Gmoccapy - command.mdi() must be call in mode IDLE only

[zz912]

This bug may be the cause of this bug:
#2453
But I don't want to deal with this connection now.
I would like to fix this bug only to increase the reliability of Gmoccapy.

Here is the definition of the proper use of self.command.mdi() :
http://linuxcnc.org/docs/2.9/html/config/python-interface.html#_preparing_to_send_commands

Here is a call to self.command.mdi("G43) without checking that the mode is IDLE:

linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py

Lines 3540 to 3544 in 56883b9

	if "G43" in self.active_gcodes and self.stat.task_mode != linuxcnc.MODE_AUTO:
	self.command.mode(linuxcnc.MODE_MDI)
	self.command.wait_complete()
	self.command.mdi("G43")
	self.command.wait_complete()

The condition self.stat.task_mode != linuxcnc.MODE_AUTO does not solve the state when the MDI command was started using HALUI.

I could fix it like this:

self.stat.poll()
 if "G43" in self.active_gcodes and self.stat.task_mode != linuxcnc.MODE_AUTO and self.stat.interp_state == linuxcnc.INTERP_IDLE: 
     self.command.mode(linuxcnc.MODE_MDI) 
     self.command.wait_complete() 
     self.command.mdi("G43") 
     self.command.wait_complete() 

The problem is that I don't know why command G43 is called?
If the condition self.stat.interp_state == linuxcnc.INTERP_IDLE is not met, command G43 will not be executed.
Is it necessary to call command G43 then?

[gmoccapy]

Tool handling is redesigned by ReneDev, that should solve this issue. may also be related to #2613
no work on tool handling, as it will be much better in short time