*		executed if debug level is set to RTAPI_MSG_DBG.** Return Value: Zero or -1 if ini file not found or failure to connect*		to NML buffers.** Side Effects: None.** Called By:*********************************************************************/int main(int argc, char *argv[]){    int t, tool_status;    NMLTYPE type;    for (t = 1; t < argc; t++) {	if (!strcmp(argv[t], "-ini")) {	    if (t == argc - 1) {		return -1;	    } else {		strcpy(EMC_INIFILE, argv[t + 1]);		t++;	    }	    continue;	}	/* do other args similarly here */    }    /* Register the routine that catches the SIGINT signal */    signal(SIGINT, quit);    /* catch SIGTERM too - the run script uses it to shut things down */    signal(SIGTERM, quit);    if (iocontrol_hal_init() != 0) {	rtapi_print_msg(RTAPI_MSG_ERR, "can't initialize the HAL\n");	return -1;    }    atexit(do_hal_exit);    if (0 != iniLoad(EMC_INIFILE)) {	rtapi_print_msg(RTAPI_MSG_ERR, "can't open ini file %s\n",			EMC_INIFILE);	return -1;    }    if (0 != emcIoNmlGet()) {	rtapi_print_msg(RTAPI_MSG_ERR,			"can't connect to NML buffers in %s\n",			EMC_NMLFILE);	return -1;    }    // used only for getting TOOL_TABLE_FILE out of the ini file    if (0 != iniTool(EMC_INIFILE)) {	rcs_print_error("iniTool failed.\n");	return -1;    }    if (0 != loadToolTable(TOOL_TABLE_FILE, emcioStatus.tool.toolTable)) {	rcs_print_error("can't load tool table.\n");    }    done = 0;    /* set status values to 'normal' */    emcioStatus.aux.estop = 1; //estop=1 means to emc that ESTOP condition is met    emcioStatus.tool.toolPrepped = -1;    emcioStatus.tool.toolInSpindle = 0;    emcioStatus.coolant.mist = 0;    emcioStatus.coolant.flood = 0;    emcioStatus.lube.on = 0;    emcioStatus.lube.level = 1;    while (!done) {	// check for inputs from HAL (updates emcioStatus)	// returns 1 if any of the HAL pins changed from the last time we checked	/* if an external ESTOP is activated (or another hal-pin has changed)	   a NML message has to be pushed to EMC.	   the way it was done status was only checked at the end of a command */	if (read_hal_inputs() > 0) {	    emcioStatus.command_type = EMC_IO_STAT_TYPE;	    emcioStatus.echo_serial_number =		emcioCommand->serial_number+1; //need for different serial number, because we are pushing a new message	    emcioStatus.heartbeat++;	    emcioStatusBuffer->write(&emcioStatus);	}	;	if ( (tool_status = read_tool_inputs() ) > 0) { // in case of tool prep (or change) update, we only need to change the state (from RCS_EXEC	    emcioStatus.command_type = EMC_IO_STAT_TYPE; // to RCS_DONE, no need for different serial_number	    emcioStatus.echo_serial_number =		emcioCommand->serial_number;	    emcioStatus.heartbeat++;	    emcioStatusBuffer->write(&emcioStatus);	}	/* read NML, run commands */	if (-1 == emcioCommandBuffer->read()) {	    /* bad command, wait until next cycle */	    esleep(EMC_IO_CYCLE_TIME);	    /* and repeat */	    continue;	}	if (0 == emcioCommand ||	// bad command pointer	    0 == emcioCommand->type ||	// bad command type	    emcioCommand->serial_number == emcioStatus.echo_serial_number) {	// command already finished	    /* wait until next cycle */	    esleep(EMC_IO_CYCLE_TIME);	    /* and repeat */	    continue;	}	type = emcioCommand->type;	emcioStatus.status = RCS_DONE;	switch (type) {	case 0:	    break;	case EMC_IO_INIT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_IO_INIT\n");	    hal_init_pins();	    break;	case EMC_TOOL_INIT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_INIT\n");	    loadToolTable(TOOL_TABLE_FILE, emcioStatus.tool.toolTable);	    break;	case EMC_TOOL_HALT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_HALT\n");	    break;	case EMC_TOOL_ABORT_TYPE:	    // this gets sent on any Task Abort, so it might be safer to stop	    // the spindle  and coolant	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_ABORT\n");	    