# gantry_panel.hal -- must be a postgui halfile since
# ini.* hal pins are not available until milltask is
# started.  Ref: $ man milltask

# Joints 1 and 3 use a negative home_sequence to
# synchronize the final home move.  This synchronization
# disallows individual jogging of joints 1 and 3 in order
# to prevent inadvertent racking of the gantry.

# Joint jogging is enabled by an checkbox widget on the
# pyvcp panel.  Setting the enable changes the home_sequence
# for joints 1 and 3 from -1 (home syncing) to 1 (no
# home syncing).  When the home_sequence is set to 1, these
# joints can be jogged individually using the axis gui jog
# buttons (racking hazard).  Non-synced homing is disabled
# by asserting the motion.homing-inhibit pin.

# Joints 1 and 3 can be jogged synchronously using the
# facilities for realtime jogging provided for
# Manual-Pulse-Generators (MPGs).  The pyvcp panel
# provides controls to set jog counts and the scale
# factor (machine-units per count).

loadrt mux2           names=home_sequence_mux,jjog_counts_mux
loadrt conv_float_s32 names=home_sequence_s32
loadrt oneshot        names=pulse_on_jjdisable

# synchronized homing, no joint1,3 jogging:
setp home_sequence_mux.in0 -1
# no synchronized homing, allow joint1,3 jogging:
setp home_sequence_mux.in1  1

# use oneshot to return jjog_counts to zero when changing
# from enable to disable:
setp jjog_counts_mux.in0    0
setp jjog_counts_mux.in1    0.0000001
# non-zero value needed to pulse the
# pyvcp.scale.0.param_pin is ok since
# the truncated s32 pin pyvcp.jj_counts-i
# is used for joint.N.jog-counts pins

setp pulse_on_jjdisable.rising        0
setp pulse_on_jjdisable.falling       1
setp pulse_on_jjdisable.retriggerable 0
setp pulse_on_jjdisable.width         0.1

addf home_sequence_mux  servo-thread
addf jjog_counts_mux    servo-thread
addf home_sequence_s32  servo-thread
addf pulse_on_jjdisable servo-thread

net home_seq_float   <= home_sequence_mux.out
net home_seq_float   => home_sequence_s32.in

net home_seq_s32     <= home_sequence_s32.out
net home_seq_s32     => ini.1.home_sequence
net home_seq_s32     => ini.3.home_sequence

# set counts to zero using param_pin upon disable:
net jjog_counts_value <= jjog_counts_mux.out
net jjog_counts_value => pyvcp.scale.0.param_pin

net jjog_counts_reset <= pulse_on_jjdisable.out
net jjog_counts_reset => jjog_counts_mux.sel

net hsequence_select <= pyvcp.jj_enable
net hsequence_select => home_sequence_mux.sel
net hsequence_select => joint.1.jog-enable
net hsequence_select => joint.3.jog-enable
net hsequence_select => motion.homing-inhibit
net hsequence_select => pulse_on_jjdisable.in

# counts for synchronized realtime MPG joint jogging:
net j13counts <= pyvcp.jj_counts-i
net j13counts => joint.1.jog-counts joint.3.jog-counts

# MPG scaling:
net  j13scale  <= pyvcp.jj_scale
net  j13scale  => joint.1.jog-scale  joint.3.jog-scale

# preferred jog-vel-mode:
setp joint.1.jog-vel-mode 1
setp joint.3.jog-vel-mode 1