Added linuxcnc test config before video release

linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal

@@ -0,0 +1,35 @@
+loadrt [KINS]KINEMATICS
+show comp
+
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
+net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
+net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
+
+# amp control - these nets are not used, but are placeholders for
+# converting this sample config to actual machines
+net J0ena <= joint.0.amp-enable-out
+net J1ena <= joint.1.amp-enable-out
+net J2ena <= joint.2.amp-enable-out
+net J3ena <= joint.3.amp-enable-out
+
+net J0flt => joint.0.amp-fault-in
+net J1flt => joint.1.amp-fault-in
+net J2flt => joint.2.amp-fault-in
+net J3flt => joint.3.amp-fault-in