gmoccapy/hal_bridge -allow hal_bridge to call macros in gmoccapy

This is a proof of concept to allow 3rd party (hal_bridge) to call
macros. The macros are run from Gmoccapy so no timing problems should
occur and and pre checks or post changes can be covered.

There needs to be agreement on where to put macro definitions in the INI.
Gmoccapy puts them under [MACROS], iniinfo under [DISPLAY]
python ZMQ module package must be available for this to work

Author: c-morley

configs/sim/gmoccapy/gmoccapy_right_panel.ini

@@ -31,6 +31,12 @@ INTRO_TIME = 5
 # list of selectable jog increments
 INCREMENTS = 1mm, 0.1mm, 0.01mm, 0.001mm, 1.2345in
 
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
 [FILTER]
 PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
 PROGRAM_EXTENSION = .py Python Script
@@ -75,7 +81,7 @@ HALFILE = simulated_home.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
 
 HALUI = halui
-
+HALBRIDGE = hal_bridge -d
 # Trajectory planner section --------------------------------------------------
 [HALUI]
 #No Content

src/emc/usr_intf/gmoccapy/getiniinfo.py

@@ -393,7 +393,7 @@ def get_tool_sensor_data(self):
 
     def get_macros(self):
         # lets look in the INI file, if there are any entries
-        macros = self.inifile.findall("MACROS", "MACRO")
+        macros = self.inifile.findall("DISPLAY", "MACRO")
         # If there are no entries we will return False
         if not macros:
             return False

src/emc/usr_intf/gmoccapy/gmoccapy.py

@@ -417,6 +417,7 @@ def __init__(self, argv):
         self.GSTAT = Status()
         self.GSTAT.connect("graphics-gcode-properties", self.on_gcode_properties)
         self.GSTAT.connect("file-loaded", self.on_hal_status_file_loaded)
+        self.GSTAT.connect('macro-call-request', lambda w, name: self.request_macro_call(name))
 
         # get if run from line should be used
         self.run_from_line = self.prefs.getpref("run_from_line", "no_run", str)
@@ -1350,6 +1351,33 @@ def _make_joints_button(self):
 
                 self.joints_button_dic[name] = btn
 
+    # call INI macro (from hal_glib message)
+    def request_macro_call(self, data):
+
+        # some error checking
+        if not self.GSTAT.is_mdi_mode():
+            message = _("You must be in MDI mode to run macros")
+            self.dialogs.warning_dialog(self, _("Important Warning!"), message)
+            return
+
+        # look thru the INI macros
+        macros = self.get_ini_info.get_macros()
+        num_macros = len(macros)
+        if num_macros > 14:
+            num_macros = 14
+        for pos in range(0, num_macros):
+            # extract just the macro name
+            name = macros[pos].split()[0]
+            if data == name:
+                # get the button instance and click it
+                button = self["button_macro_{0}".format(pos)]
+                button.emit("clicked")
+                break
+        else:
+            # didn't match a name - give a hint
+            message = _("Macro {} not found ".format(data))
+            self.dialogs.warning_dialog(self, _("Important Warning!"), message)
+
     # check if macros are in the INI file and add them to MDI Button List
     def _make_macro_button(self):
         LOG.debug("Entering make macro button")
@@ -1391,6 +1419,8 @@ def _make_macro_button(self):
                 btn.set_halign(Gtk.Align.CENTER)
                 btn.set_valign(Gtk.Align.CENTER)
                 btn.set_property("name","macro_{0}".format(pos))
+            # keep a reference of the button
+            self["button_macro_{0}".format(pos)] = btn
             btn.set_property("tooltip-text", _("Press to run macro {0}".format(name)))
             btn.connect("clicked", self._on_btn_macro_pressed, name)
             btn.position = pos
@@ -6391,6 +6421,16 @@ def _make_hal_pins(self):
         hal_glib.GPin(pin).connect("value_changed", self._blockdelete)
 
 
+    ##############################
+    # required class boiler code #
+    # for subscriptable objects  #
+    ##############################
+    def __getitem__(self, item):
+        return getattr(self, item)
+
+    def __setitem__(self, item, value):
+        return setattr(self, item, value)
+
 # Hal Pin Handling End
 # =========================================================