Import LinuxCNC source tree

configs/sim/axis/remap/rack-toolchange/racktoolchange.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = racktoolchange.ini
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+GLADEVCP= -c gladevcp racktoolchange.ui
+OPEN_FILE= ./nc_files/tcdemo.ngc
+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
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 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_mm.var
+SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs
+LOG_LEVEL = 9
+
+ON_ABORT_COMMAND= O <on_abort> call
+
+#
+# ------ remapping toolchange - related codes ----------------------
+#
+# see python/remap.py for the prolog and epilog handlers
+# see nc_files/remap-subroutines for the NGC procedures
+#
+# the prepare_min.ngc and change_min.ngc are templates - fill in as needed
+REMAP= M6   modalgroup=6  prolog=change_prolog   ngc=rack_change  epilog=change_epilog
+
+[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
+HALFILE = racktoolchange.hal
+POSTGUI_HALFILE= gladevcp.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 30.48
+MAX_LINEAR_VELOCITY = 53.34
+DEFAULT_LINEAR_ACCELERATION = 508
+MAX_LINEAR_ACCELERATION = 508
+POSITION_FILE = position_mm.txt
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -254
+MAX_LIMIT = 254
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+MIN_LIMIT = -254
+MAX_LIMIT = 254
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 127
+HOME_LATCH_VEL = 25.4
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = -254
+MAX_LIMIT = 254
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+MIN_LIMIT = -254
+MAX_LIMIT = 254
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 127
+HOME_LATCH_VEL = 25.4
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -50.8
+MAX_LIMIT = 101.6
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 508
+MIN_LIMIT = -50.8
+MAX_LIMIT = 101.6
+HOME_OFFSET = 25.4
+HOME_SEARCH_VEL = 127
+HOME_LATCH_VEL = 25.4
+HOME_SEQUENCE = 0
+
+[PYTHON]
+# where to find Python code
+# code specific for this configuration
+PATH_PREPEND= ./python
+# generic support code
+PATH_APPEND= ../../nc_files/remap_lib/python-stdglue
+
+# import the following Python module
+TOPLEVEL= python/toplevel.py
+
+# the higher the more verbose tracing of the Python plugin
+LOG_LEVEL = 0
+
+# Part program interpreter section --------------------------------------------
+[TOOL_HOLDER_CLEAR]
+X = 10
+Y = 30
+Z = 10
+
+[TOOL_SLOT_DELTA]
+X = 0
+Y = 10
+Z = 0
+
+# this is not named TOOL_CHANGE_POSITION on purpose - canon uses it and will
+# interfere
+[CHANGE_POSITION]
+X = 10
+Y = 10
+Z = 10
+
+[DWELL]
+LOCK_TIME = 0.5
+MYSTERY = 0
+NEW_TOOL = 1.0
+POST_UNLOCK = 0.5
+
+# motion.digital-out-NN pins
+[PINS]
+LOCK = 0
+FLUSH = 1