PROGRAM 

'Program 1.  This is the parser.
 PBOOT
 
 'Initial Setup
 'Clear temporary variables, set the killmotion flags, enable the stall error, and dimension temporary variables.
 'Then set the drive motion program run bit and run the other programs
 
 clear
 set bKillAxisZero
 set bKillAllMovesZero
 set bEnablePosErrResp
 dim lv(3)
 dim $v(3,80)
 dwl .1
 
' Start the motion and E-stop listener programs

 set bDriveMotionProgram
 run prog0
 run prog2
  
'Note lv0 is unused
'lv1 is whether we're handling the input stream

 'Make sure file ID #1 is closed
 
 close #1
 dwl 1
 
 'Talk to the user over stream2
 
 open "stream1:" as #1
 
 while(BIT bDriveMotionProgram)
 
' Print the command prompt
  
	if (BIT bMaxPosErrExceeded)
		$v2 = "Shutter stalled"
  	else
  		if (BIT bAxisZeroJogActive OR BIT bAxisZeroInMotion)
  			$v2 = "Shutter in motion"
		else
			if (NOT BIT bNegLimitClear)
  				$v2 = "Shutter Open"
 			else
 				if (NOT BIT bPosLimitClear)
	 				$v2 = "Shutter Closed"
				else
 					$v2 = "Shutter Stopped"
 				endif
 			endif
 		endif
 	endif
 		
 	if (NOT BIT bEStopClear) 
 		$v2 = $v2+", Manual Stop Pressed"
 	endif
 	
 	if (BIT bClosedIndicator) 
 		$v2 = $v2+", External Switch Closed"
 	endif
 	
 	$v2 = $v2+"> "
 	
 	print #1, $v2;
 	
 	$v0=""
 	lv1 = 1
 
 'This is the main command parser loop
 	
 	while(lv1)
 		if (kbhit(1))
 		
	 		$v1 = getch(1)
 					
 'Keystroke handling.  Process on CR, Backup if BS, add char otherwise
 			
 			if (asc($v1)=13)
	 			lv1=0
 			else if ((asc($v1)=8) or (asc($v1)=127))
	 			if (len($v0)<=1)
 					if (len($v0)=1)
	 					print #1, chr$(8);" ";chr$(8);
 					endif
 					$v0=""
 				else
	 				$v0 = left$($v0,len($v0)-1)
	 				print #1, chr$(8);" ";chr$(8);
 				endif
 			else
	 			$v0 = $v0+$v1
 				print #1, $v1;
 			endif
 		endif
 		
'If prog2 is down, kill all motion, because it's the watchdog.  Then attempt to restart it.

 		if (NOT BIT bProgTwoRunning)
 			set bDisableDriveOnKill
			set bKillAxisZero
		 	set bKillAllMovesZero
 			if (BIT bAxisZeroJogActive)
 				dwl 0.2
 				jog off axis0
 			endif
 			if (BIT bEnableAxisZero)
 				dwl 0.2
 				clr bEnableAxisZero
 			endif
 			clr bActuatorMove
 			run prog2
 			dwl 1
 		endif

 	wend
 	print #1,
 	'print #1, $v0
 	
 'This is the command parser

 'So we hit CR and want to process the command
 'Put everything in upper case to make comparisons easier
 
 	$v0 = ucase$($v0)
 		
 'Process EXIT/QUIT command first
 	if (instr($v0,"EXIT") or instr($v0,"QUIT"))
 		print #1, "Exiting..."
 		set bDisableDriveOnKill
		set bKillAxisZero
		set bKillAllMovesZero
 		if (BIT bAxisZeroJogActive)
 			dwl 0.2
 			jog off axis0
 		endif
 		if (BIT bEnableAxisZero)
 			dwl 0.2
 			clr bEnableAxisZero
 		endif
 		clr bActuatorMove
 		clr bDriveMotionProgram
	else
	 	
 'Is there an OPEN command here?  If so, send to the open position
 
 		if (instr($v0,"OPEN"))
 			if (BIT bEStopClear)
 				clr bKillAxisZero
	 			clr bKillAllMovesZero
 				set bOpenCmd
 				set bActuatorMove
 				dwl 0.1
' 			else
' 				print #1, "Must clear E-Stop First"
 			endif
 		else
 			
 			if (instr($v0,"CLOSE"))
 				if (BIT bEStopClear)
	 				clr bKillAxisZero
 					clr bKillAllMovesZero
 					clr bOpenCmd
 					set bActuatorMove
 					dwl 0.1
' 				else
' 					print #1, "Must clear E-Stop First"
 				endif
 			else
 				if (instr($v0,"STOP"))
 					set bKillAxisZero
 					set bKillAllMovesZero	
 					clr bActuatorMove
 					dwl 0.1
 				else
				 	if (instr($v0,"HELP"))
 						print #1,
 						print #1, "The only commands are OPEN, CLOSE, STOP, EXIT, QUIT, and HELP."
 						dwl 0.1	
 						print #1, "One command per line.  Commands are not case sensitive"
 						dwl 0.1
 						print #1,
			 			dwl 0.1
	 					print #1, "Command List:"
 						dwl 0.1
 						print #1, 
 						dwl 0.1
 						print #1, "HELP:  This list"
 						dwl 0.1
 						print #1, "OPEN:  Open the shutter"
	 					dwl 0.1
 						print #1, "CLOSE: Close the shutter"
 						dwl 0.1
 						print #1, "STOP:  Stop the shutter at its present location"
 						dwl 0.1
 						print #1, "EXIT/QUIT:  Halt motion and end this program"
 						dwl 0.1
 						print #1,
 					endif
 				endif
 			endif
 		endif

 	endif 	
  	
 'End of command parser
 
 'Debounce the input stream
 	while(KBHIT(1))
 		$v0 = inkey$(1)
 		'print #1, $v0
 	wend
  
 wend
 
 'If we get here, make sure the other programs die, too.
 clr bDriveMotionProgram
 halt prog0
 halt prog2
 close #1
 
 'Shut down the drive, just in case
 set bDisableDriveOnKill
 set bKillAxisZero
 set bKillAllMovesZero
 dwl 0.2
 jog off axis0
 dwl 0.2	
 clr bEnableAxisZero
 ENDP