Machine warning lights (Red, Amber, Green)

# Load classic ladder
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
addf classicladder.0.refresh servo-thread
# TODO switch back to this later loadusr classicladder --nogui custom.clp
loadusr classicladder custom.clp

########### SETUP THE MACHINE LIGHT #########
# Turn on the machine light to red to kick things off.
setp hm2_7i96s.0.7i76.0.1.output-12 true
net greenlight hm2_7i96s.0.7i76.0.1.output-10 classicladder.0.out-02
net yellowlight hm2_7i96s.0.7i76.0.1.output-11 classicladder.0.out-01
net redlight hm2_7i96s.0.7i76.0.1.output-12 classicladder.0.out-00
net e-stop halui.estop.is-activated classicladder.0.in-00
#net pwr-on halui.machine.is-on classicladder.0.in-01
net machine.is-on classicladder.0.in-01
#net prg-run halui.program.is-running classicladder.0.in-02
net pdnt.program-is-running halui.program.is-running classicladder.0.in-02
#net halui.program.is-idle classicladder.0.in-03
net pdnt.program-is-idle classicladder.0.in-03

#Yellow Light net yellow-in1 <= halui.machine.is-on => and2.0.in0 # Checks that the machine is on
net yellow-in2 <= halui.program.is-idle => and2.0.in1 # Checks that the machine is idle
net yellow-out <= and2.0.out # Yellow light is either lit or not, depending on the machine idle state.
net yellow-out => parport.0.pin-17-out #(or what ever your output pin is for the yellow light)

#Green Light net green-in1 <= halui.program.is-running => xor2.0.in0
net green-in2 <= halui.program.is-paused => and2.1.in1
net flash <= siggen.0.clock => and2.1.in0
net green-flash <= and2.1.out => xor2.0.in1
net green-on <= xor2.0.out =>parport.0.pin-17-out

# Generated by stepconf 1.1 at Tue Oct  8 18:45:41 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
loadrt hal_parport cfg="0xd010 out 0xb010 in"
setp parport.0.reset-time 2000
loadrt stepgen step_type=0,0,0,0
#
# Uncomment next 4 lines for classicladder version of machine lights in custom_postgui.hal
# Load classic ladder
# loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
# addf classicladder.0.refresh servo-thread
# loadusr classicladder --nogui custom.clp

# START CODE: Trying pure hal version of machine lights
loadrt and2 count=2
loadrt xor2 count=1
loadrt siggen num_chan=1
addf and2.0 servo-thread
addf and2.1 servo-thread
addf xor2.0 servo-thread
addf siggen.0.update servo-thread

setp siggen.0.frequency 2

#Yellow Light
net yellow-in1 <= halui.machine.is-on => and2.0.in0
net yellow-in2 <= halui.program.is-idle => and2.0.in1
net yellow-out <= and2.0.out
net yellow-out => parport.1.pin-16-out

#Green Light
net green-in1 <= halui.program.is-running => xor2.0.in0
net green-in2 <= halui.program.is-paused => and2.1.in1
net flash <= siggen.0.clock => and2.1.in0
net green-flash <= and2.1.out => xor2.0.in1
net green-on <= xor2.0.out => parport.0.pin-17-out

#Red Light
net red-on <= halui.estop.is-activated => parport.0.pin-16-out
# END CODE: Trying pure hal version of machine lights

loadrt lut5
loadrt  plasmac

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf parport.1.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf plasmac servo-thread
addf stepgen.update-freq servo-thread

# ---PLASMA INPUT DEBOUNCE---
loadrt dbounce names=db_breakaway,db_float,db_ohmic,db_arc-ok
addf db_float     servo-thread
addf db_ohmic     servo-thread
addf db_breakaway servo-thread
addf db_arc-ok    servo-thread

# ---JOINT ASSOCIATED WITH THE Z AXIS---
net plasmac:axis-position joint.3.pos-fb => plasmac.axis-z-position

# ---PLASMA INPUTS---
# ---all modes---
net plasmac:float-switch   => db_float.in
net plasmac:breakaway      => db_breakaway.in
net plasmac:ohmic-probe    => db_ohmic.in
net plasmac:ohmic-sense-in   => plasmac.ohmic-sense-in
# ---modes 0 & 1
net plasmac:arc-voltage-in => plasmac.arc-voltage-in
# ---modes 1 & 2
net plasmac:arc-ok-in      => db_arc-ok.in
# ---mode 2
net plasmac:move-up        => plasmac.move-up
net plasmac:move-down      => plasmac.move-down

# ---PLASMA OUTPUTS---
# ---all modes---
# net plasmac:ohmic-enable   <= plasmac.ohmic-enable
# net plasmac:scribe-arm     <= plasmac.scribe-arm
# net plasmac:scribe-on      <= plasmac.scribe-on

# ---ARC VOLTAGE ENCODER---
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.0.counter-mode 1
setp encoder.0.position-scale 1
net plasmac:arc-voltage-raw encoder.0.phase-A
net plasmac:arc-voltage-in encoder.0.velocity

net estop-out       => parport.0.pin-01-out
net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir            => parport.0.pin-05-out
net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir            => parport.0.pin-07-out
net y2step          => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net y2dir           => parport.0.pin-09-out
setp parport.0.pin-14-out-invert 1
net plasmac:torch-on => parport.0.pin-14-out


net plasmac:arc-voltage-raw <= parport.0.pin-10-in
net plasmac:arc-ok-in <= parport.0.pin-11-in-not
net plasmac:float-switch <= parport.0.pin-12-in-not
net estop-ext       <= parport.0.pin-13-in

net min-home-x      <= parport.1.pin-02-in
net max-x           <= parport.1.pin-03-in
net min-home-y      <= parport.1.pin-04-in
net max-y           <= parport.1.pin-05-in
net min-home-z      <= parport.1.pin-06-in
net max-z           <= parport.1.pin-07-in
net min-home-y2      <= parport.1.pin-08-in
net max-y2           <= parport.1.pin-09-in

setp lut5.0.function 0x10000
net all-limit-home => lut5.0.in-4
net all-limit <= lut5.0.out
net xhoming <= joint.0.homing => lut5.0.in-0
net yhoming <= joint.1.homing => lut5.0.in-1
net y2homing <= joint.2.homing => lut5.0.in-2
net zhoming <= joint.3.homing => lut5.0.in-3

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 70000
setp stepgen.0.dirsetup 150000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net max-x => joint.0.pos-lim-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 70000
setp stepgen.1.dirsetup 150000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net max-y => joint.1.pos-lim-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 70000
setp stepgen.2.dirsetup 150000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net y2pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net y2pos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net y2step <= stepgen.2.step
net y2dir <= stepgen.2.dir
net y2enable joint.2.amp-enable-out => stepgen.2.enable
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net max-y2 => joint.2.pos-lim-sw-in

setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 70000
setp stepgen.3.dirsetup 150000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net min-home-z => joint.3.home-sw-in
net min-home-z => joint.3.neg-lim-sw-in
net max-z => joint.3.pos-lim-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

net tool-number <= iocontrol.0.tool-prep-number
net tool-change-loopback iocontrol.0.tool-change => iocontrol.0.tool-changed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared