DRAFT: ZMQ messages from HALUI to GUIs

configs/sim/axis/axis_halui_test.ini

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+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION = 1.1
+
+# Name of machine, for use with display, etc.
+MACHINE = LinuxCNC-HAL-SIM-AXIS
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG = 0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME = 0.100
+
+# Path to help file
+HELP_FILE = doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET = RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK = ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+
+MAX_LINEAR_VELOCITY = 5
+DEFAULT_LINEAR_VELOCITY = .25
+DEFAULT_SPINDLE_SPEED = 200
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+#EDITOR = geany
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+USER_COMMAND_FILE=gstatmessages.py
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK = milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME = 0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT = motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT = 1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD = 0
+# Servo task period, in nano-seconds
+SERVO_PERIOD = 1000000
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = check_xyz_constraints.hal
+HALFILE = cooling.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD = save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+#POSTGUI_HALFILE = test_postgui.hal
+POSTGUI_HALCMD = loadusr qtvcp -a -H panel.hal panel
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 4
+DEFAULT_LINEAR_ACCELERATION = 100
+MAX_LINEAR_ACCELERATION = 100
+POSITION_FILE = position.txt
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+# Axes sections ---------------
+[AXIS_X]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+
+[AXIS_Y]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+
+[AXIS_Z]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.12
+
+# Joints sections -------------
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+FERROR = 0.050
+MIN_FERROR = 0.010
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+FERROR = 0.050
+MIN_FERROR = 0.010
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 1
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -8.0
+
+# Normally the Z max should be 0.000!
+# The only reason it's greater than 0 here is so that the splash screen
+# gcode will run.
+MAX_LIMIT = 0.12
+
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1

configs/sim/axis/gstatmessages.py

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+
+from hal_glib import GStat
+GSTAT = GStat()
+GSTAT.forced_update()
+GSTAT.connect('jograte-changed', lambda w, data: vars.jog_speed.set(data))
+GSTAT.connect('axis-selection-changed', lambda w,data: select_axis(data))
+GSTAT.connect('cycle-start-request', lambda w, state : cycle_start_request(state))
+GSTAT.connect('cycle-pause-request', lambda w, state: pause_request(state))
+GSTAT.connect('ok-request', lambda w, state: dialog_ext_control(w,1,1))
+GSTAT.connect('cancel-request', lambda w, state: dialog_ext_control(w,1,0))
+GSTAT.connect('macro-call-request', lambda w, name: request_macro_call(name))
+GSTAT.connect('softkey-pressed', lambda w,data: softkey_pressed(data))
+GSTAT.connect('shutdown-request', lambda w : General_Halt())
+GSTAT.connect('reload-display', lambda w : commands.clear_live_plot())
+
+global last_mpg
+last_mpg = 0
+mpg_enabled = 0
+
+def user_hal_pins():
+    comp.newpin('mpg-enable', hal.HAL_BIT, hal.HAL_IN)
+    comp.newpin('mpg-in', hal.HAL_S32, hal.HAL_IN)
+    comp.ready()
+
+def user_live_update():
+    GSTAT.run_iteration()
+    global mpg_enabled
+    try:
+        if comp['mpg-enable'] or mpg_enabled: 
+            global last_mpg
+            if comp['mpg-in'] == last_mpg: return
+            if comp['mpg-in'] > last_mpg:scroll_up(None)
+            if comp['mpg-in'] < last_mpg:scroll_down(None)
+            last_mpg = comp['mpg-in']
+    except Exception as e:
+        print(e)
+
+def select_axis(data):
+    global mpg_enabled
+    if data is None: return
+    if data =='MPG0':
+        mpg_enabled = True
+        return
+    mpg_enabled = False
+    if data.upper() =='NONE':
+        return
+    try:
+        widget = getattr(widgets, "axis_%s" % data.lower())
+        widget.focus()
+        widget.invoke()
+    except:
+        pass
+
+def cycle_start_request(state):
+    print('cycle start',state)
+    commands.task_run(None)
+
+def pause_request(state):
+    print('cycle pause',state)
+    commands.task_pauseresume(None)
+
+def dialog_ext_control(widget,t,state):
+    print('dialog control',widget,state)
+
+    flag = False
+    for child in root_window.winfo_children():
+        #print(child)
+        if isinstance(child, Tkinter.Toplevel):
+            #print(f"Found a Toplevel window: {child}")
+            if '.!toplevel' in str(child):
+                #print('sending command:',child)
+                for child2 in child.winfo_children():
+                    #print(child2)
+                    if isinstance(child2, Tkinter.Frame):
+                        for child3 in child2.winfo_children():
+                            #print(child3)
+                            if isinstance(child3, Tkinter.Button):
+                                #print(dir(child3))
+                                txt = child3.cget("text")
+                                if txt.lower() == 'ok' and state:
+                                    #print('Ok')
+                                    child3.invoke()
+                                    flag = True
+                                    break
+                                elif txt.lower() == 'cancel' and not state:
+                                    #print('Cancel')
+                                    child3.invoke()
+                                    flag = True
+                                    break
+                    if flag: break
+            if flag: break
+    else:
+        #print('No window')
+        # remove one error message
+        if state == 0:
+            notifications.clear_one()
+
+def request_macro_call(name):
+    print('request macro:',name)
+
+# external request for a softkey press from HALUI/halbridge
+def softkey_pressed(index):
+
+        if index == 0:
+            root_window.tk.call('.pane.top.tabs','raise','manual')
+        elif index == 1:
+            root_window.tk.call('.pane.top.tabs','raise','mdi')
+        elif index == 2:
+            root_window.tk.call('.pane.top.right','raise','preview')
+        elif index == 3:
+            root_window.tk.call('.pane.top.right','raise','numbers')
+        elif index == 4:
+            root_window.tk.call('.pane.top.right','raise','user_0')
+        else:
+            print(f'Softkey index:{index}')

