Implemented GPIO Controller.

19 files changed, 798 insertions, 11 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/IOElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/IOElementEditor.xaml
new file mode 100644
index 000000000..aa4f8aee6
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/IOElementEditor.xaml
@@ -0,0 +1,106 @@
+<local:ElementEditor x:Class="Tango.MachineStudio.Technician.Editors.IOElementEditor"
+             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:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
+             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="88.852" d:DesignWidth="142.323" Background="Transparent" ClipToBounds="False" BorderThickness="0" MinWidth="1" MinHeight="1" RenderTransformOrigin="0.5,0.5" d:DataContext="{d:DesignInstance Type=items:IOItem, 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>
+    </UserControl.Resources>
+
+    <UserControl.RenderTransform>
+        <RotateTransform Angle="{Binding RelativeSource={RelativeSource AncestorType=local:ElementEditor},Path=Angle}"></RotateTransform>
+    </UserControl.RenderTransform>
+
+    <Grid>
+
+
+        <!--Content-->
+        <Grid IsHitTestVisible="{Binding RelativeSource={RelativeSource AncestorType=local:ElementsEditor},Path=IsEditable,Converter={StaticResource BooleanInverseConverter}}">
+            <Grid.RowDefinitions>
+                <RowDefinition Height="221*"/>
+                <RowDefinition Height="Auto"/>
+            </Grid.RowDefinitions>
+
+            <Border BorderBrush="Gray" BorderThickness="1" CornerRadius="5" Padding="5">
+                <Border.Background>
+                    <ImageBrush ImageSource="../Images/black-screen.jpg" Opacity="0.1" />
+                </Border.Background>
+                <Grid>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="55*"/>
+                        <ColumnDefinition Width="55*"/>
+                    </Grid.ColumnDefinitions>
+
+                    <Viewbox Margin="5">
+                        <visuals:Led Width="100" Height="100" IsChecked="{Binding EffectiveValue}" IsHitTestVisible="False" />
+                    </Viewbox>
+                    <visuals:AnalogSwitch Cursor="Hand" RenderTransformOrigin="0.5,0.5" Grid.Column="1" IsChecked="{Binding Value,Mode=TwoWay}">
+                        <!--<visuals:AnalogSwitch.LayoutTransform>
+                        <RotateTransform Angle="90" />
+                    </visuals:AnalogSwitch.LayoutTransform>-->
+                    </visuals:AnalogSwitch>
+                </Grid>
+            </Border>
+
+            <Border VerticalAlignment="Bottom" Grid.Row="1" Margin="0 0 0 0">
+                <TextBlock TextWrapping="Wrap" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center">
+                    <Run>GPIO</Run>
+                    <Run Text="{Binding Port}"></Run>
+                </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/IOElementEditor.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/IOElementEditor.xaml.cs
new file mode 100644
index 000000000..95710abd3
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/IOElementEditor.xaml.cs
@@ -0,0 +1,102 @@
+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.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using Tango.Editors;
+using Tango.Integration.Observables;
+using Tango.MachineStudio.Technician.TechItems;
+
+namespace Tango.MachineStudio.Technician.Editors
+{
+    [ContentProperty("InnerContent")]
+    public partial class IOElementEditor : ElementEditor
+    {
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        public IOElementEditor()
+            : base()
+        {
+            InitializeComponent();
+        }
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="MonitorElementEditor"/> class.
+        /// </summary>
+        /// <param name="frameworkElement">The framework element.</param>
+        public IOElementEditor(IOItem ioItem)
+            : this()
+        {
+            IOItem = ioItem;
+            DataContext = IOItem;
+        }
+
+        /// <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 IOElementEditor(IOItem monitorItem, Rect bounds)
+            : this(monitorItem)
+        {
+            Left = bounds.Left;
+            Top = bounds.Top;
+            Width = bounds.Width;
+            Height = bounds.Height;
+        }
+
+        private IOItem _monitorItem;
+
+        public IOItem IOItem
+        {
+            get { return _monitorItem; }
+            set { _monitorItem = value; RaisePropertyChanged(nameof(IOItem)); }
+        }
+
+
+        /// <summary>
+        /// Clones this instance.
+        /// </summary>
+        /// <returns></returns>
+        public override IElementEditor Clone()
+        {
+            try
+            {
+                var clonedItem = IOItem.Clone() as IOItem;
+                IOElementEditor cloned = new IOElementEditor(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 IOItem; }
+        }
+    }
+}
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/binary.png b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/binary.png
new file mode 100644
index 000000000..24b399f96
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Images/binary.png
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
index 0eca72dcd..a732e2924 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
@@ -22,7 +22,7 @@
 
