# General section -------------------------------------------------------------
[EMC]
# make emcsrv not create tool rcs channels if not using iocontrol
TOOL_CHANNELS = 0

# Name of NML file to use.  toolCmd and toolSts, and tool process disabled
NML_FILE =              no-iotask.nml

# Version of this INI file
VERSION = 1.0

# Name of machine, for use with display, etc.
MACHINE =               iocontrol-removed.ini

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =               0x7FFFFFFF
#DEBUG =               0x7FFFDEFF  #no interp,oword
#DEBUG  =   	       0x00008000 # py only
#DEBUG  =   	       0x0000E000 # py + remap + Oword
#DEBUG  =   	       0x0000C000 # py + remap
#DEBUG  =   	       0x0000C100 # py + remap + Interpreter
#DEBUG  =   	       0x0000C140 # py + remap + Interpreter + NML msgs
#DEBUG  =   	       0x0004C140 # py + remap + Interpreter + NML msgs + PythonTask
#DEBUG  =   	       0x0000C040 # py + remap + NML
#DEBUG  =   	       0x0004C040 # py + remap + NML + PythonTask
#DEBUG  =   	       0x0003E100 # py + remap + Interpreter + oword + signals + namedparams
#DEBUG =                0x00008000
#DEBUG = 0 # 0x00000100
#PythonTask
DEBUG=0x00040000
#define EMC_DEBUG_IOCONTROL         0x00001000
#define EMC_DEBUG_OWORD             0x00002000
#define EMC_DEBUG_REMAP             0x00004000
#define EMC_DEBUG_PYTHON            0x00008000
#define EMC_DEBUG_NAMEDPARAM        0x00010000
#define EMC_DEBUG_GDBONSIGNAL 	    0x00020000
#define EMC_DEBUG_PYTHON_TASK       0x00040000


# Sections for display options ------------------------------------------------

[DISPLAY]
# how to use the Firefox SQlite manager plugin as tooltable editor:
#
# 0: read http://code.google.com/p/sqlite-manager
#
# 1. download 'SQLiteManager 0.7.7 as XULRunner App' (or whatever the latest version is,
#    eg http://code.google.com/p/sqlite-manager/downloads/detail?name=sqlitemanager-xr-0.7.7-all.zip&can=2&q==
#
# 2. create a directory under your home directory, eg ~/sqlite-manager
#
# 3. unzip the zp file from 1) into this directory
# 
# 4. try running firefox with this plugin and the tooltable.sqlite file in this directory
#    like so:
#
#    firefox -app <homdir>/sqlite-manager/application.ini -f tooltable.sqlite
#   
# firefox should come up with the sqlite manager extension and having this database opened
#
# 5. adapt the following command line with appropriate paths:
#
TOOL_EDITOR= firefox -app  /home/mah/sqlite-manager/application.ini -f /home/mah/emc2-dev/configs/sim/remap/iocontrol-removed/tooltable.sqlite

GLADEVCP=-c gladevcp racktoolchange-noioctl.glade

# Name of display program, e.g., xlinuxcnc
DISPLAY =             axis

#OPEN_FILE=/home/mah/emc2-tc/nc_files/taskcall.ngc
OPEN_FILE=./nc_files/tcdemo.ngc

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2
MAX_SPINDLE_OVERRIDE =  1.0

# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
#INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0

#EDITOR = gedit

INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

# Task controller section -----------------------------------------------------
[RS274NGC]

SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs

# optional features - a bit mask to selectively turn on experimental/dubious features
# see 
# RETAIN_G43           0x00000001
# OWORD_N_ARGS         0x00000002
# INI_VARS             0x00000004
# HAL_PIN_VARS         0x00000008
# NO_DOWNCASE_OWORD    0x00000010

# turn on all optional features except RETAIN_G43
FEATURES=30

# handler procedure called on aborts - to cleanup HAL pins etc
ON_ABORT_COMMAND=O <on_abort> call 

LOG_LEVEL = 9
# File containing interpreter variables
PARAMETER_FILE =        sim_mm.var

# see python/remap.py for the prolog and epilog handlers
# see nc_files/remap-subroutines for the NGC procedures
#
REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=rack_change  epilog=change_epilog    

# accessible in interp as #<_[section]name>
[EMCMOT]

EMCMOT =              motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD  =               0
# Servo task period, in nano-seconds
SERVO_PERIOD =               1000000

