Import LinuxCNC source tree

configs/sim/axis/moveoff/1_onpause_local.ini

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+#INCLUDE moveoff_display.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,onpause,local
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -mode onpause \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope

configs/sim/axis/moveoff/1_onpause_local.txt

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+Moveoff demo
+
+Moveoff_gui options:
+
+  onpause  -- offsets when program paused
+  local    -- local controls
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+For additional info:
+
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui
+
+----------------------------------------------------
+Demo usage:
+ 1) Start linuxcnc using the 1_onpause_local config.
+ 2) Set halscope to ROLL mode.
+ 3) <F1>   (remove ESTOP)
+ 4) <F2>   (turn on machine)
+ 5) <HOME> (home all axes)
+ 6) <R>    (Run the program)
+ 7) <P>    (Pause the program)
+ 8) Enable offsets with the Enable Offsets checkbutton.
+ 9) Change the x,y,z offsets sliders and observe
+    on halscope
+10) Uncheck the Enable Offsets checkbutton to remove
+    offsets and allow program resumption.
+11) Repeat steps 6) thru 9) but alter waypoint
+    backtracking with the Enable Backtrack checkbutton.

configs/sim/axis/moveoff/1_onpause_local_es.txt

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+Demo moveoff
+
+Opciones Moveoff_gui:
+
+  onpause - offsets cuando el programa está en pausa
+  local - controles locales
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Para información adicional:
+
+   man moveoff ------- componente moveoff
+   man moveoff_gui --- GUI de muestra de moveoff
+
+-------------------------------------------------- -
+Uso de demostración:
+ 1) Inicie linuxcnc usando la configuración 1_onpause_local.
+ 2) Establezca halscope en modo ROLL.
+ 3) <F1> (ESTOP off)
+ 4) <F2> (máquina on)
+ 5) <HOME> (home todos los ejes)
+ 6) <R> (Ejecuta el programa)
+ 7) <P> (Pausa el programa)
+ 8) Habilite los offsets con el botón de verificación Activar Offsets.
+ 9) Cambie los controles deslizantes de offsets x, y, z y observe
+    en halscope
+10) Desmarque el botón Activar Offsets para eliminar
+    offsets y permitir la reanudación del programa.
+11) Repita los pasos 6) a 9) pero modifique el retroceso del punto de referencia
+    con el botón Habilitar Retroceso.
+

configs/sim/axis/moveoff/2_onpause_external.ini

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+#INCLUDE moveoff_display.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,onpause,external
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+# simulate external controls:
+HALFILE = LIB:moveoff_external.hal
+
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -mode onpause \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope
+
+# pins representing an external app for offsetting:
+APP = sim_pin \
+ external_enable \
+ external_backtrack_en \
+ external_offset_0 \
+ external_offset_1 \
+ external_offset_2
+

configs/sim/axis/moveoff/2_onpause_external.txt

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+Moveoff demo
+
+Moveoff_gui options:
+
+  onpause  -- offsets when program paused
+  external -- external controls (simulated)
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+External controls enabled with connections in:
+
+  [HAL]HALFILE = LIB:moveoff_external.hal
+
+External controls simulated with sim_pin:
+
+  external_enable
+  external_backtrack_en
+  external_offset_0
+  external_offset_1
+  external_offset_2
+
+For additional info, see the manpages:
+
+   man sim_pin  ------ utility for setting pins
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui
+
+----------------------------------------------------
+Demo usage:
+ 1) Start linuxcnc using the 2_onpause_external config.
+    (set all sim_pin buttons to Toggle mode):
+ 2) Set halscope to ROLL mode
+ 3) <F1>   (remove ESTOP)
+ 4) <F2>   (turn on machine)
+ 5) <HOME> (home all axes)
+ 6) <R>    (Run the program)
+ 7) <P>    (Pause the program)
+ 8) Enable offsets with the external_enable button
+ 9) Change the x,y,z offsets (exernal_offset_0,1,2)
+    and observe on halscope
+10) Remove offsets with the external_enable button
+    and allow program resumption.
+11) Repeat steps 6) thru 9) but alter waypoint
+    backtracking with the external_backtrack_en button.

configs/sim/axis/moveoff/2_onpause_external_es.txt

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+Demo Moveoff
+
+Opciones de Moveoff_gui:
+
+  onpause - offsets cuando el programa está en pausa
+  externo - controles externos (simulados)
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Controles externos habilitados con conexiones en:
+
+  [HAL]HALFILE = LIB:moveoff_external.hal
+
+Controles externos simulados con sim_pin:
+
+  external_enable
+  external_backtrack_en
+  external_offset_0
+  external_offset_1
+  external_offset_2
+
+Para obtener información adicional, consulte las páginas de manual:
+
+   man sim_pin ------- utilidad para configurar pines
+   man moveoff ------- componente de movimiento
+   man moveoff_gui --- GUI de muestra de moveoff
+
+-------------------------------------------------- -
+Uso de demostración:
+ 1) Inicie linuxcnc usando la configuración 2_onpause_external.
+    (configure todos los botones sim_pin en el modo Alternar):
+ 2) Establezca halscope en modo ROLL
+ 3) <F1> (ESTOP off)
+ 4) <F2> (máquina on)
+ 5) <HOME> (home todos los ejes)
+ 6) <R> (Ejecuta el programa)
+ 7) <P> (Pausar el programa)
+ 8) Habilite offsets con el botón external_enable
+ 9) Cambia los offsets x, y, z (exernal_offset_0,1,2)
+    y observar en halscope
+10) Elimine offset con el botón external_enable
+    y permita la reanudación del programa.
+11) Repita los pasos 6) a 9) pero modifique el punto de referencia
+    retroceder con el botón external_backtrack_en.

