gmoccapy/hal_bridge -allow hal_bridge to call macros in gmoccapy

configs/sim/gmoccapy/gmoccapy_right_panel.ini

@@ -31,6 +31,17 @@ INTRO_TIME = 5
 # list of selectable jog increments
 INCREMENTS = 1mm, 0.1mm, 0.01mm, 0.001mm, 1.2345in
 
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+[MDI_COMMAND_LIST]
+# for macro buttons on main oage up to 10 possible
+MDI_COMMAND = G0 Z1;X0 Y0;Z0, Goto\nUser\nZero
+MDI_COMMAND_MACRO1 = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero
+
 [FILTER]
 PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
 PROGRAM_EXTENSION = .py Python Script
@@ -75,7 +86,7 @@ HALFILE = simulated_home.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
 
 HALUI = halui
-
+HALBRIDGE = hal_bridge -d
 # Trajectory planner section --------------------------------------------------
 [HALUI]
 #No Content

lib/python/common/iniinfo.py

@@ -564,6 +564,9 @@ def update(self):
         # here we separate them to two lists (legacy) and one dict
         # action_button takes it from there.
         self.MDI_COMMAND_DICT={}
+        self.MDI_COMMAND_LIST = []
+        self.MDI_COMMAND_LABEL_LIST = []
+
         # suppress error message is there is no section at all
         if self.parser.has_section('MDI_COMMAND_LIST'):
             try:
@@ -573,25 +576,31 @@ def update(self):
                     # in this case order matters in the INI
                     if key == 'MDI_COMMAND':
                         LOG.warning("INI file's MDI_COMMAND_LIST is using legacy 'MDI_COMMAND =' entries")
-                        self.MDI_COMMAND_LIST = []
-                        self.MDI_COMMAND_LABEL_LIST = []
                         temp = (self.INI.findall("MDI_COMMAND_LIST", "MDI_COMMAND")) or None
                         if temp is None:
-                            self.MDI_COMMAND_LABEL_LIST.append(None)
+                            self.MDI_COMMAND_LIST.append(None)
                             self.MDI_COMMAND_LABEL_LIST.append(None)
                         else:
-                            for i in temp:
+                            for count, i in enumerate(temp):
+                                mdidatadict = {}
                                 for num,k in enumerate(i.split(',')):
                                     if num == 0:
                                         self.MDI_COMMAND_LIST.append(k)
+                                        mdidatadict['cmd'] = k
                                         if len(i.split(',')) <2:
                                             self.MDI_COMMAND_LABEL_LIST.append(None)
+                                            mdidatadict['label'] = None
                                     else:
                                         self.MDI_COMMAND_LABEL_LIST.append(k)
+                                        mdidatadict['label'] = k
+                                self.MDI_COMMAND_DICT[str(count)] = mdidatadict
+                        break
 
                     # new way: 'MDI_COMMAND_SSS = XXXX' (SSS being any string)
                     # order of commands doesn't matter in the INI
                     else:
+                        self.MDI_COMMAND_LIST.append(None)
+                        self.MDI_COMMAND_LABEL_LIST.append(None)
                         try:
                             temp = self.INI.find("MDI_COMMAND_LIST",key)
                             name = (key.replace('MDI_COMMAND_',''))

lib/python/gladevcp/gtk_action.py

@@ -191,11 +191,11 @@ def CALL_MDI_WAIT(self, code, time=5, mode_return=False):
             self.ensure_mode(premode)
         return 0
 
-    def CALL_INI_MDI(self, number):
+    def CALL_INI_MDI(self, data):
         try:
-            mdi = INFO.MDI_COMMAND_LIST[number]
+            mdi = INFO.get_ini_mdi_command(data)
         except:
-            msg = 'MDI_COMMAND= # {} Not found under [MDI_COMMAND_LIST] in INI file'.format(number)
+            msg = 'MDI_COMMAND= # {} Not found under [MDI_COMMAND_LIST] in INI file'.format(data)
             LOG.error(msg)
             self.SET_ERROR_MESSAGE(msg)
             return
@@ -479,6 +479,7 @@ def RECORD_CURRENT_MODE(self):
         return mode
 
     def RESTORE_RECORDED_MODE(self):
+        self.cmd.wait_complete()
         self.ensure_mode(self.last_mode)
 
     def SET_SELECTED_JOINT(self, data):

src/emc/usr_intf/gmoccapy/getiniinfo.py

@@ -393,7 +393,7 @@ def get_tool_sensor_data(self):
 
     def get_macros(self):
         # lets look in the INI file, if there are any entries
-        macros = self.inifile.findall("MACROS", "MACRO")
+        macros = self.inifile.findall("DISPLAY", "MACRO")
         # If there are no entries we will return False
         if not macros:
             return False

src/emc/usr_intf/gmoccapy/gmoccapy.py

@@ -175,7 +175,8 @@ def __init__(self, argv):
         self.error_channel.poll()
 
