path: root/src/emc/usr_intf/axis/scripts/axis.py

#!/usr/bin/env python3
#    This is a component of AXIS, a front-end for LinuxCNC
#    Copyright 2004, 2005, 2006, 2007, 2008, 2009
#    Jeff Epler <jepler@unpythonic.net> and Chris Radek <chris@timeguy.com>
#
#    This program is free software; you can redistribute it and/or modify
#    it under the terms of the GNU General Public License as published by
#    the Free Software Foundation; either version 2 of the License, or
#    (at your option) any later version.
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU General Public License for more details.
#
#    You should have received a copy of the GNU General Public License
#    along with this program; if not, write to the Free Software
#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.


# import pdb
import sys, os
import string
from OpenGL.GL import *
from OpenGL.GLU import *
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
sys.path.insert(0, os.path.join(BASE, "lib", "python"))

# otherwise, on hardy the user is shown spurious "[application] closed
# unexpectedly" messages but denied the ability to actually "report [the]
# problem"
sys.excepthook = sys.__excepthook__

import gettext;

import array, time, atexit, tempfile, shutil, errno, select, re, getopt
import traceback

import tkinter as Tkinter
import _thread
gettext.install("linuxcnc", localedir=os.path.join(BASE, "share", "locale"))

# Print Tk errors to stdout. python.org/sf/639266
OldTk = Tkinter.Tk
class Tk(OldTk):
    def __init__(self, *args, **kw):
        OldTk.__init__(self, *args, **kw)
        self.tk.createcommand('tkerror', self.tkerror)

    def tkerror(self, arg):
        print("TCL error in asynchronous code:")
        print(self.tk.call("set", "errorInfo"))

Tkinter.Tk = Tk

RTLD_NOW, RTLD_GLOBAL = 0x1, 0x100  # XXX portable?
old_flags = sys.getdlopenflags()
sys.setdlopenflags(RTLD_NOW | RTLD_GLOBAL);
import gcode
sys.setdlopenflags(old_flags)
from rs274.OpenGLTk import *
from rs274.interpret import StatMixin
from rs274.glcanon import GLCanon, GlCanonDraw
from hershey import Hershey
from propertywindow import properties
import rs274.options
import nf
import locale
import bwidget
from math import hypot, atan2, sin, cos, pi, sqrt
import linuxcnc
from glnav import *

if "AXIS_NO_HAL" in os.environ:
    hal_present = 0;
else:
    hal_present = 1;

if hal_present == 1:
    import hal

import configparser

cp = configparser.ConfigParser
class AxisPreferences(cp):
    types = {
        bool: cp.getboolean,
        float: cp.getfloat,
        int: cp.getint,
        str: cp.get,
        repr: lambda self,section,option: eval(cp.get(self,section,option)),
    }

    def __init__(self):
        cp.__init__(self)
        self.fn = os.path.expanduser("~/.axis_preferences")
        self.read(self.fn)

    def getpref(self, option, default=False, type=bool):
        m = self.types.get(type)
        if type == repr and len(default) == 0: default=""
        try:
            o = m(self, "DEFAULT", option)
        except Exception as detail:
            if default != "": print(detail)
            self.set("DEFAULT", option, default)
            self.write(open(self.fn, "w"))
            o = default
        return o

    def putpref(self, option, value, type=bool):
        self.set("DEFAULT", option, str(value))
        self.write(open(self.fn, "w"))

if sys.argv[1] != "-ini":
    raise SystemExit("-ini must be first argument")

inifile = linuxcnc.ini(sys.argv[2])

ap = AxisPreferences()

os.system("xhost -SI:localuser:gdm -SI:localuser:root > /dev/null 2>&1")
root_window = Tkinter.Tk(className="Axis")
dpi_value = root_window.winfo_fpixels('1i')
root_window.tk.call('tk', 'scaling', '-displayof', '.', dpi_value / 72.0)
root_window.withdraw()
nf.start(root_window)
nf.makecommand(root_window, "_", _)
rs274.options.install(root_window)
root_window.tk.call("set", "version", linuxcnc.version)

try:
    root_window.tk.call("set","::MAX_JOINTS"         ,linuxcnc.MAX_JOINTS)
    root_window.tk.call("set","::MAX_AXIS"           ,linuxcnc.MAX_AXIS)
    root_window.tk.call("set","::STATE_ESTOP"        ,linuxcnc.STATE_ESTOP)
    root_window.tk.call("set","::STATE_ESTOP_RESET"  ,linuxcnc.STATE_ESTOP_RESET)
    root_window.tk.call("set","::STATE_OFF"          ,linuxcnc.STATE_OFF)
    root_window.tk.call("set","::STATE_ON"           ,linuxcnc.STATE_ON)
    root_window.tk.call("set","::TASK_MODE_MANUAL"   ,linuxcnc.MODE_MANUAL)
    root_window.tk.call("set","::TASK_MODE_MDI"      ,linuxcnc.MODE_MDI)
    root_window.tk.call("set","::TASK_MODE_AUTO"     ,linuxcnc.MODE_AUTO)
    root_window.tk.call("set","::INTERP_IDLE"        ,linuxcnc.INTERP_IDLE)
    root_window.tk.call("set","::INTERP_READING"     ,linuxcnc.INTERP_READING)
    root_window.tk.call("set","::INTERP_PAUSED"      ,linuxcnc.INTERP_PAUSED)
    root_window.tk.call("set","::INTERP_WAITING"     ,linuxcnc.INTERP_WAITING)
    root_window.tk.call("set","::TRAJ_MODE_FREE"     ,linuxcnc.TRAJ_MODE_FREE)
    root_window.tk.call("set","::KINEMATICS_IDENTITY",linuxcnc.KINEMATICS_IDENTITY)
    nf.source_lib_tcl(root_window,"axis.tcl")
except TclError:
    print(root_window.tk.call("set", "errorInfo"))
    raise

def General_Halt():
    text = _("Do you really want to close LinuxCNC?")
    if not root_window.tk.call("nf_dialog", ".error", _("Confirm Close"), text, "warning", 1, _("Yes"), _("No")):
        root_window.destroy()

root_window.protocol("WM_DELETE_WINDOW", General_Halt)


program_start_line = 0
program_start_line_last = -1

lathe = 0
mdi_history_max_entries = 1000
mdi_history_save_filename =\
    inifile.find('DISPLAY', 'MDI_HISTORY_FILE') or "~/.axis_mdi_history"


feedrate_blackout = 0
rapidrate_blackout = 0
spindlerate_blackout = 0
maxvel_blackout = 0
jogincr_index_last = 1
mdi_history_index= -1
resume_inhibit = 0
continuous_jog_in_progress = False
cjogindices = []

help1 = [
    ("F1", _("Emergency stop")),
    ("F2", _("Turn machine on")),
    ("", ""),
    ("X", _("Activate first axis")),
    ("Y", _("Activate second axis")),
    ("Z", _("Activate third axis")),
    ("A", _("Activate fourth axis")),
    ("` or 0,1..8", _("Activate first through ninth joint")),
    ("", _("if joints radiobuttons visible")),
    ("`,1..9,0", _("Set Feed Override from 0% to 100%")),
    ("", _("if axes radiobuttons visible")),
    (_(", and ."), _("Select jog speed")),
    (_("< and >"), _("Select angular jog speed")),
    (_("I, Shift-I"), _("Select jog increment")),
    ("C", _("Continuous jog")),
    (_("Home"), _("Send active joint home")),
    (_("Ctrl-Home"), _("Home all joints")),
    (_("Shift-Home"), _("Zero G54 offset for active axis")),
    (_("End"), _("Set G54 offset for active axis")),
    (_("Ctrl-End"), _("Set tool offset for loaded tool")),
    ("-, =", _("Jog active axis or joint")),
    (";, '", _("Select Max velocity")),

    ("", ""),
    (_("Left, Right"), _("Jog first axis or joint")),
    (_("Up, Down"), _("Jog second axis or joint")),
    (_("Pg Up, Pg Dn"), _("Jog third axis or joint")),
    (_("Shift+above jogs"), _("Jog at traverse speed")),
    ("[, ]", _("Jog fourth axis or joint")),

    ("", ""),
    ("D", _("Toggle between Drag and Rotate mode")),
    (_("Left Button"), _("Pan, rotate or select line")),
    (_("Shift+Left Button"), _("Rotate or pan")),
    (_("Right Button"), _("Zoom view")),
    (_("Wheel Button"), _("Rotate view")),
    (_("Rotate Wheel"), _("Zoom view")),
    (_("Ctrl+Left Button"), _("Zoom view")),
]
help2 = [
    ("F3", _("Manual control")),
    ("F5", _("Code entry (MDI)")),
    (_("Ctrl-M"), _("Clear MDI history")),
    (_("Ctrl-H"), _("Copy selected MDI history elements")),
    ("",          _("to clipboard")),
    (_("Ctrl-Shift-H"), _("Paste clipboard to MDI history")),
    ("L", _("Override Limits")),
    ("", ""),
    ("O", _("Open program")),
    (_("Ctrl-R"), _("Reload program")),
    (_("Ctrl-S"), _("Save G-code as")),
    ("R", _("Run program")),
    ("T", _("Step program")),
    ("P", _("Pause program")),
    ("S", _("Resume program")),
    ("ESC", _("Stop running program, or")),
    ("", _("stop loading program preview")),
    ("", ""),
    ("F7", _("Toggle mist")),
    ("F8", _("Toggle flood")),
    ("B", _("Spindle brake off")),
    (_("Shift-B"), _("Spindle brake on")),
    ("F9", _("Turn spindle clockwise")),
    ("F10", _("Turn spindle counterclockwise")),
    ("F11", _("Turn spindle more slowly")),
    ("F12", _("Turn spindle more quickly")),
    (_("Ctrl-K"), _("Clear live plot")),
    ("V", _("Cycle among preset views")),
    ("F4", _("Cycle among preview, DRO, and user tabs")),
    ("@", _("toggle Actual/Commanded")),
    ("#", _("toggle Relative/Machine")),
    (_("Ctrl-Space"), _("Clear notifications")),
    (_("Alt-F, M, V"), _("Open a Menu")),
]


