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Merge branch '2.9'
2 parents 3c3876c + 9f89852 commit c56ee33

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Lines changed: 98 additions & 20 deletions

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‎docs/src/gcode/g-code.adoc‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2652,7 +2652,7 @@ rate mode does not affect `G0` (<<gcode:g0,rapid move>>) motions.
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millimeters per minute, or degrees per minute,
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depending upon what length units are being used and which axis or axes are moving.
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2655-
* 'G95' - is Units per Revolution Mode
2655+
* 'G95' - is Units per Revolution Mode.
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In units per revolution mode,
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an F-word is interpreted to mean the controlled point should move a certain number of inches per revolution of the spindle,
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depending on what length units are being used and which axis or axes are moving.

‎lib/python/pyvcp_widgets.py‎

Lines changed: 14 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -198,12 +198,11 @@ def __init__(self,root,pycomp,halpin=None,halparam=None,param_pin=0,size=200,cpr
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halpin = "dial."+str(pyvcp_dial.n)+".out"
199199
self.halpin=halpin
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201+
self.param_pin = param_pin
201202
if halparam == None:
202-
self.param_pin = param_pin
203-
if self.param_pin == 1:
204-
halparam = "dial." + str(pyvcp_dial.n) + ".param_pin"
205-
self.halparam=halparam
206-
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
203+
halparam = "dial." + str(pyvcp_dial.n) + ".param_pin"
204+
self.halparam=halparam
205+
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
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208207
pyvcp_dial.n += 1
209208
self.pycomp=pycomp
@@ -979,12 +978,12 @@ def __init__(self,master,pycomp,halpin=None, halparam=None,param_pin=0,
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980979
self.halpin=halpin
981980

982-
if halparam == None:
983-
self.param_pin = param_pin
984-
if self.param_pin == 1:
981+
self.param_pin = param_pin
982+
if self.param_pin == 1:
983+
if halparam == None:
985984
halparam = "spinbox." + str(pyvcp_spinbox.n) + ".param_pin"
986-
self.halparam=halparam
987-
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
985+
self.halparam=halparam
986+
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
988987

989988
pyvcp_spinbox.n += 1
990989

@@ -1560,12 +1559,12 @@ def __init__(self,master,pycomp,
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halpin = "scale."+str(pyvcp_scale.n)
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self.halpin=halpin
15621561

1563-
if halparam == None:
1564-
self.param_pin = param_pin
1565-
if self.param_pin == 1:
1562+
self.param_pin = param_pin
1563+
if self.param_pin == 1:
1564+
if halparam == None:
15661565
halparam = "scale."+str(pyvcp_scale.n)+".param_pin"
1567-
self.halparam=halparam
1568-
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
1566+
self.halparam=halparam
1567+
pycomp.newpin(halparam, HAL_FLOAT, HAL_IN)
15691568

15701569
pyvcp_scale.n += 1
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‎src/emc/usr_intf/stepconf/stepconf.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -233,25 +233,25 @@ def __init__(self):
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_("Home X"), _("Home Y"), _("Home Z"), _("Home A"), _("Home U"), _("Home V"),
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_("Home Tandem X"), _("Home Tandem Y"),
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_("Minimum Limit + Home X"), _("Minimum Limit + Home Y"),
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_("Minimum Limit + Home Tandem X"), _("Minimum Limit + Home Tandem Y"),
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_("Minimum Limit + Home Z"), _("Minimum Limit + Home A"),
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_("Minimum Limit + Home U"), _("Minimum Limit + Home V"),
238+
_("Minimum Limit + Home Tandem X"), _("Minimum Limit + Home Tandem Y"),
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_("Maximum Limit + Home X"), _("Maximum Limit + Home Y"),
240-
_("Maximum Limit + Home Tandem X"), _("Maximum Limit + Home Tandem Y"),
241240
_("Maximum Limit + Home Z"), _("Maximum Limit + Home A"),
242241
_("Maximum Limit + Home U"), _("Maximum Limit + Home V"),
242+
_("Maximum Limit + Home Tandem X"), _("Maximum Limit + Home Tandem Y"),
243243
_("Both Limit + Home X"), _("Both Limit + Home Y"),
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_("Both Limit + Home Z"), _("Both Limit + Home A"),
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_("Both Limit + Home U"), _("Both Limit + Home V"),
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_("Both Limit + Home Tandem X"), _("Both Limit + Home Tandem Y"),
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_("Minimum Limit X"), _("Minimum Limit Y"),
248-
_("Minimum Limit Tandem X"), _("Minimum Limit Tandem Y"),
249248
_("Minimum Limit Z"), _("Minimum Limit A"),
250249
_("Minimum Limit U"), _("Minimum Limit V"),
250+
_("Minimum Limit Tandem X"), _("Minimum Limit Tandem Y"),
251251
_("Maximum Limit X"), _("Maximum Limit Y"),
252-
_("Maximum Limit Tandem X"), _("Maximum Limit Tandem Y"),
253252
_("Maximum Limit Z"), _("Maximum Limit A"),
254253
_("Maximum Limit U"), _("Maximum Limit V"),
254+
_("Maximum Limit Tandem X"), _("Maximum Limit Tandem Y"),
255255
_("Both Limit X"), _("Both Limit Y"),
256256
_("Both Limit Z"), _("Both Limit A"),
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_("Both Limit U"), _("Both Limit V"),

