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Gmoccapy-integration halui MDI commands #3441

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6 changes: 5 additions & 1 deletion configs/sim/gmoccapy/gmoccapy.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,11 @@ HALUI = halui

# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
MDI_COMMAND = M6 T1
MDI_COMMAND = M6 T2
MDI_COMMAND = M61 Q1
MDI_COMMAND = M61 Q2
MDI_COMMAND = M6 T3 G4 P10

[TRAJ]
COORDINATES = X Y Z
Expand Down
41 changes: 41 additions & 0 deletions src/emc/usr_intf/gmoccapy/gmoccapy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,17 @@ def __init__(self, argv):
self.jog_increments = [] # This holds the increment values
self.unlock = False # this value will be set using the hal pin unlock settings

# if halui MDI commands are not defined in the INI file, the pin halui.halui-mdi-is-running will not be created.
try:
hal.get_value("halui.halui-mdi-is-running")
# this pin prevents mode switching during execution of halui MDI commands
self.halui_cmd_exist = True
# this value will allow reading the halui.halui-mdi-is-running pin only if it exists
LOG.debug("halui MDI commands are used")
except Exception:
self.halui_cmd_exist = False
LOG.debug("halui MDI commands are NOT used")

# needed to display the labels
self.system_list = ("0", "G54", "G55", "G56", "G57", "G58", "G59", "G59.1", "G59.2", "G59.3")
self.dro_size = 28 # The size of the DRO, user may want them bigger on bigger screen
Expand Down Expand Up @@ -2520,16 +2531,31 @@ def on_tbtn_on_toggled(self, widget, data=None):

# The mode buttons
def on_rbt_manual_pressed(self, widget, data=None):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.error(_("It is not possible to change to manual Mode at the moment"))
LOG.error(_("halui MDI command is running"))
return
LOG.debug("mode Manual")
self.command.mode(linuxcnc.MODE_MANUAL)
self.command.wait_complete()

def on_rbt_mdi_pressed(self, widget, data=None):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.error(_("It is not possible to change to MDI Mode at the moment"))
LOG.error(_("halui MDI command is running"))
return
LOG.debug("mode MDI")
self.command.mode(linuxcnc.MODE_MDI)
self.command.wait_complete()

def on_rbt_auto_pressed(self, widget, data=None):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.error(_("It is not possible to change to Auto Mode at the moment"))
LOG.error(_("halui MDI command is running"))
return
LOG.debug("mode Auto")
self.command.mode(linuxcnc.MODE_AUTO)
self.command.wait_complete()
Expand Down Expand Up @@ -2775,6 +2801,11 @@ def on_hal_status_limits_tripped(self, object, state, lst_limits):
self.widgets.chk_ignore_limits.set_active(False)

def on_hal_status_mode_manual(self, widget):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.debug("switch to Manual page is ignored, because halui MDI command is running")
return

LOG.debug("MANUAL Mode")
self.widgets.rbt_manual.set_active(True)
# if setup page is activated, we must leave here, otherwise the pages will be reset
Expand All @@ -2797,6 +2828,11 @@ def on_hal_status_mode_manual(self, widget):
self.last_key_event = None, 0

def on_hal_status_mode_mdi(self, widget):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.debug("switch to MDI page is ignored, because halui MDI command is running")
return

LOG.debug("MDI Mode, tool_change = {0}".format(self.tool_change))

# if the edit offsets button is active, we do not want to change
Expand Down Expand Up @@ -2845,6 +2881,11 @@ def on_hal_status_mode_mdi(self, widget):
self.last_key_event = None, 0

def on_hal_status_mode_auto(self, widget):
if self.halui_cmd_exist:
if hal.get_value("halui.halui-mdi-is-running"):
LOG.debug("switch to Auto page is ignored, because halui MDI command is running")
return

LOG.debug("AUTO Mode")
# if Auto button is not sensitive, we are not ready for AUTO commands
# so we have to abort external commands and get back to manual mode
Expand Down
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