# Hardware Abstraction Layer section --------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.001

# the Python plugins serves interpreter and task

[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

# POSTTASK_HALFILE is executed by task after initialisation
# because task now sports HAL pins
# POSTGUI_HALFILE is only supported by Axis
POSTTASK_HALFILE = core_sim.hal
POSTTASK_HALFILE = racktoolchange.hal
POSTTASK_HALFILE = simulated_home.hal

POSTGUI_HALFILE= gladevcp.hal

#HALFILE = gamepad.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content

[TRAJ]
COORDINATES =           X Y Z
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 30.48
MAX_LINEAR_VELOCITY = 53.34
DEFAULT_LINEAR_ACCELERATION = 508
MAX_LINEAR_ACCELERATION = 508
POSITION_FILE = position_mm.txt
NO_FORCE_HOMING =       1

# Axes sections ---------------------------------------------------------------

# First axis
[EMCIO] section for main IO controller parameters is gone


[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -254
MAX_LIMIT = 254
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508

[JOINT_0]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -254
MAX_LIMIT =                     254
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

# Second axis
[AXIS_Y]
MIN_LIMIT = -254
MAX_LIMIT = 254
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508

[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -254
MAX_LIMIT =                     254
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

# Third axis
[AXIS_Z]
MIN_LIMIT = -50.8
MAX_LIMIT = 101.6
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508

[JOINT_2]
TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -50.8
MAX_LIMIT =                     101.6
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    25.4
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

[PYTHON]
# where to find Python code
# code specific for this configuration	
PATH_PREPEND=./python
# generic support code
PATH_APPEND=../../nc_files/remap_lib/python-stdglue

# import the following Python module
TOPLEVEL=python/toplevel.py

# the higher the more verbose tracing of the Python plugin
LOG_LEVEL = 0

RELOAD_ON_CHANGE=1

LOG_LEVEL = 2

# start a Python (really IO) Task class
# see end of python/task.py to see how it's instantiated
PYTHON_TASK=1

# section for everything tool related
# relevant only if NOT using iocontrol - see EMCIO in that case

# needed to keep axis happy for now
# technically the  [EMCIO] section for main IO controller parameters is gone

[TOOL]

# how to connect to a toolstore in an SQL database
ODBC_CONNECT= Driver=SQLite3;Database=tooltable.sqlite

# legacy tool table filename
TOOL_TABLE = tool.tbl

# if nonzero, save tool-in-spindle and pocket-prepped on exit, and restore on startup
# ODBC only
SAVE_TOOLSTATE=1

# manual, random, any other
CHANGER_TYPE= manual

# if TASK_TOOLCHANGE_PINS=1, the task Python plugin will emulate the
# following iocontrol.0 pins:
#   tool-change
#   tool-changed
#   tool-number
#   tool-prep-number
#   tool-prep-pocket
#   tool-prepare
#   tool-prepared
#
TASK_TOOLCHANGE_PINS=1

# if TASK_START_CHANGE_PINS=1,  the task Python plugin will emulate the
# start-change/start-change-ack pins and their protocol as per iocontrolv2:
TASK_START_CHANGE_PINS=1

# if TASK_TOOLCHANGE_FAULT_PINS=1 the task Python plugin will emulate the iocontrolv2 pins:
# emc-abort
# emc-abort-ack
# emc-reason
# toolchanger-fault
# toolchanger-fault-ack
# toolchanger-reason
# toolchanger-faulted
# toolchanger-clear-fault
TASK_TOOLCHANGE_FAULT_PINS=1


# Part program interpreter section --------------------------------------------
[TOOL_HOLDER_CLEAR]
X = 10
Y = 30  
Z = 10

[TOOL_SLOT_DELTA]
X = 0
Y = 10  
Z = 0

# this is not named TOOL_CHANGE_POSITION  ón purpose - canon uses it and will
# interfere
[CHANGE_POSITION]
X = 10
Y = 10  
Z = 10

[DWELL]
LOCK_TIME = 0.5
MYSTERY = 0
NEW_TOOL = 1.0
POST_UNLOCK = 0.5

# motion.digital-out-NN pins
[PINS]
LOCK = 0
FLUSH = 1


# Motion control section ------------------------------------------------------
