Merge branch '2.9'

configs/sim/gmoccapy/gmoccapy_pyngcgui.txt

@@ -1,4 +1,4 @@
-Standard GMOCCCPAY configuration for a XYZ mill,
+Standard GMOCCAPY configuration for a XYZ mill,
 
 including
 

configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.ini

@@ -0,0 +1,246 @@
+# 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 = 1.1
+MACHINE = gmoccapy
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+DISPLAY = gmoccapy
+
+EMBED_TAB_NAME = NGC-GUI
+EMBED_TAB_COMMAND = gladevcp -x {XID} pyngcgui.ui
+EMBED_TAB_LOCATION = ntb_user_tabs
+
+PROGRAM_PREFIX    = ../../nc_files
+TKPKG             = Ngcgui    1.0
+TKPKG             = Ngcguittt 1.0
+# Ngcgui must precede Ngcguittt
+
+NGCGUI_FONT       = Helvetica -12 normal
+
+# for startup NGCGUI_PREAMBLE, NGCGUI_SUBFILE, NGCGUI_POSTAMBLE, TTT_PREAMBLE
+# items, specifly:
+#   a) absolute filename (start with /)
+#   b) relative filename: search directories specified by
+#      [DISPLAY]PROGRAM_PREFIX and [RS274NGC]SUBROUTINE_PATH
+
+NGCGUI_PREAMBLE   = in_std.ngc
+NGCGUI_SUBFILE    = rectangle.gcmc
+NGCGUI_SUBFILE    = drill.gcmc
+NGCGUI_SUBFILE    = involute-gear.gcmc
+NGCGUI_SUBFILE    = trochoid-path.gcmc
+NGCGUI_SUBFILE    = cpocket.gcmc
+NGCGUI_SUBFILE    = star.gcmc
+NGCGUI_SUBFILE    = wheels.gcmc
+# specify "" for a custom tab page
+NGCGUI_SUBFILE    = ""
+
+NGCGUI_OPTIONS    =
+#NGCGUI_OPTIONS   = opt1 opt2 ...
+# opt items:
+#   nonew      -- disallow making   new tab page
+#   noremove   -- disallow removing any tab page
+#   noauto     -- no autosend (makeFile, then manually send)
+#   noiframe   -- no internal image, image  on separate toplevel
+#   nom2       -- no m2 terminator (use %)
+
+# example for gcmc includes: separate dirnames with colons:
+# GCMC_INCLUDE_PATH = dir1:dir2:...
+GCMC_INCLUDE_PATH = ../../nc_files/gcmc_lib
+
+TTT               = truetype-tracer
+TTT_PREAMBLE      = in_std.ngc
+
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Values that will be allowed for override, 1.0 = 100%
+MAX_FEED_OVERRIDE    =  1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = 0.5
+
+# Max and default jog speeds in units per second
+MAX_LINEAR_VELOCITY =   166
+DEFAULT_LINEAR_VELOCITY = 100
+MAX_ANGULAR_VELOCITY = 234
+DEFAULT_SPINDLE_SPEED = 450
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm, 1.2345 inch
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[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]
+RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
+SUBROUTINE_PATH   = macros:../../nc_files/ngcgui_lib:../../nc_files/gcmc_lib:../../nc_files/ngcgui_lib/utilitysubs
+USER_M_PATH       = ../../nc_files/ngcgui_lib/mfiles
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Y Z 
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 35
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_POSITION = 100 100 -10
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins coordinates=xyz
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -400.0
+MAX_LIMIT = 400.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -400.0
+MAX_LIMIT =                     400.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Second axis
+[AXIS_Y]
+MIN_LIMIT = -400.0
+MAX_LIMIT = 400.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -400.0
+MAX_LIMIT =                     400.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -400.0
+MAX_LIMIT = 0.001
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -400.0
+MAX_LIMIT =                     0.001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           -10
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = go_to_position x-pos y-pos z-pos
+MACRO = i_am_lost
+MACRO = increment x-incr y-incr
+MACRO = macro_4
+MACRO = macro_5
+MACRO = macro_6
+MACRO = macro_7
+MACRO = macro_8
+MACRO = macro_9
+MACRO = macro_10
+MACRO = macro_11
+MACRO = macro_12
+MACRO = macro_13
+MACRO = macro_14
+MACRO = macro_15
+
+

configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.txt

@@ -0,0 +1,24 @@
+Standard GMOCCAPY configuration for a XYZ mill,
+
+including
+- example macros
+- pyngcgui in embedded user tab with support for .gcmc (G-Code Meta Compiler) files
+
+REQUIREMENT: Installation of gcmc, see instructions below.
+
+The .ngc and .gcmc files can be intermixed with
+ini file lines like:
+
+NGCGUI_SUBFILE    = drill.gcmc
+NGCGUI_SUBFILE    = wheels.gcmc
+NGCGUI_SUBFILE    = simp.ngc
+
+Installation instructions:
+1. Download from https://gitlab.com/gcmc/gcmc
+2. cd gcmc
+3. ./configure
+4. make
+5. sudo make install
+
+
+

share/qtvcp/panels/test_panel/test_panel_handler.py

@@ -2,7 +2,7 @@
 # **** IMPORT SECTION **** #
 ############################
 import sys
-from distutils.spawn import find_executable
+import shutil
 from PyQt5.QtCore import *
 from PyQt5.QtGui import *
 from PyQt5.QtWidgets import *
@@ -56,8 +56,11 @@ def initialized__(self):
         self.w.lineEdit_led_3.returnPressed.connect(lambda : self.announceText(self.w.lineEdit_led_3))
         self.w.lineEdit_led_4.returnPressed.connect(lambda : self.announceText(self.w.lineEdit_led_4))
 
-        if find_executable('urxvt') is not None:
-            term = embterminal()
+        if shutil.which('urxvt') is not None:
+            term = embterminal(name='urxvt')
+            self.w.dockWidget.setWidget(term)
+        elif shutil.which('xterm') is not None:
+            term = embterminal(name='xterm')
             self.w.dockWidget.setWidget(term)
         else:
             self.w.dockWidget.setWidget(
@@ -158,7 +161,7 @@ def __setitem__(self, item, value):
 
 class embterminal(QWidget):
 
-    def __init__(self, parent=None):
+    def __init__(self, parent=None, name=None):
         super(embterminal, self).__init__(parent)
         self.process = QProcess(self)
 
@@ -173,10 +176,17 @@ def __init__(self, parent=None):
         size_policy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
         self.setSizePolicy(size_policy)
 
-        # Works also with urxvt:
-        self.process.start(
+        # xterm
+        if name == 'xterm':
+            self.process.start(
+                'xterm',['-bg','black','-fg','green', '-cr','green',
+                '-bd', 'green', '-fa', 'Monospace', '-fs', '10',
+                '-into', str(int(self.w.winId()))])
+        else:
+            # Works also with urxvt:
+            self.process.start(
                 'urxvt',['-bg','black','-fg','green', '-cr','green',
-                '-bd', 'green', '-embed', str(int(self.w.winId()))])
+                '-bd', 'green', '--font', 'xft:Monospace:size=10', '-embed', str(int(self.w.winId()))])
 
     def sizeHint(self):
         return QSize(550, 100)