     <Grid>
         <StackPanel>
-            <GroupBox Header="MOTOR">
+            <GroupBox Header="DISPENSER">
                 <StackPanel>
                     <TextBlock FontSize="10">Selected Motor</TextBlock>
                     <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.TechDispensers}" SelectedItem="{Binding TechDispenser,Mode=TwoWay}" DisplayMemberPath="Description" />
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml
new file mode 100644
index 000000000..c03b72837
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml
@@ -0,0 +1,33 @@
+<UserControl x:Class="Tango.MachineStudio.Technician.PropertiesTemplates.IOTemplate"
+             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:IOItem, 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="GPIO PORT">
+                <StackPanel>
+                    <TextBlock FontSize="10">Selected Port</TextBlock>
+                    <ComboBox x:Name="combo" Margin="0 5 0 0" SelectedItem="{Binding Port,Mode=TwoWay}" />
+                </StackPanel>
+            </GroupBox>
+        </StackPanel>
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml.cs
new file mode 100644
index 000000000..fae3586dc
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/IOTemplate.xaml.cs
@@ -0,0 +1,37 @@
+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;
+
+namespace Tango.MachineStudio.Technician.PropertiesTemplates
+{
+    /// <summary>
+    /// Interaction logic for MonitorTemplate.xaml
+    /// </summary>
+    public partial class IOTemplate : UserControl
+    {
+        public IOTemplate()
+        {
+            InitializeComponent();
+
+            List<int> ports = new List<int>();
+
+            for (int i = 0; i < 120; i++)
+            {
+                ports.Add(i);
+            }
+
+            combo.ItemsSource = ports;
+        }
+    }
+}
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 34208aded..9af2c8ef8 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
@@ -100,6 +100,9 @@
     <Compile Include="Editors\DispenserElementEditor.xaml.cs">
       <DependentUpon>DispenserElementEditor.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Editors\IOElementEditor.xaml.cs">
+      <DependentUpon>IOElementEditor.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Editors\MotorElementEditor.xaml.cs">
       <DependentUpon>MotorElementEditor.xaml</DependentUpon>
     </Compile>
@@ -116,6 +119,9 @@
       <DependentUpon>MonitorElementEditor.xaml</DependentUpon>
     </Compile>
     <Compile Include="Helpers\GraphsHelper.cs" />
+    <Compile Include="PropertiesTemplates\IOTemplate.xaml.cs">
+      <DependentUpon>IOTemplate.xaml</DependentUpon>
+    </Compile>
     <Compile Include="PropertiesTemplates\MeterTemplate.xaml.cs">
       <DependentUpon>MeterTemplate.xaml</DependentUpon>
     </Compile>
@@ -134,6 +140,7 @@
     <Compile Include="PropertiesTemplates\SingleGraphTemplate.xaml.cs">
       <DependentUpon>SingleGraphTemplate.xaml</DependentUpon>
     </Compile>
+    <Compile Include="TechItems\IOItem.cs" />
     <Compile Include="TechItems\MeterItem.cs" />
     <Compile Include="TechItems\MotorActionType.cs" />
     <Compile Include="TechItems\DispenserItem.cs" />
@@ -171,6 +178,10 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Editors\IOElementEditor.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Editors\MotorElementEditor.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -191,6 +202,10 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="PropertiesTemplates\IOTemplate.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="PropertiesTemplates\MeterTemplate.xaml">
