From 1fdae2c578ca69a24853be38ee22b38c01f91895 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 20 Nov 2018 09:07:33 +0100
Subject: [PATCH 01/58] [assembly] updated
 assembly/assembly_parameters_DAF_180824.cfg

---
 assembly/assembly/assembly_parameters_DAF_180824.cfg | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_180824.cfg b/assembly/assembly/assembly_parameters_DAF_180824.cfg
index 5bfb886c6..835563a44 100644
--- a/assembly/assembly/assembly_parameters_DAF_180824.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_180824.cfg
@@ -27,10 +27,10 @@ RefPointSensor_Z         -74.7897
 RefPointSensor_A           1.000
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X         -47.3278
-RefPointSpacer_Y         -76.3889
-RefPointSpacer_Z         -73.8228
-RefPointSpacer_A         -89.722
+RefPointSpacer_X         -47.2578
+RefPointSpacer_Y         -76.6889
+RefPointSpacer_Z         -73.8812
+RefPointSpacer_A         -89.8290
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
 RefPointBaseplate_X      -49.6478

From 3ee51feb0ee96bd1fae44ea614f2a3b92dcb900c Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Wed, 16 Jan 2019 11:24:25 +0100
Subject: [PATCH 02/58] [assembly] fix in
 LStepExpressMotionManager::get_position

---
 assembly/assembly/AssemblyMainWindow.cc       | 12 ++++++++----
 .../assemblyCommon/LStepExpressMeasurement.cc | 19 +++++++------------
 assembly/assemblyCommon/LStepExpressModel.cc  |  4 ++--
 assembly/assemblyCommon/LStepExpressModel.h   |  3 ++-
 .../LStepExpressMotionManager.cc              | 14 +++++++++++++-
 .../LStepExpressMotionManager.h               |  2 ++
 6 files changed, 34 insertions(+), 20 deletions(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index 69faf8451..418748981 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -209,7 +209,7 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), this, SLOT(disconnect_objectAligner()));
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), motion_manager_, SLOT(emergency_stop()));
 
-    connect(motion_manager_->model(), SIGNAL(emergencyStopSignal()), motion_manager_, SLOT(clear_motion_queue()));
+    connect(motion_manager_->model(), SIGNAL(emergencyStop_request()), motion_manager_, SLOT(clear_motion_queue()));
 
     NQLog("AssemblyMainWindow", NQLog::Message) << "added view " << tabname_Alignm;
     // ---------------------------------------------------------
@@ -346,16 +346,20 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
 
     /// Upper Toolbar ------------------------------------------
     toolBar_ = addToolBar("Tools");
-    toolBar_ ->addAction("Camera ON" , this, SLOT( enable_images()));
-    toolBar_ ->addAction("Camera OFF", this, SLOT(disable_images()));
-    toolBar_ ->addAction("Snapshot"  , this, SLOT(    get_image ()));
+    toolBar_ ->addAction("Camera ON"     , this, SLOT( enable_images()));
+    toolBar_ ->addAction("Camera OFF"    , this, SLOT(disable_images()));
+    toolBar_ ->addAction("Snapshot"      , this, SLOT(    get_image ()));
+
+    toolBar_ ->addAction("Emergency Stop", motion_manager_->model(), SLOT(emergencyStop()));
 
     autofocus_checkbox_ = new QCheckBox("Auto-Focusing", this);
     toolBar_->addWidget(autofocus_checkbox_);
 
     connect(autofocus_checkbox_, SIGNAL(stateChanged(int)), this, SLOT(changeState_autofocus(int)));
     connect(autofocus_checkbox_, SIGNAL(stateChanged(int)), aligner_view_, SLOT(update_autofocusing_checkbox(int)));
+    /// --------------------------------------------------------
 
+    /// Main Tab -----------------------------------------------
     QTabWidget* main_tab = new QTabWidget;
 
     main_tab->setTabPosition(QTabWidget::South);
diff --git a/assembly/assemblyCommon/LStepExpressMeasurement.cc b/assembly/assemblyCommon/LStepExpressMeasurement.cc
index 09cfaa55c..22f269d0b 100644
--- a/assembly/assemblyCommon/LStepExpressMeasurement.cc
+++ b/assembly/assemblyCommon/LStepExpressMeasurement.cc
@@ -39,22 +39,17 @@ LStepExpressMeasurement::LStepExpressMeasurement(LStepExpressModel* model, LStep
     currentIndex_ = -1;
     tableSize_ = 0;
 
-    connect(model_, SIGNAL(emergencyStopSignal()),
-	this, SLOT(stopMeasurement()));
-    
-    connect(model_, SIGNAL(motionFinished()),
-	this, SLOT(takeMeasurement()));
-    
-    connect(this, SIGNAL(nextScanStep()),
-	this, SLOT(doNextScanStep()));
+    connect(model_, SIGNAL(emergencyStop_request()), this, SLOT(stopMeasurement()));
 
-    connect(laserModel_, SIGNAL(deviceStateChanged(State)),
-            this,SLOT(setLaserEnabled(State)));
+    connect(model_, SIGNAL(motionFinished()), this, SLOT(takeMeasurement()));
 
-    generateCirclePositions();
+    connect(this, SIGNAL(nextScanStep()), this, SLOT(doNextScanStep()));
+
+    connect(laserModel_, SIGNAL(deviceStateChanged(State)), this, SLOT(setLaserEnabled(State)));
 
+    generateCirclePositions();
 }
-    
+
 LStepExpressMeasurement::~LStepExpressMeasurement()
 {
 }
diff --git a/assembly/assemblyCommon/LStepExpressModel.cc b/assembly/assemblyCommon/LStepExpressModel.cc
index 969e7f877..b97d22667 100644
--- a/assembly/assemblyCommon/LStepExpressModel.cc
+++ b/assembly/assemblyCommon/LStepExpressModel.cc
@@ -778,9 +778,9 @@ void LStepExpressModel::emergencyStop()
     finishedCalibrating_ = false;
 
     NQLog("LStepExpressModel", NQLog::Spam) << "emergencyStop"
-       << ": emitting signal \"emergencyStopSignal\"";
+       << ": emitting signal \"emergencyStop_request\"";
 
-    emit emergencyStopSignal();
+    emit emergencyStop_request();
 
     NQLog("LStepExpressModel", NQLog::Spam) << "emergencyStop"
        << ": emitting signal \"motionFinished\"";
diff --git a/assembly/assemblyCommon/LStepExpressModel.h b/assembly/assemblyCommon/LStepExpressModel.h
index 483d33fe4..eac11d74e 100644
--- a/assembly/assemblyCommon/LStepExpressModel.h
+++ b/assembly/assemblyCommon/LStepExpressModel.h
@@ -177,7 +177,8 @@ class LStepExpressModel : public QObject, public AbstractDeviceModel<LStepExpres
 
     void motionStarted();
     void motionFinished();
-    void emergencyStopSignal();
+
+    void emergencyStop_request();
 };
 
 #endif // LSTEPEXPRESSMODEL_H
diff --git a/assembly/assemblyCommon/LStepExpressMotionManager.cc b/assembly/assemblyCommon/LStepExpressMotionManager.cc
index afc9687ad..3487fa1c3 100644
--- a/assembly/assemblyCommon/LStepExpressMotionManager.cc
+++ b/assembly/assemblyCommon/LStepExpressMotionManager.cc
@@ -36,6 +36,8 @@ LStepExpressMotionManager::LStepExpressMotionManager(LStepExpressModel* model, Q
     assembly::kill_application("[LStepExpressMotionManager]", "Invalid (NULL) pointer to LStepExpressModel object, closing application");
   }
 
+  connect(this, SIGNAL(emergencyStop_request()), this, SLOT(emergency_stop()));
+
   this->connect_model();
 }
 
@@ -317,7 +319,17 @@ double LStepExpressMotionManager::get_position(const int axis) const
   {
     ++tries;
 
-    if(tries > 5)
+    if(tries > 20)
+    {
+      NQLog("LStepExpressMotionManager", NQLog::Warning) << "get_position(" << axis << ")"
+         << ": after try #" << tries << ", call for LStepExpressMotionManager::emergency_stop()";
+
+      NQLog("LStepExpressMotionManager", NQLog::Spam) << "get_position(" << axis << ")"
+         << ": emitting signal \"emergencyStop_request\"";
+
+      emit emergencyStop_request();
+    }
+    else if(tries > 5)
     {
       if(model()->isUpdating())
       {
diff --git a/assembly/assemblyCommon/LStepExpressMotionManager.h b/assembly/assemblyCommon/LStepExpressMotionManager.h
index e36a276e0..a5ffa2fe5 100644
--- a/assembly/assemblyCommon/LStepExpressMotionManager.h
+++ b/assembly/assemblyCommon/LStepExpressMotionManager.h
@@ -86,6 +86,8 @@ class LStepExpressMotionManager : public QObject
 
   signals:
 
+    void emergencyStop_request() const;
+
     void motion_finished();
 
     void signalMoveRelative(double x, double y, double z, double a);

From 8c96d496e403ed6e9c84b11a817365e8224369a2 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Wed, 16 Jan 2019 11:24:44 +0100
Subject: [PATCH 03/58] [assembly] added
 assembly/assembly_parameters_DAF_190116.cfg

---
 assembly/assembly.cfg                         |  2 +-
 .../assembly_parameters_DAF_190116.cfg        | 73 +++++++++++++++++++
 2 files changed, 74 insertions(+), 1 deletion(-)
 create mode 100644 assembly/assembly/assembly_parameters_DAF_190116.cfg

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index 5cf1d7c66..4c617f58a 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -40,7 +40,7 @@ startup_motion_stage                           1
 startup_camera                                 1
 
 # AssemblyParameters
-AssemblyParameters_file_path                   assembly_parameters_DAF_180824.cfg # format: relative path from where binary is executed
+AssemblyParameters_file_path                   assembly_parameters_DAF_190116.cfg # format: relative path from where binary is executed
 
 # AssemblyZFocusFinder
 AssemblyZFocusFinder_zrange_max                3.0
diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
new file mode 100644
index 000000000..1622de6ee
--- /dev/null
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -0,0 +1,73 @@
+
+# Sensor    Ref-Point = edge of fiducial marker measured with Pattern Recognition
+# Spacer    Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point
+# Baseplate Ref-Point = edge [...]
+
+####################################
+### DIMENSIONS #####################
+####################################
+
+# dimensions: thickness of assembly components
+Thickness_VacuumCups  0.300
+Thickness_Baseplate   0.665
+Thickness_PSS         0.720
+Thickness_PSP         0.720
+Thickness_Spacer      3.105
+Height_SpacerSlots    1.450
+Thickness_GlueLayer   0.025
+
+####################################
+### POSITIONS ######################
+####################################
+
+# position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
+RefPointSensor_X         -69.7431
+RefPointSensor_Y         -78.5036
+RefPointSensor_Z         -62.7689
+RefPointSensor_A          -0.2030
+
+# position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
+RefPointSpacer_X         -62.2778
+RefPointSpacer_Y         -79.6489
+RefPointSpacer_Z         -60.6716
+RefPointSpacer_A         -90.1960
+
+# position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
+RefPointBaseplate_X      -49.6478
+RefPointBaseplate_Y      -66.159
+RefPointBaseplate_Z      -62.8157
+RefPointBaseplate_A        0.372
+
+# [DUMMY] position: Z-position (height) to put pickup tool in contact with rotation stage
+PickupToolOnRotStage_Z   -60.99
+
+# position: XYZ-position with pickup tool in contact with glue-dispensing platform
+PickupToolOnGluingStage_X    0.000
+PickupToolOnGluingStage_Y    0.000
+PickupToolOnGluingStage_Z    0.000
+
+####################################
+### DISTANCES ######################
+####################################
+
+# distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg]
+AngleOfCameraFrameInRefFrame_dA        -89.5954
+
+# distance: from Sensor Ref-Point to Sensor Pickup position
+FromSensorRefPointToSensorPickup_dX     88.00
+FromSensorRefPointToSensorPickup_dY     37.00
+
+# distance: from PS-p Ref-Point to PS-s Ref-Point
+FromPSPRefPointToPSSRefPoint_dX          1.25
+FromPSPRefPointToPSSRefPoint_dY          0.00
+
+# distance: from Spacer Ref-Point to Sensor Ref-Point
+FromSpacerRefPointToSensorRefPoint_dX    0.85
+FromSpacerRefPointToSensorRefPoint_dY   -0.15
+
+# distance: from Baseplate Ref-Point to PS-p Ref-Point
+FromBaseplateRefPointToPSPRefPoint_dX    1.60
+FromBaseplateRefPointToPSPRefPoint_dY  -10.65
+
+# # distance: from best-focus z-position to pickup z-position
+# FromCameraBestFocusToPickupHeight_dZ    -0.00

From 08211d03219af71a8c6a4837e46c64b115ca8ccc Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Wed, 16 Jan 2019 13:15:37 +0100
Subject: [PATCH 04/58] [assembly] minor update to
 assemblyCommon/AssemblyUEyeView

---
 assembly/assemblyCommon/AssemblyUEyeView.cc | 15 +++------------
 assembly/assemblyCommon/AssemblyUEyeView.h  |  2 --
 2 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyUEyeView.cc b/assembly/assemblyCommon/AssemblyUEyeView.cc
index 0da0a652a..cf51a4986 100644
--- a/assembly/assemblyCommon/AssemblyUEyeView.cc
+++ b/assembly/assemblyCommon/AssemblyUEyeView.cc
@@ -11,7 +11,6 @@
 /////////////////////////////////////////////////////////////////////////////////
 
 #include <AssemblyUEyeView.h>
-#include <nqlogger.h>
 
 #include <QPainter>
 
@@ -41,18 +40,12 @@ void AssemblyUEyeView::setImage(const cv::Mat& newImage)
         cv::Mat temp;
         cvtColor(newImage, temp, CV_GRAY2RGB);
 
-        image_ = QImage((const uchar *) temp.data,
-                        temp.cols, temp.rows,
-                        temp.step, QImage::Format_RGB888);
-
+        image_ = QImage((const uchar *) temp.data, temp.cols, temp.rows, temp.step, QImage::Format_RGB888);
         image_.bits();
     }
     else
     {
-        image_ = QImage((const uchar *) newImage.data,
-                        newImage.cols, newImage.rows,
-                        newImage.step, QImage::Format_RGB888);
-
+        image_ = QImage((const uchar *) newImage.data, newImage.cols, newImage.rows, newImage.step, QImage::Format_RGB888);
         image_.bits();
     }
 
@@ -65,9 +58,7 @@ void AssemblyUEyeView::paintEvent(QPaintEvent*)
 {
     if(image_.isNull() == false)
     {
-        QImage image = image_.scaled(image_.width()  * zoomFactor_,
-                                     image_.height() * zoomFactor_,
-                                     Qt::KeepAspectRatio);
+        const QImage image = image_.scaled(image_.width()  * zoomFactor_, image_.height() * zoomFactor_, Qt::KeepAspectRatio);
 
         resize(image.width(), image.height());
 
diff --git a/assembly/assemblyCommon/AssemblyUEyeView.h b/assembly/assemblyCommon/AssemblyUEyeView.h
index 2201c0b40..0b6e2d728 100644
--- a/assembly/assemblyCommon/AssemblyUEyeView.h
+++ b/assembly/assemblyCommon/AssemblyUEyeView.h
@@ -17,8 +17,6 @@
 #include <QImage>
 #include <QMutex>
 
-#include <AssemblyVUEyeCamera.h>
-
 #include <opencv2/opencv.hpp>
 
 class AssemblyUEyeView : public QLabel

From 9e7f8a90c46ae2cb293e41576a388e1d360be2f0 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 21 Jan 2019 11:45:50 +0100
Subject: [PATCH 05/58] [assembly] updated
 assembly/assembly_parameters_DAF_190116.cfg

---
 .../assembly_parameters_DAF_190116.cfg        | 32 ++++++++++---------
 1 file changed, 17 insertions(+), 15 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index 1622de6ee..abb18e118 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -3,15 +3,17 @@
 # Spacer    Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point
 # Baseplate Ref-Point = edge [...]
 
+# CameraFocusToPickup_dZ -31.85
+
 ####################################
 ### DIMENSIONS #####################
 ####################################
 
 # dimensions: thickness of assembly components
-Thickness_VacuumCups  0.300
+Thickness_VacuumCups  0.000
 Thickness_Baseplate   0.665
-Thickness_PSS         0.720
-Thickness_PSP         0.720
+Thickness_PSS         0.700
+Thickness_PSP         0.780
 Thickness_Spacer      3.105
 Height_SpacerSlots    1.450
 Thickness_GlueLayer   0.025
@@ -21,22 +23,22 @@ Thickness_GlueLayer   0.025
 ####################################
 
 # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
-RefPointSensor_X         -69.7431
-RefPointSensor_Y         -78.5036
-RefPointSensor_Z         -62.7689
-RefPointSensor_A          -0.2030
+RefPointSensor_X         -70.0283
+RefPointSensor_Y         -78.4945
+RefPointSensor_Z         -62.7329
+RefPointSensor_A          -0.307
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X         -62.2778
-RefPointSpacer_Y         -79.6489
-RefPointSpacer_Z         -60.6716
-RefPointSpacer_A         -90.1960
+RefPointSpacer_X         -62.4278
+RefPointSpacer_Y         -79.7189
+RefPointSpacer_Z         -60.7482
+RefPointSpacer_A         -90.183
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
-RefPointBaseplate_X      -49.6478
-RefPointBaseplate_Y      -66.159
-RefPointBaseplate_Z      -62.8157
-RefPointBaseplate_A        0.372
+RefPointBaseplate_X      -64.4778
+RefPointBaseplate_Y      -68.279
+RefPointBaseplate_Z      -62.7678
+RefPointBaseplate_A       -0.056
 
 # [DUMMY] position: Z-position (height) to put pickup tool in contact with rotation stage
 PickupToolOnRotStage_Z   -60.99

From 3b31caf7714ba800707ce97b30b7edb0ed0dad5d Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 29 Jan 2019 14:06:10 +0100
Subject: [PATCH 06/58] [assembly] added
 assembly/assembly_parameters_DAF_190116.cfg

---
 assembly/assembly/assembly_parameters_DAF_190116.cfg | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index abb18e118..1e0aae775 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -29,14 +29,14 @@ RefPointSensor_Z         -62.7329
 RefPointSensor_A          -0.307
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X         -62.4278
-RefPointSpacer_Y         -79.7189
-RefPointSpacer_Z         -60.7482
-RefPointSpacer_A         -90.183
+RefPointSpacer_X         -62.428
+RefPointSpacer_Y         -79.629
+RefPointSpacer_Z         -63.248
+RefPointSpacer_A         -90.182
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
 RefPointBaseplate_X      -64.4778
-RefPointBaseplate_Y      -68.279
+RefPointBaseplate_Y      -68.330
 RefPointBaseplate_Z      -62.7678
 RefPointBaseplate_A       -0.056
 

From d48f0b97a83cfe20330347a842f824ec3b26602b Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 09:44:34 +0100
Subject: [PATCH 07/58] [assembly] only code-formatting in
 assemblyCommon/LStepExpressJoystickWidget.cc

---
 .../LStepExpressJoystickWidget.cc             | 84 +++++++++----------
 1 file changed, 42 insertions(+), 42 deletions(-)

diff --git a/assembly/assemblyCommon/LStepExpressJoystickWidget.cc b/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
index b518dd9b2..fbd24845f 100644
--- a/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
+++ b/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
@@ -110,62 +110,62 @@ LStepExpressJoystickAxisWidget::LStepExpressJoystickAxisWidget(LStepExpressModel
  , axis_(axis)
  , motionTools_enabled_(true)
 {
-    layout_ = new QVBoxLayout(this);
-    setLayout(layout_);
+  layout_ = new QVBoxLayout(this);
+  this->setLayout(layout_);
 
-    stepBox_ = new QDoubleSpinBox(this);
-    stepBox_->setSuffix(" usteps");
-    stepBox_->setMinimum(0.0000);
-    stepBox_->setMaximum(10.0000);
-    stepBox_->setValue(1.0);
-    layout_->addWidget(stepBox_);
+  stepBox_ = new QDoubleSpinBox(this);
+  stepBox_->setSuffix(" usteps");
+  stepBox_->setMinimum(0.0000);
+  stepBox_->setMaximum(10.0000);
+  stepBox_->setValue(1.0);
+  layout_->addWidget(stepBox_);
 
-      upButton_ = new QPushButton(QIcon(QString(Config::CMSTkModLabBasePath.c_str())+"/share/icon_UP.png")  , "", this);
-    downButton_ = new QPushButton(QIcon(QString(Config::CMSTkModLabBasePath.c_str())+"/share/icon_DOWN.png"), "", this);
+    upButton_ = new QPushButton(QIcon(QString(Config::CMSTkModLabBasePath.c_str())+"/share/icon_UP.png")  , "", this);
+  downButton_ = new QPushButton(QIcon(QString(Config::CMSTkModLabBasePath.c_str())+"/share/icon_DOWN.png"), "", this);
 
-    layout_->addWidget(  upButton_);
-    layout_->addWidget(downButton_);
+  layout_->addWidget(  upButton_);
+  layout_->addWidget(downButton_);
 
-    connect(  upButton_, SIGNAL(clicked()), this, SLOT(  upButtonClicked()));
-    connect(downButton_, SIGNAL(clicked()), this, SLOT(downButtonClicked()));
+  connect(  upButton_, SIGNAL(clicked()), this, SLOT(  upButtonClicked()));
+  connect(downButton_, SIGNAL(clicked()), this, SLOT(downButtonClicked()));
 
-    connect(model_, SIGNAL(deviceStateChanged(State)) , this, SLOT(lStepStateChanged(State)));
-    connect(model_, SIGNAL(controlStateChanged(bool)) , this, SLOT(controlStateChanged(bool)));
-    connect(model_, SIGNAL(informationChanged())      , this, SLOT(updateWidgets()));
-    connect(model_, SIGNAL(motionInformationChanged()), this, SLOT(updateMotionWidgets()));
+  connect(model_, SIGNAL(deviceStateChanged(State)) , this, SLOT(lStepStateChanged(State)));
+  connect(model_, SIGNAL(controlStateChanged(bool)) , this, SLOT(controlStateChanged(bool)));
+  connect(model_, SIGNAL(informationChanged())      , this, SLOT(updateWidgets()));
+  connect(model_, SIGNAL(motionInformationChanged()), this, SLOT(updateMotionWidgets()));
 
-    connect(model_, SIGNAL(motionStarted()) , this, SLOT(motionStarted()));
-    connect(model_, SIGNAL(motionFinished()), this, SLOT(motionFinished()));
+  connect(model_, SIGNAL(motionStarted()) , this, SLOT(motionStarted()));
+  connect(model_, SIGNAL(motionFinished()), this, SLOT(motionFinished()));
 }
 
 LStepExpressJoystickAxisWidget::~LStepExpressJoystickAxisWidget()
 {
-    if(layout_){delete layout_; layout_ = nullptr;}
-    if(upButton_){delete upButton_; upButton_ = nullptr;}
-    if(downButton_){delete downButton_; downButton_ = nullptr;}
-    if(stepBox_){delete stepBox_; stepBox_ = nullptr;}
+  if(layout_)    { delete layout_    ; layout_     = nullptr; }
+  if(upButton_)  { delete upButton_  ; upButton_   = nullptr; }
+  if(downButton_){ delete downButton_; downButton_ = nullptr; }
+  if(stepBox_)   { delete stepBox_   ; stepBox_    = nullptr; }
 }
 
 void LStepExpressJoystickAxisWidget::updateWidgets()
 {
-    const bool axis_enabled = model_->getAxisEnabled(axis_);
+  const bool axis_enabled = model_->getAxisEnabled(axis_);
 
-//    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" updateWidgets() " << axis    ;
+//  NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" updateWidgets() " << axis;
 
-    stepBox_->setSuffix(QString(" ") + model_->getAxisDimensionShortName(axis_));
+  stepBox_->setSuffix(QString(" ") + model_->getAxisDimensionShortName(axis_));
 
-    stepBox_   ->setEnabled(axis_enabled);
+  stepBox_->setEnabled(axis_enabled);
 
-    if(motionTools_enabled_)
-    {
-      upButton_  ->setEnabled(axis_enabled);
-      downButton_->setEnabled(axis_enabled);
-    }
+  if(motionTools_enabled_)
+  {
+    upButton_  ->setEnabled(axis_enabled);
+    downButton_->setEnabled(axis_enabled);
+  }
 }
 
 void LStepExpressJoystickAxisWidget::updateMotionWidgets()
 {
-    // NQLog("LStepExpressJoystickAxisWidget updateMotionWidgets()"    ;
+//  NQLog("LStepExpressJoystickAxisWidget updateMotionWidgets()";
 }
 
 void LStepExpressJoystickAxisWidget::lStepStateChanged(State newState)
@@ -227,28 +227,28 @@ void LStepExpressJoystickAxisWidget::controlStateChanged(bool enabled)
 
 void LStepExpressJoystickAxisWidget::upButtonClicked()
 {
-  //    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" upButtonClicked()"    ;
+//    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" upButtonClicked()";
 
-    double value = stepBox_->value();
-    model_->moveRelative(axis_, value);
+  const double value = stepBox_->value();
+  model_->moveRelative(axis_, value);
 }
 
 void LStepExpressJoystickAxisWidget::downButtonClicked()
 {
-  //    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" downButtonClicked()"    ;
+//    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" downButtonClicked()";
 
-    double value = -stepBox_->value();
-    model_->moveRelative(axis_, value);
+  const double value = (-1. * stepBox_->value());
+  model_->moveRelative(axis_, value);
 }
 
 void LStepExpressJoystickAxisWidget::motionStarted()
 {
-  //    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" motionStarted()"    ;
+//  NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" motionStarted()";
 }
 
 void LStepExpressJoystickAxisWidget::motionFinished()
 {
-  //    NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" motionFinished()"    ;
+//  NQLog("LStepExpressJoystickAxisWidget", NQLog::Spam)<<" motionFinished()";
 }
 
 void LStepExpressJoystickAxisWidget::enableMotionTools(const bool enable)

From a1cae53a46346c53d3511d2e831bb905115a9fe3 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 09:45:32 +0100
Subject: [PATCH 08/58] [assembly] updated
 assemblyCommon/AssemblyHardwareControlView.cc

---
 .../assemblyCommon/AssemblyHardwareControlView.cc    |  2 +-
 assembly/assemblyCommon/LStepExpressWidget.cc        | 12 +++++++-----
 assembly/assemblyCommon/LStepExpressWidget.h         |  6 +++---
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyHardwareControlView.cc b/assembly/assemblyCommon/AssemblyHardwareControlView.cc
index fdbd3a8e1..237c29edd 100644
--- a/assembly/assemblyCommon/AssemblyHardwareControlView.cc
+++ b/assembly/assemblyCommon/AssemblyHardwareControlView.cc
@@ -138,7 +138,7 @@ void AssemblyHardwareControlView::stateChanged(const State& newState)
 void AssemblyHardwareControlView::enableMotionTools(const bool enable)
 {
   if(w_lStep_        ){ w_lStep_        ->enableMotionTools(enable); }
-  if(w_lStepJoystick_){ w_lStepJoystick_->enableMotionTools(enable); }
+//  if(w_lStepJoystick_){ w_lStepJoystick_->enableMotionTools(enable); }
   if(w_lStepPosition_){ w_lStepPosition_->enableMotionTools(enable); }
 
   if(w_move_){ w_move_->setEnabled(enable); }
diff --git a/assembly/assemblyCommon/LStepExpressWidget.cc b/assembly/assemblyCommon/LStepExpressWidget.cc
index bd744316c..1a1afe72c 100644
--- a/assembly/assemblyCommon/LStepExpressWidget.cc
+++ b/assembly/assemblyCommon/LStepExpressWidget.cc
@@ -23,6 +23,7 @@ LStepExpressWidget::LStepExpressWidget(LStepExpressModel* model, QWidget* parent
 
  , model_(model)
 
+ , mot_settings_box_(nullptr)
  , lstepCheckBox_   (nullptr)
  , joystickCheckBox_(nullptr)
  , posCtrlCheckBox_ (nullptr)
@@ -55,13 +56,12 @@ LStepExpressWidget::LStepExpressWidget(LStepExpressModel* model, QWidget* parent
     layout->addLayout(hlayout);
 
     // Motion Stage Settings
-    QGroupBox* mot_settings_box = new QGroupBox(tr("Motion Stage Settings"));
-    hlayout->addWidget(mot_settings_box);
-
-    mot_settings_box->setStyleSheet("QGroupBox { font-weight: bold; } ");
+    mot_settings_box_ = new QGroupBox(tr("Motion Stage Settings"));
+    mot_settings_box_->setStyleSheet("QGroupBox { font-weight: bold; } ");
+    hlayout->addWidget(mot_settings_box_);
 
     QGridLayout* mot_settings_grid = new QGridLayout;
-    mot_settings_box->setLayout(mot_settings_grid);
+    mot_settings_box_->setLayout(mot_settings_grid);
 
     lstepCheckBox_ = new QCheckBox("Enable Controller");
     mot_settings_grid->addWidget(lstepCheckBox_, 0, 0);
@@ -463,6 +463,8 @@ void LStepExpressWidget::lockMotionSettings(const bool disable)
 {
   motionSettings_locked_ = disable;
 
+  mot_settings_box_->setDisabled(disable);
+
   if(lstepCheckBox_   ){ lstepCheckBox_   ->setDisabled(disable); }
   if(joystickCheckBox_){ joystickCheckBox_->setDisabled(disable); }
   if(posCtrlCheckBox_ ){ posCtrlCheckBox_ ->setDisabled(disable); }
diff --git a/assembly/assemblyCommon/LStepExpressWidget.h b/assembly/assemblyCommon/LStepExpressWidget.h
index 8c202d54c..b65cb31ac 100644
--- a/assembly/assemblyCommon/LStepExpressWidget.h
+++ b/assembly/assemblyCommon/LStepExpressWidget.h
@@ -15,14 +15,13 @@
 
 #include <LStepExpressModel.h>
 
+#include <QWidget>
+#include <QGroupBox>
 #include <QCheckBox>
 #include <QFormLayout>
 #include <QDoubleSpinBox>
 #include <QGridLayout>
-#include <QLCDNumber>
 #include <QVBoxLayout>
-#include <QComboBox>
-#include <QWidget>
 #include <QLabel>
 #include <QPushButton>
 #include <QTimer>
@@ -42,6 +41,7 @@ class LStepExpressWidget : public QWidget
 
   LStepExpressModel* model_;
 
+  QGroupBox* mot_settings_box_;
   QCheckBox* lstepCheckBox_;
   QCheckBox* joystickCheckBox_;
   QCheckBox* posCtrlCheckBox_;

From 083c3ffe0b6ad3e4fc371c261c5cb66276363513 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 13:07:25 +0100
Subject: [PATCH 09/58] [assembly] updated
 assemblyCommon/AssemblyHardwareControlView.cc

---
 .../AssemblyHardwareControlView.cc            | 19 +++----
 .../AssemblyHardwareControlView.h             |  4 +-
 .../LStepExpressJoystickWidget.cc             |  4 +-
 .../LStepExpressJoystickWidget.h              | 36 ++++++-------
 assembly/assemblyCommon/LStepExpressWidget.cc | 52 +++++++++----------
 assembly/assemblyCommon/LStepExpressWidget.h  |  6 +--
 6 files changed, 61 insertions(+), 60 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyHardwareControlView.cc b/assembly/assemblyCommon/AssemblyHardwareControlView.cc
index 237c29edd..006d0a3b5 100644
--- a/assembly/assemblyCommon/AssemblyHardwareControlView.cc
+++ b/assembly/assemblyCommon/AssemblyHardwareControlView.cc
@@ -63,6 +63,7 @@ AssemblyHardwareControlView::AssemblyHardwareControlView(const LStepExpressMotio
 
   w_move_ = new AssemblyMoveWidget(manager_);
   w_move_->setToolTip("Single-Motion interface");
+  w_move_->setEnabled(false);
 
   l_move->addWidget(w_move_);
   // -----
@@ -71,8 +72,8 @@ AssemblyHardwareControlView::AssemblyHardwareControlView(const LStepExpressMotio
 
   connect(manager_->model(), SIGNAL(deviceStateChanged(State)), this, SLOT(stateChanged(State)));
 
