component syringe2 "syringe control";
// syringe2.comp - control syringe for 2gbp
//
// modes:
//      0: idle <- (i_running && M68 E0 Q0 (m68==0))||(!i_running && !i_retract)
//              en=0
//              o-hvon = 0
//
//      4: jogging <- !i-running && i_retract
//              en=1
//              ctrl-type = 1
//              vel-cmd=1.0
//
//      5: extruding <- (i-running || i_retract) && M3 && !(m68==2)
//              en=1
//              ctrl-type = 1
//              vel-cmd = extrvel
//
//      6: spinning <- (i-running || i_retract) && !M3 && M68 E0 Q2 (m68==2)
//              en=1
//              ctrl-type = 1
//              vel-cmd = spinvel
//              o-hvon = hv_arm
//
//      7: manual extrusion <- i-man-extr
//              en=1
//              ctrl-type = 1
//              vel-cmd = man-scale (mm/mL) * man-extr-rate (mL/hr) 
//                        * 1209.2 (steps/mm) / 3600 (hr/sec)
//              o-hvon = hv_arm
//              

pin in float    i-extrvel         "extrusion velocity";
pin in float    i-spinvel         "electrospin velocity";
pin in float    i-vectrate        "vector rate";
pin in float    i-m68             "M67/68 E0 value";
pin in float    i-manscale       "manual extrude scale factor";
pin in float    i-manrate        "manual extrude rate";
pin in bit      i-running         "running G-code or MDI";
pin in bit      i-hv_arm          "arm HV";
pin in bit      i-manextr        "manual extrusion button";
pin in bit      i-retract         "syringe retract";
pin in bit      i-depress         "syringe depress";
pin in bit      i-m3              "M3 spindle command on";
pin in float    i-spindlespeed    "spindle speed value";
pin out float   o-velcmd          "velocity command for stepgen";
pin out bit     o-en              "enable stepgen";
pin out bit     o-hvon            "HV is on";
pin out bit     o-spinning        "is spinning";
pin out bit     o-extruding       "is extruding";
pin out float   o-mode            "debug - current mode";

function _;

option singleton yes;
license "GPL";
author "Ralph Stirling";

variable int mode = 0;

;;

//#include <rtapi_math.h>

FUNCTION(_) {

    o_mode = mode;
    switch (mode)
    {
    default:
        mode = 0;
    case 0:     // idle
        if (!i_running && (i_retract || i_depress))
            mode = 4;
        if (i_running && i_m3 && i_m68!=2)
            mode = 5;
        //if (i_running && !i_m3 && i_m68==2)
        if (!i_m3 && i_m68==2)
            mode = 6;
        if (i_manextr)
            mode = 7;
        o_en = 0;
        o_spinning = 0;
        o_extruding = 0;
        o_velcmd = 0;
        o_hvon = 0;
        break;
    case 4:     // jogging
        if (!i_retract && !i_depress)
            mode = 0;
        o_en = 1;
        o_spinning = 0;
        o_extruding = 0;
        if (i_retract)
            o_velcmd = -0.1;
        if (i_depress)
            o_velcmd = 0.1;

        if (i_retract && i_depress)
            o_velcmd = 0;
        o_hvon = 0;
        break;
    case 5:     // extruding
        if ((i_running && !i_m3) || (!i_running))
            mode = 0;
        o_en = 1;
        o_spinning = 0;
        o_extruding = 1;
        o_velcmd = i_spindlespeed * i_vectrate;
        o_hvon = 0;
        break;
    case 6:     // spinning
        //if ((i_running && i_m68==0) || (!i_running))
        if ( i_m68==0 )
            mode = 0;
        o_en = 1;
        o_spinning = 1;
        o_extruding = 0;
        o_velcmd = i_spinvel/3600;
        o_hvon = i_hv_arm;
        break;
    case 7:     // manual extrusion
        if (!i_manextr)
            mode = 0;
        o_en = 1;
        o_spinning = 0;
        o_extruding = 0;
        o_velcmd = i_manrate * 1209.2 * i_manscale / 3600.0;
        o_hvon = i_hv_arm;
        break;
    }
}