# 0---vc-p4s Control Pendant
loadusr -W vc-p4s

loadrt and2 names=and2.vc,and2.pause,and2.resume,and2.run,and2.step,and2.estop_buttons_reset,and2.estop_all_reset
loadrt or2 names=or2.estop_buttons_active,or2.estop_all_active,or2.pause_resume,or2.pause,or2.resume,or2.run,or2.auto
loadrt toggle count=1
loadrt toggle2nist count=1

addf and2.vc            servo-thread
addf and2.pause         servo-thread
addf and2.resume        servo-thread
addf and2.run           servo-thread
addf and2.step          servo-thread
addf and2.estop_buttons_reset   servo-thread
addf and2.estop_all_reset   servo-thread

addf or2.estop_buttons_active   servo-thread
addf or2.estop_all_active   servo-thread
addf or2.pause_resume   servo-thread
addf or2.pause          servo-thread
addf or2.resume         servo-thread
addf or2.run            servo-thread
addf or2.auto           servo-thread

addf toggle.0           servo-thread
addf toggle2nist.0      servo-thread

# 1---LCD reletive Coordinates
net axis.0.pos-relative halui.axis.x.pos-relative => vc-p4s.axis.0.pos-relative
net axis.1.pos-relative halui.axis.y.pos-relative => vc-p4s.axis.1.pos-relative
net axis.2.pos-relative halui.axis.z.pos-relative => vc-p4s.axis.2.pos-relative
net axis.3.pos-relative halui.axis.a.pos-relative => vc-p4s.axis.3.pos-relative

# 2---JOG
net axis.0.jog-en vc-p4s.axis.0.jog-enable => axis.x.jog-enable joint.0.jog-enable
net axis.1.jog-en vc-p4s.axis.1.jog-enable => axis.y.jog-enable joint.1.jog-enable
net axis.2.jog-en vc-p4s.axis.2.jog-enable => axis.z.jog-enable joint.2.jog-enable
net axis.3.jog-en vc-p4s.axis.3.jog-enable => axis.a.jog-enable joint.3.jog-enable

net jog-scale vc-p4s.jog-scale => joint.0.jog-scale axis.x.jog-scale
net jog-scale vc-p4s.jog-scale => joint.1.jog-scale axis.y.jog-scale
net jog-scale vc-p4s.jog-scale => joint.2.jog-scale axis.z.jog-scale
net jog-scale vc-p4s.jog-scale => joint.3.jog-scale axis.a.jog-scale

net jog-counts vc-p4s.jog-counts => joint.0.jog-counts axis.x.jog-counts
net jog-counts vc-p4s.jog-counts => joint.1.jog-counts axis.y.jog-counts
net jog-counts vc-p4s.jog-counts => joint.2.jog-counts axis.z.jog-counts
net jog-counts vc-p4s.jog-counts => joint.3.jog-counts axis.a.jog-counts

net jog.0.cont-plus  vc-p4s.jog.0.plus  => halui.axis.x.plus halui.joint.0.plus
net jog.0.cont-minus vc-p4s.jog.0.minus => halui.axis.x.minus halui.joint.0.minus

net jog.1.cont-plus  vc-p4s.jog.1.plus  => halui.axis.y.plus halui.joint.1.plus
net jog.1.cont-minus vc-p4s.jog.1.minus => halui.axis.y.minus halui.joint.1.minus

net jog.2.cont-plus  vc-p4s.jog.2.plus  => halui.axis.z.plus halui.joint.2.plus
net jog.2.cont-mimus vc-p4s.jog.2.minus => halui.axis.z.minus halui.joint.2.minus

net jog.3.cont-plus  vc-p4s.jog.3.plus  => halui.axis.a.plus halui.joint.3.plus
net jog.3.cont-mimus vc-p4s.jog.3.minus => halui.axis.a.minus halui.joint.3.minus

net jog-speed vc-p4s.jog.velocity => halui.axis.jog-speed
net motion-in-position motion.in-position => vc-p4s.is-moving

setp axis_0_max_velocity [JOINT_0]MAX_VELOCITY
setp axis_1_max_velocity [JOINT_1]MAX_VELOCITY
setp axis_2_max_velocity [JOINT_2]MAX_VELOCITY
setp axis_3_max_velocity [JOINT_3]MAX_VELOCITY