def install_help(app):
    keys = nf.makewidget(app, Frame, '.keys.text')
    fixed = app.tk.call("linuxcnc::standard_fixed_font")
    for i in range(len(help1)):
        a, b = help1[i]
        Label(keys, text=a, font=fixed, padx=4, pady=0, highlightthickness=0).grid(row=i, column=0, sticky="w")
        Label(keys, text=b, padx=4, pady=0, highlightthickness=0).grid(row=i, column=1, sticky="w")
    for i in range(len(help2)):
        a, b = help2[i]
        Label(keys, text=a, font=fixed, padx=4, pady=0, highlightthickness=0).grid(row=i, column=3, sticky="w")
        Label(keys, text=b, padx=4, pady=0, highlightthickness=0).grid(row=i, column=4, sticky="w")
    Label(keys, text="    ").grid(row=0, column=2)

def joints_mode():
    return s.motion_mode == linuxcnc.TRAJ_MODE_FREE

def set_motion_teleop(value):
    if running(): return
    # 1:teleop, 0: joint
    vars.teleop_mode.set(value)
    c.teleop_enable(value)
    c.wait_complete()
    s.poll()

def parse_color(c):
    if c == "": return (1,0,0)
    return tuple([i/65535. for i in root_window.winfo_rgb(c)])

def to_internal_units(pos, unit=None):
    if unit is None:
        unit = s.linear_units
    lu = (unit or 1) * 25.4

    lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu]
    return [a/b for a, b in zip(pos, lus)]

def to_internal_linear_unit(v, unit=None):
    if unit is None:
        unit = s.linear_units
    lu = (unit or 1) * 25.4
    return v/lu

def from_internal_units(pos, unit=None):
    if unit is None:
        unit = s.linear_units
    lu = (unit or 1) * 25.4

    lus = [lu, lu, lu, 1, 1, 1, lu, lu, lu]
    return [a*b for a, b in zip(pos, lus)]

def from_internal_linear_unit(v, unit=None):
    if unit is None:
        unit = s.linear_units
    lu = (unit or 1) * 25.4
    return v*lu

def masked_axes_count():
    ct = 0
    for i in range(linuxcnc.MAX_JOINTS):
        if s.axis_mask & (1<<i): ct +=1
    return ct

class Notification(Tkinter.Frame):
    def __init__(self, master):
        self.widgets = []
        self.cache = []
        Tkinter.Frame.__init__(self, master)

    def clear(self,iconname=None):
        if iconname:
            cpy = self.widgets[:]
            for i, item in enumerate(cpy):
                frame,icon,text,button,iname = item
                if iname == "icon_std_" + iconname:
                    self.remove(cpy[i])
        else:
            while self.widgets:
                self.remove(self.widgets[0])

    def clear_one(self):
        if self.widgets:
            self.remove(self.widgets[0])


    def add(self, iconname, message):
        self.place(relx=1, rely=1, y=-20, anchor="se")
        iconname_image = self.tk.call("load_image", "std_" + iconname)
        close = self.tk.call("load_image", "close", "notification-close")
        if len(self.widgets) > 10:
            self.remove(self.widgets[0])
        if self.cache:
            frame, icon, text, button, discard = self.cache.pop()
            icon.configure(image=iconname_image)
            text.configure(text=message)
            widgets = frame, icon, text, button, iconname_image
        else:
            frame = Tkinter.Frame(self)
            icon = Tkinter.Label(frame, image=iconname_image)
            text = Tkinter.Label(frame, text=message, wraplength=300, justify="left")
            button = Tkinter.Button(frame, image=close)
            widgets = frame, icon, text, button, iconname_image
            text.pack(side="left")
            icon.pack(side="left")
            button.pack(side="left")
        button.configure(command=lambda: self.remove(widgets))
        frame.pack(side="top", anchor="e")
        self.widgets.append(widgets)
        if iconname == "error":
           comp["error"] = True

    def remove(self, widgets):
        self.widgets.remove(widgets)
        if len(self.cache) < 10:
            widgets[0].pack_forget()
            self.cache.append(widgets)
        else:
            widgets[0].destroy()
        if len(self.widgets) == 0:
            self.place_forget()
        if self._remaining_error_count() == 0:
            comp["error"] = False

    def _remaining_error_count(self):
        """ Returns the count of remaining error messages """
        count = 0
        for i, item in enumerate(self.widgets):
            frame, icon, text, button, iname = item
            if iname == "icon_std_error":
                count += 1
        return count


def soft_limits():
    def fudge(x):
        if abs(x) > 1e99: return 0
        return x

    ax = s.axis
    return (
        to_internal_units([fudge(ax[i]['min_position_limit']) for i in range(3)]),
        to_internal_units([fudge(ax[i]['max_position_limit']) for i in range(3)]))

class MyOpengl(GlCanonDraw, Opengl):
    def __init__(self, *args, **kw):
        self.after_id = None
        self.motion_after = None
        self.perspective = False
        Opengl.__init__(self, *args, **kw)
        GlCanonDraw.__init__(self, s, None)
        self.bind('<Button-1>', self.select_prime, add=True)
        self.bind('<ButtonRelease-1>', self.select_fire, add=True)
        self.bind('<Button1-Motion>', self.select_cancel, add=True)
        self.highlight_line = None
        self.select_event = None
        self.select_buffer_size = 100
        self.select_primed = None
        self.last_position = None
        self.last_homed = None
        self.last_origin = None
        self.last_rotation_xy = None
        self.last_tool = None
        self.last_tool_offset = None
        self.last_limits = None
        self.set_eyepoint(5.)
        self.get_resources()
        self.realize()
        self.init_glcanondraw(trajcoordinates=trajcoordinates,
                              kinsmodule=kinsmodule)
    def getRotateMode(self):
        return vars.rotate_mode.get()

    def get_font_info(self):
        return coordinate_charwidth, coordinate_linespace, fontbase

    def get_resources(self):
        self.colors = dict(GlCanonDraw.colors)
        for c in list(self.colors.keys()):
            if isinstance(c, tuple):
                c, d = c
            elif c.endswith("_alpha"):
                d = "Alpha"
            else:
                d = "Foreground"
            option_value = self.option_get(c, d)
            if option_value:
                if d == "Alpha":
                    self.colors[c] = float(option_value)
                else:
                    self.colors[c] = parse_color(option_value)
        x = float(self.option_get("tool_light_x", "Float"))
        y = float(self.option_get("tool_light_y", "Float"))
        z = float(self.option_get("tool_light_z", "Float"))
        dist = (x**2 + y**2 + z**2) ** .5
        self.light_position = (x/dist, y/dist, z/dist, 0)

    def select_prime(self, event):
        self.select_primed = event

    def select_cancel(self, event):
        if self.select_primed and (event.x != self.select_primed.x or event.y != self.select_primed.y):
            self.select_primed = None

    def select_fire(self, event):
        if self.select_primed: self.queue_select(event)

    def queue_select(self, event):
        self.select_event = event
        self.tkRedraw()

    def deselect(self, event):
        self.set_highlight_line(None)

    def select(self, event):
        GlCanonDraw.select(self, event.x, event.y)

    def get_joints_mode(self): return joints_mode()
    def get_current_tool(self): return current_tool
    def is_lathe(self): return lathe
    def get_show_commanded(self): return vars.display_type.get()
    def get_show_rapids(self): return vars.show_rapids.get()
    def get_geometry(self): return geometry
    def is_foam(self): return foam
    def get_num_joints(self): return num_joints
    def get_program_alpha(self): return vars.program_alpha.get()

    def get_a_axis_wrapped(self): return a_axis_wrapped
    def get_b_axis_wrapped(self): return b_axis_wrapped
    def get_c_axis_wrapped(self): return c_axis_wrapped

    def set_current_line(self, line):
        if line == vars.running_line.get(): return
        t.tag_remove("executing", "0.0", "end")
        if line is not None and line > 0:
            vupdate(vars.running_line, line)
            if vars.highlight_line.get() <= 0:
                t.see("%d.0" % (line+2))
                t.see("%d.0" % line)
            t.tag_add("executing", "%d.0" % line, "%d.end" % line)
        else:
            vupdate(vars.running_line, 0)

    def get_highlight_line(self):
        return vars.highlight_line.get()

    def set_highlight_line(self, line):
        if line == self.get_highlight_line(): return
        GlCanonDraw.set_highlight_line(self, line)
        t.tag_remove("sel", "0.0", "end")
        if line is not None and line > 0:
            t.see("%d.0" % (line+2))
            t.see("%d.0" % line)
            t.tag_add("sel", "%d.0" % line, "%d.end" % line)
            vupdate(vars.highlight_line, line)
        else:
            vupdate(vars.highlight_line, -1)

    def tkRedraw(self, *dummy):
        if self.after_id:
            # May need to upgrade to an instant redraw
            self.after_cancel(self.after_id)
        self.after_id = self.after_idle(self.actual_tkRedraw)

    def redraw_soon(self, *dummy):
        if self.after_id: return
        self.after_id = self.after(50, self.actual_tkRedraw)