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
@@ -358,5 +373,8 @@
   <ItemGroup>
     <Resource Include="Images\volume.png" />
   </ItemGroup>
+  <ItemGroup>
+    <Resource Include="Images\binary.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/IOItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/IOItem.cs
new file mode 100644
index 000000000..c0a87842a
--- /dev/null
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/IOItem.cs
@@ -0,0 +1,72 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Media;
+using System.Xml.Serialization;
+using Tango.SharedUI.Helpers;
+
+namespace Tango.MachineStudio.Technician.TechItems
+{
+    public class IOItem : TechItem
+    {
+        public event EventHandler<bool> ValueChanged;
+
+        public override object Data => new object();
+
+        private int _port;
+
+        public int Port
+        {
+            get { return _port; }
+            set { _port = value; RaisePropertyChangedAuto(); }
+        }
+
+        private bool _value;
+        [XmlIgnore]
+        public bool Value
+        {
+            get { return _value; }
+            set { _value = value; RaisePropertyChangedAuto(); ValueChanged?.Invoke(this, value); }
+        }
+
+        private bool _effectiveValue;
+        [XmlIgnore]
+        public bool EffectiveValue
+        {
+            get { return _effectiveValue; }
+            set
+            {
+                if (_effectiveValue != value)
+                {
+                    _effectiveValue = value;
+                    RaisePropertyChangedAuto();
+                    _value = value;
+                    RaisePropertyChanged(nameof(Value));
+                }
+            }
+        }
+
+
+        public IOItem() : base()
+        {
+            Name = "GPIO Controller";
+            Description = "GPIO Controller";
+            Image = ResourceHelper.GetImageFromResources("Images/binary.png");
+            Color = Colors.White;
+        }
+
+        public IOItem(int port) : this()
+        {
+            Port = port;
+        }
+
+        public override TechItem Clone()
+        {
+            IOItem cloned = base.Clone() as IOItem;
+            cloned.Port = Port;
+            return cloned;
+        }
+    }
+}
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 8ed8a4a80..21d2c50c2 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
@@ -116,6 +116,15 @@ namespace Tango.MachineStudio.Technician.ViewModels
                             }
                         }
                     }
+                    else if (item.GetType() == typeof(IOItem))
+                    {
+                        IOItem ioItem = item as IOItem;
+
+                        if (ioItem.Port < data.GPIO.Count)
+                        {
+                            ioItem.EffectiveValue = data.GPIO[ioItem.Port];
+                        }
+                    }
                     else if (item.GetType() == typeof(MeterItem))
                     {
                         MeterItem meterItem = item as MeterItem;
@@ -260,6 +269,13 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 Elements.Add(editor);
                 InitDispenserItem(dispenserItem);
             }
+            else if (SelectedTechItem is IOItem)
+            {
+                var ioItem = new IOItem(0);
+                IOElementEditor editor = new IOElementEditor(ioItem, bounds);
+                Elements.Add(editor);
+                InitIOItem(ioItem);
+            }
         }
 
