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commit 972a90b3a83aee0511b995ad8bb3d4f784f269d5
Merge: 862d04ba b0aa15b9
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Sat Sep 19 11:29:31 2026 +1000
Merge pull request #4517 from 85vmh/call_stack
Expose the interpreter subroutine call stack in task status
commit b0aa15b92d38497f0bbe7a677e20b180a9cc0565
Author: 85vmh <vasimihalca@gmail.com>
Date: Fri Sep 18 23:14:28 2026 +0300
task: send only the call stack frames in use, and check the array size
Review fixes.
EMC_TASK_STAT::update() sent all EMC_MAX_CALL_STACK frames on every cycle, so an
NML client received ten empty frames whenever the program was running in the
main file. It now sends callLevel frames. callLevel itself is sent just above
the loop, so the reader already knows how many frames follow it.
callLevel is also limited to the length of callStack[] before the loop uses it.
When reading, it has just been taken out of the message and the loop uses it to
index the array, so a damaged message would otherwise read past the end.
Since the entries above callLevel are no longer sent, a GUI keeps whatever it
last read in them. The comment on callStack[] now says that only the first
callLevel entries are valid; the Python binding already returns only that many.
emcTaskUpdate() still clears the rest, which now affects only task's own copy of
the status, and the comment there says so.
The comment above EMC_MAX_CALL_STACK said that its relation to
INTERP_SUB_ROUTINE_LEVELS was "asserted in emctask.cc", and there was no such
assertion. Add it to emctask.cc, the only file that includes both headers.
Both constants are 10, so nothing changes size: the point is that they can no
longer be changed apart from each other without the build failing.
Remove the iscircle check added to tests/motion/heading/test-ui.py. It tested
the StateTag flag bits that an earlier version of this work used, and the
current one carries a node id in GM_FIELD_CALL_STACK_ID instead, so the check no
longer covers anything this branch does. tests/motion/heading is now untouched
by this branch.
Raised in review by grandixximo (the frames sent and the heading test) and by
BsAtHome and rmu75 (the array size).
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
commit 862d04bab9a57f788285181b6a1c3d403f01eb9d
Merge: 9fb2ef1e 07b34c8e
Author: BsAtHome <bertho@vagrearg.org>
Date: Fri Sep 18 11:17:27 2026 +0200
Merge pull request #4564 from grandixximo/kins-switch-start
tests: kins-switch holds the joints from the program's own switch to identity
commit 07b34c8e3dc4ce7c959bad8cdec8afa5ac02afa8
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Fri Sep 18 18:26:21 2026 +1000
tests: kins-switch holds the joints from the program's own switch to identity
The hold started at the first sample that read identity. When the abort's G13.1 has run before the program starts, that sample is the homed zeros, and the stretch after the program's G12.1 P1 at its pose counts as every joint straying. Start in identity every run, and start the hold at the change the program makes.
commit 9fb2ef1e7793883c30013a76e80bc716ead160a3
Merge: db60dc6b e07d3d8c
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Fri Sep 18 18:18:22 2026 +1000
Merge pull request #4562 from BsAtHome/hal64_rename-hal-types-real-bool-part3
hal: Rename previously missed old hal types
commit db60dc6becf498482e2ccf78c1eb3b5a7f43c3ce
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Fri Sep 18 17:18:07 2026 +1000
task: a kinematics selection is seen on the next line, and the test reads it there (#4563)
* task: do not sleep a cycle after a kinematics switch or a cleared wait
WAITING_FOR_KINS_SWITCH went to DONE without setting emcTaskEager, so the command after a G12.1 waited for the next cycle; every other wait state sets it. And readahead_reading, on finding a queue buster's wait over, cleared it and read nothing until the next cycle, which costs every queue buster a cycle before the line after it is read.
Two selections on consecutive lines: the first kinematics stayed in force 20 ms before, one servo period after.
* tests: kins-switch reads the kinematics on the line after the selection
The test sampled motion.kins-type from a 20 ms Python loop and required the values it caught to be 0 1 0 1. The program's last two selections are on consecutive lines, so the kinematics between them is in force for a task cycle or two, and the arm CI runner missed it (#4560).
What the test means to check is that a selection is a queue buster: the line after it runs in the selected kinematics. So that line now reads the pin itself, #<_hal[motion.kins-type]> next to #<_kins_type>, and the test checks the four messages against 0 1 0 1. Nothing is sampled, nothing can be missed, and with G12.1 made not to wait the check reports the pin one selection behind.
