Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

19 files changed, 407 insertions, 115 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 74c64b8b5..96f5b6a3e 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -281,6 +281,9 @@ void receive_callback(char* buffer, size_t length)
          case MESSAGE_TYPE__SetComponentValueRequest:
              SetComponentValueRequestRequestFunc(requestContainer);
              break;
+         case MESSAGE_TYPE__SetDigitalOutRequest:
+             SetDigitalOutRequestRequestFunc(requestContainer);
+             break;
          case MESSAGE_TYPE__StubI2CReadBytesRequest:
              Stub_I2CReadBytesRequest(requestContainer);
              break;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 537bacea0..608b8d0ad 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -90,7 +90,7 @@ static FpgaMotMap_t FpgaMotMap[NUM_OF_MOTORS] =
  {&F1_MOTO_RLOADARM_A1_TX_00, &F1_MOTO_RLOADARM_A1_TX_01, &F1_MOTO_RLOADARM_A1_RX_00 ,&F1_MOTO_RLOADARM_A1_RX_01 ,&F1_MOTO_RLOADARM_A1_WORDS ,&F1_Moto_Driver_NBUSY2_D, &F1_SPI_Busy1_D},
  //MOTOR_RLOADING - Right Loading
  {&F1_MOTO_RLOADING_A1_TX_00, &F1_MOTO_RLOADING_A1_TX_01, &F1_MOTO_RLOADING_A1_RX_00, &F1_MOTO_RLOADING_A1_RX_01, &F1_MOTO_RLOADING_A1_WORDS, &F1_Moto_Driver_NBUSY2_D, &F1_SPI_Busy1_D},
-
+/*
  //MOTOR_SPARE1_1 - Spare
  {&F3_MOTO_SPARE1_1_A1_TX_00, &F3_MOTO_SPARE1_1_A1_TX_01, &F3_MOTO_SPARE1_1_A1_RX_00 ,&F3_MOTO_SPARE1_1_A1_RX_01 ,&F3_MOTO_SPARE1_1_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
  //MOTOR_SPARE1_2 - Spare
@@ -99,7 +99,7 @@ static FpgaMotMap_t FpgaMotMap[NUM_OF_MOTORS] =
  {&F3_MOTO_SPARE2_1_A1_TX_00, &F3_MOTO_SPARE2_1_A1_TX_01, &F3_MOTO_SPARE2_1_A1_RX_00 ,&F3_MOTO_SPARE2_1_A1_RX_01 ,&F3_MOTO_SPARE2_1_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
  //MOTOR_SPARE2_2 - Spare
  {&F3_MOTO_SPARE2_2_A1_TX_00, &F3_MOTO_SPARE2_2_A1_TX_01, &F3_MOTO_SPARE2_2_A1_RX_00 ,&F3_MOTO_SPARE2_2_A1_RX_01 ,&F3_MOTO_SPARE2_2_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
-
+*/
 };
 
 uint8_t FPGA_SPI_Transnit(TimerMotors_t _motorId)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 477fc0732..a85e1cfde 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -50,12 +50,17 @@ uint32_t Diagnostics_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t Diagnostics_TenMiliControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 
 
+DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
+
 #define DIAGNOSTICS_LIMIT 10
 #define DIAGNOSTICS_DANCER_LIMIT 100
 int DiagnosticsIndex = 0;
 int DiagnosticCollectionLimit = 3;  //number of data samples to collect before sending to the host
-int DiagnosticLimit = eHundredMillisecond; //frequency of data collection
+//int DiagnosticLimit = eHundredMillisecond; //frequency of data collection
+//int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
+int DiagnosticLimit =eHundredMillisecond; //frequency of data collection
 int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
+
 //DigitalPin DigitalPinArray[1][DIAGNOSTICS_LIMIT];
 double dancer1angle[DIAGNOSTICS_LIMIT];
 double dancer2angle[DIAGNOSTICS_LIMIT];
@@ -81,6 +86,9 @@ double dryerzone3temperature[DIAGNOSTICS_LIMIT];
 double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
 double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
 
+DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS];
+DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
+
 /*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser2motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser3motorfrequency[DIAGNOSTICS_LIMIT];
@@ -116,12 +124,23 @@ typedef struct DiagnosticsMessage{
 
 void DiagnosticsInit(void)
 {
+    int i;
     Error_Block eb;
 
