component syringe2 "syringe control";
// syringe2.comp - control syringe for 2gbp
//
// modes:
//      0: idle
//              en=0
//              o-hvon = 0
//
//      1: extruding <- mode0 && running && m68==1
//              en=1
//              o-hvon = 0
//              vel-cmd = extrvel
//
//      2: spinning <- mode0 && running && m68==2
//              en=1
//              o-hvon = hv_arm
//              vel-cmd = spinvel
//              
//      3: jogging <- mode0 && !running && (retract || depress)
//              en=1
//              o-hvon = 0
//              vel-cmd=1.0 or -1.0
//

pin in float    i-extrrate        "extrusion velocity";
pin in float    i-vectrate        "vector rate";
pin in float    i-m68             "M67/68 E0 Qvalue";
pin in float	i-hvlevel	  "M68 E2 Qvalue";
pin in bit      i-running         "running G-code or MDI";
pin in bit      i-hv_arm          "arm HV";
pin in bit      i-retract         "syringe retract";
pin in bit      i-depress         "syringe depress";
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 bit     o-retract         "syringe retract command";
pin out bit     o-depress         "syringe depress command";
pin out float   o-mode            "debug - current mode";

function _;

option singleton yes;
license "GPL";
author "Ralph Stirling";
// Date: 2020-11-12

variable int mode = 0;

;;

#include <rtapi_math.h>

FUNCTION(_) {

    o_mode = mode;
    switch (mode)
    {
    default:
        mode = 0;
    case 0:     // idle
        o_en = 0;
        o_spinning = 0;
        o_extruding = 0;
        o_retract = o_depress = 0;
        o_velcmd = 0;
        o_hvon = 0;

        if (i_running && i_m68==1)
            mode = 1;	// start velocity proportional extruding
        if (i_running && i_m68==2)
            mode = 2;	// start constant extruding
        if (!i_running && (i_retract != i_depress))
            mode = 3;	// start jogging
        break;
    case 1:     // extruding
	o_en = 1;
	o_spinning = 0;
	o_extruding = 1;
	o_velcmd = i_extrrate * i_vectrate;
	if ((i_hvlevel > 0.01) || (i_hvlevel < -0.01))
	    o_hvon = i_hv_arm;
	else
	    o_hvon = 0;

        if ((i_running && i_m68==0) || (!i_running))
            mode = 0;
        if (i_running && i_m68==2)
            mode = 2;
        break;
    case 2:     // spinning
	o_en = 1;
	o_spinning = 1;
	o_extruding = 0;
	o_velcmd = i_extrrate/3600;
	o_hvon = i_hv_arm;

        if ((i_running && i_m68==0) || (!i_running))
            mode = 0;
        if (i_running && i_m68==1)
            mode = 1;
        break;
    case 3:     // jogging
        o_en = 1;
        o_spinning = 0;
        o_extruding = 0;
        o_hvon = 0;
        if (i_retract)
        {
            o_retract = 1;
            o_depress = 0;
            o_velcmd = -0.1;
        }
        else if (i_depress)
        {
            o_retract = 0;
            o_depress = 1;
            o_velcmd = 0.1;
        }

        if (i_retract == i_depress)
            mode = 0;
        break;
    }
}