Fixes #4560.
commit e07d3d8c9dbe9b0ae298c3782af21d48f9ea1191
Author: Bertho Stultiens <bertho@vagrearg.org>
Date: Thu Sep 17 22:46:07 2026 +0200
hal: Rename previously missed old hal types and remove unused trivial test.
commit 5e4bca7e3fc83aa602d92c450adb18a833dfd873
Merge: c4b6f5f3 74c1da22
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Fri Sep 18 15:01:09 2026 +1000
Merge pull request #4561 from BsAtHome/hal64_rename-sample-configs-newsig-types
hal: Rename newsig types in configs' .hal files to use the new types
commit c4b6f5f3a961e6b445c847ee640435932c6b2608
Merge: 748f0c3f 09231b0d
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Fri Sep 18 09:50:34 2026 +1000
Merge pull request #4172 from greatEndian/g28
G28.2: home the machine from G-code (all joints, or Pn per joint)
commit 09231b0d0d3b0bb51b0f6d69991d5dc0ae789b9c
Author: greatEndian <chabron94@gmail.com>
Date: Thu Sep 17 00:57:32 2026 -0400
docs, tests: document and cover G28.2
Docs: new "G28.2 Home from G-code" section in g-code.adoc (syntax, the
mandatory P word and why there is no bare form, the HOME_SEQUENCE
requirement for P-1, the negative/positive shared-sequence Pn cases, the
mode-dip and position-resync behaviour, error conditions); G28.2 added
to the modal-group-0 lists in overview.adoc, remap.adoc, gcode.html.in,
hal_glib.py and mdi_text.py, with the qtvcp MDI help carrying the same
P-word rules.
Tests (tests/interp/g28.2/): joint-pword and invalid-pword drive rs274 /
task directly; the rest run a sim under milltask -
- sequencing: the FREE-mode dip is invisible at the task level; an
invalid Pn does not wedge task.mode;
- immediate-mode-guard: an immediate home from teleop is still refused;
- home-all-sequence: G28.2 P-1 as a first-home on a HOME_SEQUENCE
config, and a bare G28.2 refused without homing anything;
- invalid-pword: the rest of the P word's surface - an unconfigured
joint number, P-2, another negative and a fraction are all refused up
front, name P-1 as the way to home everything, and leave the homed
state and trajectory mode alone;
- flush-order: a move before G28.2 runs before the home;
- position-model: a G91 move (rotary C and linear X) after G28.2 Pn is
computed from the homed position, not the stale one - fails without
the resync (lands at stale+increment).
commit 49fa33a9347385ab1846613ce04f147c52d073af
Author: greatEndian <chabron94@gmail.com>
Date: Thu Sep 17 00:57:31 2026 -0400
rs274ngc: add G28.2 to home the machine from G-code
G28.2 lets a program or MDI line reference the machine instead of
requiring the GUI Home All button. It takes a mandatory P word saying
what to home: P-1 homes every joint in HOME_SEQUENCE order, and P0, P1,
... home one joint (0-based [JOINT_n] numbering), reusing the existing
EMC_JOINT_HOME 'joint' field so no NML change is needed and it works on
any kinematics.
There is deliberately no bare form. Homing drives joints onto their
switches at homing speed, ignoring soft limits, from wherever the
machine happens to be, so starting that on every joint is not something
a line should do by being truncated or mistyped; G28.2 alone is an
error, not a quiet no-op, so an operator can tell it from a cycle that
ran. -2 (volatile unhome) and every other negative stay refused: they
are NML sentinels, not G-code surface. (Raised in review of PR #4172.)
Axis-letter forms are deliberately not supported - resolving a letter to
a joint needs the kinematics map, and homing is a joint concept. There
is no G-code unhome (dropped in review of PR #4172).
New canon calls HOME_CYCLE() / HOME_CYCLE_JOINT(n). The milltask backend
flushes the segment buffer before queuing the home, or a move buffered
for arc-blend lookahead would reorder after it.
When the cycle finishes the interpreter resyncs its current position
from the machine, the same way it does after probing or a tool change
(home_flag -> INTERP_EXECUTE_FINISH -> refresh_actual_position() in
read_inputs). An immediate home rewrites the joint coordinate to
HOME_OFFSET even with no physical motion, so without the resync a
following G91 move or an I/J/K arc centre is computed from the stale
pre-home point - on a wrapped rotary head re-homed mid-program with
G28.2 Pn, the axis would then sweep the whole error. (Raised in
PR #4172 review.)
commit 574c10217620f8033f267111f63a116653265766
Author: greatEndian <chabron94@gmail.com>
Date: Mon Sep 7 02:26:36 2026 -0400
task: run a queued JOINT_HOME as a sequenced homing cycle
A JOINT_HOME taken off the interp_list (from G28.2) needs more than the
immediate path the GUI Home button uses:
- drain prior motion first (WAITING_FOR_MOTION precondition); without a
case here it fell through to ERROR and was dropped;
- dip the trajectory mode to FREE for the cycle and restore the prior
mode when it finishes, invisibly to the task-level MDI/AUTO/MANUAL
state (new WAITING_FOR_HOMING exec state);
- wait on the real completion signal - motion's aggregate
homing_active plus the per-joint homed flags - not just the per-joint
.homing flags, which gap between HOME_SEQUENCE groups;
- on failure (aborted, faulted, or a partial home that leaves
non-identity kinematics unable to re-enter coordinated motion) abort
the program and leave the machine in FREE rather than report DONE and
strand the operator.