     Error_init(&eb);
 
     DiagnosticsMsgQ = Mailbox_create(sizeof(DiagnosticsMessageStruc), 20, NULL,&eb);
 
+    DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)malloc(sizeof(DoubleArray *)*8);
+    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    DiagnosticsMonitor.dispenserslinearpositions = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    DiagnosticsMonitor.dispensersangularencoders = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+    {
+        double_array__init(&DispenserFreq[i]);
+        double_array__init(&DiagnosticsDispenserPressure[i]);
+    }
+
     return;
 }
 uint8_t HeaterCounterIndex[MAX_HEATERS_NUM]= {0,0,0,0,0,0,0,0,0,0};
@@ -161,7 +180,7 @@ void DiagnosticLoadTemperature(int HeaterId, int temperature)
 }
 void DiagnosticLoadSpeedSensor(uint32_t value)
 {
-    SpeedValue[SpeedCounterIndex] = value/100;
+    SpeedValue[SpeedCounterIndex] = value;
     SpeedCounterIndex++;
     if (SpeedCounterIndex>=DIAGNOSTICS_DANCER_LIMIT )
         SpeedCounterIndex = 0;
@@ -183,8 +202,8 @@ void DiagnosticTenMsecCollection(void)
 {
     if (DiagnosticsActive == false)
         return;
-    if (JobIsActive()== false)
-        return;
+    /*if (JobIsActive()== false)
+        return;*/
     DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0,0));
     DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0,0));
     DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0,0));
@@ -201,7 +220,7 @@ void Diagnostic100msecCollection(void)
 //    dancer2angle[DiagnosticsIndex] =  Control_Read_Dancer_Position(POOLER_DANCER, 0,0);
 //    dancer3angle[DiagnosticsIndex] =  Control_Read_Dancer_Position(FEEDER_DANCER, 0,0);
 
-    if (JobIsActive())
+    //if (JobIsActive())
     {
 /*        DiagnosticLoadMotor(FEEDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING)); ThreadGetMotorSpeed
         DiagnosticLoadMotor(DRYER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING));
@@ -287,11 +306,9 @@ void DiagnosticsReset(void)
     DiagnosticsIndex = 0;
 
 }
-DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
-//Double *DispenserFreq[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-//Double *DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS] = {DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT};
-DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS] = {DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT};
+int j=0;
+MessageContainer diagnosticsresponseContainer;
+uint8_t* diagnosticscontainer_buffer;
 void SendDiagnostics(void)
 {
     MessageContainer responseContainer;
@@ -303,7 +320,7 @@ void SendDiagnostics(void)
 
 
 
-    if (JobIsActive())
+    //if (JobIsActive())
     {
         DiagnosticsMonitor.n_dispenser1motorfrequency = DiagnosticsIndex;
         DiagnosticsMonitor.n_dispenser2motorfrequency = DiagnosticsIndex;
@@ -330,7 +347,7 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.dancer2angle = dancer2angle;
     DiagnosticsMonitor.dancer3angle = dancer3angle;
 */
-    if (JobIsActive())
+    //if (JobIsActive())
     {
         DiagnosticsMonitor.n_dancer1angle =  DancerCounterIndex[0];
         DiagnosticsMonitor.n_dancer2angle =  DancerCounterIndex[1];
@@ -382,34 +399,43 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.blowervoltage = &voltage;
     memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex));
 
