# Hexapod cpp_logic simulation IOC example.
# Run with the hexapod project as the IOC working directory.
# Build first: make logic ECMC_ROOT=<ecmc source> ECMCCFG_ROOT=<ecmccfg source>
#   build/libhexapod_logic.so
#   cfg/libhexapod_logic.so_cpp_logic.subs
#
# Axes 1..6: X, Y, Z, Rx, Ry, Rz (internal coordinate trajectories).
# Axes 7..12: L1..L6 (external IK trajectories and ideal leg feedback).
# No EtherCAT master or physical hardware is required.
# The IOC launcher supplies iocInit; ecmccfg finalizes at that point.
#
# Useful panels after startup:
#   caqtdm -macro "IOC=HEXAPOD" ecmcCppLogicOverview.ui
#   caqtdm -macro "IOC=HEXAPOD,CPP_ID=0" ecmcCppLogic.ui

epicsEnvSet("IOC", "${IOC=HEXAPD}")
require ecmccfg sandst_a "ECMC_VER=sandst_a,MASTER_ID=-1,EC_RATE=1000"

# Load all twelve virtual axes, then the C++ transform and its status PVs.
${SCRIPTEXEC} ./cfg/load.cmd