halui -add cycle start cycle pause pins

calls these functions in a GUI

Author: c-morley

lib/python/bridgeui/bridge.py

@@ -144,51 +144,18 @@ def writeMsg(self, msg, data):
                         [bytes(topic.encode('utf-8')),
                             bytes((message).encode('utf-8'))])
 
-    # callback from HAL input pins
-    def pinChanged(self, pinObject, value):
-        LOG.debug('Pin name:{} changed value to {}'.format(pinObject.text(), value))
-        # Axis selection change request
-        if 'select' in pinObject.text():
-            if bool(value) == False:
-                pass
-                #print('Not true state')
-                return
-            for i in (self.INFO.AVAILABLE_AXES):
-                if '-{}-'.format(i.lower()) in pinObject.text():
-                    self.writeMsg('set_selected_axis', i)
-                    break
-            else:
-                if 'None' in pinObject.text():
-                    self.writeMsg('set_selected_axis', '')
-
-        # cycle start
-        elif self.cycle_start == pinObject:
-            if value:
-                self.writeMsg('request_cycle_start', value)
-
-        # cycle pause
-        elif self.cycle_pause == pinObject:
-            #if value:
-                self.writeMsg('request_cycle_pause', value)
-
-        # linear jog rate
-        elif self.jogRateIn == pinObject:
-                self.writeMsg('set_jograte', value)
-
-       # angular jog rate
-        elif self.jogRateAngularIn == pinObject:
-                self.writeMsg('set_jograte_angular', value)
-
-        # catch all default
-        else:
-            self.writeMsg(pinObject.text(),value)
-
-
     def shutdown(self,signum=None,stack_frame=None):
         LOG.debug('shutdown')
         global app
         app.quit()
 
+    def cycleStart(self):
+        # cycle start
+        self.writeMsg('request_cycle_start', True)
+
+    def cyclePause(self):
+        self.writeMsg('request_cycle_pause', True)
+
     def getMdiName(self, num):
         if num >len(self.INFO.MDI_COMMAND_DICT)-1:
             return 'None'

src/emc/usr_intf/halui.cc

@@ -86,6 +86,8 @@ static int axis_mask = 0;
     FIELD(hal_bit_t,program_is_running) /* pin for notifying user that program is running */ \
     FIELD(hal_bit_t,halui_mdi_is_running) /* pin for notifying user that halui MDI commands is running */ \
     FIELD(hal_bit_t,program_is_paused) /* pin for notifying user that program is paused */ \
+    FIELD(hal_bit_t,cycle_start) /* pin for running program */ \
+    FIELD(hal_bit_t,cycle_pause) /* pin for running program */ \
     FIELD(hal_bit_t,program_run) /* pin for running program */ \
     FIELD(hal_bit_t,program_pause) /* pin for pausing program */ \
     FIELD(hal_bit_t,program_resume) /* pin for resuming program */ \
@@ -555,6 +557,36 @@ int halui_export_pin_OUT_bit(hal_bit_t **pin, const char *name)
     return 0;
 }
 
+static void py_call_cycleStart() {
+
+    // check socket messages for jogspeed
+    pFuncWrite = PyObject_GetAttrString(pInstance, "cycleStart");
+    if (pFuncRead && PyCallable_Check(pFuncWrite)) {
+        pValue = PyObject_CallNoArgs(pFuncWrite);
+        if (pValue == NULL){
+            fprintf(stderr, "Halui Bridge: cycleStart function failed: returned NULL\n");
+        }
+        Py_DECREF(pValue);
+    }
+    Py_DECREF(pFuncWrite);
+    return ;
+}
+
+static void py_call_cyclePause() {
+
+    // check socket messages for jogspeed
+    pFuncWrite = PyObject_GetAttrString(pInstance, "cyclePause");
+    if (pFuncRead && PyCallable_Check(pFuncWrite)) {
+        pValue = PyObject_CallNoArgs(pFuncWrite);
+        if (pValue == NULL){
+            fprintf(stderr, "Halui Bridge: cyclePause function failed: returned NULL\n");
+        }
+        Py_DECREF(pValue);
+    }
+    Py_DECREF(pFuncWrite);
+    return ;
+}
+
 static int py_call_get_mdi_count() {
     int value = 0;
     // check socket messages for jogspeed
@@ -846,6 +878,10 @@ int halui_hal_init(void)
     if (retval < 0) return retval;
     retval = halui_export_pin_IN_bit(&(halui_data->flood_off), "halui.flood.off");
     if (retval < 0) return retval;
+    retval = halui_export_pin_IN_bit(&(halui_data->cycle_start), "halui.cycle.start");
+    if (retval < 0) return retval;
+    retval = halui_export_pin_IN_bit(&(halui_data->cycle_pause), "halui.cycle.pause");
+    if (retval < 0) return retval;
     retval = halui_export_pin_IN_bit(&(halui_data->program_run), "halui.program.run");
     if (retval < 0) return retval;
     retval = halui_export_pin_IN_bit(&(halui_data->program_pause), "halui.program.pause");
@@ -1975,6 +2011,16 @@ static void check_hal_changes()
     if (check_bit_changed(new_halui_data.flood_off, old_halui_data.flood_off) != 0)
 	sendFloodOff();
 
+    if (check_bit_changed(new_halui_data.cycle_start, old_halui_data.cycle_start) != 0){
+        fprintf(stderr, "cycle-start value = %i\n", new_halui_data.cycle_start );
+        py_call_cycleStart();
+    }
+
+    if (check_bit_changed(new_halui_data.cycle_pause, old_halui_data.cycle_pause) != 0){
+        fprintf(stderr, "cycle-pause value = %i\n", new_halui_data.cycle_pause );
+        py_call_cyclePause();
+    }
+
     if (check_bit_changed(new_halui_data.program_run, old_halui_data.program_run) != 0)
 	sendProgramRun(0);