-/*
-    if (JobIsActive())
+    int i;
+    DiagnosticsMonitor.n_dispensersmotorsfrequency = 0;
+    /**/
+	//if (JobIsActive())
     {
-
+        j++;
         DiagnosticsMonitor.n_dispensersmotorsfrequency = MAX_SYSTEM_DISPENSERS;
-        DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
-
-        for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+        if (DiagnosticsMonitor.dispensersmotorsfrequency)
         {
-            //double_array__init(&DispenserFreq[i]);
-            //DispenserFreq[i] = dispensermotorfrequency[i];
-            DispenserFreq[i].data = dispensermotorfrequency[i];
-            DispenserFreq[i].n_data = DiagnosticsIndex;
-            DiagnosticsMonitor.dispensersmotorsfrequency[i] = &DispenserFreq[i];
+            for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+            {
+                //double_array__init(&DispenserFreq[i]);
+                //DispenserFreq[i] = dispensermotorfrequency[i];
+                DispenserFreq[i].data = dispensermotorfrequency[i];
+                DispenserFreq[i].n_data = DiagnosticsIndex;
+                DiagnosticsMonitor.dispensersmotorsfrequency[i] = &DispenserFreq[i];
+            }
         }
     }
-
-    DiagnosticsMonitor.n_dispenserspressure = MAX_SYSTEM_DISPENSERS;
-    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
-    for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+    /**/
+    DiagnosticsMonitor.n_dispenserspressure = 0;
+    /**/
+	DiagnosticsMonitor.n_dispenserspressure = MAX_SYSTEM_DISPENSERS;
+    if (DiagnosticsMonitor.dispenserspressure)
     {
-        //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
-        //double_array__init(&DiagnosticsDispenserPressure[i]);
-        DiagnosticsDispenserPressure[i].data = dispenserspressure[i];
-        DiagnosticsDispenserPressure[i].n_data = DiagnosticsIndex;
-        DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
+        for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+        {
+            //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
+            //double_array__init(&DiagnosticsDispenserPressure[i]);
+            DiagnosticsDispenserPressure[i].data = dispenserspressure[i];
+            DiagnosticsDispenserPressure[i].n_data = DiagnosticsIndex;
+            DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
+        }
     }
-*/
+    /**/
+    DiagnosticsMonitor.n_dispenserslinearpositions = 0;
+    DiagnosticsMonitor.n_dispensersangularencoders = 0;
 
     DiagnosticsMonitor.n_dispenser1pressure = DiagnosticsIndex;
     DiagnosticsMonitor.dispenser1pressure = dispenserspressure[0];
@@ -447,21 +473,29 @@ void SendDiagnostics(void)
         }
     }
 */
-    responseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
-    responseContainer.continuous = true;
-
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    free(DiagnosticsMonitor.dispenserspressure);
-    free(DiagnosticsMonitor.dispensersmotorsfrequency);
-
-    DiagnosticsReset();
+    diagnosticsresponseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
+    diagnosticsresponseContainer.continuous = true;
 
-    if (SendChars(container_buffer, container_size) == false) //comm tx mailbox full
+    diagnosticscontainer_buffer = 0;
+    diagnosticscontainer_buffer = malloc(message_container__get_packed_size(&diagnosticsresponseContainer));
+    if (diagnosticscontainer_buffer)
     {
-        DiagnosticsStop();
+        size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer);
+        //memmap();
+        free(diagnosticsresponseContainer.data.data);
+        //free(DiagnosticsMonitor.dispenserspressure);
+        //free(DiagnosticsMonitor.dispensersmotorsfrequency);
+        if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full
+        {
+            DiagnosticsStop();
+        }
     }
+    else
+    {
+        LOG_ERROR(Task_self(),"malloc failed");
+    }
+    DiagnosticsReset();
+
 }
 uint32_t DiagnosticsControlId = 0xff;
 uint32_t Diagnostics10MSControlId = 0xff;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 03cdea5e9..c40d018c3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -240,6 +240,10 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
     }
     else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_ON)) //set temperature
     {
+        if (HeaterPIDConfig[HeaterId].m_SetParam < HeaterCmd[HeaterId].targettemperatue)  //#bug 221
+        {
+            PrepareHeater(HeaterId,Temperature);  //prepare the heaters control info
+        }
         HeaterPIDConfig[HeaterId].m_SetParam = HeaterCmd[HeaterId].targettemperatue;
         // if the heater is not on return (?).
         //set the target operation temperature
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index 997d67973..22c8432b6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -46,20 +46,24 @@ void Stub_RealTimeUsageRequest(MessageContainer* requestContainer)
     StubRealTimeUsageResponse response =   STUB_REAL_TIME_USAGE_RESPONSE__INIT;
 
