Import LinuxCNC source tree

configs/sim/qtaxis/xyz/check_constraints.hal

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+# HAL config file to check vel/acc constraints
+#
+loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
+
+addf wcomp_xacc servo-thread
+addf wcomp_xvel servo-thread
+addf wcomp_yacc servo-thread
+addf wcomp_yvel servo-thread
+addf wcomp_zacc servo-thread
+addf wcomp_zvel servo-thread
+
+net Xacc => wcomp_xacc.in
+net Xvel => wcomp_xvel.in
+net Yacc => wcomp_yacc.in
+net Yvel => wcomp_yvel.in
+net Zacc => wcomp_zacc.in
+net Zvel => wcomp_zvel.in
+
+net acc-ok-x <= wcomp_xacc.out
+net vel-ok-x <= wcomp_xvel.out
+net acc-ok-y <= wcomp_yacc.out
+net vel-ok-y <= wcomp_yvel.out
+net acc-ok-z <= wcomp_zacc.out
+net vel-ok-z <= wcomp_zvel.out
+
+setp wcomp_xacc.max 50.001
+setp wcomp_xacc.min -50.001
+setp wcomp_xvel.max 5.001
+setp wcomp_xvel.min -5.001
+setp wcomp_yacc.max 50.001
+setp wcomp_yacc.min -50.001
+setp wcomp_yvel.max 5.001
+setp wcomp_yvel.min -5.001
+setp wcomp_zacc.max 50.001
+setp wcomp_zacc.min -50.001
+setp wcomp_zvel.max 5.001
+setp wcomp_zvel.min -5.001
+
+loadrt match8 names=match_all
+
+addf match_all servo-thread
+
+net acc-ok-x => match_all.a0
+setp match_all.b0 1
+net vel-ok-x => match_all.a1
+setp match_all.b1 1
+net acc-ok-y => match_all.a2
+setp match_all.b2 1
+net vel-ok-y => match_all.a3
+setp match_all.b3 1
+net acc-ok-z => match_all.a4
+setp match_all.b4 1
+net vel-ok-z => match_all.a5
+setp match_all.b5 1
+
+setp match_all.a6 0
+setp match_all.a7 0
+setp match_all.b6 0
+setp match_all.b7 0
+
+setp match_all.in 1
+
+net constraints-ok <= match_all.out

configs/sim/qtaxis/xyz/qtaxis.ini

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+# This config file was created 2017-02-05 00:32:40.919119 by the update_ini script
+# The original config files may be found in the /home/chris/linuxcnc-mk/configs/sim/qtscreen/qtdefault.old directory
+
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+
+# Version of this INI file
+VERSION = 1.1
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-HAL-SIM-AXIS
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#define EMC_DEBUG_CONFIG            0x00000002
+#define EMC_DEBUG_VERSIONS          0x00000008
+#define EMC_DEBUG_TASK_ISSUE        0x00000010
+#define EMC_DEBUG_NML               0x00000040
+#define EMC_DEBUG_MOTION_TIME       0x00000080
+#define EMC_DEBUG_INTERP            0x00000100
+#define EMC_DEBUG_RCS               0x00000200
+#define EMC_DEBUG_INTERP_LIST       0x00000800
+#define EMC_DEBUG_IOCONTROL         0x00001000
+#define EMC_DEBUG_OWORD             0x00002000
+#define EMC_DEBUG_REMAP             0x00004000
+#define EMC_DEBUG_PYTHON            0x00008000
+#define EMC_DEBUG_NAMEDPARAM        0x00010000
+#define EMC_DEBUG_GDBONSIGNAL       0x00020000
+#define EMC_DEBUG_PYTHON_TASK       0x00040000
+#define EMC_DEBUG_ALL               0x7FFFFFFF	/* it's an int for %i to work
+					
+DEBUG =              0x00002000
+#DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., xemc
+DISPLAY = qtvcp -v qtaxis
+
+PREFERENCE_FILE_PATH = WORKINGFOLDER/qtaxis.pref
+# embedded programs
+#EMBED_TAB_NAME=Onboard demo
+#EMBED_TAB_COMMAND=onboard --xid
+
+EMBED_TAB_NAME=Vismach demo
+EMBED_TAB_COMMAND=qtvcp vismach_mill_xyz
+EMBED_TAB_LOCATION=rightTab
+
+EMBED_TAB_NAME=Test Panel
+EMBED_TAB_COMMAND=qtvcp test_panel
+EMBED_TAB_LOCATION=rightTab
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     2.0
+
+DEFAULT_SPINDLE_0_SPEED = 500
+SPINDLE_INCREMENT = 200
+MIN_SPINDLE_0_SPEED = 300
+MAX_SPINDLE_0_SPEED = 3000
+MIN_SPINDLE_0_OVERRIDE =  0.5
+MAX_SPINDLE_0_OVERRIDE =  1.5
+
+# min/max/default jog velocities in qtaxis in units/sec
+MIN_LINEAR_VELOCITY = 0
+MAX_LINEAR_VELOCITY =   1
+DEFAULT_LINEAR_VELOCITY =   .25
+
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+INCREMENTS = 0.1 in, 0.01 in, 0.001 in, 0.0001 in, 1 mm, 0.1 mm, 0.01 mm
+GRIDS = .5 in, 1 in, 6 in, 1 mm, 10 mm, 50 mm
+
+# set up 3 user popup message dialogs
+MESSAGE_BOLDTEXT = NONE
+MESSAGE_TEXT = This is a statusbar test
+MESSAGE_DETAILS = STATUS DETAILS
+MESSAGE_TYPE = status
+MESSAGE_PINNAME = statustest
+
+MESSAGE_BOLDTEXT = NONE
+MESSAGE_TEXT = This is a yes no dialog test
+MESSAGE_DETAILS = Y/N DETAILS
+MESSAGE_TYPE = yesnodialog
+MESSAGE_PINNAME = yndialogtest
+
+MESSAGE_BOLDTEXT = This is the short text
+MESSAGE_TEXT = This is the longer text of the both type test. It can be longer then the status bar text
+MESSAGE_DETAILS = BOTH DETAILS
+MESSAGE_TYPE = okdialog status
+MESSAGE_PINNAME = bothtest
+
+[MDI_COMMAND_LIST]
+MDI_COMMAND = G0 X0Y0Z0
+MDI_COMMAND = G0 X1Y1Z1
+
+[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 controller section -----------------------------------------------------
+
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = ~/linuxcnc/nc_files/macros/lathe
+# Motion control section ------------------------------------------------------
+
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT =             0.010
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = sim_spindle_encoder.hal
+#HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = check_constraints.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = qtvcp_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+
+[HALUI]
+#No Content
+[TRAJ]
+
+
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_LINEAR_VELOCITY =      5
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   5
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+
+[KINS]
+KINEMATICS = trivkins coordinates=xyz kinstype=B
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[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
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Second axis
+[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
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[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
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -8.0
+
+# Normally the Z max should be 0.000!
+# The only reason it's greater than 0 here is so that the splash screen
+# gcode will run.
+MAX_LIMIT =                     0.12
+
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters

configs/sim/qtaxis/xyz/qtvcp_postgui.hal

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+# in case they were linked already
+unlinkp iocontrol.0.tool-change
+unlinkp iocontrol.0.tool-changed
+
+# Need a qt tool change dialog added to screen for this to work
+# though it uses the same pin names as the AXIS version
+# the Qt version integrates better.
+
+net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
+net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
+net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number

configs/sim/qtaxis/xyz/sim.tbl

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+T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
+T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
+T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
+T98876 P543 Z+0.100000 ;big tool number