Import LinuxCNC source tree

configs/sim/axis/gladevcp/.gitignore

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+*.save

configs/sim/axis/gladevcp/README

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+gladevcp -- glade based gui demos

configs/sim/axis/gladevcp/gladevcp_panel.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-PANEL-GLADEVCP
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+GLADEVCP= -u hitcounter.py manual-example.ui
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+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
+
+[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
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = ../../nc_files/gladevcp_lib
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE= manual-example.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+HOME = 0.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0

configs/sim/axis/gladevcp/gladevcp_panel_tester.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-PANEL-GLADEVCP
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+GLADEVCP= -u test_handler.py test.ui
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+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
+
+[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
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = ../../nc_files/gladevcp_lib
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+#POSTGUI_HALFILE= manual-example.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+HOME = 0.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0

configs/sim/axis/gladevcp/gladevcp_panel_tester.txt

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+gladevcp_panel_tester: 
+shows how to use VCP_action_python for small code 
+execution.

configs/sim/axis/gladevcp/gladevcp_tab.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-TAB-GLADEVCP
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+# add GladeVCP panel as a tab next to Preview/DRO:
+EMBED_TAB_NAME= GladeVCP demo
+EMBED_TAB_COMMAND= halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u ./hitcounter.py -x {XID} ./manual-example.ui
+
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+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
+
+[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
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+# gladevcp Demo specific Oword subs live here
+SUBROUTINE_PATH = ../../nc_files/gladevcp_lib
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = manual-example.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+HOME = 0.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0

configs/sim/axis/gladevcp/hitcounter.py

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+../../hitcounter.py

configs/sim/axis/gladevcp/manual-example.hal

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+../../manual-example.hal

configs/sim/axis/gladevcp/manual-example.ui

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+../../manual-example.ui

configs/sim/axis/gladevcp/meter_scale.py

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+import linuxcnc
+import os
+import hal
+import hal_glib
+
+class HandlerClass:
+
+    def _on_max_value_change(self,hal_pin,data=None):
+        self.meter.max = float(hal_pin.get())
+        self.meter.queue_draw() # force a widget redraw
+
+    def __init__(self, halcomp,builder,useropts):
+        self.builder = builder
+
+        # hal pin with change callback.
+        # When the pin's value changes the callback is executed.
+        self.max_value = hal_glib.GPin(halcomp.newpin('max-value',  hal.HAL_FLOAT, hal.HAL_IN))
+        self.max_value.connect('value-changed', self._on_max_value_change)
+
+        inifile = linuxcnc.ini(os.getenv("INI_FILE_NAME"))
+        mmax = inifile.getreal("METER", "MAX", fallback=100.0)
+        self.meter = self.builder.get_object('meter')
+        self.max_value.set(mmax)
+
+
+def get_handlers(halcomp,builder,useropts):
+    return [HandlerClass(halcomp,builder,useropts)]

configs/sim/axis/gladevcp/meter_scale.ui

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+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Generated with glade 3.40.0 -->
+<interface>
+  <requires lib="gtk+" version="3.0"/>
+  <requires lib="gladevcp" version="0.0"/>
+  <object class="GtkWindow" id="window1">
+    <property name="can-focus">False</property>
+    <property name="default-width">200</property>
+    <property name="default-height">150</property>
+    <child>
+      <!-- n-columns=3 n-rows=2 -->
+      <object class="HAL_Table" id="hal_table1">
+        <property name="visible">True</property>
+        <property name="can-focus">False</property>
+        <child>
+          <object class="HAL_Meter" id="meter">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <property name="bg-color">#ffffffffffff</property>
+            <property name="z0-color">#0000ffff0000</property>
+            <property name="z1-color">#ffffffff0000</property>
+            <property name="z2-color">#ffff00000000</property>
+          </object>
+          <packing>
+            <property name="left-attach">0</property>
+            <property name="top-attach">0</property>
+          </packing>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