 
-    responseContainer = createContainer(MESSAGE_TYPE__StubRealTimeUsageResponse, requestContainer->token, true, &response, &stub_real_time_usage_response__pack, &stub_real_time_usage_response__get_packed_size);
     uint32_t Percentile[101] = {0};
-    IdleTaskGetLoadTable(Percentile);
 
     response.n_percentile = 100;
-    response.percentile = Percentile;
+    response.percentile = malloc(sizeof(response.percentile)*response.n_percentile);
+    if (response.percentile)
+        IdleTaskGetLoadTable(response.percentile);
+    else
+        response.n_percentile = 0;
     //free(request);
     //-------------------------------------------------------------------------------------------
+    responseContainer = createContainer(MESSAGE_TYPE__StubRealTimeUsageResponse, requestContainer->token, true, &response, &stub_real_time_usage_response__pack, &stub_real_time_usage_response__get_packed_size);
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
-    //free(container_buffer);
-    //free(requestContainer);
+    if (response.percentile)
+        free(response.percentile);
+
     stub_real_time_usage_request__free_unpacked(request,NULL);
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
index 68b79edeb..6bd4e6f48 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -12,8 +12,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-//#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "Stub_Status.h"
 
 void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
@@ -25,10 +23,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
 	//request->cartridgeid
 
-    //writeLine("cartridge Request: ");
-
-    //writeFloat(request->cartridgeid);
-
     /*
       int i;
       for( i=0;i<8;i++)
@@ -57,20 +51,8 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 	response.has_cartridgeused = false;
 	
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
-/*
-    writeLine("Sending Response: ");
 
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-    writeFloat(response.cartridgecolor);
-    writeString(", ");
-    writeFloat(response.cartridgeversion);
-    writeString(", ");
-    writeFloat(response.cartridgedata);
-    writeString(", ");
-    writeFloat(response.cartridgeused);
-    writeString(", ");
-*/
+
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeReadResponse, requestContainer->token, true, &response, &stub_cartridge_read_response__pack, &stub_cartridge_read_response__get_packed_size);
@@ -97,19 +79,8 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 	//request->cartridgeversion
 	//request->cartridgedata
 	//request->cartridgeused
-/*
-    writeLine("Cartridge Request: ");
 
-    writeFloat(request->cartridgeid);
-    writeString(", ");
-    writeFloat(request->cartridgecolor);
-    writeString(", ");
-    writeFloat(request->cartridgeversion);
-    writeString(", ");
-    writeFloat(request->cartridgedata);
-    writeString(", ");
-    writeFloat(request->cartridgeused);
-*/
+	
     StubCartridgeWriteResponse response =   STUB_CARTRIDGE_WRITE_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -120,13 +91,7 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 //    response.statusword = OK;
 //    response.has_statusword = true;
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
-/*
-    writeLine("Sending Response: ");
 
-    writeFloat(response.cartridgeid);
-    writeString(", ");*/
-//    writeFloat(response.statusword);
-//    WRITELINESTATUS;
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 7b95c9c4d..79eacf9b3 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -303,12 +303,12 @@ void JobAbortFunc(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     abort_job_request__free_unpacked(request,NULL);
-    //We keep the job request until it is done
-    if (CurrentJobRequest!= NULL)
-        job_request__free_unpacked(CurrentJobRequest,NULL);
     JobAbortedByUser = true;
     EndState(CurrentJob, "Job Aborted by user");
     CurrentJob = NULL;
+    //We keep the job request until it is done
+    if (CurrentJobRequest!= NULL)
+        job_request__free_unpacked(CurrentJobRequest,NULL);
     CurrentJobRequest = NULL;
 