    def tkRedraw_perspective(self, *dummy):
        """Cause the opengl widget to redraw itself."""
        self.redraw_perspective()

    def tkRedraw_ortho(self, *dummy):
        """Cause the opengl widget to redraw itself."""
        self.redraw_ortho()

    def startRotate(self, event):
        if lathe: return
        return Opengl.startRotate(self, event)

    def tkAutoSpin(self, event):
        if lathe: return
        return Opengl.tkAutoSpin(self, event)

    def tkRotate(self, event):
        if lathe: return
        Opengl.tkRotate(self, event)
        self.perspective = True
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="link")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(0)

    def tkTranslateOrRotate(self, event):
        if self.getRotateMode():
            self.tkRotate(event)
        else:
            self.tkTranslate(event)

    def tkRotateOrTranslate(self, event):
        if self.getRotateMode():
            self.tkTranslate(event)
        else:
            self.tkRotate(event)

    def actual_tkRedraw(self, *dummy):
        self.after_id = None
        if self.perspective:
            self.tkRedraw_perspective()
        else:
            self.tkRedraw_ortho()

    def get_show_program(self): return vars.show_program.get()
    def get_show_offsets(self): return vars.show_offsets.get()
    def get_show_extents(self): return vars.show_extents.get()
    def get_grid_size(self): return vars.grid_size.get()
    def get_show_metric(self): return vars.metric.get()
    def get_show_live_plot(self): return vars.show_live_plot.get()
    def get_show_machine_speed(self): return vars.show_machine_speed.get()
    def get_show_distance_to_go(self): return vars.show_distance_to_go.get()

    def get_view(self):
        x,y,z,p = 0,1,2,3
        if str(widgets.view_x['relief']) == "sunken":
            view = x
        elif (str(widgets.view_y['relief']) == "sunken" or
             str(widgets.view_y2['relief']) == "sunken"):
            view = y
        elif (str(widgets.view_z['relief']) == "sunken" or
              str(widgets.view_z2['relief']) == "sunken"):
            view = z
        else:
            view = p
        return view


    def get_show_relative(self): return vars.coord_type.get()
    def get_show_limits(self): return vars.show_machine_limits.get()
    def get_show_tool(self): return vars.show_tool.get()
    def redraw(self):
        if not self.winfo_viewable():
            return self.redraw_dro()

        if self.select_event:
            self.select(self.select_event)
            self.select_event = None

        GlCanonDraw.redraw(self)

    def redraw_dro(self):
        self.stat.poll()

        limit, homed, posstrs, droposstrs = self.posstrs()

        text = widgets.numbers_text

        font = "Courier 10 pitch"
        if not hasattr(self, 'font_width'):
            self.font_width = text.tk.call(
                "font", "measure", (font, -100, "bold"), "0")
            self.font_vertspace = text.tk.call(
                "font", "metrics", (font, -100, "bold"), "-linespace") - 100
            self.last_font = None
        font_width = self.font_width
        font_vertspace = self.font_vertspace

        text.delete("0.0", "end")
        t = droposstrs[:]
        text.insert("end", "\n".join(t))

        window_height = text.winfo_height()
        window_width = text.winfo_width()
        dro_lines = len(droposstrs)
        dro_width = len(droposstrs[0]) + 3
        # pixels of height required, for "100 pixel" font
        req_height = dro_lines * 100 + (dro_lines + 1) * font_vertspace
        # pixels of width required, for "100 pixel" font
        req_width = dro_width * font_width
        height_ratio = float(window_height) / req_height
        width_ratio = float(window_width) / req_width
        ratio = min(height_ratio, width_ratio)
        new_font = -int(100*ratio)
        if new_font != self.last_font:
            text.configure(font=(font, new_font, "bold"))
            self.last_font = new_font

def init():
    glDrawBuffer(GL_BACK)
    glDisable(GL_CULL_FACE)
    glLineStipple(2, 0x5555)
    glDisable(GL_LIGHTING)
    glClearColor(0,0,0,0)
    glPixelStorei(GL_UNPACK_ALIGNMENT, 1)

def toggle_perspective(e):
    o.perspective = not o.perspective
    o.tkRedraw()

def select_line(event):
    i = t.index("@%d,%d" % (event.x, event.y))
    i = int(i.split('.')[0])
    o.set_highlight_line(i)
    o.tkRedraw()
    return "break"

def release_select_line(event):
    o.set_highlight_line(None)
    o.set_current_line(None)
    o.tkRedraw()
    return "break"

def select_prev(event):
    if o.highlight_line is None:
        i = o.last_line
    else:
        i = max(1, o.highlight_line - 1)
    o.set_highlight_line(i)
    o.tkRedraw()

def select_next(event):
    if o.highlight_line is None:
        i = 1
    else:
        i = min(o.last_line, o.highlight_line + 1)
    o.set_highlight_line(i)
    o.tkRedraw()

def scroll_up(event):
    t.yview_scroll(-2, "units")

def scroll_down(event):
    t.yview_scroll(2, "units")

current_tool = None

def vupdate(var, val):
    try:
        if var.get() == val: return
    except ValueError:
        pass
    var.set(val)

class LivePlotter:
    def __init__(self, window):
        self.win = window
        window.live_plot_size = 0
        self.after = None
        self.error_after = None
        self.running = BooleanVar(window)
        self.running.set(False)
        self.lastpts = -1
        self.last_speed = -1
        self.last_limit = None
        self.last_motion_mode = None
        self.last_joint_position = None
        self.notifications_clear = False
        self.notifications_clear_info = False
        self.notifications_clear_error = False

    def start(self):
        if self.running.get(): return
        if not os.path.exists(linuxcnc.nmlfile):
            return False
        try:
            self.stat = linuxcnc.stat()
        except linuxcnc.error:
            return False
        self.last_task_mode = self.stat.task_mode
        self.last_motion_mode  = self.stat.motion_mode
        def C(s):
            a = o.colors[s + "_alpha"]
            s = o.colors[s]
            return [int(x * 255) for x in s + (a,)]

        self.logger = linuxcnc.positionlogger(linuxcnc.stat(),
            C('backplotjog'),
            C('backplottraverse'),
            C('backplotfeed'),
            C('backplotarc'),
            C('backplottoolchange'),
            C('backplotprobing'),
            geometry, foam
        )
        o.after_idle(lambda: _thread.start_new_thread(self.logger.start, (.01,)))

        global feedrate_blackout, rapidrate_blackout, spindlerate_blackout, maxvel_blackout
        feedrate_blackout=rapidrate_blackout=spindlerate_blackout=maxvel_blackout=time.time()+1

        self.running.set(True)

    def stop(self):
        if not self.running.get(): return
        if hasattr(self, 'stat'): del self.stat
        if self.after is not None:
            self.win.after_cancel(self.after)
            self.after = None
        if self.error_after is not None:
            self.win.after_cancel(self.error_after)
            self.error_after = None
        self.logger.stop()
        self.running.set(True)

    def error_task(self):
        error = e.poll()
        while error:
            kind, text = error
            if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):
                icon = "error"
            else:
                icon = "info"
            notifications.add(icon, text)
            error = e.poll()
        self.error_after = self.win.after(200, self.error_task)

    def update(self):
        if not self.running.get():
            return
        try:
            self.stat.poll()
        except linuxcnc.error as detail:
            print("error", detail)
            del self.stat
            return

        global continuous_jog_in_progress,cjogindices
        if continuous_jog_in_progress and not manual_tab_visible():
            jjogmode = get_jog_mode()
            for idx in cjogindices:
                 c.jog(linuxcnc.JOG_STOP, jjogmode,idx)
            continuous_jog_in_progress = 0
            cjogindices = []

        if  (   (self.stat.motion_mode == linuxcnc.TRAJ_MODE_COORD)
            and (self.stat.task_mode   == linuxcnc.MODE_MANUAL)
            ):
            set_motion_teleop(1)
        if      ( (self.stat.motion_mode == linuxcnc.TRAJ_MODE_TELEOP)
            and   not vars.teleop_mode.get() ):
            vars.teleop_mode.set(1)

        # With joints_axes support and jogging while mdi
        #  (ref: emctaskmain.cc:allow_while_idle_type())
        # behavior is better without changing tabs upon detecting
        # a task_mode change.
        # Restore behavior with this local var: enable_tab_change
        enable_tab_change = False
        if (     enable_tab_change
            and (self.stat.task_mode != self.last_task_mode)):
            if (self.stat.task_mode == linuxcnc.MODE_MANUAL):
                root_window.tk.eval(pane_top + ".tabs raise manual")
            if (self.stat.task_mode == linuxcnc.MODE_MDI):
                root_window.tk.eval(pane_top + ".tabs raise mdi")
            if (self.stat.task_mode == linuxcnc.MODE_AUTO):
                # not sure if anything needs to be done for this
                pass
        self.last_task_mode = self.stat.task_mode

        self.after = self.win.after(update_ms, self.update)

        self.win.set_current_line(self.stat.motion_id or self.stat.motion_line)

        speed = self.stat.current_vel

        limits = soft_limits()