configs/sim/axis/gladevcp/probe.hal

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+# permanently enable buttons
+#setp probe.probebox 1
+#setp probe.modebox 1
+
+#better: only enable buttons when program is idle
+net enable-buttons halui.program.is-idle => probe.modebox probe.probebox
+
+# connect this for a simulated environment - a real machine has probably a
+# a probe connected
+# net probe-contact probe.probe_contact => motion.probe-input

configs/sim/axis/gladevcp/probe.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = gladevcp_probe
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+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
+
+[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
+
+[RS274NGC]
+# '.' plus the gladevcp Demo specific Oword subs dir. These must be a single
+# colon-separated SUBROUTINE_PATH: LinuxCNC reads only the first occurrence of
+# an INI key, so a second SUBROUTINE_PATH line is silently ignored.
+SUBROUTINE_PATH = .:../../nc_files/gladevcp_lib
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+HOME = 0.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0
+
+[APPLICATIONS]
+APP = probe_gui.sh

configs/sim/axis/gladevcp/probe.ngc

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+; caveat - this changes feed and abs/relative mode
+
+O<probe> SUB
+
+(print, _Probe_Axis= #<_Probe_Axis>)
+(print, _Probe_Speed = #<_Probe_Speed>)
+(print, _Probe_Retract = #<_Probe_Retract>)
+(print, _Probe_Distance = #<_Probe_Distance>)
+(print, _Probe_Diameter = #<_Probe_Diameter>)
+(print, _Probe_System = #<_Probe_System>)
+
+
+O<xaxis> if [#<_Probe_Axis> eq 0]
+
+    G91 G38.3 X#<_Probe_Distance> F#<_Probe_Speed>
+    O<xresult> if [#5070]
+       (MSG, probe succeeded)
+       G10 L20 P#<_Probe_System> X#<_Probe_Diameter>
+        G90 G0 X#<_Probe_Retract>
+    O<xresult> else
+        (MSG,probe failed)
+        G91 G0 X[0 - #<_Probe_Distance>]
+    O<xresult> endif
+    G90
+O<xaxis> endif
+
+O<yaxis> if [#<_Probe_Axis> eq 1]
+
+    G91 G38.3 y#<_Probe_Distance> F#<_Probe_Speed>
+    O<yresult> if [#5070]
+       (MSG, probe succeeded)
+       G10 L20 P#<_Probe_System> y#<_Probe_Diameter>
+        G90 G0 y#<_Probe_Retract>
+    O<yresult> else
+        (MSG,probe failed)
+        G91 G0 y[0 - #<_Probe_Distance>]
+    O<yresult> endif
+    G90
+O<yaxis> endif
+
+O<zaxis> if [#<_Probe_Axis> eq 2]
+
+    G91 G38.3 z#<_Probe_Distance> F#<_Probe_Speed>
+    O<zresult> if [#5070]
+       (MSG, probe succeeded)
+       G10 L20 P#<_Probe_System> z#<_Probe_Diameter>
+        G90 G0 z#<_Probe_Retract>
+    O<zresult> else
+        (MSG,probe failed)
+        G91 G0 z[0 - #<_Probe_Distance>]
+    O<zresult> endif
+    G90
+O<zaxis> endif
+
+O<probe> endsub
+
+M2