         public void OnElementsRemoved(List<IElementEditor> elements)
@@ -366,13 +382,13 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     {
                         Code = item.TechMotor.Code
                     })
-                    .Subscribe((response) => 
+                    .Subscribe((response) =>
                     {
 
                         item.HomingMaximumProgress = response.Message.MaxProgress;
                         item.HomingProgress = response.Message.Progress;
 
-                    }, () => 
+                    }, () =>
                     {
 
                         item.IsHoming = false;
@@ -461,5 +477,20 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 }
             };
         }
+
+        private void InitIOItem(IOItem item)
+        {
+            item.ValueChanged += async (x, value) =>
+            {
+                try
+                {
+                    await MachineOperator.SetGPIOState(new SetGPIOStateRequest() { Port = item.Port, Value = value });
+                }
+                catch (Exception ex)
+                {
+                    //TODO: Show Exception.
+                }
+            };
+        }
     }
 }
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 9e3970719..494f0892f 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
@@ -200,6 +200,9 @@
                                 <DataTemplate DataType="{x:Type items:MonitorItem}">
                                     <templates:MonitorTemplate/>
                                 </DataTemplate>
+                                <DataTemplate DataType="{x:Type items:IOItem}">
+                                    <templates:IOTemplate/>
+                                </DataTemplate>
                                 <DataTemplate DataType="{x:Type items:DispenserItem}">
                                     <templates:DispenserTemplate/>
                                 </DataTemplate>
diff --git a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
index 5e76c2d1b..7645cf493 100644
--- a/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
+++ b/Software/Visual_Studio/Tango.Emulations/Emulators/MachineEmulator.cs
@@ -35,6 +35,7 @@ namespace Tango.Emulations.Emulators
         private List<int> _dispenserHomingRequestCodes;
         private double _graphAmplitude;
         private double _graphFrequency;
+        private List<bool> _ioStates; 
 
         #region Constructors
 
@@ -66,6 +67,13 @@ namespace Tango.Emulations.Emulators
             _motorHomingRequestCodes = new List<int>();
             _dispenserJoggingRequestCodes = new List<int>();
             _dispenserHomingRequestCodes = new List<int>();
+            _ioStates = new List<bool>();
+
+            for (int i = 0; i < 120; i++)
+            {
+                _ioStates.Add(false);
+            }
+
             ResetGraphFactors();
         }
 
@@ -127,6 +135,9 @@ namespace Tango.Emulations.Emulators
                 case MessageType.DispenserAbortHomingRequest:
                     HandleAbortDispenserHomingRequest(MessageFactory.ParseTangoMessageFromContainer<DispenserAbortHomingRequest>(container));
                     break;
+                case MessageType.SetGpiostateRequest:
+                    HandleGPIOStateRequest(MessageFactory.ParseTangoMessageFromContainer<SetGPIOStateRequest>(container));
+                    break;
             }
         }
 
@@ -218,6 +229,8 @@ namespace Tango.Emulations.Emulators
                         res.Dispenser8MotorFrequency.AddRange(dispenserFrequencies[7].Data);
                     }
 
+                    res.GPIO.AddRange(_ioStates);
+
                     Transporter.SendResponse<PushDiagnosticsResponse>(res, request.Container.Token);
                     Thread.Sleep(10);
                 }
@@ -424,6 +437,13 @@ namespace Tango.Emulations.Emulators
             Transporter.SendResponse<DispenserAbortHomingResponse>(new DispenserAbortHomingResponse(), request.Container.Token);
         }
 
+        private void HandleGPIOStateRequest(TangoMessage<SetGPIOStateRequest> request)
+        {
+            LogManager.Log("Abort dispenser homing request received: " + Environment.NewLine + request.Message.ToJsonString());
+            _ioStates[request.Message.Port] = request.Message.Value;
+            Transporter.SendResponse<SetGPIOStateResponse>(new SetGPIOStateResponse(), request.Container.Token);
+        }
+
         #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
index 14c5114f3..6b88cad65 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/IMachineOperator.cs
@@ -93,5 +93,12 @@ namespace Tango.Integration.Operators
         /// <param name="request">The request.</param>
         /// <returns></returns>
         Task<TangoMessage<DispenserAbortHomingResponse>> StopDispenserHoming(DispenserAbortHomingRequest request);
+
+        /// <summary>
+        /// Turn on/off the specified GPIO port.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        Task<TangoMessage<SetGPIOStateRequest>> SetGPIOState(SetGPIOStateRequest request);
     }
 }
diff --git a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
index f0d780191..426b3b865 100644
--- a/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operators/MachineOperator.cs
@@ -264,6 +264,16 @@ namespace Tango.Integration.Operators
             return SendRequest<DispenserAbortHomingRequest, DispenserAbortHomingResponse>(request);
         }
 
