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#!/usr/bin/env python3
import time
import hal
import linuxcnc

h = hal.component("auto2manual")
h.ready()
s = linuxcnc.stat()
c = linuxcnc.command()

# wait time in milliseconds between checks
check_interval = 500
flag = False
check_timer_start = round(time.time()*1000)

def ok_for_mdi():
s.poll()
return not s.estop and s.enabled and (s.homed.count(1) == s.joints) and (s.interp_state == linuxcnc.INTERP_IDLE)

try:
while 1:
if round(time.time()*1000) >= check_timer_start + check_interval:
s.poll()

if s.task_mode == linuxcnc.MODE_AUTO:
if hal.get_value('motion.analog-out-00') == 1:
flag = True

if flag == True and ok_for_mdi():
c.mode(linuxcnc.MODE_MDI)
c.wait_complete() # wait until mode switch executed
c.mdi("M68 E0 Q0")
c.wait_complete() # wait until analog output reset
c.mode(linuxcnc.MODE_MANUAL)
c.wait_complete() # wait until mode switch executed
flag = False
check_timer_start = round(time.time()*1000)

except KeyboardInterrupt:
raise SystemExit