-  connect(manager_->model(), SIGNAL(motionStarted ()), this, SLOT(disableMotionTools()));
-  connect(manager_->model(), SIGNAL(motionFinished()), this, SLOT( enableMotionTools()));
+//  connect(manager_->model(), SIGNAL(motionStarted ()), this, SLOT(disableMotionTools()));
+//  connect(manager_->model(), SIGNAL(motionFinished()), this, SLOT( enableMotionTools()));
 
   g1->addWidget(box_move, 60);
   /// -------------
@@ -101,8 +102,6 @@ AssemblyHardwareControlView::AssemblyHardwareControlView(const LStepExpressMotio
   layout->addWidget(w_lStep_);
 
   connect(w_lStep_, SIGNAL(clearQueue_request()), manager_, SLOT(clear_motion_queue()));
-
-  connect(cb_lockMotionSettings_, SIGNAL(toggled(bool)), w_lStep_, SLOT(lockMotionSettings(bool)));
   //// ------------------
 
   //// LStepExpressJoystickWidget
@@ -115,6 +114,8 @@ AssemblyHardwareControlView::AssemblyHardwareControlView(const LStepExpressMotio
 //  layout->addWidget(w_lStepPosition_);
 //  //// ------------------
 
+  connect(cb_lockMotionSettings_, SIGNAL(toggled(bool)), w_lStep_, SLOT(lockMotionSettings(bool)));
+
   // -------------------------------------------
 
   NQLog("AssemblyHardwareControlView", NQLog::Debug) << "constructed";
@@ -137,14 +138,14 @@ void AssemblyHardwareControlView::stateChanged(const State& newState)
 
 void AssemblyHardwareControlView::enableMotionTools(const bool enable)
 {
+  if(w_move_){ w_move_->setEnabled(enable); }
+
   if(w_lStep_        ){ w_lStep_        ->enableMotionTools(enable); }
-//  if(w_lStepJoystick_){ w_lStepJoystick_->enableMotionTools(enable); }
+  if(w_lStepJoystick_){ w_lStepJoystick_->enableMotionTools(enable); }
   if(w_lStepPosition_){ w_lStepPosition_->enableMotionTools(enable); }
-
-  if(w_move_){ w_move_->setEnabled(enable); }
 }
 
-void AssemblyHardwareControlView::disableMotionTools()
+void AssemblyHardwareControlView::disableMotionTools(const bool disable)
 {
-  this->enableMotionTools(false);
+  this->enableMotionTools(!disable);
 }
diff --git a/assembly/assemblyCommon/AssemblyHardwareControlView.h b/assembly/assemblyCommon/AssemblyHardwareControlView.h
index 770c77acd..232c4e689 100644
--- a/assembly/assemblyCommon/AssemblyHardwareControlView.h
+++ b/assembly/assemblyCommon/AssemblyHardwareControlView.h
@@ -56,8 +56,8 @@ class AssemblyHardwareControlView : public QWidget
 
   void stateChanged(const State&);
 
-  void  enableMotionTools(const bool enable=true);
-  void disableMotionTools();
+  void  enableMotionTools(const bool  enable=true);
+  void disableMotionTools(const bool disable=true);
 };
 
 #endif // ASSEMBLYHARDWARECONTROLVIEW_H
diff --git a/assembly/assemblyCommon/LStepExpressJoystickWidget.cc b/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
index fbd24845f..84ed12a94 100644
--- a/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
+++ b/assembly/assemblyCommon/LStepExpressJoystickWidget.cc
@@ -98,9 +98,9 @@ void LStepExpressJoystickWidget::enableMotionTools(const bool enable)
   if(w_joyax_A_){ w_joyax_A_->enableMotionTools(enable); }
 }
 
-void LStepExpressJoystickWidget::disableMotionTools()
+void LStepExpressJoystickWidget::disableMotionTools(const bool disable)
 {
-  this->enableMotionTools(false);
+  this->enableMotionTools(!disable);
 }
 // ============================================================================
 
diff --git a/assembly/assemblyCommon/LStepExpressJoystickWidget.h b/assembly/assemblyCommon/LStepExpressJoystickWidget.h
index 107247698..38b21ee83 100644
--- a/assembly/assemblyCommon/LStepExpressJoystickWidget.h
+++ b/assembly/assemblyCommon/LStepExpressJoystickWidget.h
@@ -31,29 +31,29 @@ class LStepExpressJoystickAxisWidget;
 
 class LStepExpressJoystickWidget : public QWidget
 {
-    Q_OBJECT
+  Q_OBJECT
 
-public:
-    explicit LStepExpressJoystickWidget(LStepExpressModel* model, QWidget *parent = 0);
-    ~LStepExpressJoystickWidget();
+  public:
+   explicit LStepExpressJoystickWidget(LStepExpressModel* model, QWidget *parent = 0);
+   ~LStepExpressJoystickWidget();
 
-protected:
-    LStepExpressModel* model_;
-    QWidget* axisControlWidget_;
+  protected:
+   LStepExpressModel* model_;
+   QWidget* axisControlWidget_;
 
-    LStepExpressJoystickAxisWidget* w_joyax_X_;
-    LStepExpressJoystickAxisWidget* w_joyax_Y_;
-    LStepExpressJoystickAxisWidget* w_joyax_Z_;
-    LStepExpressJoystickAxisWidget* w_joyax_A_;
+   LStepExpressJoystickAxisWidget* w_joyax_X_;
+   LStepExpressJoystickAxisWidget* w_joyax_Y_;
+   LStepExpressJoystickAxisWidget* w_joyax_Z_;
+   LStepExpressJoystickAxisWidget* w_joyax_A_;
 
-public slots:
-    void lstepStateChanged(State newState);
-    void controlStateChanged(bool);
-    void motionStarted();
-    void motionFinished();
+  public slots:
+   void lstepStateChanged(State newState);
+   void controlStateChanged(bool);
+   void motionStarted();
+   void motionFinished();
 
-    void  enableMotionTools(const bool enable=true);
-    void disableMotionTools();
+   void  enableMotionTools(const bool  enable=true);
+   void disableMotionTools(const bool disable=true);
 };
 
 class LStepExpressJoystickAxisWidget : public QWidget
diff --git a/assembly/assemblyCommon/LStepExpressWidget.cc b/assembly/assemblyCommon/LStepExpressWidget.cc
index 1a1afe72c..292e3d39e 100644
--- a/assembly/assemblyCommon/LStepExpressWidget.cc
+++ b/assembly/assemblyCommon/LStepExpressWidget.cc
@@ -32,8 +32,8 @@ LStepExpressWidget::LStepExpressWidget(LStepExpressModel* model, QWidget* parent
  , buttonCalibrate_(nullptr)
  , buttonEmergencyStop_(nullptr)
  , buttonClearQueue_(nullptr)
- , buttonErrorQuit_(nullptr)
  , buttonRestart_(nullptr)
+ , buttonErrorQuit_(nullptr)
 
  , axisWidget_X_(nullptr)
  , axisWidget_Y_(nullptr)
@@ -69,30 +69,30 @@ LStepExpressWidget::LStepExpressWidget(LStepExpressModel* model, QWidget* parent
     posCtrlCheckBox_ = new QCheckBox("Enable Position Controller");
     mot_settings_grid->addWidget(posCtrlCheckBox_, 0, 1);
 
-    buttonRestart_ = new QPushButton("Restart LStep");
-    mot_settings_grid->addWidget(buttonRestart_, 1, 0);
-
-    buttonErrorQuit_ = new QPushButton("Error Quit");
-    mot_settings_grid->addWidget(buttonErrorQuit_, 1, 1);
-
     joystickCheckBox_ = new QCheckBox("Enable Joystick");
     mot_settings_grid->addWidget(joystickCheckBox_, 0, 2);
 
     // Motion Stage Basic Commands (e.g. Calibrate)
-    QGridLayout* mot_basicmoves_grid = new QGridLayout;
-    hlayout->addLayout(mot_basicmoves_grid);
+    QGridLayout* mot_basicfunc_grid = new QGridLayout;
+    hlayout->addLayout(mot_basicfunc_grid);
 
     buttonCalibrate_ = new QPushButton("Calibrate");
-    mot_basicmoves_grid->addWidget(buttonCalibrate_, 0, 0);
+    mot_basicfunc_grid->addWidget(buttonCalibrate_, 0, 0);
 
     buttonOrigin_ = new QPushButton("Origin");
-    mot_basicmoves_grid->addWidget(buttonOrigin_, 1, 0);
+    mot_basicfunc_grid->addWidget(buttonOrigin_, 1, 0);
+
+    buttonRestart_ = new QPushButton("Restart Motion Stage");
+    mot_basicfunc_grid->addWidget(buttonRestart_, 2, 0);
 
     buttonEmergencyStop_ = new QPushButton("Emergency Stop");
-    mot_basicmoves_grid->addWidget(buttonEmergencyStop_, 0, 1);
+    mot_basicfunc_grid->addWidget(buttonEmergencyStop_, 0, 1);
 
     buttonClearQueue_ = new QPushButton("Clear Motion Queue");
-    mot_basicmoves_grid->addWidget(buttonClearQueue_, 1, 1);
+    mot_basicfunc_grid->addWidget(buttonClearQueue_, 1, 1);
+
+    buttonErrorQuit_ = new QPushButton("Error Quit");
+    mot_basicfunc_grid->addWidget(buttonErrorQuit_, 2, 1);
 
     // AXIS
     axisControlWidget_ = new QWidget(this);
@@ -126,8 +126,8 @@ LStepExpressWidget::LStepExpressWidget(LStepExpressModel* model, QWidget* parent
     connect(buttonCalibrate_    , SIGNAL(clicked()), model_, SLOT(calibrate()));
     connect(buttonEmergencyStop_, SIGNAL(clicked()), model_, SLOT(emergencyStop()));
     connect(buttonClearQueue_   , SIGNAL(clicked()), this  , SIGNAL(clearQueue_request()));
-    connect(buttonErrorQuit_    , SIGNAL(clicked()), model_, SLOT(errorQuit()));
     connect(buttonRestart_      , SIGNAL(clicked()), this  , SLOT(restart()));
+    connect(buttonErrorQuit_    , SIGNAL(clicked()), model_, SLOT(errorQuit()));
 
     this->lstepStateChanged(model_->getDeviceState());
 
@@ -143,8 +143,8 @@ LStepExpressWidget::~LStepExpressWidget()
     if(buttonCalibrate_    ){ delete buttonCalibrate_    ; buttonCalibrate_     = nullptr; }
     if(buttonEmergencyStop_){ delete buttonEmergencyStop_; buttonEmergencyStop_ = nullptr; }
     if(buttonClearQueue_   ){ delete buttonClearQueue_   ; buttonClearQueue_    = nullptr; }
-    if(buttonErrorQuit_    ){ delete buttonErrorQuit_    ; buttonErrorQuit_     = nullptr; }
     if(buttonRestart_      ){ delete buttonRestart_      ; buttonRestart_       = nullptr; }
+    if(buttonErrorQuit_    ){ delete buttonErrorQuit_    ; buttonErrorQuit_     = nullptr; }
 
     NQLog("LStepExpressWidget", NQLog::Debug) << "destructed";
 }
@@ -166,8 +166,8 @@ void LStepExpressWidget::lstepStateChanged(State newState)
     buttonCalibrate_    ->setEnabled(newState == READY);
     buttonEmergencyStop_->setEnabled(newState == READY);
     buttonClearQueue_   ->setEnabled(newState == READY);
-    buttonErrorQuit_    ->setEnabled(newState == READY);
     buttonRestart_      ->setEnabled(newState == READY);
+    buttonErrorQuit_    ->setEnabled(newState == READY);
 
     axisControlWidget_  ->setEnabled(newState == READY);
 }
@@ -190,8 +190,8 @@ void LStepExpressWidget::controlStateChanged(bool enabled)
       buttonCalibrate_    ->setEnabled(false);
       buttonEmergencyStop_->setEnabled(false);
       buttonClearQueue_   ->setEnabled(false);
-      buttonErrorQuit_    ->setEnabled(false);
       buttonRestart_      ->setEnabled(false);
+      buttonErrorQuit_    ->setEnabled(false);
 
       axisControlWidget_  ->setEnabled(false);
     }
@@ -468,8 +468,6 @@ void LStepExpressWidget::lockMotionSettings(const bool disable)
   if(lstepCheckBox_   ){ lstepCheckBox_   ->setDisabled(disable); }
   if(joystickCheckBox_){ joystickCheckBox_->setDisabled(disable); }
   if(posCtrlCheckBox_ ){ posCtrlCheckBox_ ->setDisabled(disable); }
-  if(buttonErrorQuit_ ){ buttonErrorQuit_ ->setDisabled(disable); }
-  if(buttonRestart_   ){ buttonRestart_   ->setDisabled(disable); }
 
   if(axisWidget_X_){ axisWidget_X_->lockMotionSettings(disable); }
   if(axisWidget_Y_){ axisWidget_Y_->lockMotionSettings(disable); }
@@ -484,27 +482,29 @@ void LStepExpressWidget::unlockMotionSettings()
 
 void LStepExpressWidget::enableMotionTools(const bool enable)
 {
-  if(buttonOrigin_   ){ buttonOrigin_   ->setEnabled(enable); }
-  if(buttonCalibrate_){ buttonCalibrate_->setEnabled(enable); }
-
   if(motionSettings_locked_ == false)
   {
     if(lstepCheckBox_   ){ lstepCheckBox_   ->setEnabled(enable); }
     if(joystickCheckBox_){ joystickCheckBox_->setEnabled(enable); }
     if(posCtrlCheckBox_ ){ posCtrlCheckBox_ ->setEnabled(enable); }
-    if(buttonErrorQuit_ ){ buttonErrorQuit_ ->setEnabled(enable); }
-    if(buttonRestart_   ){ buttonRestart_   ->setEnabled(enable); }
   }
 
+  if(buttonOrigin_       ){ buttonOrigin_       ->setEnabled(enable); }
+  if(buttonCalibrate_    ){ buttonCalibrate_    ->setEnabled(enable); }
+  if(buttonEmergencyStop_){ buttonEmergencyStop_->setEnabled(enable); }
+  if(buttonClearQueue_   ){ buttonClearQueue_   ->setEnabled(enable); }
+  if(buttonRestart_      ){ buttonRestart_      ->setEnabled(enable); }
+  if(buttonErrorQuit_    ){ buttonErrorQuit_    ->setEnabled(enable); }
+
   if(axisWidget_X_){ axisWidget_X_->enableMotionTools(enable); }
   if(axisWidget_Y_){ axisWidget_Y_->enableMotionTools(enable); }
   if(axisWidget_Z_){ axisWidget_Z_->enableMotionTools(enable); }
   if(axisWidget_A_){ axisWidget_A_->enableMotionTools(enable); }
 }
 
-void LStepExpressWidget::disableMotionTools()
+void LStepExpressWidget::disableMotionTools(const bool disable)
 {
-  this->enableMotionTools(false);
+  this->enableMotionTools(!disable);
 }
 // ============================================================================
 
diff --git a/assembly/assemblyCommon/LStepExpressWidget.h b/assembly/assemblyCommon/LStepExpressWidget.h
index b65cb31ac..bca512a1f 100644
--- a/assembly/assemblyCommon/LStepExpressWidget.h
+++ b/assembly/assemblyCommon/LStepExpressWidget.h
@@ -50,8 +50,8 @@ class LStepExpressWidget : public QWidget
   QPushButton* buttonCalibrate_;
   QPushButton* buttonEmergencyStop_;
   QPushButton* buttonClearQueue_;
-  QPushButton* buttonErrorQuit_;
   QPushButton* buttonRestart_;
+  QPushButton* buttonErrorQuit_;
 
   LStepExpressAxisWidget* axisWidget_X_;
   LStepExpressAxisWidget* axisWidget_Y_;
@@ -84,8 +84,8 @@ class LStepExpressWidget : public QWidget
   void   lockMotionSettings(const bool disable=true);
   void unlockMotionSettings();
 
-  void  enableMotionTools(const bool enable=true);
-  void disableMotionTools();
+  void  enableMotionTools(const bool  enable=true);
+  void disableMotionTools(const bool disable=true);
 
  signals:
 

From 23a7ba242c104d9546b72b4bcfbca77b69bd195e Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 13:09:15 +0100
Subject: [PATCH 10/58] [assembly] updated
 assemblyCommon/LStepExpressMotionManager.cc

---
 assembly/assemblyCommon/LStepExpressMotionManager.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assemblyCommon/LStepExpressMotionManager.cc b/assembly/assemblyCommon/LStepExpressMotionManager.cc
index 3487fa1c3..902a5345a 100644
--- a/assembly/assemblyCommon/LStepExpressMotionManager.cc
+++ b/assembly/assemblyCommon/LStepExpressMotionManager.cc
@@ -319,7 +319,7 @@ double LStepExpressMotionManager::get_position(const int axis) const
   {
     ++tries;
 
-    if(tries > 20)
+    if(tries > 10)
     {
       NQLog("LStepExpressMotionManager", NQLog::Warning) << "get_position(" << axis << ")"
          << ": after try #" << tries << ", call for LStepExpressMotionManager::emergency_stop()";

From 6199e0da7fa5eed85ba870fe93dfac24e7f0bd38 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 17:53:22 +0100
Subject: [PATCH 11/58] [assembly] updated AssemblyZFocusFinder (stop button)

---
 assembly/assembly/AssemblyMainWindow.cc       |  3 +++
 assembly/assemblyCommon/AssemblyImageView.cc  |  4 ++-
 assembly/assemblyCommon/AssemblyImageView.h   |  4 +++
 assembly/assemblyCommon/AssemblyUtilities.cc  | 16 ++++++++----
 .../assemblyCommon/AssemblyZFocusFinder.cc    | 25 ++++++++++++++++++-
 .../assemblyCommon/AssemblyZFocusFinder.h     |  4 +++
 6 files changed, 49 insertions(+), 7 deletions(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index 418748981..cfc838b46 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -208,6 +208,7 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
 
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), this, SLOT(disconnect_objectAligner()));
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), motion_manager_, SLOT(emergency_stop()));
+    connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), zfocus_finder_ , SLOT(emergency_stop()));
 
     connect(motion_manager_->model(), SIGNAL(emergencyStop_request()), motion_manager_, SLOT(clear_motion_queue()));
 
@@ -555,6 +556,8 @@ void AssemblyMainWindow::connect_images()
 
   connect(image_view_->autofocus_button(), SIGNAL(clicked()), image_ctr_, SLOT(acquire_autofocused_image()));
 
+  connect(image_view_->autofocus_emergencyStop_button(), SIGNAL(clicked()), zfocus_finder_, SLOT(emergencyStop()));
+
   NQLog("AssemblyMainWindow", NQLog::Message) << "connect_images"
      << ": enabled images in application view(s)";
 
diff --git a/assembly/assemblyCommon/AssemblyImageView.cc b/assembly/assemblyCommon/AssemblyImageView.cc
index e9ddf8537..c55942fec 100644
--- a/assembly/assemblyCommon/AssemblyImageView.cc
+++ b/assembly/assemblyCommon/AssemblyImageView.cc
@@ -39,6 +39,7 @@ AssemblyImageView::AssemblyImageView(QWidget* parent) :
   AF_scroll_(nullptr),
   AF_result_bestZ_lineed_(nullptr),
   AF_exe_button_(nullptr),
+  AF_stop_button_(nullptr),
   AF_param_maxDZ_lineed_(nullptr),
   AF_param_Nstep_lineed_(nullptr),
   AF_save_zscan_button_(nullptr)
@@ -142,7 +143,8 @@ AssemblyImageView::AssemblyImageView(QWidget* parent) :
   AF_exe_button_ = new QPushButton("Auto-Focus Image", this);
   AF_lay->addWidget(AF_exe_button_);
 
-  connect(AF_exe_button_, SIGNAL(clicked()), this, SIGNAL(autofocus_request()));
+  AF_stop_button_ = new QPushButton("Stop Auto-Focus", this);
+  AF_lay->addWidget(AF_stop_button_);
   // -----
 
   AF_lay->addSpacing(20);
diff --git a/assembly/assemblyCommon/AssemblyImageView.h b/assembly/assemblyCommon/AssemblyImageView.h
index 7bd6491ba..c7df347d1 100644
--- a/assembly/assemblyCommon/AssemblyImageView.h
+++ b/assembly/assemblyCommon/AssemblyImageView.h
@@ -40,6 +40,7 @@ class AssemblyImageView : public QWidget
   void disconnectImageProducer_autofocus(const QObject* sender, const char* signal);
 
   QPushButton* autofocus_button() const { return AF_exe_button_; }
+  QPushButton* autofocus_emergencyStop_button() const { return AF_stop_button_; }
 
  protected:
 
@@ -66,6 +67,7 @@ class AssemblyImageView : public QWidget
   QLineEdit* AF_result_bestZ_lineed_;
 
   QPushButton* AF_exe_button_;
+  QPushButton* AF_stop_button_;
 
   QLineEdit* AF_param_maxDZ_lineed_;
   QLineEdit* AF_param_Nstep_lineed_;
@@ -103,6 +105,8 @@ class AssemblyImageView : public QWidget
   void autofocus_config(const double, const int);
 
   void autofocus_request();
+
+  void autofocus_emergencyStop_request();
 };
 
 #endif // ASSEMBLYIMAGEVIEW_H
diff --git a/assembly/assemblyCommon/AssemblyUtilities.cc b/assembly/assemblyCommon/AssemblyUtilities.cc
index 9f3744ec5..67f2ca700 100644
--- a/assembly/assemblyCommon/AssemblyUtilities.cc
+++ b/assembly/assemblyCommon/AssemblyUtilities.cc
@@ -10,6 +10,7 @@
 //                                                                             //
 /////////////////////////////////////////////////////////////////////////////////
 
+#include <nqlogger.h>
 #include <AssemblyUtilities.h>
 
 #if QT_VERSION < QT_VERSION_CHECK(5, 0, 0)
@@ -109,19 +110,24 @@ void assembly::cv_imwrite(const std::string& path_str, const cv::Mat& img)
 
 void assembly::cv_imwrite(const QString& path_qstr, const cv::Mat& img)
 {
-  cv::Mat img_1;
+  if(path_qstr.endsWith(".png", Qt::CaseInsensitive) == false)
+  {
+    NQLog("AssemblyUtilities", NQLog::Warning) << "cv_imwrite(" << path_qstr << ", cv::Mat)"
+       << ": target output path does not end with \".png\", file not saved to disk";
 
-  if(path_qstr.endsWith(".png", Qt::CaseInsensitive) && (img.channels() > 1))
+    return;
+  }
+  else if(img.channels() > 1)
   {
+    cv::Mat img_1;
     cv::cvtColor(img, img_1, CV_BGR2RGB);
+    cv::imwrite(path_qstr.toUtf8().constData(), img_1);
   }
   else
   {
-    img_1 = img.clone();
+    cv::imwrite(path_qstr.toUtf8().constData(), img);
   }
 
-  cv::imwrite(path_qstr.toUtf8().constData(), img_1);
-
   return;
 }
 
diff --git a/assembly/assemblyCommon/AssemblyZFocusFinder.cc b/assembly/assemblyCommon/AssemblyZFocusFinder.cc
index 5b8a0c176..dd29141f2 100644
--- a/assembly/assemblyCommon/AssemblyZFocusFinder.cc
+++ b/assembly/assemblyCommon/AssemblyZFocusFinder.cc
@@ -88,7 +88,7 @@ AssemblyZFocusFinder::AssemblyZFocusFinder(const QString& output_dir_prepath, co
   // --------------
 
   // connection(s)
-  connect(this , SIGNAL(next_zpoint()), this, SLOT(test_focus()));
+  connect(this, SIGNAL(next_zpoint()), this, SLOT(test_focus()));
   // --------------
 
   NQLog("AssemblyZFocusFinder", NQLog::Debug) << "constructed";
@@ -387,6 +387,29 @@ void AssemblyZFocusFinder::test_focus()
   return;
 }
 
+void AssemblyZFocusFinder::emergencyStop()
+{
+  NQLog("AssemblyZFocusFinder", NQLog::Message) << "emergencyStop"
+     << ": will stop execution of AssemblyZFocusFinder";
+
+  this->disable_motion();
+
+  v_zrelm_vals_.clear();
+
+  v_focus_vals_.clear();
+
+  focus_completed_ = false;
+
+  zrelm_index_ = -1;
+
+  NQLog("AssemblyZFocusFinder", NQLog::Message) << "emergencyStop"
+     << ": emitting signal \"emergencyStopped\"";
+
+  emit emergencyStopped();
+}
+
+
+
 void AssemblyZFocusFinder::process_image(const cv::Mat& img)
 {
   NQLog("AssemblyZFocusFinder", NQLog::Spam) << "process_image";
diff --git a/assembly/assemblyCommon/AssemblyZFocusFinder.h b/assembly/assemblyCommon/AssemblyZFocusFinder.h
index 36c16fcfc..b4899546e 100644
--- a/assembly/assemblyCommon/AssemblyZFocusFinder.h
+++ b/assembly/assemblyCommon/AssemblyZFocusFinder.h
@@ -86,6 +86,8 @@ class AssemblyZFocusFinder : public QObject
 
     void process_image(const cv::Mat&);
 
+    void emergencyStop();
+
   signals:
 
     void next_zpoint();
@@ -100,6 +102,8 @@ class AssemblyZFocusFinder : public QObject
     void show_zscan(const QString&);
 
     void text_update_request(const double);
+
+    void emergencyStopped();
 };
 
 #endif // ASSEMBLYZFOCUSFINDER_H

From f0a96193d7823bc039bf62360332a9f5565bda80 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 17:59:12 +0100
Subject: [PATCH 12/58] [share/assembly] added
 markedglass_marker1_drawing_588x588_TL.png

---
 ...> markedglass_marker1_drawing_588x588_BL.png} | Bin
 .../markedglass_marker1_drawing_588x588_TL.png   | Bin 0 -> 6685 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename share/assembly/{markedglass_marker1_drawing_588x588.png => markedglass_marker1_drawing_588x588_BL.png} (100%)
 create mode 100644 share/assembly/markedglass_marker1_drawing_588x588_TL.png

diff --git a/share/assembly/markedglass_marker1_drawing_588x588.png b/share/assembly/markedglass_marker1_drawing_588x588_BL.png
similarity index 100%
rename from share/assembly/markedglass_marker1_drawing_588x588.png
rename to share/assembly/markedglass_marker1_drawing_588x588_BL.png
diff --git a/share/assembly/markedglass_marker1_drawing_588x588_TL.png b/share/assembly/markedglass_marker1_drawing_588x588_TL.png
new file mode 100644
index 0000000000000000000000000000000000000000..efd18e2953deebc9efbe725e164e851748154357
GIT binary patch
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s>-l7QDQ~XJuZBNpzA~_z6HN>Rp)Ay(>_V-DnHxeU^-k+PKVg6KZ-5`BuK)l5

literal 0
HcmV?d00001


From 220d47c02c23406d0dd0e10aaa276bd6cef46e2c Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 17:59:27 +0100
Subject: [PATCH 13/58] [assembly] bugfix in assembly/AssemblyMainWindow.cc

---
 assembly/assembly/AssemblyMainWindow.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index cfc838b46..45f7e8093 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -208,7 +208,7 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
 
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), this, SLOT(disconnect_objectAligner()));
     connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), motion_manager_, SLOT(emergency_stop()));
-    connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), zfocus_finder_ , SLOT(emergency_stop()));
+    connect(aligner_view_->button_emergencyStop(), SIGNAL(clicked()), zfocus_finder_ , SLOT(emergencyStop()));
 
     connect(motion_manager_->model(), SIGNAL(emergencyStop_request()), motion_manager_, SLOT(clear_motion_queue()));
 

From f8e1c300ee4f4860fbb6b7449e93325a06b84e27 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 18:21:16 +0100
Subject: [PATCH 14/58] [assembly] updated assembly.cfg

---
 assembly/assembly.cfg | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index 4c617f58a..bcbf82a12 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -54,19 +54,19 @@ AssemblyMultiPickupTester_pickup_deltaZ        20.0
 AssemblyMultiPickupTester_useBaseplateVacuum   1
 
 # AssemblyObjectAlignerView
-AssemblyObjectAlignerView_PSS_deltaX           94.30 # marked-glass top
-AssemblyObjectAlignerView_PSS_deltaY          -48.70 # marked-glass top
+AssemblyObjectAlignerView_PSS_deltaX           95.30 # marked-glass top
+AssemblyObjectAlignerView_PSS_deltaY            0.00 # marked-glass top
 
-AssemblyObjectAlignerView_PSP_deltaX           96.80 # marked-glass bottom
-AssemblyObjectAlignerView_PSP_deltaY          -48.70 # marked-glass bottom
+AssemblyObjectAlignerView_PSP_deltaX           97.50 # marked-glass bottom
+AssemblyObjectAlignerView_PSP_deltaY            0.00 # marked-glass bottom
 
-AssemblyObjectAlignerView_target_angle_deg    -26.71165 # marked-glass bottom
+AssemblyObjectAlignerView_target_angle_deg      0.00 # marked-glass bottom
 
 AssemblyObjectAlignerView_angle_max_dontIter    0.50 # maximum angular difference (required-measured) allowed for single-rotation correction, otherwise iterative procedure for alignment is used
 AssemblyObjectAlignerView_angle_max_complete    0.01 # maximum angular difference (required-measured) allowed to declare alignment procedure completed
 
 # AssemblyObjectFinderPatRecView
-AssemblyObjectFinderPatRecView_template_fpath     share/assembly/markedglass_marker1_drawing_588x588.png
+AssemblyObjectFinderPatRecView_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_BL.png
 AssemblyObjectFinderPatRecView_threshold          100
 AssemblyObjectFinderPatRecView_adaptiveThreshold  587
 AssemblyObjectFinderPatRecView_angles_prescan     0
@@ -76,14 +76,14 @@ AssemblyObjectFinderPatRecView_angles_finestep    0.2
 # AssemblyObjectAligner
 
 # AssemblyObjectAlignerView
-AssemblyObjectAlignerView_PatRec1_template_fpath     share/assembly/markedglass_marker1_drawing_588x588.png
+AssemblyObjectAlignerView_PatRec1_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_BL.png
 AssemblyObjectAlignerView_PatRec1_threshold          100
 AssemblyObjectAlignerView_PatRec1_adaptiveThreshold  587
 AssemblyObjectAlignerView_PatRec1_angles_prescan     0
 AssemblyObjectAlignerView_PatRec1_angles_finemax     2
 AssemblyObjectAlignerView_PatRec1_angles_finestep    0.2
 
-AssemblyObjectAlignerView_PatRec2_template_fpath     share/assembly/markedglass_marker1_drawing_588x588.png
+AssemblyObjectAlignerView_PatRec2_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_TL.png
 AssemblyObjectAlignerView_PatRec2_threshold          100
 AssemblyObjectAlignerView_PatRec2_adaptiveThreshold  587
 AssemblyObjectAlignerView_PatRec2_angles_prescan     180

From 36213b77b95c587d56eaa7d68557a59aec51786f Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 19:18:08 +0100
Subject: [PATCH 15/58] [assembly] updated assemblyCommon/AssemblyAssembly.cc

---
 assembly/assembly.cfg                         |   4 +-
 .../assembly_parameters_DAF_190116.cfg        |  24 +--
 assembly/assemblyCommon/AssemblyAssembly.cc   | 146 +++++++++---------
 assembly/assemblyCommon/AssemblyAssembly.h    |   4 +-
 .../assemblyCommon/AssemblyAssemblyView.cc    |  15 +-
 .../assemblyCommon/AssemblyParametersView.cc  |  20 +--
 6 files changed, 101 insertions(+), 112 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index bcbf82a12..dd33fc06b 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -94,5 +94,5 @@ AssemblyObjectAlignerView_PatRec2_angles_finestep    0.2
 AssemblySmartMotionManager_steps_dZ                  0.2,0.2,0.2,0.1,0.1
 
 # AssemblyAssembly
-AssemblyAssembly_pickup1_dZ                          80.0
-AssemblyAssembly_pickup2_dZ                         200.0
+AssemblyAssembly_pickup1_Z                         130.0
+AssemblyAssembly_pickup2_Z                         130.0
diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index 1e0aae775..82fb926db 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -3,19 +3,17 @@
 # Spacer    Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point
 # Baseplate Ref-Point = edge [...]
 