+        /// <summary>
+        /// Turn on/off the specified GPIO port.
+        /// </summary>
+        /// <param name="request">The request.</param>
+        /// <returns></returns>
+        public Task<TangoMessage<SetGPIOStateRequest>> SetGPIOState(SetGPIOStateRequest request)
+        {
+            return SendRequest<SetGPIOStateRequest, SetGPIOStateRequest>(request);   
+        }
+
         #endregion
     }
 }
diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index 86dfe19ad..33067e82d 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiriDgoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiqXDwoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -63,9 +63,10 @@ namespace Tango.PMR.Common {
             "cG9uc2UQ3Q8SHAoXRGlzcGVuc2VySm9nZ2luZ1JlcXVlc3QQ3g8SHQoYRGlz",
             "cGVuc2VySm9nZ2luZ1Jlc3BvbnNlEN8PEiEKHERpc3BlbnNlckFib3J0Sm9n",
             "Z2luZ1JlcXVlc3QQ4A8SIgodRGlzcGVuc2VyQWJvcnRKb2dnaW5nUmVzcG9u",
-            "c2UQ4Q8SDwoKSm9iUmVxdWVzdBC4FxIQCgtKb2JSZXNwb25zZRC5FxIUCg9B",
-            "Ym9ydEpvYlJlcXVlc3QQuhcSFQoQQWJvcnRKb2JSZXNwb25zZRC7F0IcChpj",
-            "b20udHdpbmUudGFuZ28ucG1yLmNvbW1vbmIGcHJvdG8z"));
+            "c2UQ4Q8SGAoTU2V0R1BJT1N0YXRlUmVxdWVzdBDiDxIZChRTZXRHUElPU3Rh",
+            "dGVSZXNwb25zZRDjDxIPCgpKb2JSZXF1ZXN0ELgXEhAKC0pvYlJlc3BvbnNl",
+            "ELkXEhQKD0Fib3J0Sm9iUmVxdWVzdBC6FxIVChBBYm9ydEpvYlJlc3BvbnNl",
+            "ELsXQhwKGmNvbS50d2luZS50YW5nby5wbXIuY29tbW9uYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -149,6 +150,8 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("DispenserJoggingResponse")] DispenserJoggingResponse = 2015,
     [pbr::OriginalName("DispenserAbortJoggingRequest")] DispenserAbortJoggingRequest = 2016,
     [pbr::OriginalName("DispenserAbortJoggingResponse")] DispenserAbortJoggingResponse = 2017,
+    [pbr::OriginalName("SetGPIOStateRequest")] SetGpiostateRequest = 2018,
+    [pbr::OriginalName("SetGPIOStateResponse")] SetGpiostateResponse = 2019,
     /// <summary>
     ///Printing
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/PushDiagnosticsResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/PushDiagnosticsResponse.cs
index d654f77a1..864910381 100644
--- a/Software/Visual_Studio/Tango.PMR/Diagnostics/PushDiagnosticsResponse.cs
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/PushDiagnosticsResponse.cs
@@ -23,7 +23,7 @@ namespace Tango.PMR.Diagnostics {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "Ch1QdXNoRGlhZ25vc3RpY3NSZXNwb25zZS5wcm90bxIVVGFuZ28uUE1SLkRp",