configs/sim/axis/moveoff/3_always_local.ini

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+#INCLUDE moveoff_display.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,always,local
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -mode always \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope

configs/sim/axis/moveoff/3_always_local.txt

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+Moveoff demo
+
+Moveoff_gui options:
+
+  always   -- offsets always available
+  local    -- local controls
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+For additional info:
+
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui
+
+----------------------------------------------------
+Demo usage:
+ 1) Start linuxcnc using the 3_always_local config.
+ 2) Set halscope to ROLL mode.
+ 2) <F1>   (remove ESTOP)
+ 3) <F2>   (turn on machine)
+           Offsets are available continuously.
+ 4) Apply offsets using +/- buttons
+ 5) Disable offsets by unchecking the Enable Offsets
+    checkbutton.
+

configs/sim/axis/moveoff/3_always_local_es.txt

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+Demo Moveoff
+
+Opciones de Moveoff_gui:
+
+  always - offsets siempre disponibles
+  local  - controles locales
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Para información adicional:
+
+   man moveoff ------- componente moveoff
+   man moveoff_gui --- GUI de muestra de moveoff
+
+-------------------------------------------------- -
+Uso de demostración:
+ 1) Inicie linuxcnc usando la configuración 3_always_local.
+ 2) Establezca halscope en modo ROLL.
+ 2) <F1> (ESTOP off)
+ 3) <F2> (máquina on)
+           Los offsets están disponibles continuamente.
+ 4) Aplicar offsets usando los botones +/-
+ 5) Desactiva los offsets desmarcando el botón de control
+    Activar Offsets
+   

configs/sim/axis/moveoff/4_always_external.ini

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+#INCLUDE moveoff_display.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,always,external
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+# simulate external controls:
+HALFILE = LIB:moveoff_external.hal
+
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -mode always \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope
+
+# pins representing an external app for offsetting:
+APP = sim_pin \
+ external_enable \
+ external_backtrack_en \
+ external_offset_0 \
+ external_offset_1 \
+ external_offset_2
+

configs/sim/axis/moveoff/4_always_external.txt

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+Moveoff demo
+
+Moveoff_gui options:
+
+  always   -- offsets always available
+  external -- external controls (simulated)
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+External controls enabled with connections in:
+
+  [HAL]HALFILE = LIB:moveoff_external.hal
+
+External controls simulated with sim_pin:
+
+  external_enable
+  external_backtrack_en
+  external_offset_0
+  external_offset_1
+  external_offset_2
+
+For additional info, see the manpages:
+
+   man sim_pin  ------ utility for setting pins
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui

configs/sim/axis/moveoff/4_always_external_es.tx

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+Demo Moveoff
+
+Opciones de Moveoff_gui:
+
+  always -- offsets siempre disponibles
+  external - controles externos (simulados)
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Controles externos habilitados con conexiones en:
+
+  [HAL]HALFILE = LIB:moveoff_external.hal
+
+Controles externos simulados con sim_pin:
+
+  external_enable
+  external_backtrack_en
+  external_offset_0
+  external_offset_1
+  external_offset_2
+
+Para obtener información adicional, consulte las páginas de manual:
+
+   man sim_pin ------- utilidad para configurar pines
+   man moveoff ------- componente moveoff
+   man moveoff_gui --- GUI de muestra de moveoff
+

configs/sim/axis/moveoff/5_no_gui.ini

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+#INCLUDE moveoff_display.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,no_gui
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = LIB:hookup_moveoff.tcl
+
+[APPLICATIONS]
+APP = halshow ./moveoff.halshow
+APP = halscope -i ./moveoff.halscope
+APP = sim_pin \
+ mv.power-on \
+ mv.apply-offsets \
+ mv.move-enable \
+ mv.backtrack-enable \
+ mv.dbg-waypoint-limit-test \
+ mv.waypoint-sample-secs \
+ mv.waypoint-threshold \
+ mv.offset-in-2 \
+ mv.offset-min-2 \
+ mv.offset-max-2 \
+ mv.offset-vel-2 \
+ mv.offset-accel-2

configs/sim/axis/moveoff/5_no_gui.txt

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+moveoff no_gui
+
+This demonstration provides no gui support but pops up several general-purpose utilities to show behavior for a single axis (2 => z).
+
+The sim_pin utility is used to set pin values that would normally be connected to a gui or set to fixed values according to inifile settings:
+
+The utility sim_pin is used to set pins to control the component.
+
+A halshow application widget shows a watch panel for pins associated with the z-axis offset.  See the file moveoff.hal for connections.
+
+A halscope session is started (select 'Roll' to start) to show behavior of important moveoff inputs and outputs
+
+These utilities can be augmented or disabled using the inifile settings:
+ [APPLICATIONS]APP = program_name
+
+Note: This is a Hal-only implementation and the offset positions are NOT shown on the axis gui preview.

configs/sim/axis/moveoff/5_no_gui_es.txt

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+moveoff no_gui
+
+Esta demostración no proporciona soporte gui, pero muestra varias utilidades de uso general para mostrar el comportamiento de un solo eje (2 => z).
+
+La utilidad sim_pin se usa para establecer valores de pin que normalmente se conectarían a una gui o se establecerían en valores fijos de acuerdo con la configuración de archivos:
+
+La utilidad sim_pin se usa para establecer pines para controlar el componente.
+
+Un widget de la aplicación halshow muestra un panel de observación para los pines asociados con el desplazamiento del eje z. Vea el archivo moveoff.hal para las conexiones.
+
+Se inicia una sesión halscope (seleccione 'Roll' para comenzar) para mostrar el comportamiento de las entradas y salidas importantes de moveoff
+
+Estas utilidades pueden mostrarse o deshabilitarse usando la configuración inifile:
+ [APPLICATIONS]APP = nombre_programa
+
+Nota: Esta es una implementación solo de Hal y las posiciones de offset NO se muestran en la vista previa de la gui Axis.
+

configs/sim/axis/moveoff/6_zretract.ini

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+#INCLUDE moveoff_display_6.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff zretract demo
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+# simulate external controls:
+HALFILE = LIB:moveoff_external.hal
+
+# demonstrate fixed zretract offset = 0.1234
+# set offset,accel,velocity for axis 2 (z):
+HALCMD = sets external_offset_2     0.1234
+HALCMD = setp mv.offset-accel-2    10
+HALCMD = setp mv.offset-vel-2       0.05
+# backtracking not required for fixed offset:
+HALCMD = sets external_backtrack_en 0
+
+# Instead of external toggle switch, create connection
+# to external_enable signal with a pyvcp panel checkbutton.
+POSTGUI_HALFILE = moveoff_display_6.hal
+
+[APPLICATIONS]
+# moveoff_gui:
+#  1) provides display of offset
+#  2) resumes after delay
+#     typical use, control spindle with mv.offset-aplied pin
+  APP = moveoff_gui \
+ -mode onpause \
+ -size 14 \
+ -loc +10+50 \
+ -axes z \
+ -autoresume -delay 5 \
+ -no_cancel_autoresume