        if (   self.stat.tool_offset   != o.last_tool_offset
            or self.stat.tool_in_spindle != o.last_tool):
            o.redraw_dro()
        if (self.logger.npts != self.lastpts
                or limits != o.last_limits
                or self.stat.actual_position != o.last_position
                or self.stat.joint_actual_position != o.last_joint_position
                or self.stat.homed != o.last_homed
                or self.stat.g5x_offset != o.last_g5x_offset
                or self.stat.g92_offset != o.last_g92_offset
                or self.stat.g5x_index != o.last_g5x_index
                or self.stat.rotation_xy != o.last_rotation_xy
                or self.stat.limit != o.last_limit
                or self.stat.tool_offset != o.last_tool_offset
                or self.stat.tool_in_spindle != o.last_tool
                or self.stat.motion_mode != self.last_motion_mode
                or abs(speed - self.last_speed) > .01):
            o.redraw_soon()
            o.last_limits = limits
            o.last_limit = self.stat.limit
            o.last_homed = self.stat.homed
            o.last_position = self.stat.actual_position
            o.last_g5x_offset = self.stat.g5x_offset
            o.last_g92_offset = self.stat.g92_offset
            o.last_g5x_index = self.stat.g5x_index
            o.last_rotation_xy = self.stat.rotation_xy
            self.last_motion_mode = self.stat.motion_mode
            o.last_tool = self.stat.tool_in_spindle
            o.last_tool_offset = self.stat.tool_offset
            o.last_joint_position = self.stat.joint_actual_position
            self.last_speed = speed
            self.lastpts = self.logger.npts

        root_window.update_idletasks()
        vupdate(vars.exec_state, self.stat.exec_state)
        vupdate(vars.interp_state, self.stat.interp_state)
        vupdate(vars.queued_mdi_commands, self.stat.queued_mdi_commands)
        if hal_present == 1:
            notifications_clear = comp["notifications-clear"]
            if self.notifications_clear != notifications_clear:
                 self.notifications_clear = notifications_clear
                 if self.notifications_clear:
                     notifications.clear()
            notifications_clear_info = comp["notifications-clear-info"]
            if self.notifications_clear_info != notifications_clear_info:
                 self.notifications_clear_info = notifications_clear_info
                 if self.notifications_clear_info:
                     notifications.clear("info")
            notifications_clear_error = comp["notifications-clear-error"]
            if self.notifications_clear_error != notifications_clear_error:
                 self.notifications_clear_error = notifications_clear_error
                 if self.notifications_clear_error:
                     notifications.clear("error")
            now_resume_inhibit = comp["resume-inhibit"]
            global resume_inhibit
            if resume_inhibit != now_resume_inhibit:
                 resume_inhibit = now_resume_inhibit
                 if resume_inhibit:
                     root_window.tk.call("pause_image_override")
                 else:
                     root_window.tk.call("pause_image_normal")
        vupdate(vars.task_mode, self.stat.task_mode)
        vupdate(vars.task_state, self.stat.task_state)
        vupdate(vars.task_paused, self.stat.task_paused)
        vupdate(vars.taskfile, self.stat.file)
        vupdate(vars.interp_pause, self.stat.paused)
        vupdate(vars.mist, self.stat.mist)
        vupdate(vars.flood, self.stat.flood)
        vupdate(vars.brake, self.stat.spindle[0]['brake'])
        vupdate(vars.spindledir, self.stat.spindle[0]['direction'])
        vupdate(vars.motion_mode, self.stat.motion_mode)
        vupdate(vars.optional_stop, self.stat.optional_stop)
        vupdate(vars.block_delete, self.stat.block_delete)
        if time.time() > spindlerate_blackout:
            vupdate(vars.spindlerate, int(100 * self.stat.spindle[0]['override'] + .5))
        if time.time() > feedrate_blackout:
            vupdate(vars.feedrate, int(100 * self.stat.feedrate + .5))
        if time.time() > rapidrate_blackout:
            vupdate(vars.rapidrate, int(100 * self.stat.rapidrate + .5))
        if time.time() > maxvel_blackout:
            m = to_internal_linear_unit(self.stat.max_velocity)
            if vars.metric.get(): m = m * 25.4
            vupdate(vars.maxvel_speed, float(int(600 * m)/10.0))
            root_window.tk.call("update_maxvel_slider")
        vupdate(vars.override_limits, self.stat.joint[0]['override_limits'])
        on_any_limit = 0
        for l in self.stat.limit:
            if l:
                on_any_limit = True
                break
        vupdate(vars.on_any_limit, on_any_limit)
        global current_tool
        current_tool = self.stat.tool_table[0]
        if current_tool:
            tool_data = {'tool': current_tool[0], 'zo': current_tool[3], 'xo': current_tool[1], 'dia': current_tool[10]}
        if current_tool is None:
            vupdate(vars.tool, _("Unknown tool %d") % self.stat.tool_in_spindle)
        elif tool_data['tool'] == 0 or tool_data['tool'] == -1:
            vupdate(vars.tool, _("No tool"))
        elif current_tool.xoffset == 0 and not lathe:
            vupdate(vars.tool, _("Tool %(tool)d, offset %(zo)g, diameter %(dia)g") % tool_data)
        else:
            vupdate(vars.tool, _("Tool %(tool)d, zo %(zo)g, xo %(xo)g, dia %(dia)g") % tool_data)
        active_codes = []
        for i in self.stat.gcodes[1:]:
            if i == -1: continue
            if i % 10 == 0:
                active_codes.append("G%d" % (i/10))
            else:
                active_codes.append("G%(ones)d.%(tenths)d" % {'ones': i/10, 'tenths': i%10})

        for i in self.stat.mcodes[1:]:
            if i == -1: continue
            active_codes.append("M%d" % i)

        feed_str = "F%.1f" % self.stat.settings[1]
        if feed_str.endswith(".0"): feed_str = feed_str[:-2]
        active_codes.append(feed_str)
        active_codes.append("S%.0f" % self.stat.settings[2])

        codes = " ".join(active_codes)
        widgets.code_text.configure(state="normal")
        widgets.code_text.delete("0.0", "end")
        widgets.code_text.insert("end", codes)
        widgets.code_text.configure(state="disabled")

        # disable jog radiobutton for extrajoints that are homed
        # since control is transferred to joint.N.posthome-cmd
        for jno in range(num_joints - self.stat.num_extrajoints, num_joints):
            jname = tabs_manual+".joints.joint"+str(jno)
            #print jno,num_joints,num_extrajoints,s.homed[jno],jname
            if s.homed[jno]: state="disabled"
            else:            state="normal"
            root_window.call(jname,"configure","-state",state)

        user_live_update()

    def clear(self):
        self.logger.clear()
        o.redraw_soon()

def running(do_poll=True):
    if do_poll: s.poll()
    return ( (s.task_mode == linuxcnc.MODE_AUTO or s.task_mode == linuxcnc.MODE_MDI)
             and s.interp_state != linuxcnc.INTERP_IDLE)


def manual_tab_visible():
    page = root_window.tk.call(widgets.tabs, "raise")
    return page == "manual"

def manual_ok(do_poll=True):
    """warning: deceptive function name.

This function returns TRUE when not running a program, i.e., when a user-
initiated action (whether an MDI command or a jog) is acceptable.

This means this function returns True when the mdi tab is visible."""
    if do_poll: s.poll()
    if s.task_state != linuxcnc.STATE_ON: return False
    if running(): return 0
    return s.interp_state == linuxcnc.INTERP_IDLE or (s.task_mode == linuxcnc.MODE_MDI and s.queued_mdi_commands < vars.max_queued_mdi_commands.get())

# If LinuxCNC is not already in one of the modes given, switch it to the
# first (task) mode MANUAL,MDI,AUTO
def ensure_mode(m, *p):
    s.poll()
    if s.task_mode == m or s.task_mode in p: return True
    c.mode(m) # task_mode
    c.wait_complete()
    s.poll()
    return True

class DummyProgress:
    def update(self, count): pass
    def nextphase(self, count): pass
    def done(self): pass

class Progress:
    def __init__(self, phases, total):
        self.num_phases = phases
        self.phase = 0
        self.total = total or 1
        self.lastcount = 0
        self.text = None
        self.old_focus = root_window.tk.call("focus", "-lastfor", ".")
        root_window.tk.call("canvas", ".info.progress",
                    "-width", 1, "-height", 1,
                    "-highlightthickness", 0,
                    "-borderwidth", 2, "-relief", "sunken",
                    "-cursor", "watch")
        root_window.configure(cursor="watch")
        root_window.tk.call(".menu", "configure", "-cursor", "watch")
        t.configure(cursor="watch")
        root_window.tk.call("bind", ".info.progress", "<Key>", "break")
        root_window.tk.call("pack", ".info.progress", "-side", "left",
                                "-fill", "both", "-expand", "1")
        root_window.tk.call(".info.progress", "create", "rectangle",
                                (-10, -10, -10, -10),
                                "-fill", "blue", "-outline", "blue")
        root_window.update_idletasks()
        root_window.tk.call("focus", "-force", ".info.progress")
        root_window.tk.call("patient_grab", ".info.progress")

    def update(self, count, force=0):
        if force or count - self.lastcount > 400:
            fraction = (self.phase + count * 1. / self.total) / self.num_phases
            self.lastcount = count
            try:
                width = int(t.tk.call("winfo", "width", ".info.progress"))
            except Tkinter.TclError as detail:
                print(detail)
                return
            height = int(t.tk.call("winfo", "height", ".info.progress"))
            t.tk.call(".info.progress", "coords", "1",
                (0, 0, int(fraction * width), height))
            t.tk.call("update", "idletasks")

    def nextphase(self, total):
        self.phase += 1
        self.total = total or 1
        self.lastcount = -100
        self.update(0, True)

    def done(self):
        root_window.tk.call("destroy", ".info.progress")
        root_window.tk.call("grab", "release", ".info.progress")
        root_window.tk.call("focus", self.old_focus)
        root_window.configure(cursor="")
        root_window.tk.call(".menu", "configure", "-cursor", "")
        t.configure(cursor="xterm")

    def __del__(self):
        if root_window.tk.call("winfo", "exists", ".info.progress"):
            self.done()