-# CameraFocusToPickup_dZ -31.85
-
 ####################################
 ### DIMENSIONS #####################
 ####################################
 
 # dimensions: thickness of assembly components
 Thickness_VacuumCups  0.000
-Thickness_Baseplate   0.665
+Thickness_Baseplate   0.000
 Thickness_PSS         0.700
-Thickness_PSP         0.780
-Thickness_Spacer      3.105
-Height_SpacerSlots    1.450
+Thickness_PSP         0.700
+Thickness_Spacer      1.600
+Height_SpacerSlots    0.000
 Thickness_GlueLayer   0.025
 
 ####################################
@@ -41,12 +39,12 @@ RefPointBaseplate_Z      -62.7678
 RefPointBaseplate_A       -0.056
 
 # [DUMMY] position: Z-position (height) to put pickup tool in contact with rotation stage
-PickupToolOnRotStage_Z   -60.99
+PickupToolOnRotStage_Z     0.00
 
 # position: XYZ-position with pickup tool in contact with glue-dispensing platform
-PickupToolOnGluingStage_X    0.000
-PickupToolOnGluingStage_Y    0.000
-PickupToolOnGluingStage_Z    0.000
+PickupToolOnGluingStage_X  0.00
+PickupToolOnGluingStage_Y  0.00
+PickupToolOnGluingStage_Z  0.00
 
 ####################################
 ### DISTANCES ######################
@@ -71,5 +69,7 @@ FromSpacerRefPointToSensorRefPoint_dY   -0.15
 FromBaseplateRefPointToPSPRefPoint_dX    1.60
 FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 
-# # distance: from best-focus z-position to pickup z-position
-# FromCameraBestFocusToPickupHeight_dZ    -0.00
+# distance: dZ distance to go from Z position where camera provides best-focus on object,
+# to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
+#  - empirical value calibrated with multi-pickup tests
+FromCameraBestFocusToPickupHeight_dZ   -31.70 # -31.85
diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index f009fe0ee..e50010f20 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -31,8 +31,8 @@ AssemblyAssembly::AssemblyAssembly(const LStepExpressMotionManager* const motion
  , vacuum_spacer_(0)
  , vacuum_basepl_(0)
 
- , pickup1_dZ_(0.)
- , pickup2_dZ_(0.)
+ , pickup1_Z_(0.)
+ , pickup2_Z_(0.)
 
  , use_smartMove_(false)
 {
@@ -54,26 +54,10 @@ AssemblyAssembly::AssemblyAssembly(const LStepExpressMotionManager* const motion
   vacuum_spacer_ = config->getValue<int>("Vacuum_Spacers");
   vacuum_basepl_ = config->getValue<int>("Vacuum_Baseplate");
 
-  // positive double(s) for vertical upward movement(s) for pickup
-  pickup1_dZ_ = config->getValue<double>("AssemblyAssembly_pickup1_dZ");
-
-  if(pickup1_dZ_ <= 0.)
-  {
-    NQLog("AssemblyAssembly", NQLog::Fatal)
-       << "invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << pickup1_dZ_ << "), closing application";
-
-    assembly::kill_application(tr("[AssemblyAssembly]"), "Invalid (non-positive) value for vertical upward movement for pickup #1 (dZ="+QString::number(pickup1_dZ_)+"), closing application");
-  }
-
-  pickup2_dZ_ = config->getValue<double>("AssemblyAssembly_pickup2_dZ");
-
-  if(pickup2_dZ_ <= 0.)
-  {
-    NQLog("AssemblyAssembly", NQLog::Fatal)
-       << "invalid (non-positive) value for vertical upward movement for pickup #2 (dZ=" << pickup2_dZ_ << "), closing application";
-
-    assembly::kill_application(tr("[AssemblyAssembly]"), "Invalid (non-positive) value for vertical upward movement for pickup #2 (dZ="+QString::number(pickup2_dZ_)+"), closing application");
-  }
+  // absolute Z-position of motion stage for pickup of object after gluing
+  // (1: PSs to Spacers, 2: PSs+Spacers to PSp)
+  pickup1_Z_ = config->getValue<double>("AssemblyAssembly_pickup1_Z");
+  pickup2_Z_ = config->getValue<double>("AssemblyAssembly_pickup2_Z");
 }
 
 const LStepExpressMotionManager* AssemblyAssembly::motion() const
@@ -162,7 +146,7 @@ void AssemblyAssembly::GoToSensorMarkerPreAlignment_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoToSensorMarkerPreAlignment_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToSensorMarkerPreAlignment_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -416,7 +400,7 @@ void AssemblyAssembly::GoFromSensorMarkerToPickupXY_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoFromSensorMarkerToPickupXY_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromSensorMarkerToPickupXY_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -460,7 +444,7 @@ void AssemblyAssembly::LowerPickupToolOntoPSS_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "LowerPickupToolOntoPSS_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPickupToolOntoPSS_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -470,12 +454,7 @@ void AssemblyAssembly::LowerPickupToolOntoPSS_start()
   const double dy0 = 0.0;
   const double da0 = 0.0;
 
-  const double dz0 =
-    - motion_->get_position_Z()
-    + this->parameters()->get("Thickness_PSS")
-    + this->parameters()->get("Thickness_VacuumCups")
-    + this->parameters()->get("PickupToolOnRotStage_Z")
-  ;
+  const double dz0 = this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ");
 
   if(use_smartMove_)
   {
@@ -521,20 +500,28 @@ void AssemblyAssembly::PickupPSS_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "PickupPSS_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSS_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupPSS_finish()));
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double dz0 = pickup1_dZ_;
+  const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
   const double da0 = 0.0;
 
+  if(dz0 <= 0.)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSS_start"
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+
+    return;
+  }
+
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupPSS_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSS_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -565,7 +552,7 @@ void AssemblyAssembly::GoToSpacerRefPoint_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoToSpacerRefPoint_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToSpacerRefPoint_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -609,7 +596,7 @@ void AssemblyAssembly::GoFromSpacerRefPointToSpacerGluingXYPosition_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -653,7 +640,7 @@ void AssemblyAssembly::LowerPSSOntoSpacers_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "LowerPSSOntoSpacers_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPSSOntoSpacers_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -664,12 +651,9 @@ void AssemblyAssembly::LowerPSSOntoSpacers_start()
   const double da0 = 0.0;
 
   const double dz0 =
-    - motion_->get_position_Z()
-    + this->parameters()->get("Thickness_VacuumCups")
+      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
     + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_Spacer") - this->parameters()->get("Height_SpacerSlots")
-    + this->parameters()->get("PickupToolOnRotStage_Z")
   ;
 
   if(use_smartMove_)
@@ -716,7 +700,7 @@ void AssemblyAssembly::ApplyPSPToPSSXYOffset_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "ApplyPSPToPSSXYOffset_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "ApplyPSPToPSSXYOffset_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -760,7 +744,7 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "LowerSpacersAndPSSOntoPSP_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoPSP_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -771,15 +755,11 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
   const double da0 = 0.0;
 
   const double dz0 =
-    - motion_->get_position_Z()
-    + this->parameters()->get("Thickness_VacuumCups")
+      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
     + this->parameters()->get("Thickness_GlueLayer")
     + this->parameters()->get("Thickness_Spacer")
     + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_PSP")
-    + this->parameters()->get("Thickness_VacuumCups")
-    + this->parameters()->get("PickupToolOnRotStage_Z")
   ;
 
   if(use_smartMove_)
@@ -826,20 +806,28 @@ void AssemblyAssembly::PickupSpacersAndPSS_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "PickupSpacersAndPSS_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupSpacersAndPSS_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupSpacersAndPSS_finish()));
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double dz0 = pickup1_dZ_;
+  const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
   const double da0 = 0.0;
 
+  if(dz0 <= 0.)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupSpacersAndPSS_start"
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+
+    return;
+  }
+
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupSpacersAndPSS_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "PickupSpacersAndPSS_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -870,20 +858,28 @@ void AssemblyAssembly::LiftUpPickupTool_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "LiftUpPickupTool_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LiftUpPickupTool_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(LiftUpPickupTool_finish()));
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double dz0 = pickup2_dZ_;
+  const double dz0 = (pickup2_Z_ - motion_->get_position_Z());
   const double da0 = 0.0;
 
+  if(dz0 <= 0.)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LiftUpPickupTool_start"
+       << ": invalid (non-positive) value for vertical upward movement for pickup #2 (dZ=" << dz0 << "), no action taken";
+
+    return;
+  }
+
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(LiftUpPickupTool_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "LiftUpPickupTool_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -914,20 +910,28 @@ void AssemblyAssembly::PickupPSPAndPSS_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "PickupPSPAndPSS_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSPAndPSS_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupPSPAndPSS_finish()));
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double dz0 = pickup1_dZ_;
+  const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
   const double da0 = 0.0;
 
+  if(dz0 <= 0.)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSPAndPSS_start"
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+
+    return;
+  }
+
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(PickupPSPAndPSS_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSPAndPSS_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -958,7 +962,7 @@ void AssemblyAssembly::GoToBaseplateRefPoint_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoToBaseplateRefPoint_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToBaseplateRefPoint_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -1002,7 +1006,7 @@ void AssemblyAssembly::GoFromBaseplateRefPointToBaseplateGluingXYPosition_start(
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -1046,7 +1050,7 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Fatal) << "LowerSensorAssemblyOntoBaseplate_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSensorAssemblyOntoBaseplate_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
     return;
@@ -1057,17 +1061,13 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
   const double da0 = 0.0;
 
   const double dz0 =
-    - motion_->get_position_Z()
-    + this->parameters()->get("Thickness_VacuumCups")
+      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
     + this->parameters()->get("Thickness_GlueLayer")
     + this->parameters()->get("Thickness_Spacer")
     + this->parameters()->get("Thickness_GlueLayer")
     + this->parameters()->get("Thickness_PSP")
     + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_Baseplate")
-    + this->parameters()->get("Thickness_VacuumCups")
-    + this->parameters()->get("PickupToolOnRotStage_Z")
   ;
 
   if(use_smartMove_)
diff --git a/assembly/assemblyCommon/AssemblyAssembly.h b/assembly/assemblyCommon/AssemblyAssembly.h
index 533fbfbbb..1b06fa44a 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.h
+++ b/assembly/assemblyCommon/AssemblyAssembly.h
@@ -49,8 +49,8 @@ class AssemblyAssembly : public QObject
   int vacuum_spacer_;
   int vacuum_basepl_;
 
-  double pickup1_dZ_;
-  double pickup2_dZ_;
+  double pickup1_Z_;
+  double pickup2_Z_;
 
   bool use_smartMove_;
 
diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index ba39dca8d..4d1f6dbe9 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -208,13 +208,13 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   QVBoxLayout* PSSToSpacers_lay = new QVBoxLayout;
   wid_PSSToSpacers_->setLayout(PSSToSpacers_lay);
 
-  // step: Place Spacers on Assembly Platform
+  // step: Dispense Glue on Spacers
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Place Spacers on Assembly Platform");
+    tmp_wid->text() ->setText("Dispense Glue on Spacers and Place them on Assembly Platform");
     PSSToSpacers_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -258,17 +258,6 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Dispense Fast-Curing Glue on Spacers
-  {
-    ++assembly_step_N_;
-
-    AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
-    tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Dispense Fast-Curing Glue on Spacers");
-    PSSToSpacers_lay->addWidget(tmp_wid);
-  }
-  // ----------
-
   // step: Lower PSS onto Spacers
   {
     ++assembly_step_N_;
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index ee51b31d3..f4f9dd1c8 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -311,16 +311,16 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dY"))    , 4, 3, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dY"), 4, 4, Qt::AlignRight);
 
-//  // distance: from best-focus z-position to pickup z-position
-//  tmp_tag = "FromCameraBestFocusToPickupHeight";
-//  tmp_des = "From Best-Focus Height to Pickup Height :";
-//
-//  map_lineEdit_[tmp_tag+"_dZ"] = new QLineEdit(tr(""));
-//
-//  dist_lay->addWidget(new QLabel(tmp_des)     , 5, 0, Qt::AlignLeft);
-//
-//  dist_lay->addWidget(new QLabel(tr("dZ"))    , 5, 5, Qt::AlignRight);
-//  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), 5, 6, Qt::AlignRight);
+  // distance: from best-focus z-position to pickup z-position
+  tmp_tag = "FromCameraBestFocusToPickupHeight";
+  tmp_des = "From Best-Focus Height to Pickup Height :";
+
+  map_lineEdit_[tmp_tag+"_dZ"] = new QLineEdit(tr(""));
+
+  dist_lay->addWidget(new QLabel(tmp_des)     , 5, 0, Qt::AlignLeft);
+
+  dist_lay->addWidget(new QLabel(tr("dZ"))    , 5, 5, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), 5, 6, Qt::AlignRight);
 
   //// ---------------------
 

From f93a27525f2ca802e8ffba6b0057579b4ed5f40d Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 19:20:46 +0100
Subject: [PATCH 16/58] [assembly] updated labels in
 assemblyCommon/AssemblyAssemblyView.cc

---
 .../assemblyCommon/AssemblyAssemblyView.cc    | 21 +++++--------------
 1 file changed, 5 insertions(+), 16 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 4d1f6dbe9..7a2e30609 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -277,7 +277,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 10 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
     PSSToSpacers_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -440,7 +440,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 10 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
     PSSToPSP_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -482,13 +482,13 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   QVBoxLayout* PSToBasep_lay = new QVBoxLayout;
   wid_PSToBasep_->setLayout(PSToBasep_lay);
 
-  // step: Place Baseplate on Assembly Platform
+  // step: Dispense Glue on Baseplate and Place it on Assembly Platform
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Place Baseplate on Assembly Platform");
+    tmp_wid->text() ->setText("Dispense Glue on Baseplate and Place it on Assembly Platform");
     PSToBasep_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -519,17 +519,6 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Dispense Fast-Curing Glue on Baseplate
-  {
-    ++assembly_step_N_;
-
-    AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
-    tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Dispense Fast-Curing Glue on Baseplate");
-    PSToBasep_lay->addWidget(tmp_wid);
-  }
-  // ----------
-
   // step: Go To XY Position To Glue Sensor Assembly To Baseplate
   {
     ++assembly_step_N_;
@@ -562,7 +551,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 10 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
     PSToBasep_lay->addWidget(tmp_wid);
   }
   // ----------

From 4433df53199b7a98be7dfe93466648f52ae7fbe5 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 19:32:09 +0100
Subject: [PATCH 17/58] [assembly] updated assembly.cfg

---
 assembly/assembly.cfg | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index dd33fc06b..f9f05da41 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -67,31 +67,31 @@ AssemblyObjectAlignerView_angle_max_complete    0.01 # maximum angular differenc
 
 # AssemblyObjectFinderPatRecView
 AssemblyObjectFinderPatRecView_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_BL.png
-AssemblyObjectFinderPatRecView_threshold          100
+AssemblyObjectFinderPatRecView_threshold           30
 AssemblyObjectFinderPatRecView_adaptiveThreshold  587
 AssemblyObjectFinderPatRecView_angles_prescan     0
 AssemblyObjectFinderPatRecView_angles_finemax     2
-AssemblyObjectFinderPatRecView_angles_finestep    0.2
+AssemblyObjectFinderPatRecView_angles_finestep    0.15
 
 # AssemblyObjectAligner
 
 # AssemblyObjectAlignerView
 AssemblyObjectAlignerView_PatRec1_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_BL.png
-AssemblyObjectAlignerView_PatRec1_threshold          100
+AssemblyObjectAlignerView_PatRec1_threshold           30
 AssemblyObjectAlignerView_PatRec1_adaptiveThreshold  587
 AssemblyObjectAlignerView_PatRec1_angles_prescan     0
 AssemblyObjectAlignerView_PatRec1_angles_finemax     2
-AssemblyObjectAlignerView_PatRec1_angles_finestep    0.2
+AssemblyObjectAlignerView_PatRec1_angles_finestep    0.15
 
 AssemblyObjectAlignerView_PatRec2_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_TL.png
-AssemblyObjectAlignerView_PatRec2_threshold          100
+AssemblyObjectAlignerView_PatRec2_threshold           30
 AssemblyObjectAlignerView_PatRec2_adaptiveThreshold  587
 AssemblyObjectAlignerView_PatRec2_angles_prescan     180
 AssemblyObjectAlignerView_PatRec2_angles_finemax     2
-AssemblyObjectAlignerView_PatRec2_angles_finestep    0.2
+AssemblyObjectAlignerView_PatRec2_angles_finestep    0.15
 
 # AssemblySmartMotionManager
-AssemblySmartMotionManager_steps_dZ                  0.2,0.2,0.2,0.1,0.1
+AssemblySmartMotionManager_steps_dZ                  0.5,0.5,0.5,0.2,0.2,0.2,0.2,0.1,0.1
 
 # AssemblyAssembly
 AssemblyAssembly_pickup1_Z                         130.0

From 3054adb4969b2357efda1861a486c7be9380b993 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 19:32:40 +0100
Subject: [PATCH 18/58] [assembly] bugfix in
 assembly/assembly_parameters_DAF_190116.cfg

---
 assembly/assembly/assembly_parameters_DAF_190116.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index 82fb926db..54cfcdb55 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -72,4 +72,4 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 # distance: dZ distance to go from Z position where camera provides best-focus on object,
 # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
 #  - empirical value calibrated with multi-pickup tests
-FromCameraBestFocusToPickupHeight_dZ   -31.70 # -31.85
+FromCameraBestFocusToPickupHeight_dZ   -31.70

From 902ed4b1fcb4a87f3175302cd940dcd2f7116572 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 11 Mar 2019 19:34:16 +0100
Subject: [PATCH 19/58] [assembly] updated
 assemblyCommon/AssemblyAssemblyView.cc (default: smartMove enabled)

---
 assembly/assemblyCommon/AssemblyAssemblyView.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 7a2e30609..000b655d9 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -48,11 +48,12 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   layout->addLayout(opts_lay);
 
   smartMove_checkbox_ = new QCheckBox(tr("Use SmartMove"));
-  smartMove_checkbox_->setChecked(false);
 
   opts_lay->addWidget(smartMove_checkbox_);
 
   connect(smartMove_checkbox_, SIGNAL(stateChanged(int)), assembly, SLOT(use_smartMove(int)));
+
+  smartMove_checkbox_->setChecked(true);
   //// -------------------------------------------------
 
   QToolBox* toolbox = new QToolBox;

From 6fe9898a5a3d52846b526c650b24f8e47493b138 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 09:23:03 +0100
Subject: [PATCH 20/58] [assembly] bugfix in assembly/make_anew.sh

---
 assembly/assembly/make_anew.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/make_anew.sh b/assembly/assembly/make_anew.sh
index 1d3283ac3..2c6308121 100755
--- a/assembly/assembly/make_anew.sh
+++ b/assembly/assembly/make_anew.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
-if [ -d ${TKMODLABBASE} ]; then
+if [ ! -z ${TKMODLABBASE} ] && [ -d ${TKMODLABBASE} ]; then
 
   cd ${TKMODLABBASE}
 

From 715903c90e0fae123b9cb86323d5338327af745d Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 10:52:53 +0100
Subject: [PATCH 21/58] [assembly] bugfix in AssemblySmartMotionManager

---
 assembly/assemblyCommon/AssemblySmartMotionManager.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblySmartMotionManager.cc b/assembly/assemblyCommon/AssemblySmartMotionManager.cc
index 471c9ead4..4555437be 100644
--- a/assembly/assemblyCommon/AssemblySmartMotionManager.cc
+++ b/assembly/assemblyCommon/AssemblySmartMotionManager.cc
@@ -142,7 +142,7 @@ void AssemblySmartMotionManager::move_relative(const double dx0, const double dy
 {
   if(smartMove_steps_dZ_.size() == 0)
   {
-    NQLog("AssemblySmartMotionManager", NQLog::Fatal) << "move_relative"
+    NQLog("AssemblySmartMotionManager", NQLog::Critical) << "move_relative"
        << ": smartMove mode enabled, but empty list of dZ steps, no action taken";
 
     motions_.clear();
@@ -240,7 +240,7 @@ QQueue<LStepExpressMotion> AssemblySmartMotionManager::smartMotions_relative(con
 
   smart_motions_N = 0;
 
-  const bool move_xya = ((dx != 0.) && (dy != 0.) && (dz != 0.));
+  const bool move_xya = ((dx != 0.) || (dy != 0.) || (da != 0.));
 
   if(dz > 0.)
   {

From 8ee2a3b5aa73f7f5443b0dd23f5f56be85624b17 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 12:29:43 +0100
Subject: [PATCH 22/58] [assembly] updates and fixes in AssemblyAssembly

---
 .../assembly_parameters_DAF_190116.cfg        |  41 +-
 assembly/assemblyCommon/AssemblyAssembly.cc   | 414 ++++++++++++++----
 assembly/assemblyCommon/AssemblyAssembly.h    |  30 +-
 .../assemblyCommon/AssemblyAssemblyView.cc    |  46 +-
 .../assemblyCommon/AssemblyParametersView.cc  |  32 +-
 5 files changed, 456 insertions(+), 107 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index 54cfcdb55..dca84d894 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -21,30 +21,33 @@ Thickness_GlueLayer   0.025
 ####################################
 
 # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
-RefPointSensor_X         -70.0283
-RefPointSensor_Y         -78.4945
-RefPointSensor_Z         -62.7329
-RefPointSensor_A          -0.307
+RefPointSensor_X           -70.0283
+RefPointSensor_Y           -78.4945
+RefPointSensor_Z           -62.7329
+RefPointSensor_A            -0.307
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X         -62.428
-RefPointSpacer_Y         -79.629
-RefPointSpacer_Z         -63.248
-RefPointSpacer_A         -90.182
+RefPointSpacer_X            -62.428
+RefPointSpacer_Y            -79.629
+RefPointSpacer_Z            -63.248
+RefPointSpacer_A            -90.182
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
-RefPointBaseplate_X      -64.4778
-RefPointBaseplate_Y      -68.330
-RefPointBaseplate_Z      -62.7678
-RefPointBaseplate_A       -0.056
+RefPointBaseplate_X         -64.4778
+RefPointBaseplate_Y         -68.330
+RefPointBaseplate_Z         -62.7678
+RefPointBaseplate_A          -0.056
 
 # [DUMMY] position: Z-position (height) to put pickup tool in contact with rotation stage
-PickupToolOnRotStage_Z     0.00
+PickupToolOnRotStage_Z        0.00
 
 # position: XYZ-position with pickup tool in contact with glue-dispensing platform
-PickupToolOnGluingStage_X  0.00
-PickupToolOnGluingStage_Y  0.00
-PickupToolOnGluingStage_Z  0.00
+PickupToolOnGluingStage_X     0.00
+PickupToolOnGluingStage_Y     0.00
+PickupToolOnGluingStage_Z     0.00
+
+# position: z-position where camera is focused on Gluing Stage surface
+CamerFocusOnGluingStage_Z   -50.0
 
 ####################################
 ### DISTANCES ######################
@@ -63,7 +66,7 @@ FromPSPRefPointToPSSRefPoint_dY          0.00
 
 # distance: from Spacer Ref-Point to Sensor Ref-Point
 FromSpacerRefPointToSensorRefPoint_dX    0.85
-FromSpacerRefPointToSensorRefPoint_dY   -0.15
+FromSpacerRefPointToSensorRefPoint_dY    0.75
 
 # distance: from Baseplate Ref-Point to PS-p Ref-Point
 FromBaseplateRefPointToPSPRefPoint_dX    1.60
@@ -73,3 +76,7 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
 #  - empirical value calibrated with multi-pickup tests
 FromCameraBestFocusToPickupHeight_dZ   -31.70
+
+# distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
+FromPSPToPSSPosToGluingStage_dX       -130.0
+FromPSPToPSSPosToGluingStage_dY          0.0
diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index e50010f20..ec49ae6ea 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -18,7 +18,7 @@
 
 #include <string>
 
-#include <QStringList>
+#include <QMessageBox>
 
 AssemblyAssembly::AssemblyAssembly(const LStepExpressMotionManager* const motion, const ConradManager* const vacuum, const AssemblySmartMotionManager* const smart_motion, QObject* parent)
  : QObject(parent)
@@ -35,6 +35,11 @@ AssemblyAssembly::AssemblyAssembly(const LStepExpressMotionManager* const motion
  , pickup2_Z_(0.)
 
  , use_smartMove_(false)
+
+ , PSPToPSSPosition_X_(0.)
+ , PSPToPSSPosition_Y_(0.)
+ , PSPToPSSPosition_Z_(0.)
+ , PSPToPSSPosition_A_(0.)
 {
   // validate pointers to controllers
   this->motion();
@@ -108,14 +113,14 @@ void AssemblyAssembly::use_smartMove(const int state)
     if(smart_motion_ == nullptr)
     {
       NQLog("AssemblyAssembly", NQLog::Warning) << "use_smartMove(" << state << ")"
-         << ": attemptin to enable smartMove option, but pointer to AssemblySmartMotionManager is invalid (NULL), smartMove option will stay OFF";
+         << ": attempting to enable \"smartMove\" mode, but pointer to AssemblySmartMotionManager is invalid (NULL), \"smartMove\" mode will stay disabled";
 
       use_smartMove_ = false;
     }
     else
     {
       NQLog("AssemblyAssembly", NQLog::Message) << "use_smartMove(" << state << ")"
-         << ": smartMove option switched ON";
+         << ": \"smartMove\" mode switched ON";
 
       use_smartMove_ = true;
     }
@@ -123,14 +128,14 @@ void AssemblyAssembly::use_smartMove(const int state)
   else if(state == 0)
   {
     NQLog("AssemblyAssembly", NQLog::Message) << "use_smartMove(" << state << ")"
-       << ": smartMove option switched OFF";
+       << ": \"smartMove\" mode switched OFF";
 
     use_smartMove_ = false;
   }
   else
   {
     NQLog("AssemblyAssembly", NQLog::Warning) << "use_smartMove(" << state << ")"
-       << ": invalid state value, no action taken (smartMove=" << use_smartMove_ << ")";
+       << ": invalid argument (state=" << state << "), no action taken (smartMove=" << use_smartMove_ << ")";
   }
 
   return;
@@ -149,17 +154,22 @@ void AssemblyAssembly::GoToSensorMarkerPreAlignment_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoToSensorMarkerPreAlignment_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSensorMarkerPreAlignment_finish"
+       << ": emitting signal \"GoToSensorMarkerPreAlignment_finished\"";
+
+    emit GoToSensorMarkerPreAlignment_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSensorMarkerPreAlignment_finish()));
-
   const double x0 = this->parameters()->get("RefPointSensor_X");
   const double y0 = this->parameters()->get("RefPointSensor_Y");
   const double z0 = this->parameters()->get("RefPointSensor_Z");
   const double a0 = this->parameters()->get("RefPointSensor_A");
 
+  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSensorMarkerPreAlignment_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSensorMarkerPreAlignment_start"
      << ": emitting signal \"move_absolute_request(" << x0 << ", " << y0 << ", " << z0 << ", " << a0 << ")\"";
 
@@ -403,17 +413,22 @@ void AssemblyAssembly::GoFromSensorMarkerToPickupXY_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromSensorMarkerToPickupXY_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSensorMarkerToPickupXY_finish"
+       << ": emitting signal \"GoFromSensorMarkerToPickupXY_finished\"";
+
+    emit GoFromSensorMarkerToPickupXY_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSensorMarkerToPickupXY_finish()));
-
   const double dx0 = this->parameters()->get("FromSensorRefPointToSensorPickup_dX");
   const double dy0 = this->parameters()->get("FromSensorRefPointToSensorPickup_dY");
   const double dz0 = 0.0;
   const double da0 = 0.0;
 
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSensorMarkerToPickupXY_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSensorMarkerToPickupXY_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -447,14 +462,18 @@ void AssemblyAssembly::LowerPickupToolOntoPSS_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPickupToolOntoPSS_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_finish"
+       << ": emitting signal \"LowerPickupToolOntoPSS_finished\"";
+
+    emit LowerPickupToolOntoPSS_finished();
+
     return;
   }
 
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double da0 = 0.0;
-
   const double dz0 = this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ");
+  const double da0 = 0.0;
 
   if(use_smartMove_)
   {
@@ -496,16 +515,6 @@ void AssemblyAssembly::LowerPickupToolOntoPSS_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::PickupPSS_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSS_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    return;
-  }
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
   const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
@@ -516,6 +525,11 @@ void AssemblyAssembly::PickupPSS_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSS_start"
        << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSS_finish"
+       << ": emitting signal \"PickupPSS_finished\"";
+
+    emit PickupPSS_finished();
+
     return;
   }
 
@@ -555,17 +569,22 @@ void AssemblyAssembly::GoToSpacerRefPoint_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoToSpacerRefPoint_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSpacerRefPoint_finish"
+       << ": emitting signal \"GoToSpacerRefPoint_finished\"";
+
+    emit GoToSpacerRefPoint_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSpacerRefPoint_finish()));
-
   const double x0 = this->parameters()->get("RefPointSpacer_X");
   const double y0 = this->parameters()->get("RefPointSpacer_Y");
   const double z0 = this->parameters()->get("RefPointSpacer_Z");
   const double a0 = this->parameters()->get("RefPointSpacer_A");
 
+  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSpacerRefPoint_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSpacerRefPoint_start"
      << ": emitting signal \"move_absolute_request(" << x0 << ", " << y0 << ", " << z0 << ", " << a0 << ")\"";
 
@@ -599,17 +618,22 @@ void AssemblyAssembly::GoFromSpacerRefPointToSpacerGluingXYPosition_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSpacerRefPointToSpacerGluingXYPosition_finish"
+       << ": emitting signal \"GoFromSpacerRefPointToSpacerGluingXYPosition_finished\"";
+
+    emit GoFromSpacerRefPointToSpacerGluingXYPosition_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSpacerRefPointToSpacerGluingXYPosition_finish()));
-
   const double dx0 = this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dX") + this->parameters()->get("FromSensorRefPointToSensorPickup_dX");
   const double dy0 = this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dY") + this->parameters()->get("FromSensorRefPointToSensorPickup_dY");
   const double dz0 = 0.0;
   const double da0 = 0.0;
 
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSpacerRefPointToSpacerGluingXYPosition_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -643,18 +667,22 @@ void AssemblyAssembly::LowerPSSOntoSpacers_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPSSOntoSpacers_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_finish"
+       << ": emitting signal \"LowerPSSOntoSpacers_finished\"";
+
+    emit LowerPSSOntoSpacers_finished();
+
     return;
   }
 
