#!/usr/bin/tclsh
# Restore axis limits to INI settings
set kinstype       0     ;# 0: DEFAUlT kins type
set switchkins_pin 3     ;# agree with inifile
set coords "x y z a b c" ;# agree with inifile module coordinates=

package require Linuxcnc ;# must be beore Hal
emc_init -quick
package require Hal
parse_ini $::env(INI_FILE_NAME)

# RESTORE INI axis limits
foreach l $coords {
  set L [string toupper $l]
  catch {hal setp ini.$l.min_limit        [set ::AXIS_[set L](MIN_LIMIT)]}
  catch {hal setp ini.$l.max_limit        [set ::AXIS_[set L](MAX_LIMIT)]}
  catch {hal setp ini.$l.min_velocity     [set ::AXIS_[set L](MAX_VELOCITY)]}
  catch {hal setp ini.$l.max_acceleration [set ::AXIS_[set L](MAX_ACCELERATION)]}
}

set script [info script]
switch  -exact [emc_mode] {
  mdi     { emc_mdi m68 e$switchkins_pin q$kinstype ;# switch
            emc_mdi m66 e0l0                        ;# sync
            puts "$script: MDI: Limits updated and kins switched to type$kinstype"
          }
  manual  {puts "$script: Must be in mdi mode"}
  auto    {puts "$script: Limits updated in auto mode, sync required"}
  default {puts "$script: Unknown mode"}
}
# gcode programs should follow this command
# with M428 to switch kinematics and sync