configs/sim/axis/moveoff/6_zretract.txt

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+Moveoff demo -- fixed retract on single axis (Z)
+
+Demo:
+  1) Start linuxcnc using the 6_zretract config
+  2) A pyvpcp panel includes a checkbutton
+     to enable fixed offsets on program
+     pause.
+  3) Start program
+  4) Pause program
+  5) A moveoff_gui display (with no controls) will
+     appear showing the current Z offset.  If the
+     checkbtton was set to enable offsets, the
+     offset will be applied immediately.  If the
+     checkbutton was not set, enable the checkbutton
+     to apply the offset.
+  6) Toggle the checkbutton to OFF to
+     remove the fixed offset and resume the program.
+  7) The fixed offset will be removed after
+     a delay to allow for spindle reactivation.
+     Typically, the spindle would be gated
+     off for the duration the mv.offset-applied pin.
+     The delay allows time for the spindle to resume
+     speed.
+  8) Toggle the sim_pin external_enable switch to
+     1 (ON) to allow offsetting at the next program
+     pause -- or leave it OFF to require its
+     activation on the next program pause.
+
+The ini file sets:
+  1) offset amount and its velocity and acceleration
+  2) state of the external-enable signal at startup
+  3) autoresume delay interval
+  4) location and size of the moveoff_gui display
+
+----------------------------------------------------
+Moveoff_gui options:
+
+  onpause  -- offsets when program paused
+  local    -- local controls
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+For additional info:
+
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui       

configs/sim/axis/moveoff/6_zretract_es.txt

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+Demo Moveoff - retracción fija en un solo eje (Z)
+
+Demo:
+  1) Inicie linuxcnc usando la configuración 6_zretract
+  2) Un panel pyvpcp incluye un botón de verificación
+     para habilitar offsets fijos en pausa del programa.
+  3) Iniciar programa
+  4) Pausa de programa
+  5) Una pantalla moveoff_gui (sin controles)
+     aparece mostrando el offset Z actual. Si el
+     botón de verificación se configuró para habilitar offsets,
+     se aplicarán de inmediato. Si el
+     el botón de verificación no se configuró, habilite el botón de verificación
+     para aplicar el offset.
+  6) Cambie el botón de verificación a APAGADO para
+     eliminar el offset fijo y reanude el programa.
+  7) El offset fijo se eliminará después de
+     un retraso para permitir la reactivación del husillo.
+     Normalmente, el husillo estaría
+     apagado durante la duración del pin aplicado mv.offset.
+     El retraso permite que el husillo se reanude
+     a su velocidad.
+  8) Cambie el interruptor sim_pin external_enable a
+     1 (ON) para permitir offsets en la siguiente pausa
+     de programa - o déjelo apagado para requerir su
+     activación en la próxima pausa del programa.
+
+El archivo ini establece:
+  1) cantidad compensada y su velocidad y aceleración
+  2) estado de la señal de habilitación externa en la parada
+  3) intervalo de demora de autoresume
+  4) ubicación y tamaño de la pantalla moveoff_gui
+
+-------------------------------------------------- -
+Opciones de Moveoff_gui:
+
+  onpause - compensa cuando el programa está en pausa
+  local - controles locales
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Para información adicional:
+
+   man moveoff ------ componente de movimiento
+   man moveoff_gui --- GUI de muestra de moveoff    

configs/sim/axis/moveoff/7_pyvcp.ini

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+#INCLUDE moveoff_display_7.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,onpause,external
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+# simulate external controls:
+HALFILE = LIB:moveoff_external.hal
+
+POSTGUI_HALFILE = moveoff_display_7.hal
+
+# using pyvcp panel: -no_display disables moveoff_gui display
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -no_display \
+ -mode onpause \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope

configs/sim/axis/moveoff/7_pyvcp.txt

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+Moveoff demo -- external controls with pvyvcp panel
+                moveoff_gui display disabled
+----------------------------------------------------
+Moveoff_gui options:
+(Note: the moveoff_gui is used in the -no_display mode)
+
+  onpause  -- offsets when program paused
+  external -- external controls in pyvcp panel
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+For additional info:
+
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui
+
+----------------------------------------------------
+Demo usage:
+ 1) Start linuxcnc using the 7_pyvcp config.
+ 2) <F1>   (remove ESTOP)
+ 3) <F2>   (turn on machine)
+ 4) <HOME> (home all axes)
+ 5) <R>    (Run the program)
+ 6) <P>    (Pause the program)
+ 7) Set halscope to ROLL mode and then enable offsets
+    with the Enable Offsets checkbutton.
+ 8) Change the x,y,z offsets sliders and observe
+    on halscope
+ 9) Uncheck the Enable Offsets checkbutton to remove
+    offsets and allow program resumption.
+10) Repeat steps 6) thru 9) but alter waypoint
+    backtracking with the Enable Backtrack checkbutton.

configs/sim/axis/moveoff/7_pyvcp_es.txt

@@ -0,0 +1,35 @@
+Demo Moveoff - controles externos con panel pvyvcp
+                La pantalla moveoff_gui está deshabilitada
+-------------------------------------------------- -
+Opciones de Moveoff_gui:
+(Nota: moveoff_gui se usa en el modo -no_display)
+
+  onpause - compensa cuando el programa está en pausa
+  external - controles externos en panel de pyvcp
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Para información adicional:
+
+   man moveoff ------ componente de movimiento
+   man moveoff_gui --- GUI de muestra de moveoff
+
+-------------------------------------------------- -
+Uso de demostración:
+ 1) Inicie linuxcnc usando la configuración 7_pyvcp.
+ 2) <F1> (eliminar ESTOP)
+ 3) <F2> (enciende la máquina)
+ 4) <HOME> (inicio todos los ejes)
+ 5) <R> (Ejecuta el programa)
+ 6) <P> (Pausa el programa)
+ 7) Configure halscope en modo ROLL y luego habilite las compensaciones
+    con el botón Habilitar compensaciones.
+ 8) Cambie los controles deslizantes de desplazamiento x, y, z y observe
+    en halscope
+ 9) Desmarque el botón Habilitar compensaciones para eliminar
+    compensa y permite la reanudación del programa.
+10) Repita los pasos 6) a 9) pero modifique el punto de referencia
+    retroceder con el botón Habilitar retroceso.
+

configs/sim/axis/moveoff/8_gladevcp.ini

@@ -0,0 +1,33 @@
+#INCLUDE moveoff_display_8.inc
+#INCLUDE moveoff_base.inc
+#INCLUDE moveoff_settings.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = moveoff,onpause,external
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+# hookup a moveoff component:
+HALFILE = LIB:hookup_moveoff.tcl
+
+# simulate external controls:
+HALFILE = LIB:moveoff_external.hal
+
+# connections for gladevcp:
+POSTGUI_HALFILE = moveoff_display_8.hal
+
+# using pyvcp panel: -no_display disables moveoff_gui display
+[APPLICATIONS]
+  APP = moveoff_gui \
+ -no_display \
+ -mode onpause \
+ -size 14 \
+ -loc +10+50 \
+ -axes xyz \
+ -autoresume -delay 4 \
+ -inc 0.001 -inc 0.01 -inc 0.1 -inc 1.0
+
+APP = halscope -i ./moveoff.halscope

configs/sim/axis/moveoff/8_gladevcp.txt

@@ -0,0 +1,38 @@
+Moveoff demo -- external controls with gladevcp panel
+                moveoff_gui display disabled
+----------------------------------------------------
+Moveoff_gui options:
+(Note: the moveoff_gui is used in the -no_display mode)
+
+  onpause  -- offsets when program paused
+  external -- external controls in pyvcp panel
+
+Moveoff component installed and connected using:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+For additional info:
+
+   man moveoff  ------ moveoff component
+   man moveoff_gui --- moveoff sample gui
+
+----------------------------------------------------
+Demo usage:
+ 1) Start linuxcnc using the 8_gladevcp config.
+ 2) <F1>   (remove ESTOP)
+ 3) <F2>   (turn on machine)
+ 4) <HOME> (home all axes)
+ 5) <R>    (Run the program)
+ 6) <P>    (Pause the program)
+ 7) Set halscope to ROLL mode and then enable offsets
+    with the Enable Offsets checkbutton.
+ 8) Change the x,y,z offsets sliders and observe
+    on halscope
+ 9) Uncheck the Enable Offsets checkbutton to remove
+    offsets and allow program resumption.
+10) Repeat steps 6) thru 9) but alter waypoint
+    backtracking with the Enable Backtrack checkbutton.
+
+----------------------------------------------------
+Instructions are provided in the file moveoff_display_8.inc
+for testing with the gscreen gui.

configs/sim/axis/moveoff/8_gladevcp_es.txt

@@ -0,0 +1,38 @@
+Demo Moveoff - controles externos con panel gladevcp
+                La pantalla moveoff_gui está deshabilitada
+-------------------------------------------------- -
+Opciones de Moveoff_gui:
+(Nota: moveoff_gui se usa en el modo -no_display)
+
+  onpause - compensa cuando el programa está en pausa
+  external - controles externos en panel de pyvcp
+
+Componente Moveoff instalado y conectado usando:
+
+  [HAL]HALFILE = LIB:hookup_moveoff.tcl
+
+Para información adicional:
+
+   man moveoff ------ componente de movimiento
+   man moveoff_gui --- GUI de muestra de moveoff
+
+-------------------------------------------------- -
+Uso de demostración:
+ 1) Inicie linuxcnc usando la configuración 8_gladevcp.
+ 2) <F1> (eliminar ESTOP)
+ 3) <F2> (enciende la máquina)
+ 4) <HOME> (home todos los ejes)
+ 5) <R> (Ejecuta el programa)
+ 6) <P> (Pausa el programa)
+ 7) Configure halscope en modo ROLL y luego habilite las compensaciones
+    con el botón Habilitar compensaciones.
+ 8) Cambie los controles deslizantes de desplazamiento x, y, z y observe
+    en halscope
+ 9) Desmarque el botón Habilitar compensaciones para eliminar
+    compensa y permite la reanudación del programa.
+10) Repita los pasos 6) a 9) pero modifique el punto de referencia
+    retroceder con el botón Habilitar retroceso.
+
+-------------------------------------------------- -
+Las instrucciones se proporcionan en el archivo moveoff_display_8.inc
+para probar con la gui gscreen.

configs/sim/axis/moveoff/README

@@ -0,0 +1,32 @@
+moveoff.comp is a 'Hal-only' method for providing offsets for up to nine axes (x,y,z,a,b,c,u,v,w).
+
+The moveoff.comp component provides min, max, velocity, and acceleration limits for each axis (similar to the limit3 component).
+
+See the manpage for more information:
+
+  $ man moveoff
+
+The demonstration configs show:
+
+  o moveoff_gui
+    a simple gui
+
+  o hookup_moveoff.tcl
+    a script to connect a moveoff component
+
+  o moveoff.halscope
+    halscope configs to illustrate movement
+    (GUI's to not show Hal-only offset movements)
+
+Demonstration configs:
+
+  demonstration    mode    controls
+  ---------------- ------- -------------------- 
+1 onpause_local    onpause local
+2 onpause_external onpause external (simulated)
+3 always_local     always  local
+4 always_external  always  external (simulated)
+5 no_gui           NA      NA
+6 zretract         onpause pyvcp panel
+7 pyvcp            onpause pyvcp panel
+8 gladevcp         onpause gladevcp panel