-            "YWdub3N0aWNzGhFEb3VibGVBcnJheS5wcm90byKyAwoXUHVzaERpYWdub3N0",
+            "YWdub3N0aWNzGhFEb3VibGVBcnJheS5wcm90byLAAwoXUHVzaERpYWdub3N0",
             "aWNzUmVzcG9uc2USFAoMRGFuY2VyMUFuZ2xlGAEgAygBEhQKDERhbmNlcjJB",
             "bmdsZRgCIAMoARIUCgxEYW5jZXIzQW5nbGUYAyADKAESRQoZRGlzcGVuc2Vy",
             "c01vdG9yc0ZyZXF1ZW5jeRgEIAMoCzIiLlRhbmdvLlBNUi5EaWFnbm9zdGlj",
@@ -33,12 +33,12 @@ namespace Tango.PMR.Diagnostics {
             "cmVxdWVuY3kYCCADKAESIAoYRGlzcGVuc2VyNU1vdG9yRnJlcXVlbmN5GAkg",
             "AygBEiAKGERpc3BlbnNlcjZNb3RvckZyZXF1ZW5jeRgKIAMoARIgChhEaXNw",
             "ZW5zZXI3TW90b3JGcmVxdWVuY3kYCyADKAESIAoYRGlzcGVuc2VyOE1vdG9y",
-            "RnJlcXVlbmN5GAwgAygBQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25v",
-            "c3RpY3NiBnByb3RvMw=="));
+            "RnJlcXVlbmN5GAwgAygBEgwKBEdQSU8YDSADKAhCIQofY29tLnR3aW5lLnRh",
+            "bmdvLnBtci5kaWFnbm9zdGljc2IGcHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::Tango.PMR.Diagnostics.DoubleArrayReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.PushDiagnosticsResponse), global::Tango.PMR.Diagnostics.PushDiagnosticsResponse.Parser, new[]{ "Dancer1Angle", "Dancer2Angle", "Dancer3Angle", "DispensersMotorsFrequency", "Dispenser1MotorFrequency", "Dispenser2MotorFrequency", "Dispenser3MotorFrequency", "Dispenser4MotorFrequency", "Dispenser5MotorFrequency", "Dispenser6MotorFrequency", "Dispenser7MotorFrequency", "Dispenser8MotorFrequency" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.PushDiagnosticsResponse), global::Tango.PMR.Diagnostics.PushDiagnosticsResponse.Parser, new[]{ "Dancer1Angle", "Dancer2Angle", "Dancer3Angle", "DispensersMotorsFrequency", "Dispenser1MotorFrequency", "Dispenser2MotorFrequency", "Dispenser3MotorFrequency", "Dispenser4MotorFrequency", "Dispenser5MotorFrequency", "Dispenser6MotorFrequency", "Dispenser7MotorFrequency", "Dispenser8MotorFrequency", "GPIO" }, null, null, null)
           }));
     }
     #endregion
@@ -81,6 +81,7 @@ namespace Tango.PMR.Diagnostics {
       dispenser6MotorFrequency_ = other.dispenser6MotorFrequency_.Clone();
       dispenser7MotorFrequency_ = other.dispenser7MotorFrequency_.Clone();
       dispenser8MotorFrequency_ = other.dispenser8MotorFrequency_.Clone();
+      gPIO_ = other.gPIO_.Clone();
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -214,6 +215,19 @@ namespace Tango.PMR.Diagnostics {
       get { return dispenser8MotorFrequency_; }
     }
 
