# display iocontrol tool prepare/change pins
# and simulate an automatic toolchanger
delsig tool:change-loop # remove basic_sim.tcl loops
delsig tool:prep-loop   # remove basic_sim.tcl loops

loadrt oneshot names=prepare_time,prepare_pulse,change_time,change_pulse
addf prepare_time  servo-thread
addf prepare_pulse servo-thread
addf change_time   servo-thread
addf change_pulse  servo-thread

setp prepare_time.width     2.0 # simulate changer

setp prepare_pulse.width    1   # (resets at tool-change)
setp prepare_pulse.rising   0
setp prepare_pulse.falling  1

setp change_time.width      0.5 # simulate changer

setp change_pulse.width     1   # (resets at tool-prepare)
setp change_pulse.rising    0
setp change_pulse.falling   1

#==========================================================
# simulate tool prepare,tool change
net db:tool-prepare <= iocontrol.0.tool-prepare
net db:tool-prepare => change_pulse.reset
net db:tool-prepare => prepare_time.in
net db:tool-prepare => pyvcp.tool-prepare

net db:start_prepare_pulse <= prepare_time.out
net db:start_prepare_pulse => prepare_pulse.in

net db:tool-prepared <= prepare_pulse.out
net db:tool-prepared => iocontrol.0.tool-prepared
net db:tool-prepared => pyvcp.tool-prepared

net db:tool-change <= iocontrol.0.tool-change
net db:tool-change => prepare_pulse.reset
net db:tool-change => change_time.in
net db:tool-change => pyvcp.tool-change

net db:start_change_pulse <= change_time.out
net db:start_change_pulse => change_pulse.in

net db:tool-changed <= change_pulse.out
net db:tool-changed => iocontrol.0.tool-changed
net db:tool-changed => pyvcp.tool-changed

net db:tool-number <= iocontrol.0.tool-number
net db:tool-number => pyvcp.tool-number

net db:tool-prep-index <= iocontrol.0.tool-prep-index
net db:tool-prep-index => pyvcp.tool-prep-index

net db:tool-prep-number <= iocontrol.0.tool-prep-number
net db:tool-prep-number => pyvcp.tool-prep-number

net db:tool-prep-pocket <= iocontrol.0.tool-prep-pocket
net db:tool-prep-pocket => pyvcp.tool-prep-pocket

net db:tool-from-pocket <= iocontrol.0.tool-from-pocket
net db:tool-from-pocket => pyvcp.tool-from-pocket
#==========================================================
# tooloffsets
net db:tooloffset.x <= motion.tooloffset.x
net db:tooloffset.x => pyvcp.tooloffset.x

net db:tooloffset.y <= motion.tooloffset.y
net db:tooloffset.y => pyvcp.tooloffset.y

net db:tooloffset.z <= motion.tooloffset.z
net db:tooloffset.z => pyvcp.tooloffset.z

net db:tooloffset.a <= motion.tooloffset.a
net db:tooloffset.a => pyvcp.tooloffset.a

net db:tooloffset.b <= motion.tooloffset.b
net db:tooloffset.b => pyvcp.tooloffset.b

net db:tooloffset.c <= motion.tooloffset.c
net db:tooloffset.c => pyvcp.tooloffset.c

net db:tooloffset.u <= motion.tooloffset.u
net db:tooloffset.u => pyvcp.tooloffset.u

net db:tooloffset.v <= motion.tooloffset.v
net db:tooloffset.v => pyvcp.tooloffset.v

net db:tooloffset.w <= motion.tooloffset.w
net db:tooloffset.w => pyvcp.tooloffset.w

net db:tooldiam     <= halui.tool.diameter
net db:tooldiam     => pyvcp.tooldiam