##############################################################################
## Example: Demo of ecmc grbl g-code plugin
## https://github.com/anderssandstrom/ecmc_plugin_grbl
## https://github.com/anderssandstrom/e3-ecmc_plugin_grbl
##
## The plugin exposes:
##

## Initiation:

require ecmccfg v9.0.1_RC1 "ECMC_VER=v9.0.1_RC1"
require ecmc_plugin_grbl sandst_a

##############################################################################
## Configure hardware:

${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=1, HW_DESC=EL3004"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=2, HW_DESC=EL5001"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=3, HW_DESC=EL1008"
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=4, HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
epicsEnvSet(X_DRV_SID,${ECMC_EC_SLAVE_NUM})
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"

#- HWE for EP7211
epicsEnvSet("BO_SID",           "6")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SID), HW_DESC=EL2008"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SID},binaryOutput02,1)"

# Limit torque to 50% of motor rated torque
#- Rated current = 2710mA (see motor config file, "0x8011 0x12 Rated current (mA)")
#- Set to 50% of 2710 = 1355mA   (0x8011 0x11 Max current (mA))
epicsEnvSet("Y_DRV_SID",        "11")
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(Y_DRV_SID), HW_DESC=EP7211-0034_ALL, CONFIG=-Motor-Beckhoff-AM8111-0F20-0000,CFG_MACROS='I_MAX_MA=1355'"

#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"

##############################################################################
## AXIS 1: X
# Configure Motion
epicsEnvSet("DRV_SID",  "${X_DRV_SID}")
epicsEnvSet("DEV",      "$(IOC)")
${SCRIPTEXEC} ${ecmccfg_DIR}configureAxis.cmd, "CONFIG=./cfg/X_psi.ax"

# AXIS 2: Y
epicsEnvSet("DRV_SID",  "${Y_DRV_SID}")
epicsEnvSet("DEV",      "$(IOC)")
$(SCRIPTEXEC) $(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/Y_psi.ax

##############################################################################
## Load plugin:

epicsEnvSet(ECMC_PLUGIN_FILNAME,"${ecmc_plugin_grbl_DIR}lib/${EPICS_HOST_ARCH}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=0;AUTO_START=0;")
${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)

# Load grbl configs (use "ecmcGrblAddConfig()" or "ecmcGrblAddConfig()"):
#    $11 - Junction deviation, mm\n
#    $12 – Arc tolerance, mm\n
#    $30 - Max spindle speed, RPM\n
#    $31 - Min spindle speed, RPM\n
#    $100, $101 and $102 – [X,Y,Z] steps/mm\n
#    $110, $111 and $112 – [X,Y,Z] Max rate, mm/min\n
#    $120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2\n

ecmcGrblLoadConfigFile("./cfg/grbl.cfg")

#ecmcGrblAddConfig("$120=1234");
#ecmcGrblAddConfig("$121=1234");
#ecmcGrblAddConfig("$122=1234");

# Load g-code (use "ecmcGrblLoadGCodeFile()" or "ecmcGrblAddCommand()")
ecmcGrblLoadGCodeFile("./plc/gcode.nc",0)

#ecmcGrblAddCommand("G1X20Y20F360");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G2X0Y0R20");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G0X10Y10");
#ecmcGrblAddCommand("G4P2");
#ecmcGrblAddCommand("G1X0Y0");

##############################################################################
## PLC 0: Test some grbl plc commands
$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/grbl.plc")

##############################################################################
############# Configure diagnostics:

ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"

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

#asynSetTraceMask(MC_CPU1, -1, 0x41)
# Note need to test 0x21 later..
#asynSetTraceMask(MC_CPU1, -1, 0x21)
asynSetTraceMask(MC_CPU1, -1, 0x0)

##############################################################################
############# Go Live:

iocInit()

dbpf $(IOC):Axis1.SPAM 0
dbpf $(IOC):Axis2.SPAM 0