# 6---FEED OVERRIDE
setp halui.feed-override.scale 0.001
net feed-enable vc-p4s.feed-override.count.enable => halui.feed-override.count-enable 
net feedrate-counts vc-p4s.feedrate-counts => halui.feed-override.counts
net feed.value halui.feed-override.value => vc-p4s.feed-override.value 

# 7---RAPID OVERRIDE
setp halui.rapid-override.scale 0.001
net rapid-enable vc-p4s.rapid-override.count.enable => halui.rapid-override.count-enable 
net rapid-counts vc-p4s.rapid-counts => halui.rapid-override.counts
net rapid.value halui.rapid-override.value => vc-p4s.rapid-override.value 

# 8---MAX VELOCITY
setp halui.max-velocity.scale 0.001
net max-enable vc-p4s.max-velocity.count.enable => halui.max-velocity.count-enable 
net max-counts vc-p4s.max-counts => halui.max-velocity.counts
net max.value halui.max-velocity.value => vc-p4s.max-velocity.value 

# 9---SPINDLE OVERRIDE
setp halui.spindle.0.override.scale 0.001
#net spindle-enable vc-p4s.spindle-override.count.enable => halui.spindle.0.override.count-enable 
net spindle-counts vc-p4s.spindle-counts => halui.spindle.0.override.counts
net spindle.value halui.spindle.0.override.value => vc-p4s.spindle-override.value

# 10---PROGRAM - this sections also handles the physical Pause/Resume and Run/Step buttons
#reading into sigbals the input pins from external buttons and from the pendant
net external-run-step.signal        <= hm2_7i76e.0.7i76.0.0.input-04     #(the PIN where the green btn is wired)
net external-pause-resume.signal    <= hm2_7i76e.0.7i76.0.0.input-05-not #(the PIN where the red btn is wired)
net pendant-run.signal              <= vc-p4s.program.run
net pendant-pause.signal            <= vc-p4s.program.pause
net pendant-resume.signal           <= vc-p4s.program.resume
net pendant-stop.signal             <= vc-p4s.program.stop

net program-is-idle.signal          <= halui.program.is-idle
net program-is-paused.signal        <= halui.program.is-paused
net program-is-running.signal       <= halui.program.is-running
net mode-is-auto.signal             <= halui.mode.is-auto

#writing signals to output pins of the pendant
net program-is-idle.signal          => vc-p4s.program.is-idle
net program-is-paused.signal        => vc-p4s.program.is-paused
net program-is-running.signal       => vc-p4s.program.is-running

#computing the value for the output pins of linux
net external-pause-resume.signal    => and2.pause.in0
net program-is-paused.signal        => and2.pause.in1
net combined-pause.signal           <= and2.pause.out

net external-pause-resume.signal    => and2.resume.in0
net program-is-running.signal       => and2.resume.in1
net combined-resume.signal          <= and2.resume.out

net combined-pause.signal           => or2.pause_resume.in0
net combined-resume.signal          => or2.pause_resume.in1
net external-toggle.signal          <= or2.pause_resume.out
net external-toggle.signal          => toggle.0.in

net external-toggle-nist.signal     <= toggle.0.out
net external-toggle-nist.signal     => toggle2nist.0.in
net program-is-paused.signal        => toggle2nist.0.is-on

net external-pause.signal           <= toggle2nist.0.on
net external-resume.signal          <= toggle2nist.0.off

net pendant-pause.signal            => or2.pause.in0
net external-pause.signal           => or2.pause.in1
net merged-pause.signal             <= or2.pause.out
net merged-pause.signal             => halui.program.pause

net pendant-resume.signal           => or2.resume.in0
net external-resume.signal          => or2.resume.in1
net merged-resume.signal            <= or2.resume.out
net merged-resume.signal            => halui.program.resume

net pendant-run.signal              => and2.vc.in0
net mode-is-auto.signal             => and2.vc.in1
net remote-program-run              <= and2.vc.out

