# HAL config file for vismach simulation of a VMC
# This is quite a complex HAL file, and it is very unlikely any of it will be relevant to a real machine. 
# All the HAL functions here are related to making the Vismach model look like a real machine to the other HAL files
# ie, this creates things like limit switches which would be driven by real hardware on a real machine. 

# load the vismach model
loadusr -W ./vmcgui

loadrt wcomp names=xlim,ylim,zlim,armsw,drawsw,locksw
loadrt mux2 names=armpos,drawpos,lockpos,mux2.0
loadrt sum2 names=carpos,spindlepos
loadrt limit2 names=armlim,drawlim,locklim,spindlelim,carlim

addf xlim servo-thread
addf ylim servo-thread
addf zlim servo-thread 

addf carpos servo-thread
addf carlim servo-thread

setp xlim.max 301
setp xlim.min -301
setp ylim.max 1
setp ylim.min -201
setp zlim.max 1
setp zlim.min -401

net x-pos-lim xlim.over
net x-neg-lim xlim.under
net y-pos-lim ylim.over
net y-neg-lim ylim.under
net z-pos-lim zlim.over
net z-neg-lim zlim.under

net x-pos xlim.in vmcgui.X
net y-pos ylim.in vmcgui.Y
net z-pos zlim.in vmcgui.Z

#simulated arm
setp vmcgui.arm -20
addf armpos servo-thread
addf armlim servo-thread
addf armsw servo-thread
setp armpos.in0 -20
setp armpos.in1 5
net arm-act armpos.sel
net arm-set armpos.out armlim.in
net arm-pos armlim.out armsw.in vmcgui.arm
setp armlim.max 5
setp armlim.min -20
setp armlim.maxv 10
setp armsw.max 4
setp armsw.min -19
net arm-out armsw.under
net arm-in armsw.over

#simulated carousel with 5 Gray-coded outputs
setp carlim.maxv 0.01
net car-vel carlim.in
net car-vel-lim carlim.out carpos.in0
net car-pos carpos.out carpos.in1 vmcgui.carousel
loadrt conv_float_u32
addf conv-float-u32.0 servo-thread
net car-pos conv-float-u32.0.in 
loadrt bin2gray
addf bin2gray.0 servo-thread
net sim-pocket-u conv-float-u32.0.out bin2gray.0.in
loadrt bitslice personality=5
addf bitslice.0 servo-thread
net graycode bin2gray.0.out bitslice.0.in

net bit0 bitslice.0.out-00
net bit1 bitslice.0.out-01
net bit2 bitslice.0.out-02
net bit3 bitslice.0.out-03
net bit4 bitslice.0.out-04

# pulse and index output variant (untidy modmaths)
loadrt conv_s32_float count=2
loadrt conv_float_s32 count=3
loadrt near count=3
loadrt scale
addf conv-s32-float.0 servo-thread
addf conv-float-s32.0 servo-thread
addf conv-s32-float.1 servo-thread
addf conv-float-s32.1 servo-thread
addf scale.0 servo-thread
addf near.1 servo-thread
addf near.2 servo-thread
net car-pos conv-float-s32.0.in
net car-pos-int conv-float-s32.0.out conv-s32-float.0.in
net car-pos-float conv-s32-float.0.out near.1.in2
net car-pos near.1.in1
net pulse near.1.out
setp near.1.difference 0.01
setp scale.0.gain 0.1
setp scale.0.offset -1 # to show-off index homing
net car-pos scale.0.in
net car-pos-div10 scale.0.out conv-float-s32.1.in
net car-pos-div10-int conv-float-s32.1.out conv-s32-float.1.in
net car-pos-div10-float conv-s32-float.1.out near.2.in2
net car-pos-div10 near.2.in1
net index near.2.out
setp near.2.difference 0.009

#simulated spindle
addf spindlepos servo-thread
addf spindlelim servo-thread
setp spindlelim.max 1000
setp spindlelim.min -1000
setp spindlelim.maxv 100
net spindle-cmd spindlelim.in
net spindle-vel spindlelim.out spindlepos.in0
setp spindlepos.gain0 .00001666
setp spindlepos.in1 0
net spindle-pos spindlepos.out spindlepos.in1 vmcgui.spindle

#simulated drawbar
setp vmcgui.drawbar 5
addf drawpos servo-thread
addf drawlim servo-thread
addf drawsw servo-thread
setp drawpos.in0 5
setp drawpos.in1 0
net tool-release drawpos.sel
net draw-set drawpos.out drawlim.in
setp drawlim.max 5
setp drawlim.min 0
setp drawlim.maxv 10
net draw-pos drawlim.out drawsw.in vmcgui.drawbar
setp drawsw.max 4
setp drawsw.min 1
net tool-locked drawsw.over
net tool-released drawsw.under

#simulated carousel lock
setp vmcgui.lock 5
addf lockpos servo-thread
addf locklim servo-thread
addf locksw servo-thread
setp lockpos.in0 0
setp lockpos.in1 5
net car-lock lockpos.sel
net lock-set lockpos.out locklim.in
setp locklim.max 5
setp locklim.min 0
setp locklim.maxv 10
net lock-pos locklim.out locksw.in vmcgui.lock
setp locksw.max 4
setp locksw.min 1
net car-locked locksw.over
net car-released locksw.under