Gmoccapy-integration halui MDI commands

configs/sim/gmoccapy/gmoccapy.ini

@@ -96,7 +96,11 @@ HALUI = halui
 
 # Trajectory planner section --------------------------------------------------
 [HALUI]
-#No Content
+MDI_COMMAND = M6 T1
+MDI_COMMAND = M6 T2
+MDI_COMMAND = M61 Q1
+MDI_COMMAND = M61 Q2
+MDI_COMMAND = M6 T3 G4 P10
 
 [TRAJ]
 COORDINATES =      X Y Z 

src/emc/usr_intf/gmoccapy/gmoccapy.py

@@ -2655,7 +2655,8 @@ def on_hal_status_interp_idle(self, widget):
         else:
             self._change_kbd_image("img_macro_menu_stop")
             self.macro_dic["keyboard"].set_sensitive(False)
-
+
+        self._hide_abort_button()
         self.widgets.btn_run.set_sensitive(True)
         self.widgets.btn_stop.set_sensitive(False)
 
@@ -2685,9 +2686,50 @@ def on_hal_status_interp_run(self, widget):
         self.widgets.btn_stop.set_sensitive(True)
 
         self._change_kbd_image("img_macro_menu_stop")
+
+        self._show_abort_button() # Show only in MDI mode?      
         self.macro_dic["keyboard"].set_sensitive(True)
         self.elapsed_time_run = 0
 
+    # Goes through all buttonboxes in "ntb_button" and replaces the last button by an mdi abort button.
+    # It stores the removes buttons in a dict to be restored later.
+    def _show_abort_button(self):
+        self.saved_buttons = {}
+        for page_num in range(self.widgets.ntb_button.get_n_pages()):
+            buttonbox = self.widgets.ntb_button.get_nth_page(page_num)            
+            buttons = buttonbox.get_children()
+            # Some buttonboxes does not contain buttons; don't replace for auto mode and mdi
+            if buttons and Gtk.Buildable.get_name(buttonbox) not in ["hbtb_auto", "hbtb_MDI"]:
+                button = buttons[-1]
+                self.saved_buttons[page_num] = button
+                buttonbox.remove(button)
+                # Copy image to pixbuf because one image cannot be used twice                
+                pixbuf = self.widgets.img_macro_menu_stop.get_pixbuf()
+                image_abort = Gtk.Image.new_from_pixbuf(pixbuf)                
+                button_abort = self._new_button_with_predefined_image(name="img_macro_menu_stop", 
+                        size=_DEFAULT_BB_SIZE, image=image_abort)
+                # TBD: add function. Also refactor self._change_kbd_image()
+                # new_button.connect("clicked", self._on_abort_mdi_clicked)
+                self.macro_dic["keyboard"].set_image(Gtk.Image.new_from_pixbuf(pixbuf))
+                button_abort.show()
+                buttonbox.add(button_abort)
+
+    # Goes through all buttonboxes in "ntb_button" and replaces the last button by the saved button from the dict.
+    def _hide_abort_button(self):
+        # Try block here because self.saved_buttons is first created in _show_abort_button()
+        try:
+            for page_num in range(self.widgets.ntb_button.get_n_pages()):
+                buttonbox = self.widgets.ntb_button.get_nth_page(page_num)
+                buttons = buttonbox.get_children()
+                # Some buttonboxes does not contain buttons; don't replace for auto mode and mdi
+                if buttons and Gtk.Buildable.get_name(buttonbox) not in ["hbtb_auto", "hbtb_MDI"]:               
+                    buttonbox.remove(buttons[-1])
+                    saved_button = self.saved_buttons[page_num]
+                    buttonbox.add(saved_button)
+                    saved_button.show()
+        except:
+            pass                    
+
     def on_hal_status_tool_in_spindle_changed(self, object, new_tool_no):
         LOG.debug("hal signal tool changed")
         # need to save the tool in spindle as preference, to be able to reload it on startup
@@ -2797,6 +2839,13 @@ def on_hal_status_mode_manual(self, widget):
         self.last_key_event = None, 0
 
     def on_hal_status_mode_mdi(self, widget):
+        try:
+            if hal.get_value("halui.halui-mdi-is-running"):
+                LOG.debug("switch to MDI page is ignored, because halui MDI-command is running")
+                return
+        except:
+            pass
+
         LOG.debug("MDI Mode, tool_change = {0}".format(self.tool_change))
 
         # if the edit offsets button is active, we do not want to change