emcioStatus.coolant.mist = 0;	    emcioStatus.coolant.flood = 0;	    *(iocontrol_data->coolant_mist)=0;		/* coolant mist output pin */    	    *(iocontrol_data->coolant_flood)=0;		/* coolant flood output pin */	    break;	case EMC_TOOL_PREPARE_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_PREPARE\n");	    /* set tool number first */	    *(iocontrol_data->tool_prep_number) = ((EMC_TOOL_PREPARE *) emcioCommand)->tool;	    /* then set the prepare pin to tell external logic to get started */	    *(iocontrol_data->tool_prepare) = 1;	    // the feedback logic is done inside read_hal_inputs()	    // we only need to set RCS_EXEC if RCS_DONE is not already set by the above logic	    if (tool_status != 10) //set above to 10 in case PREP already finished (HAL loopback machine)		emcioStatus.status = RCS_EXEC;	    break;	case EMC_TOOL_LOAD_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_LOAD loaded=%d prepped=%d\n", emcioStatus.tool.toolInSpindle, emcioStatus.tool.toolPrepped);	    if ( emcioStatus.tool.toolInSpindle != emcioStatus.tool.toolPrepped		    && emcioStatus.tool.toolPrepped != -1) {		//notify HW for toolchange		*(iocontrol_data->tool_change) = 1;		// the feedback logic is done inside read_hal_inputs() we only		// need to set RCS_EXEC if RCS_DONE is not already set by the		// above logic		if (tool_status != 11)		    // set above to 11 in case LOAD already finished (HAL		    // loopback machine)		    emcioStatus.status = RCS_EXEC;	    }	    break;	case EMC_TOOL_UNLOAD_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_UNLOAD\n");	    emcioStatus.tool.toolInSpindle = 0;	    break;	case EMC_TOOL_LOAD_TOOL_TABLE_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_TOOL_LOAD_TOOL_TABLE\n");	    if (0 != loadToolTable(((EMC_TOOL_LOAD_TOOL_TABLE *) emcioCommand)->			      file, emcioStatus.tool.toolTable))		emcioStatus.status = RCS_ERROR;	    break;	case EMC_TOOL_SET_OFFSET_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG,			    "EMC_TOOL_SET_OFFSET length=%lf diameter=%lf\n",			    ((EMC_TOOL_SET_OFFSET *) emcioCommand)->length,			    ((EMC_TOOL_SET_OFFSET *) emcioCommand)->diameter);	    emcioStatus.tool.		toolTable[((EMC_TOOL_SET_OFFSET *) emcioCommand)->tool].		zoffset = ((EMC_TOOL_SET_OFFSET *) emcioCommand)->length;	    emcioStatus.tool.		toolTable[((EMC_TOOL_SET_OFFSET *) emcioCommand)->tool].		diameter = ((EMC_TOOL_SET_OFFSET *) emcioCommand)->diameter;	    if (0 != saveToolTable(TOOL_TABLE_FILE, emcioStatus.tool.toolTable))		emcioStatus.status = RCS_ERROR;	    break;	case EMC_COOLANT_INIT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_INIT\n");	    emcioStatus.coolant.mist = 0;	    emcioStatus.coolant.flood = 0;	    *(iocontrol_data->coolant_mist) = 0;	    *(iocontrol_data->coolant_flood) = 0;	    break;	case EMC_COOLANT_HALT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_HALT\n");	    emcioStatus.coolant.mist = 0;	    emcioStatus.coolant.flood = 0;	    *(iocontrol_data->coolant_mist) = 0;	    *(iocontrol_data->coolant_flood) = 0;	    break;	case EMC_COOLANT_ABORT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_ABORT\n");	    emcioStatus.coolant.mist = 0;	    emcioStatus.coolant.flood = 0;	    *(iocontrol_data->coolant_mist) = 0;	    *(iocontrol_data->coolant_flood) = 0;	    break;	case EMC_COOLANT_MIST_ON_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_MIST_ON\n");	    emcioStatus.coolant.mist = 1;	    *(iocontrol_data->coolant_mist) = 1;	    break;	case EMC_COOLANT_MIST_OFF_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_MIST_OFF\n");	    emcioStatus.coolant.mist = 0;	    *(iocontrol_data->coolant_mist) = 0;	    break;	case EMC_COOLANT_FLOOD_ON_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_FLOOD_ON\n");	    emcioStatus.coolant.flood = 1;	    *(iocontrol_data->coolant_flood) = 1;	    break;	case