 
diff --git a/Software/Stubs Collection/stubs/2Way_Valves_new.cs b/Software/Stubs Collection/stubs/2Way_Valves_new.cs
new file mode 100644
index 000000000..22fa91ca1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/2Way_Valves_new.cs
@@ -0,0 +1,102 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const Int32 FPGA3 =  0x60000800;
+const Int32 F3_VALVE_OUT = 0x0E2;
+
+/*
+
+7	8
+5	6
+3	4
+1	2
+FRONT
+
+*/
+
+const Int32 MIDTANK2MANIF4_VALVE_2 = 1 << 0;//8
+const Int32 MIDTANK2MANIF4_VALVE_1 = 1 << 1;//4
+const Int32 MIDTANK2MANIF3_VALVE_2 = 1 << 2;//7
+const Int32 MIDTANK2MANIF3_VALVE_1 = 1 << 3;//3
+const Int32 MIDTANK2MANIF2_VALVE_2 = 1 << 4;//6
+const Int32 MIDTANK2MANIF2_VALVE_1 = 1 << 5;//2
+const Int32 MIDTANK2MANIF1_VALVE_2 = 1 << 6;//5
+const Int32 MIDTANK2MANIF1_VALVE_1 = 1 << 7;//1
+
+const Int32 CART2MIDTANK4_VALVE_2  = 1 << 8 ;//8
+const Int32 CART2MIDTANK4_VALVE_1  = 1 << 9 ;//4
+const Int32 CART2MIDTANK3_VALVE_2  = 1 << 10;//7
+const Int32 CART2MIDTANK3_VALVE_1  = 1 << 11;//3
+const Int32 CART2MIDTANK2_VALVE_2  = 1 << 12;//6
+const Int32 CART2MIDTANK2_VALVE_1  = 1 << 13;//2
+const Int32 CART2MIDTANK1_VALVE_2  = 1 << 14;//5
+const Int32 CART2MIDTANK1_VALVE_1  = 1 << 15;//1
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	int MidTank_No = 0;
+
+    var response = stubManager.ShowResponseWindow("Enter Midtank number to OPEN the 2Way valves (1-8), \nOr '0' to CLOSE all :", "");
+	stubManager.Write("\n");
+	MidTank_No = int.Parse(response);
+
+	switch (MidTank_No)
+    {
+            case 1:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK1_VALVE_1); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF1_VALVE_1); 
+                break;
+             case 2:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK2_VALVE_1); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF2_VALVE_1); 
+                break;
+             case 3:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK3_VALVE_1); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF3_VALVE_1); 
+                break;
+             case 4:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK4_VALVE_1); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF4_VALVE_1); 
+                break;
+             case 5:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK1_VALVE_2); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF1_VALVE_2); 
+                break;
+             case 6:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK2_VALVE_2); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF2_VALVE_2); 
+                break;
+             case 7:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK3_VALVE_2); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF3_VALVE_2); 
+                break;
+             case 8:
+                	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, CART2MIDTANK4_VALVE_2); 
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 | F3_VALVE_OUT, MIDTANK2MANIF4_VALVE_2); 
+                break;
+			 default:
+					stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,FPGA3 + F3_VALVE_OUT, 0); // OFF
+			 	break;
+    }	
+	
+	if(MidTank_No > 0 && MidTank_No < 9)
+	{
+			stubManager.Write("Open Valves #"); 
+			stubManager.Write(MidTank_No);
+			stubManager.Write("\n");
+	}
+	else
+	{
+			stubManager.WriteLine("Close all Valves !"); 
+	}
+}	
diff --git a/Software/Stubs Collection/stubs/Blower.cs b/Software/Stubs Collection/stubs/Blower.cs
new file mode 100644
index 000000000..55ee6a943
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Blower.cs
@@ -0,0 +1,37 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+//----------------------
+const Int32 I2C_ID =  2;
+const Int32 I2C_Slave_Add = 0x98;
+//----------------------
+
+public void OnExecute(StubManager stubManager)
+{
+
+	// --------------------- I2C write multibyte --------------------- 	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x30);//AD5691R_CMD_WRITE_INPUT_N_UPDATE_REG
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0xff);//0 (0V) - 0xFF (8V)
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//
+
+	
+	var response = stubManager.Run<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+
+	
+	
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/I2C_scanner.c b/Software/Stubs Collection/stubs/I2C_scanner.c