configs/sim/axis/moveoff/moveoff.hal

@@ -0,0 +1,72 @@
+# halfile to connect a moveoff.comp for axis gui examples
+# This halfile modifies the connections made in core_sim.hal
+# to add a moveoff component and addfs its functions
+
+# This halfile must follow core_sim.hal
+
+# moveoff offsetting component (use names=mv is required):
+loadrt moveoff names=mv
+# addf the moveoff funcs in correct sequence:
+addf mv.write-outputs servo-thread 3
+addf mv.read-inputs   servo-thread 1
+
+# modify connections set in core_sim.hal
+unlinkp joint.0.motor-pos-cmd
+unlinkp joint.1.motor-pos-cmd
+unlinkp joint.2.motor-pos-cmd
+
+unlinkp joint.0.motor-pos-fb
+unlinkp joint.1.motor-pos-fb
+unlinkp joint.2.motor-pos-fb
+
+# connect motor-pos-cmd pins to the component:
+net Xpos joint.0.motor-pos-cmd => mv.pos-0
+net Ypos joint.1.motor-pos-cmd => mv.pos-1
+net Zpos joint.2.motor-pos-cmd => mv.pos-2
+
+# generated positions with offsets ADDED are
+# 'short circuited' to the feedback input pins:
+net mx:plus mv.pos-plusoffset-0 => mv.fb-0
+net my:plus mv.pos-plusoffset-1 => mv.fb-1
+net mz:plus mv.pos-plusoffset-2 => mv.fb-2
+
+# synthesized feedback values with offsets SUBTRACTED
+# are sent back to motion:
+net mx:fb mv.fb-minusoffset-0 => joint.0.motor-pos-fb
+net my:fb mv.fb-minusoffset-1 => joint.1.motor-pos-fb
+net mz:fb mv.fb-minusoffset-2 => joint.2.motor-pos-fb
+
+# example setting global inputs from ini file:
+setp mv.epsilon              [MOVEOFF]EPSILON
+setp mv.waypoint-sample-secs [MOVEOFF]WAYPOINT_SAMPLE_SECS
+setp mv.waypoint-threshold   [MOVEOFF]WAYPOINT_THRESHOLD
+
+# offset rates from ini file:
+setp mv.offset-vel-0 [MOVEOFF_0]MAX_VELOCITY
+setp mv.offset-vel-1 [MOVEOFF_1]MAX_VELOCITY
+setp mv.offset-vel-2 [MOVEOFF_2]MAX_VELOCITY
+
+# offset accels from ini file:
+setp mv.offset-accel-0 [MOVEOFF_0]MAX_ACCELERATION
+setp mv.offset-accel-1 [MOVEOFF_1]MAX_ACCELERATION
+setp mv.offset-accel-2 [MOVEOFF_2]MAX_ACCELERATION
+
+# offset min, max limits
+setp mv.offset-min-0 [MOVEOFF_0]MIN_LIMIT
+setp mv.offset-min-1 [MOVEOFF_1]MIN_LIMIT
+setp mv.offset-min-2 [MOVEOFF_2]MIN_LIMIT
+
+setp mv.offset-max-0 [MOVEOFF_0]MAX_LIMIT
+setp mv.offset-max-1 [MOVEOFF_1]MAX_LIMIT
+setp mv.offset-max-2 [MOVEOFF_2]MAX_LIMIT
+
+# overall enable for the component:
+# 1 ==> enabled as soon as apply-offsets asserted
+# 0 ==> external control of move-enable required
+setp mv.move-enable 0
+
+# offset values (set as required with your gui)
+setp mv.offset-in-0 0
+setp mv.offset-in-1 0
+setp mv.offset-in-2 0
+

configs/sim/axis/moveoff/moveoff.halscope

@@ -0,0 +1,47 @@
+THREAD servo-thread
+MAXCHAN 8
+HMULT 6
+HZOOM 1
+HPOS 0.000000e+00
+CHAN 1
+PIN mv.apply-offsets
+VSCALE 1
+VPOS 0.100000
+VOFF 0.000000e+00
+CHAN 2
+PIN halui.program.resume
+VSCALE 0
+VPOS 0.200000
+VOFF 0.000000e+00
+CHAN 3
+PIN mv.move-enable
+VSCALE 1
+VPOS 0.300000
+VOFF 0.000000e+00
+CHAN 4
+PIN mv.offset-applied
+VSCALE 1
+VPOS 0.400000
+VOFF 0.000000e+00
+CHAN 5
+PIN mv.offset-current-0
+VSCALE 1
+VPOS 0.500000
+VOFF 0.000000e+00
+CHAN 6
+PIN mv.offset-current-1
+VSCALE 1
+VPOS 0.600000
+VOFF 0.000000e+00
+CHAN 7
+PIN mv.offset-current-2
+VSCALE 1
+VPOS 0.700000
+VOFF 0.000000e+00
+CHAN 8
+PIN mv.waypoint-ct
+VSCALE 6
+VPOS 0.900000
+VOFF 0.000000e+00
+TMODE 0
+RMODE 0

configs/sim/axis/moveoff/moveoff.halshow

@@ -0,0 +1 @@
+pin+mv.power-on pin+mv.apply-offsets pin+mv.move-enable pin+mv.backtrack-enable pin+mv.epsilon pin+mv.waypoint-sample-secs pin+mv.waypoint-threshold pin+mv.offset-in-0 pin+mv.offset-in-1 pin+mv.offset-in-2 pin+mv.offset-applied pin+mv.offset-current-0 pin+mv.offset-current-1 pin+mv.offset-current-2 pin+mv.warning pin+mv.waypoint-ct pin+mv.waypoint-percent-used pin+mv.waypoint-limit pin+halui.program.resume

configs/sim/axis/moveoff/moveoff_base.inc

@@ -0,0 +1,92 @@
+[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
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+ BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+    NO_FORCE_HOMING = 1
+        COORDINATES = X Y Z
+       LINEAR_UNITS = inch
+      ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 5
+#     POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 5
+
+[EMCIO]
+          TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+    JOINTS = 3
+KINEMATICS = trivkins
+
+[AXIS_X]
+       MIN_LIMIT = -40.0
+       MAX_LIMIT = 40.0
+    MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
+                   TYPE = LINEAR
+                   HOME = 0.000
+           MAX_VELOCITY = 5
+       MAX_ACCELERATION = 50.0
+              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]
+       MIN_LIMIT = -40.0
+       MAX_LIMIT = 40.0
+    MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
+                   TYPE = LINEAR
+                   HOME = 0.000
+           MAX_VELOCITY = 5
+       MAX_ACCELERATION = 50.0
+              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]
+       MIN_LIMIT = -8.0
+       MAX_LIMIT = 0.12
+    MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
+                   TYPE = LINEAR
+                   HOME = 0.0
+           MAX_VELOCITY = 5
+       MAX_ACCELERATION = 50.0
+              MIN_LIMIT = -8.0
+              MAX_LIMIT = 0.12
+            HOME_OFFSET = 1.0
+        HOME_SEARCH_VEL = 20.0
+         HOME_LATCH_VEL = 20.0
+          HOME_SEQUENCE = 0

configs/sim/axis/moveoff/moveoff_display.inc

@@ -0,0 +1,18 @@
+[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 = 5
+DEFAULT_LINEAR_VELOCITY = .25
+  DEFAULT_SPINDLE_SPEED = 200
+         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
+

