; superseded: nc_files/remap_lib/common_nc_subs/on_abort.ngc


; This oword sub is called on IoAborts if so defined in the ini file
;
; to activate, incantate as follows:
;
; [RS274NGC]
; # handler gsub called on IoAborts - to cleanup HAL pins etc
; ON_ABORT_COMMAND=o<on_abort>call
;
; the reason code is passed as parameter #1 and is taken from
; the below enum in src/emc/nml_intf/emc.hh :
;
; // types for emcIoAbort() reasons
; enum EMC_IO_ABORT_REASON_ENUM {
;    EMC_ABORT_TASK_EXEC_ERROR = 1,
;    EMC_ABORT_AUX_ESTOP = 2,
;    EMC_ABORT_MOTION_OR_IO_RCS_ERROR = 3,
;    EMC_ABORT_TASK_STATE_OFF = 4,
;    EMC_ABORT_TASK_STATE_ESTOP_RESET = 5,
;    EMC_ABORT_TASK_STATE_ESTOP = 6,
;    EMC_ABORT_TASK_STATE_NOT_ON = 7,
;    EMC_ABORT_TASK_ABORT = 8,
;    EMC_ABORT_USER = 100  // user-defined abort codes start here
; };
; see src/emc/emc/task/emctask.cc and emctaskmain.cc for context where this 
; is called
;
O<on_abort> sub
 (DEBUG, on_abort called, reason = [#1])
o<if1> if [#1 EQ 1] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_EXEC_ERROR)
o<if1> endif
o<if2> if [#1 EQ 2] 
          (DEBUG, on_abort called: EMC_ABORT_AUX_ESTOP)
o<if2> endif
o<if3> if [#1 EQ 3] 
          (DEBUG, on_abort called: EMC_ABORT_MOTION_OR_IO_RCS_ERROR)
o<if3> endif
o<if4> if [#1 EQ 4] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_STATE_OFF)
o<if4> endif
o<if5> if [#1 EQ 5] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_STATE_ESTOP_RESET)
o<if5> endif
o<if6> if [#1 EQ 6] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_STATE_ESTOP)
o<if6> endif
o<if7> if [#1 EQ 7] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_STATE_NOT_ON)
o<if7> endif
o<if8> if [#1 EQ 8] 
          (DEBUG, on_abort called: EMC_ABORT_TASK_ABORT)
o<if8> endif
; (DEBUG, deasserting motion.digital-out-00 as iocontrol.tool-prepare)
;
M65 P0

; assert the equivalent of the iocontrol.tool-change pin
; which is now motion.digital-out-01
;(DEBUG, deasserting motion.digital-out-01)
M65 P1
g0 ; see if this syncs motion
;
O<on_abort> endsub
;