Merge pull request #3552 from Sigma1912/halui_fix_axis_and_mdi_command_pins

Halui fix axis and mdi command pins

Author: andypugh

src/emc/usr_intf/halui.cc

@@ -703,24 +703,26 @@ int halui_hal_init(void)
     retval =  hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_is_homed[num_joints]), comp_id, "halui.joint.selected.is-homed");
     if (retval < 0) return retval;
 
+    bool first_axis = true;
     for (axis_num=0; axis_num < EMCMOT_MAX_AXIS ; axis_num++) {
         if ( !(axis_mask & (1 << axis_num)) ) { continue; }
         char c = "xyzabcuvw"[axis_num];
-
         retval =  hal_pin_bit_newf(HAL_OUT, &(halui_data->axis_is_selected[axis_num]), comp_id, "halui.axis.%c.is-selected", c);
         if (retval < 0) return retval;
-	retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_commanded[axis_num]), comp_id, "halui.axis.%c.pos-commanded", c);
+	    retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_commanded[axis_num]), comp_id, "halui.axis.%c.pos-commanded", c);
         if (retval < 0) return retval;
-	retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_feedback[axis_num]), comp_id, "halui.axis.%c.pos-feedback", c);
+	    retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_feedback[axis_num]), comp_id, "halui.axis.%c.pos-feedback", c);
         if (retval < 0) return retval;
-	retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_relative[axis_num]), comp_id, "halui.axis.%c.pos-relative", c);
+	    retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_relative[axis_num]), comp_id, "halui.axis.%c.pos-relative", c);
         if (retval < 0) return retval;
+        if (first_axis) {
+            // at startup, indicate first item is selected:
+            *halui_data->joint_is_selected[0] = 1;
+            *halui_data->axis_is_selected[axis_num] = 1;
+        }
+        first_axis = false;
     }
 
-    // at startup, indicate [0] item is selected:
-    *halui_data->joint_is_selected[0] = 1;
-    *halui_data->axis_is_selected[0] = 1;
-
     retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->mv_value), comp_id, "halui.max-velocity.value");
     if (retval < 0) return retval;
     retval =  hal_pin_float_newf(HAL_OUT, &(halui_data->fo_value), comp_id, "halui.feed-override.value");