#OnInit
state_estop = 0; 
state_idle  = 1; 
state_pause = 2; 
state_run   = 3;  
state_alarm = 4;
state_alarm_cleared = 5;

_no_pressure = _extin1|3;
_door_open   = _extin1|1;

door_error = 1;
pressure_error = 2;


alarm_from_init = 0;
timer=0;


estop = _hw_estop && _hw_idle; 
if(estop, state=state_estop);

idle  = (_hw_buffempty && !_hw_run) && !_hw_estop && _alarm_cleared; 
if(idle, state=state_idle);

_no_pressure = _extin1|3;
alarm = !_hw_estop && (!_alarm_cleared || _no_pressure);
_no_pressure = _extin1|3;

if(alarm,
	if(_no_pressure,
		exec(state=state_alarm, alarm_from_init=1, msg('INIT: NO PRESSURE')),
		if(!_alarm_cleared,
			exec(state=state_alarm, alarm_from_init=1, msg('INIT: Please Reset Error',_last_status))
		)
	)
);	


if(!_alarm_cleared,
	If(_last_status==door_error,
		status("Last error: Open Door Error"),
		status("Last error: No Pressure error")
	),
		status("No error")
);



;***************************************************************
#Loop 
;izvede se vsakih 100ms
if (state == state_estop, exec('#StateEStop'));
if (state == state_idle, exec('#StateIdle'));
if (state == state_run, exec('#StateRun'));
if (state == state_pause, exec('#StatePause'));
if (state == state_alarm, exec('#StateAlarm'));
if (state == state_alarm_cleared, exec('#StateAlarmCleared'));

timer=timer+1;
if(GE(timer,8),
	exec(timer=0,
	if(state==state_alarm,
		_extout1|4=~_extout1|4)
	)
);

;***************************************************************
#StateEStop
if (state != state_estop, return(0));
if (_state_last != state_estop, exec('#StateEStopInit'));

;tu preverjamo pogoje za prehod stanj. Kateri pogoji so to, je pa odvisno od prehodov iz posameznih stanj (glej tablo)

idle  = (_hw_buffempty && !_hw_run) && !_hw_estop && _alarm_cleared; 
if(idle, exec('#StateEStopEnd', state = state_idle,alarm_from_estop=0, return())); 

if((!_alarm_cleared && !_hw_estop), exec('#StateEStopEnd',alarm_from_estop =1, state = state_alarm, return())); 

#StateEStopInit
_state_last = state_estop;
print('EStop: ',estop);
_extout1|5 = 1;
_extout1|1 = 0;
_extout1|2 = 0;
_extout1|3 = 0;

#StateEStopEnd


;***************************************************************
#StateIdle

if (state != state_idle, return(0));
if (_state_last != state_idle, exec('#StateIdleInit'));

;tu preverjamo pogoje za prehod stanj. Kateri pogoji so to, je pa odvisno od prehodov iz posameznih stanj (glej tablo)

estop = _hw_estop && _hw_idle; 
if(estop, exec('#StateIdleEnd', state = state_estop, return())); 

run   = !_hw_idle && !_hw_pause && !_hw_estop && !_hw_isjog; 
if(run, exec('#StateIdleEnd', state = state_run, return())); 

pause = _hw_pause && !_hw_estop;
if(pause, exec('#StateRunEnd', state = state_pause, return())); 

alarm  = !_hw_estop && _extin1|3; 
if(alarm, exec('#StateIdleEnd', state = state_alarm, _no_pressure=_extin1|3, return())); 


#StateIdleInit
_state_last = state_idle;
_extout1|5 = 0;
_extout1|1 = 1;
_extout1|2 = 0;
_extout1|3 = 0;
_extout1|4 = 0;

#StateIdleEnd
print('Idle: ', idle);

;***************************************************************
#StateRun
if (state != state_run, return(0));
if (_state_last != state_run, exec('#StateRunInit'));

estop = _hw_estop && _hw_idle; 
if(estop, exec('#StateRunEnd', state = state_estop, return())); 

idle  = (_hw_buffempty && !_hw_run) && !_hw_estop; 
if(idle, exec('#StateRunEnd', state = state_idle, return())); 

alarm  = !_hw_estop && (_extin1|1 || _extin1|3); 
if(alarm, 
	if(_extin1|1,
		exec('#StateRunEnd', state = state_alarm,_door_open=_extin1|1, return()),
        if(_extin1|3,			
			exec('#StateRunEnd', state = state_alarm,_no_pressure=_extin1|3, return())
		)
	)
); 

pause = _hw_pause && !_hw_estop;
if(pause, exec('#StateRunEnd', state = state_pause, return())); 


#StateRunInit
_state_last = state_run;
_extout1|5 = 0;
_extout1|1 = 0;
_extout1|2 = 1;
_extout1|3 = 0;