new file mode 100644
index 000000000..f7e87506c
--- /dev/null
+++ b/Software/Stubs Collection/stubs/I2C_scanner.c
@@ -0,0 +1,38 @@
+// I2C scanner by Nick Gammon.  Thanks Nick.
+
+#include <Wire.h>
+
+void setup() {
+  Serial.begin (115200);   //***********  make sure serial monitor baud matches **********
+
+  // Leonardo: wait for serial port to connect
+  while (!Serial) 
+    {
+    }
+
+  Serial.println ();
+  Serial.println ("I2C scanner. Scanning ...");
+  byte count = 0;
+  
+  Wire.begin();
+  for (byte i = 1; i < 120; i++)
+  {
+    Wire.beginTransmission (i);
+    if (Wire.endTransmission () == 0)
+      {
+      Serial.print ("Found address: ");
+      Serial.print (i, DEC);
+      Serial.print (" (0x");
+      Serial.print (i, HEX);
+      Serial.println (")");
+      count++;
+      delay (1);  // maybe unneeded?
+      } // end of good response
+  } // end of for loop
+  Serial.println ("Done.");
+  Serial.print ("Found ");
+  Serial.print (count, DEC);
+  Serial.println (" device(s).");
+}  // end of setup
+
+void loop() {}
diff --git a/Software/Stubs Collection/stubs/Midtank_Valves.cs b/Software/Stubs Collection/stubs/Midtank_Valves.cs
new file mode 100644
index 000000000..f99d08d88
--- /dev/null
+++ b/Software/Stubs Collection/stubs/Midtank_Valves.cs
@@ -0,0 +1,74 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+include "..\..\Defines\Tango_Defines_Basic.cs"
+include "..\Defines\Tango_Defines_GPO.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_Basic.cs"
+//include "C:\To_Backup\Mulberry\Mulberry_current\Customers\Twine\Tango\LAB_Tests\Main_PCB\ATP_Test\Scripts\Defines\Tango_Defines_GPO.cs"
+
+
+public void OnExecute(StubManager stubManager)
+{
+ 	int midtankno = 0;
+
+    var response = stubManager.ShowResponseWindow("Enter Midtank number to test (1-8):", "");
+    //stubManager.WriteLine(response);
+	stubManager.Write("\n");
+	midtankno = int.Parse(response);
+
+switch (midtankno)
+        {
+            case 1:
+                midtankno=1;
+                break;
+             case 2:
+                midtankno=3;
+                break;
+             case 3:
+                midtankno=5;
+                break;
+             case 4:
+                midtankno=7;
+                break;
+             case 5:
+                midtankno=2;
+                break;
+             case 6:
+                midtankno=4;
+                break;
+             case 7:
+                midtankno=6;
+                break;
+             case 8:
+                midtankno=8;
+                break;
+
+       }	
+	
+	
+	
+		SetBit (FPGA3, F3_VALVE_OUT,8- midtankno, 1);
+		stubManager.Write("\n\nSetting GPO F3_VALVE_OUT, bit "); stubManager.Write(8-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[8-midtankno]);
+		Thread.Sleep(1000);
+		SetBit (FPGA3, F3_VALVE_OUT,8- midtankno, 0);
+		stubManager.Write("\nClearing GPO F3_VALVE_OUT, bit "); stubManager.Write(8-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[8-midtankno]);			
+		Thread.Sleep(1000);
+		
+		SetBit (FPGA3, F3_VALVE_OUT, 16-midtankno, 1);
+		stubManager.Write("\n\nSetting GPO F3_VALVE_OUT, bit "); stubManager.Write(16-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[16-midtankno]);
+		Thread.Sleep(1000);
+		SetBit (FPGA3, F3_VALVE_OUT, 16-midtankno, 0);
+		stubManager.Write("\nClearing GPO F3_VALVE_OUT, bit "); stubManager.Write(16-midtankno); stubManager.Write(", "); stubManager.Write(F3_VALVE_Bits[16-midtankno]);			
+		Thread.Sleep(1000);
+		
+
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/New Text Document (2).txt b/Software/Stubs Collection/stubs/New Text Document (2).txt
deleted file mode 100644
index e69de29bb..000000000
--- a/Software/Stubs Collection/stubs/New Text Document (2).txt
+++ /dev/null
diff --git a/Software/Stubs Collection/stubs/New Text Document.txt b/Software/Stubs Collection/stubs/New Text Document.txt
deleted file mode 100644
index e69de29bb..000000000
--- a/Software/Stubs Collection/stubs/New Text Document.txt
+++ /dev/null
diff --git a/Software/Stubs Collection/stubs/SSR4_control.cs b/Software/Stubs Collection/stubs/SSR4_control.cs
new file mode 100644
index 000000000..049fb3dff
--- /dev/null
+++ b/Software/Stubs Collection/stubs/SSR4_control.cs