‎src/hal/components/gantry.comp‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -51,6 +51,16 @@ pin in float search-vel "HOME_SEARCH_VEL from INI file";
5151
function read fp "Update position-fb and home/limit outputs based on joint values.";
5252
function write fp "Update joint pos-cmd outputs based on position-cmd in.";
5353
description """
54+
--- Deprecation Notice
55+
56+
gantry - Superseded by the general purpose 'trivkins' kinematics module.
57+
58+
To specify a gantry with non-identity kinematics: use trivkins with the kinstype parameter set for KINEMATICS_BOTH. Example:
59+
60+
loadrt trivkins coordinates=xyyz kinstypes=BOTH
61+
Drives multiple physical motors (joints) from a single axis input
62+
63+
--- End deprecation notice
5464
Drives multiple physical motors (joints) from a single axis input
5565

5666
The `personality' value is the number of joints to control. Two is typical, but

‎tests/pyvcp/do-test.hal‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
loadusr -Wn mypanel pyvcp -c mypanel test.xml
2+
show pin
3+
exit 0

‎tests/pyvcp/expected‎

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,27 @@
1+
Component Pins:
2+
Owner Type Dir Value Name
3+
4 float OUT 0 mypanel.dial-a-out
4+
4 float OUT 0 mypanel.dial-b-out
5+
4 float IN 0 mypanel.dial-c-in
6+
4 float OUT 0 mypanel.dial-c-out
7+
4 float OUT 0 mypanel.dial.0.out
8+
4 float IN 0 mypanel.dial.0.param_pin
9+
4 float IN 0 mypanel.dial.1.param_pin
10+
4 float IN 0 mypanel.dial.2.param_pin
11+
4 float OUT 0 mypanel.scale-a-out-f
12+
4 s32 OUT 0 mypanel.scale-a-out-i
13+
4 float OUT 0 mypanel.scale-b-out-f
14+
4 s32 OUT 0 mypanel.scale-b-out-i
15+
4 float IN 0 mypanel.scale-c-in
16+
4 float OUT 0 mypanel.scale-c-out-f
17+
4 s32 OUT 0 mypanel.scale-c-out-i
18+
4 float OUT 0 mypanel.scale.0-f
19+
4 s32 OUT 0 mypanel.scale.0-i
20+
4 float IN 0 mypanel.scale.2.param_pin
21+
4 float OUT 0 mypanel.spinbox-a-out
22+
4 float OUT 0 mypanel.spinbox-b-out
23+
4 float IN 0 mypanel.spinbox-c-in
24+
4 float OUT 0 mypanel.spinbox-c-out
25+
4 float OUT 0 mypanel.spinbox.0
26+
4 float IN 0 mypanel.spinbox.2.param_pin
27+

‎tests/pyvcp/test.ini‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
<pyvcp>
2+
<dial/> # dial.0.out test.dial.0.param_pin
3+
<dial halpin="dial-a-out"/> # dial-a-out test.dial.1.param_pin
4+
<dial halpin="dial-b-out" param_pin="1"/> # dial-b-out dial.2.param_pin
5+
<dial halpin="dial-c-out" param_pin="1" halparam="dial-c-in"/> # dial-c-out dial-c-in
6+
7+
<spinbox/> # spinbox.0
8+
<spinbox halpin="spinbox-a-out"/> # spinbox-a-out
9+
<spinbox halpin="spinbox-b-out" param_pin="1"/> # spinbox-b-out spinbox.2.param_pin
10+
<spinbox halpin="spinbox-c-out" param_pin="1" halparam="spinbox-c-in"/> # spinbox-c-out spinbox-c-in
11+
12+
<scale/> # scale.0-(f|i)
13+
<scale halpin="scale-a-out"/> # scale-a-out-(f|i)
14+
<scale halpin="scale-b-out" param_pin="1"/> # scale-b-out-(f|i) scale.2.param_pin
15+
<scale halpin="scale-c-out" param_pin="1" halparam="scale-c-in"/> # scale-c-out-(f|i) scale-c-in
16+
</pyvcp>

‎tests/pyvcp/test.sh‎

Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,7 @@
1+
#! /usr/bin/bash
2+
3+
set -e
4+
5+
xvfb-run halrun do-test.hal &
6+
7+
exit 0

‎tests/pyvcp/test.xml‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
<pyvcp>
2+
<dial/> # dial.0.out test.dial.0.param_pin
3+
<dial halpin="dial-a-out"/> # dial-a-out test.dial.1.param_pin
4+
<dial halpin="dial-b-out" param_pin="1"/> # dial-b-out dial.2.param_pin
5+
<dial halpin="dial-c-out" param_pin="1" halparam="dial-c-in"/> # dial-c-out dial-c-in
6+
7+
<spinbox/> # spinbox.0
8+
<spinbox halpin="spinbox-a-out"/> # spinbox-a-out
9+
<spinbox halpin="spinbox-b-out" param_pin="1"/> # spinbox-b-out spinbox.2.param_pin
10+
<spinbox halpin="spinbox-c-out" param_pin="1" halparam="spinbox-c-in"/> # spinbox-c-out spinbox-c-in
11+
12+
<scale/> # scale.0-(f|i)
13+
<scale halpin="scale-a-out"/> # scale-a-out-(f|i)
14+
<scale halpin="scale-b-out" param_pin="1"/> # scale-b-out-(f|i) scale.2.param_pin
15+
<scale halpin="scale-c-out" param_pin="1" halparam="scale-c-in"/> # scale-c-out-(f|i) scale-c-in
16+
</pyvcp>

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