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double da0 = 0.0;
-
   const double dz0 =
       this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
     + this->parameters()->get("Thickness_GlueLayer")
   ;
+  const double da0 = 0.0;
 
   if(use_smartMove_)
   {
@@ -703,17 +731,22 @@ void AssemblyAssembly::ApplyPSPToPSSXYOffset_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "ApplyPSPToPSSXYOffset_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "ApplyPSPToPSSXYOffset_finish"
+       << ": emitting signal \"ApplyPSPToPSSXYOffset_finished\"";
+
+    emit ApplyPSPToPSSXYOffset_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(ApplyPSPToPSSXYOffset_finish()));
-
   const double dx0 = this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX");
   const double dy0 = this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY");
   const double dz0 = 0.0;
   const double da0 = 0.0;
 
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(ApplyPSPToPSSXYOffset_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "ApplyPSPToPSSXYOffset_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -735,6 +768,236 @@ void AssemblyAssembly::ApplyPSPToPSSXYOffset_finish()
 }
 // ----------------------------------------------------------------------------------------------------
 
+// ----------------------------------------------------------------------------------------------------
+// RegisterPSPToPSSPosition ---------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+void AssemblyAssembly::RegisterPSPToPSSPosition_start()
+{
+  PSPToPSSPosition_X_ = motion_->get_position_X();
+  PSPToPSSPosition_Y_ = motion_->get_position_Y();
+  PSPToPSSPosition_Z_ = motion_->get_position_Z();
+  PSPToPSSPosition_A_ = motion_->get_position_A();
+
+  NQLog("AssemblyAssembly", NQLog::Message) << "RegisterPSPToPSSPosition_start"
+     << ": registered position (x=" << PSPToPSSPosition_X_ << ", y=" << PSPToPSSPosition_Y_ << ", z=" << PSPToPSSPosition_Z_ << ", a=" << PSPToPSSPosition_A_ << ")";
+
+  connect(this, SIGNAL(PSPToPSSPosition_registered()), this, SLOT(RegisterPSPToPSSPosition_finish()));
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "RegisterPSPToPSSPosition_start"
+     << ": emitting signal \"PSPToPSSPosition_registered\"";
+
+  emit PSPToPSSPosition_registered();
+}
+
+void AssemblyAssembly::RegisterPSPToPSSPosition_finish()
+{
+  disconnect(this, SIGNAL(PSPToPSSPosition_registered()), this, SLOT(RegisterPSPToPSSPosition_finish()));
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "RegisterPSPToPSSPosition_finish"
+     << ": emitting signal \"RegisterPSPToPSSPosition_finished\"";
+
+  emit RegisterPSPToPSSPosition_finished();
+
+  NQLog("AssemblyAssembly", NQLog::Message) << "RegisterPSPToPSSPosition_finish"
+     << ": assembly-step completed";
+}
+// ----------------------------------------------------------------------------------------------------
+
+// ----------------------------------------------------------------------------------------------------
+// GoFromPSPToPSSPosToGluingStageRefPoint -------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start()
+{
+  const bool valid_params = this->parameters()->update();
+
+  if(valid_params == false)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+       << ": failed to update content of AssemblyParameters, no action taken";
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+       << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+
+    emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+
+    return;
+  }
+
+  const double dx0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dX");
+  const double dy0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dY");
+  const double dz0 = this->parameters()->get("CamerFocusOnGluingStage_Z") - motion_->get_position_Z();
+  const double da0 = 0.0;
+
+  if(use_smartMove_)
+  {
+    connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+    connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+  }
+  else
+  {
+    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+    connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+  }
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+  emit move_relative_request(dx0, dy0, dz0, da0);
+}
+
+void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_finish()
+{
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+  disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+     << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+
+  emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+
+  NQLog("AssemblyAssembly", NQLog::Message) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+     << ": assembly-step completed";
+}
+// ----------------------------------------------------------------------------------------------------
+
+// ----------------------------------------------------------------------------------------------------
+// LowerSpacersAndPSSOntoGluingStage ------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_start()
+{
+  const bool valid_params = this->parameters()->update();
+
+  if(valid_params == false)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoGluingStage_start"
+       << ": failed to update content of AssemblyParameters, no action taken";
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
+       << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
+
+    emit LowerSpacersAndPSSOntoGluingStage_finished();
+
+    return;
+  }
+
+  const double dx0 = 0.0;
+  const double dy0 = 0.0;
+  const double dz0 =
+      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+    + this->parameters()->get("Thickness_PSS")
+    + this->parameters()->get("Thickness_GlueLayer")
+    + this->parameters()->get("Thickness_Spacer")
+    + this->parameters()->get("Thickness_GlueLayer")
+  ;
+  const double da0 = 0.0;
+
+  if(use_smartMove_)
+  {
+    connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+    connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
+  }
+  else
+  {
+    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
+  }
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_start"
+     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+  emit move_relative_request(dx0, dy0, dz0, da0);
+}
+
+void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_finish()
+{
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+  disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
+
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
+     << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
+
+  emit LowerSpacersAndPSSOntoGluingStage_finished();
+
+  NQLog("AssemblyAssembly", NQLog::Message) << "LowerSpacersAndPSSOntoGluingStage_finish"
+     << ": assembly-step completed";
+}
+// ----------------------------------------------------------------------------------------------------
+
+// ----------------------------------------------------------------------------------------------------
+// ReturnToPSPToPSSPosition ---------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+void AssemblyAssembly::ReturnToPSPToPSSPosition_start()
+{
+  if(use_smartMove_)
+  {
+    const double dx0 = PSPToPSSPosition_X_ - motion_->get_position_X();
+    const double dy0 = PSPToPSSPosition_Y_ - motion_->get_position_Y();
+    const double dz0 = PSPToPSSPosition_Z_ - motion_->get_position_Z();
+    const double da0 = 0.;
+
+    if(dz0 <= 0.)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "ReturnToPSPToPSSPosition_start"
+         << ": invalid (non-positive) value for vertical upward movement (dZ=" << dz0 << "), no action taken";
+
+      NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
+         << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
+
+      emit ReturnToPSPToPSSPosition_finished();
+
+      return;
+    }
+
+    connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+    connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(ReturnToPSPToPSSPosition_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
+  }
+  else
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "ReturnToPSPToPSSPosition_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
+
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::ReturnToPSPToPSSPosition_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
+       << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
+
+    emit ReturnToPSPToPSSPosition_finished();
+
+    return;
+  }
+}
+
+void AssemblyAssembly::ReturnToPSPToPSSPosition_finish()
+{
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
+  disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(ReturnToPSPToPSSPosition_finish()));
+
+  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(ReturnToPSPToPSSPosition_finish()));
+
+  NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
+     << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
+
+  emit ReturnToPSPToPSSPosition_finished();
+
+  NQLog("AssemblyAssembly", NQLog::Message) << "ReturnToPSPToPSSPosition_finish"
+     << ": assembly-step completed";
+}
+// ----------------------------------------------------------------------------------------------------
+
 // ----------------------------------------------------------------------------------------------------
 // LowerSpacersAndPSSOntoPSP --------------------------------------------------------------------------
 // ----------------------------------------------------------------------------------------------------
@@ -747,13 +1010,16 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoPSP_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_finish"
+       << ": emitting signal \"LowerSpacersAndPSSOntoPSP_finished\"";
+
+    emit LowerSpacersAndPSSOntoPSP_finished();
+
     return;
   }
 
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double da0 = 0.0;
-
   const double dz0 =
       this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
@@ -761,6 +1027,7 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
     + this->parameters()->get("Thickness_Spacer")
     + this->parameters()->get("Thickness_GlueLayer")
   ;
+  const double da0 = 0.0;
 
   if(use_smartMove_)
   {
@@ -802,16 +1069,6 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::PickupSpacersAndPSS_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupSpacersAndPSS_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    return;
-  }
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
   const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
@@ -822,6 +1079,11 @@ void AssemblyAssembly::PickupSpacersAndPSS_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupSpacersAndPSS_start"
        << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "PickupSpacersAndPSS_finish"
+       << ": emitting signal \"PickupSpacersAndPSS_finished\"";
+
+    emit PickupSpacersAndPSS_finished();
+
     return;
   }
 
@@ -854,16 +1116,6 @@ void AssemblyAssembly::PickupSpacersAndPSS_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LiftUpPickupTool_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LiftUpPickupTool_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    return;
-  }
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
   const double dz0 = (pickup2_Z_ - motion_->get_position_Z());
@@ -874,6 +1126,11 @@ void AssemblyAssembly::LiftUpPickupTool_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "LiftUpPickupTool_start"
        << ": invalid (non-positive) value for vertical upward movement for pickup #2 (dZ=" << dz0 << "), no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LiftUpPickupTool_finish"
+       << ": emitting signal \"LiftUpPickupTool_finished\"";
+
+    emit LiftUpPickupTool_finished();
+
     return;
   }
 
@@ -906,16 +1163,6 @@ void AssemblyAssembly::LiftUpPickupTool_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::PickupPSPAndPSS_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSPAndPSS_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    return;
-  }
-
   const double dx0 = 0.0;
   const double dy0 = 0.0;
   const double dz0 = (pickup1_Z_ - motion_->get_position_Z());
@@ -926,6 +1173,11 @@ void AssemblyAssembly::PickupPSPAndPSS_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSPAndPSS_start"
        << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSPAndPSS_finish"
+       << ": emitting signal \"PickupPSPAndPSS_finished\"";
+
+    emit PickupPSPAndPSS_finished();
+
     return;
   }
 
@@ -965,17 +1217,22 @@ void AssemblyAssembly::GoToBaseplateRefPoint_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoToBaseplateRefPoint_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToBaseplateRefPoint_finish"
+       << ": emitting signal \"GoToBaseplateRefPoint_finished\"";
+
+    emit GoToBaseplateRefPoint_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToBaseplateRefPoint_finish()));
-
   const double x0 = this->parameters()->get("RefPointBaseplate_X");
   const double y0 = this->parameters()->get("RefPointBaseplate_Y");
   const double z0 = this->parameters()->get("RefPointBaseplate_Z");
   const double a0 = this->parameters()->get("RefPointBaseplate_A");
 
+  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToBaseplateRefPoint_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoToBaseplateRefPoint_start"
      << ": emitting signal \"move_absolute_request(" << x0 << ", " << y0 << ", " << z0 << ", " << a0 << ")\"";
 
@@ -1009,17 +1266,22 @@ void AssemblyAssembly::GoFromBaseplateRefPointToBaseplateGluingXYPosition_start(
     NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish"
+       << ": emitting signal \"GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished\"";
+
+    emit GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished();
+
     return;
   }
 
-  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish()));
-
   const double dx0 = this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX") + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX") +this->parameters()->get("FromSensorRefPointToSensorPickup_dX");
   const double dy0 = this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY") + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY") +this->parameters()->get("FromSensorRefPointToSensorPickup_dY");
   const double dz0 = 0.0;
   const double da0 = 0.0;
 
+  connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish()));
+
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
@@ -1053,13 +1315,16 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
     NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSensorAssemblyOntoBaseplate_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_finish"
+       << ": emitting signal \"LowerSensorAssemblyOntoBaseplate_finished\"";
+
+    emit LowerSensorAssemblyOntoBaseplate_finished();
+
     return;
   }
 
   const double dx0 = 0.0;
   const double dy0 = 0.0;
-  const double da0 = 0.0;
-
   const double dz0 =
       this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
     + this->parameters()->get("Thickness_PSS")
@@ -1069,6 +1334,7 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
     + this->parameters()->get("Thickness_PSP")
     + this->parameters()->get("Thickness_GlueLayer")
   ;
+  const double da0 = 0.0;
 
   if(use_smartMove_)
   {
diff --git a/assembly/assemblyCommon/AssemblyAssembly.h b/assembly/assemblyCommon/AssemblyAssembly.h
index 1b06fa44a..f4241b19c 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.h
+++ b/assembly/assemblyCommon/AssemblyAssembly.h
@@ -54,6 +54,11 @@ class AssemblyAssembly : public QObject
 
   bool use_smartMove_;
 
+  double PSPToPSSPosition_X_;
+  double PSPToPSSPosition_Y_;
+  double PSPToPSSPosition_Z_;
+  double PSPToPSSPosition_A_;
+
  public slots:
 
   void use_smartMove(const int);
@@ -86,8 +91,17 @@ class AssemblyAssembly : public QObject
   void ApplyPSPToPSSXYOffset_start();
   void ApplyPSPToPSSXYOffset_finish();
 
-  void LiftUpPickupTool_start();
-  void LiftUpPickupTool_finish();
+  void RegisterPSPToPSSPosition_start();
+  void RegisterPSPToPSSPosition_finish();
+
+  void GoFromPSPToPSSPosToGluingStageRefPoint_start();
+  void GoFromPSPToPSSPosToGluingStageRefPoint_finish();
+
+  void LowerSpacersAndPSSOntoGluingStage_start();
+  void LowerSpacersAndPSSOntoGluingStage_finish();
+
+  void ReturnToPSPToPSSPosition_start();
+  void ReturnToPSPToPSSPosition_finish();
 
   void LowerSpacersAndPSSOntoPSP_start();
   void LowerSpacersAndPSSOntoPSP_finish();
@@ -103,6 +117,9 @@ class AssemblyAssembly : public QObject
 
   void LowerSensorAssemblyOntoBaseplate_start();
   void LowerSensorAssemblyOntoBaseplate_finish();
+
+  void LiftUpPickupTool_start();
+  void LiftUpPickupTool_finish();
   // ---------
 
   // vacuum
@@ -149,6 +166,15 @@ class AssemblyAssembly : public QObject
 
   void ApplyPSPToPSSXYOffset_finished();
 
+  void RegisterPSPToPSSPosition_finished();
+  void PSPToPSSPosition_registered();
+
+  void GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+
+  void ReturnToPSPToPSSPosition_finished();
+
+  void LowerSpacersAndPSSOntoGluingStage_finished();
+
   void LiftUpPickupTool_finished();
 
   void LowerSpacersAndPSSOntoPSP_finished();
diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 000b655d9..860e393af 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -344,7 +344,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Go To Measurement Position on PSS
+  // step: Go To Measurement Position on PSP
   {
     ++assembly_step_N_;
 
@@ -394,31 +394,55 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  ////
-  //// This is where the steps for the Gluing Stage will be introduced
-  ////
+  // step: Register PSP-To-PSS XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
+  {
+    ++assembly_step_N_;
+
+    AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
+    tmp_wid->label() ->setText(QString::number(assembly_step_N_));
+    tmp_wid->button()->setText("Register PSP-To-PSS XYZA Position");
+    PSSToPSP_lay->addWidget(tmp_wid);
 
-  // step: Lift Up Pickup-Tool For Glue Dispensing on Spacers
+    tmp_wid->connect_action(assembly, SLOT(RegisterPSPToPSSPosition_start()), SIGNAL(RegisterPSPToPSSPosition_finished()));
+  }
+  // ----------
+
+  // step: Go From PSP-To-PSS Position to Gluing Stage (XY) Ref-Point
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Lift Up Pickup-Tool For Glue Dispensing on Spacers");
+    tmp_wid->button()->setText("Go From PSP-To-PSS Position to Gluing Stage (XY) Ref-Point");
     PSSToPSP_lay->addWidget(tmp_wid);
 
-    tmp_wid->connect_action(assembly, SLOT(LiftUpPickupTool_start()), SIGNAL(LiftUpPickupTool_finished()));
+    tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageXY_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageXY_finished()));
   }
   // ----------
 
-  // step: Dispense Both Glues On Underside Of Spacers
+  // step: Lower Pickup-Tool onto Gluing Stage
   {
     ++assembly_step_N_;
 
-    AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
-    tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Dispense Both Glues On Underside Of Spacers");
+    AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
+    tmp_wid->label() ->setText(QString::number(assembly_step_N_));
+    tmp_wid->button()->setText("Lower Pickup-Tool onto Gluing Stage");
     PSSToPSP_lay->addWidget(tmp_wid);
+
+    tmp_wid->connect_action(assembly, SLOT(LowerSpacersAndPSSOntoGluingStage_start()), SIGNAL(LowerSpacersAndPSSOntoGluingStage_finished()));
+  }
+  // ----------
+
+  // step: Return To PSP-To-PSS XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
+  {
+    ++assembly_step_N_;
+
+    AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
+    tmp_wid->label() ->setText(QString::number(assembly_step_N_));
+    tmp_wid->button()->setText("Return To PSP-To-PSS XYZA Position");
+    PSSToPSP_lay->addWidget(tmp_wid);
+
+    tmp_wid->connect_action(assembly, SLOT(ReturnToPSPToPSSPosition_start()), SIGNAL(ReturnToPSPToPSSPosition_finished()));
   }
   // ----------
 
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index f4f9dd1c8..0cbb481da 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -230,6 +230,17 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   posi_lay->addWidget(new QLabel(tr("Z"))    , 4, 5, Qt::AlignRight);
   posi_lay->addWidget(this->get(tmp_tag+"_Z"), 4, 6, Qt::AlignRight);
 
+  // position: z-position where camera is focused on Gluing Stage surface
+  tmp_tag = "CamerFocusOnGluingStage";
+  tmp_des = "Camera Focused on Gluing Stage Surface :";
+
+  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+
+  posi_lay->addWidget(new QLabel(tmp_des)    , 5, 0, Qt::AlignLeft);
+
+  posi_lay->addWidget(new QLabel(tr("Z"))    , 5, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 5, 6, Qt::AlignRight);
+
   //// ---------------------
 
   //// DISTANCES -----------
@@ -311,16 +322,31 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dY"))    , 4, 3, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dY"), 4, 4, Qt::AlignRight);
 
+  // distance: from Baseplate Ref-Point to PS-s Ref-Point relative to Baseplate
+  tmp_tag = "FromPSPToPSSPosToGluingStage";
+  tmp_des = "From PSS-To-PSP Position to PSS-To-GluingStage Position :";
+
+  map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
+
+  dist_lay->addWidget(new QLabel(tmp_des)     , 5, 0, Qt::AlignLeft);
+
+  dist_lay->addWidget(new QLabel(tr("dX"))    , 5, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 5, 2, Qt::AlignRight);
+
+  dist_lay->addWidget(new QLabel(tr("dY"))    , 5, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 5, 4, Qt::AlignRight);
+
   // distance: from best-focus z-position to pickup z-position
   tmp_tag = "FromCameraBestFocusToPickupHeight";
   tmp_des = "From Best-Focus Height to Pickup Height :";
 
   map_lineEdit_[tmp_tag+"_dZ"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 5, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tmp_des)     , 6, 0, Qt::AlignLeft);
 
-  dist_lay->addWidget(new QLabel(tr("dZ"))    , 5, 5, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), 5, 6, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dZ"))    , 6, 5, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), 6, 6, Qt::AlignRight);
 
   //// ---------------------
 

From 0bc681f67b74144eb22e965e09a9aeaab2480379 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 14:25:44 +0100
Subject: [PATCH 23/58] [assembly] updated
 assembly/assembly_parameters_DAF_190116.cfg

---
 .../assembly_parameters_DAF_190116.cfg        | 30 +++++++++----------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index dca84d894..e07f569e3 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -14,7 +14,7 @@ Thickness_PSS         0.700
 Thickness_PSP         0.700
 Thickness_Spacer      1.600
 Height_SpacerSlots    0.000
-Thickness_GlueLayer   0.025
+Thickness_GlueLayer   0.030
 
 ####################################
 ### POSITIONS ######################
@@ -27,27 +27,27 @@ RefPointSensor_Z           -62.7329
 RefPointSensor_A            -0.307
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X            -62.428
-RefPointSpacer_Y            -79.629
-RefPointSpacer_Z            -63.248
-RefPointSpacer_A            -90.182
+RefPointSpacer_X           -61.258
+RefPointSpacer_Y           -78.749
+RefPointSpacer_Z           -63.137
+RefPointSpacer_A           -90.157
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
-RefPointBaseplate_X         -64.4778
-RefPointBaseplate_Y         -68.330
-RefPointBaseplate_Z         -62.7678
-RefPointBaseplate_A          -0.056
+RefPointBaseplate_X        -63.278
+RefPointBaseplate_Y        -67.390
+RefPointBaseplate_Z        -62.769
+RefPointBaseplate_A         -0.069
 
-# [DUMMY] position: Z-position (height) to put pickup tool in contact with rotation stage
-PickupToolOnRotStage_Z        0.00
+# position: Z-position (height) to put pickup tool in contact with rotation stage
+PickupToolOnRotStage_Z       0.00
 
 # position: XYZ-position with pickup tool in contact with glue-dispensing platform
-PickupToolOnGluingStage_X     0.00
-PickupToolOnGluingStage_Y     0.00
-PickupToolOnGluingStage_Z     0.00
+PickupToolOnGluingStage_X    0.00
+PickupToolOnGluingStage_Y    0.00
+PickupToolOnGluingStage_Z    0.00
 
 # position: z-position where camera is focused on Gluing Stage surface
-CamerFocusOnGluingStage_Z   -50.0
+CamerFocusOnGluingStage_Z  -50.0
 
 ####################################
 ### DISTANCES ######################

From a8df2b726d4e7e1a11eaebde98f327d6f7eae86c Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 16:15:59 +0100
Subject: [PATCH 24/58] [assembly] updated
 assembly/assembly_parameters_DAF_190116.cfg

---
 assembly/assembly/assembly_parameters_DAF_190116.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index e07f569e3..48d01c2a3 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -75,7 +75,7 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 # distance: dZ distance to go from Z position where camera provides best-focus on object,
 # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
 #  - empirical value calibrated with multi-pickup tests
-FromCameraBestFocusToPickupHeight_dZ   -31.70
+FromCameraBestFocusToPickupHeight_dZ   -31.85
 
 # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
 FromPSPToPSSPosToGluingStage_dX       -130.0

From cb90e63b9314a029d84f25f9b5efbed14101ce14 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 12 Mar 2019 16:16:16 +0100
Subject: [PATCH 25/58] [assembly] updated assembly.cfg

---
 assembly/assembly.cfg | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index f9f05da41..de8833991 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -86,12 +86,12 @@ AssemblyObjectAlignerView_PatRec1_angles_finestep    0.15
 AssemblyObjectAlignerView_PatRec2_template_fpath     share/assembly/markedglass_marker1_drawing_588x588_TL.png
 AssemblyObjectAlignerView_PatRec2_threshold           30
 AssemblyObjectAlignerView_PatRec2_adaptiveThreshold  587
-AssemblyObjectAlignerView_PatRec2_angles_prescan     180
+AssemblyObjectAlignerView_PatRec2_angles_prescan     0
 AssemblyObjectAlignerView_PatRec2_angles_finemax     2
 AssemblyObjectAlignerView_PatRec2_angles_finestep    0.15
 
 # AssemblySmartMotionManager
-AssemblySmartMotionManager_steps_dZ                  0.5,0.5,0.5,0.2,0.2,0.2,0.2,0.1,0.1
+AssemblySmartMotionManager_steps_dZ                  0.5,0.5,0.5,0.5,0.5,0.5,0.2,0.2,0.2,0.2,0.1,0.1
 
 # AssemblyAssembly
 AssemblyAssembly_pickup1_Z                         130.0

From 9cf2cf5c739ba58f231716a82e902212e35e9d0d Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Fri, 15 Mar 2019 18:01:55 +0100
Subject: [PATCH 26/58] [assembly] updated tab-label in
 assembly/AssemblyMainWindow.cc

---
 assembly/assembly/AssemblyMainWindow.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index 45f7e8093..57ec5b58f 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -156,7 +156,7 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
     // ---------------------------------------------------------
 
     // IMAGE-THRESHOLDING VIEW ---------------------------------
-    const QString tabname_ImageThresholding("Thresholding");
+    const QString tabname_ImageThresholding("Convert Image to B/W");
 
     thresholder_ = new AssemblyThresholder();
 

From 10debb88fbeab346cb474e834cf0edbdf438b581 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 21 Mar 2019 12:10:12 +0100
Subject: [PATCH 27/58] [assembly] bugfix in
 assemblyCommon/AssemblyAssemblyView.cc

---
 assembly/assemblyCommon/AssemblyAssembly.cc   | 23 ++++++++++++++++---
 assembly/assemblyCommon/AssemblyAssembly.h    |  1 +
 .../assemblyCommon/AssemblyAssemblyView.cc    |  2 +-
 3 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index ec49ae6ea..4d213f7bd 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -36,6 +36,7 @@ AssemblyAssembly::AssemblyAssembly(const LStepExpressMotionManager* const motion
 
  , use_smartMove_(false)
 
+ , PSPToPSSPosition_isRegistered_(false)
  , PSPToPSSPosition_X_(0.)
  , PSPToPSSPosition_Y_(0.)
  , PSPToPSSPosition_Z_(0.)
@@ -778,6 +779,8 @@ void AssemblyAssembly::RegisterPSPToPSSPosition_start()
   PSPToPSSPosition_Z_ = motion_->get_position_Z();
   PSPToPSSPosition_A_ = motion_->get_position_A();
 
+  PSPToPSSPosition_isRegistered_ = true;
+
   NQLog("AssemblyAssembly", NQLog::Message) << "RegisterPSPToPSSPosition_start"
      << ": registered position (x=" << PSPToPSSPosition_X_ << ", y=" << PSPToPSSPosition_Y_ << ", z=" << PSPToPSSPosition_Z_ << ", a=" << PSPToPSSPosition_A_ << ")";
 
@@ -934,6 +937,23 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::ReturnToPSPToPSSPosition_start()
 {
+  if(PSPToPSSPosition_isRegistered_ == false)
+  {
+    NQLog("AssemblyAssembly", NQLog::Critical) << "ReturnToPSPToPSSPosition_start"
+       << ": PSP-To-PSS Position was not registered, which is mandatory for this step";
+
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::ReturnToPSPToPSSPosition_start -- PSP-To-PSS Position was not registered, which is mandatory for this step (see dedicated button in \"Assembly\" tab)"));
+    msgBox.exec();
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
+       << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
+
+    emit ReturnToPSPToPSSPosition_finished();
+
+    return;
+  }
+
   if(use_smartMove_)
   {
     const double dx0 = PSPToPSSPosition_X_ - motion_->get_position_X();
@@ -985,9 +1005,6 @@ void AssemblyAssembly::ReturnToPSPToPSSPosition_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(ReturnToPSPToPSSPosition_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(ReturnToPSPToPSSPosition_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
      << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
 
diff --git a/assembly/assemblyCommon/AssemblyAssembly.h b/assembly/assemblyCommon/AssemblyAssembly.h
index f4241b19c..c096a4ca3 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.h
+++ b/assembly/assemblyCommon/AssemblyAssembly.h
@@ -54,6 +54,7 @@ class AssemblyAssembly : public QObject
 
   bool use_smartMove_;
 
+  bool   PSPToPSSPosition_isRegistered_;
   double PSPToPSSPosition_X_;
   double PSPToPSSPosition_Y_;
   double PSPToPSSPosition_Z_;
diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 860e393af..22abc482b 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -416,7 +416,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
     tmp_wid->button()->setText("Go From PSP-To-PSS Position to Gluing Stage (XY) Ref-Point");
     PSSToPSP_lay->addWidget(tmp_wid);
 
-    tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageXY_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageXY_finished()));
+    tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageRefPoint_finished()));
   }
   // ----------
 

From 2f175c1df95a593b6e821a47268c90876b640d9c Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 21 Mar 2019 15:57:21 +0100
Subject: [PATCH 28/58] [assembly] updated assembly.cfg

---
 assembly/assembly.cfg | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index de8833991..3fadab0a4 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -54,10 +54,10 @@ AssemblyMultiPickupTester_pickup_deltaZ        20.0
 AssemblyMultiPickupTester_useBaseplateVacuum   1
 
 # AssemblyObjectAlignerView
-AssemblyObjectAlignerView_PSS_deltaX           95.30 # marked-glass top
+AssemblyObjectAlignerView_PSS_deltaX           94.30 # marked-glass top
 AssemblyObjectAlignerView_PSS_deltaY            0.00 # marked-glass top
 
-AssemblyObjectAlignerView_PSP_deltaX           97.50 # marked-glass bottom
+AssemblyObjectAlignerView_PSP_deltaX           97.00 # marked-glass bottom
 AssemblyObjectAlignerView_PSP_deltaY            0.00 # marked-glass bottom
 
 AssemblyObjectAlignerView_target_angle_deg      0.00 # marked-glass bottom

From c6f7d547822a7a6d2ab78157a6f951449c456155 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 21 Mar 2019 15:57:36 +0100
Subject: [PATCH 29/58] [assembly] updated
 assembly/assembly_parameters_DAF_190116.cfg

---
 assembly/assembly/assembly_parameters_DAF_190116.cfg | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190116.cfg b/assembly/assembly/assembly_parameters_DAF_190116.cfg
index 48d01c2a3..97a79c6f5 100644
--- a/assembly/assembly/assembly_parameters_DAF_190116.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190116.cfg
@@ -21,8 +21,8 @@ Thickness_GlueLayer   0.030
 ####################################
 
 # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
-RefPointSensor_X           -70.0283
-RefPointSensor_Y           -78.4945
+RefPointSensor_X           -69.0283
+RefPointSensor_Y           -77.4945
 RefPointSensor_Z           -62.7329
 RefPointSensor_A            -0.307
 

From 5af475f6bad08601a86c1f81053d3e41a7655b05 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 21 Mar 2019 15:58:15 +0100
Subject: [PATCH 30/58] [assembly] updated value of
 ConradManager::togglingVacuumDelay

---
 assembly/assemblyCommon/ConradManager.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assemblyCommon/ConradManager.h b/assembly/assemblyCommon/ConradManager.h
index 95bb10ff9..8ac8568a5 100644
--- a/assembly/assemblyCommon/ConradManager.h
+++ b/assembly/assemblyCommon/ConradManager.h
@@ -35,7 +35,7 @@ class ConradManager : public QObject
 
  private:
 
-  const int togglingVacuumDelay = 3000;
+  const int togglingVacuumDelay = 2000;
 
  public slots:
 

From ad44847f50e526c5bb2864be92b70238f53762f1 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Fri, 22 Mar 2019 14:53:50 +0100
Subject: [PATCH 31/58] [assembly] reverted 5af475f (value of
 ConradManager::togglingVacuumDelay)

---
 assembly/assemblyCommon/ConradManager.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assemblyCommon/ConradManager.h b/assembly/assemblyCommon/ConradManager.h
index 8ac8568a5..95bb10ff9 100644
--- a/assembly/assemblyCommon/ConradManager.h
+++ b/assembly/assemblyCommon/ConradManager.h
@@ -35,7 +35,7 @@ class ConradManager : public QObject
 
  private:
 
-  const int togglingVacuumDelay = 2000;
+  const int togglingVacuumDelay = 3000;
 
  public slots:
 

From e7757b5d5c3f780f5d7d9fb0caf5ee9504720e90 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 26 Mar 2019 16:07:58 +0100
Subject: [PATCH 32/58] [assembly] added
 assembly/assembly_parameters_DAF_190326_balljoint.cfg

---
 assembly/assembly.cfg                         |  4 +-
 ...sembly_parameters_DAF_190326_balljoint.cfg | 82 +++++++++++++++++++
 2 files changed, 84 insertions(+), 2 deletions(-)
 create mode 100644 assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index 3fadab0a4..889b1c618 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -40,7 +40,7 @@ startup_motion_stage                           1
 startup_camera                                 1
 
 # AssemblyParameters
-AssemblyParameters_file_path                   assembly_parameters_DAF_190116.cfg # format: relative path from where binary is executed
+AssemblyParameters_file_path                   assembly_parameters_DAF_190326_balljoint.cfg # format: relative path from where binary is executed
 
