#!/usr/bin/python3

import sys
import time
import hal
import linuxcnc


c = hal.component("test_component")
ls = linuxcnc.stat()
lc = linuxcnc.command()

estop_reset = True

try:
  c.ready()
  
  while True:
    ls.poll()
    if ( estop_reset ):
      if (ls.task_state == linuxcnc.STATE_ESTOP ):
        print("Test component: ESTOP_RESET")
        lc.state(linuxcnc.STATE_ESTOP_RESET)

    print("Test component: g5x_index: " + format(ls.g5x_index))
    time.sleep(1)

except(KeyboardInterrupt):
  print("Test component: Exiting")  
  sys.exit(1)

except Exception as e:
  print("Exception in test component")
  print(e)
  raise
  sys.exit(1)