configs/sim/axis/moveoff/moveoff_display_6.hal

@@ -0,0 +1 @@
+net external_enable pyvcp.enable_offset

configs/sim/axis/moveoff/moveoff_display_6.inc

@@ -0,0 +1,19 @@
+[DISPLAY]
+                DISPLAY = axis
+                  PYVCP = moveoff_display_6.xml
+             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 = 5
+DEFAULT_LINEAR_VELOCITY = .25
+  DEFAULT_SPINDLE_SPEED = 200
+         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
+

configs/sim/axis/moveoff/moveoff_display_6.xml

@@ -0,0 +1,10 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+  <vbox>
+    <checkbutton>
+      <halpin>"enable_offset"</halpin>
+      <text>"Enable Fixed Offset\non Pause"</text>
+      <initval>0</initval>
+    </checkbutton>
+  </vbox>
+</pyvcp>

configs/sim/axis/moveoff/moveoff_display_7.hal

@@ -0,0 +1,28 @@
+# connections for pyvcp panel
+
+# connect to signals created by moveoff_external.hal
+# to inputs from pyvcp panel:
+net external_enable       <= pyvcp.enable-offset
+net external_offset_0     <= pyvcp.x-offset-f
+net external_offset_1     <= pyvcp.y-offset-f
+net external_offset_2     <= pyvcp.z-offset-f
+net external_backtrack_en <= pyvcp.enable-backtrack
+
+# connect signal provided by moveoff_gui to pyvcp led:
+net mvoff_gui:apply_offsets pyvcp.led-apply
+
+# connect for pyvcp status items:
+net led-offset-applied         mv.offset-applied        => pyvcp.led-active
+net led-waypoint-limeit        mv.waypoint-limit        => pyvcp.led-waypoint-limit
+net show_waypoint-percent-used mv.waypoint-percent-used => pyvcp.waypoint-percent-used
+
+# connect for pyvcp display of current offsets:
+net current_offset_0 <= mv.offset-current-0
+net current_offset_0 => pyvcp.x-offset-current
+
+net current_offset_1 <= mv.offset-current-1
+net current_offset_1 => pyvcp.y-offset-current
+
+net current_offset_2 <= mv.offset-current-2
+net current_offset_2 => pyvcp.z-offset-current
+

configs/sim/axis/moveoff/moveoff_display_7.inc

@@ -0,0 +1,19 @@
+[DISPLAY]
+                DISPLAY = axis
+                  PYVCP = moveoff_display_7.xml
+             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 = 5
+DEFAULT_LINEAR_VELOCITY = .25
+  DEFAULT_SPINDLE_SPEED = 200
+         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
+

configs/sim/axis/moveoff/moveoff_display_7.xml

@@ -0,0 +1,172 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<!-- this is an example, the values are not
+likely to be suitable for a real machine
+-->
+<pyvcp>
+  <vbox>
+    <label>
+      <text>"Moveoff Offsets"</text>
+      <font>"bold"</font>
+    </label>
+    <checkbutton>
+      <halpin>"enable-offset"</halpin>
+      <text>"Enable Offsets"</text>
+      <anchor>"w"</anchor>
+      <initval>0</initval>
+      <relief>"ridge"</relief>
+      <bd>3</bd>
+    </checkbutton>
+
+  <vbox>
+    <relief>"sunken"</relief>
+    <bd>3</bd>
+    <hbox>
+      <led>
+        <halpin>"led-apply"</halpin>
+        <on_color>"red"</on_color>
+        <off_color>"gray"</off_color>
+        <size>15</size>
+      </led>
+      <label>
+        <text>"Paused"</text>
+      </label>
+    </hbox>
+
+    <hbox>
+      <led>
+        <halpin>"led-active"</halpin>
+        <on_color>"red"</on_color>
+        <off_color>"gray"</off_color>
+        <size>15</size>
+      </led>
+      <label>
+        <text>"Active"</text>
+      </label>
+    </hbox>
+  </vbox>
+
+  <vbox>
+    <relief>"sunken"</relief>
+    <bd>3</bd>
+    <label>
+      <text>"Requested X Offset:"</text>
+      <anchor>"w"</anchor>
+    </label>
+    <scale>
+      <halpin>"x-offset"</halpin>
+      <resolution>0.01</resolution>
+      <min_>0</min_>
+      <max_>10</max_>
+      <initval>0</initval>
+      <param_pin>1</param_pin>
+      <orient>HORIZONTAL</orient>
+    </scale>
+    <hbox>
+      <label>
+        <text>"Current X:"</text>
+        <anchor>"w"</anchor>
+      </label>
+      <number>
+        <halpin>"x-offset-current"</halpin>
+        <format>"4.3f"</format>
+        <fg>"red"</fg>
+        <font>"bold"</font>
+      </number>
+    </hbox>
+  </vbox>
+
+  <vbox>
+    <relief>"sunken"</relief>
+    <bd>3</bd>
+    <label>
+      <text>"Requested Y Offset:"</text>
+      <anchor>"w"</anchor>
+    </label>
+    <scale>
+      <halpin>"y-offset"</halpin>
+      <resolution>0.01</resolution>
+      <min_>0</min_>
+      <max_>10</max_>
+      <initval>0</initval>
+      <param_pin>1</param_pin>
+      <orient>HORIZONTAL</orient>
+    </scale>
+    <hbox>
+      <label>
+        <text>"Current Y:"</text>
+        <anchor>"w"</anchor>
+      </label>
+        <number>
+        <halpin>"y-offset-current"</halpin>
+        <format>"4.3f"</format>
+        <fg>"red"</fg>
+        <font>"bold"</font>
+      </number>
+    </hbox>
+  </vbox>
+
+  <vbox>
+    <relief>"sunken"</relief>
+    <bd>3</bd>
+    <label>
+      <text>"Requested Z Offset:"</text>
+      <anchor>"w"</anchor>
+    </label>
+    <scale>
+      <halpin>"z-offset"</halpin>
+      <resolution>0.01</resolution>
+      <min_>0</min_>
+      <max_>10</max_>
+      <initval>0</initval>
+      <param_pin>1</param_pin>
+      <orient>HORIZONTAL</orient>
+    </scale>
+    <hbox>
+      <label>
+        <text>"Current Z:"</text>
+        <anchor>"w"</anchor>
+      </label>
+      <number>
+        <halpin>"z-offset-current"</halpin>
+        <format>"4.3f"</format>
+        <fg>"red"</fg>
+        <font>"bold"</font>
+      </number>
+    </hbox>
+  </vbox>
+  
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>3</bd>
+    <checkbutton>
+      <halpin>"enable-backtrack"</halpin>
+      <text>"Enable Backtrack"</text>
+      <anchor>"w"</anchor>
+      <initval>0</initval>
+    </checkbutton>
+    <hbox>
+      <label>
+        <text>"Waypoint %:"</text>
+        <anchor>"w"</anchor>
+      </label>
+      <s32>
+        <halpin>"waypoint-percent-used"</halpin>
+        <fg>"red"</fg>
+        <font>"bold"</font>
+      </s32>
+    </hbox>
+    <hbox>
+      <led>
+        <halpin>"led-waypoint-limit"</halpin>
+        <on_color>"red"</on_color>
+        <off_color>"gray"</off_color>
+        <size>15</size>
+      </led>
+      <label>
+        <text>"Waypt imit"</text>
+      </label>
+    </hbox>
+  </vbox>
+
+  </vbox>
+</pyvcp>

