/* Autogenerated by /home/engrtech/linuxcnc-dev/bin/halcompile on Mon Feb 12 11:35:43 2018 -- do not edit */
#include "rtapi.h"
#ifdef RTAPI
#include "rtapi_app.h"
#endif
#include "rtapi_string.h"
#include "rtapi_errno.h"
#include "hal.h"
#include "rtapi_math64.h"

static int comp_id;

#ifdef MODULE_INFO
MODULE_INFO(linuxcnc, "component:syrctrl:syringe control");
MODULE_INFO(linuxcnc, "pin:i-homevel:float:0:in:homing velocity:None:None");
MODULE_INFO(linuxcnc, "pin:i-extrvel:float:0:in:extrusion velocity:None:None");
MODULE_INFO(linuxcnc, "pin:i-spinvel:float:0:in:electrospin velocity:None:None");
MODULE_INFO(linuxcnc, "pin:i-target-pos:float:0:in:jog position cmd:None:None");
MODULE_INFO(linuxcnc, "pin:i-limit-pos:float:0:in:limit3 jog position cmd:None:None");
MODULE_INFO(linuxcnc, "pin:i-m68:float:0:in:M67/68 E0 value:None:None");
MODULE_INFO(linuxcnc, "pin:i-running:bit:0:in:running G-code or MDI:None:None");
MODULE_INFO(linuxcnc, "pin:i-homesw:bit:0:in:home and limit switches:None:None");
MODULE_INFO(linuxcnc, "pin:i-home:bit:0:in:start homing sequence:None:None");
MODULE_INFO(linuxcnc, "pin:i-hv_arm:bit:0:in:arm HV:None:None");
MODULE_INFO(linuxcnc, "pin:o-vel-cmd:float:0:out:velocity command for stepgen:None:None");
MODULE_INFO(linuxcnc, "pin:o-homing:bit:0:out:is doing home sequence:None:None");
MODULE_INFO(linuxcnc, "pin:o-homed:bit:0:out:is done homing:None:None");
MODULE_INFO(linuxcnc, "pin:o-en:bit:0:out:enable stepgen:None:None");
MODULE_INFO(linuxcnc, "pin:o-hvon:bit:0:out:HV is on:None:None");
MODULE_INFO(linuxcnc, "pin:o-ctrltype:bit:0:out:stepgen type: 0=pos, 1=vel:None:None");
MODULE_INFO(linuxcnc, "funct:_:1:");
MODULE_INFO(linuxcnc, "license:GPL");
MODULE_INFO(linuxcnc, "author:Ralph Stirling");
MODULE_LICENSE("GPL");
#endif // MODULE_INFO


struct __comp_state {
    struct __comp_state *_next;
    hal_float_t *i_homevel;
    hal_float_t *i_extrvel;
    hal_float_t *i_spinvel;
    hal_float_t *i_target_pos;
    hal_float_t *i_limit_pos;
    hal_float_t *i_m68;
    hal_bit_t *i_running;
    hal_bit_t *i_homesw;
    hal_bit_t *i_home;
    hal_bit_t *i_hv_arm;
    hal_float_t *o_vel_cmd;
    hal_bit_t *o_homing;
    hal_bit_t *o_homed;
    hal_bit_t *o_en;
    hal_bit_t *o_hvon;
    hal_bit_t *o_ctrltype;
};
struct __comp_state *__comp_first_inst=0, *__comp_last_inst=0;

static void _(struct __comp_state *__comp_inst, long period);
static int __comp_get_data_size(void);
#undef TRUE
#define TRUE (1)
#undef FALSE
#define FALSE (0)
#undef true
#define true (1)
#undef false
#define false (0)

static int export(char *prefix, long extra_arg) {
    char buf[HAL_NAME_LEN + 1];
    int r = 0;
    int sz = sizeof(struct __comp_state) + __comp_get_data_size();
    struct __comp_state *inst = hal_malloc(sz);
    memset(inst, 0, sz);
    r = hal_pin_float_newf(HAL_IN, &(inst->i_homevel), comp_id,
        "%s.i-homevel", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_IN, &(inst->i_extrvel), comp_id,
        "%s.i-extrvel", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_IN, &(inst->i_spinvel), comp_id,
        "%s.i-spinvel", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_IN, &(inst->i_target_pos), comp_id,
        "%s.i-target-pos", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_IN, &(inst->i_limit_pos), comp_id,
        "%s.i-limit-pos", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_IN, &(inst->i_m68), comp_id,
        "%s.i-m68", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_IN, &(inst->i_running), comp_id,
        "%s.i-running", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_IN, &(inst->i_homesw), comp_id,
        "%s.i-homesw", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_IN, &(inst->i_home), comp_id,
        "%s.i-home", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_IN, &(inst->i_hv_arm), comp_id,
        "%s.i-hv-arm", prefix);
    if(r != 0) return r;
    r = hal_pin_float_newf(HAL_OUT, &(inst->o_vel_cmd), comp_id,
        "%s.o-vel-cmd", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->o_homing), comp_id,
        "%s.o-homing", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->o_homed), comp_id,
        "%s.o-homed", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->o_en), comp_id,
        "%s.o-en", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->o_hvon), comp_id,
        "%s.o-hvon", prefix);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->o_ctrltype), comp_id,
        "%s.o-ctrltype", prefix);
    if(r != 0) return r;
    rtapi_snprintf(buf, sizeof(buf), "%s", prefix);
    r = hal_export_funct(buf, (void(*)(void *inst, long))_, inst, 1, 0, comp_id);
    if(r != 0) return r;
    if(__comp_last_inst) __comp_last_inst->_next = inst;
    __comp_last_inst = inst;
    if(!__comp_first_inst) __comp_first_inst = inst;
    return 0;
}
int rtapi_app_main(void) {
    int r = 0;
    comp_id = hal_init("syrctrl");
    if(comp_id < 0) return comp_id;
    r = export("syrctrl", 0);
    if(r) {
        hal_exit(comp_id);
    } else {
        hal_ready(comp_id);
    }
    return r;
}

