# core HAL config file for simulation - 4 axis

# load RT modules
loadrt scarakins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt ddt count=12

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf ddt.0 servo-thread
addf ddt.1 servo-thread
addf ddt.2 servo-thread
addf ddt.3 servo-thread
addf ddt.4 servo-thread
addf ddt.5 servo-thread
addf ddt.6 servo-thread
addf ddt.7 servo-thread
addf ddt.8 servo-thread

# create HAL signals for position commands from motion module
newsig J0pos float
linksp J0pos <= axis.0.motor-pos-cmd
newsig J1pos float
linksp J1pos <= axis.1.motor-pos-cmd
newsig J2pos float
linksp J2pos <= axis.2.motor-pos-cmd
newsig J3pos float
linksp J3pos <= axis.3.motor-pos-cmd


# loop position commands back to motion module feedback
linksp J0pos => axis.0.motor-pos-fb
linksp J1pos => axis.1.motor-pos-fb
linksp J2pos => axis.2.motor-pos-fb
linksp J3pos => axis.3.motor-pos-fb

# send the position commands thru differentiators to
# generate velocity and accel signals
# define the signals, and hook them up
newsig J0vel float
newsig J0acc float
linksp J0pos => ddt.0.in
linkps ddt.0.out => J0vel
linksp J0vel => ddt.1.in
linkps ddt.1.out => J0acc

newsig J1vel float
newsig J1acc float
linksp J1pos => ddt.2.in
linkps ddt.2.out => J1vel
linksp J1vel => ddt.3.in
linkps ddt.3.out => J1acc

newsig J2vel float
newsig J2acc float
linksp J2pos => ddt.4.in
linkps ddt.4.out => J2vel
linksp J2vel => ddt.5.in
linkps ddt.5.out => J2acc

newsig J3vel float
newsig J3acc float
linksp J3pos => ddt.6.in
linkps ddt.6.out => J3vel
linksp J3vel => ddt.7.in
linkps ddt.7.out => J3acc

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

# amp control
newsig xena bit
linksp xena axis.0.amp-enable-out
newsig yena bit
linksp yena axis.1.amp-enable-out
newsig zena bit
linksp zena axis.2.amp-enable-out
newsig aena bit
linksp aena axis.3.amp-enable-out

newsig xflt bit
linksp xflt axis.0.amp-fault-in
newsig yflt bit
linksp yflt axis.1.amp-fault-in
newsig zflt bit
linksp zflt axis.2.amp-fault-in
newsig aflt bit
linksp aflt axis.3.amp-fault-in

loadusr -W scaragui

net j0 axis.0.joint-pos-fb scaragui.joint0
net j1 axis.1.joint-pos-fb scaragui.joint1
net j2 axis.2.joint-pos-fb scaragui.joint2
net j3 axis.3.joint-pos-fb scaragui.joint3