeReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareMotorTypeReflection.Descriptor, global::Tango.PMR.Diagnostics.MotorDirectionReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingRequest), global::Tango.PMR.Diagnostics.MotorHomingRequest.Parser, new[]{ "MotorType", "Speed" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.MotorHomingRequest), global::Tango.PMR.Diagnostics.MotorHomingRequest.Parser, new[]{ "MotorType", "Speed", "Direction" }, null, null, null)
           }));
     }
     #endregion
@@ -63,6 +65,7 @@ namespace Tango.PMR.Diagnostics {
     public MotorHomingRequest(MotorHomingRequest other) : this() {
       motorType_ = other.motorType_;
       speed_ = other.speed_;
+      direction_ = other.direction_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -92,6 +95,17 @@ namespace Tango.PMR.Diagnostics {
       }
     }
 
+    /// <summary>Field number for the "Direction" field.</summary>
+    public const int DirectionFieldNumber = 3;
+    private global::Tango.PMR.Diagnostics.MotorDirection direction_ = 0;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::Tango.PMR.Diagnostics.MotorDirection Direction {
+      get { return direction_; }
+      set {
+        direction_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as MotorHomingRequest);
@@ -107,6 +121,7 @@ namespace Tango.PMR.Diagnostics {
       }
       if (MotorType != other.MotorType) return false;
       if (Speed != other.Speed) return false;
+      if (Direction != other.Direction) return false;
       return true;
     }
 
@@ -115,6 +130,7 @@ namespace Tango.PMR.Diagnostics {
       int hash = 1;
       if (MotorType != 0) hash ^= MotorType.GetHashCode();
       if (Speed != 0D) hash ^= Speed.GetHashCode();
+      if (Direction != 0) hash ^= Direction.GetHashCode();
       return hash;
     }
 
@@ -133,6 +149,10 @@ namespace Tango.PMR.Diagnostics {
         output.WriteRawTag(17);
         output.WriteDouble(Speed);
       }
+      if (Direction != 0) {
+        output.WriteRawTag(24);
+        output.WriteEnum((int) Direction);
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -144,6 +164,9 @@ namespace Tango.PMR.Diagnostics {
       if (Speed != 0D) {
         size += 1 + 8;
       }
+      if (Direction != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) Direction);
+      }
       return size;
     }
 
@@ -158,6 +181,9 @@ namespace Tango.PMR.Diagnostics {
       if (other.Speed != 0D) {
         Speed = other.Speed;
       }
+      if (other.Direction != 0) {
+        Direction = other.Direction;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -176,6 +202,10 @@ namespace Tango.PMR.Diagnostics {
             Speed = input.ReadDouble();
             break;
           }
+          case 24: {
+            direction_ = (global::Tango.PMR.Diagnostics.MotorDirection) input.ReadEnum();
+            break;
+          }
         }
       }
     }