#!/bin/bash
set -x

rm -f sim.var

# reset the tool table to a known starting configuration
rm -f simpockets.tbl
cp ../../simpockets.tbl.original simpockets.tbl

rm -f gcode-output

linuxcnc -r sim.ini &


# let linuxcnc come up
TOGO=80
while [  $TOGO -gt 0 ]; do
    echo trying to connect to linuxcncrsh TOGO=$TOGO
    if nc -z localhost 5007; then
        break
    fi
    sleep 0.25
    TOGO=$(($TOGO - 1))
done
if [  $TOGO -eq 0 ]; then
    echo connection to linuxcncrsh timed out
    exit 1
fi


(
    function introspect() {
        SEQUENCE_NUMBER=$1
        echo "set mdi m100 P6 Q$SEQUENCE_NUMBER"  # sequence number
        echo 'set mdi m100 P0 Q#5420'             # X
        echo 'set mdi m100 P1 Q#5421'             # Y
        echo 'set mdi m100 P2 Q#5422'             # Z
        echo 'set mdi m100 P3 Q#5400'             # toolno
        echo 'set mdi m100 P4 Q#5403'             # TLO z
        echo 'set mdi m100 P5'                    # blank line
    }

    echo hello EMC mt 1.0
    echo set enable EMCTOO

    echo set estop off
    echo set machine on
    echo set mode mdi

    introspect 0

    echo set mdi t1 m6
    introspect 1

    echo set mdi g43
    introspect 2

    echo set mdi g10 l10 p1 z.1
    introspect 3

    echo set mdi g43
    introspect 4

    echo set mdi g10 l10 p10 z.15
    introspect 5

    echo set mdi g43
    introspect 6

    echo set mdi g10 l10 p99999 z.2
    introspect 7

    echo set mdi g43
    introspect 8


    echo set mdi t10 m6
    introspect 9

    echo set mdi g43
    introspect 10

    echo set mdi g10 l10 p1 z.103
    introspect 11

    echo set mdi g43
    introspect 12

    echo set mdi g10 l10 p10 z.1035
    introspect 13

    echo set mdi g43
    introspect 14

    echo set mdi g10 l10 p99999 z.104
    introspect 15

    echo set mdi g43
    introspect 16


    echo set mdi t99999 m6
    introspect 17

    echo set mdi g43
    introspect 18

    echo set mdi g10 l10 p1 z.3
    introspect 19

    echo set mdi g43
    introspect 20

    echo set mdi g10 l10 p10 z.35
    introspect 21

    echo set mdi g43
    introspect 22

    echo set mdi g10 l10 p99999 z.4
    introspect 23

    echo set mdi g43
    introspect 24


    echo set mdi t1 m6
    introspect 25

    echo set mdi g43
    introspect 26


    echo set mdi t10 m6
    introspect 27

    echo set mdi g43
    introspect 28


    echo set mdi t99999 m6
    introspect 29

    echo set mdi g43
    introspect 30


    # give linuxcnc a second to finish
    sleep 1.0

    echo shutdown
) | nc localhost 5007


# wait for linuxcnc to finish
wait

exit 0