# Run/Step Section
net external-run-step.signal        => and2.run.in0
net program-is-idle.signal          => and2.run.in1
net external-program-run.signal     <= and2.run.out

net external-run-step.signal        => and2.step.in0
net program-is-paused.signal        => and2.step.in1
net do-program-step.signal          <= and2.step.out
net do-program-step.signal          => halui.program.step

net external-program-run.signal     => or2.auto.in0
net pendant-run.signal              => or2.auto.in1
net merged-auto.signal              <= or2.auto.out
net merged-auto.signal              => halui.mode.auto

net external-program-run.signal     => or2.run.in0
net remote-program-run              => or2.run.in1
net merged-run.signal               <= or2.run.out
net merged-run.signal               => halui.program.run

net pendant-stop.signal             => halui.program.stop


# 11---ZERO
net zero-x vc-p4s.zero-x => halui.mdi-command-05 
net zero-y vc-p4s.zero-y => halui.mdi-command-06
net zero-z vc-p4s.zero-z => halui.mdi-command-07 
net x-go-to-zero vc-p4s.x-go-to-zero  => halui.mdi-command-08 
net y-go-to-zero vc-p4s.y-go-to-zero  => halui.mdi-command-09
net z-go-to-zero vc-p4s.z-go-to-zero  => halui.mdi-command-10

# 12---SPINDLE
net spindle.is-on halui.spindle.0.is-on =>  vc-p4s.spindle.is-on
net spindle.start  vc-p4s.spindle.start  => halui.spindle.0.start
net spindle.stop  vc-p4s.spindle.stop  => halui.spindle.0.stop

# 13---E-STOP: pendant + external buttons
net estop_is_activated         <= halui.estop.is-activated
net estop_pendant.active       <= vc-p4s.estop.activate
net estop_machine.active       <= hm2_7i76e.0.7i76.0.0.input-08-not
net estop_controller.active    <= hm2_7i76e.0.7i76.0.0.input-09-not

net estop_pendant.reset             <= vc-p4s.estop.reset
net estop_machine.reset             <= hm2_7i76e.0.7i76.0.0.input-08
net estop_controller.reset          <= hm2_7i76e.0.7i76.0.0.input-09

#merge external buttons, when any of them is pressed, we have an estop
net estop_machine.active         => or2.estop_buttons_active.in0
net estop_controller.active      => or2.estop_buttons_active.in1
net estop_from_buttons.active    <= or2.estop_buttons_active.out

#merge external buttons, when both of them are depressed, we can reset
net estop_machine.reset             => and2.estop_buttons_reset.in0
net estop_controller.reset          => and2.estop_buttons_reset.in1
net estop_from_buttons.reset        <= and2.estop_buttons_reset.out

#merge the external buttons with the pendant, when any of them is pressed, we have an estop
net estop_pendant.active            => or2.estop_all_active.in0
net estop_from_buttons.active       => or2.estop_all_active.in1
net estop_combined.active           <= or2.estop_all_active.out

#merge the external buttons with the pendant, when all of them are depressed, we can reset
net estop_pendant.reset            => and2.estop_all_reset.in0
net estop_from_buttons.reset       => and2.estop_all_reset.in1
net estop_combined.reset           <= and2.estop_all_reset.out

#assign the merged signals to the output pins
net estop_is_activated              => vc-p4s.estop.is-activated
net estop_combined.active           => halui.estop.activate
net estop_combined.reset            => halui.estop.reset

# 14---MACHINE
net machine-on  vc-p4s.machine.on  => halui.machine.on
net machine-off vc-p4s.machine.off => halui.machine.off
net machine-ison halui.machine.is-on => vc-p4s.machine.ison

##### P4-S PENDANT SETTINGS #####

# 15---STEP SIZE, SET 0 TO SKIP
setp stepsize-1 	0.001

# DEFAULT
setp stepsize-2 	0.01

setp stepsize-3 	0.1
setp stepsize-4 	1
setp stepsize-5 	0
setp stepsize-6 	0
setp stepsize-7 	0
setp stepsize-8 	0
setp stepsize-9 	0