EMC_COOLANT_FLOOD_OFF_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_COOLANT_FLOOD_OFF\n");	    emcioStatus.coolant.flood = 0;	    *(iocontrol_data->coolant_flood) = 0;	    break;	case EMC_AUX_INIT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_INIT\n");	    hal_init_pins(); //init default (safe) pin values	    emcioStatus.aux.estop = 1;	// this should get modified by the loopback	    *(iocontrol_data->user_enable_out) = 0; //don't enable on AUX_INIT	    break;	case EMC_AUX_HALT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_HALT\n");	    emcioStatus.aux.estop = 1;  // this should get modified by the loopback	    *(iocontrol_data->user_enable_out) = 0; //disable on AUX_HALT	    break;	case EMC_AUX_ABORT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ABORT\n");	    emcioStatus.aux.estop = 1;  // this should get modified by the loopback	    *(iocontrol_data->user_enable_out) = 0; //disable on AUX_ABORT	    break;	case EMC_AUX_ESTOP_ON_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ESTOP_ON\n");	    /* assert an ESTOP to the outside world (thru HAL) */	    *(iocontrol_data->user_enable_out) = 0; //disable on ESTOP_ON	    hal_init_pins(); //resets all HAL pins to safe value	    break;	case EMC_AUX_ESTOP_OFF_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ESTOP_OFF\n");	    /* remove ESTOP */	    *(iocontrol_data->user_enable_out) = 1; //we're good to enable on ESTOP_OFF	    /* generate a rising edge to reset optional HAL latch */	    *(iocontrol_data->user_request_enable) = 1;	    break;	    	case EMC_AUX_ESTOP_RESET_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_AUX_ESTOP_RESET\n");	    // doesn't do anything right now, this will need to come from GUI	    // but that means task needs to be rewritten/rethinked	    break;	    	case EMC_LUBE_INIT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_INIT\n");	    emcioStatus.lube.on = 0;	    //get the lube-level from hal	    emcioStatus.lube.level = *(iocontrol_data->lube_level);	    *(iocontrol_data->lube) = 0;	    break;	case EMC_LUBE_HALT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_HALT\n");	    emcioStatus.lube.on = 0;	    //get the lube-level from hal	    emcioStatus.lube.level = *(iocontrol_data->lube_level);	    *(iocontrol_data->lube) = 0;	    break;	case EMC_LUBE_ABORT_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_ABORT\n");	    emcioStatus.lube.on = 0;	    emcioStatus.lube.level = 1;	    //get the lube-level from hal	    emcioStatus.lube.level = *(iocontrol_data->lube_level);	    *(iocontrol_data->lube) = 0;	    break;	case EMC_LUBE_ON_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_ON\n");	    emcioStatus.lube.on = 1;	    *(iocontrol_data->lube) = 1;	    break;	case EMC_LUBE_OFF_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_LUBE_OFF\n");	    emcioStatus.lube.on = 0;	    *(iocontrol_data->lube) = 0;	    break;	case EMC_SET_DEBUG_TYPE:	    rtapi_print_msg(RTAPI_MSG_DBG, "EMC_SET_DEBUG\n");	    EMC_DEBUG = ((EMC_SET_DEBUG *) emcioCommand)->debug;	    break;	default:	    rtapi_print("IO: unknown command %s\n", emcSymbolLookup(type));	    break;	}			/* switch (type) */	// ack for the received command	emcioStatus.command_type = type;	emcioStatus.echo_serial_number = emcioCommand->serial_number;	//set above, to allow some commands to fail this	//emcioStatus.status = RCS_DONE;	emcioStatus.heartbeat++;	emcioStatusBuffer->write(&emcioStatus);	esleep(EMC_IO_CYCLE_TIME);	/* clear reset line to allow for a later rising edge */	*(iocontrol_data->user_request_enable) = 0;	    }	// end of "while (! done)" loop    if (emcErrorBuffer != 0) {	delete emcErrorBuffer;	emcErrorBuffer = 0;    }    if (emcioStatusBuffer != 0) {	delete emcioStatusBuffer;	emcioStatusBuffer = 0;    }    if (emcioCommandBuffer != 0) {	delete emcioCommandBuffer;	emcioCommandBuffer = 0;    }    return 0;}