Wait for spindle-halt signal before reversing spindle direction

Hi all,

I have a setup where the spindle drive provides a spindle-halt signal when the spindle has fully stopped. I’d like to make sure LinuxCNC does not reverse the spindle direction (i.e. switch between M3 and M4) until this spindle-halt signal is true.

Is there a built-in way in LinuxCNC to delay or block a direction change until this signal becomes active? Or do I need to handle this myself, for example using HAL logic or some custom component?

Curious to hear how others have tackled this.

Thanks in advance.

Is there a built-in way in LinuxCNC to delay or block a direction change until this signal becomes active? Or do I need to handle this myself, for example using HAL logic or some custom component?

I'm not aware of a built in solution but this could certainly be handled using HAL logic (or a custom component)

Do you have a spindle encoder? 
(it might be a bit easier in hal knowing the velocity)

Also maybe this could be done in the g code with 
m5 m66 

In that case it seems like writing a custom component is the best choice. 
I'm just getting into writing custom realtime components, so this might be a nice exersize.

I can post the link here when I'm done with it if you guys are interested.