 # AssemblyZFocusFinder
 AssemblyZFocusFinder_zrange_max                3.0
@@ -54,7 +54,7 @@ AssemblyMultiPickupTester_pickup_deltaZ        20.0
 AssemblyMultiPickupTester_useBaseplateVacuum   1
 
 # AssemblyObjectAlignerView
-AssemblyObjectAlignerView_PSS_deltaX           94.30 # marked-glass top
+AssemblyObjectAlignerView_PSS_deltaX           95.00 # marked-glass top
 AssemblyObjectAlignerView_PSS_deltaY            0.00 # marked-glass top
 
 AssemblyObjectAlignerView_PSP_deltaX           97.00 # marked-glass bottom
diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
new file mode 100644
index 000000000..526ef3e34
--- /dev/null
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -0,0 +1,82 @@
+
+# Sensor    Ref-Point = edge of fiducial marker measured with Pattern Recognition
+# Spacer    Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point
+# Baseplate Ref-Point = edge [...]
+
+####################################
+### DIMENSIONS #####################
+####################################
+
+# dimensions: thickness of assembly components
+Thickness_VacuumCups  0.000
+Thickness_Baseplate   0.000
+Thickness_PSS         0.700
+Thickness_PSP         0.700
+Thickness_Spacer      1.600
+Height_SpacerSlots    0.000
+Thickness_GlueLayer   0.030
+
+####################################
+### POSITIONS ######################
+####################################
+
+# position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
+RefPointSensor_X           -69.0283
+RefPointSensor_Y           -77.4945
+RefPointSensor_Z            -2.7480
+RefPointSensor_A            -0.307
+
+# position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
+RefPointSpacer_X           -61.258
+RefPointSpacer_Y           -78.749
+RefPointSpacer_Z            -3.137
+RefPointSpacer_A           -90.157
+
+# position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
+RefPointBaseplate_X        -63.278
+RefPointBaseplate_Y        -67.390
+RefPointBaseplate_Z         -2.769
+RefPointBaseplate_A         -0.069
+
+# position: Z-position (height) to put pickup tool in contact with rotation stage
+PickupToolOnRotStage_Z       0.00
+
+# position: XYZ-position with pickup tool in contact with glue-dispensing platform
+PickupToolOnGluingStage_X    0.00
+PickupToolOnGluingStage_Y    0.00
+PickupToolOnGluingStage_Z    0.00
+
+# position: z-position where camera is focused on Gluing Stage surface
+CamerFocusOnGluingStage_Z  -50.0
+
+####################################
+### DISTANCES ######################
+####################################
+
+# distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg]
+AngleOfCameraFrameInRefFrame_dA        -89.5954
+
+# distance: from Sensor Ref-Point to Sensor Pickup position
+FromSensorRefPointToSensorPickup_dX     88.00
+FromSensorRefPointToSensorPickup_dY     37.00
+
+# distance: from PS-p Ref-Point to PS-s Ref-Point
+FromPSPRefPointToPSSRefPoint_dX          1.25
+FromPSPRefPointToPSSRefPoint_dY          0.00
+
+# distance: from Spacer Ref-Point to Sensor Ref-Point
+FromSpacerRefPointToSensorRefPoint_dX    0.85
+FromSpacerRefPointToSensorRefPoint_dY    0.75
+
+# distance: from Baseplate Ref-Point to PS-p Ref-Point
+FromBaseplateRefPointToPSPRefPoint_dX    1.60
+FromBaseplateRefPointToPSPRefPoint_dY  -10.65
+
+# distance: dZ distance to go from Z position where camera provides best-focus on object,
+# to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
+#  - empirical value calibrated with multi-pickup tests
+FromCameraBestFocusToPickupHeight_dZ   -21.85
+
+# distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
+FromPSPToPSSPosToGluingStage_dX       -130.0
+FromPSPToPSSPosToGluingStage_dY          0.0

From ce85fda30817f00180c472d66d979ba083b1a42f Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 28 Mar 2019 16:36:55 +0100
Subject: [PATCH 33/58] [assembly] updated
 assembly/assembly_parameters_DAF_190326_balljoint.cfg

---
 assembly/assembly.cfg                         |  2 +-
 ...sembly_parameters_DAF_190326_balljoint.cfg | 24 +++++++++----------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index 889b1c618..ae4801dd2 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -54,7 +54,7 @@ AssemblyMultiPickupTester_pickup_deltaZ        20.0
 AssemblyMultiPickupTester_useBaseplateVacuum   1
 
 # AssemblyObjectAlignerView
-AssemblyObjectAlignerView_PSS_deltaX           95.00 # marked-glass top
+AssemblyObjectAlignerView_PSS_deltaX           94.30 # marked-glass top
 AssemblyObjectAlignerView_PSS_deltaY            0.00 # marked-glass top
 
 AssemblyObjectAlignerView_PSP_deltaX           97.00 # marked-glass bottom
diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index 526ef3e34..4082d7baf 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -23,20 +23,20 @@ Thickness_GlueLayer   0.030
 # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
 RefPointSensor_X           -69.0283
 RefPointSensor_Y           -77.4945
-RefPointSensor_Z            -2.7480
+RefPointSensor_Z            -2.7629
 RefPointSensor_A            -0.307
 
 # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X           -61.258
-RefPointSpacer_Y           -78.749
-RefPointSpacer_Z            -3.137
+RefPointSpacer_X           -61.368
+RefPointSpacer_Y           -78.979
+RefPointSpacer_Z            -3.154
 RefPointSpacer_A           -90.157
 
 # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
-RefPointBaseplate_X        -63.278
-RefPointBaseplate_Y        -67.390
-RefPointBaseplate_Z         -2.769
-RefPointBaseplate_A         -0.069
+RefPointBaseplate_X        -64.278
+RefPointBaseplate_Y        -67.99
+RefPointBaseplate_Z         -3.169
+RefPointBaseplate_A         -0.238
 
 # position: Z-position (height) to put pickup tool in contact with rotation stage
 PickupToolOnRotStage_Z       0.00
@@ -47,7 +47,7 @@ PickupToolOnGluingStage_Y    0.00
 PickupToolOnGluingStage_Z    0.00
 
 # position: z-position where camera is focused on Gluing Stage surface
-CamerFocusOnGluingStage_Z  -50.0
+CamerFocusOnGluingStage_Z   -2.6538
 
 ####################################
 ### DISTANCES ######################
@@ -57,8 +57,8 @@ CamerFocusOnGluingStage_Z  -50.0
 AngleOfCameraFrameInRefFrame_dA        -89.5954
 
 # distance: from Sensor Ref-Point to Sensor Pickup position
-FromSensorRefPointToSensorPickup_dX     88.00
-FromSensorRefPointToSensorPickup_dY     37.00
+FromSensorRefPointToSensorPickup_dX     86.00
+FromSensorRefPointToSensorPickup_dY     38.00
 
 # distance: from PS-p Ref-Point to PS-s Ref-Point
 FromPSPRefPointToPSSRefPoint_dX          1.25
@@ -75,7 +75,7 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 # distance: dZ distance to go from Z position where camera provides best-focus on object,
 # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
 #  - empirical value calibrated with multi-pickup tests
-FromCameraBestFocusToPickupHeight_dZ   -21.85
+FromCameraBestFocusToPickupHeight_dZ   -31.85
 
 # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
 FromPSPToPSSPosToGluingStage_dX       -130.0

From 4bb0c6867186fda149e257c1368935b923cea180 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 18 Apr 2019 08:59:43 +0200
Subject: [PATCH 34/58] [assembly] updated assembly.cfg

---
 assembly/assembly.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index ae4801dd2..1b6d1d455 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -91,7 +91,7 @@ AssemblyObjectAlignerView_PatRec2_angles_finemax     2
 AssemblyObjectAlignerView_PatRec2_angles_finestep    0.15
 
 # AssemblySmartMotionManager
-AssemblySmartMotionManager_steps_dZ                  0.5,0.5,0.5,0.5,0.5,0.5,0.2,0.2,0.2,0.2,0.1,0.1
+AssemblySmartMotionManager_steps_dZ                  0.5,0.5,0.2,0.2,0.2,0.2,0.1,0.1
 
 # AssemblyAssembly
 AssemblyAssembly_pickup1_Z                         130.0

From e6eaa8b0bd0aaccbe116fbcb8ceeee6f68654868 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 18 Apr 2019 09:38:49 +0200
Subject: [PATCH 35/58] [assembly] updated AssemblyAssemblyView (text-only
 changes)

---
 .../assemblyCommon/AssemblyAssemblyView.cc    | 58 +++++++++----------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 22abc482b..61cb5ed5d 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -77,7 +77,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 //  CalibRotStage_lay->addStretch(1);
 //  //// -----------------------------------------------
 
-  //// PSP To Baseplate ------------------------------
+  //// PS-s Alignment and Pick-up --------------------
   wid_PSSAlignm_ = new QWidget;
 
   toolbox->addItem(wid_PSSAlignm_, tr("[1] PS-s Alignment and Pickup"));
@@ -85,7 +85,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   QVBoxLayout* PSSAlignm_lay = new QVBoxLayout;
   wid_PSSAlignm_->setLayout(PSSAlignm_lay);
 
-  // step: Place PSS on Assembly Platform
+  // step: Place PS-s on Assembly Platform
   {
     ++assembly_step_N_;
 
@@ -109,7 +109,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Go To Measurement Position on PSS
+  // step: Go To Measurement Position on PS-s
   {
     ++assembly_step_N_;
 
@@ -122,13 +122,13 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Align PSS to Motion Stage
+  // step: Align PS-s to Motion Stage
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Align PS-s to Motion Stage");
+    tmp_wid->text() ->setText("Align PS-s to Motion Stage (Go to \"Alignment\" Tab)");
     PSSAlignm_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -146,7 +146,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Lower Pickup-Tool onto PSS
+  // step: Lower Pickup-Tool onto PS-s
   {
     ++assembly_step_N_;
 
@@ -185,7 +185,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Pick Up PSS
+  // step: Pick Up PS-s
   {
     ++assembly_step_N_;
 
@@ -201,7 +201,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   PSSAlignm_lay->addStretch(1);
   //// -----------------------------------------------
 
-  //// PSS To Spacers --------------------------------
+  //// PS-s To Spacers -------------------------------
   wid_PSSToSpacers_ = new QWidget;
 
   toolbox->addItem(wid_PSSToSpacers_, tr("[2] PS-s onto Spacers"));
@@ -259,7 +259,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Lower PSS onto Spacers
+  // step: Lower PS-s onto Spacers
   {
     ++assembly_step_N_;
 
@@ -278,7 +278,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 25 min)");
     PSSToSpacers_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -312,7 +312,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   PSSToSpacers_lay->addStretch(1);
   //// -----------------------------------------------
 
-  //// PSP To PSS ------------------------------------
+  //// PS-s To PS-p ----------------------------------
   wid_PSSToPSP_ = new QWidget;
 
   toolbox->addItem(wid_PSSToPSP_, tr("[3] PS-p Alignment and Sensor-To-Sensor Assembly"));
@@ -320,7 +320,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   QVBoxLayout* PSSToPSP_lay = new QVBoxLayout;
   wid_PSSToPSP_->setLayout(PSSToPSP_lay);
 
-  // step: Place PSP on Assembly Platform
+  // step: Place PS-p on Assembly Platform
   {
     ++assembly_step_N_;
 
@@ -344,7 +344,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Go To Measurement Position on PSP
+  // step: Go To Measurement Position on PS-p
   {
     ++assembly_step_N_;
 
@@ -357,13 +357,13 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Align PSP to Motion Stage
+  // step: Align PS-p to Motion Stage
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Align PS-p to Motion Stage");
+    tmp_wid->text() ->setText("Align PS-p to Motion Stage (Go to \"Alignment\" Tab)");
     PSSToPSP_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -381,39 +381,39 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Apply PSP-To-PSS XY Offset
+  // step: Apply "PS-p To PS-s" XY Offset
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Apply PSP-To-PSS XY Offset");
+    tmp_wid->button()->setText("Apply \"PS-p To PS-s\" XY Offset");
     PSSToPSP_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(ApplyPSPToPSSXYOffset_start()), SIGNAL(ApplyPSPToPSSXYOffset_finished()));
   }
   // ----------
 
-  // step: Register PSP-To-PSS XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
+  // step: Register "PS-p To PS-s" XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Register PSP-To-PSS XYZA Position");
+    tmp_wid->button()->setText("Register \"PS-p To PS-s XYZA Position\"");
     PSSToPSP_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(RegisterPSPToPSSPosition_start()), SIGNAL(RegisterPSPToPSSPosition_finished()));
   }
   // ----------
 
-  // step: Go From PSP-To-PSS Position to Gluing Stage (XY) Ref-Point
+  // step: Go From "PS-p To PS-s" Position to Gluing Stage (XY) Ref-Point
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go From PSP-To-PSS Position to Gluing Stage (XY) Ref-Point");
+    tmp_wid->button()->setText("Go From \"PS-p To PS-s Position\" to Gluing Stage (XY) Ref-Point");
     PSSToPSP_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageRefPoint_finished()));
@@ -433,20 +433,20 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Return To PSP-To-PSS XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
+  // step: Return To "PS-p To PS-s" XYZA Position (before lowering pickup tool, camera focused on PS-p surface)
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Return To PSP-To-PSS XYZA Position");
+    tmp_wid->button()->setText("Return To \"PS-p To PS-s XYZA Position\"");
     PSSToPSP_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(ReturnToPSPToPSSPosition_start()), SIGNAL(ReturnToPSPToPSSPosition_finished()));
   }
   // ----------
 
-  // step: Lower Pickup-Tool onto PSP
+  // step: Lower Pickup-Tool onto PS-p
   {
     ++assembly_step_N_;
 
@@ -465,7 +465,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 25 min)");
     PSSToPSP_lay->addWidget(tmp_wid);
   }
   // ----------
@@ -483,13 +483,13 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Pick Up PSP+PSS
+  // step: Pick Up "PS-p + PS-s"
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Pick Up PS-p+PS-s");
+    tmp_wid->button()->setText("Pick Up \"PS-p + PS-s\"");
     PSSToPSP_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(PickupPSPAndPSS_start()), SIGNAL(PickupPSPAndPSS_finished()));
@@ -499,7 +499,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   PSSToPSP_lay->addStretch(1);
   //// -----------------------------------------------
 
-  //// PSP+PSS to Baseplate
+  //// "PS-p + PS-s" to Baseplate --------------------
   wid_PSToBasep_ = new QWidget;
 
   toolbox->addItem(wid_PSToBasep_, tr("[4] Sensor-To-Sensor Assembly onto Baseplate"));
@@ -576,7 +576,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyTextWidget* tmp_wid = new AssemblyAssemblyTextWidget;
     tmp_wid->label()->setText(QString::number(assembly_step_N_));
-    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 15 min)");
+    tmp_wid->text() ->setText("Wait for Glue To Cure (approx. 25 min)");
     PSToBasep_lay->addWidget(tmp_wid);
   }
   // ----------

From cff7da063abd5c2e82070170035d8aa3506d69c3 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 18 Apr 2019 09:39:11 +0200
Subject: [PATCH 36/58] [assembly] updated AssemblyMainWindow (tab arrangement)

---
 assembly/assembly/AssemblyMainWindow.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index 57ec5b58f..fc15dbcba 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -363,7 +363,7 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
     /// Main Tab -----------------------------------------------
     QTabWidget* main_tab = new QTabWidget;
 
-    main_tab->setTabPosition(QTabWidget::South);
+    main_tab->setTabPosition(QTabWidget::North);
 
     main_tab->addTab(assembly_tab, tr("Module Assembly"));
     main_tab->addTab(controls_tab, tr("Manual Controls and Parameters"));

From ea97c523899067fd74618271b5ab1c5e9a872927 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 18 Apr 2019 10:54:00 +0200
Subject: [PATCH 37/58] [assembly] code-formatting in AssemblyAssembly

---
 assembly/assemblyCommon/AssemblyAssembly.cc | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index 4d213f7bd..d2006fd1b 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -1291,8 +1291,16 @@ void AssemblyAssembly::GoFromBaseplateRefPointToBaseplateGluingXYPosition_start(
     return;
   }
 
-  const double dx0 = this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX") + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX") +this->parameters()->get("FromSensorRefPointToSensorPickup_dX");
-  const double dy0 = this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY") + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY") +this->parameters()->get("FromSensorRefPointToSensorPickup_dY");
+  const double dx0 =
+      this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX")
+    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX")
+    + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
+  ;
+  const double dy0 =
+      this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY")
+    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY")
+    + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
+  ;
   const double dz0 = 0.0;
   const double da0 = 0.0;
 

From 66ccb6e4428a1c11b7d4ab28cffa7eb1d87fec46 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Thu, 18 Apr 2019 15:29:49 +0200
Subject: [PATCH 38/58] [assembly] updated
 assembly/assembly_parameters_DAF_190326_balljoint.cfg

---
 .../assembly/assembly_parameters_DAF_190326_balljoint.cfg     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index 4082d7baf..ff4efc864 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -47,7 +47,7 @@ PickupToolOnGluingStage_Y    0.00
 PickupToolOnGluingStage_Z    0.00
 
 # position: z-position where camera is focused on Gluing Stage surface
-CamerFocusOnGluingStage_Z   -2.6538
+CamerFocusOnGluingStage_Z  -56.693
 
 ####################################
 ### DISTANCES ######################
@@ -78,5 +78,5 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 FromCameraBestFocusToPickupHeight_dZ   -31.85
 
 # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
-FromPSPToPSSPosToGluingStage_dX       -130.0
+FromPSPToPSSPosToGluingStage_dX       -148.0
 FromPSPToPSSPosToGluingStage_dY          0.0

From a56f22c01f0872201d59c3d9d9efc4eaeda8644e Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 13:50:21 +0200
Subject: [PATCH 39/58] [assembly] started cleanup of AssemblyParameters

---
 .../assembly_parameters_DAF_190326_balljoint.cfg   |  3 +--
 assembly/assemblyCommon/AssemblyParametersView.cc  | 14 ++------------
 2 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index ff4efc864..baeaf850d 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -8,12 +8,11 @@
 ####################################
 
 # dimensions: thickness of assembly components
-Thickness_VacuumCups  0.000
 Thickness_Baseplate   0.000
 Thickness_PSS         0.700
 Thickness_PSP         0.700
 Thickness_Spacer      1.600
-Height_SpacerSlots    0.000
+Depth_SpacerSlots     0.000
 Thickness_GlueLayer   0.030
 
 ####################################
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 0cbb481da..4801d549d 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -92,8 +92,8 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dime_lay->addWidget(this->get(tmp_tag)  , 3, 6, Qt::AlignRight);
 
   // dimension: height of spacer slots
-  tmp_tag = "Height_SpacerSlots";
-  tmp_des = "Height of Spacer Slots :";
+  tmp_tag = "Depth_SpacerSlots";
+  tmp_des = "Depth of Spacer Slots :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
@@ -111,16 +111,6 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dime_lay->addWidget(new QLabel(tr("dZ")), 5, 5, Qt::AlignRight);
   dime_lay->addWidget(this->get(tmp_tag)  , 5, 6, Qt::AlignRight);
 
-  // dimension: thickness of Vacuum Cups
-  tmp_tag = "Thickness_VacuumCups";
-  tmp_des = "Thickness of Vacuum Cups :";
-
-  map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
-
-  dime_lay->addWidget(new QLabel(tmp_des) , 6, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 6, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 6, 6, Qt::AlignRight);
-
   //// ---------------------
 
   //// POSITIONS -----------

From 65593567cd2de1c314124548dad8609dd3706182 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 13:50:55 +0200
Subject: [PATCH 40/58] [assembly] updated
 assembly/assembly_parameters_DAF_190326_balljoint.cfg

---
 assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index baeaf850d..a1f61a79b 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -11,7 +11,7 @@
 Thickness_Baseplate   0.000
 Thickness_PSS         0.700
 Thickness_PSP         0.700
-Thickness_Spacer      1.600
+Thickness_Spacer      0.705
 Depth_SpacerSlots     0.000
 Thickness_GlueLayer   0.030
 

From e3efc5193d4e1f4c64556ec30bc29e06eeb319f9 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 14:02:34 +0200
Subject: [PATCH 41/58] [assembly] updated
 assemblyCommon/AssemblyParametersView.cc

---
 ...sembly_parameters_DAF_190326_balljoint.cfg | 17 +++--
 assembly/assemblyCommon/AssemblyAssembly.cc   |  2 +-
 .../assemblyCommon/AssemblyParametersView.cc  | 69 +++++++++++--------
 3 files changed, 51 insertions(+), 37 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index a1f61a79b..beb242446 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -37,16 +37,19 @@ RefPointBaseplate_Y        -67.99
 RefPointBaseplate_Z         -3.169
 RefPointBaseplate_A         -0.238
 
-# position: Z-position (height) to put pickup tool in contact with rotation stage
-PickupToolOnRotStage_Z       0.00
+#!! # position: Z-position (height) to put pickup tool in contact with rotation stage
+#!! PickupToolOnRotStage_Z       0.00
+#!! 
+#!! # position: XYZ-position with pickup tool in contact with glue-dispensing platform
+#!! PickupToolOnGluingStage_X    0.00
+#!! PickupToolOnGluingStage_Y    0.00
+#!! PickupToolOnGluingStage_Z    0.00
 
-# position: XYZ-position with pickup tool in contact with glue-dispensing platform
-PickupToolOnGluingStage_X    0.00
-PickupToolOnGluingStage_Y    0.00
-PickupToolOnGluingStage_Z    0.00
+# position: z-position where camera is focused on Assembly Stage surface
+CameraFocusOnAssemblyStage_Z   -3.4
 
 # position: z-position where camera is focused on Gluing Stage surface
-CamerFocusOnGluingStage_Z  -56.693
+CameraFocusOnGluingStage_Z    -56.693
 
 ####################################
 ### DISTANCES ######################
diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index d2006fd1b..90e3ea60c 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -828,7 +828,7 @@ void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start()
 
   const double dx0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dX");
   const double dy0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dY");
-  const double dz0 = this->parameters()->get("CamerFocusOnGluingStage_Z") - motion_->get_position_Z();
+  const double dz0 = this->parameters()->get("CameraFocusOnGluingStage_Z") - motion_->get_position_Z();
   const double da0 = 0.0;
 
   if(use_smartMove_)
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 4801d549d..5799a5079 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -190,46 +190,57 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   posi_lay->addWidget(new QLabel(tr("A"))    , 2, 7, Qt::AlignRight);
   posi_lay->addWidget(this->get(tmp_tag+"_A"), 2, 8, Qt::AlignRight);
 
-  // position: Z-position (height) to put pickup tool in contact with rotation stage
-  tmp_tag = "PickupToolOnRotStage";
-  tmp_des = "Pickup Tool on Rotation Stage :";
+//!!  // position: Z-position (height) to put pickup tool in contact with rotation stage
+//!!  tmp_tag = "PickupToolOnRotStage";
+//!!  tmp_des = "Pickup Tool on Rotation Stage :";
+//!!
+//!!  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+//!!
+//!!  posi_lay->addWidget(new QLabel(tmp_des)    , 3, 0, Qt::AlignLeft);
+//!!
+//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , 3, 5, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 3, 6, Qt::AlignRight);
+//!!
+//!!  // position: XY pickup position on glue-dispensing platform + Z-position (height) to put pickup tool in contact with platform
+//!!  tmp_tag = "PickupToolOnGluingStage";
+//!!  tmp_des = "Pickup Tool on Gluing Stage :";
+//!!
+//!!  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
+//!!  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
+//!!  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+//!!
+//!!  posi_lay->addWidget(new QLabel(tmp_des)    , 4, 0, Qt::AlignLeft);
+//!!
+//!!  posi_lay->addWidget(new QLabel(tr("X"))    , 4, 1, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_X"), 4, 2, Qt::AlignRight);
+//!!
+//!!  posi_lay->addWidget(new QLabel(tr("Y"))    , 4, 3, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 4, 4, Qt::AlignRight);
+//!!
+//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , 4, 5, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 4, 6, Qt::AlignRight);
+
+  // position: z-position where camera is focused on Assembly Stage surface
+  tmp_tag = "CameraFocusOnAssemblyStage";
+  tmp_des = "Camera Focused on Assembly Stage Surface :";
 
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 3, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 3, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 3, 6, Qt::AlignRight);
-
-  // position: XY pickup position on glue-dispensing platform + Z-position (height) to put pickup tool in contact with platform
-  tmp_tag = "PickupToolOnGluingStage";
-  tmp_des = "Pickup Tool on Gluing Stage :";
-
-  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
-
-  posi_lay->addWidget(new QLabel(tmp_des)    , 4, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("X"))    , 4, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), 4, 2, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Y"))    , 4, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 4, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , 5, 0, Qt::AlignLeft);
 
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 4, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 4, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , 5, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 5, 6, Qt::AlignRight);
 
   // position: z-position where camera is focused on Gluing Stage surface
-  tmp_tag = "CamerFocusOnGluingStage";
+  tmp_tag = "CameraFocusOnGluingStage";
   tmp_des = "Camera Focused on Gluing Stage Surface :";
 
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 5, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tmp_des)    , 6, 0, Qt::AlignLeft);
 
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 5, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 5, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , 6, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 6, 6, Qt::AlignRight);
 
   //// ---------------------
 

From 1bbc3f251606fac4344dbf926008d93946353f3a Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 14:14:31 +0200
Subject: [PATCH 42/58] [assembly] updated
 assemblyCommon/AssemblyParametersView.cc

---
 .../assemblyCommon/AssemblyParametersView.cc  | 260 ++++++++++--------
 1 file changed, 138 insertions(+), 122 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 5799a5079..80aaa4a1f 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -40,6 +40,8 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   QToolBox* toolbox = new QToolBox;
   layout->addWidget(toolbox);
 
+  int row_index(-1);
+
   std::string tmp_tag("");
   QString     tmp_des("");
 
@@ -52,67 +54,81 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dime_wid_->setLayout(dime_lay);
 
   // dimension: thickness of Baseplate
+  ++row_index;
+
   tmp_tag = "Thickness_Baseplate";
   tmp_des = "Thickness of Baseplate :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 0, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 0, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 0, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   // dimension: thickness of PS-s Sensor
+  ++row_index;
+
   tmp_tag = "Thickness_PSS";
   tmp_des = "Thickness of PS-s Sensor :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 1, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 1, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 1, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   // dimension: thickness of PS-p Sensor
+  ++row_index;
+
   tmp_tag = "Thickness_PSP";
   tmp_des = "Thickness of PS-p Sensor :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 2, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 2, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 2, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   // dimension: thickness of Spacer
+  ++row_index;
+
   tmp_tag = "Thickness_Spacer";
   tmp_des = "Thickness of Spacers :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 3, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 3, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 3, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   // dimension: height of spacer slots
+  ++row_index;
+
   tmp_tag = "Depth_SpacerSlots";
   tmp_des = "Depth of Spacer Slots :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 4, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 4, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 4, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   // dimension: thickness of Glue Layer
+  ++row_index;
+
   tmp_tag = "Thickness_GlueLayer";
   tmp_des = "Thickness of Glue Layer :";
 
   map_lineEdit_[tmp_tag] = new QLineEdit(tr(""));
 
-  dime_lay->addWidget(new QLabel(tmp_des) , 5, 0, Qt::AlignLeft);
-  dime_lay->addWidget(new QLabel(tr("dZ")), 5, 5, Qt::AlignRight);
-  dime_lay->addWidget(this->get(tmp_tag)  , 5, 6, Qt::AlignRight);
+  dime_lay->addWidget(new QLabel(tmp_des) , row_index, 0, Qt::AlignLeft);
+  dime_lay->addWidget(new QLabel(tr("dZ")), row_index, 5, Qt::AlignRight);
+  dime_lay->addWidget(this->get(tmp_tag)  , row_index, 6, Qt::AlignRight);
 
   //// ---------------------
 
+  row_index = -1;
+
   //// POSITIONS -----------
   posi_wid_ = new QWidget;
 
@@ -122,6 +138,8 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   posi_wid_->setLayout(posi_lay);
 
   // position: XYZA position to point camera to sensor marker-1 (using reference mark on platform to place sensor)
+  ++row_index;
+
   tmp_tag = "RefPointSensor";
   tmp_des = "Sensor Marker-1 :";
 
@@ -130,21 +148,19 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 0, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("X"))    , 0, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), 0, 2, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Y"))    , 0, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 0, 4, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 0, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 0, 6, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("A"))    , 0, 7, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_A"), 0, 8, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
   // position: XYZA position to point camera to Spacer Ref-Point
+  ++row_index;
+
   tmp_tag = "RefPointSpacer";
   tmp_des = "Spacer Ref-Point :";
 
@@ -153,21 +169,19 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 1, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("X"))    , 1, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), 1, 2, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Y"))    , 1, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 1, 4, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 1, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 1, 6, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("A"))    , 1, 7, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_A"), 1, 8, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
   // position: XYZA position to point camera on Baseplate Ref-Point
+  ++row_index;
+
   tmp_tag = "RefPointBaseplate";
   tmp_des = "Baseplate Ref-Point :";
 
@@ -176,32 +190,31 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 2, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("X"))    , 2, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), 2, 2, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Y"))    , 2, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 2, 4, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 2, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 2, 6, Qt::AlignRight);
-
-  posi_lay->addWidget(new QLabel(tr("A"))    , 2, 7, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_A"), 2, 8, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
 //!!  // position: Z-position (height) to put pickup tool in contact with rotation stage
+//!!  ++row_index;
+//!!
 //!!  tmp_tag = "PickupToolOnRotStage";
 //!!  tmp_des = "Pickup Tool on Rotation Stage :";
 //!!
 //!!  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 //!!
-//!!  posi_lay->addWidget(new QLabel(tmp_des)    , 3, 0, Qt::AlignLeft);
-//!!
-//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , 3, 5, Qt::AlignRight);
-//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 3, 6, Qt::AlignRight);
+//!!  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
 //!!
 //!!  // position: XY pickup position on glue-dispensing platform + Z-position (height) to put pickup tool in contact with platform
+//!!  ++row_index;
+//!!
 //!!  tmp_tag = "PickupToolOnGluingStage";
 //!!  tmp_des = "Pickup Tool on Gluing Stage :";
 //!!
@@ -209,41 +222,42 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
 //!!  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
 //!!  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 //!!
-//!!  posi_lay->addWidget(new QLabel(tmp_des)    , 4, 0, Qt::AlignLeft);
-//!!
-//!!  posi_lay->addWidget(new QLabel(tr("X"))    , 4, 1, Qt::AlignRight);
-//!!  posi_lay->addWidget(this->get(tmp_tag+"_X"), 4, 2, Qt::AlignRight);
-//!!
-//!!  posi_lay->addWidget(new QLabel(tr("Y"))    , 4, 3, Qt::AlignRight);
-//!!  posi_lay->addWidget(this->get(tmp_tag+"_Y"), 4, 4, Qt::AlignRight);
-//!!
-//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , 4, 5, Qt::AlignRight);
-//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 4, 6, Qt::AlignRight);
+//!!  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+//!!  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+//!!  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+//!!  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+//!!  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
 
   // position: z-position where camera is focused on Assembly Stage surface
+  ++row_index;
+
   tmp_tag = "CameraFocusOnAssemblyStage";
   tmp_des = "Camera Focused on Assembly Stage Surface :";
 
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 5, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 5, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 5, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
 
   // position: z-position where camera is focused on Gluing Stage surface
+  ++row_index;
+
   tmp_tag = "CameraFocusOnGluingStage";
   tmp_des = "Camera Focused on Gluing Stage Surface :";
 