configs/sim/axis/gladevcp/probe.py

@@ -0,0 +1,204 @@
+#!/usr/bin/env python3
+# vim: sts=4 sw=4 et
+#    This is a component of Linuxcnc
+#    probe.py Copyright 2010 Michael Haberler
+#
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License
+#    along with this program; if not, write to the Free Software
+#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.''''''
+'''
+    gladevcp probe demo example
+    Michael Haberler 11/2010
+
+'''
+
+import os,sys
+from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
+import hal
+import hal_glib
+import gtk
+import glib
+
+import linuxcnc
+
+debug = 0
+
+
+class EmcInterface(object):
+
+    def __init__(self):
+        try:
+            self.s = linuxcnc.stat()
+            self.c = linuxcnc.command()
+        except Exception as msg:
+            print("can not initialize EmcInterface: %s - LinuxCNC not running?" %(msg))
+
+    def running(self,do_poll=True):
+        if do_poll: self.s.poll()
+        return self.s.task_mode == linuxcnc.MODE_AUTO and self.s.interp_state != linuxcnc.INTERP_IDLE
+
+    def manual_ok(self,do_poll=True):
+        if do_poll: self.s.poll()
+        if self.s.task_state != linuxcnc.STATE_ON: return False
+        return self.s.interp_state == linuxcnc.INTERP_IDLE
+
+
+    def ensure_mode(self,m, *p):
+        '''
+        If LinuxCNC is not already in one of the modes given, switch it to the first mode
+        example:
+        ensure_mode(linuxcnc.MODE_MDI)
+        ensure_mode(linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI)
+        '''
+        self.s.poll()
+        if self.s.task_mode == m or self.s.task_mode in p: return True
+        if self.running(do_poll=False): return False
+        self.c.mode(m)
+        self.c.wait_complete()
+        return True
+
+    def active_codes(self):
+        self.s.poll()
+        return self.s.gcodes
+
+    def get_current_system(self):
+        for i in self.active_codes():
+                if i >= 540 and i <= 590:
+                        return i/10 - 53
+                elif i >= 590 and i <= 593:
+                        return i - 584
+        return 1
+
+
+    def mdi_command(self,command, wait=True):
+        #ensure_mode(emself.c.MODE_MDI)
+        self.c.mdi(command)
+        if wait: self.c.wait_complete()
+
+    def emc_status(self):
+        '''
+        return tuple (task mode, task state, exec state, interp state) as strings
+        '''
+        self.s.poll()
+        task_mode = ['invalid', 'MANUAL', 'AUTO', 'MDI'][self.s.task_mode]
+        task_state = ['invalid', 'ESTOP', 'ESTOP_RESET', 'OFF', 'ON'][self.s.task_state]
+        exec_state = ['invalid', 'ERROR', 'DONE',
+              'WAITING_FOR_MOTION',
+              'WAITING_FOR_MOTION_QUEUE',
+              'WAITING_FOR_IO',
+              'WAITING_FOR_PAUSE',
+              'WAITING_FOR_MOTION_AND_IO',
+              'WAITING_FOR_DELAY',
+              'WAITING_FOR_SYSTEM_CMD' ][self.s.exec_state]
+        interp_state = ['invalid', 'IDLE', 'READING', 'PAUSED', 'WAITING'][self.s.interp_state]
+        return (task_mode, task_state, exec_state, interp_state)
+
+
+
+class HandlerClass:
+
+    def on_manual_mode(self,widget,data=None):
+        if self.e.ensure_mode(linuxcnc.MODE_MANUAL):
+            print("switched to manual mode")
+        else:
+            print("can not switch to manual in this state")
+
+    def on_mdi_mode(self,widget,data=None):
+        if self.e.ensure_mode(linuxcnc.MODE_MDI):
+            print("switched to MDI mode")
+        else:
+            print("can not switch to MDI in this state")
+
+    def _query_emc_status(self,data=None):
+        (task_mode, task_state, exec_state, interp_state) = self.e.emc_status()
+        self.builder.get_object('task_mode').set_label("Task mode: " + task_mode)
+        self.builder.get_object('task_state').set_label("Task state: " + task_state)
+        self.builder.get_object('exec_state').set_label("Exec state: " + exec_state)
+        self.builder.get_object('interp_state').set_label("Interp state: " + interp_state)
+        return True
+
+    def on_probe(self,widget,data=None):
+        label = widget.get_label()
+        axis = ord(label[0].lower()) - ord('x')
+        direction = 1.0
+        if label[1] == '-':
+            direction = -1.0
+        self.e.s.poll()
+        self.start_feed = self.e.s.settings[1]
+        # determine system we are touching off - 1...g54 etc
+        self.current_system = self.e.get_current_system()
+        # remember current abs or rel mode -  g91
+        self.start_relative = (910 in self.e.active_codes())
+
+        self.previous_mode = self.e.s.task_mode
+        if self.e.s.task_state != linuxcnc.STATE_ON:
+            print("machine not turned on")
+            return
+        if not self.e.s.homed[axis]:
+            print("%s axis not homed" %(chr(axis + ord('X'))))
+            return
+        if self.e.running(do_poll=False):
+            print("can not do that now - interpreter running")
+            return
+
+        self.e.ensure_mode(linuxcnc.MODE_MDI)
+        self.e.mdi_command("#<_Probe_System> = %d " % (self.current_system ),wait=False)
+        self.e.mdi_command("#<_Probe_Axis> = %d " % (axis),wait=False)
+        self.e.mdi_command("#<_Probe_Speed> = %s " % (self.builder.get_object('probe_feed').get_value()),wait=False)
+        self.e.mdi_command("#<_Probe_Diameter> = %s " % (self.builder.get_object('probe_diameter').get_value() ),wait=False)
+        self.e.mdi_command("#<_Probe_Distance> = %s " % (self.builder.get_object('probe_travel').get_value() * direction),wait=False)
+        self.e.mdi_command("#<_Probe_Retract> = %s " % (self.builder.get_object('retract').get_value() * direction * -1.0),wait=False)
+        self.e.mdi_command("O<probe> call",wait=False)
+
+        self.e.mdi_command('F%f' % (self.start_feed),wait=False)
+        self.e.mdi_command('G91' if self.start_relative else 'G90',wait=False)
+#        self.e.ensure_mode(self.previous_mode)
+
+
+    def on_destroy(self,obj,data=None):
+        self.ini.save_state(self)
+
+    def on_restore_defaults(self,button,data=None):
+        '''
+        example callback for 'Reset to defaults' button
+        currently unused
+        '''
+        self.ini.create_default_ini()
+        self.ini.restore_state(self)
+
+
+    def __init__(self, halcomp,builder,useropts):
+        self.halcomp = halcomp
+        self.builder = builder
+
+        self.ini_filename = __name__ + '.save'
+        self.defaults = {  IniFile.vars: dict(),
+                           IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(), hal_only=False,output_only = True))
+                        }
+        self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
+        self.ini.restore_state(self)
+
+        self.e = EmcInterface()
+
+        glib.timeout_add_seconds(1, self._query_emc_status)
+
+def get_handlers(halcomp,builder,useropts):
+
+    global debug
+    for cmd in useropts:
+        exec(cmd, globals())
+
+    set_debug(debug)
+
+    return [HandlerClass(halcomp,builder,useropts)]

