Config refactoring, not yet tested

maurice.hal

-loadusr -W lcec_conf maurice.xml
-loadrt lcec
+############################################
+# Generic section
+############################################
+
+#==========================================
+# Components declaration
+#==========================================
+
 loadrt trivkins
 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
-loadrt and2 count=2
-loadrt not count=2
 
-addf lcec.read-all servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
-addf lcec.write-all servo-thread
-addf and2.0 servo-thread
-addf and2.1 servo-thread
-addf not.0 servo-thread
-addf not.1 servo-thread
 
-net ec_up lcec.state-op => iocontrol.0.emc-enable-in
+#==========================================
+# Global machine logic
+#==========================================
+
+net state-op    => iocontrol.0.emc-enable-in
+
+#==========================================
+# X axis
+#==========================================
+
+net X-amp       <= joint.0.amp-enable-out
+net X-fault     => joint.0.amp-fault-in
+
+net X-poscmd    <= joint.0.motor-pos-cmd
+net X-posfb     => joint.0.motor-pos-fb
+
+net X-homed     => joint.0.home-sw-in
+net X-homing    <= joint.0.homing
+
+#==========================================
+# Z axis
+#==========================================
+
+net Z-amp       <= joint.2.amp-enable-out
+net Z-fault     => joint.2.amp-fault-in
+
+net Z-poscmd    <= joint.2.motor-pos-cmd
+net Z-posfb     => joint.2.motor-pos-fb
+
+net Z-homed     => joint.2.home-sw-in
+net Z-homing    <= joint.2.homing 
+
+############################################
+# Hardware section
+############################################
+
+#==========================================
+# Components declaration
+#==========================================
+
+loadusr -W lcec_conf maurice.xml
+loadrt lcec
+
+addf lcec.read-all servo-thread
+addf lcec.write-all servo-thread
 
 setp lcec.0.0.drivecontrol-1 1
 setp lcec.0.0.drivecontrol-2 1
@@ -26,28 +68,60 @@ setp lcec.0.0.modecontrol-4 0
 setp lcec.0.1.modecontrol-0 0
 setp lcec.0.1.modecontrol-4 0
 
+loadrt and2 count=2
+loadrt not count=2
+
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
+
+#==========================================
+# Global machine logic
+#==========================================
+
+net state-op    <= lcec.state-op
+
+#==========================================
+# X axis
+#==========================================
+
+net X-amp       => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
+net X-poscmd    => lcec.0.0.poscommand
+net X-posfb     <= lcec.0.0.pos
+net X-fault     <= lcec.0.0.drivestatus-3
+
+net X-modehome  <= lcec.0.0.modestatus-3
+net X-stat4     <= lcec.0.0.drivestatus-12
+
+net X-modehome  => and2.0.in0
+net X-stat4     => and2.0.in1
+net X-homed     <= and2.0.out
+
+net X-homing    => not.0.in
+net X-position  <= not.0.out
 
-net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 => lcec.0.0.drivecontrol-0
-net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
-net Xachse_cmd joint.0.motor-pos-cmd => lcec.0.0.poscommand
-net Xaxis_fault lcec.0.0.drivestatus-3 => joint.0.amp-fault-in
+net X-homing    => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4
+net X-position  => lcec.0.0.modecontrol-3
 
-net Zachse_AF joint.2.amp-enable-out => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
-net Zachse_fb lcec.0.1.pos => joint.2.motor-pos-fb
-net Zachse_cmd joint.2.motor-pos-cmd => lcec.0.1.poscommand
-net Zaxis_fault lcec.0.1.drivestatus-3 => joint.2.amp-fault-in
+#==========================================
+# Z axis
+#==========================================
 
-net Xmodehome lcec.0.0.modestatus-3 <= and2.0.in0
-net Xstat4 lcec.0.0.drivestatus-12 <= and2.0.in1
-net Xhomed and2.0.out => joint.0.home-sw-in
+net Z-amp       => lcec.0.1.drivecontrol-3 => lcec.0.1.drivecontrol-0
+net Z-poscmd    => lcec.0.1.poscommand
+net Z-posfb     <= lcec.0.1.pos
+net Z-fault     <= lcec.0.1.drivestatus-3
 
-net Xhoming joint.0.homing => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4 => not.0.in
-net Xposition not.0.out => lcec.0.0.modecontrol-3
+net Z-modehome  <= lcec.0.1.modestatus-3
+net Z-stat4     <= lcec.0.1.drivestatus-12
 
-net Zmodehome lcec.0.1.modestatus-3 <= and2.1.in0
-net Zstat4 lcec.0.1.drivestatus-12 <= and2.1.in1
-net Zhomed and2.1.out => joint.2.home-sw-in
+net Z-modehome  => and2.1.in0
+net Z-stat4     => and2.1.in1
+net Z-homed     <= and2.1.out
 
-net Zhoming joint.2.homing => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4 => not.1.in
-net Zposition not.1.out => lcec.0.1.modecontrol-3
+net Z-homing    => not.1.in
+net Z-position  <= not.1.out
 
+net Z-homing    => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4
+net Z-position  => lcec.0.1.modecontrol-3