Only the queued path is gated on issuingQueuedCommand; an immediate home
keeps its original pass-through behaviour, since nothing calls
emcTaskCheckPostconditions() for it to undo a mode dip.
emcJointHome()/emcJointUnhome() now range-check the joint number against
the configured joint count (TrajConfig.Joints), not EMCMOT_MAX_JOINTS: a
number between the two passed task, reached motion, and was silently
dropped. Reported through emcOperatorError() so a "G28.2 P5" on a
five-joint machine says what the machine actually has.
commit ec5d7997685cad6f6db68f0b651071a36100fee5
Author: greatEndian <chabron94@gmail.com>
Date: Mon Sep 7 02:26:36 2026 -0400
motion: accept a queued home while settling into free mode
Homing only advances while motion_state == EMCMOT_MOTION_FREE
(do_homing() is called from emcmotController() only there). The queued
G28.2 path dips motion into FREE before issuing EMCMOT_JOINT_HOME, but
for a cycle or two after the request motion_state can still read
non-FREE while that transition settles, and the command was rejected
with "must be in joint mode to home".
Relax the guard just for that window: in position, nothing queued, and
a FREE transition already pending (teleoperating and coordinating both
cleared). An immediate home from halui / linuxcncrsh / c.home(n) on an
all-homed machine sitting in TELEOP is idle too but has teleoperating
set, so it is still refused exactly as before - accepting it there would
silently drop it, since do_homing() would never run. (Found in review of
PR #4172.)
commit a639a45692546570328a8dfe69bc65319c1d570a
Author: greatEndian <chabron94@gmail.com>
Date: Mon Sep 7 02:26:36 2026 -0400
motion: publish an aggregate homing-active status flag
The per-joint EMC_JOINT_STAT.homing flags briefly all read false in the
gap between HOME_SEQUENCE groups while the machine is still homing (the
same deassertion lag motion/homing.c documents for its own use). A
non-realtime observer that samples coarser than the servo cycle - task,
waiting for a G-code homing cycle to finish - can land in that gap and
conclude homing has stopped.
Expose get_homing_is_active() as emcmot_status_t.homing_active and carry
it through EMC_MOTION_STAT so task can ask "is the homing state machine
running" without OR-ing the per-joint flags.
commit 74c1da222fffe7d0d29e3270e0fdf03c93a75726
Author: Bertho Stultiens <bertho@vagrearg.org>
Date: Thu Sep 17 17:39:14 2026 +0200
hal: Rename newsig types in configs' .hal files to use the new types.
commit 748f0c3f596f92a94a7d93eb79c7e44926e03cae
Author: Hans Unzner <hansunzner@gmail.com>
Date: Thu Sep 17 14:57:16 2026 +0200
Halscope improvements (#4553)
* halcope: optimize selection colors
The selection colors were to bright, so seen almost as white
* halscope: trigger line optimization
- change the style of the dotted line
- reduce the size of the edge indicator arrow-
- swap colors: the trigger arrow now has the color of the channel instead of the trigger line
* halscope: change "Gain" to "Scale"
This describes the setting better and is consistent with the label named "Scale".
Further this is the common way how it is labeled on oscilloscopes.
* halscope: show "----" for offset when no channel is selected
* halscope: gray out vertical box when no channel is selected
* halscope: change label for trigger level of digital signals from "----" to "digital"
commit c30de0c568850bd16ebca9383b2d38b4eccba42a
Merge: c6e02612 91dfff8f
Author: BsAtHome <bertho@vagrearg.org>
Date: Thu Sep 17 14:49:41 2026 +0200
Merge pull request #4546 from grandixximo/kins-fixes
kinematics: six fixes found by round-tripping every module
commit c6e026126f09dc9008771eeaaf45de92230ed858
Merge: cb288e4e d8b7eb83
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Thu Sep 17 22:45:19 2026 +1000
Merge pull request #4557 from BsAtHome/fix_halrmt-query-and-test
halrmt: Fix the risk of exceptions in HAL query callbacks and add a test
commit d8b7eb83e9df4fd570a5ad83b924d40fae0b46ce
Author: Bertho Stultiens <bertho@vagrearg.org>
Date: Wed Sep 16 16:06:13 2026 +0200
halrmt: Fix the risk of exceptions in HAL query callbacks and add a test.
