##############################################################################
## Example: Demo of ecmc SocketCAN plugin
## https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
##
## The plugin exposes:
##

## Initiation:
epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
epicsEnvSet("ECMCCFG_INIT" ,"")  #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")

require ecmccfg 7.0.1

# run module startup.cmd (only needed at ESS  PSI auto call at require)
$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=7.0.1,MASTER_ID=-1"

##############################################################################
## Configure hardware:
# No EtherCAT hardware (in this example)..

##############################################################################
## Load plugin:
epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl $(PLUGIN_VER)

epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;") # Only one option implemented in this plugin
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)

ecmcGrblAddCommand("G0X10Y100");

ecmcGrblAddCommand("$");
  
ecmcGrblAddCommand("G0X10Y100");
    
ecmcGrblAddCommand("$G");
  
ecmcGrblAddCommand("G4P4");
  
ecmcGrblAddCommand("G1X20Y200F20");
  
ecmcGrblAddCommand("G4P4");
  
ecmcGrblAddCommand("G2X40Y220R20");
  
ecmcGrblAddCommand("$");

##############################################################################
## PLC 0
# $(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/can.plc")

$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)

iocInit()