configs/sim/axis/moveoff/moveoff_display_8.hal

@@ -0,0 +1,30 @@
+# connections for gladevcp panel, example embed command:
+# EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp8 gladevcp -c gladevcp8  -x {XID} ./moveoff_gladevcp_8.ui
+# note the expected name prefix is 'gladevcp8' (specified with -Wn arg and -c arg)
+
+# connect to signals created by moveoff_external.hal
+# to inputs from gladevcp panel:
+net external_enable       <= gladevcp8.enable-offset
+net external_offset_0     <= gladevcp8.x-offset-f
+net external_offset_1     <= gladevcp8.y-offset-f
+net external_offset_2     <= gladevcp8.z-offset-f
+net external_backtrack_en <= gladevcp8.enable-backtrack
+
+# connect signal provided by moveoff_gui to gladevcp led:
+net mvoff_gui:apply_offsets gladevcp8.led-apply
+
+# connect for gladevcp status items:
+net led-offset-applied         mv.offset-applied        => gladevcp8.led-active
+net led-waypoint-limeit        mv.waypoint-limit        => gladevcp8.led-waypoint-limit
+net show_waypoint-percent-used mv.waypoint-percent-used => gladevcp8.waypoint-percent-used
+
+# connect for gladevcp display of current offsets:
+net current_offset_0 <= mv.offset-current-0
+net current_offset_0 => gladevcp8.x-offset-current
+
+net current_offset_1 <= mv.offset-current-1
+net current_offset_1 => gladevcp8.y-offset-current
+
+net current_offset_2 <= mv.offset-current-2
+net current_offset_2 => gladevcp8.z-offset-current
+

configs/sim/axis/moveoff/moveoff_display_8.inc

@@ -0,0 +1,30 @@
+[DISPLAY]
+
+EMBED_TAB_NAME= moveoff gladevcp demo
+EMBED_TAB_COMMAND= halcmd loadusr -Wn gladevcp8 gladevcp -c gladevcp8 -t Redmond -x {XID} ./moveoff_gladevcp_8.ui
+EMBED_TAB_LOCATION = vcp_box
+# halcmd options used:
+#       -Wn NAME   wait for named component (must agree with names in moveoff_display_8.hal)
+# gladevcp options:
+#       -c NAME   set component name
+#       -t THEME  set theme name (should be same as desktop appearance theme usually)
+#       -x {XID}  reparent in window
+
+# to test with gscreen, change 'DISPLAY = axis' to 'DISPLAY = gscreen'
+                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 = 5
+DEFAULT_LINEAR_VELOCITY = .25
+  DEFAULT_SPINDLE_SPEED = 200
+         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
+

configs/sim/axis/moveoff/moveoff_gladevcp_8.ui

@@ -0,0 +1,445 @@
+<?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="GtkAdjustment" id="adjustment1">
+    <property name="lower">-1</property>
+    <property name="upper">1</property>
+    <property name="step-increment">0.01</property>
+    <property name="page-increment">0.01</property>
+  </object>
+  <object class="GtkAdjustment" id="adjustment2">
+    <property name="lower">-1</property>
+    <property name="upper">1</property>
+    <property name="step-increment">0.01</property>
+    <property name="page-increment">0.01</property>
+  </object>
+  <object class="GtkAdjustment" id="adjustment3">
+    <property name="lower">-1</property>
+    <property name="upper">1</property>
+    <property name="step-increment">0.01</property>
+    <property name="page-increment">0.01</property>
+  </object>
+  <object class="GtkWindow" id="window1">
+    <property name="can-focus">False</property>
+    <child>
+      <object class="GtkVBox" id="vbox1">
+        <property name="visible">True</property>
+        <property name="can-focus">False</property>
+        <child>
+          <object class="HAL_CheckButton" id="enable-offset">
+            <property name="label" translatable="yes">Enable Offsets
+(while paused)</property>
+            <property name="use-action-appearance">False</property>
+            <property name="visible">True</property>
+            <property name="can-focus">True</property>
+            <property name="receives-default">False</property>
+            <property name="draw-indicator">True</property>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">0</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkVBox" id="vbox2">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="GtkHBox" id="hbox1">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="HAL_LED" id="led-apply">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="led-blink-rate">0</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="GtkLabel" id="label4">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Paused</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox2">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="HAL_LED" id="led-active">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="led-blink-rate">0</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</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">Active</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">1</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkVBox" id="vbox3">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="GtkLabel" id="label1">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label" translatable="yes">Requested X Offset</property>
+              </object>
+              <packing>
+                <property name="expand">False</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="HAL_HScale" id="x-offset-f">
+                <property name="visible">True</property>
+                <property name="can-focus">True</property>
+                <property name="adjustment">adjustment1</property>
+                <property name="round-digits">1</property>
+                <property name="digits">3</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox3">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="GtkLabel" id="label6">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Current X:</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="HAL_Label" id="x-offset-current">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">label</property>
+                    <property name="label-pin-type">1</property>
+                  </object>
+                  <packing>
+                    <property name="expand">True</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">2</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">2</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkVBox" id="vbox4">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="GtkLabel" id="label2">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label" translatable="yes">Requested Y Offset</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="HAL_HScale" id="y-offset-f">
+                <property name="visible">True</property>
+                <property name="can-focus">True</property>
+                <property name="adjustment">adjustment2</property>
+                <property name="round-digits">1</property>
+                <property name="digits">3</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox4">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="GtkLabel" id="label7">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Current Y:</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="HAL_Label" id="y-offset-current">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">label</property>
+                    <property name="label-pin-type">1</property>
+                  </object>
+                  <packing>
+                    <property name="expand">True</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">2</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">3</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkVBox" id="vbox6">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="GtkLabel" id="label3">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="label" translatable="yes">Requested Z Offset</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="HAL_HScale" id="z-offset-f">
+                <property name="visible">True</property>
+                <property name="can-focus">True</property>
+                <property name="adjustment">adjustment3</property>
+                <property name="round-digits">1</property>
+                <property name="digits">3</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox5">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="GtkLabel" id="label8">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Current Z:</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="HAL_Label" id="z-offset-current">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">label</property>
+                    <property name="label-pin-type">1</property>
+                  </object>
+                  <packing>
+                    <property name="expand">True</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">2</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">4</property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkVBox" id="vbox7">
+            <property name="visible">True</property>
+            <property name="can-focus">False</property>
+            <child>
+              <object class="HAL_CheckButton" id="enable-backtrack">
+                <property name="label" translatable="yes">Enable Backtrack</property>
+                <property name="use-action-appearance">False</property>
+                <property name="visible">True</property>
+                <property name="can-focus">True</property>
+                <property name="receives-default">False</property>
+                <property name="draw-indicator">True</property>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox6">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="GtkLabel" id="label9">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Waypoint %:</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="HAL_Label" id="waypoint-percent-used">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">label</property>
+                  </object>
+                  <packing>
+                    <property name="expand">True</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">1</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkHBox" id="hbox7">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <child>
+                  <object class="HAL_LED" id="led-waypoint-limit">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="led-blink-rate">0</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="GtkLabel" id="label10">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="label" translatable="yes">Waypt limit</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">True</property>
+                <property name="fill">True</property>
+                <property name="position">2</property>
+              </packing>
+            </child>
+          </object>
+          <packing>
+            <property name="expand">True</property>
+            <property name="fill">True</property>
+            <property name="position">5</property>
+          </packing>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