configs/sim/axis/gladevcp/probe.txt

@@ -0,0 +1,26 @@
+Probe: a linuxcnc interaction example
+
+Files:
+probe.ini  config file
+probe.ui   gladevcp file
+probe.hal  gladevcp file
+probe.py   gladevcp file
+probe.ngc  gcode subroutine
+probe.tcl  start gladevcp and simulate_probe
+probe.txt  (this)
+
+probe.save generated by probing
+
+Usage:
+  F1        (cancel Estop)
+  F2        (machine On)
+  Ctrl-Home (Home all axes)
+ 
+  Set Parameters in separate probe gui
+  Set Probe in motion (X+ for example)
+  Activate probe with simulate_probe gui
+
+-----------------------
+Note: to get a lot of debug output what gladevcp and probe.py are doing:
+modify to use:
+  gladevcp -d -d -u probe.py -U debug=3 -H probe.hal probe.ui

configs/sim/axis/gladevcp/probe.ui

@@ -0,0 +1,450 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Generated with glade 3.40.0 -->
+<interface>
+  <requires lib="gtk+" version="3.16"/>
+  <requires lib="gladevcp" version="0.0"/>
+  <object class="GtkAdjustment" id="probediaadj">
+    <property name="upper">100</property>
+    <property name="value">1.6699999999999999</property>
+    <property name="step-increment">0.01</property>
+  </object>
+  <object class="GtkAdjustment" id="probefeedadj">
+    <property name="upper">100</property>
+    <property name="value">30</property>
+    <property name="step-increment">5</property>
+  </object>
+  <object class="GtkAdjustment" id="probetraveladj">
+    <property name="lower">-100</property>
+    <property name="upper">100</property>
+    <property name="value">-50</property>
+    <property name="step-increment">10</property>
+  </object>
+  <object class="GtkAdjustment" id="retract_by_adj">
+    <property name="lower">-50</property>
+    <property name="upper">200</property>
+    <property name="value">10</property>
+    <property name="step-increment">1</property>
+  </object>
+  <object class="GtkWindow" id="window1">
+    <property name="visible">True</property>
+    <property name="can-focus">False</property>
+    <signal name="destroy" handler="on_destroy" swapped="no"/>
+    <child>
+      <object class="GtkVBox" id="vbox4">
+        <property name="visible">True</property>
+        <property name="can-focus">False</property>
+        <child>
+          <object class="GtkVBox" id="vbox5">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="GtkFrame" id="move">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label-xalign">0</property>
+                <property name="shadow-type">none</property>
+                <child>
+                  <object class="HAL_HBox" id="modebox">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="homogeneous">True</property>
+                    <child>
+                      <object class="GtkButton" id="set_manual">
+                        <property name="label" translatable="yes">Manual mode</property>
+                        <property name="visible">True</property>
+                        <property name="can-focus">True</property>
+                        <property name="receives-default">True</property>
+                        <signal name="pressed" handler="on_manual_mode" swapped="no"/>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">False</property>
+                        <property name="position">0</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <object class="GtkButton" id="set_mdi">
+                        <property name="label" translatable="yes">MDI mode</property>
+                        <property name="visible">True</property>
+                        <property name="can-focus">True</property>
+                        <property name="receives-default">True</property>
+                        <signal name="pressed" handler="on_mdi_mode" swapped="no"/>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">False</property>
+                        <property name="position">1</property>
+                      </packing>
+                    </child>
+                  </object>
+                </child>
+                <child type="label">
+                  <object class="GtkLabel" id="label8">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">&lt;b&gt;EMC&lt;/b&gt;</property>
+                    <property name="use-markup">True</property>
+                  </object>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkFrame" id="EMC Status">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label-xalign">0</property>
+                <property name="shadow-type">none</property>
+                <child>
+                  <object class="GtkAlignment" id="alignment1">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="left-padding">12</property>
+                    <child>
+                      <object class="GtkVBox" id="vbox2">
+                        <property name="visible">True</property>
+                        <property name="can-focus">False</property>
+                        <child>
+                          <object class="GtkLabel" id="task_mode">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                          </object>
+                          <packing>
+                            <property name="expand">True</property>
+                            <property name="fill">True</property>
+                            <property name="position">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="task_state">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                          </object>
+                          <packing>
+                            <property name="expand">True</property>
+                            <property name="fill">True</property>
+                            <property name="position">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="exec_state">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                          </object>
+                          <packing>
+                            <property name="expand">True</property>
+                            <property name="fill">True</property>
+                            <property name="position">2</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="interp_state">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                          </object>
+                          <packing>
+                            <property name="expand">True</property>
+                            <property name="fill">True</property>
+                            <property name="position">3</property>
+                          </packing>
+                        </child>
+                      </object>
+                    </child>
+                  </object>
+                </child>
+                <child type="label">
+                  <object class="GtkLabel" id="label2">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">&lt;b&gt;EMC Status&lt;/b&gt;</property>
+                    <property name="use-markup">True</property>
+                  </object>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkFrame" id="probing">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label-xalign">0</property>
+                <property name="shadow-type">none</property>
+                <child>
+                  <object class="GtkAlignment" id="alignment2">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="left-padding">12</property>
+                    <child>
+                      <!-- n-columns=4 n-rows=2 -->
+                      <object class="HAL_Table" id="probebox">
+                        <property name="visible">True</property>
+                        <property name="can-focus">False</property>
+                        <child>
+                          <object class="HAL_Button" id="x_plus">
+                            <property name="label" translatable="yes">X+</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">0</property>
+                            <property name="top-attach">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="HAL_Button" id="y_plus">
+                            <property name="label" translatable="yes">Y+</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">1</property>
+                            <property name="top-attach">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="HAL_Button" id="z_plus">