commit cb288e4e38172a4fe19a327e5c428dd5e568da5b
Merge: bae3bfbd bd6f82bc
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Thu Sep 17 17:30:11 2026 +1000
Merge pull request #4556 from BsAtHome/fix_halcmd-query-exception
halcmd: Fix the risk of exceptions in HAL query callbacks
commit bae3bfbdfb97e9bea4295afc6079e1c74a3e0958
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:45:37 2026 +0200
Revert "hal_glib -add a function to run the gobject mainloop once"
This reverts commit 75e015e0fd9d53259749c445d04e466758f3249a.
commit e38d6c500a52059251e88ec1625999de4e58b03f
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:53 2026 +0200
Revert "hal_glib -add function to process one ZMQ message"
This reverts commit eb1e890c2da5b437d5547cbf8d133e927a51b870.
commit 7a384573c71a6e4a72124d13c28af076ae47ec1b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:53 2026 +0200
Revert "hal_glib -change request macro function signature to add a key string"
This reverts commit 3b8bdf96708c42c64fd40baadd2d207c35559191.
commit 103bf476838d7f8b7d72b9e5dc41703918c73aa2
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:53 2026 +0200
Revert "hal_glib -add soft key messages"
This reverts commit 7aaff761c9d8de377da47ba59670b5289198409a.
commit 97b9e819f98889961e9faf7e8cda5dba66dd1981
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:53 2026 +0200
Revert "hal_glib -check if zmq read socket is available"
This reverts commit 0f3d22eacd0630b4d068e5907a8896d1fa8dba9e.
commit f9246b9fc785ba3d4f50a6d90e72844db527f34b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:53 2026 +0200
Revert "add python3-zmq package for halui"
This reverts commit 0741c236063561f773127a3f1be2d4f68d58e7ad.
commit 4ea915a728d8da394aa2f97d7fc567c2a8ac60f7
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:52 2026 +0200
Revert "add python3-zmq to python3 depends"
This reverts commit cffe26df85578b38f2b186c2385cc9ed25591ae9.
commit d6a8fbf0153b92a01b64996c2fe34787b79f833b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:52 2026 +0200
Revert "halui initial testing of embedded python halui"
This reverts commit 72ab87b779e13f379f73ef0825734cc1b88f3840.
commit 61b22ff4d43629844d337b4a292232c1c4dd19fc
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:52 2026 +0200
Revert "halui -add an angular jograte pin and send angular jograte messages"
This reverts commit 29c46c47ebe62ca4f7212158799dd8136661edd9.
commit 4aa9ceb1a211d0b9dbbbb079f8724174b8b88ec9
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:52 2026 +0200
Revert "halui -use angular jograte pin/messages for angular axis"
This reverts commit d8e9af9e0d266f7b235a00e6849a922d74d5cb51.
commit ff1462cc7790c32c4b218c457916f6a286282ede
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:52 2026 +0200
Revert "hal_bridge -add a warning if the write address is already used"
This reverts commit ee2369c7030babba64de948742b12881abf31536.
commit b8c8a197f4d8daa0c70498e08c398f6d942be24b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:51 2026 +0200
Revert "halui -add reload display and shutdown pins"
This reverts commit d1ba8cc4b90a135724c3e075c638aa5baebf277f.
commit e061c50335544794aeb1738ce630cffa5837d750
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:51 2026 +0200
Revert "halui -add softkey pins and message"
This reverts commit 822e4c17f2fcce44b189932f04d542eed78e6bbe.
commit c51450d00ab7c6e539e5b9a1072571227c403e26
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:51 2026 +0200
Revert "halui -change gui. pin names"
This reverts commit 10151776c7e9dbf53f554d4cfc86c92c18c4da6f.
commit 31ed66c6d380f58449aeb9f3c24cf290f42ad23c
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:51 2026 +0200
Revert "halui/bridge -quiet print statements"
This reverts commit 9da2cc9b43945aa268672af3adab70301fa200a8.
commit 0c417593debc56ad94799feeac9952868996112b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:51 2026 +0200
Revert "bridge - send out a key string with macro/mdi name"
This reverts commit a3dbe9eaa6bc77e81d0b385bd000fefe138b5ca2.
commit 2c089fc0605530c35367ab53f02e6d6ea4038fc3
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:50 2026 +0200
Revert "bridge -Don't break everything if there is no ZMQ library"
This reverts commit 7836c07209a12294c47671c731e697d88908fc63.