    def set_text(self, text):
        if self.text is None:
            self.text = root_window.tk.call(".info.progress", "create", "text",
                (1, 1), "-text", text, "-anchor", "nw")
        else:
            root_window.tk.call(".info.progress", "itemconfigure", text,
                "-text", text)

class AxisCanon(GLCanon, StatMixin):
    def __init__(self, widget, text, linecount, progress, arcdivision):
        GLCanon.__init__(self, widget.colors, geometry, foam)
        StatMixin.__init__(self, s, random_toolchanger)
        self.text = text
        self.linecount = linecount
        self.progress = progress
        self.aborted = False
        self.arcdivision = arcdivision
        self.timeout_time = None

    def set_timeout(self, timeout):
        '''Abort loading of G-code if it takes more than timeout seconds from
        the time this method was called. Set timeout to None to disable.'''
        if timeout is None or timeout <= 0:
            self.timeout_time = None
        else:
            self.timeout_time = time.time() + timeout

    def change_tool(self, pocket):
        GLCanon.change_tool(self, pocket)
        StatMixin.change_tool(self, pocket)

    def is_lathe(self): return lathe

    def do_cancel(self, event):
        self.aborted = True

    def check_abort(self):
        root_window.update()

        if self.timeout_time is not None and self.timeout_time < time.time():
            notifications.add("info", _("G-code preview loading timed out"))
            self.aborted = True

        if self.aborted: raise KeyboardInterrupt

    def next_line(self, st):
        GLCanon.next_line(self, st)
        self.progress.update(self.lineno)
        if self.notify:
            notifications.add("info",self.notify_message)
            self.notify = 0


progress_re = re.compile("^FILTER_PROGRESS=(\\d*)$")
def filter_program(program_filter, infilename, outfilename):
    import subprocess
    outfile = open(outfilename, "w")
    infilename_q = infilename.replace("'", "'\\''")
    env = dict(os.environ)
    env['AXIS_PROGRESS_BAR'] = '1'
    p = subprocess.Popen(["sh", "-c", "%s '%s'" % (program_filter, infilename_q)],
                          stdin=subprocess.PIPE,
                          stdout=outfile,
                          stderr=subprocess.PIPE,
                          env=env)
    p.stdin.close()  # No input for you
    progress = Progress(1, 100)
    progress.set_text(_("Filtering..."))
    stderr_text = []
    try:
        while p.poll() is None: # XXX add checking for abort
            t.update()
            r,w,x = select.select([p.stderr], [], [], 0.100)
            if r:
                stderr_line = p.stderr.readline().decode()
                m = progress_re.match(stderr_line)
                if m:
                    progress.update(int(m.group(1)), 1)
                else:
                    stderr_text.append(stderr_line)
                    sys.stderr.write(stderr_line)
        # .. might be something left on stderr
        for line in p.stderr:
            stderr_line = line.decode()
            m = progress_re.match(stderr_line)
            if not m:
                stderr_text.append(stderr_line)
                sys.stderr.write(stderr_line)
        return p.returncode, "".join(stderr_text)
    finally:
        progress.done()

def get_filter(filename):
    ext = os.path.splitext(filename)[1]
    if ext:
        return inifile.find("FILTER", ext[1:])
    else:
        return None

def update_recent_menu():
    recent = ap.getpref('recentfiles', [], repr)
    root_window.tk.call("update_recent", *recent)

def add_recent_file(f):
    recent = ap.getpref('recentfiles', [], repr)
    if len(recent) == 0: recent=[]
    if f in recent: recent.remove(f)
    recent.insert(0, f)
    recent = recent[:10]
    ap.putpref('recentfiles', recent, repr)
    update_recent_menu()

def cancel_open(event=None):
    if o.canon is not None:
        o.canon.aborted = True

loaded_file = None
def open_file_guts(f, filtered=False, addrecent=True):
    s.poll()
    save_task_mode = s.task_mode
    ensure_mode(linuxcnc.MODE_MANUAL)
    if addrecent:
        add_recent_file(f)
    if not filtered:
        global loaded_file
        loaded_file = f
        program_filter = get_filter(f)
        if program_filter:
            tempfile = os.path.join(tempdir, os.path.basename(f))
            exitcode, stderr = filter_program(program_filter, f, tempfile)
            if exitcode:
                root_window.tk.call("nf_dialog", (".error", "-ext", stderr),
                        _("Filter failed"),
                        _("The program %(program)r exited with code %(code)d.  "
                        "Any error messages it produced are shown below:")
                            % {'program': program_filter, 'code': exitcode},
                        "error",0,_("OK"))
                return
            ensure_mode(save_task_mode)
            return open_file_guts(tempfile, True, False)

    ensure_mode(save_task_mode)
    set_first_line(0)
    t0 = time.time()

    canon = None
    o.deselect(None) # remove highlight line from last program
    try:
        # Force a sync of the interpreter, which writes out the var file.
        c.task_plan_synch()
        c.wait_complete()
        c.program_open(f)
        lines = open(f).readlines()
        progress = Progress(2, len(lines))
        t.configure(state="normal")
        t.tk.call("delete_all", t)
        code = []
        i = 0
        for i, l in enumerate(lines):
            l = l.expandtabs().replace("\r", "")
            #t.insert("end", "%6d: " % (i+1), "lineno", l)
            code.extend(["%6d: " % (i+1), "lineno", l, ""])
            if i % 1000 == 0:
                t.insert("end", *code)
                del code[:]
                progress.update(i)
        if code:
            t.insert("end", *code)
        progress.nextphase(len(lines))
        f = os.path.abspath(f)
        o.canon = canon = AxisCanon(o, widgets.text, i, progress, arcdivision)
        root_window.bind_class(".info.progress", "<Escape>", cancel_open)

        parameter = inifile.find("RS274NGC", "PARAMETER_FILE")
        temp_parameter = os.path.join(tempdir, os.path.basename(parameter))
        if os.path.exists(parameter):
            shutil.copy(parameter, temp_parameter)
        canon.parameter_file = temp_parameter

        timeout = inifile.find("DISPLAY", "PREVIEW_TIMEOUT") or ""
        if timeout:
            canon.set_timeout(float(timeout))

        initcode = inifile.find("EMC", "RS274NGC_STARTUP_CODE") or ""
        if initcode == "":
            initcode = inifile.find("RS274NGC", "RS274NGC_STARTUP_CODE") or ""
        initcodes = []
        if initcode:
            initcodes.append(initcode)
        if not interpname:
            unitcode = "G%d" % (20 + (s.linear_units == 1))
            initcodes.append(unitcode)
            initcodes.append("g90")
            initcodes.append("t%d m6" % s.tool_in_spindle)
            for i in range(9):
                if s.axis_mask & (1<<i):
                    axis = "XYZABCUVW"[i]

                    if (axis == "A" and a_axis_wrapped) or\
                       (axis == "B" and b_axis_wrapped) or\
                       (axis == "C" and c_axis_wrapped):
                        pos = s.position[i] % 360.000
                    else:
                        pos = s.position[i]

                    position = "g53 g0 %s%.8f" % (axis, pos)
                    initcodes.append(position)
            for i, g in enumerate(s.gcodes):
                # index 0 is "sequence number" and index 2 is the last block's
                # "g_mode" neither of which should be sent as a startup code.
                # In particular, after issuing a non-modal G like G10, that
                # will appear at s.gcodes[2] which caused issue #269
                if i in (0, 1, 2): continue
                if g == -1: continue
                initcodes.append("G%.1f" % (g * .1))
            tool_offset = "G43.1"
            for i in range(9):
                if s.axis_mask & (1<<i):
                    tool_offset += " %s%.8f" % ("XYZABCUVW"[i], s.tool_offset[i])
            initcodes.append(tool_offset)
            for i, m in enumerate(s.mcodes):
                # index 0 is "sequence number", just like s.gcodes[0].  Trying
                # to set this number as a modal code caused issue #271.
                # index 1 is the stopping code, which holds M2 after reading
                # ahead to the end of a program.  Trying to set this number
                # as a modal code makes the next preview disappear.
                # (see Interp::write_m_codes)
                if i in (0,1): continue
                if m == -1: continue
                initcodes.append("M%d" % m)
        try:
            result, seq = o.load_preview(f, canon, initcodes, interpname)
        except KeyboardInterrupt:
            result, seq = 0, 0
        # According to the documentation, MIN_ERROR is the largest value that is
        # not an error.  Crazy though that sounds...
        if result > gcode.MIN_ERROR:
            error_str = _(gcode.strerror(result))
            root_window.tk.call("nf_dialog", ".error",
                    _("G-Code error in %s") % os.path.basename(f),
                    _("Near line %(seq)d of %(f)s:\n%(error_str)s") % {'seq': seq, 'f': f, 'error_str': error_str},
                    "error",0,_("OK"))

        t.configure(state="disabled")
        o.lp.set_depth(from_internal_linear_unit(o.get_foam_z()),
                       from_internal_linear_unit(o.get_foam_w()))

    except Exception as e:
        notifications.add("error", str(e))
    finally:
        # Before unbusying, I update again, so that any keystroke events
        # that reached the program while it was busy are sent to the
        # label, not to another window in the application.  If this
        # update call is removed, the events are only handled after that
        # widget is destroyed and focus has passed to some other widget,
        # which will handle the keystrokes instead, leading to the
        # R-while-loading bug.
        #print "load_time", time.time() - t0
        root_window.update()
        root_window.tk.call("destroy", ".info.progress")
        root_window.tk.call("grab", "release", ".info.progress")
        if canon:
            canon.progress = DummyProgress()
        try:
            progress.done()
        except UnboundLocalError:
            pass
        o.tkRedraw()
        root_window.tk.call("set_mode_from_tab")

tabs_mdi = str(root_window.tk.call("set", "_tabs_mdi"))
tabs_manual = str(root_window.tk.call("set", "_tabs_manual"))
tabs_preview = str(root_window.tk.call("set", "_tabs_preview"))
tabs_numbers = str(root_window.tk.call("set", "_tabs_numbers"))
pane_top = str(root_window.tk.call("set", "pane_top"))
pane_bottom = str(root_window.tk.call("set", "pane_bottom"))

widget_list=[
       ("help_window", Toplevel, ".keys"),
       ("about_window", Toplevel, ".about"),
       ("text", Text, pane_bottom + ".t.text"),
       ("preview_frame", Frame, tabs_preview),
       ("numbers_text", Text, tabs_numbers + ".text"),
       ("tabs", bwidget.NoteBook, pane_top + ".tabs"),
       ("right", bwidget.NoteBook, pane_top + ".right"),
       ("mdi_history", Listbox, tabs_mdi + ".history"),
       ("mdi_command", Entry, tabs_mdi + ".command"),
       ("code_text", Text, pane_top + ".gcodes"),