+    /// <summary>Field number for the "GPIO" field.</summary>
+    public const int GPIOFieldNumber = 13;
+    private static readonly pb::FieldCodec<bool> _repeated_gPIO_codec
+        = pb::FieldCodec.ForBool(106);
+    private readonly pbc::RepeatedField<bool> gPIO_ = new pbc::RepeatedField<bool>();
+    /// <summary>
+    ///GPIO Ports States
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public pbc::RepeatedField<bool> GPIO {
+      get { return gPIO_; }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as PushDiagnosticsResponse);
@@ -239,6 +253,7 @@ namespace Tango.PMR.Diagnostics {
       if(!dispenser6MotorFrequency_.Equals(other.dispenser6MotorFrequency_)) return false;
       if(!dispenser7MotorFrequency_.Equals(other.dispenser7MotorFrequency_)) return false;
       if(!dispenser8MotorFrequency_.Equals(other.dispenser8MotorFrequency_)) return false;
+      if(!gPIO_.Equals(other.gPIO_)) return false;
       return true;
     }
 
@@ -257,6 +272,7 @@ namespace Tango.PMR.Diagnostics {
       hash ^= dispenser6MotorFrequency_.GetHashCode();
       hash ^= dispenser7MotorFrequency_.GetHashCode();
       hash ^= dispenser8MotorFrequency_.GetHashCode();
+      hash ^= gPIO_.GetHashCode();
       return hash;
     }
 
@@ -279,6 +295,7 @@ namespace Tango.PMR.Diagnostics {
       dispenser6MotorFrequency_.WriteTo(output, _repeated_dispenser6MotorFrequency_codec);
       dispenser7MotorFrequency_.WriteTo(output, _repeated_dispenser7MotorFrequency_codec);
       dispenser8MotorFrequency_.WriteTo(output, _repeated_dispenser8MotorFrequency_codec);
+      gPIO_.WriteTo(output, _repeated_gPIO_codec);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -296,6 +313,7 @@ namespace Tango.PMR.Diagnostics {
       size += dispenser6MotorFrequency_.CalculateSize(_repeated_dispenser6MotorFrequency_codec);
       size += dispenser7MotorFrequency_.CalculateSize(_repeated_dispenser7MotorFrequency_codec);
       size += dispenser8MotorFrequency_.CalculateSize(_repeated_dispenser8MotorFrequency_codec);
+      size += gPIO_.CalculateSize(_repeated_gPIO_codec);
       return size;
     }
 