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
 
-  posi_lay->addWidget(new QLabel(tmp_des)    , 6, 0, Qt::AlignLeft);
-
-  posi_lay->addWidget(new QLabel(tr("Z"))    , 6, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), 6, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
 
   //// ---------------------
 
+  row_index = -1;
+
   //// DISTANCES -----------
   dist_wid_ = new QWidget;
 
@@ -253,101 +267,103 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_wid_->setLayout(dist_lay);
 
   // distance: angle between the camera frame and the XY reference frame of the motion stage
+  ++row_index;
+
   tmp_tag = "AngleOfCameraFrameInRefFrame";
   tmp_des = "Angle of Camera Frame in the XY Motion Stage Ref-Frame :";
 
   map_lineEdit_[tmp_tag+"_dA"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 0, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dA"))    , 0, 7, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dA"), 0, 8, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dA"))    , row_index, 7, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dA"), row_index, 8, Qt::AlignRight);
 
   // distance: from Sensor Ref-Point to Sensor Pickup Position
+  ++row_index;
+
   tmp_tag = "FromSensorRefPointToSensorPickup";
   tmp_des = "From Sensor Ref-Point to Sensor Pickup Position :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 1, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dX"))    , 1, 1, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 1, 2, Qt::AlignRight);
-
-  dist_lay->addWidget(new QLabel(tr("dY"))    , 1, 3, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 1, 4, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
   // distance: shift from PS-p marker-1 Ref-Point to PS-s marker-1 Ref-Point
+  ++row_index;
+
   tmp_tag = "FromPSPRefPointToPSSRefPoint";
   tmp_des = "From PS-p Ref-Point To PS-s Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 2, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dX"))    , 2, 1, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 2, 2, Qt::AlignRight);
-
-  dist_lay->addWidget(new QLabel(tr("dY"))    , 2, 3, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 2, 4, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
   // distance: from Spacer Ref-Point to Sensor Ref-Point
+  ++row_index;
+
   tmp_tag = "FromSpacerRefPointToSensorRefPoint";
   tmp_des = "From Spacer Ref-Point to Sensor Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 3, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dX"))    , 3, 1, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 3, 2, Qt::AlignRight);
-
-  dist_lay->addWidget(new QLabel(tr("dY"))    , 3, 3, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 3, 4, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
   // distance: from Baseplate Ref-Point to PS-s Ref-Point relative to Baseplate
+  ++row_index;
+
   tmp_tag = "FromBaseplateRefPointToPSPRefPoint";
   tmp_des = "From Baseplate Ref-Point to PS-p Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 4, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dX"))    , 4, 1, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 4, 2, Qt::AlignRight);
-
-  dist_lay->addWidget(new QLabel(tr("dY"))    , 4, 3, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 4, 4, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
   // distance: from Baseplate Ref-Point to PS-s Ref-Point relative to Baseplate
+  ++row_index;
+
   tmp_tag = "FromPSPToPSSPosToGluingStage";
   tmp_des = "From PSS-To-PSP Position to PSS-To-GluingStage Position :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 5, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dX"))    , 5, 1, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dX"), 5, 2, Qt::AlignRight);
-
-  dist_lay->addWidget(new QLabel(tr("dY"))    , 5, 3, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dY"), 5, 4, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
   // distance: from best-focus z-position to pickup z-position
+  ++row_index;
+
   tmp_tag = "FromCameraBestFocusToPickupHeight";
   tmp_des = "From Best-Focus Height to Pickup Height :";
 
   map_lineEdit_[tmp_tag+"_dZ"] = new QLineEdit(tr(""));
 
-  dist_lay->addWidget(new QLabel(tmp_des)     , 6, 0, Qt::AlignLeft);
-
-  dist_lay->addWidget(new QLabel(tr("dZ"))    , 6, 5, Qt::AlignRight);
-  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), 6, 6, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dZ"))    , row_index, 5, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dZ"), row_index, 6, Qt::AlignRight);
 
   //// ---------------------
 

From 532c77107bda7fe151f25cf11a6e450c63d25df8 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 14:48:07 +0200
Subject: [PATCH 43/58] [assembly] updated
 assemblyCommon/AssemblyParametersView.cc

---
 ...sembly_parameters_DAF_190326_balljoint.cfg | 12 ++++++
 .../assemblyCommon/AssemblyParametersView.cc  | 42 +++++++++++++++++++
 2 files changed, 54 insertions(+)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index beb242446..a61195396 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -37,6 +37,18 @@ RefPointBaseplate_Y        -67.99
 RefPointBaseplate_Z         -3.169
 RefPointBaseplate_A         -0.238
 
+# position: ref-point on assembly platform for calibration of spacers position (spacer aligned along x-axis)
+RefPointCalibrationSpacers_X      0.0
+RefPointCalibrationSpacers_Y      0.0
+RefPointCalibrationSpacers_Z      0.0
+RefPointCalibrationSpacers_A      0.0
+
+# position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
+RefPointCalibrationBaseplate_X    0.0
+RefPointCalibrationBaseplate_Y    0.0
+RefPointCalibrationBaseplate_Z    0.0
+RefPointCalibrationBaseplate_A    0.0
+
 #!! # position: Z-position (height) to put pickup tool in contact with rotation stage
 #!! PickupToolOnRotStage_Z       0.00
 #!! 
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 80aaa4a1f..34d67baab 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -200,6 +200,48 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
   posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
+  // position: XYZA position of ref-point on assembly platform for calibration of spacers
+  ++row_index;
+
+  tmp_tag = "RefPointCalibrationSpacers";
+  tmp_des = "[Calibration: Spacers] Ref-Point :";
+
+  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
+
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
+
+  // position: XYZA position of ref-point on assembly platform for calibration of baseplate
+  ++row_index;
+
+  tmp_tag = "RefPointCalibrationBaseplate";
+  tmp_des = "[Calibration: Baseplate] Ref-Point :";
+
+  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
+
+  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
+
 //!!  // position: Z-position (height) to put pickup tool in contact with rotation stage
 //!!  ++row_index;
 //!!

From 96d3169c466e803d15f98094283dfba036ba18da Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 15:25:15 +0200
Subject: [PATCH 44/58] [assembly] updated
 assemblyCommon/AssemblyParametersView.cc

---
 ...sembly_parameters_DAF_190326_balljoint.cfg |  8 +++++
 .../assemblyCommon/AssemblyParametersView.cc  | 30 +++++++++++++++++++
 2 files changed, 38 insertions(+)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index a61195396..c592e4068 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -94,3 +94,11 @@ FromCameraBestFocusToPickupHeight_dZ   -31.85
 # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
 FromPSPToPSSPosToGluingStage_dX       -148.0
 FromPSPToPSSPosToGluingStage_dY          0.0
+
+# distance: from ref-point on assembly platform (for spacers calibration) to spacer's edge
+FromRefPointCalibrationSpacersToSpacerEdge_dX       0.0
+FromRefPointCalibrationSpacersToSpacerEdge_dY       0.0
+
+# distance: from ref-point on assembly platform (for baseplate calibration) to baseplate's edge
+FromRefPointCalibrationBaseplateToBaseplateEdge_dX  0.0
+FromRefPointCalibrationBaseplateToBaseplateEdge_dY  0.0
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 34d67baab..753ffbc50 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -407,6 +407,36 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dZ"))    , row_index, 5, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dZ"), row_index, 6, Qt::AlignRight);
 
+  // distance: from ref-point on assembly platform (for spacers' calibration) to spacer's edge
+  ++row_index;
+
+  tmp_tag = "FromRefPointCalibrationSpacersToSpacerEdge";
+  tmp_des = "From Ref-Point of Spacers-Calibration to Spacer's Edge :";
+
+  map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
+
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
+
+  // distance: from ref-point on assembly platform (for baseplates' calibration) to baseplate's edge
+  ++row_index;
+
+  tmp_tag = "FromRefPointCalibrationBaseplateToBaseplateEdge";
+  tmp_des = "From Ref-Point of Baseplate-Calibration to Baseplate's Edge :";
+
+  map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
+
+  dist_lay->addWidget(new QLabel(tmp_des)     , row_index, 0, Qt::AlignLeft);
+  dist_lay->addWidget(new QLabel(tr("dX"))    , row_index, 1, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dX"), row_index, 2, Qt::AlignRight);
+  dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
+  dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
+
   //// ---------------------
 
   layout->addStretch(1);

From a31f592fd8f043e14dfab97539beef930f1d14a8 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 15:25:38 +0200
Subject: [PATCH 45/58] [assembly] minor update to
 assembly/AssemblyMainWindow.cc

---
 assembly/assembly/AssemblyMainWindow.cc | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index fc15dbcba..26a1ab929 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -385,14 +385,12 @@ AssemblyMainWindow::AssemblyMainWindow(const QString& outputdir_path, const QStr
 
     NQLog("AssemblyMainWindow", NQLog::Message) << "///////////////////////////////////////////////////////";
     NQLog("AssemblyMainWindow", NQLog::Message) << "//                                                   //";
-    NQLog("AssemblyMainWindow", NQLog::Message) << "//                     DESY-CMS                      //";
-    NQLog("AssemblyMainWindow", NQLog::Message) << "//                                                   //";
     NQLog("AssemblyMainWindow", NQLog::Message) << "//       Automated Pixel-Strip Module Assembly       //";
     NQLog("AssemblyMainWindow", NQLog::Message) << "//                                                   //";
-    NQLog("AssemblyMainWindow", NQLog::Message) << "//  - AssemblyMainWindow initialized successfully -  //";
-    NQLog("AssemblyMainWindow", NQLog::Message) << "//                                                   //";
     NQLog("AssemblyMainWindow", NQLog::Message) << "///////////////////////////////////////////////////////";
 
+    NQLog("AssemblyMainWindow", NQLog::Message) << "application initialized successfully";
+
     // enable camera at startup
     const bool startup_camera = config->getValue<bool>("startup_camera", false);
 

From 57cdcd451691da67a9c5837e42bd3eff3a1ae53b Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 15:30:17 +0200
Subject: [PATCH 46/58] [assembly] updated assemblyCommon/AssemblyImageView.cc
 (only data-member renaming)

---
 assembly/assemblyCommon/AssemblyImageView.cc | 146 +++++++++----------
 assembly/assemblyCommon/AssemblyImageView.h  |  24 ++-
 2 files changed, 83 insertions(+), 87 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyImageView.cc b/assembly/assemblyCommon/AssemblyImageView.cc
index c55942fec..899757fb1 100644
--- a/assembly/assemblyCommon/AssemblyImageView.cc
+++ b/assembly/assemblyCommon/AssemblyImageView.cc
@@ -35,14 +35,14 @@ AssemblyImageView::AssemblyImageView(QWidget* parent) :
   img_celi_button_(nullptr),
 
   // auto-focusing
-  AF_ueye_(nullptr),
-  AF_scroll_(nullptr),
-  AF_result_bestZ_lineed_(nullptr),
-  AF_exe_button_(nullptr),
-  AF_stop_button_(nullptr),
-  AF_param_maxDZ_lineed_(nullptr),
-  AF_param_Nstep_lineed_(nullptr),
-  AF_save_zscan_button_(nullptr)
+  autofocus_ueye_(nullptr),
+  autofocus_scroll_(nullptr),
+  autofocus_result_bestZ_lineed_(nullptr),
+  autofocus_exe_button_(nullptr),
+  autofocus_stop_button_(nullptr),
+  autofocus_param_maxDZ_lineed_(nullptr),
+  autofocus_param_Nstep_lineed_(nullptr),
+  autofocus_save_zscan_button_(nullptr)
 {
   QGridLayout* g0 = new QGridLayout;
   this->setLayout(g0);
@@ -73,39 +73,39 @@ AssemblyImageView::AssemblyImageView(QWidget* parent) :
   // ----------
 
   // auto-focusing
-  QVBoxLayout* AF_result_lay = new QVBoxLayout;
+  QVBoxLayout* autofocus_result_lay = new QVBoxLayout;
 
-  AF_ueye_ = new AssemblyUEyeView(this);
-  AF_ueye_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-  AF_ueye_->setMinimumSize(500, 300);
-  AF_ueye_->setPalette(palette);
-  AF_ueye_->setBackgroundRole(QPalette::Background);
-  AF_ueye_->setScaledContents(true);
-  AF_ueye_->setAlignment(Qt::AlignCenter);
-  AF_ueye_->setZoomFactor(0.75);
+  autofocus_ueye_ = new AssemblyUEyeView(this);
+  autofocus_ueye_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  autofocus_ueye_->setMinimumSize(500, 300);
+  autofocus_ueye_->setPalette(palette);
+  autofocus_ueye_->setBackgroundRole(QPalette::Background);
+  autofocus_ueye_->setScaledContents(true);
+  autofocus_ueye_->setAlignment(Qt::AlignCenter);
+  autofocus_ueye_->setZoomFactor(0.75);
 
-  AF_scroll_ = new QScrollArea(this);
-  AF_scroll_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-  AF_scroll_->setMinimumSize(500, 300);
-  AF_scroll_->setPalette(palette);
-  AF_scroll_->setBackgroundRole(QPalette::Background);
-  AF_scroll_->setAlignment(Qt::AlignCenter);
-  AF_scroll_->setWidget(AF_ueye_);
+  autofocus_scroll_ = new QScrollArea(this);
+  autofocus_scroll_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  autofocus_scroll_->setMinimumSize(500, 300);
+  autofocus_scroll_->setPalette(palette);
+  autofocus_scroll_->setBackgroundRole(QPalette::Background);
+  autofocus_scroll_->setAlignment(Qt::AlignCenter);
+  autofocus_scroll_->setWidget(autofocus_ueye_);
 
-  AF_result_lay->addWidget(AF_scroll_);
+  autofocus_result_lay->addWidget(autofocus_scroll_);
 
-  QHBoxLayout* AF_result_bestZ_lay = new QHBoxLayout;
+  QHBoxLayout* autofocus_result_bestZ_lay = new QHBoxLayout;
 
-  QLabel* AF_result_bestZ_label = new QLabel("Best-Focus Z-position [mm]", this);
-  AF_result_bestZ_lineed_ = new QLineEdit("", this);
-  AF_result_bestZ_lineed_->setReadOnly(true);
+  QLabel* autofocus_result_bestZ_label = new QLabel("Best-Focus Z-position [mm]", this);
+  autofocus_result_bestZ_lineed_ = new QLineEdit("", this);
+  autofocus_result_bestZ_lineed_->setReadOnly(true);
 
-  AF_result_bestZ_lay->addWidget(AF_result_bestZ_label  , 40);
-  AF_result_bestZ_lay->addWidget(AF_result_bestZ_lineed_, 60);
+  autofocus_result_bestZ_lay->addWidget(autofocus_result_bestZ_label  , 40);
+  autofocus_result_bestZ_lay->addWidget(autofocus_result_bestZ_lineed_, 60);
 
-  AF_result_lay->addLayout(AF_result_bestZ_lay);
+  autofocus_result_lay->addLayout(autofocus_result_bestZ_lay);
 
-  g0->addLayout(AF_result_lay, 1, 0);
+  g0->addLayout(autofocus_result_lay, 1, 0);
   // ----------
 
   this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
@@ -137,56 +137,56 @@ AssemblyImageView::AssemblyImageView(QWidget* parent) :
   // ----------
 
   // auto-focusing
-  QVBoxLayout* AF_lay = new QVBoxLayout;
-  g0->addLayout(AF_lay, 1, 1);
+  QVBoxLayout* autofocus_lay = new QVBoxLayout;
+  g0->addLayout(autofocus_lay, 1, 1);
 
-  AF_exe_button_ = new QPushButton("Auto-Focus Image", this);
-  AF_lay->addWidget(AF_exe_button_);
+  autofocus_exe_button_ = new QPushButton("Auto-Focus Image", this);
+  autofocus_lay->addWidget(autofocus_exe_button_);
 
-  AF_stop_button_ = new QPushButton("Stop Auto-Focus", this);
-  AF_lay->addWidget(AF_stop_button_);
+  autofocus_stop_button_ = new QPushButton("Stop Auto-Focus", this);
+  autofocus_lay->addWidget(autofocus_stop_button_);
   // -----
 
-  AF_lay->addSpacing(20);
+  autofocus_lay->addSpacing(20);
 
-  QGroupBox* AF_param_box = new QGroupBox(tr("Auto-Focus Configuration"));
-  AF_param_box->setStyleSheet("QGroupBox { font-weight: bold; } ");
+  QGroupBox* autofocus_param_box = new QGroupBox(tr("Auto-Focus Configuration"));
+  autofocus_param_box->setStyleSheet("QGroupBox { font-weight: bold; } ");
 
-  AF_lay->addWidget(AF_param_box);
+  autofocus_lay->addWidget(autofocus_param_box);
 
-  QVBoxLayout* AF_param_lay = new QVBoxLayout;
-  AF_param_box->setLayout(AF_param_lay);
+  QVBoxLayout* autofocus_param_lay = new QVBoxLayout;
+  autofocus_param_box->setLayout(autofocus_param_lay);
 
-  QHBoxLayout* AF_param_maxDZ_lay = new QHBoxLayout;
-  AF_param_lay->addLayout(AF_param_maxDZ_lay);
+  QHBoxLayout* autofocus_param_maxDZ_lay = new QHBoxLayout;
+  autofocus_param_lay->addLayout(autofocus_param_maxDZ_lay);
 
-  QLabel* AF_param_maxDZ_label = new QLabel("Max delta-Z [mm]", this);
-  AF_param_maxDZ_lineed_ = new QLineEdit("", this);
+  QLabel* autofocus_param_maxDZ_label = new QLabel("Max delta-Z [mm]", this);
+  autofocus_param_maxDZ_lineed_ = new QLineEdit("", this);
 
-  AF_param_maxDZ_lay->addWidget(AF_param_maxDZ_label  , 40);
-  AF_param_maxDZ_lay->addWidget(AF_param_maxDZ_lineed_, 60);
+  autofocus_param_maxDZ_lay->addWidget(autofocus_param_maxDZ_label  , 40);
+  autofocus_param_maxDZ_lay->addWidget(autofocus_param_maxDZ_lineed_, 60);
 
-  QHBoxLayout* AF_param_Nstep_lay = new QHBoxLayout;
-  AF_param_lay->addLayout(AF_param_Nstep_lay);
+  QHBoxLayout* autofocus_param_Nstep_lay = new QHBoxLayout;
+  autofocus_param_lay->addLayout(autofocus_param_Nstep_lay);
 
-  QLabel* AF_param_Nstep_label = new QLabel("# Steps (int)", this);
-  AF_param_Nstep_lineed_ = new QLineEdit("", this);
+  QLabel* autofocus_param_Nstep_label = new QLabel("# Steps (int)", this);
+  autofocus_param_Nstep_lineed_ = new QLineEdit("", this);
 
-  AF_param_Nstep_lay->addWidget(AF_param_Nstep_label  , 40);
-  AF_param_Nstep_lay->addWidget(AF_param_Nstep_lineed_, 60);
+  autofocus_param_Nstep_lay->addWidget(autofocus_param_Nstep_label  , 40);
+  autofocus_param_Nstep_lay->addWidget(autofocus_param_Nstep_lineed_, 60);
   // -----
 
-  AF_lay->addSpacing(20);
+  autofocus_lay->addSpacing(20);
 
-  AF_save_zscan_button_ = new QPushButton("Save Z-Scan Image", this);
-  AF_lay->addWidget(AF_save_zscan_button_);
+  autofocus_save_zscan_button_ = new QPushButton("Save Z-Scan Image", this);
+  autofocus_lay->addWidget(autofocus_save_zscan_button_);
 
-  connect(AF_save_zscan_button_, SIGNAL(clicked()), this, SLOT(save_image_zscan()));
+  connect(autofocus_save_zscan_button_, SIGNAL(clicked()), this, SLOT(save_image_zscan()));
 
   this->connectImageProducer_autofocus(this, SIGNAL(image_zscan_updated(const cv::Mat&)));
   // -----
 
-  AF_lay->addStretch();
+  autofocus_lay->addStretch();
   // ----------
 
   //// --------------------------------------------------
@@ -307,7 +307,7 @@ void AssemblyImageView::modify_image_centerlines()
 
 void AssemblyImageView::update_text(const double z)
 {
-  AF_result_bestZ_lineed_->setText(QString::fromStdString(std::to_string(z)));
+  autofocus_result_bestZ_lineed_->setText(QString::fromStdString(std::to_string(z)));
 
   NQLog("AssemblyImageView", NQLog::Spam) << "update_text"
      << ": displayed value of best z-position (focal point)";
@@ -320,12 +320,12 @@ void AssemblyImageView::update_autofocus_config(const double maxDZ, const int Ns
   std::stringstream maxDZ_strs;
   maxDZ_strs << maxDZ;
 
-  AF_param_maxDZ_lineed_->setText(QString::fromStdString(maxDZ_strs.str()));
+  autofocus_param_maxDZ_lineed_->setText(QString::fromStdString(maxDZ_strs.str()));
 
   std::stringstream Nstep_strs;
   Nstep_strs << Nstep;
 
-  AF_param_Nstep_lineed_->setText(QString::fromStdString(Nstep_strs.str()));
+  autofocus_param_Nstep_lineed_->setText(QString::fromStdString(Nstep_strs.str()));
 
   return;
 }
@@ -333,7 +333,7 @@ void AssemblyImageView::update_autofocus_config(const double maxDZ, const int Ns
 void AssemblyImageView::acquire_autofocus_config()
 {
   // maximum delta-Z movement
-  const QString maxDZ_str = AF_param_maxDZ_lineed_->text();
+  const QString maxDZ_str = autofocus_param_maxDZ_lineed_->text();
 
   bool maxDZ_valid(false);
   const double maxDZ = maxDZ_str.toDouble(&maxDZ_valid);
@@ -348,7 +348,7 @@ void AssemblyImageView::acquire_autofocus_config()
   // -------------------------
 
   // number of steps in Z-scan
-  const QString Nstep_str = AF_param_Nstep_lineed_->text();
+  const QString Nstep_str = autofocus_param_Nstep_lineed_->text();
 
   bool Nstep_valid(false);
   const double Nstep = Nstep_str.toInt(&Nstep_valid);
@@ -410,14 +410,14 @@ void AssemblyImageView::connectImageProducer_autofocus(const QObject* sender, co
 {
   NQLog("AssemblyImageView", NQLog::Debug) << "connectImageProducer_autofocus";
 
-  AF_ueye_->connectImageProducer(sender, signal);
+  autofocus_ueye_->connectImageProducer(sender, signal);
 }
 
 void AssemblyImageView::disconnectImageProducer_autofocus(const QObject* sender, const char* signal)
 {
   NQLog("AssemblyImageView", NQLog::Debug) << "disconnectImageProducer_autofocus";
 
-  AF_ueye_->disconnectImageProducer(sender, signal);
+  autofocus_ueye_->disconnectImageProducer(sender, signal);
 }
 
 void AssemblyImageView::keyReleaseEvent(QKeyEvent* event)
@@ -428,25 +428,25 @@ void AssemblyImageView::keyReleaseEvent(QKeyEvent* event)
     {
       case Qt::Key_0:
 //        img_ueye_->setZoomFactor(0.25);
-//        AF_ueye_ ->setZoomFactor(0.25);
+//        autofocus_ueye_ ->setZoomFactor(0.25);
         event->accept();
         break;
 
       case Qt::Key_1:
 //        img_ueye_->setZoomFactor(1.00);
-//        AF_ueye_ ->setZoomFactor(1.00);
+//        autofocus_ueye_ ->setZoomFactor(1.00);
         event->accept();
         break;
 
       case Qt::Key_Plus:
 //        img_ueye_->increaseZoomFactor();
-//        AF_ueye_ ->increaseZoomFactor();
+//        autofocus_ueye_ ->increaseZoomFactor();
         event->accept();
         break;
 
       case Qt::Key_Minus:
 //        img_ueye_->decreaseZoomFactor();
-//        AF_ueye_ ->decreaseZoomFactor();
+//        autofocus_ueye_ ->decreaseZoomFactor();
         event->accept();
         break;
 
diff --git a/assembly/assemblyCommon/AssemblyImageView.h b/assembly/assemblyCommon/AssemblyImageView.h
index c7df347d1..789b739c8 100644
--- a/assembly/assemblyCommon/AssemblyImageView.h
+++ b/assembly/assemblyCommon/AssemblyImageView.h
@@ -39,8 +39,8 @@ class AssemblyImageView : public QWidget
   void    connectImageProducer_autofocus(const QObject* sender, const char* signal);
   void disconnectImageProducer_autofocus(const QObject* sender, const char* signal);
 
-  QPushButton* autofocus_button() const { return AF_exe_button_; }
-  QPushButton* autofocus_emergencyStop_button() const { return AF_stop_button_; }
+  QPushButton* autofocus_button() const { return autofocus_exe_button_; }
+  QPushButton* autofocus_emergencyStop_button() const { return autofocus_stop_button_; }
 
  protected:
 
@@ -61,18 +61,14 @@ class AssemblyImageView : public QWidget
   // -------------------
 
   // auto-focusing
-  AssemblyUEyeView* AF_ueye_;
-  QScrollArea*      AF_scroll_;
-
-  QLineEdit* AF_result_bestZ_lineed_;
-
-  QPushButton* AF_exe_button_;
-  QPushButton* AF_stop_button_;
-
-  QLineEdit* AF_param_maxDZ_lineed_;
-  QLineEdit* AF_param_Nstep_lineed_;
-
-  QPushButton* AF_save_zscan_button_;
+  AssemblyUEyeView *autofocus_ueye_;
+  QScrollArea      *autofocus_scroll_;
+  QLineEdit        *autofocus_result_bestZ_lineed_;
+  QPushButton      *autofocus_exe_button_;
+  QPushButton      *autofocus_stop_button_;
+  QLineEdit        *autofocus_param_maxDZ_lineed_;
+  QLineEdit        *autofocus_param_Nstep_lineed_;
+  QPushButton      *autofocus_save_zscan_button_;
 
   cv::Mat image_zscan_;
   // -------------------

From 98122e1f3c44eccfc351fa6798426978dbf311ca Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 16:26:09 +0200
Subject: [PATCH 47/58] [assembly] updated assemblyCommon/AssemblyAssembly.cc

---
 assembly/assemblyCommon/AssemblyAssembly.cc   | 198 ++++++------------
 assembly/assemblyCommon/AssemblyAssembly.h    |  20 +-
 .../assemblyCommon/AssemblyAssemblyView.cc    |  38 +---
 .../LStepExpressMotionManager.cc              |   2 +-
 4 files changed, 75 insertions(+), 183 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index 90e3ea60c..05a640c0a 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -559,99 +559,65 @@ void AssemblyAssembly::PickupPSS_finish()
 // ----------------------------------------------------------------------------------------------------
 
 // ----------------------------------------------------------------------------------------------------
-// GoToSpacerRefPoint ---------------------------------------------------------------------------------
+// GoToXYAPositionToGluePSSToSpacers ------------------------------------------------------------------
 // ----------------------------------------------------------------------------------------------------
-void AssemblyAssembly::GoToSpacerRefPoint_start()
+void AssemblyAssembly::GoToXYAPositionToGluePSSToSpacers_start()
 {
   const bool valid_params = this->parameters()->update();
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToSpacerRefPoint_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToXYAPositionToGluePSSToSpacers_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSpacerRefPoint_finish"
-       << ": emitting signal \"GoToSpacerRefPoint_finished\"";
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGluePSSToSpacers_finish"
+       << ": emitting signal \"GoToXYAPositionToGluePSSToSpacers_finished\"";
 
-    emit GoToSpacerRefPoint_finished();
+    emit GoToXYAPositionToGluePSSToSpacers_finished();
 
     return;
   }
 
-  const double x0 = this->parameters()->get("RefPointSpacer_X");
-  const double y0 = this->parameters()->get("RefPointSpacer_Y");
-  const double z0 = this->parameters()->get("RefPointSpacer_Z");
-  const double a0 = this->parameters()->get("RefPointSpacer_A");
-
-  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSpacerRefPoint_finish()));
-
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSpacerRefPoint_start"
-     << ": emitting signal \"move_absolute_request(" << x0 << ", " << y0 << ", " << z0 << ", " << a0 << ")\"";
-
-  emit move_absolute_request(x0, y0, z0, a0);
-}
-
-void AssemblyAssembly::GoToSpacerRefPoint_finish()
-{
-  disconnect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToSpacerRefPoint_finish()));
-
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToSpacerRefPoint_finish"
-     << ": emitting signal \"GoToSpacerRefPoint_finished\"";
-
-  emit GoToSpacerRefPoint_finished();
-
-  NQLog("AssemblyAssembly", NQLog::Message) << "GoToSpacerRefPoint_finish"
-     << ": assembly-step completed";
-}
-// ----------------------------------------------------------------------------------------------------
-
-// ----------------------------------------------------------------------------------------------------
-// GoFromSpacerRefPointToSpacerGluingXYPosition -------------------------------------------------------
-// ----------------------------------------------------------------------------------------------------
-void AssemblyAssembly::GoFromSpacerRefPointToSpacerGluingXYPosition_start()
-{
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSpacerRefPointToSpacerGluingXYPosition_finish"
-       << ": emitting signal \"GoFromSpacerRefPointToSpacerGluingXYPosition_finished\"";
-
-    emit GoFromSpacerRefPointToSpacerGluingXYPosition_finished();
+  const double dx0 =
+     this->parameters()->get("RefPointCalibrationSpacers_X")
+   + this->parameters()->get("FromRefPointCalibrationSpacersToSpacerEdge_dX")
+   + this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dX")
+   + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
+   - motion_->get_position_X();
 
-    return;
-  }
+  const double dy0 =
+     this->parameters()->get("RefPointCalibrationSpacers_Y")
+   + this->parameters()->get("FromRefPointCalibrationSpacersToSpacerEdge_dY")
+   + this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dY")
+   + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
+   - motion_->get_position_Y();
 
-  const double dx0 = this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dX") + this->parameters()->get("FromSensorRefPointToSensorPickup_dX");
-  const double dy0 = this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dY") + this->parameters()->get("FromSensorRefPointToSensorPickup_dY");
   const double dz0 = 0.0;
-  const double da0 = 0.0;
+
+  const double da0 =
+     this->parameters()->get("RefPointCalibrationSpacers_A")
+   - motion_->get_position_A();
 
   connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSpacerRefPointToSpacerGluingXYPosition_finish()));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToXYAPositionToGluePSSToSpacers_finish()));
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSpacerRefPointToSpacerGluingXYPosition_start"
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGluePSSToSpacers_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
   emit move_relative_request(dx0, dy0, dz0, da0);
 }
 
-void AssemblyAssembly::GoFromSpacerRefPointToSpacerGluingXYPosition_finish()
+void AssemblyAssembly::GoToXYAPositionToGluePSSToSpacers_finish()
 {
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromSpacerRefPointToSpacerGluingXYPosition_finish()));
+  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToXYAPositionToGluePSSToSpacers_finish()));
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromSpacerRefPointToSpacerGluingXYPosition_finish"
-     << ": emitting signal \"GoFromSpacerRefPointToSpacerGluingXYPosition_finished\"";
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGluePSSToSpacers_finish"
+     << ": emitting signal \"GoToXYAPositionToGluePSSToSpacers_finished\"";
 
-  emit GoFromSpacerRefPointToSpacerGluingXYPosition_finished();
+  emit GoToXYAPositionToGluePSSToSpacers_finished();
 
-  NQLog("AssemblyAssembly", NQLog::Message) << "GoFromSpacerRefPointToSpacerGluingXYPosition_finish"
+  NQLog("AssemblyAssembly", NQLog::Message) << "GoToXYAPositionToGluePSSToSpacers_finish"
      << ": assembly-step completed";
 }
 // ----------------------------------------------------------------------------------------------------
@@ -1223,107 +1189,67 @@ void AssemblyAssembly::PickupPSPAndPSS_finish()
 // ----------------------------------------------------------------------------------------------------
 
