Gmoccapy - remove AUTOMATIC_G43 (#3113)

* Remove automatic G43

Gmoccapy had automatic activation of tool offsets using the G43 command after a tool change. The automatic G43 caused "race condition problems" in some configurations. That's why it was removed. Automatic G43 should be implemented by LCNC remap functionality not GUI.

* ngc files for automatic_G43 by remap M6/61

* Added code for M61 in stdglue.py

Added python code for M61 in
/configs/sim/gmoccapy/python/stdglue.py

* lathe.ini - added remap M6/M61 with automatic G43

* lathe_C.ini - added remap M6/M61 with automatic G43

* lathe.ini - delete double SUBROUTINE_PATH

My fault - i cannot remove commit from Github

* lathe_CW.ini - added remap M6/M61 with automatic G43

* lathe_backtool.ini - added remap M6/M61 with automatic G43

* lathe_imperial.ini - added remap M6/M61 with automatic G43

* lathe_macros.ini - added remap M6/M61 with automatic G43

* 6_axis.ini - added remap M6/M61 with automatic G43

* Update 7_axis.ini - added remap M6/M61 with automatic G43

* 7_axis_tool.ini - added remap M6/M61 with automatic G43

* 8_axis.ini - added remap M6/M61 with automatic G43

* 9_axis.ini - added remap M6/M61 with automatic G43

* gmoccapy.ini - added remap M6/M61 with automatic G43

* gmoccapy_4_axis.ini - added remap M6/M61 with automatic G43

* gmoccapy_800x600.ini - added remap M6/M61 with automatic G43

* gmoccapy_XYZAB.ini - added remap M6/M61 with automatic G43

* gmoccapy_XYZAC.ini - added remap M6/M61 with automatic G43

* gmoccapy_XYZCW.ini - added remap M6/M61 with automatic G43

* gmoccapy_blockdelete.ini - added remap M6/M61 with automatic G43

* gmoccapy_left_panel.ini - added remap M6/M61 with automatic G43

* gmoccapy_messages.ini - added remap M6/M61 with automatic G43

* gmoccapy_pedant.ini - added remap M6/M61 with automatic G43

* gmoccapy_right_panel.ini - added remap M6/M61 with automatic G43

* gmoccapy_sim_hardware_button.ini - added remap M6/M61 with automatic G43

* gmoccapy_tool_sensor.ini - added remap M61 with automatic G43

* gmoccapy_with_user_tabs.ini - added remap M6/M61 with automatic G43

* lathe_macros.ini - fix SUBROUTINE_PATH = macros:./

* gmoccapy_pyngcgui.ini - added remap M6/M61 with automatic G43

* gantry_mm.ini - added remap M6/M61 with automatic G43

* xyzac-trt.ini - added remap M6/M61 with automatic G43

* 6_axis.ini - added postgui

* 7_axis.ini - added postgui

* 7_axis_tool.ini - added postgui

* 8_axis.ini - added postgui

* 8_axis.ini - added postgui

* Update 9_axis.ini - added postgui

* xyzac-trt.ini - subroutine

repaired SUBROUTINE_PATH = ./examples:../../macros

* lathe_macros.ini - fix

* Gmoccapy release_notes ver 3.5.0

---------

Co-authored-by: andypugh <[email protected]>

configs/sim/gmoccapy/6_axis.ini

@@ -39,7 +39,15 @@ CYCLE_TIME = 0.001
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 [EMCMOT]
 EMCMOT =              motmod
@@ -55,6 +63,9 @@ HALUI = halui
 HALFILE = core_sim_6.hal
 #HALFILE = simulated_home_9.hal
 
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
 [TRAJ]
 COORDINATES = X Y Z A B C
 LINEAR_UNITS = mm

configs/sim/gmoccapy/7_axis.ini

@@ -39,7 +39,15 @@ CYCLE_TIME = 0.001
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 [EMCMOT]
 EMCMOT =              motmod
@@ -55,6 +63,9 @@ HALUI = halui
 HALFILE = core_sim_7.hal
 #HALFILE = simulated_home_9.hal
 
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
 [TRAJ]
 COORDINATES = X Y Z A B C U
 LINEAR_UNITS = mm

configs/sim/gmoccapy/7_axis_tool.ini

@@ -39,7 +39,15 @@ CYCLE_TIME = 0.001
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 [EMCMOT]
 EMCMOT =              motmod
@@ -55,6 +63,9 @@ HALUI = halui
 HALFILE = core_sim_7.hal
 #HALFILE = simulated_home_9.hal
 
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
 [TRAJ]
 COORDINATES = X Y Z A B C U
 LINEAR_UNITS = mm

configs/sim/gmoccapy/8_axis.ini

@@ -39,7 +39,18 @@ CYCLE_TIME = 0.001
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
 
 [EMCMOT]
 EMCMOT =              motmod
@@ -54,6 +65,9 @@ TOOL_CHANGE_POSITION = 0 0 2
 HALUI = halui
 HALFILE = core_sim_8.hal
 
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
 [TRAJ]
 COORDINATES = X Y Z A B C U V
 LINEAR_UNITS = mm

configs/sim/gmoccapy/9_axis.ini

@@ -39,7 +39,15 @@ CYCLE_TIME = 0.001
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 [EMCMOT]
 EMCMOT =              motmod
@@ -55,6 +63,9 @@ HALUI = halui
 HALFILE = core_sim_9.hal
 #HALFILE = simulated_home_9.hal
 
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
 [TRAJ]
 COORDINATES = X Y Z A B C U V W
 LINEAR_UNITS = mm

configs/sim/gmoccapy/gmoccapy.ini

@@ -66,7 +66,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_4_axis.ini

@@ -38,7 +38,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_800x600.ini

@@ -56,7 +56,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_XYZAB.ini

@@ -68,7 +68,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_XYZAC.ini

@@ -57,7 +57,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_XYZCW.ini

@@ -53,7 +53,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_blockdelete.ini

@@ -54,7 +54,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_left_panel.ini

@@ -47,7 +47,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_messages.ini

@@ -79,7 +79,16 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
+
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_pedant.ini

@@ -47,7 +47,16 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
+
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_pyngcgui.ini

@@ -84,6 +84,14 @@ RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 SUBROUTINE_PATH   = macros:../nc_files/ngcgui_lib:../nc_files/ngcgui_lib/utilitysubs
 USER_M_PATH       = ../nc_files/ngcgui_lib/mfiles
 PARAMETER_FILE = sim.var
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_right_panel.ini

@@ -43,7 +43,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini

@@ -51,7 +51,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_tool_sensor.ini

@@ -80,6 +80,8 @@ ON_ABORT_COMMAND=O <on_abort> call
 #    #<selected_pocket>
 REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog
 
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
 # accessible in interp as #<_[section]name>
 # start of tool length touchoff probe
 [EMCMOT]

configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini

@@ -68,7 +68,15 @@ py = python3
 [RS274NGC]
 RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
 PARAMETER_FILE = sim.var
-SUBROUTINE_PATH = macros
+SUBROUTINE_PATH = ./macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ./python
+TOPLEVEL = ./python/toplevel.py
+LOG_LEVEL = 0
 
 # Motion control section ------------------------------------------------------
 [EMCMOT]