; This demonstrates doing T<pocket> select tool command
; remapped to a named oword sub
;
; to activate, incantate as follows in the ini file:
; [RS274NGC]
; # remap T<pocket> to a named oword subroutine.
; # The tool number will be passed as parameter #1
; # The pocket number will be passed as parameter #2
;
; T_COMMAND=o<tdemo>call
;
; on success, return the pocket number to commit the prepare
;
;-----------------
; emulate the tool-number/tool-prepare/tool-prepared logic of the iocontrol-
; based toolchanger
;
O<tdemo> sub

(DEBUG,tdemo.ngc: #1 #2)

; O<tdemo> if ; trigger error to test error reporting


; test fail-change line from gladevcp
M66 P2 L0
O<tdemo_prepare_fail> if [#5399 EQ 1]
    (DEBUG,  returning -1 to fail prepare)
    O<tdemo> return [-1]
O<tdemo_prepare_fail> endif

;
; number of seconds to wait for 'tool-prepared' equivalent
; if timing out, fail the prepare and stop the program
#<timeout> = 5
;
;
; set analog output pin #0 to signal the tool number
; iocontrol.tool-prep-number becomes motion.analog-out-00
M68 E0 Q[#1]
(DEBUG, set tool number on motion.analog-out-00: #1)
;
; set analog output pin #1 to signal the pocket number
; iocontrol.tool-prep-pocket becomes motion.analog-out-01
M68 E1 Q[#2]
(DEBUG, set pocket number on motion.analog-out-01: #2)
;
;
; assert the equivalent of the iocontrol.tool-prepare pin
; which is now motion.digital-out-00
M64 P0
(DEBUG, motion.digital-out-00 set high, waiting for motion.digital-in-00)
;
;
; wait for the equivalent of the iocontrol.tool-prepared pin to go high
; we use motion.digital-in-00
;
M66 P0 L3 Q#<timeout>
;
O<tdemo_timeout> if [#5399 LT  0]
    (DEBUG, timeout waiting for 'prepared' to become true - failing prepare )
    M65 P0
    O<tdemo> return [-2]
O<tdemo_timeout> endif

; test fail-change line from gladevcp once more in case it became active
; while waiting for prepared:
M66 P2 L0

O<tdemo_prepare_fail2> if [#5399 EQ 1]
    (DEBUG,  returning -1 to fail prepare)
    M65 P0
    (debug, turned off prepare)
    O<tdemo> return [-3]
O<tdemo_prepare_fail2> endif

; all went well

(DEBUG, deasserting motion.digital-out-00)
;
M65 P0
;
(DEBUG, done with prepare sub)

; succeed prepare by passing the pocket number as return value
; a negative return value leaves the interpreter state untouched
; and fail with an error message:
; "Tx prepare failed (<return value>)
;
O<tdemo> endsub [#2]


m2