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axis sinm -add a sim test for halui messages
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‎configs/sim/axis/axis_halui_test.ini‎

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

‎configs/sim/axis/gstatmessages.py‎

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from hal_glib import GStat
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GSTAT = GStat()
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GSTAT.forced_update()
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GSTAT.connect('jograte-changed', lambda w, data: vars.jog_speed.set(data))
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GSTAT.connect('axis-selection-changed', lambda w,data: select_axis(data))
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GSTAT.connect('cycle-start-request', lambda w, state : cycle_start_request(state))
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GSTAT.connect('cycle-pause-request', lambda w, state: pause_request(state))
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GSTAT.connect('ok-request', lambda w, state: dialog_ext_control(w,1,1))
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GSTAT.connect('cancel-request', lambda w, state: dialog_ext_control(w,1,0))
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GSTAT.connect('macro-call-request', lambda w, name: request_macro_call(name))
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def user_live_update():
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GSTAT.run_iteration()
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def select_axis(data):
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if data is None: return
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widget = getattr(widgets, "axis_%s" % data.lower())
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widget.focus()
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widget.invoke()
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def cycle_start_request(state):
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print('cycle start',state)
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commands.task_run(None)
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def pause_request(state):
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print('cycle pause',state)
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commands.task_pauseresume(None)
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def dialog_ext_control(widget,t,state):
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print('dialog control',widget,state)
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flag = False
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for child in root_window.winfo_children():
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#print(child)
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if isinstance(child, Tkinter.Toplevel):
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#print(f"Found a Toplevel window: {child}")
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if '.!toplevel' in str(child):
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#print('sending command:',child)
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for child2 in child.winfo_children():
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#print(child2)
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if isinstance(child2, Tkinter.Frame):
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for child3 in child2.winfo_children():
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#print(child3)
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if isinstance(child3, Tkinter.Button):
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#print(dir(child3))
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txt = child3.cget("text")
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if txt.lower() == 'ok' and state:
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#print('Ok')
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child3.invoke()
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flag = True
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break
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elif txt.lower() == 'cancel' and not state:
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#print('Cancel')
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child3.invoke()
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flag = True
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break
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if flag: break
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if flag: break
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else:
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#print('No window')
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# remove one error message
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if state == 0:
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notifications.clear_one()
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def request_macro_call(name):
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print('request macro:',name)

‎configs/sim/axis/panel.hal‎

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net rate halui.axis.jog-speed panel.jog-rate
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net sx halui.axis.x.select panel.axis-x
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net sy halui.axis.y.select panel.axis-y
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net sz halui.axis.z.select panel.axis-z
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net jog-p halui.axis.selected.plus panel.jog-pos
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net jog-m halui.axis.selected.minus panel.jog-neg
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#net m0 halui.gui.mdi-command-MACRO0 panel.mdi-0
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#net m1 halui.gui.mdi-command-MACRO1 panel.mdi-1
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#net m2 halui.gui.mdi-command-0 panel.mdi-2
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net man panel.manual-mode halui.mode.manual
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net mdi panel.mdi-mode halui.mode.mdi
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net auto panel.auto-mode halui.mode.auto
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net pause halui.cycle.start panel.cycle-start
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net start halui.cycle.pause panel.cycle-pause
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net abort halui.abort panel.cycle-abort
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net cancel halui.gui.cancel panel.cancel
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net ok halui.gui.ok panel.ok
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