component duplo    " component for sauter 12 station turret " ;
option userspace yes ;
// option userinit  yes ;

pin in  bit codB# [4] ;                 
pin in  bit codparity ;            
pin out bit parity-error;          
pin in  bit strobe ;               
pin in  bit toolchange ;           
pin out bit toolchanged = 1 ;      
pin in  s32 newtoolnumber ;        
pin out s32 currentduplonumber ;   
pin out bit motorCW = 0 ;          
pin out bit motorCCW = 0 ;         
pin out bit brake = 0 ;            
pin out bit indexingSolenoid = 0 ; 
pin in  bit indexingSwitch ;                  
pin in  bit lockingSwitch ;          
pin out s32 state = 0;



license "GPL";
;;
 


 
#include <unistd.h>
#include <stdio.h>    
#include <stdlib.h>
#include <stdint.h>   
#include <time.h> 

// variable int state = 0;  
         
	int p = 0 ;
	int pcalc = 0 ;
	int i, start, beforenewpos;
	int sensCW = 0;
 	int sensCCW = 0;
	int courseCW = 0;
 	int courseCCW = 0;

	// timerT1 = 0.05   10e3 ;
	// timerT2 = 0.2    10e3 ;

void user_mainloop(void) 
{

while (1) 
 {

	
  FOR_ALL_INSTS()
 {	
    for (i = 0; i < 4 ; i++) 
	 {
         p     += codB(i) << i ; /* umwandlung binär dezimal      pcalc ^= codB(i) ;      /* Berechnung der Parität pcalc = 1 wenn ungerade */
         }
         
     
	 if (strobe)
		{
        currentduplonumber = p ;
			 p = 0 ;
        parity_error = ( pcalc ^= codparity );
	        }                 
         
	switch (state)
         {		case 0:  /* stabil auf der currentduplonumber warten ... bei Änderungswunsch  state = 1 */
				brake = 1 ;
				if (toolchange) 
					{
					if (( currentduplonumber != newtoolnumber ) && ( newtoolnumber != 0))
					 {
					toolchanged = 0 ;
					brake = 0 ;	 
					state = 1 ;

				start = currentduplonumber ;
				courseCW = 0 ;
				while ( start != newtoolnumber )
					{			
					 start += 1 ; 
					 courseCW += 1 ;
					 if( start == 13) start = 1 ;
					} 
				start = currentduplonumber ;
				courseCCW = 0 ;
				while ( start != newtoolnumber ) 
					{
					 start += -1 ; 
					 courseCCW += 1 ;
					 if( start == 0 ) start = 12 ;
					} 
				if ( courseCW <= courseCCW )  /* die Strecke 1 2 3 ist die kürzeste oder gleichwertige Ri */
					{			
					sensCW = 0 ; 
					sensCCW = 0 ;
					 if ( newtoolnumber == 1 )  beforenewpos = 12 ; 
					 else (beforenewpos = (newtoolnumber - 1)) ;
					} 
				else 
					{ 
					 sensCW = 0 ; 
					 sensCCW = 0 ;
					 if ( newtoolnumber == 12 )  beforenewpos = 1 ; 
					 else (beforenewpos = (newtoolnumber + 1)) ;
					} 	
					
					}
					}
				else toolchanged = 0 ;
				 break;	
		
		/*case 3: /* Defaut changeur outils */
                                  while (1) 
			         {
			          toolchanged = 0 ;
				  sensCW = 0;
				  sensCCW = 0;
				  motorCW = sensCW ;
				  motorCCW = sensCCW ;
		                  rtapi_print_msg (RTAPI_MSG_ERR, "Paritätsfehler Werkzeugwechsler");
				  fprintf(stderr, "Paritätsfehler Werkzeugwechsler");
 				 }
				break;	
	} // de switch
		
 }
 }
}