@@ -0,0 +1,20 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+const Int32 SSR_REG = 0x80;
+
+public void OnExecute(StubManager stubManager)
+{
+    stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x0E2, SSR_REG); // turn ON SSR4
+    
+    //stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x0E2, 0x0000); // turn OFF SSR_REG
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/calculate - Copy.cs b/Software/Stubs Collection/stubs/calculate - Copy.cs
deleted file mode 100644
index 22a83dd2d..000000000
--- a/Software/Stubs Collection/stubs/calculate - Copy.cs
+++ /dev/null
@@ -1,22 +0,0 @@
-using System;
-using System.Text;
-using System.Linq;
-using System.Drawing;
-using System.Diagnostics;
-using System.Windows.Forms;
-using System.Threading;
-using System.Threading.Tasks;
-using System.Collections.Generic;
-using Tango.Stubs.UI;
-
-public void OnExecute(StubManager stubManager)
-{
-    for (int i = 0; i < 10; i++)
-    {
-        // Double : A
-		// Double : B
-    	stubManager.Run("calculate", 10, 5);
-        Thread.Sleep(10);
-    }
-}
-
diff --git a/Software/Stubs Collection/stubs/read real time.cs b/Software/Stubs Collection/stubs/read real time.cs
new file mode 100644
index 000000000..51d0b570a
--- /dev/null
+++ b/Software/Stubs Collection/stubs/read real time.cs
@@ -0,0 +1,30 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+    //for (int i = 0; i < 10; i++)
+    {
+        var response = stubManager.Run<StubRealTimeUsageResponse>("StubRealTimeUsageRequest");
+    	for (int i = 0; i < 100; i++)
+		{
+	        if (response.Percentile[i]>0)
+	        {
+	            stubManager.Write("\r\n ");
+	            stubManager.Write( i);
+	            stubManager.Write(" ");
+	            stubManager.Write(response.Percentile[i]);
+	        }
+		}        
+
+    }
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/stubs/stubs.zip b/Software/Stubs Collection/stubs/stubs.zip
deleted file mode 100644
index 9b8a98765..000000000
--- a/Software/Stubs Collection/stubs/stubs.zip
+++ /dev/null
diff --git a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/Tango.MachineStudio.UI.csproj b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/Tango.MachineStudio.UI.csproj
index 2ac516903..bc49f6331 100644
--- a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/Tango.MachineStudio.UI.csproj
+++ b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/Tango.MachineStudio.UI.csproj
@@ -575,7 +575,7 @@ copy /Y "$(SolutionDir)Referenced Assemblies\Microsoft.WITDataStore32.dll" "$(Ta
   </Target>
   <ProjectExtensions>
     <VisualStudio>
-      <UserProperties BuildVersion_StartDate="2000/1/1" BuildVersion_UpdateAssemblyVersion="True" BuildVersion_AssemblyInfoFilename="Properties\AssemblyInfo.cs" BuildVersion_BuildVersioningStyle="None.None.Increment.DeltaBaseYearDayOfYear" BuildVersion_UpdateFileVersion="True" BuildVersion_DetectChanges="True" BuildVersion_UseGlobalSettings="False" />
+      <UserProperties BuildVersion_UseGlobalSettings="False" BuildVersion_DetectChanges="True" BuildVersion_UpdateFileVersion="True" BuildVersion_BuildVersioningStyle="None.None.Increment.DeltaBaseYearDayOfYear" BuildVersion_AssemblyInfoFilename="Properties\AssemblyInfo.cs" BuildVersion_UpdateAssemblyVersion="True" BuildVersion_StartDate="2000/1/1" />
     </VisualStudio>
   </ProjectExtensions>
 </Project>
\ No newline at end of file
diff --git a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/ViewModels/UpdateViewVM.cs b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/ViewModels/UpdateViewVM.cs
index c5831f701..b0279957c 100644
--- a/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/ViewModels/UpdateViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.UI/ViewModels/UpdateViewVM.cs
@@ -294,6 +294,9 @@ namespace Tango.MachineStudio.UI.ViewModels
                         }
                     }
 
+                    //Copy new updater utility to app path.
+                    File.Copy(Path.Combine(_newPackageTempFolder, "Tango.MachineStudio.Updater.exe"), Path.Combine(_appPath, "Tango.MachineStudio.Updater.exe"), true);
+
                     TangoIOC.Default.GetInstance<MainViewVM>().DisableCheckForUpdates = true;
                     Status = UpdateStatus.UpdateCompleted;
                 }