commit f2a0fea74c836941acccda86b09dacba8f99b182
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:50 2026 +0200
Revert "halui - add docs for halui zmq messages and pins"
This reverts commit e1869a57a5826708d67cf8562169b6f16377971c.
commit 7eb2172b37466c5f8d8aad2e15a9b39b30615a58
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:50 2026 +0200
Revert "gladevcp -speedcontrol: add angular jograte type and command and Gstat"
This reverts commit 450da549e01561b9d3c441ed32ee17615fc1e251.
commit b41f1622ba991e2551c4f2450e03cc3e76abe67e
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:50 2026 +0200
Revert "gladevcp -gtk_action: add ability to run new style INI MDI commands"
This reverts commit b2fed2c6a8d6719d4f576238ad43c35de6e53f61.
commit 631486fa5f835c1c8ecc32790c734d7e07ac2cbc
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:50 2026 +0200
Revert "qtvcp/gladevcp -action: add ability; return to mode after INI mdi"
This reverts commit 3144696a4734cc24205fce2952eaf02340ee06d6.
commit 0e6a6aaf327303b0e8445fb360692bbd9e860e4f
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:49 2026 +0200
Revert "gladevcp -hal_gremlin: clear the plot if reloading the screen"
This reverts commit d594e96f75179115f6e2e7c832bc69cab41f4b16.
commit 507d4a4efa5b79e3aac15e668cbe85a4533ec584
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:49 2026 +0200
Revert "gladevcp -gtk_action: get shutdown to work reliably"
This reverts commit b52b5bdad362ca5b5dc062d0cc45d18085fcdfb9.
commit d10d1c069f1f0c95365fc1fa2460e96898b09fa0
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:49 2026 +0200
Revert "qtvcp -dialog widget: add status message control of tool change dialog"
This reverts commit 429ae625869246fd0b3732d4c3d7340acda0ae66.
commit bac47b114ed00d92831e98cb9a6b6730c1f7e63e
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:49 2026 +0200
Revert "qtvcp -baseclass: register dialogs for later checks"
This reverts commit c372dcefaf34bb875a7230773972bec72030b800.
commit b1622fbc487127b8bd9f531447af5af5a9740084
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:48 2026 +0200
Revert "qtvcp -axis tool button: allow for MPG selection"
This reverts commit 2638f03dc44386627347629d8ae74ab240262df7.
commit 6baa2725db6322ca35072a22b469c8a5f2e383cb
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:48 2026 +0200
Revert "qtvcp -dialog_widget: check ZMQ messages directly"
This reverts commit c2a036f0e2ada807ccdde26a55e15b4e1c032b3e.
commit fe4bac7956be342213e6d4271b42b27d100b80ef
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:48 2026 +0200
Revert "qtvcp -fix close dialog response when using zmq messages"
This reverts commit 35b69b1388f16264f88442ac2f3010225a736b33.
commit b97fd91486023a6aa93d1abef9b8cd784419762a
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:47 2026 +0200
Revert "qtvcp -allow setting of window title from designer"
This reverts commit 851d6df65b3a0fa300b670ff12ae280755e84eb3.
commit edac804e04fd7fa183e497e5fdd0b21684fd1619
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:47 2026 +0200
Revert "common/iniinfo -parse ini commands in a better way"
This reverts commit 6e43ebb448b25f9f363bb357183bfd48d9ad0bdb.
commit 88c68e7a4705310eb6f89a87b53786e887dc3e23
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:47 2026 +0200
Revert "qtdragon -adjust external pause message to toggle"
This reverts commit 432d089daafdf886c8ea648c5ef43a360366bbf8.
commit 5f8edd89461686ff2a1fc1e39580423a54d53b13
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:46 2026 +0200
Revert "qtdragon -add mpg_select button logic control"
This reverts commit a03370ee4d0b8d6f5d3b2a6305235cce8c6bc011.
commit 973c6d2a41d553011bc2f7019f74c50adbfbdf48
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:46 2026 +0200
Revert "qtdragon -find the currently visible dialog to send messages to"
This reverts commit b930b9fffa2b0a3fd9d491332ce9681a3b27b924.
commit 93b0a3b8c7c38cbbdb7702c241faf7a67f674326
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:46 2026 +0200
Revert "qtdragon -fix MPG selection from panel"
This reverts commit 2416dea39ce022838d5f9ae41ee3d9508659f0f2.
commit 4169f0d5d55f8665441b70d10df7cd0d9b097500
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:46 2026 +0200
Revert "qtdragon -external run of macros, use cycle start for MDI running"
This reverts commit bcb5f0b404987f3068c8959d2812f84ee9258c73.