       ("axes", Radiobutton, tabs_manual + ".axes"),
       ("axis_x", Radiobutton, tabs_manual + ".axes.axisx"),
       ("axis_y", Radiobutton, tabs_manual + ".axes.axisy"),
       ("axis_z", Radiobutton, tabs_manual + ".axes.axisz"),
       ("axis_a", Radiobutton, tabs_manual + ".axes.axisa"),
       ("axis_b", Radiobutton, tabs_manual + ".axes.axisb"),
       ("axis_c", Radiobutton, tabs_manual + ".axes.axisc"),
       ("axis_u", Radiobutton, tabs_manual + ".axes.axisu"),
       ("axis_v", Radiobutton, tabs_manual + ".axes.axisv"),
       ("axis_w", Radiobutton, tabs_manual + ".axes.axisw"),
       ("jogincr", Entry, tabs_manual + ".jogf.jog.jogincr"),
       ("override", Checkbutton, tabs_manual + ".jogf.override"),

       ("ajogspeed", Entry, pane_top + ".ajogspeed"),

       ("lubel", Label, tabs_manual + ".coolant"),
       ("flood", Checkbutton, tabs_manual + ".flood"),
       ("mist", Checkbutton, tabs_manual + ".mist"),

       ("brake", Checkbutton, tabs_manual + ".spindlef.brake"),

       ("spindlel", Label, tabs_manual + ".spindlel"),
       ("spindlef", Frame, tabs_manual + ".spindlef"),
       ("spindle_ccw", Radiobutton, tabs_manual + ".spindlef.ccw"),
       ("spindle_stop", Radiobutton, tabs_manual + ".spindlef.stop"),
       ("spindle_cw", Radiobutton, tabs_manual + ".spindlef.cw"),

       ("spindle_minus", Button, tabs_manual + ".spindlef.spindleminus"),
       ("spindle_plus", Button, tabs_manual + ".spindlef.spindleplus"),

       ("view_z", Button, ".toolbar.view_z"),
       ("view_z2", Button, ".toolbar.view_z2"),
       ("view_x", Button, ".toolbar.view_x"),
       ("view_y", Button, ".toolbar.view_y"),
       ("view_y2", Button, ".toolbar.view_y2"),
       ("view_p", Button, ".toolbar.view_p"),
       ("rotate", Button, ".toolbar.rotate"),

       ("feedoverride", Scale, pane_top + ".feedoverride.foscale"),
       ("rapidoverride", Scale, pane_top + ".rapidoverride.foscale"),
       ("spinoverride", Scale, pane_top + ".spinoverride.foscale"),
       ("spinoverridef", Scale, pane_top + ".spinoverride"),

       ("menu_view", Menu, ".menu.view"),
       ("menu_grid", Menu, ".menu.view.grid"),
       ("menu_file", Menu, ".menu.file"),
       ("menu_machine", Menu, ".menu.machine"),
       ("menu_touchoff", Menu, ".menu.machine.touchoff"),

       ("homebutton", Button, tabs_manual + ".jogf.zerohome.home"),
       ("homemenu", Menu, ".menu.machine.home"),
       ("unhomemenu", Menu, ".menu.machine.unhome"),
      ]
widget_list.append( ("joints", Radiobutton, tabs_manual + ".joints") )
for j in range(linuxcnc.MAX_JOINTS):
    widget_list.append( ("joint_"+str(j),
                          Radiobutton,
                          tabs_manual + ".joints.joint"+str(j)) )
widgets = nf.Widgets(root_window,*widget_list)

# Work around an apparent regression in python-tk which causes the value
# associated with the Y axis button to be changed to the string "True",
# related to the interpretation of the string "y" as true in a boolean
# context in Tcl's typeless value system.
# https://github.com/LinuxCNC/linuxcnc/issues/146
# https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=834783
widgets.axis_x.configure(value="x")
widgets.axis_y.configure(value="y")
widgets.axis_z.configure(value="z")
widgets.axis_a.configure(value="a")
widgets.axis_b.configure(value="b")
widgets.axis_c.configure(value="c")
widgets.axis_u.configure(value="u")
widgets.axis_v.configure(value="v")
widgets.axis_w.configure(value="w")

def activate_ja_widget(i, force=0):
    if not force and not manual_ok(): return
    if get_jog_mode() and (not kins_is_trivkins or (kins_is_trivkins and s.kinematics_type == linuxcnc.KINEMATICS_BOTH)):
        # free jogging (joints) if:
        #   non-trivkins config or
        #   trivkins config and kinstype = both
        # only accept integers here
        if not isinstance(i, int): return
        if i >= num_joints: return
        widget = getattr(widgets, "joint_%d" % i)
    else:
        # teleop jogging (axes) or
        # free jogging (joints) if:
        #   trivkins config and kinstype not both
        # letters are special case for key bindings
        if isinstance(i, str):
            letter = i
        elif not get_jog_mode():
            letter = "xyzabcuvw"[i]
        else:
            if lathe_historical_config():
                if i == 1: return
                if i > 1: i = i-1
            letter = trajcoordinates[i]
        if letter in trajcoordinates:
            widget = getattr(widgets, "axis_%s" % letter)
        else:
            # key bindings for letters not in trajcoordinates end up here
            return
    widget.focus()
    widget.invoke()

def set_first_line(lineno):
    global program_start_line
    program_start_line = lineno
    t.tag_remove("ignored", "0.0", "end")
    if lineno > 0:
        t.tag_add("ignored", "0.0", "%d.end" % (lineno-1))

def parse_increment(jogincr):
    if jogincr.endswith("mm"):
        scale = from_internal_linear_unit(1/25.4)
    elif jogincr.endswith("cm"):
        scale = from_internal_linear_unit(10/25.4)
    elif jogincr.endswith("um"):
        scale = from_internal_linear_unit(.001/25.4)
    elif jogincr.endswith("in") or jogincr.endswith("inch"):
        scale = from_internal_linear_unit(1.)
    elif jogincr.endswith("mil"):
        scale = from_internal_linear_unit(.001)
    else:
        scale = 1
    jogincr = jogincr.rstrip(" inchmuil")
    if "/" in jogincr:
        p, q = jogincr.split("/")
        jogincr = float(p) / float(q)
    else:
        jogincr = float(jogincr)
    return jogincr * scale


def set_hal_jogincrement():
    if not 'comp' in globals(): return # this is called once during startup before comp exists
    jogincr = widgets.jogincr.get()
    if jogincr == _("Continuous"):
        distance = 0
    else:
        distance = parse_increment(jogincr)
    comp['jog.increment'] = distance

def jogspeed_listbox_change(dummy, value):
    global jogincr_index_last
    # pdb.set_trace()
    # FJ: curselection is not always up to date here, so
    #     do a linear search by hand
    iterator = root_window.call(widgets.jogincr._w, "list", "get", "0", "end")
    idx = 0
    cursel = -1
    if isinstance(value, str): value = value.encode('utf-8', 'replace')
    for i in iterator:
        if isinstance(i, str): i = i.encode('utf-8', 'replace')
        if i == value:
            cursel= idx
            break
        idx += 1
    if cursel > 0:
        jogincr_index_last= cursel
    set_hal_jogincrement()

def jogspeed_continuous():
    root_window.call(widgets.jogincr._w, "select", 0)

def jogspeed_incremental(dir=1):
    global jogincr_index_last
    global continuous_jog_in_progress
    if continuous_jog_in_progress: return
    jogincr_size = int(root_window.call(widgets.jogincr._w, "list", "size"))
    # pdb.set_trace()
    cursel = root_window.call(widgets.jogincr._w, "curselection")
    if type(cursel) == tuple: cursel = cursel[0]
    if cursel == "":
        cursel = 0
    else:
        cursel = int(cursel)
    if dir == 1:
        if cursel > 0:
            # If it was "Continuous" just before, then don't change last jog increment!
            jogincr_index_last += 1
        if jogincr_index_last >= jogincr_size:
            jogincr_index_last = jogincr_size - 1
    else:
        if cursel > 0:
            jogincr_index_last -= 1
        if jogincr_index_last < 1:
            jogincr_index_last = 1
    root_window.call(widgets.jogincr._w, "select", jogincr_index_last)
    set_hal_jogincrement()


class SelectionHandler:
    def __init__(self, win, **kw):
        self.kw = kw
        self.win = win
        self.win.selection_handle(self.handler, *kw)
        self.value = ""

    def set_value(self, value):
        self.win.selection_own(**self.kw)
        self.value = value

