# Set to 0 to move the tower into working state and to 1 to move into changer position
record(longout, "$(INSTR)$(M):ChangeState") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) CHANGE_STATE")
    field(PINI, "NO")
    field(DRVH, "1")
    field(DRVL, "0")	
}

# Read the position state of the axis: 
# 0 = not ready
# 1 = ready (in working position)
# 2 = Moving from working to changer position or in changer position
# 3 = Moving from changer to working state
record(longin, "$(INSTR)$(M):PositionStateRBV")
{
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) POSITION_STATE_RBV")
    field(SCAN, "I/O Intr")
    field(PINI, "NO")
}

# This PV combines the position state and the movement readback value from the
# motor record:
# - 0, if the tower is in working state or transitioning to change position
# - 1, If the tower is in change position or transitioning to working state
record(calc, "$(INSTR)$(M):ChangingStateRBV")
{
    field(INPA,  "$(INSTR)$(M).MOVN CP")
    field(INPB,  "$(INSTR)$(M):PositionStateRBV CP")
    field(CALC, "(B == 1 || (B == 2 && A == 1)) ? 0 : 1")
}

# Convert the double value from the calc record to an integer value
record(longout, "$(INSTR)$(M):ChangingStateRBV_int") {
    field(DOL,  "$(INSTR)$(M):ChangingStateRBV CP")
    field(OMSL, "closed_loop")
}