commit 5d26620e9b1101597b3418e4bb24c9881237309e
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:45 2026 +0200
Revert "qtdragon -add basic support for softkeys to select main tabs"
This reverts commit 78ba9e91745c95173d82eb0f7a954b0a9a27f085.
commit 9611c59c92792472c109197a454574175b7dcf24
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:45 2026 +0200
Revert "qtdragon -adjust request macro function signature"
This reverts commit 2459b4fe05f0bf92dadb3425950657f68806346d.
commit 00e1cddfe31596f7baef0f8dda795fb036b76c14
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:45 2026 +0200
Revert "qtdragon -add halui test sim"
This reverts commit c0e0fb67acfc64f1c9263783fc143372c865fdc0.
commit 3b8469749e77eb8b2c9ebd0dc9b526cd49d1998b
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:45 2026 +0200
Revert "qtdragon -add docs for halui messages/gui pins"
This reverts commit 38cdc1cc71f3edba8941661ced041bf7d5f0aa1e.
commit 23fc280fa324c03bc6964010814647c5973b2890
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:45 2026 +0200
Revert "gmoccapy -allow ZMQ messages to call macros in gmoccapy"
This reverts commit 5d45ef077ce3a4509fd373f69ab9e31d3ea310ea.
commit cdd92f2f10a744882241463bf930865673264963
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:44 2026 +0200
Revert "gmoccapy -ability to run INI MDI commands using HAL bridge"
This reverts commit 45a82f5a38f824cb9225d8a68fc4596f98685f69.
commit 61a88e15c5407de0577699d07a411f83067ddc46
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:44 2026 +0200
Revert "gmoccapy -add gstat message control of start and pause"
This reverts commit 5e4c53a032e1572e96a3999e51e0014c9f312b0b.
commit 3082a83ee32740aabc5354ecb76e69727f2ed03c
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:44 2026 +0200
Revert "gmoccapy -used new mode return INI MDI function"
This reverts commit 5466ba2e5d93496907cd66ad9a96ee5d935b01d8.
commit a0daec3abd157d3d009a23f8473098323307a335
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:44 2026 +0200
Revert "gmoccapy -change system dialog to accept halui messages"
This reverts commit d61f24fff557bc99e14377e7a1e3693dd08cc53f.
commit ae4a68464e4739c47daf40f4b058d8eaaa1c0ff2
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:44 2026 +0200
Revert "gmoccapy -change warning dialogs to accept HALUI messages"
This reverts commit e7514d7448d3ee72763a0678c3f91c03c678e377.
commit 249b8e105376ace2ea8b9a12ea7edd29e1ee9656
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:43 2026 +0200
Revert "gmoccapy -set jog speed control widget to use messages"
This reverts commit b25c710f598767963dd9ea52316cb855bfd1c534.
commit 41f2f3b0fb93f12fa055ef0a62080a35d12c3c3d
Author: Rene Hopf <renehopf@mac.com>
Date: Thu Sep 17 01:44:43 2026 +0200
Revert "gmoccapy -use halui message to cancel notifications"
This reverts commit e1e7b58a9c683ff4611a03355a63b76cb76bda8a.
commit bd6f82bc78fdb1476a79de287c5b3c31b6855ea9
Author: Bertho Stultiens <bertho@vagrearg.org>
Date: Wed Sep 16 16:07:48 2026 +0200
halcmd: Fix the risk of exceptions in HAL query callbacks.
commit d0ac24196f9544ed35448f537dd19b314ca17f25
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Tue Sep 15 22:10:16 2026 -0700
qtvcp -pushbutton: fix setting of group pin type
Enums are evil in Qt.
if the class enums variable use the same definition, it silently
breaks the setting of the pin type.
so PinType class can be:
NONE = 0
BIT = hal.Type.BOOL # Deprecated <<<<<
S32 = hal.HAL_S32
FLOAT = hal.Type.REAL # Deprecated <<<<
BOOL = hal.Type.BOOL
SINT = hal.Type.SINT
REAL = hal.Type.REAL
but class variables must be:
NONE = 0
BIT = hal.HAL_BIT # Deprecated <<<<
S32 = hal.HAL_S32
FLOAT = hal.HAL_FLOAT # Deprecated <<<<<
BOOL = hal.Type.BOOL
SINT = hal.Type.SINT
REAL = hal.Type.REAL
Don't know why.
commit 91dfff8f5ea8ef86c6603b6fc328add04d024bd9
Author: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Tue Sep 15 18:31:31 2026 +1000
motion: a kinematics switch whose forward cannot solve the joints is refused
handle_kinematicsSwitch() switched the module, then ran the new forward kinematics on the joints and, when that failed, reported it and kept the position it knew. The module stayed in the new type, so from the next cycle the inverse ran the joints to wherever that kept position lands in the new kinematics: on the hexapod that is a jump of twenty units on every strut, with no move commanded.