         # set INI path for INI info class before widgets are loaded
-        INFO = Info(ini=argv[2])
+        self.INFO = Info(ini=argv[2])
+        self.ACTION = Action()
 
         self.builder = Gtk.Builder()
         # translation of the glade file will be done with
@@ -406,9 +407,10 @@ def __init__(self, argv):
         self.widgets["rbt_view_{0}".format(view)].set_active(True)
         self.widgets.gremlin.set_property("view", view)
 
-        GSTAT = hal_glib.GStat()
-        GSTAT.connect("graphics-gcode-properties", self.on_gcode_properties)
-        GSTAT.connect("file-loaded", self.on_hal_status_file_loaded)
+        self.GSTAT = hal_glib.GStat()
+        self.GSTAT.connect("graphics-gcode-properties", self.on_gcode_properties)
+        self.GSTAT.connect("file-loaded", self.on_hal_status_file_loaded)
+        self.GSTAT.connect('macro-call-request', lambda w, name: self.request_macro_call(name))
 
         # get if run from line should be used
         self.run_from_line = self.prefs.getpref("run_from_line", "no_run", str)
@@ -1321,6 +1323,43 @@ def _make_joints_button(self):
 
                 self.joints_button_dic[name] = btn
 
+    # call INI macro (from hal_glib message)
+    def request_macro_call(self, data):
+        # if MDI command change to MDI and run
+        cmd = self.INFO.get_ini_mdi_command(data)
+        print('MDI command:',data,cmd)
+        if not cmd is None:
+            self.ACTION.RECORD_CURRENT_MODE()
+            LOG.debug("INI MDI COMMAND #: {} = {}".format(data, cmd))
+            self.ACTION.CALL_INI_MDI(data)
+            self.ACTION.RESTORE_RECORDED_MODE()
+            return
+
+        # run Macros
+        # some error checking
+        if not self.GSTAT.is_mdi_mode():
+            message = _("You must be in MDI mode to run macros")
+            self.dialogs.warning_dialog(self, _("Important Warning!"), message)
+            return
+
+        # look thru the INI macros
+        macros = self.get_ini_info.get_macros()
+        num_macros = len(macros)
+        if num_macros > 14:
+            num_macros = 14
+        for pos in range(0, num_macros):
+            # extract just the macro name
+            name = macros[pos].split()[0]
+            if data == name:
+                # get the button instance and click it
+                button = self["button_macro_{0}".format(pos)]
+                button.emit("clicked")
+                break
+        else:
+            # didn't match a name - give a hint
+            message = _("Macro {} not found ".format(data))
+            self.dialogs.warning_dialog(self, _("Important Warning!"), message)
+
     # check if macros are in the INI file and add them to MDI Button List
     def _make_macro_button(self):
         LOG.debug("Entering make macro button")
@@ -1362,6 +1401,8 @@ def _make_macro_button(self):
                 btn.set_halign(Gtk.Align.CENTER)
                 btn.set_valign(Gtk.Align.CENTER)
                 btn.set_property("name","macro_{0}".format(pos))
+            # keep a reference of the button
+            self["button_macro_{0}".format(pos)] = btn
             btn.set_property("tooltip-text", _("Press to run macro {0}".format(name)))
             btn.connect("clicked", self._on_btn_macro_pressed, name)
             btn.position = pos
@@ -6076,6 +6117,16 @@ def _make_hal_pins(self):
         hal_glib.GPin(pin).connect("value_changed", self._blockdelete)
 
 
+    ##############################
+    # required class boiler code #
+    # for subscriptable objects  #
+    ##############################
+    def __getitem__(self, item):
+        return getattr(self, item)
+
+    def __setitem__(self, item, value):
+        return setattr(self, item, value)
+
 # Hal Pin Handling End
 # =========================================================
 
@@ -6114,7 +6165,7 @@ def _make_hal_pins(self):
 
     # Some of these libraries log when imported so logging level must already be set.
     import gladevcp.makepins
-    from gladevcp.core import Info
+    from gladevcp.core import Info, Action
     from gladevcp.combi_dro import Combi_DRO  # we will need it to make the DRO
     from gmoccapy import widgets       # a class to handle the widgets
 

src/hal/user_comps/hal_bridge.py

@@ -90,6 +90,13 @@ def init_hal(self):
             self[i] = QHAL.newpin('macro-cmd-{}'.format(i),QHAL.HAL_BIT, QHAL.HAL_IN)
             self[i].pinValueChanged.connect(self.runMacroChanged)
 
+        for i in self.INFO.INI_MACROS:
+            name = i.split()[0]
+            LOG.debug('{} {}'.format(name,i))
+
+            self[name] = QHAL.newpin('macro-cmd-{}'.format(name),QHAL.HAL_BIT, QHAL.HAL_IN)
+            self[name].pinValueChanged.connect(self.runMacroChanged)
+
         QHAL.setUpdateRate(100)
         h.ready()