    def handler(self, offset, maxchars):
        offset = int(offset)
        maxchars = int(maxchars)
        return self.value[offset:offset+maxchars]

selection = SelectionHandler(root_window)

class DummyCanon:
    def comment(*args): pass
    def next_line(*args): pass
    def set_g5x_offset(*args): pass
    def set_g92_offset(*args): pass
    def set_xy_rotation(*args): pass
    def get_external_angular_units(self): return 1.0
    def get_external_length_units(self): return 1.0
    def set_plane(*args): pass
    def get_axis_mask(self): return 7
    def get_tool(self, tool):
        return tool, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0
    def set_feed_rate(self, rate): pass

    def user_defined_function(self, m, p, q):
        self.number = p

def parse_gcode_expression(e):
    f = os.path.devnull
    canon = DummyCanon()

    parameter = inifile.find("RS274NGC", "PARAMETER_FILE")
    temp_parameter = os.path.join(tempdir, os.path.basename(parameter))
    shutil.copy(parameter, temp_parameter)
    canon.parameter_file = temp_parameter

    result, seq = gcode.parse("", canon, "M199 P["+e+"]", "M2")
    if result > gcode.MIN_ERROR: return False, gcode.strerror(result)
    return True, canon.number

class _prompt_areyousure:
    """ Prompt for a question, user can enter yes or no """
    def __init__(self, title, text):
        t = self.t = Toplevel(root_window, padx=7, pady=7)
        t.wm_title(title)
        t.wm_transient(root_window)
        t.wm_resizable(0, 0)
        self.status=False
        m = Message(t, text=text, aspect=500, anchor="w", justify="left")
        self.w = w = StringVar(t)
        l = Tkinter.Message(t, textvariable=w, justify="left", anchor="w",
                aspect=500)
        self.buttons = f = Tkinter.Frame(t)
        self.ok = Tkinter.Button(f, text=_("Ok"), command=self.do_ok, width=10,height=1,padx=0,pady=.25, default="active")
        self.cancel = Tkinter.Button(f, text=_("Cancel"), command=self.do_cancel, width=10,height=1,padx=0,pady=.25, default="normal")
        t.wm_protocol("WM_DELETE_WINDOW", self.cancel.invoke)
        t.bind("<Return>", lambda event: (self.ok.flash(), self.ok.invoke()))
        t.bind("<KP_Enter>", lambda event: (self.ok.flash(), self.ok.invoke()))
        t.bind("<space>", lambda event: (self.ok.flash(), self.ok.invoke()))
        t.bind("<Escape>", lambda event: (self.cancel.flash(), self.cancel.invoke()))

        m.pack(side="top", anchor="w")
        l.pack(side="top", anchor="w", fill="x", expand=1)
        f.pack(side="bottom", anchor="e")
        self.ok.pack(side="left", padx=3, pady=3)
        self.cancel.pack(side="left", padx=3, pady=3)

    def do_ok(self):
        self.status=True
        self.t.destroy()

    def do_cancel(self):
        self.status=False
        self.t.destroy()

    def result(self):
        return self.status

    def run(self):
        self.t.grab_set()
        self.t.wait_window()
        try:
            self.t.destroy()
        except Tkinter.TclError:
            pass
        return self.result()

def prompt_areyousure(title, text):
    t = _prompt_areyousure(title, text)
    return t.run()

class _prompt_float:
    """ Prompt for a G-code floating point expression """
    def __init__(self, title, text, default, unit_str=''):
        self.unit_str = unit_str
        t = self.t = Toplevel(root_window, padx=7, pady=7)
        t.wm_title(title)
        t.wm_transient(root_window)
        t.wm_resizable(0, 0)
        self.m = m = Message(t, text=text, aspect=500, anchor="w", justify="left")
        self.v = v = StringVar(t)
        self.vv = vv = DoubleVar(t)
        self.u = u = BooleanVar(t)
        self.w = w = StringVar(t)
        l = Tkinter.Message(t, textvariable=w, justify="left", anchor="w",
                aspect=500)
        v.set(default)
        self.e = e = Entry(t, textvariable=v)
        self.buttons = f = Tkinter.Frame(t)
        self.ok = Tkinter.Button(f, text=_("OK"), command=self.do_ok, width=10,height=1,padx=0,pady=.25, default="active")
        self.cancel = Tkinter.Button(f, text=_("Cancel"), command=self.do_cancel, width=10,height=1,padx=0,pady=.25, default="normal")
        v.trace("w", self.check_valid)
        t.wm_protocol("WM_DELETE_WINDOW", self.cancel.invoke)
        t.bind("<Return>", lambda event: (self.ok.flash(), self.ok.invoke()))
        t.bind("<KP_Enter>", lambda event: (self.ok.flash(), self.ok.invoke()))
        t.bind("<Escape>", lambda event: (self.cancel.flash(), self.cancel.invoke()))

        m.pack(side="top", anchor="w")
        e.pack(side="top", anchor="e")
        l.pack(side="top", anchor="w", fill="x", expand=1)
        f.pack(side="bottom", anchor="e")
        self.ok.pack(side="left", padx=3, pady=3)
        self.cancel.pack(side="left", padx=3, pady=3)

    def set_text(self, text):
        self.m.configure(text=text)

    def do_ok(self):
        self.u.set(True)
        self.t.destroy()

    def do_cancel(self):
        self.u.set(False)
        self.t.destroy()

    def check_valid(self, *args):
        v = self.v.get()

        st = 0
        ok = 1

        if "#" in v:
            ok = 0
            self.w.set("Variables may not be used here")

        if ok:
            for ch in v:
                if ch == "[": st += 1
                elif ch == "]": st -= 1
                if st < 0:
                    ok = 0
                    self.w.set("Right bracket without matching left bracket")
                    break
            if st != 0:
                self.w.set("Left bracket without matching right bracket")
                ok = 0

        if ok:
            ok, value = parse_gcode_expression(v)
            if ok:
                self.w.set("= %f%s" % (value, self.unit_str))
                self.vv.set(value)
            else:
                self.w.set(value)

        if ok:
            self.ok.configure(state="normal")
        else:
            self.ok.configure(state="disabled")

    def do_focus(self):
        if not self.e.winfo_viewable():
            self._after = self.t.after(10, self.do_focus)
        else:
            self.e.focus()
            self.e.selection_range(0, "end")
            self._after = None

    def result(self):
        if self.u.get(): return self.vv.get()
        return None

    def run(self):
        self.t.grab_set()
        self._after = self.t.after_idle(self.do_focus)
        self.t.wait_window()
        if self._after is not None:
            self.t.after_cancel(self._after)
        try:
            self.t.destroy()
        except Tkinter.TclError:
            pass
        return self.result()

def prompt_float(title, text, default, unit_str):
    t = _prompt_float(title, text, default, unit_str)
    return t.run()

all_systems = ['P0  Current', 'P1  G54', 'P2  G55', 'P3  G56', 'P4  G57',
            'P5  G58', 'P6  G59', 'P7  G59.1', 'P8  G59.2', 'P9  G59.3',
            _('T    Tool Table')]

class _prompt_touchoff(_prompt_float):
    def __init__(self, title, text_pattern, default, tool_only, defaultsystem):
        systems = all_systems[:]
        if not tool_only:
            del systems[-1]
        linear_axis = vars.ja_rbutton.get() in "xyzuvw"
        if linear_axis:
            if vars.metric.get(): unit_str = " " + _("mm")
            else: unit_str = " " + _("in")
            if lathe and vars.ja_rbutton.get() == "x":
                if 80 in s.gcodes:
                    unit_str += _(" radius")
                else:
                    unit_str += _(" diameter")
        else: unit_str = _(u"\xb0")
        self.text_pattern = text_pattern
        text = text_pattern % self.workpiece_or_fixture(defaultsystem)
        _prompt_float.__init__(self, title, text, default, unit_str)
        t = self.t
        f = Frame(t)
        self.c = c = StringVar(t)
        c.set(defaultsystem)
        c.trace_variable("w", self.change_system)
        if not tool_only:
            l = Label(f, text=_("Coordinate System:"))
            mb = OptionMenu(f, c, *systems)
            mb.tk.call("size_menubutton_to_entries", mb)
            mb.configure(takefocus=1)
            l.pack(side="left")
            mb.pack(side="left")
        f.pack(side="top")
        self.buttons.tkraise()
        if not tool_only:
            for i in [1,2,3,4,5,6,7,8,9]:
                t.bind("<Alt-KeyPress-%s>" % i, lambda event, system=systems[i-1]: c.set(system))
        if tool_only:
            if current_tool.id > 0:
                t.bind("<Alt-t>", lambda event: c.set(systems[9]))
                t.bind("<Alt-0>", lambda event: c.set(systems[9]))

    def workpiece_or_fixture(self, s):
        if s.startswith('T') and vars.tto_g11.get():
            return _("fixture")
        return _("workpiece")

    def change_system(self, *args):
        system = self.c.get()
        text = self.text_pattern % self.workpiece_or_fixture(system)
        self.set_text(text)

    def result(self):
        if self.u.get(): return self.v.get(), self.c.get()
        return None, None

def prompt_touchoff(title, text, default, tool_only, system=None):
    t = _prompt_touchoff(title=title,
                         text_pattern=text,
                         default=default,
                         tool_only=tool_only,
                         defaultsystem=system
                        )
    return t.run()

property_names = [
    ('name', _("Name:")), ('size', _("Size:")),
    ('tools', _("Tool order:")), ('g0', _("Rapid distance:")),
    ('g1', _("Feed distance:")), ('g', _("Total distance:")),
    ('run', _("Run time:")),('toollist',_('Tool Change List:')),
    ('x', _("X bounds:")),('y', _("Y bounds:")),
    ('z', _("Z bounds:")),('a', _("A bounds:")),
    ('b', _("B bounds:")),('c', _("C bounds:"))
]

def dist(xxx_todo_changeme, xxx_todo_changeme1):
    (x,y,z) = xxx_todo_changeme
    (p,q,r) = xxx_todo_changeme1
    return ((x-p)**2 + (y-q)**2 + (z-r)**2) ** .5

