qtvcp -vismach_fanuc_200f- fix cleanup of HAL component

fixes an error when run a second time

Author: c-morley

lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py

@@ -205,12 +205,15 @@ def __init__(self):
         mainLayout.addWidget(self.glWidget)
         self.setLayout(mainLayout)
 
+    # need to explicitly kill the HAL component
+    def cleanup(self):
+        c.exit()
 
 # but it you call this directly it should work too
-# It just makes a qtvcp5 window that is defined in qt_vismach.py
+# It just makes a qtvcp window that is defined in qt_vismach.py
 # parameter list:
 # final model name must include all parts you want to use
-# tooltip (special for tool tip inclusuion)
+# tooltip (special for tool tip inclusion)
 # work (special for work part inclusion)
 # size of screen (bigger means more zoomed out to show more of machine)
 # hud None if no hud

share/qtvcp/panels/vismach_fanuc_200f/vismach_fanuc_200f_handler.py

@@ -35,8 +35,8 @@ def __init__(self, halcomp,widgets,paths):
     # the widgets are instantiated.
     # the HAL pins are built but HAL is not set ready
     def initialized__(self):
-        machine = Robot.Window()
-        self.w.mainLayout.addWidget(machine)
+        self.machine = Robot.Window()
+        self.w.mainLayout.addWidget(self.machine)
 
 
     ########################
@@ -58,6 +58,8 @@ def initialized__(self):
     ###########################
     # **** closing event **** #
     ###########################
+    def closing_cleanup__(self):
+        self.machine.cleanup()
 
     ##############################
     # required class boiler code #