configs/sim/axis/panel.hal

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+net rate    halui.axis.jog-speed panel.jog-rate
+
+net sx  halui.axis.x.select  panel.axis-x
+net sx  axis.x.jog-enable
+net sy  halui.axis.y.select  panel.axis-y
+net sy  axis.y.jog-enable
+net sz  halui.axis.z.select  panel.axis-z
+net sz  axis.z.jog-enable
+net sgui  halui.mpg-select.0  panel.select-gui0
+
+net mpg-scale   axis.x.jog-scale    panel.mpg-scale
+net mpg-scale   axis.y.jog-scale
+net mpg-scale   axis.z.jog-scale
+
+net mpg-count     panel.mpg-wheel-s
+net mpg-count     axisui.mpg-in
+net mpg-count     axis.x.jog-counts
+net mpg-count     axis.y.jog-counts
+net mpg-count     axis.z.jog-counts
+
+net jog-p   halui.axis.selected.plus    panel.jog-pos
+net jog-m   halui.axis.selected.minus   panel.jog-neg
+
+#net m0  halui.gui.mdi-command-MACRO0    panel.mdi-0
+#net m1  halui.gui.mdi-command-MACRO1    panel.mdi-1
+#net m2  halui.gui.mdi-command-0    panel.mdi-2
+
+net man     panel.manual-mode   halui.mode.manual
+net mdi     panel.mdi-mode      halui.mode.mdi
+net auto    panel.auto-mode    halui.mode.auto
+
+net pause   halui.cycle.start panel.cycle-start
+net start   halui.cycle.pause panel.cycle-pause
+net abort   halui.abort       panel.cycle-abort
+
+net cancel  halui.gui.cancel panel.cancel
+net ok      halui.gui.ok     panel.ok
+
+net softkey0  halui.gui.softkey-0    panel.softkey-0
+net softkey1  halui.gui.softkey-1    panel.softkey-1
+net softkey2  halui.gui.softkey-2    panel.softkey-2
+net softkey3  halui.gui.softkey-3    panel.softkey-3
+net softkey4  halui.gui.softkey-4    panel.softkey-4
+net softkey5  halui.gui.softkey-5    panel.softkey-5
+net softkey6  halui.gui.softkey-6    panel.softkey-6
+net softkey7  halui.gui.softkey-7    panel.softkey-7
+net softkey8  halui.gui.softkey-8    panel.softkey-8
+net softkey9  halui.gui.softkey-9    panel.softkey-9
+net softkey10 halui.gui.softkey-10   panel.softkey-10
+net softkey11 halui.gui.softkey-11   panel.softkey-11
+
+net exit      halui.gui.shutdown     panel.exit
+net reload    halui.gui.reload-display panel.reload