+                            <property name="label" translatable="yes">Z+</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">2</property>
+                            <property name="top-attach">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="HAL_Button" id="x_minus">
+                            <property name="label" translatable="yes">X-</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">3</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="HAL_Button" id="y_minus">
+                            <property name="label" translatable="yes">Y-</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">1</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="HAL_Button" id="z_minus">
+                            <property name="label" translatable="yes">Z-</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="pressed" handler="on_probe" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="left-attach">2</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
+                      </object>
+                    </child>
+                  </object>
+                </child>
+                <child type="label">
+                  <object class="GtkLabel" id="label1">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">&lt;b&gt;Probing&lt;/b&gt;</property>
+                    <property name="use-markup">True</property>
+                  </object>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">2</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkFrame" id="parameters">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label-xalign">0</property>
+                <property name="shadow-type">none</property>
+                <child>
+                  <object class="GtkAlignment" id="alignment3">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="left-padding">12</property>
+                    <child>
+                      <object class="GtkVBox" id="vbox1">
+                        <property name="visible">True</property>
+                        <property name="can-focus">False</property>
+                        <child>
+                          <object class="GtkTable" id="table1">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="n-rows">4</property>
+                            <property name="n-columns">2</property>
+                            <child>
+                              <object class="GtkLabel" id="label10">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="label" translatable="yes">Probe feed</property>
+                                <property name="xalign">0.4399999976158142</property>
+                              </object>
+                              <packing>
+                                <property name="top-attach">1</property>
+                                <property name="bottom-attach">2</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="GtkLabel" id="label11">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="label" translatable="yes">Probe diameter</property>
+                              </object>
+                              <packing>
+                                <property name="top-attach">2</property>
+                                <property name="bottom-attach">3</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="GtkLabel" id="label12">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="label" translatable="yes">Z retract by</property>
+                              </object>
+                              <packing>
+                                <property name="top-attach">3</property>
+                                <property name="bottom-attach">4</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="GtkLabel" id="label5">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="label" translatable="yes">Probe travel</property>
+                              </object>
+                            </child>
+                            <child>
+                              <object class="HAL_SpinButton" id="probe_travel">
+                                <property name="visible">True</property>
+                                <property name="can-focus">True</property>
+                                <property name="invisible-char">●</property>
+                                <property name="adjustment">probetraveladj</property>
+                                <property name="numeric">True</property>
+                              </object>
+                              <packing>
+                                <property name="left-attach">1</property>
+                                <property name="right-attach">2</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="HAL_SpinButton" id="probe_feed">
+                                <property name="visible">True</property>
+                                <property name="can-focus">True</property>
+                                <property name="invisible-char">●</property>
+                                <property name="adjustment">probefeedadj</property>
+                                <property name="numeric">True</property>
+                              </object>
+                              <packing>
+                                <property name="left-attach">1</property>
+                                <property name="right-attach">2</property>
+                                <property name="top-attach">1</property>
+                                <property name="bottom-attach">2</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="HAL_SpinButton" id="probe_diameter">
+                                <property name="visible">True</property>
+                                <property name="can-focus">True</property>
+                                <property name="invisible-char">●</property>
+                                <property name="adjustment">probediaadj</property>
+                                <property name="digits">2</property>
+                              </object>
+                              <packing>
+                                <property name="left-attach">1</property>
+                                <property name="right-attach">2</property>
+                                <property name="top-attach">2</property>
+                                <property name="bottom-attach">3</property>
+                              </packing>
+                            </child>
+                            <child>
+                              <object class="HAL_SpinButton" id="retract">
+                                <property name="visible">True</property>
+                                <property name="can-focus">True</property>
+                                <property name="invisible-char">●</property>
+                                <property name="adjustment">retract_by_adj</property>
+                                <property name="digits">1</property>
+                                <property name="numeric">True</property>
+                              </object>
+                              <packing>
+                                <property name="left-attach">1</property>
+                                <property name="right-attach">2</property>
+                                <property name="top-attach">3</property>
+                                <property name="bottom-attach">4</property>
+                              </packing>
+                            </child>
+                          </object>
+                          <packing>
+                            <property name="expand">True</property>
+                            <property name="fill">True</property>
+                            <property name="position">0</property>
+                          </packing>
+                        </child>
+                      </object>
+                    </child>
+                  </object>
+                </child>
+                <child type="label">
+                  <object class="GtkLabel" id="label3">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">&lt;b&gt;Parameters&lt;/b&gt;</property>
+                    <property name="use-markup">True</property>
+                  </object>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">3</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">0</property>
+          </packing>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

