import time
import sys
import os
# Time increment and timeout, seconds
TIME_INCR = 0.1
TIMEOUT = 10.0
#
# connect to LinuxCNC
#
c = linuxcnc.command()
s = linuxcnc.stat()
e = linuxcnc.error_channel()
l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
#
# Create and connect test feedback comp
#
h = hal.component("test-ui")
h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN)
h.ready()
os.system("halcmd source ./postgui.hal")
#
# Come out of E-stop, turn the machine on, home
#
h.newpin("tool-changed", hal.HAL_BIT, hal.HAL_OUT)
h["tool-changed"] = False
h.newpin("tool-prepare", hal.HAL_BIT, hal.HAL_IN)
h.newpin("tool-prepared", hal.HAL_BIT, hal.HAL_OUT)
h["tool-prepared"] = False
h.newpin("tool-number", hal.HAL_S32, hal.HAL_IN)
h.newpin("tool-prep-number", hal.HAL_S32, hal.HAL_IN)
h.newpin("tool-prep-pocket", hal.HAL_S32, hal.HAL_IN)
h.ready()
os.system("halcmd source ./postgui.hal")
l = linuxcnc_util.LinuxCNC()
# Wait for LinuxCNC to initialize itself so the Status buffer stabilizes.
l.wait_for_linuxcnc_startup()
c.state(linuxcnc.STATE_ESTOP_RESET)
c.state(linuxcnc.STATE_ON)
c.home(-1)
c.wait_complete()
c.mode(linuxcnc.MODE_MDI)
#
# At startup tool 3 is in the spindle and no tool prep or change is
# being requested.
#
