halui -add mpg_select0 pin

Some GUIs use the MPG for other things then jogging.
Qtdragon uses MPG for scrolling and needs a selected pin.

Author: c-morley

lib/python/bridgeui/bridge.py

@@ -45,7 +45,7 @@ def __init__(self, readAddress = "tcp://127.0.0.1:5690",
 
         self.currentSelectedAxis = 'None'
         self.axesSelected = {'X':0,'Y':0,'Z':0,'A':0,'B':0,'C':0,
-                                'U':0,'V':0,'W':0}
+                                'U':0,'V':0,'W':0,'MPG0':0}
         self.readAddress = readAddress
         self.writeAddress = writeAddress
         LOG.debug('read port: {}'.format(readAddress))
@@ -108,7 +108,7 @@ def readMsg(self):
 
     # set our variables from messages from hal_glib
     def action(self, msg, data):
-        LOG.debug('{} {}'.format(msg, data))
+        LOG.debug('{} -> {} -> {}'.format(msg, data, data[0]))
         if msg == 'jograte-changed':
             self.jogRate = float(data[0])
         elif msg == 'jograte-angular-changed':
@@ -120,7 +120,14 @@ def action(self, msg, data):
         elif msg == 'joint-selection-changed':
             self.activeJoint = int(data[0])
         elif msg == 'axis-selection-changed':
+            print ('pre axis state', self.axesSelected,self.currentSelectedAxis)
             flag = 1
+            if data[0] == 'MPG0':
+                self.currentSelectedAxis = data[0]
+                flag = 0
+                self.axesSelected['MPG0'] = True
+            else:
+               self.axesSelected['MPG0'] = False
             for i in(self.INFO.AVAILABLE_AXES):
                 if data[0] == i:
                     state = True
@@ -129,9 +136,10 @@ def action(self, msg, data):
                 else:
                     state = False
                 self.axesSelected[i] = int(state)
+
             if flag:
                 self.currentSelectedAxis = 'None'
-            #print ('axis state', self.axesSelected)
+            print ('axis state', self.axesSelected,self.currentSelectedAxis)
 
     # send msg to hal_glib
     def writeMsg(self, msg, data):
@@ -198,18 +206,25 @@ def getSelectedAxis(self):
         name = self.currentSelectedAxis
         if name == 'None':
             index = -1
+        elif name =='MPG0':
+            index = 100
         else:
             index = 'XYZABCUVW'.index(name)
         return index 
     def setSelectedAxis(self, value):
         if value < 0:
             letter = 'None'
+        elif value == 100:
+            letter = 'MPG0'
         else:
             letter ='XYZABCUVW'[value]
         self.writeMsg('set_selected_axis', letter)
 
     def isAxisSelected(self, index):
-        letter = 'XYZABCUVW'[index]
+        if index == 100:
+            letter = 'MPG0'
+        else:
+            letter = 'XYZABCUVW'[index]
         return int(self.axesSelected[letter])
 
     def __getitem__(self, item):

src/emc/usr_intf/halui.cc

@@ -140,6 +140,7 @@ static int axis_mask = 0;
 \
     ARRAY(hal_bit_t,joint_nr_select,EMCMOT_MAX_JOINTS) /* nr. of pins to select a joint */ \
     ARRAY(hal_bit_t,axis_nr_select,EMCMOT_MAX_AXIS) /* nr. of pins to select a axis */ \
+    FIELD(hal_bit_t,mpg_select0)\
 \
     ARRAY(hal_bit_t,joint_is_selected,EMCMOT_MAX_JOINTS) /* nr. of status pins for joint selected */ \
     ARRAY(hal_bit_t,axis_is_selected,EMCMOT_MAX_AXIS) /* nr. of status pins for axis selected */ \
@@ -1032,6 +1033,9 @@ int halui_hal_init(void)
         if (retval < 0) return retval;
     }
 
+    retval = halui_export_pin_IN_bit(&(halui_data->mpg_select0), "halui.mpg-select.0");
+    if (retval < 0) return retval;
+
     retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->joint_home[num_joints]), comp_id, "halui.joint.selected.home");
     if (retval < 0) return retval;
     retval =  hal_pin_bit_newf(HAL_IN, &(halui_data->joint_unhome[num_joints]), comp_id, "halui.joint.selected.unhome");
@@ -1759,6 +1763,7 @@ static void hal_init_pins()
     for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
         if ( !(axis_mask & (1 << axis_num)) ) { continue; }
         *(halui_data->axis_nr_select[axis_num]) = old_halui_data.axis_nr_select[axis_num] = 0;
+	*(halui_data->mpg_select0) = old_halui_data.mpg_select0 = 0;
 	*(halui_data->ajog_minus[axis_num]) = old_halui_data.ajog_minus[axis_num] = 0;
 	*(halui_data->ajog_plus[axis_num]) = old_halui_data.ajog_plus[axis_num] = 0;
 	*(halui_data->ajog_analog[axis_num]) = old_halui_data.ajog_analog[axis_num] = 0;
@@ -2002,6 +2007,11 @@ static void check_hal_changes()
                 *(halui_data->axis_nr_select[axis_num]) = 0;
             }
         }
+        if (value == 100) {
+            *(halui_data->mpg_select0) = 1;
+        }else{
+            *(halui_data->mpg_select0) = 0;
+        }
         lastaxis = value;
     }
 
@@ -2334,6 +2344,7 @@ static void check_hal_changes()
     is_any_axis_selected = 0;
     deselected = 0;
     for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
+
         if ( !(axis_mask & (1 << axis_num)) ) { continue; }
 
         // axis jog -
@@ -2397,7 +2408,22 @@ static void check_hal_changes()
         old_halui_data.axis_nr_select[axis_num] = bit;
     }
     }
-    // last axis has been deselected - no axis is selected now        
+
+    // is MPG0 selected?
+    bit = new_halui_data.mpg_select0;
+    if (bit != old_halui_data.mpg_select0) {
+	    if (bit != 0) {
+            is_any_axis_selected = 1;
+            py_call_axis_changed(100);
+            *halui_data->axis_selected = 100;
+	    }else{
+                deselected = 1;
+        }
+        old_halui_data.mpg_select0 = bit;
+    }
+
+
+    // last axis has been deselected - no axis is selected now
     if (is_any_axis_selected == 0 and deselected == 1) {
         py_call_axis_changed(-1);
         *halui_data->axis_selected = -1;