void rtapi_app_exit(void) {
    hal_exit(comp_id);
}

#undef FUNCTION
#define FUNCTION(name) static void name(struct __comp_state *__comp_inst, long period)
#undef EXTRA_SETUP
#define EXTRA_SETUP() static int extra_setup(struct __comp_state *__comp_inst, char *prefix, long extra_arg)
#undef EXTRA_CLEANUP
#define EXTRA_CLEANUP() static void extra_cleanup(void)
#undef fperiod
#define fperiod (period * 1e-9)
#undef i_homevel
#define i_homevel (0+*__comp_inst->i_homevel)
#undef i_extrvel
#define i_extrvel (0+*__comp_inst->i_extrvel)
#undef i_spinvel
#define i_spinvel (0+*__comp_inst->i_spinvel)
#undef i_target_pos
#define i_target_pos (0+*__comp_inst->i_target_pos)
#undef i_limit_pos
#define i_limit_pos (0+*__comp_inst->i_limit_pos)
#undef i_m68
#define i_m68 (0+*__comp_inst->i_m68)
#undef i_running
#define i_running (0+*__comp_inst->i_running)
#undef i_homesw
#define i_homesw (0+*__comp_inst->i_homesw)
#undef i_home
#define i_home (0+*__comp_inst->i_home)
#undef i_hv_arm
#define i_hv_arm (0+*__comp_inst->i_hv_arm)
#undef o_vel_cmd
#define o_vel_cmd (*__comp_inst->o_vel_cmd)
#undef o_homing
#define o_homing (*__comp_inst->o_homing)
#undef o_homed
#define o_homed (*__comp_inst->o_homed)
#undef o_en
#define o_en (*__comp_inst->o_en)
#undef o_hvon
#define o_hvon (*__comp_inst->o_hvon)
#undef o_ctrltype
#define o_ctrltype (*__comp_inst->o_ctrltype)


#line 61 "syrctrl.comp"

#include <rtapi_math.h>

variable int mode = 0;
variable int reached-home = 0;
variable float last-pos = 0;

static int differ(float v1, float v2);

static int differ(float v1, float v2)
{
    if (abs(v1) > abs(v2)+0.01)
        return (1);
    if (abs(v1) < abs(v2)-0.01)
        return (1);
    return (0);
}

FUNCTION(_) {

    switch (mode)
    {
    default:
        mode = 0;
    case 0:     // idle
        if (!i-running && i-home && !i-homesw)
            mode = 1;
        if (!i-running && differ(i-target-pos, last-pos))
            mode = 4;
        if (i-running && i-m68==1)
            mode = 5;
        if (i-running && i-m68==2)
            mode = 6;
        o-en = 0;
        o-ctrltype = 0;
        break;
    case 1:     // homing
        if (i-homesw)
            mode = 2;
        o-en = 1;
        o-ctrltype = 1;
        break;
    case 2:     // backoff
        if (!i-homesw)
            mode = 3;
        o-en = 1;
        o-ctrltype = 1;
        break;
    case 3:     // homed
        mode = 0;
        o-en = 0;
        o-ctrltype = 0;
        break;
    case 4:     // jogging
        if (!differ(i-target-pos,last-pos) && !differ(i-target-pos,i-limit-pos))
            mode = 0;
        o-en = 1;
        o-ctrltype = 0;
        break;
    case 5:     // extruding
        if ((i_running && i-m68==0) || (!i_running))
            mode = 0;
        o-en = 1;
        o-ctrltype = 1;
        break;
    case 6:     // spinning
        if ((i_running && i-m68==0) || (!i_running))
            mode = 0;
        o-en = 1;
        o-ctrltype = 1;
        break;
    }
}


static int __comp_get_data_size(void) { return 0; }