configs/sim/axis/moveoff/moveoff_settings.inc

@@ -0,0 +1,23 @@
+[MOVEOFF]
+             EPSILON = 0.001
+WAYPOINT_SAMPLE_SECS = 0.05
+  WAYPOINT_THRESHOLD = 0.05
+    BACKTRACK_ENABLE = 1
+
+[MOVEOFF_0]
+MAX_ACCELERATION = 60.0
+    MAX_VELOCITY = 6.0
+       MAX_LIMIT = 10.0
+       MIN_LIMIT = -10.0
+
+[MOVEOFF_1]
+MAX_ACCELERATION = 60.0
+    MAX_VELOCITY = 6.0
+       MAX_LIMIT = 10.0
+       MIN_LIMIT = -10.0
+
+[MOVEOFF_2]
+MAX_ACCELERATION = 60.0
+    MAX_VELOCITY = 6.0
+       MAX_LIMIT = 10.0
+       MIN_LIMIT = -10.0

configs/sim/axis/moveoff/removeshort.hal

@@ -0,0 +1,89 @@
+# removeshort.hal
+# (for use following core_sim.hal and simulated_home.hal)
+# (this halfile should follow core_sim.hal)
+
+# Demonstrate that hookup_moveoff.tcl works with
+# non-shortcircuit hal configurations (like a servo)
+
+# Also: use sample-hold (mux2) to simulate a system
+# with encoder measuring output when power off too
+
+# remove usual sim signals
+delsig Xpos
+delsig Ypos
+delsig Zpos
+
+# add pid components, and addf in right sequence
+loadrt pid names=xpid,ypid,zpid
+addf xpid.do-pid-calcs servo-thread 3
+addf ypid.do-pid-calcs servo-thread 3
+addf zpid.do-pid-calcs servo-thread 3
+
+# add mux2 for sample-hold on output, and addf in right sequence
+# to simulate system with encoder measuring output
+loadrt mux2 names=xmux,ymux,zmux
+addf xmux servo-thread 6
+addf ymux servo-thread 6
+addf zmux servo-thread 6
+
+# note: pid has default PGain=1, Dgain=Igain=FF0=FF1=FF2=0
+setp xpid.Pgain 0
+setp ypid.Pgain 0
+setp zpid.Pgain 0
+
+# pass thru input to output by using FF0=1
+setp xpid.FF0 1
+setp ypid.FF0 1
+setp zpid.FF0 1
+
+# enable pid in usual manner
+net xenable joint.0.amp-enable-out => xpid.enable
+net yenable joint.1.amp-enable-out => ypid.enable
+net zenable joint.2.amp-enable-out => zpid.enable
+
+# connect without a shortcircuit using pass-thru pid
+net Xpos-cmd <= joint.0.motor-pos-cmd
+net Xpos-cmd => xpid.command
+
+# sample-hold
+net sample <= motion.motion-enabled
+net sample => xmux.sel
+net sample => ymux.sel
+net sample => zmux.sel
+#---------------------------------------
+net Xonposition <= xpid.output
+net Xonposition => xmux.in1
+
+# hold position when power off (in0):
+net Xpos-fb  => xmux.in0
+
+net Xpos-fb  <= xmux.out
+net Xpos-fb  => joint.0.motor-pos-fb
+net Xpos-fb  => comp_x.in1
+net Xpos-fb  => ddt_x.in
+#---------------------------------------
+net Yonposition <= ypid.output
+net Yonposition => ymux.in1
+
+# hold position when power off (in0):
+net Ypos-fb  => ymux.in0
+
+net Ypos-fb  <= ymux.out
+net Ypos-cmd <= joint.1.motor-pos-cmd
+net Ypos-cmd => ypid.command
+net Ypos-fb  => joint.1.motor-pos-fb
+net Ypos-fb  => comp_y.in1
+net Ypos-fb  => ddt_y.in
+#---------------------------------------
+net Zonposition <= zpid.output
+net Zonposition => zmux.in1
+
+# hold position when power off (in0):
+net Zpos-fb  => zmux.in0
+
+net Zpos-fb  <= zmux.out
+net Zpos-cmd <= joint.2.motor-pos-cmd
+net Zpos-cmd => zpid.command
+net Zpos-fb  => joint.2.motor-pos-fb
+net Zpos-fb  => comp_z.in1
+net Zpos-fb  => ddt_z.in

configs/sim/axis/moveoff/sim.tbl

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