 // ----------------------------------------------------------------------------------------------------
-// GoToBaseplateRefPoint ---------------------------------------------------------------------------------
-// ----------------------------------------------------------------------------------------------------
-void AssemblyAssembly::GoToBaseplateRefPoint_start()
-{
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
-  {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToBaseplateRefPoint_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
-
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToBaseplateRefPoint_finish"
-       << ": emitting signal \"GoToBaseplateRefPoint_finished\"";
-
-    emit GoToBaseplateRefPoint_finished();
-
-    return;
-  }
-
-  const double x0 = this->parameters()->get("RefPointBaseplate_X");
-  const double y0 = this->parameters()->get("RefPointBaseplate_Y");
-  const double z0 = this->parameters()->get("RefPointBaseplate_Z");
-  const double a0 = this->parameters()->get("RefPointBaseplate_A");
-
-  connect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToBaseplateRefPoint_finish()));
-
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToBaseplateRefPoint_start"
-     << ": emitting signal \"move_absolute_request(" << x0 << ", " << y0 << ", " << z0 << ", " << a0 << ")\"";
-
-  emit move_absolute_request(x0, y0, z0, a0);
-}
-
-void AssemblyAssembly::GoToBaseplateRefPoint_finish()
-{
-  disconnect(this, SIGNAL(move_absolute_request(double, double, double, double)), motion_, SLOT(moveAbsolute(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToBaseplateRefPoint_finish()));
-
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToBaseplateRefPoint_finish"
-     << ": emitting signal \"GoToBaseplateRefPoint_finished\"";
-
-  emit GoToBaseplateRefPoint_finished();
-
-  NQLog("AssemblyAssembly", NQLog::Message) << "GoToBaseplateRefPoint_finish"
-     << ": assembly-step completed";
-}
-// ----------------------------------------------------------------------------------------------------
-
-// ----------------------------------------------------------------------------------------------------
-// GoFromBaseplateRefPointToBaseplateGluingXYPosition -------------------------------------------------
+// GoToXYAPositionToGlueSensorAssemblyToBaseplate -------------------------------------------------------
 // ----------------------------------------------------------------------------------------------------
-void AssemblyAssembly::GoFromBaseplateRefPointToBaseplateGluingXYPosition_start()
+void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_start()
 {
   const bool valid_params = this->parameters()->update();
 
   if(valid_params == false)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoToXYAPositionToGlueSensorAssemblyToBaseplate_start"
        << ": failed to update content of AssemblyParameters, no action taken";
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish"
-       << ": emitting signal \"GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished\"";
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish"
+       << ": emitting signal \"GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished\"";
 
-    emit GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished();
+    emit GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished();
 
     return;
   }
 
   const double dx0 =
-      this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX")
-    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX")
-    + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
-  ;
+     this->parameters()->get("RefPointCalibrationBaseplate_X")
+   + this->parameters()->get("FromRefPointCalibrationBaseplateToBaseplateEdge_dX")
+   + this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX")
+   + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX")
+   + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
+   - motion_->get_position_X();
+
   const double dy0 =
-      this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY")
-    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY")
-    + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
-  ;
+     this->parameters()->get("RefPointCalibrationBaseplate_Y")
+   + this->parameters()->get("FromRefPointCalibrationBaseplateToBaseplateEdge_dY")
+   + this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY")
+   + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY")
+   + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
+   - motion_->get_position_Y();
+
   const double dz0 = 0.0;
-  const double da0 = 0.0;
+
+  const double da0 =
+     this->parameters()->get("RefPointCalibrationBaseplate_A")
+   - motion_->get_position_A();
 
   connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish()));
+  connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish()));
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_start"
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGlueSensorAssemblyToBaseplate_start"
      << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
   emit move_relative_request(dx0, dy0, dz0, da0);
 }
 
-void AssemblyAssembly::GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish()
+void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish()
 {
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish()));
+  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish()));
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish"
-     << ": emitting signal \"GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished\"";
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish"
+     << ": emitting signal \"GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished\"";
 
-  emit GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished();
+  emit GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished();
 
-  NQLog("AssemblyAssembly", NQLog::Message) << "GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish"
+  NQLog("AssemblyAssembly", NQLog::Message) << "GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish"
      << ": assembly-step completed";
 }
 // ----------------------------------------------------------------------------------------------------
diff --git a/assembly/assemblyCommon/AssemblyAssembly.h b/assembly/assemblyCommon/AssemblyAssembly.h
index c096a4ca3..96fbf7d8b 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.h
+++ b/assembly/assemblyCommon/AssemblyAssembly.h
@@ -77,11 +77,8 @@ class AssemblyAssembly : public QObject
   void PickupPSS_start();
   void PickupPSS_finish();
 
-  void GoToSpacerRefPoint_start();
-  void GoToSpacerRefPoint_finish();
-
-  void GoFromSpacerRefPointToSpacerGluingXYPosition_start();
-  void GoFromSpacerRefPointToSpacerGluingXYPosition_finish();
+  void GoToXYAPositionToGluePSSToSpacers_start();
+  void GoToXYAPositionToGluePSSToSpacers_finish();
 
   void LowerPSSOntoSpacers_start();
   void LowerPSSOntoSpacers_finish();
@@ -110,11 +107,8 @@ class AssemblyAssembly : public QObject
   void PickupPSPAndPSS_start();
   void PickupPSPAndPSS_finish();
 
-  void GoToBaseplateRefPoint_start();
-  void GoToBaseplateRefPoint_finish();
-
-  void GoFromBaseplateRefPointToBaseplateGluingXYPosition_start();
-  void GoFromBaseplateRefPointToBaseplateGluingXYPosition_finish();
+  void GoToXYAPositionToGlueSensorAssemblyToBaseplate_start();
+  void GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish();
 
   void LowerSensorAssemblyOntoBaseplate_start();
   void LowerSensorAssemblyOntoBaseplate_finish();
@@ -159,7 +153,7 @@ class AssemblyAssembly : public QObject
 
   void GoToSpacerRefPoint_finished();
 
-  void GoFromSpacerRefPointToSpacerGluingXYPosition_finished();
+  void GoToXYAPositionToGluePSSToSpacers_finished();
 
   void LowerPSSOntoSpacers_finished();
 
@@ -182,9 +176,7 @@ class AssemblyAssembly : public QObject
 
   void PickupPSPAndPSS_finished();
 
-  void GoToBaseplateRefPoint_finished();
-
-  void GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished();
+  void GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished();
 
   void LowerSensorAssemblyOntoBaseplate_finished();
   // ------
diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 61cb5ed5d..668727e6b 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -233,29 +233,16 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Go To XYZA Spacer Ref-Point
+  // step: Go To XYA Position To Glue PS-s to Spacers
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go To XYZA Spacer Ref-Point");
+    tmp_wid->button()->setText("Go To XYA Position To Glue Sensor Assembly To Baseplate");
     PSSToSpacers_lay->addWidget(tmp_wid);
 
-    tmp_wid->connect_action(assembly, SLOT(GoToSpacerRefPoint_start()), SIGNAL(GoToSpacerRefPoint_finished()));
-  }
-  // ----------
-
-  // step: Go To XY Position To Glue Spacers to PS-s
-  {
-    ++assembly_step_N_;
-
-    AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
-    tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go To XY Position To Glue Spacers to PS-s");
-    PSSToSpacers_lay->addWidget(tmp_wid);
-
-    tmp_wid->connect_action(assembly, SLOT(GoFromSpacerRefPointToSpacerGluingXYPosition_start()), SIGNAL(GoFromSpacerRefPointToSpacerGluingXYPosition_finished()));
+    tmp_wid->connect_action(assembly, SLOT(GoToXYAPositionToGluePSSToSpacers_start()), SIGNAL(GoToXYAPositionToGluePSSToSpacers_finished()));
   }
   // ----------
 
@@ -531,29 +518,16 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
   }
   // ----------
 
-  // step: Go To XYZA Baseplate Ref-Point
-  {
-    ++assembly_step_N_;
-
-    AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
-    tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go To XYZA Baseplate Ref-Point");
-    PSToBasep_lay->addWidget(tmp_wid);
-
-    tmp_wid->connect_action(assembly, SLOT(GoToBaseplateRefPoint_start()), SIGNAL(GoToBaseplateRefPoint_finished()));
-  }
-  // ----------
-
-  // step: Go To XY Position To Glue Sensor Assembly To Baseplate
+  // step: Go To XYA Position To Glue Sensor Assembly To Baseplate
   {
     ++assembly_step_N_;
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go To XY Position To Glue Sensor Assembly To Baseplate");
+    tmp_wid->button()->setText("Go To XYA Position To Glue Sensor Assembly To Baseplate");
     PSToBasep_lay->addWidget(tmp_wid);
 
-    tmp_wid->connect_action(assembly, SLOT(GoFromBaseplateRefPointToBaseplateGluingXYPosition_start()), SIGNAL(GoFromBaseplateRefPointToBaseplateGluingXYPosition_finished()));
+    tmp_wid->connect_action(assembly, SLOT(GoToXYAPositionToGlueSensorAssemblyToBaseplate_start()), SIGNAL(GoToXYAPositionToGlueSensorAssemblyToBaseplate_finished()));
   }
   // ----------
 
diff --git a/assembly/assemblyCommon/LStepExpressMotionManager.cc b/assembly/assemblyCommon/LStepExpressMotionManager.cc
index 902a5345a..6c4761159 100644
--- a/assembly/assemblyCommon/LStepExpressMotionManager.cc
+++ b/assembly/assemblyCommon/LStepExpressMotionManager.cc
@@ -309,7 +309,7 @@ double LStepExpressMotionManager::get_position(const int axis) const
   //    the motion stage is not moving and the list of positions has a valid format
   //
   // output:
-  //  * it is not safe to return if all the above conditions are not met
+  //  * it is not safe to return if any of the conditions above is not satisfied
   //  * this means the 'while' shoud not be broken or shortcut (a priori, it might never finish)
   //  * after a certain number of attempts, explicit warnings are printed
   //

From afaecc18da1d72fc4367c9a20a2a5a643414ef4d Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Sat, 11 May 2019 17:47:43 +0200
Subject: [PATCH 48/58] [assembly] updated assemblyCommon/AssemblyAssembly.cc

---
 ...sembly_parameters_DAF_190326_balljoint.cfg |   4 +-
 assembly/assemblyCommon/AssemblyAssembly.cc   | 420 ++++++++++--------
 2 files changed, 242 insertions(+), 182 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index c592e4068..176961193 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -12,8 +12,8 @@ Thickness_Baseplate   0.000
 Thickness_PSS         0.700
 Thickness_PSP         0.700
 Thickness_Spacer      0.705
-Depth_SpacerSlots     0.000
-Thickness_GlueLayer   0.030
+Depth_SpacerSlots     0.350
+Thickness_GlueLayer   0.020
 
 ####################################
 ### POSITIONS ######################
diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index 05a640c0a..f5267a673 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -456,41 +456,52 @@ void AssemblyAssembly::GoFromSensorMarkerToPickupXY_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LowerPickupToolOntoPSS_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPickupToolOntoPSS_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_finish"
-       << ": emitting signal \"LowerPickupToolOntoPSS_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPickupToolOntoPSS_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit LowerPickupToolOntoPSS_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_finish"
+         << ": emitting signal \"LowerPickupToolOntoPSS_finished\"";
 
-    return;
-  }
+      emit LowerPickupToolOntoPSS_finished();
 
-  const double dx0 = 0.0;
-  const double dy0 = 0.0;
-  const double dz0 = this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ");
-  const double da0 = 0.0;
+      return;
+    }
+
+    const double dx0 = 0.0;
+    const double dy0 = 0.0;
+    const double dz0 = this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ");
+    const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerPickupToolOntoPSS_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerPickupToolOntoPSS_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPickupToolOntoPSS_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::LowerPickupToolOntoPSS_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_finish"
+       << ": emitting signal \"LowerPickupToolOntoPSS_finished\"";
+
+    emit LowerPickupToolOntoPSS_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::LowerPickupToolOntoPSS_finish()
@@ -498,9 +509,6 @@ void AssemblyAssembly::LowerPickupToolOntoPSS_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerPickupToolOntoPSS_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerPickupToolOntoPSS_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPickupToolOntoPSS_finish"
      << ": emitting signal \"LowerPickupToolOntoPSS_finished\"";
 
@@ -524,7 +532,7 @@ void AssemblyAssembly::PickupPSS_start()
   if(dz0 <= 0.)
   {
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSS_start"
-       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dz=" << dz0 << "), no action taken";
 
     NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSS_finish"
        << ": emitting signal \"PickupPSS_finished\"";
@@ -627,45 +635,61 @@ void AssemblyAssembly::GoToXYAPositionToGluePSSToSpacers_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LowerPSSOntoSpacers_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPSSOntoSpacers_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_finish"
-       << ": emitting signal \"LowerPSSOntoSpacers_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPSSOntoSpacers_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit LowerPSSOntoSpacers_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_finish"
+         << ": emitting signal \"LowerPSSOntoSpacers_finished\"";
 
-    return;
-  }
+      emit LowerPSSOntoSpacers_finished();
 
-  const double dx0 = 0.0;
-  const double dy0 = 0.0;
-  const double dz0 =
-      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
-    + this->parameters()->get("Thickness_PSS")
-    + this->parameters()->get("Thickness_GlueLayer")
-  ;
-  const double da0 = 0.0;
+      return;
+    }
+
+    const double dx0 = 0.0;
+    const double dy0 = 0.0;
+
+    const double dz0 =
+        this->parameters()->get("CameraFocusOnAssemblyStage_Z")
+      - this->parameters()->get("Depth_SpacerSlots")
+      + this->parameters()->get("Thickness_Spacer")
+      + this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+      + this->parameters()->get("Thickness_PSS")
+      + this->parameters()->get("Thickness_GlueLayer")
+      - motion_->get_position_Z();
+
+    const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerPSSOntoSpacers_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerPSSOntoSpacers_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerPSSOntoSpacers_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::LowerPSSOntoSpacers_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_finish"
+       << ": emitting signal \"LowerPSSOntoSpacers_finished\"";
+
+    emit LowerPSSOntoSpacers_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::LowerPSSOntoSpacers_finish()
@@ -673,9 +697,6 @@ void AssemblyAssembly::LowerPSSOntoSpacers_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerPSSOntoSpacers_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerPSSOntoSpacers_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "LowerPSSOntoSpacers_finish"
      << ": emitting signal \"LowerPSSOntoSpacers_finished\"";
 
@@ -777,41 +798,52 @@ void AssemblyAssembly::RegisterPSPToPSSPosition_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
-       << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+         << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
 
-    return;
-  }
+      emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
 
-  const double dx0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dX");
-  const double dy0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dY");
-  const double dz0 = this->parameters()->get("CameraFocusOnGluingStage_Z") - motion_->get_position_Z();
-  const double da0 = 0.0;
+      return;
+    }
+
+    const double dx0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dX");
+    const double dy0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dY");
+    const double dz0 = this->parameters()->get("CameraFocusOnGluingStage_Z") - motion_->get_position_Z();
+    const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+       << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+
+    emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_finish()
@@ -819,9 +851,6 @@ void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
      << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
 
@@ -837,47 +866,59 @@ void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoGluingStage_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
-       << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoGluingStage_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit LowerSpacersAndPSSOntoGluingStage_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
+         << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
 
-    return;
-  }
+      emit LowerSpacersAndPSSOntoGluingStage_finished();
 
-  const double dx0 = 0.0;
-  const double dy0 = 0.0;
-  const double dz0 =
-      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
-    + this->parameters()->get("Thickness_PSS")
-    + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_Spacer")
-    + this->parameters()->get("Thickness_GlueLayer")
-  ;
-  const double da0 = 0.0;
+      return;
+    }
+
+    const double dx0 = 0.0;
+    const double dy0 = 0.0;
+
+    const double dz0 =
+        this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+      + this->parameters()->get("Thickness_PSS")
+      + this->parameters()->get("Thickness_GlueLayer")
+      + this->parameters()->get("Thickness_Spacer")
+      + this->parameters()->get("Thickness_GlueLayer");
+
+    const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoGluingStage_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
+       << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
+
+    emit LowerSpacersAndPSSOntoGluingStage_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_finish()
@@ -885,9 +926,6 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoGluingStage_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoGluingStage_finish"
      << ": emitting signal \"LowerSpacersAndPSSOntoGluingStage_finished\"";
 
@@ -930,7 +968,7 @@ void AssemblyAssembly::ReturnToPSPToPSSPosition_start()
     if(dz0 <= 0.)
     {
       NQLog("AssemblyAssembly", NQLog::Critical) << "ReturnToPSPToPSSPosition_start"
-         << ": invalid (non-positive) value for vertical upward movement (dZ=" << dz0 << "), no action taken";
+         << ": invalid (non-positive) value for vertical upward movement (dz=" << dz0 << "), no action taken";
 
       NQLog("AssemblyAssembly", NQLog::Spam) << "ReturnToPSPToPSSPosition_finish"
          << ": emitting signal \"ReturnToPSPToPSSPosition_finished\"";
@@ -986,47 +1024,60 @@ void AssemblyAssembly::ReturnToPSPToPSSPosition_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoPSP_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_finish"
-       << ": emitting signal \"LowerSpacersAndPSSOntoPSP_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoPSP_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit LowerSpacersAndPSSOntoPSP_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_finish"
+         << ": emitting signal \"LowerSpacersAndPSSOntoPSP_finished\"";
 
-    return;
-  }
+      emit LowerSpacersAndPSSOntoPSP_finished();
+
+      return;
+    }
+
+    const double dx0 = 0.0;
+    const double dy0 = 0.0;
+
+    const double dz0 =
+        this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+      + this->parameters()->get("Thickness_PSS")
+      + this->parameters()->get("Thickness_GlueLayer")
+      + this->parameters()->get("Thickness_Spacer")
+      + this->parameters()->get("Thickness_GlueLayer");
+
+    const double da0 = 0.0;
 
-  const double dx0 = 0.0;
-  const double dy0 = 0.0;
-  const double dz0 =
-      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
-    + this->parameters()->get("Thickness_PSS")
-    + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_Spacer")
-    + this->parameters()->get("Thickness_GlueLayer")
-  ;
-  const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoPSP_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoPSP_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSpacersAndPSSOntoPSP_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_finish"
+       << ": emitting signal \"LowerSpacersAndPSSOntoPSP_finished\"";
+
+    emit LowerSpacersAndPSSOntoPSP_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_finish()
@@ -1034,9 +1085,6 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoPSP_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSpacersAndPSSOntoPSP_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSpacersAndPSSOntoPSP_finish"
      << ": emitting signal \"LowerSpacersAndPSSOntoPSP_finished\"";
 
@@ -1060,7 +1108,7 @@ void AssemblyAssembly::PickupSpacersAndPSS_start()
   if(dz0 <= 0.)
   {
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupSpacersAndPSS_start"
-       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dz=" << dz0 << "), no action taken";
 
     NQLog("AssemblyAssembly", NQLog::Spam) << "PickupSpacersAndPSS_finish"
        << ": emitting signal \"PickupSpacersAndPSS_finished\"";
@@ -1107,7 +1155,7 @@ void AssemblyAssembly::LiftUpPickupTool_start()
   if(dz0 <= 0.)
   {
     NQLog("AssemblyAssembly", NQLog::Critical) << "LiftUpPickupTool_start"
-       << ": invalid (non-positive) value for vertical upward movement for pickup #2 (dZ=" << dz0 << "), no action taken";
+       << ": invalid (non-positive) value for vertical upward movement for pickup #2 (dz=" << dz0 << "), no action taken";
 
     NQLog("AssemblyAssembly", NQLog::Spam) << "LiftUpPickupTool_finish"
        << ": emitting signal \"LiftUpPickupTool_finished\"";
@@ -1154,7 +1202,7 @@ void AssemblyAssembly::PickupPSPAndPSS_start()
   if(dz0 <= 0.)
   {
     NQLog("AssemblyAssembly", NQLog::Critical) << "PickupPSPAndPSS_start"
-       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dZ=" << dz0 << "), no action taken";
+       << ": invalid (non-positive) value for vertical upward movement for pickup #1 (dz=" << dz0 << "), no action taken";
 
     NQLog("AssemblyAssembly", NQLog::Spam) << "PickupPSPAndPSS_finish"
        << ": emitting signal \"PickupPSPAndPSS_finished\"";
@@ -1189,7 +1237,7 @@ void AssemblyAssembly::PickupPSPAndPSS_finish()
 // ----------------------------------------------------------------------------------------------------
 
 // ----------------------------------------------------------------------------------------------------
-// GoToXYAPositionToGlueSensorAssemblyToBaseplate -------------------------------------------------------
+// GoToXYAPositionToGlueSensorAssemblyToBaseplate -----------------------------------------------------
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_start()
 {
@@ -1259,49 +1307,64 @@ void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_finish()
 // ----------------------------------------------------------------------------------------------------
 void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
 {
-  const bool valid_params = this->parameters()->update();
-
-  if(valid_params == false)
+  if(use_smartMove_)
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSensorAssemblyOntoBaseplate_start"
-       << ": failed to update content of AssemblyParameters, no action taken";
+    const bool valid_params = this->parameters()->update();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_finish"
-       << ": emitting signal \"LowerSensorAssemblyOntoBaseplate_finished\"";
+    if(valid_params == false)
+    {
+      NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSensorAssemblyOntoBaseplate_start"
+         << ": failed to update content of AssemblyParameters, no action taken";
 
-    emit LowerSensorAssemblyOntoBaseplate_finished();
+      NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_finish"
+         << ": emitting signal \"LowerSensorAssemblyOntoBaseplate_finished\"";
 
-    return;
-  }
+      emit LowerSensorAssemblyOntoBaseplate_finished();
 
-  const double dx0 = 0.0;
-  const double dy0 = 0.0;
-  const double dz0 =
-      this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
-    + this->parameters()->get("Thickness_PSS")
-    + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_Spacer")
-    + this->parameters()->get("Thickness_GlueLayer")
-    + this->parameters()->get("Thickness_PSP")
-    + this->parameters()->get("Thickness_GlueLayer")
-  ;
-  const double da0 = 0.0;
+      return;
+    }
+
+    const double dx0 = 0.0;
+    const double dy0 = 0.0;
+
+    const double dz0 =
+        this->parameters()->get("CameraFocusOnAssemblyStage_Z")
+      + this->parameters()->get("Thickness_Baseplate")
+      + this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+      + this->parameters()->get("Thickness_PSS")
+      + this->parameters()->get("Thickness_GlueLayer")
+      + this->parameters()->get("Thickness_Spacer")
+      + this->parameters()->get("Thickness_GlueLayer")
+      + this->parameters()->get("Thickness_PSP")
+      + this->parameters()->get("Thickness_GlueLayer")
+      - motion_->get_position_Z();
+
+    const double da0 = 0.0;
 
-  if(use_smartMove_)
-  {
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSensorAssemblyOntoBaseplate_finish()));
+
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_start"
+       << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+
+    emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-    connect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSensorAssemblyOntoBaseplate_finish()));
-  }
+    NQLog("AssemblyAssembly", NQLog::Critical) << "LowerSensorAssemblyOntoBaseplate_start"
+       << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_start"
-     << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
+    QMessageBox msgBox;
+    msgBox.setText(tr("AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.exec();
 
-  emit move_relative_request(dx0, dy0, dz0, da0);
+    NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_finish"
+       << ": emitting signal \"LowerSensorAssemblyOntoBaseplate_finished\"";
+
+    emit LowerSensorAssemblyOntoBaseplate_finished();
+
+    return;
+  }
 }
 
 void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_finish()
@@ -1309,9 +1372,6 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_finish()
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
   disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSensorAssemblyOntoBaseplate_finish()));
 
-  disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
-  disconnect(motion_, SIGNAL(motion_finished()), this, SLOT(LowerSensorAssemblyOntoBaseplate_finish()));
-
   NQLog("AssemblyAssembly", NQLog::Spam) << "LowerSensorAssemblyOntoBaseplate_finish"
      << ": emitting signal \"LowerSensorAssemblyOntoBaseplate_finished\"";
 

From 388622faf07d21cc4f5971fdd87e070d86adb9da Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 08:51:16 +0200
Subject: [PATCH 49/58] [devices/Lang] updated a stdout message

---
 devices/Lang/LStepExpress.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/devices/Lang/LStepExpress.cpp b/devices/Lang/LStepExpress.cpp
index ba262156d..2c9e8493d 100644
--- a/devices/Lang/LStepExpress.cpp
+++ b/devices/Lang/LStepExpress.cpp
@@ -95,7 +95,7 @@ void LStepExpress::DeviceInit()
     {
       std::cout << std::endl;
       std::cout << " LStepExpress::DeviceInit ---";
-      std::cout << " device with invalid version [Command(\"ver\") = " << buf << "]";
+      std::cout << " device with invalid version [Command(\"ver\") = \"" << buf << "\"]";
       std::cout << ", device set to NON AVAILABLE";
       std::cout << std::endl << std::endl;
 
@@ -114,7 +114,7 @@ void LStepExpress::DeviceInit()
     ){
       std::cout << std::endl;
       std::cout << " LStepExpress::DeviceInit ---";
-      std::cout << " device with invalid internal version [Command(\"iver\") = " << buf << "]";
+      std::cout << " device with invalid internal version [Command(\"iver\") = \"" << buf << "\"]";
       std::cout << ", device set to NON AVAILABLE";
       std::cout << std::endl << std::endl;
 
@@ -137,7 +137,7 @@ void LStepExpress::DeviceInit()
     ){
       std::cout << std::endl;
       std::cout << " LStepExpress::DeviceInit ---";
-      std::cout << " device with invalid serial number [Command(\"readsn\") = " << serialNumber << "]";
+      std::cout << " device with invalid serial number [Command(\"readsn\") = \"" << serialNumber << "\"]";
       std::cout << ", device set to NON AVAILABLE";
       std::cout << std::endl << std::endl;
 

From 6fc2b7e56c3b9796287e30ebccf14ae76d587310 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 09:22:45 +0200
Subject: [PATCH 50/58] [assembly] fixed comment in
 assemblyCommon/AssemblyAssemblyView.cc

---
 assembly/assemblyCommon/AssemblyAssemblyView.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 668727e6b..5ab1b8025 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -239,7 +239,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
 
     AssemblyAssemblyActionWidget* tmp_wid = new AssemblyAssemblyActionWidget;
     tmp_wid->label() ->setText(QString::number(assembly_step_N_));
-    tmp_wid->button()->setText("Go To XYA Position To Glue Sensor Assembly To Baseplate");
+    tmp_wid->button()->setText("Go To XYA Position To Glue PS-s to Spacers");
     PSSToSpacers_lay->addWidget(tmp_wid);
 
     tmp_wid->connect_action(assembly, SLOT(GoToXYAPositionToGluePSSToSpacers_start()), SIGNAL(GoToXYAPositionToGluePSSToSpacers_finished()));

From a44dca01d5671fd9c0a8414fc5c73f98f846b714 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 09:26:23 +0200
Subject: [PATCH 51/58] [assembly] revert recent changes to
 assembly/assembly_parameters_DAF_190326_balljoint.cfg (will be superseded by
 new file)

---
 ...sembly_parameters_DAF_190326_balljoint.cfg | 48 +++++--------------
 1 file changed, 13 insertions(+), 35 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
index 176961193..4082d7baf 100644
--- a/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
@@ -8,12 +8,13 @@
 ####################################
 
 # dimensions: thickness of assembly components
+Thickness_VacuumCups  0.000
 Thickness_Baseplate   0.000
 Thickness_PSS         0.700
 Thickness_PSP         0.700
-Thickness_Spacer      0.705
-Depth_SpacerSlots     0.350
-Thickness_GlueLayer   0.020
+Thickness_Spacer      1.600
+Height_SpacerSlots    0.000
+Thickness_GlueLayer   0.030
 
 ####################################
 ### POSITIONS ######################
@@ -37,31 +38,16 @@ RefPointBaseplate_Y        -67.99
 RefPointBaseplate_Z         -3.169
 RefPointBaseplate_A         -0.238
 
-# position: ref-point on assembly platform for calibration of spacers position (spacer aligned along x-axis)
-RefPointCalibrationSpacers_X      0.0
-RefPointCalibrationSpacers_Y      0.0
-RefPointCalibrationSpacers_Z      0.0
-RefPointCalibrationSpacers_A      0.0
-
-# position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
-RefPointCalibrationBaseplate_X    0.0
-RefPointCalibrationBaseplate_Y    0.0
-RefPointCalibrationBaseplate_Z    0.0
-RefPointCalibrationBaseplate_A    0.0
-
-#!! # position: Z-position (height) to put pickup tool in contact with rotation stage
-#!! PickupToolOnRotStage_Z       0.00
-#!! 
-#!! # position: XYZ-position with pickup tool in contact with glue-dispensing platform
-#!! PickupToolOnGluingStage_X    0.00
-#!! PickupToolOnGluingStage_Y    0.00
-#!! PickupToolOnGluingStage_Z    0.00
-
-# position: z-position where camera is focused on Assembly Stage surface
-CameraFocusOnAssemblyStage_Z   -3.4
+# position: Z-position (height) to put pickup tool in contact with rotation stage
+PickupToolOnRotStage_Z       0.00
+
+# position: XYZ-position with pickup tool in contact with glue-dispensing platform
+PickupToolOnGluingStage_X    0.00
+PickupToolOnGluingStage_Y    0.00
+PickupToolOnGluingStage_Z    0.00
 
 # position: z-position where camera is focused on Gluing Stage surface
-CameraFocusOnGluingStage_Z    -56.693
+CamerFocusOnGluingStage_Z   -2.6538
 
 ####################################
 ### DISTANCES ######################
@@ -92,13 +78,5 @@ FromBaseplateRefPointToPSPRefPoint_dY  -10.65
 FromCameraBestFocusToPickupHeight_dZ   -31.85
 
 # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
-FromPSPToPSSPosToGluingStage_dX       -148.0
+FromPSPToPSSPosToGluingStage_dX       -130.0
 FromPSPToPSSPosToGluingStage_dY          0.0
-
-# distance: from ref-point on assembly platform (for spacers calibration) to spacer's edge
-FromRefPointCalibrationSpacersToSpacerEdge_dX       0.0
-FromRefPointCalibrationSpacersToSpacerEdge_dY       0.0
-
-# distance: from ref-point on assembly platform (for baseplate calibration) to baseplate's edge
-FromRefPointCalibrationBaseplateToBaseplateEdge_dX  0.0
-FromRefPointCalibrationBaseplateToBaseplateEdge_dY  0.0

From 53cce75d05536f5e855ae25d01b5564d44d01f63 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 09:27:10 +0200
Subject: [PATCH 52/58] [assembly] switched to
 assembly/assembly_parameters_DAF_190513_balljoint.cfg in assembly.cfg
 (spacer/baseplate calibration via platform ref-points)

---
 assembly/assembly.cfg                         |   2 +-
 ...sembly_parameters_DAF_190513_balljoint.cfg | 103 ++++++++++++++++++
 2 files changed, 104 insertions(+), 1 deletion(-)
 create mode 100644 assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg

diff --git a/assembly/assembly.cfg b/assembly/assembly.cfg
index 1b6d1d455..7b9397062 100644
--- a/assembly/assembly.cfg
+++ b/assembly/assembly.cfg
@@ -40,7 +40,7 @@ startup_motion_stage                           1
 startup_camera                                 1
 