The joints are where they are, and a kinematics whose forward cannot solve them is not one the machine can run in from there. Switch the module back before anything else sees the new type, report which type is still in force, and abort as before. Nothing moves and a later switch is taken on its own merits.
tests/kins-switch-unsolved loads the hexapod with identity first, homes at zero, asks for the hexapod and checks that the type, the joints and the position are all as they were, that the failure was reported, that a move afterwards follows the identity inverse and that a switch to the type in force is accepted.
commit 8c7ef3a3570e9adacf4a2ccceb6c536eaf97c436
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Mon Aug 24 16:17:39 2026 -0700
axis -docs: add info about HALUI gui pins
- add info about mdi/macro commands
commit b87ecdcb3e98b3c2249c64d21bdf710dc6045cd8
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Mon Sep 7 20:17:50 2026 -0700
axis -sim: for halui zmq messages
incorporated in axis now
axis -add macros for sim
axis -add test sim
axis add panel.hal
commit 08846ca896fa99d08a6437d8348941c2bb01cbec
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Wed Aug 12 21:26:35 2026 -0700
axis -incorporate zmq messages
pulls in gstat and iniinfo libraries
-fix macro entry dialog error
-adjust request macro function signature
-switch halui.gui.shutdown to shutdown system
-change the close dialog to modeless
So an external zmq message can control the buttons
-call softkeys in a way that can be easily overridden
-fix (silent) no input dialog error for macros
-fix jospeed slider setting, add angular jogspeed setting
jogspeed would change the rate but not the slider.
Angular jogspeed setting was missing
-fix keyboard MDI scrolling
With no 'self.' one must add the class object name
commit 4c03568f1c973caff796ec0831d76d7e418816df
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Sun Jul 19 21:27:51 2026 -0700
gmoccapy -add docs for halui messages
commit f25a9cbc5bade56575d28a229bc582142b6dd2a6
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Mon Sep 1 10:19:59 2025 -0700
gmoccapy -add a halui test config with a sim test panel
add a 4 axis halui test config
to confirm angular jograte works
gmoccapy -remove one of the halui sims
gmoccapy sim -change pin names
do to halui name change
gmoccapy -sim: name change for gui.mpg-aux.0
gmoccapy -sims: change panel/ini to run mdi and macros for testing
gmoccapy sim: switch INI mdi to use a G53 to exclude running with G91
a plain G0 command will be different in G90/91 modes. If we use
G53, it will error if in G91 mode.
commit 2c229a647ddfe852e092b68c06a980f922255b58
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Fri Aug 28 21:24:48 2026 -0700
gmoccapy -dialogs: allow setting of message type for yes/no dialog
This allows a change of icon.
commit 814ca654c72ae92f753491ca0f0d5bf844a2ffa5
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Fri Aug 28 20:29:50 2026 -0700
gmoccapy -fix request to run macro with variables
names didn't match. In th eend we don;t need to search through
the list of macros anyways.
commit a6c248286f5e1077e97896ccaf6f83795861b7d1
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Sat Aug 22 18:55:00 2026 -0700
gmoccapy -fix request macro function to call macro properly
previously it always called ini mdi commands
commit 2ad3a0b0d688742dd1cac52b8d01e3566e0c03ab
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Wed Sep 9 14:57:37 2026 -0700
gmoccapy -create a dialog in gmoccapy for system shutdown
add a warning icon and 'Are you Sure' text to get attention
commit 7552e60b2a6edd93ea498d34e09a9cd10c704a4d
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Tue Aug 11 05:33:22 2026 -0700
gmoccapy -dialogs: cleanup/fixes
-fix error from y/n dialog wrong function signature
-fix a 'dialog not found' error message
-fix warning dialog bold text
It seems gtk has a bug, if you set the markup text
twice the text is not bold. Now we force it bold
-clean up warning dialog code
-dialog destroy buttons are now the same as a negative response
-fix some missed warning dialog function signatures
-fix dialog error when editing tools or offsets
commit 8763580380b5e4bc3f4b08cdfa4e21d816de449e
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Fri Jul 10 13:23:52 2026 -0700
gmoccapy -add MPG input to zoom and scroll
scroll the gcode if in auto and not running
otherwise zoom the gcode display.
