o<qt_auto_probe_tool> sub
;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)

#<tool> = #<selected_tool>
#<pocket> = #<selected_pocket>
; we must execute this only in the milltask interpreter
; or preview will break, so test for '#<_task>' which is 1 for 
; the milltask interpreter and 0 in the UI's
O100 if [#<_task> EQ 0]
        (debug, Task ist Null)
O100     return [999]
O100 endif

; check we are in right mode
O110 if [#<_metric_machine>]
    O115 if [#<_imperial>]
       (MSG, Auto Tool probe error: not in G21 mode )
    O115 return [-3] ; indicate probe contact failure to epilog
    O115 endif
O110 else
    O115 if [#<_imperial> EQ 0]
       (MSG, Auto Tool probe error: not in G20 mode )
    O115 return [-3] ; indicate probe contact failure to epilog
    O115 endif
O110 endif

;first go up
F #<_hal[qtversaprobe.searchvel]>
G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]

O125 if [#<_current_tool>  NE #<tool>]
    ; then move to change position
    G53 G0 X[#<_ini[CHANGE_POSITION]X>] Y[#<_ini[CHANGE_POSITION]Y>]
O125 endif

; cancel tool offset
G49

; using the code being remapped here means 'use builtin behaviour'
M6

O200 if [#<_hal[qtversaprobe.enable]> EQ 0]
   (MSG, Auto Tool probe disabled )
    G43
O200 return [3] ; indicate no tool measurement 
O200 endif

G53 G0 X[#<_ini[VERSA_TOOLSETTER]X>] Y[#<_ini[VERSA_TOOLSETTER]Y>]
F #<_hal[qtversaprobe.searchvel]>
G53 G1 Z[#<_ini[VERSA_TOOLSETTER]Z>]


O300 if [#<_hal[qtversaprobe.searchvel]> LE 0]
O300 return [-1] ; indicate searchvel <= 0 
O300 endif

O400 if [#<_hal[qtversaprobe.probevel]> LE 0]
O400 return [-2] ; indicate probevel <= 0 
O400 endif

F #<_hal[qtversaprobe.searchvel]>
G91
G38.2 Z- #<_ini[VERSA_TOOLSETTER]MAXPROBE>
G0 Z #<_hal[qtversaprobe.backoffdist]>

;reprobe at probe speed
F #<_hal[qtversaprobe.probevel]>
G38.2 Z- [#<_hal[qtversaprobe.backoffdist]> *1.2]

O500 if [#5070 EQ 0]
G90
O500 return [-3] ; indicate probe contact failure to epilog
O500 endif

G90
G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]

#<touch_result> = #5063

(DEBUG, %fProbe Height: #<_hal[qtversaprobe.probeheight]>)
(DEBUG, %fBlock Height: #<_hal[qtversaprobe.blockheight]>)
(DEBUG, %fProbe Result: #<touch_result>)

G10 L1 P#<tool> Z[#<touch_result> - #<_hal[qtversaprobe.probeheight]> + #<_hal[qtversaprobe.blockheight]>]
G43

; signal success be returning a value > 0:
o<qt_auto_probe_tool> endsub [1]
m2