configs/sim/axis/gladevcp/probe_es.txt

@@ -0,0 +1,27 @@
+Probe: un ejemplo de interacción con linuxcnc
+
+Ficheros:
+probe.ini  fichero de configuracion 
+probe.ui   fichero gladevcp 
+probe.hal  fichero gladevcp 
+probe.py   fichero gladevcp 
+probe.ngc  subrutina gcode 
+probe.tcl  arranca gladevcp and simulate_probe
+probe.txt  (esto)
+
+probe.save generado por probe
+
+Uso:
+  F1          (cancelar Estop)
+  F2          (Máquina On)
+  Ctrl-Inicio (Home todos)
+ 
+  Establecer parámetros en gui probe separada
+  Poner probe en motion (X+ por ejemplo)
+  Activar probe con gui simulate_probe
+
+-----------------------
+Nota: para obtener una gran cantidad de resultados de depuración sobre 
+lo que están haciendo gladevcp y probe.py:
+
+  gladevcp -d -d -u probe.py -U debug=3 -H probe.hal probe.ui

configs/sim/axis/gladevcp/probe_gui.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+gladevcp -d -d -u probe.py -U debug=3 -H probe.hal probe.ui &
+simulate_probe

configs/sim/axis/gladevcp/set-param-from-ini.ini

@@ -0,0 +1,131 @@
+[EMC]
+VERSION = 1.1
+MACHINE = set-param-from-ini
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+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
+
+[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
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+# gladevcp Demo specific Oword subs live here
+SUBROUTINE_PATH = ../../nc_files/gladevcp_lib
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+HOME = 0.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+HOME = 0.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0
+
+[APPLICATIONS]
+# demo to exercise meter pins
+APP = set-param-from-ini.sh
+
+[METER]
+MAX = 200

configs/sim/axis/gladevcp/set-param-from-ini.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+cd "$(dirname "$0")" || { echo "E: Could not change directory to '$(dirname "$0")'"; exit 1; }
+
+gladevcp -u ./meter_scale.py ./meter_scale.ui &
+
+# wait for gladevcp startup
+sleep 3
+# start sim_pin to exercise pins
+sim_pin \
+   meter_scale.hal_table1/mode=toggle \
+   meter_scale.max-value \
+   meter_scale.meter \
+
+exit 0

configs/sim/axis/gladevcp/set-param-from-ini.txt

@@ -0,0 +1,8 @@
+set-param-from-ini: setting HAL widgets programmatically
+
+Files:
+set-param-from-ini.ini ini file with [METER]MAX
+set-param-from-ini.txt (this)
+set-param-from-ini.tcl starts gladevcp and sim_pin
+meter_scale.py         gladevcp file
+meter_scale.ui         gladevcp file