Only if the MPG is enabled from HALUI
commit e28edfe97d5d5969898d405688ffaf5e06b5c823
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Fri Jul 10 10:21:38 2026 -0700
gmoccapy -respond to softkeys and make exit do shutdown
commit 29a41fb4707f1a5c00015b51ceebc8306a3e1e9c
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Thu Jul 9 14:13:15 2026 -0700
gmoccapy -honour shutdown request
commit 900acbd7e9e4e133e4891cb08ea539548db400d2
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Fri Apr 10 13:41:47 2026 -0700
gmoccapy -update the angular speedcontrol to new angular type
commit eb46c6335e9db2af618e5e322374dc5b0acc3a78
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Thu Jul 30 09:44:20 2026 -0700
gmoccapy -dialogs: search through focused dialogs, clean up code
commit 1766ccb03c2f86c6e5c544ff3655afebe78ce357
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Thu Apr 9 17:00:26 2026 -0700
gmoccapy -entry dialog respond to halui, add non blocking wait code
wait but don't block code added.
entry dialogs now can use halui yes and no responses
commit fe0ac1df1a30db4856a84e119f7510bf39605186
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Fri Apr 3 18:34:43 2026 -0700
gmoccapy -update external pause/start behavior
fix pausing in MDI
don't toggle pause (only pause not unpause)
cycle start will unpause if paused
commit ba36508d704bf08f4325fc9866f1e5a3784e4bce
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Sat Feb 7 14:45:11 2026 -0800
gmoccapy -can submit the current MDI command from HALUI
Pressing HALUI's cycle start when in MDI mode will call the current MDI
command in gmoccapy's MDI history widget.
commit e1e7b58a9c683ff4611a03355a63b76cb76bda8a
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Sun Feb 1 00:25:59 2026 -0800
gmoccapy -use halui message to cancel notifications
commit b25c710f598767963dd9ea52316cb855bfd1c534
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Sun Feb 1 00:00:35 2026 -0800
gmoccapy -set jog speed control widget to use messages
Sends out a jog rate gobject message
commit e7514d7448d3ee72763a0678c3f91c03c678e377
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Fri Dec 26 19:48:56 2025 -0800
gmoccapy -change warning dialogs to accept HALUI messages
commit d61f24fff557bc99e14377e7a1e3693dd08cc53f
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Sun Dec 14 01:10:17 2025 -0800
gmoccapy -change system dialog to accept halui messages
ok and cancel are used by the system unlock dialog as an example.
To do this properly for all dialogs would require some more thought.
commit 5466ba2e5d93496907cd66ad9a96ee5d935b01d8
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Mon Sep 1 21:27:49 2025 -0700
gmoccapy -used new mode return INI MDI function
commit 5e4c53a032e1572e96a3999e51e0014c9f312b0b
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Mon Sep 1 10:16:35 2025 -0700
gmoccapy -add gstat message control of start and pause
commit 45a82f5a38f824cb9225d8a68fc4596f98685f69
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Wed Jul 30 20:50:47 2025 -0700
gmoccapy -ability to run INI MDI commands using HAL bridge
commit 5d45ef077ce3a4509fd373f69ab9e31d3ea310ea
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Wed Sep 9 12:17:56 2026 -0700
gmoccapy -allow ZMQ messages to call macros in gmoccapy
This is a proof of concept to allow 3rd party programs to call
macros. The macros are run from Gmoccapy so no timing problems should
occur and and pre checks or post changes can be covered.
Python ZMQ module package must be available for this to work
commit 38cdc1cc71f3edba8941661ced041bf7d5f0aa1e
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Sun Jul 19 21:28:23 2026 -0700
qtdragon -add docs for halui messages/gui pins
commit c0e0fb67acfc64f1c9263783fc143372c865fdc0
Author: CMorley <chrisinnanaimo@hotmail.com>
Date: Sat Aug 23 13:57:34 2025 -0700
qtdragon -add halui test sim
sim -add scale buttons and MPG dial
sim -add MPG button on VCP panel
sim -fix goto user macro: raise up to Z0 in g53 rather then user units
sim -add a macro command to run from the panel
sim -update sim control panel
sim update for softkeys
qtdragon -update sample panel pin names
commit 2459b4fe05f0bf92dadb3425950657f68806346d
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Sat Aug 22 19:00:37 2026 -0700
qtdragon -adjust request macro function signature
commit 78ba9e91745c95173d82eb0f7a954b0a9a27f085
Author: Cmorley <chrisinnanaimo@hotmail.com>
Date: Mon Jul 20 21:00:13 2026 -0700
qtdragon -add basic support for softkeys to select main tabs
-check if softkey number is invalid
![[bug history graph]](https://qa.debian.org/data/bts/graphs/l/linuxcnc.png){kind=link}