 # AssemblyParameters
-AssemblyParameters_file_path                   assembly_parameters_DAF_190326_balljoint.cfg # format: relative path from where binary is executed
+AssemblyParameters_file_path                   assembly_parameters_DAF_190513_balljoint.cfg # format: relative path from where binary is executed
 
 # AssemblyZFocusFinder
 AssemblyZFocusFinder_zrange_max                3.0
diff --git a/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
new file mode 100644
index 000000000..f8333e3b2
--- /dev/null
+++ b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
@@ -0,0 +1,103 @@
+# Sensor    Ref-Point = edge of fiducial marker measured with Pattern Recognition
+# Spacer    Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point
+# Baseplate Ref-Point = edge [...]
+
+####################################
+### DIMENSIONS #####################
+####################################
+
+# dimensions: thickness of assembly components
+Thickness_Baseplate   0.000
+Thickness_PSS         0.700
+Thickness_PSP         0.700
+Thickness_Spacer      0.705
+Depth_SpacerSlots     0.350
+Thickness_GlueLayer   0.020
+
+####################################
+### POSITIONS ######################
+####################################
+
+# position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
+RefPointSensor_X           -69.0283
+RefPointSensor_Y           -77.4945
+RefPointSensor_Z            -2.7629
+RefPointSensor_A            -0.307
+
+# position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
+RefPointSpacer_X           -61.368
+RefPointSpacer_Y           -78.979
+RefPointSpacer_Z            -3.154
+RefPointSpacer_A           -90.157
+
+# position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
+RefPointBaseplate_X        -64.278
+RefPointBaseplate_Y        -67.99
+RefPointBaseplate_Z         -3.169
+RefPointBaseplate_A         -0.238
+
+# position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
+# values correspond to bottom-left reference-edge on assembly platform (commented values: top-right reference-edge)
+RefPointCalibrationBaseplate_X   -73.978 #  47.022
+RefPointCalibrationBaseplate_Y  -147.989 # -56.990
+RefPointCalibrationBaseplate_Z    -3.458 #  -3.506
+RefPointCalibrationBaseplate_A    -0.146 #  -0.146
+
+# position: ref-point on assembly platform for calibration of spacers position (spacer aligned along x-axis)
+# values correspond to top-left reference-edge on assembly platform
+RefPointCalibrationSpacers_X     -58.840
+RefPointCalibrationSpacers_Y     -42.150
+RefPointCalibrationSpacers_Z      -3.520
+RefPointCalibrationSpacers_A     -90.146
+
+# position: z-position where camera is focused on Assembly Stage surface
+CameraFocusOnAssemblyStage_X    -15.250
+CameraFocusOnAssemblyStage_Y    -96.325
+CameraFocusOnAssemblyStage_Z     -3.470
+CameraFocusOnAssemblyStage_A      0.000
+
+# position: z-position where camera is focused on Gluing Stage surface
+CameraFocusOnGluingStage_X     -144.250
+CameraFocusOnGluingStage_Y     -102.325
+CameraFocusOnGluingStage_Z      -56.732
+CameraFocusOnGluingStage_A        0.000
+
+####################################
+### DISTANCES ######################
+####################################
+
+# distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg]
+AngleOfCameraFrameInRefFrame_dA        -89.5954
+
+# distance: from Sensor Ref-Point to Sensor Pickup position
+FromSensorRefPointToSensorPickup_dX     86.00
+FromSensorRefPointToSensorPickup_dY     38.00
+
+# distance: from PS-p Ref-Point to PS-s Ref-Point
+FromPSPRefPointToPSSRefPoint_dX          1.25
+FromPSPRefPointToPSSRefPoint_dY          0.00
+
+# distance: from Spacer Ref-Point to Sensor Ref-Point
+FromSpacerRefPointToSensorRefPoint_dX    0.85
+FromSpacerRefPointToSensorRefPoint_dY    0.75
+
+# distance: from Baseplate Ref-Point to PS-p Ref-Point
+FromBaseplateRefPointToPSPRefPoint_dX    1.60
+FromBaseplateRefPointToPSPRefPoint_dY  -10.65
+
+# distance: dZ distance to go from Z position where camera provides best-focus on object,
+# to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
+#  - empirical value calibrated with multi-pickup tests
+FromCameraBestFocusToPickupHeight_dZ   -31.85
+
+# distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
+FromPSPToPSSPosToGluingStage_dX       -148.0
+FromPSPToPSSPosToGluingStage_dY          0.0
+
+# distance: from ref-point on assembly platform (for spacers calibration) to spacer's edge
+FromRefPointCalibrationSpacersToSpacerEdge_dX         -2.56
+FromRefPointCalibrationSpacersToSpacerEdge_dY        -36.82
+
+# distance: from ref-point on assembly platform (for baseplate calibration) to baseplate's edge
+FromRefPointCalibrationBaseplateToBaseplateEdge_dX  0.0
+FromRefPointCalibrationBaseplateToBaseplateEdge_dY  0.0

From 115eb625ed6adb93dc9254afc0437d8faf06a18e Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 12:01:13 +0200
Subject: [PATCH 53/58] [assembly] bugfix in
 assemblyCommon/AssemblyParametersView.cc

---
 .../assemblyCommon/AssemblyParametersView.cc   | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 753ffbc50..1201bd0c5 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -278,11 +278,20 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   tmp_tag = "CameraFocusOnAssemblyStage";
   tmp_des = "Camera Focused on Assembly Stage Surface :";
 
+  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
 
   posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
   posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
   posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
   // position: z-position where camera is focused on Gluing Stage surface
   ++row_index;
@@ -290,11 +299,20 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   tmp_tag = "CameraFocusOnGluingStage";
   tmp_des = "Camera Focused on Gluing Stage Surface :";
 
+  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
+  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
 
   posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
+  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
   posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
   posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
+  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
+  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
 
   //// ---------------------
 

From da8fedd732f6bab5bf9193eccf22d76317f99b5c Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 12:05:19 +0200
Subject: [PATCH 54/58] [assembly] clean-up of outdated parameter types
 (AssemblyParametersView)

---
 ...sembly_parameters_DAF_190513_balljoint.cfg | 36 +++++----------
 .../assemblyCommon/AssemblyParametersView.cc  | 44 +------------------
 2 files changed, 13 insertions(+), 67 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
index f8333e3b2..ea07a73ec 100644
--- a/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
@@ -19,22 +19,10 @@ Thickness_GlueLayer   0.020
 ####################################
 
 # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor)
-RefPointSensor_X           -69.0283
-RefPointSensor_Y           -77.4945
-RefPointSensor_Z            -2.7629
-RefPointSensor_A            -0.307
-
-# position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis)
-RefPointSpacer_X           -61.368
-RefPointSpacer_Y           -78.979
-RefPointSpacer_Z            -3.154
-RefPointSpacer_A           -90.157
-
-# position: camera on baseplate's Ref-Point (baseplate aligned along x-axis)
-RefPointBaseplate_X        -64.278
-RefPointBaseplate_Y        -67.99
-RefPointBaseplate_Z         -3.169
-RefPointBaseplate_A         -0.238
+RefPointSensor_X                 -69.028
+RefPointSensor_Y                 -77.495
+RefPointSensor_Z                  -2.763
+RefPointSensor_A                  -0.307
 
 # position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
 # values correspond to bottom-left reference-edge on assembly platform (commented values: top-right reference-edge)
@@ -51,16 +39,16 @@ RefPointCalibrationSpacers_Z      -3.520
 RefPointCalibrationSpacers_A     -90.146
 
 # position: z-position where camera is focused on Assembly Stage surface
-CameraFocusOnAssemblyStage_X    -15.250
-CameraFocusOnAssemblyStage_Y    -96.325
-CameraFocusOnAssemblyStage_Z     -3.470
-CameraFocusOnAssemblyStage_A      0.000
+CameraFocusOnAssemblyStage_X     -15.250
+CameraFocusOnAssemblyStage_Y     -96.325
+CameraFocusOnAssemblyStage_Z      -3.470
+CameraFocusOnAssemblyStage_A       0.000
 
 # position: z-position where camera is focused on Gluing Stage surface
-CameraFocusOnGluingStage_X     -144.250
-CameraFocusOnGluingStage_Y     -102.325
-CameraFocusOnGluingStage_Z      -56.732
-CameraFocusOnGluingStage_A        0.000
+CameraFocusOnGluingStage_X      -144.250
+CameraFocusOnGluingStage_Y      -102.325
+CameraFocusOnGluingStage_Z       -56.732
+CameraFocusOnGluingStage_A         0.000
 
 ####################################
 ### DISTANCES ######################
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index 1201bd0c5..ae26cc7c7 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -141,49 +141,7 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   ++row_index;
 
   tmp_tag = "RefPointSensor";
-  tmp_des = "Sensor Marker-1 :";
-
-  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
-
-  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
-  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
-
-  // position: XYZA position to point camera to Spacer Ref-Point
-  ++row_index;
-
-  tmp_tag = "RefPointSpacer";
-  tmp_des = "Spacer Ref-Point :";
-
-  map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_Z"] = new QLineEdit(tr(""));
-  map_lineEdit_[tmp_tag+"_A"] = new QLineEdit(tr(""));
-
-  posi_lay->addWidget(new QLabel(tmp_des)    , row_index, 0, Qt::AlignLeft);
-  posi_lay->addWidget(new QLabel(tr("X"))    , row_index, 1, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_X"), row_index, 2, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("Y"))    , row_index, 3, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Y"), row_index, 4, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("Z"))    , row_index, 5, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_Z"), row_index, 6, Qt::AlignRight);
-  posi_lay->addWidget(new QLabel(tr("A"))    , row_index, 7, Qt::AlignRight);
-  posi_lay->addWidget(this->get(tmp_tag+"_A"), row_index, 8, Qt::AlignRight);
-
-  // position: XYZA position to point camera on Baseplate Ref-Point
-  ++row_index;
-
-  tmp_tag = "RefPointBaseplate";
-  tmp_des = "Baseplate Ref-Point :";
+  tmp_des = "Sensor Marker-1 Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_Y"] = new QLineEdit(tr(""));

From d7de4c0402302ef79b1531018a53b2cefd7b70f0 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 12:22:00 +0200
Subject: [PATCH 55/58] [assembly] minor change in
 assemblyCommon/AssemblyAssembly.cc

---
 assembly/assemblyCommon/AssemblyAssembly.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index f5267a673..e23f3fde1 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -1053,7 +1053,6 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoPSP_start()
 
     const double da0 = 0.0;
 
-
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
     connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(LowerSpacersAndPSSOntoPSP_finish()));
 
@@ -1329,7 +1328,6 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
 
     const double dz0 =
         this->parameters()->get("CameraFocusOnAssemblyStage_Z")
-      + this->parameters()->get("Thickness_Baseplate")
       + this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
       + this->parameters()->get("Thickness_PSS")
       + this->parameters()->get("Thickness_GlueLayer")
@@ -1337,6 +1335,7 @@ void AssemblyAssembly::LowerSensorAssemblyOntoBaseplate_start()
       + this->parameters()->get("Thickness_GlueLayer")
       + this->parameters()->get("Thickness_PSP")
       + this->parameters()->get("Thickness_GlueLayer")
+      + this->parameters()->get("Thickness_Baseplate")
       - motion_->get_position_Z();
 
     const double da0 = 0.0;

From e9567c159a0a2cd0cfa51bdf6719d2719939b7c4 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 12:25:11 +0200
Subject: [PATCH 56/58] [assembly] bugfix in assembly/AssemblyMainWindow.cc
 (auto-focus stop)

---
 assembly/assembly/AssemblyMainWindow.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/assembly/assembly/AssemblyMainWindow.cc b/assembly/assembly/AssemblyMainWindow.cc
index 26a1ab929..1e70b8ef7 100644
--- a/assembly/assembly/AssemblyMainWindow.cc
+++ b/assembly/assembly/AssemblyMainWindow.cc
@@ -555,6 +555,7 @@ void AssemblyMainWindow::connect_images()
   connect(image_view_->autofocus_button(), SIGNAL(clicked()), image_ctr_, SLOT(acquire_autofocused_image()));
 
   connect(image_view_->autofocus_emergencyStop_button(), SIGNAL(clicked()), zfocus_finder_, SLOT(emergencyStop()));
+  connect(image_view_->autofocus_emergencyStop_button(), SIGNAL(clicked()), image_ctr_    , SLOT(restore_autofocus_settings()));
 
   NQLog("AssemblyMainWindow", NQLog::Message) << "connect_images"
      << ": enabled images in application view(s)";

From ff48636532643e375b0fbe16f99cb15606a51d95 Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Mon, 13 May 2019 16:42:28 +0200
Subject: [PATCH 57/58] [assembly] updated
 assemblyCommon/AssemblyParametersView.cc and
 assembly/assembly_parameters_DAF_190513_balljoint.cfg (latest naming and
 calibration values)

---
 ...sembly_parameters_DAF_190513_balljoint.cfg | 36 +++++++++----------
 assembly/assemblyCommon/AssemblyAssembly.cc   | 28 +++++++--------
 .../assemblyCommon/AssemblyParametersView.cc  | 26 +++++++-------
 3 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
index ea07a73ec..ac96a9502 100644
--- a/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
+++ b/assembly/assembly/assembly_parameters_DAF_190513_balljoint.cfg
@@ -7,7 +7,7 @@
 ####################################
 
 # dimensions: thickness of assembly components
-Thickness_Baseplate   0.000
+Thickness_Baseplate   0.200
 Thickness_PSS         0.700
 Thickness_PSP         0.700
 Thickness_Spacer      0.705
@@ -26,17 +26,17 @@ RefPointSensor_A                  -0.307
 
 # position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
 # values correspond to bottom-left reference-edge on assembly platform (commented values: top-right reference-edge)
-RefPointCalibrationBaseplate_X   -73.978 #  47.022
-RefPointCalibrationBaseplate_Y  -147.989 # -56.990
-RefPointCalibrationBaseplate_Z    -3.458 #  -3.506
-RefPointCalibrationBaseplate_A    -0.146 #  -0.146
+PlatformRefPointCalibrationBaseplate_X   -73.978 #  47.022
+PlatformRefPointCalibrationBaseplate_Y  -147.989 # -56.990
+PlatformRefPointCalibrationBaseplate_Z    -3.458 #  -3.506
+PlatformRefPointCalibrationBaseplate_A    -0.146 #  -0.146
 
 # position: ref-point on assembly platform for calibration of spacers position (spacer aligned along x-axis)
 # values correspond to top-left reference-edge on assembly platform
-RefPointCalibrationSpacers_X     -58.840
-RefPointCalibrationSpacers_Y     -42.150
-RefPointCalibrationSpacers_Z      -3.520
-RefPointCalibrationSpacers_A     -90.146
+PlatformRefPointCalibrationSpacers_X     -58.840
+PlatformRefPointCalibrationSpacers_Y     -42.150
+PlatformRefPointCalibrationSpacers_Z      -3.520
+PlatformRefPointCalibrationSpacers_A     -90.146
 
 # position: z-position where camera is focused on Assembly Stage surface
 CameraFocusOnAssemblyStage_X     -15.250
@@ -65,13 +65,13 @@ FromSensorRefPointToSensorPickup_dY     38.00
 FromPSPRefPointToPSSRefPoint_dX          1.25
 FromPSPRefPointToPSSRefPoint_dY          0.00
 
-# distance: from Spacer Ref-Point to Sensor Ref-Point
-FromSpacerRefPointToSensorRefPoint_dX    0.85
-FromSpacerRefPointToSensorRefPoint_dY    0.75
+# distance: from Spacer Ref-Point to PS-s Ref-Point
+FromSpacerEdgeToPSSRefPoint_dX           0.85
+FromSpacerEdgeToPSSRefPoint_dY           0.75
 
 # distance: from Baseplate Ref-Point to PS-p Ref-Point
-FromBaseplateRefPointToPSPRefPoint_dX    1.60
-FromBaseplateRefPointToPSPRefPoint_dY  -10.65
+FromPSPEdgeToPSPRefPoint_dX              0.85
+FromPSPEdgeToPSPRefPoint_dY             -0.15
 
 # distance: dZ distance to go from Z position where camera provides best-focus on object,
 # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
@@ -83,9 +83,9 @@ FromPSPToPSSPosToGluingStage_dX       -148.0
 FromPSPToPSSPosToGluingStage_dY          0.0
 
 # distance: from ref-point on assembly platform (for spacers calibration) to spacer's edge
-FromRefPointCalibrationSpacersToSpacerEdge_dX         -2.56
-FromRefPointCalibrationSpacersToSpacerEdge_dY        -36.82
+FromPlatformRefPointCalibrationSpacersToSpacerEdge_dX         -2.57
+FromPlatformRefPointCalibrationSpacersToSpacerEdge_dY        -36.82
 
 # distance: from ref-point on assembly platform (for baseplate calibration) to baseplate's edge
-FromRefPointCalibrationBaseplateToBaseplateEdge_dX  0.0
-FromRefPointCalibrationBaseplateToBaseplateEdge_dY  0.0
+FromPlatformRefPointCalibrationBaseplateToPSPEdge_dX          11.13
+FromPlatformRefPointCalibrationBaseplateToPSPEdge_dY         -70.08 # -(20.92+49.16) 49.16=PSp_shortSide_length
diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index e23f3fde1..d1c9c356c 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -587,23 +587,23 @@ void AssemblyAssembly::GoToXYAPositionToGluePSSToSpacers_start()
   }
 
   const double dx0 =
-     this->parameters()->get("RefPointCalibrationSpacers_X")
-   + this->parameters()->get("FromRefPointCalibrationSpacersToSpacerEdge_dX")
-   + this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dX")
+     this->parameters()->get("PlatformRefPointCalibrationSpacers_X")
+   + this->parameters()->get("FromPlatformRefPointCalibrationSpacersToSpacerEdge_dX")
+   + this->parameters()->get("FromSpacerEdgeToPSSRefPoint_dX")
    + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
    - motion_->get_position_X();
 
   const double dy0 =
-     this->parameters()->get("RefPointCalibrationSpacers_Y")
-   + this->parameters()->get("FromRefPointCalibrationSpacersToSpacerEdge_dY")
-   + this->parameters()->get("FromSpacerRefPointToSensorRefPoint_dY")
+     this->parameters()->get("PlatformRefPointCalibrationSpacers_Y")
+   + this->parameters()->get("FromPlatformRefPointCalibrationSpacersToSpacerEdge_dY")
+   + this->parameters()->get("FromSpacerEdgeToPSSRefPoint_dY")
    + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
    - motion_->get_position_Y();
 
   const double dz0 = 0.0;
 
   const double da0 =
-     this->parameters()->get("RefPointCalibrationSpacers_A")
+     this->parameters()->get("PlatformRefPointCalibrationSpacers_A")
    - motion_->get_position_A();
 
   connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
@@ -1256,17 +1256,17 @@ void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_start()
   }
 
   const double dx0 =
-     this->parameters()->get("RefPointCalibrationBaseplate_X")
-   + this->parameters()->get("FromRefPointCalibrationBaseplateToBaseplateEdge_dX")
-   + this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dX")
+     this->parameters()->get("PlatformRefPointCalibrationBaseplate_X")
+   + this->parameters()->get("FromPlatformRefPointCalibrationBaseplateToPSPEdge_dX")
+   + this->parameters()->get("FromPSPEdgeToPSPRefPoint_dX")
    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dX")
    + this->parameters()->get("FromSensorRefPointToSensorPickup_dX")
    - motion_->get_position_X();
 
   const double dy0 =
-     this->parameters()->get("RefPointCalibrationBaseplate_Y")
-   + this->parameters()->get("FromRefPointCalibrationBaseplateToBaseplateEdge_dY")
-   + this->parameters()->get("FromBaseplateRefPointToPSPRefPoint_dY")
+     this->parameters()->get("PlatformRefPointCalibrationBaseplate_Y")
+   + this->parameters()->get("FromPlatformRefPointCalibrationBaseplateToPSPEdge_dY")
+   + this->parameters()->get("FromPSPEdgeToPSPRefPoint_dY")
    + this->parameters()->get("FromPSPRefPointToPSSRefPoint_dY")
    + this->parameters()->get("FromSensorRefPointToSensorPickup_dY")
    - motion_->get_position_Y();
@@ -1274,7 +1274,7 @@ void AssemblyAssembly::GoToXYAPositionToGlueSensorAssemblyToBaseplate_start()
   const double dz0 = 0.0;
 
   const double da0 =
-     this->parameters()->get("RefPointCalibrationBaseplate_A")
+     this->parameters()->get("PlatformRefPointCalibrationBaseplate_A")
    - motion_->get_position_A();
 
   connect(this, SIGNAL(move_relative_request(double, double, double, double)), motion_, SLOT(moveRelative(double, double, double, double)));
diff --git a/assembly/assemblyCommon/AssemblyParametersView.cc b/assembly/assemblyCommon/AssemblyParametersView.cc
index ae26cc7c7..560e5e8d8 100644
--- a/assembly/assemblyCommon/AssemblyParametersView.cc
+++ b/assembly/assemblyCommon/AssemblyParametersView.cc
@@ -161,7 +161,7 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   // position: XYZA position of ref-point on assembly platform for calibration of spacers
   ++row_index;
 
-  tmp_tag = "RefPointCalibrationSpacers";
+  tmp_tag = "PlatformRefPointCalibrationSpacers";
   tmp_des = "[Calibration: Spacers] Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
@@ -182,7 +182,7 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   // position: XYZA position of ref-point on assembly platform for calibration of baseplate
   ++row_index;
 
-  tmp_tag = "RefPointCalibrationBaseplate";
+  tmp_tag = "PlatformRefPointCalibrationBaseplate";
   tmp_des = "[Calibration: Baseplate] Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_X"] = new QLineEdit(tr(""));
@@ -326,11 +326,11 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
-  // distance: from Spacer Ref-Point to Sensor Ref-Point
+  // distance: from Spacer's Edge to PS-s Sensor Ref-Point
   ++row_index;
 
-  tmp_tag = "FromSpacerRefPointToSensorRefPoint";
-  tmp_des = "From Spacer Ref-Point to Sensor Ref-Point :";
+  tmp_tag = "FromSpacerEdgeToPSSRefPoint";
+  tmp_des = "From Spacer's Edge to PS-s Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
@@ -341,11 +341,11 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
-  // distance: from Baseplate Ref-Point to PS-s Ref-Point relative to Baseplate
+  // distance: from Edge of PS-p Sensor to PS-p Ref-Point
   ++row_index;
 
-  tmp_tag = "FromBaseplateRefPointToPSPRefPoint";
-  tmp_des = "From Baseplate Ref-Point to PS-p Ref-Point :";
+  tmp_tag = "FromPSPEdgeToPSPRefPoint";
+  tmp_des = "From Edge of PS-p Sensor to PS-p Ref-Point :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
@@ -386,8 +386,8 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   // distance: from ref-point on assembly platform (for spacers' calibration) to spacer's edge
   ++row_index;
 
-  tmp_tag = "FromRefPointCalibrationSpacersToSpacerEdge";
-  tmp_des = "From Ref-Point of Spacers-Calibration to Spacer's Edge :";
+  tmp_tag = "FromPlatformRefPointCalibrationSpacersToSpacerEdge";
+  tmp_des = "From Platform Ref-Point for Spacers-Calibration to Spacer's Edge :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));
@@ -398,11 +398,11 @@ AssemblyParametersView::AssemblyParametersView(QWidget* parent)
   dist_lay->addWidget(new QLabel(tr("dY"))    , row_index, 3, Qt::AlignRight);
   dist_lay->addWidget(this->get(tmp_tag+"_dY"), row_index, 4, Qt::AlignRight);
 
-  // distance: from ref-point on assembly platform (for baseplates' calibration) to baseplate's edge
+  // distance: from ref-point on assembly platform (for baseplate's calibration) to edge of PS-p sensor
   ++row_index;
 
-  tmp_tag = "FromRefPointCalibrationBaseplateToBaseplateEdge";
-  tmp_des = "From Ref-Point of Baseplate-Calibration to Baseplate's Edge :";
+  tmp_tag = "FromPlatformRefPointCalibrationBaseplateToPSPEdge";
+  tmp_des = "From Platform Ref-Point for Baseplate-Calibration to PS-p Edge :";
 
   map_lineEdit_[tmp_tag+"_dX"] = new QLineEdit(tr(""));
   map_lineEdit_[tmp_tag+"_dY"] = new QLineEdit(tr(""));

From 012a4ea67f725939ed1de5369cabc473749dee4a Mon Sep 17 00:00:00 2001
From: Marino Missiroli <marino.missiroli@desy.de>
Date: Tue, 21 May 2019 09:54:32 +0200
Subject: [PATCH 58/58] [assembly] updated AssemblyAssembly.cc

---
 assembly/assemblyCommon/AssemblyAssembly.cc   | 46 ++++++++++---------
 assembly/assemblyCommon/AssemblyAssembly.h    |  6 +--
 .../assemblyCommon/AssemblyAssemblyView.cc    |  2 +-
 3 files changed, 28 insertions(+), 26 deletions(-)

diff --git a/assembly/assemblyCommon/AssemblyAssembly.cc b/assembly/assemblyCommon/AssemblyAssembly.cc
index d1c9c356c..7b4ec2230 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.cc
+++ b/assembly/assemblyCommon/AssemblyAssembly.cc
@@ -794,9 +794,9 @@ void AssemblyAssembly::RegisterPSPToPSSPosition_finish()
 // ----------------------------------------------------------------------------------------------------
 
 // ----------------------------------------------------------------------------------------------------
-// GoFromPSPToPSSPosToGluingStageRefPoint -------------------------------------------------------------
+// GoFromPSPToPSSPosToGluingStageRefPointXY -----------------------------------------------------------
 // ----------------------------------------------------------------------------------------------------
-void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start()
+void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPointXY_start()
 {
   if(use_smartMove_)
   {
@@ -804,59 +804,59 @@ void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start()
 
     if(valid_params == false)
     {
-      NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+      NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPointXY_start"
          << ": failed to update content of AssemblyParameters, no action taken";
 
-      NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
-         << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+      NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPointXY_finish"
+         << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPointXY_finished\"";
 
-      emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+      emit GoFromPSPToPSSPosToGluingStageRefPointXY_finished();
 
       return;
     }
 
     const double dx0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dX");
     const double dy0 = this->parameters()->get("FromPSPToPSSPosToGluingStage_dY");
-    const double dz0 = this->parameters()->get("CameraFocusOnGluingStage_Z") - motion_->get_position_Z();
+    const double dz0 = 0.0;
     const double da0 = 0.0;
 
     connect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
-    connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+    connect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPointXY_finish()));
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPointXY_start"
        << ": emitting signal \"move_relative_request(" << dx0 << ", " << dy0 << ", " << dz0 << ", " << da0 << ")\"";
 
     emit move_relative_request(dx0, dy0, dz0, da0);
   }
   else
   {
-    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPoint_start"
+    NQLog("AssemblyAssembly", NQLog::Critical) << "GoFromPSPToPSSPosToGluingStageRefPointXY_start"
        << ": please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step";
 
     QMessageBox msgBox;
-    msgBox.setText(tr("AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
+    msgBox.setText(tr("AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPointXY_start -- please enable \"smartMove\" mode (tick box in top-left corner of Assembly tab), required for this step"));
     msgBox.exec();
 
-    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
-       << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+    NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPointXY_finish"
+       << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPointXY_finished\"";
 
-    emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+    emit GoFromPSPToPSSPosToGluingStageRefPointXY_finished();
 
     return;
   }
 }
 
-void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPoint_finish()
+void AssemblyAssembly::GoFromPSPToPSSPosToGluingStageRefPointXY_finish()
 {
   disconnect(this, SIGNAL(move_relative_request(double, double, double, double)), smart_motion_, SLOT(move_relative(double, double, double, double)));
-  disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_finish()));
+  disconnect(smart_motion_, SIGNAL(motion_completed()), this, SLOT(GoFromPSPToPSSPosToGluingStageRefPointXY_finish()));
 
-  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
-     << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPoint_finished\"";
+  NQLog("AssemblyAssembly", NQLog::Spam) << "GoFromPSPToPSSPosToGluingStageRefPointXY_finish"
+     << ": emitting signal \"GoFromPSPToPSSPosToGluingStageRefPointXY_finished\"";
 
-  emit GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+  emit GoFromPSPToPSSPosToGluingStageRefPointXY_finished();
 
-  NQLog("AssemblyAssembly", NQLog::Message) << "GoFromPSPToPSSPosToGluingStageRefPoint_finish"
+  NQLog("AssemblyAssembly", NQLog::Message) << "GoFromPSPToPSSPosToGluingStageRefPointXY_finish"
      << ": assembly-step completed";
 }
 // ----------------------------------------------------------------------------------------------------
@@ -887,11 +887,13 @@ void AssemblyAssembly::LowerSpacersAndPSSOntoGluingStage_start()
     const double dy0 = 0.0;
 
     const double dz0 =
-        this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
+        this->parameters()->get("CameraFocusOnGluingStage_Z")
+      + this->parameters()->get("FromCameraBestFocusToPickupHeight_dZ")
       + this->parameters()->get("Thickness_PSS")
       + this->parameters()->get("Thickness_GlueLayer")
       + this->parameters()->get("Thickness_Spacer")
-      + this->parameters()->get("Thickness_GlueLayer");
+      + this->parameters()->get("Thickness_GlueLayer")
+      - motion_->get_position_Z();
 
     const double da0 = 0.0;
 
diff --git a/assembly/assemblyCommon/AssemblyAssembly.h b/assembly/assemblyCommon/AssemblyAssembly.h
index 96fbf7d8b..cba15a5e0 100644
--- a/assembly/assemblyCommon/AssemblyAssembly.h
+++ b/assembly/assemblyCommon/AssemblyAssembly.h
@@ -92,8 +92,8 @@ class AssemblyAssembly : public QObject
   void RegisterPSPToPSSPosition_start();
   void RegisterPSPToPSSPosition_finish();
 
-  void GoFromPSPToPSSPosToGluingStageRefPoint_start();
-  void GoFromPSPToPSSPosToGluingStageRefPoint_finish();
+  void GoFromPSPToPSSPosToGluingStageRefPointXY_start();
+  void GoFromPSPToPSSPosToGluingStageRefPointXY_finish();
 
   void LowerSpacersAndPSSOntoGluingStage_start();
   void LowerSpacersAndPSSOntoGluingStage_finish();
@@ -164,7 +164,7 @@ class AssemblyAssembly : public QObject
   void RegisterPSPToPSSPosition_finished();
   void PSPToPSSPosition_registered();
 
-  void GoFromPSPToPSSPosToGluingStageRefPoint_finished();
+  void GoFromPSPToPSSPosToGluingStageRefPointXY_finished();
 
   void ReturnToPSPToPSSPosition_finished();
 
diff --git a/assembly/assemblyCommon/AssemblyAssemblyView.cc b/assembly/assemblyCommon/AssemblyAssemblyView.cc
index 5ab1b8025..0e45069ae 100644
--- a/assembly/assemblyCommon/AssemblyAssemblyView.cc
+++ b/assembly/assemblyCommon/AssemblyAssemblyView.cc
@@ -403,7 +403,7 @@ AssemblyAssemblyView::AssemblyAssemblyView(const AssemblyAssembly* const assembl
     tmp_wid->button()->setText("Go From \"PS-p To PS-s Position\" to Gluing Stage (XY) Ref-Point");
     PSSToPSP_lay->addWidget(tmp_wid);
 
-    tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageRefPoint_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageRefPoint_finished()));
+    tmp_wid->connect_action(assembly, SLOT(GoFromPSPToPSSPosToGluingStageRefPointXY_start()), SIGNAL(GoFromPSPToPSSPosToGluingStageRefPointXY_finished()));
   }
   // ----------