configs/sim/axis/gladevcp/set-param-from-ini_es.txt

@@ -0,0 +1,8 @@
+set-param-from-ini: establecer widgets HAL por programacion
+
+Ficheros:
+set-param-from-ini.ini fichero ini con [METER]MAX
+set-param-from-ini.txt (esto)
+set-param-from-ini.tcl arrancar gladevcp y sim_pin
+meter_scale.py         fichero gladevcp
+meter_scale.ui         fichero gladevcp

configs/sim/axis/gladevcp/sim.tbl

@@ -0,0 +1 @@
+../../sim.tbl

configs/sim/axis/gladevcp/test.ui

@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Generated with glade 3.22.2 -->
+<interface>
+  <requires lib="gtk+" version="3.20"/>
+  <requires lib="gladevcp" version="0.0"/>
+  <object class="EMC_Action_Python" id="print_message">
+    <property name="command">print(ACTION.SET_DISPLAY_MESSAGE('GLADE defined button Pressed'))</property>
+    <property name="is_homed">False</property>
+    <property name="is_idle">False</property>
+    <property name="is_on">False</property>
+  </object>
+  <object class="GtkWindow" id="window1">
+    <property name="can_focus">False</property>
+    <child type="titlebar">
+      <placeholder/>
+    </child>
+    <child>
+      <object class="GtkGrid" id="grid1">
+        <property name="visible">True</property>
+        <property name="can_focus">False</property>
+        <child>
+          <object class="GtkButton" id="button1">
+            <property name="label" translatable="yes">button python command</property>
+            <property name="related_action">print_message</property>
+            <property name="visible">True</property>
+            <property name="can_focus">True</property>
+            <property name="receives_default">True</property>
+            <property name="action_name">print_message</property>
+          </object>
+          <packing>
+            <property name="left_attach">0</property>
+            <property name="top_attach">0</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkButton" id="button2">
+            <property name="label" translatable="yes">button handler call
+</property>
+            <property name="visible">True</property>
+            <property name="can_focus">True</property>
+            <property name="receives_default">True</property>
+            <signal name="clicked" handler="on_button_press" swapped="no"/>
+          </object>
+          <packing>
+            <property name="left_attach">0</property>
+            <property name="top_attach">1</property>
+          </packing>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+        <child>
+          <placeholder/>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

configs/sim/axis/gladevcp/test_handler.py

@@ -0,0 +1,39 @@
+import hal
+
+# Import core libraries
+from gladevcp.core import Info, Action
+
+# Instantiate libraries
+INFO = Info()
+ACTION = Action()
+
+def get_handlers(halcomp,builder,useropts):
+    return [HandlerClass(halcomp,builder,useropts)]
+
+class HandlerClass:
+    '''
+    class with gladevcp callback handlers
+    '''
+
+    # general button callback function with some sample code
+    def on_button_press(self, widget, data=None):
+        print(widget, data)
+        print('Max Feed Override INI setting:',INFO.MAX_FEED_OVERRIDE)
+        ACTION.SET_DISPLAY_MESSAGE('Handler defined button Pressed')
+
+    def __init__(self, halcomp,builder,useropts):
+        '''
+        Handler classes are instantiated in the following state:
+        - the widget tree is created, but not yet realized (no toplevel window.show() executed yet)
+        - the halcomp HAL component is set up and the widhget tree's HAL pins have already been added to it
+        - it is safe to add more hal pins because halcomp.ready() has not yet been called at this point.
+
+        after all handlers are instantiated in command line and get_handlers() order, callbacks will be
+        connected with connect_signals()/signal_autoconnect()
+
+        The builder may be either of libglade or GtkBuilder type depending on the glade file format.
+        '''
+
+        self.halcomp = halcomp
+        self.builder = builder
+