@@ -316,6 +334,7 @@ namespace Tango.PMR.Diagnostics {
       dispenser6MotorFrequency_.Add(other.dispenser6MotorFrequency_);
       dispenser7MotorFrequency_.Add(other.dispenser7MotorFrequency_);
       dispenser8MotorFrequency_.Add(other.dispenser8MotorFrequency_);
+      gPIO_.Add(other.gPIO_);
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -385,6 +404,11 @@ namespace Tango.PMR.Diagnostics {
             dispenser8MotorFrequency_.AddEntriesFrom(input, _repeated_dispenser8MotorFrequency_codec);
             break;
           }
+          case 106:
+          case 104: {
+            gPIO_.AddEntriesFrom(input, _repeated_gPIO_codec);
+            break;
+          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateRequest.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateRequest.cs
new file mode 100644
index 000000000..9a849a08b
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateRequest.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: SetGPIOStateRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from SetGPIOStateRequest.proto</summary>
+  public static partial class SetGPIOStateRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for SetGPIOStateRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static SetGPIOStateRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChlTZXRHUElPU3RhdGVSZXF1ZXN0LnByb3RvEhVUYW5nby5QTVIuRGlhZ25v",
+            "c3RpY3MiMgoTU2V0R1BJT1N0YXRlUmVxdWVzdBIMCgRQb3J0GAEgASgFEg0K",
+            "BVZhbHVlGAIgASgIQiEKH2NvbS50d2luZS50YW5nby5wbXIuZGlhZ25vc3Rp",
+            "Y3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.SetGPIOStateRequest), global::Tango.PMR.Diagnostics.SetGPIOStateRequest.Parser, new[]{ "Port", "Value" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class SetGPIOStateRequest : pb::IMessage<SetGPIOStateRequest> {
+    private static readonly pb::MessageParser<SetGPIOStateRequest> _parser = new pb::MessageParser<SetGPIOStateRequest>(() => new SetGPIOStateRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<SetGPIOStateRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.SetGPIOStateRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateRequest(SetGPIOStateRequest other) : this() {
+      port_ = other.port_;
+      value_ = other.value_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateRequest Clone() {
+      return new SetGPIOStateRequest(this);
+    }
+
+    /// <summary>Field number for the "Port" field.</summary>
+    public const int PortFieldNumber = 1;
+    private int port_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Port {
+      get { return port_; }
+      set {
+        port_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Value" field.</summary>
+    public const int ValueFieldNumber = 2;
+    private bool value_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Value {
+      get { return value_; }
+      set {
+        value_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as SetGPIOStateRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(SetGPIOStateRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Port != other.Port) return false;
+      if (Value != other.Value) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Port != 0) hash ^= Port.GetHashCode();
+      if (Value != false) hash ^= Value.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Port != 0) {
+        output.WriteRawTag(8);
+        output.WriteInt32(Port);
+      }
+      if (Value != false) {
+        output.WriteRawTag(16);
+        output.WriteBool(Value);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Port != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Port);
+      }
+      if (Value != false) {
+        size += 1 + 1;
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(SetGPIOStateRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Port != 0) {
+        Port = other.Port;
+      }
+      if (other.Value != false) {
+        Value = other.Value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Port = input.ReadInt32();
+            break;
+          }
+          case 16: {
+            Value = input.ReadBool();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateResponse.cs b/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateResponse.cs
new file mode 100644
index 000000000..cf8e4f49a
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Diagnostics/SetGPIOStateResponse.cs
@@ -0,0 +1,131 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: SetGPIOStateResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Diagnostics {
+
+  /// <summary>Holder for reflection information generated from SetGPIOStateResponse.proto</summary>
+  public static partial class SetGPIOStateResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for SetGPIOStateResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static SetGPIOStateResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChpTZXRHUElPU3RhdGVSZXNwb25zZS5wcm90bxIVVGFuZ28uUE1SLkRpYWdu",
+            "b3N0aWNzIhYKFFNldEdQSU9TdGF0ZVJlc3BvbnNlQiEKH2NvbS50d2luZS50",
+            "YW5nby5wbXIuZGlhZ25vc3RpY3NiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Diagnostics.SetGPIOStateResponse), global::Tango.PMR.Diagnostics.SetGPIOStateResponse.Parser, null, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class SetGPIOStateResponse : pb::IMessage<SetGPIOStateResponse> {
+    private static readonly pb::MessageParser<SetGPIOStateResponse> _parser = new pb::MessageParser<SetGPIOStateResponse>(() => new SetGPIOStateResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<SetGPIOStateResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Diagnostics.SetGPIOStateResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateResponse(SetGPIOStateResponse other) : this() {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public SetGPIOStateResponse Clone() {
+      return new SetGPIOStateResponse(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as SetGPIOStateResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(SetGPIOStateResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(SetGPIOStateResponse other) {
+      if (other == null) {
+        return;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
index c50ce853f..86b43ee04 100644
--- a/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
+++ b/Software/Visual_Studio/Tango.PMR/Tango.PMR.csproj
@@ -75,6 +75,8 @@
     <Compile Include="Diagnostics\MotorJoggingResponse.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsRequest.cs" />
     <Compile Include="Diagnostics\PushDiagnosticsResponse.cs" />
+    <Compile Include="Diagnostics\SetGPIOStateRequest.cs" />
+    <Compile Include="Diagnostics\SetGPIOStateResponse.cs" />
     <Compile Include="ExtensionMethods.cs" />
     <Compile Include="Integration\DirectSynchronizationRequest.cs" />
     <Compile Include="Integration\DirectSynchronizationResponse.cs" />
diff --git a/Software/Visual_Studio/Tango.Visuals/Images/on.png b/Software/Visual_Studio/Tango.Visuals/Images/on.png
index 9922b1901..fc057a658 100644
--- a/Software/Visual_Studio/Tango.Visuals/Images/on.png
+++ b/Software/Visual_Studio/Tango.Visuals/Images/on.png