# core HAL config file for simulation

# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread

# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos axis.0.motor-pos-cmd => axis.0.motor-pos-fb ddt_x.in
net Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
net Zpos axis.2.motor-pos-cmd => axis.2.motor-pos-fb ddt_z.in

# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out

# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out

# estop loopback
#disabled for noio: net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
#reenabled for iotask_remove:
# iocontrol doesn't exist any more, these are really motion pins
#net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
# net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
# net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