#StateRunEnd


;***************************************************************
#StatePause
if (state != state_pause, return(0));
if (_state_last != state_pause, exec('#StatePauseInit'));

estop = _hw_estop && _hw_idle; 
if(estop, exec('#StatePauseEnd', state = state_estop, return())); 

run   = !_hw_idle && !_hw_pause && !_hw_estop;
if(run, exec('#StatePauseEnd', state = state_run, return())); 

alarm  = !_hw_estop && (_extin1|1 || _extin1|3); 
if(alarm, 
	if(_extin1|1,
		exec('#StateRunEnd', state = state_alarm,_door_open=_extin1|1, return()),
        if(_extin1|3,			
			exec('#StateRunEnd', state = state_alarm,_no_pressure=_extin1|3, return())
		)
	)
); 

idle  = (_hw_buffempty && !_hw_run) && !_hw_estop; 
if(idle, exec('#StatePauseEnd', state = state_idle, return())); 

#StatePauseInit
_state_last = state_pause;
_extout1|5 = 0;
_extout1|1 = 0;
_extout1|2 = 1;
_extout1|3 = 1;

#StatePauseEnd


;***************************************************************
#StateAlarm
if (state != state_alarm, return(0));
if (_state_last != state_alarm, exec('#StateAlarmInit'));

estop = _hw_estop && _hw_idle; 
if(
  estop,	 
  exec(
    '#StateAlarmEnd',
	state = state_estop,
	return()   
  )
); 

alarm_cleared = !_hw_estop && !_extin1|1 && !_extin1|3 && _extin1|2;
	
	
if(alarm_cleared,exec(state = state_alarm_cleared,_door_open= _extin1|1,_no_pressure = _extin1|3, return())); 

#StateAlarmInit
_alarm_cleared=0;
_state_last = state_alarm;
_extout1|5 = 0;
_extout1|1 = 0;
_extout1|2 = 0;
_extout1|3 = 0;
_extout1|4 = 1;

exec('#ErrorDefine');


#StateAlarmEnd



;***************************************************************
#StateAlarmCleared
if (state != state_alarm_cleared, return(0));
if (_state_last != state_alarm_cleared, exec('#StateAlarmClearedInit'));

#StateAlarmClearedInit
_state_last = state_alarm_cleared;
_extout1|5 = 0;
_extout1|1 = 1;
_extout1|2 = 0;
_extout1|3 = 0;
_extout1|4 = 0;
_alarm_cleared = 1;
status("NO ERROR");
state=state_idle;
print('alarm cleared: ', _alarm_cleared);

;***************************************************************
#Loop5


#Loop15

#Loop60

#Loop300


#OnShutdown
print('OnShutdown');

;*************************************************
#OnStart
status();
if(_alarm_cleared,return(0),
	(exec(msg('ON START: Please reset error:',_last_status),state=state_alarm,return(nan)))
);
;*************************************************

#OnEnd
status("NC Program finished with normal stop");





;*************************************************
#OnStop
if(arg1 == 0,
	exec(status("Manual stop by user"))
);

if(arg1 == 3,
	exec(status("SW Error:Abort"),return(0))
);

if(arg1 == 10,exec(status("SW Error:GCodeAbort"),return(0)));
if(arg1 == 11,exec(status("SW Error:GCodeError"),return(0)));
if(arg1 == 12,exec(status("SW Error:GCodeAbort"),return(0)));
if(arg1 == 13,exec(status("SW Error:LimitError"),return(0)));
if(arg1 == 14,exec(status("SW Error:SyncError"),return(0)));
if(arg1 == 15,status("SW Error:OutputError"),return(0));
if(arg1 == 16,status("SW Error:BeginError"),return(0));
if(arg1 == 17,status("SW Error:ProbeError"),return(0));
if(arg1 == 18,status("SW Error:LicenseError"),return(0));
;*************************************************
;no error stop arg1= 0 
;Abort = 3
;GCodeAbort = 10,
;GCodeError, =11
;SpeedError, =12
;LimitError, =13
;SyncError, =14
;OutputError, =15
;BeginError, =16
;ProbeError, =17
;LicenseError, =18






#OnEStop

#OnJog

#OnWheel

#OnCmd

;*************************************************
#ErrorDefine
if(alarm_from_init || alarm_from_estop,	
	if(alarm_from_init,
		exec(alarm_from_init = 0,return()),
		exec(alarm_from_estop = 0,return())
	),
	if(_door_open,
		exec(stop(),beep(220,1),msg('Door is open!'),status("OPEN DOOR"),_last_status = door_error),
		if(_no_pressure,
			exec(stop(),beep(220,1),msg('NO PRESSURE!'),status("NO PRESSURE"),_last_status = pressure_error))    
	)
);
;*************************************************