# returns units/sec
def get_jog_speed(a):
    if vars.teleop_mode.get():
        if axis_type[a] == "LINEAR" :
            return vars.jog_speed.get()/60.
        else:
            return vars.jog_aspeed.get()/60.
    else:
        if joint_type[a] == 'LINEAR':
            return vars.jog_speed.get()/60.
        else:
            return vars.jog_aspeed.get()/60.

def get_jog_speed_map(a):
    if get_jog_mode() and a >= num_joints: return 0
    if not get_jog_mode():
        if a >= len(jog_order): return 0
        axis_letter = jog_order[a]
        a = "XYZABCUVW".index(axis_letter)
    return get_jog_speed(a)

def get_max_jog_speed(a):
    max_linear_speed = vars.max_speed.get()
    max_linear_speed = to_internal_linear_unit(max_linear_speed)
    if vars.metric.get(): max_linear_speed = max_linear_speed * 25.4

    if vars.teleop_mode.get():
        if a in (0,1,2,6,7,8):
            return max_linear_speed
        else:
            return vars.max_aspeed.get()
    else:
        if joint_type[a] == 'LINEAR':
            return max_linear_speed
        else:
            return vars.max_aspeed.get()
def get_max_jog_speed_map(a):
    if not get_jog_mode():
        axis_letter = jog_order[a]
        a = "XYZABCUVW".index(axis_letter)
    return get_max_jog_speed(a)

def run_warn():
    warnings = []
    if o.canon:
        machine_limit_min, machine_limit_max = soft_limits()
        for i in range(3): # Does not enforce angle limits
            if not(s.axis_mask & (1<<i)): continue
            if o.canon.min_extents_notool[i] + to_internal_linear_unit(o.last_tool_offset[i]) < machine_limit_min[i]:
                warnings.append(_("Program exceeds machine minimum on axis %s")
                    % "XYZABCUVW"[i])
            if o.canon.max_extents_notool[i] + to_internal_linear_unit(o.last_tool_offset[i]) > machine_limit_max[i]:
                warnings.append(_("Program exceeds machine maximum on axis %s")
                    % "XYZABCUVW"[i])
    if warnings:
        text = "\n".join(warnings)
        return int(root_window.tk.call("nf_dialog", ".error",
            _("Program exceeds machine limits"),
            text,
            "warning",
            1, _("Run Anyway"), _("Cancel")))
    return 0

def reload_file(refilter=True):
    if running(): return
    s.poll()
    if not loaded_file:
        root_window.tk.call("set_mode_from_tab")
        return
    line = vars.highlight_line.get()
    o.set_highlight_line(None)

    if refilter or not get_filter(loaded_file):
        open_file_guts(loaded_file, False, False)
    else:
        tempfile = os.path.join(tempdir, os.path.basename(loaded_file))
        open_file_guts(tempfile, True, False)
    if line:
        o.set_highlight_line(line)

def ja_from_rbutton():
    # radiobuttons for joints set ja_rbutton to numeric value [0,MAX_JOINTS)
    # radiobuttons for axes   set ja_rbutton to one of: xyzabcuvw
    ja = vars.ja_rbutton.get()
    if not all_homed() and lathe and not lathe_historical_config():
        axes = "xzabcuvw"
    else:
        axes = "xyzabcuvw"

    try: # ja may be a joint number or an axis coordinate letter
        a = int(ja) # invalid for types: 'str' or 'unicode'
        if a not in list(range(linuxcnc.MAX_JOINTS)):
            print("ja_from_rbutton:Unexpected joint number",a)
            return "" # can not continue
    except ValueError:
        a = axes.index(ja) # letter specifies an axis coordinate

    # handle joint jogging for known identity kins
    if get_jog_mode():
        # joint jogging
        if lathe_historical_config():
            a = "xyzabcuvw".index(ja)
        elif kins_is_trivkins and s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
            # note: if duplicate_coord_letters,
            #       use index for first occurrence of the letter
            a = trajcoordinates.index(ja)
        #future: elif's for other known identity kins go here

    return a

def all_homed():
    isHomed=True
    for i,h in enumerate(s.homed):
        if i >= num_joints: break
        isHomed = isHomed and h
    return isHomed

def go_home(num):
    set_motion_teleop(0)
    c.home(num)
    c.wait_complete()

#-----------------------------------------------------------
# convenience functions
def motion_modename(x):
    if x ==   linuxcnc.TRAJ_MODE_FREE: return "FREE"
    if x ==  linuxcnc.TRAJ_MODE_COORD: return "COORD"
    if x == linuxcnc.TRAJ_MODE_TELEOP: return "TELEOP"

def task_modename(x):
    if x ==    linuxcnc.MODE_MDI: return "MDI"
    if x == linuxcnc.MODE_MANUAL: return "MANUAL"
    if x ==   linuxcnc.MODE_AUTO: return "AUTO"

def task_statename(x):
    if x ==       linuxcnc.STATE_ESTOP: return "STATE_ESTOP"
    if x == linuxcnc.STATE_ESTOP_RESET: return "STATE_ESTOP_RESET"
    if x ==         linuxcnc.STATE_OFF: return "STATE_OFF"
    if x ==          linuxcnc.STATE_ON: return "STATE_ON"

def interp_statename(x):
    if x ==    linuxcnc.INTERP_IDLE: return "IDLE"
    if x == linuxcnc.INTERP_READING: return "READING"
    if x ==  linuxcnc.INTERP_PAUSED: return "PAUSED"
    if x == linuxcnc.INTERP_WAITING: return "WAITING"

def get_states():
    s.poll()
    return (task_modename(s.task_mode)
           ,task_statename(s.task_state)
           ,motion_modename(s.motion_mode)
           ,interp_statename(s.interp_state)
           )
#-----------------------------------------------------------

class TclCommands(nf.TclCommands):
    def next_tab(event=None):
        current = widgets.right.raise_page()
        pages = widgets.right.pages()
        try:
            idx = pages.index(current)
        except ValueError:
            idx = -1
        newidx = (idx + 1) % len(pages)
        widgets.right.raise_page(pages[newidx])
        root_window.focus_force()

    def redraw_soon(event=None):
        o.redraw_soon()

    def to_internal_linear_unit(a, b=None):
        if b is not None: b = float(b)
        return to_internal_linear_unit(float(a), b)
    def from_internal_linear_unit(a, b=None):
        if b is not None: b = float(b)
        return from_internal_linear_unit(float(a), b)

    def toggle_tto_g11(event=None):
        ap.putpref("tto_g11", vars.tto_g11.get())

    def toggle_optional_stop(event=None):
        c.set_optional_stop(vars.optional_stop.get())
        ap.putpref("optional_stop", vars.optional_stop.get())

    def toggle_block_delete(event=None):
        c.set_block_delete(vars.block_delete.get())
        ap.putpref("block_delete", vars.block_delete.get())
        c.wait_complete()
        ensure_mode(linuxcnc.MODE_MANUAL)
        s.poll()
        o.tkRedraw()
        reload_file(False)


    def gcode_properties(event=None):
        props = {}
        if not loaded_file:
            props['name'] = _("No file loaded")
        else:
            ext = os.path.splitext(loaded_file)[1]
            program_filter = None
            if ext:
                program_filter = inifile.find("FILTER", ext[1:])
            name = os.path.basename(loaded_file)
            if program_filter:
                props['name'] = _("generated from %s") % name
            else:
                props['name'] = name

            size = os.stat(loaded_file).st_size
            lines = int(widgets.text.index("end").split(".")[0])-2
            props['size'] = _("%(size)s bytes\n%(lines)s G-code lines") % {'size': size, 'lines': lines}

            if vars.metric.get():
                conv = 1
                units = _("mm")
                fmt = "%.3f"
            else:
                conv = 1/25.4
                units = _("in")
                fmt = "%.4f"

            mf = vars.max_speed.get()
            #print o.canon.traverse[0]

            g0 = sum(dist(l[1][:3], l[2][:3]) for l in o.canon.traverse)
            g1 = (sum(dist(l[1][:3], l[2][:3]) for l in o.canon.feed) +
                sum(dist(l[1][:3], l[2][:3]) for l in o.canon.arcfeed))
            gt = (sum(dist(l[1][:3], l[2][:3])/min(mf, l[3]) for l in o.canon.feed) +
                sum(dist(l[1][:3], l[2][:3])/min(mf, l[3])  for l in o.canon.arcfeed) +
                sum(dist(l[1][:3], l[2][:3])/mf  for l in o.canon.traverse) +
                o.canon.dwell_time
                )

            props['g0'] = "%f %s".replace("%f", fmt) % (from_internal_linear_unit(g0, conv), units)
            props['g1'] = "%f %s".replace("%f", fmt) % (from_internal_linear_unit(g1, conv), units)
            if gt > 120:
                props['run'] = _("%.1f minutes") % (gt/60)
            else:
                props['run'] = _("%d seconds") % (int(gt))

            min_extents = from_internal_units(o.canon.min_extents, conv)
            max_extents = from_internal_units(o.canon.max_extents, conv)
            for (i, c) in enumerate("xyz"):
                a = min_extents[i]
                b = max_extents[i]
                if a != b:
                    props[c] = _("%(a)f to %(b)f = %(diff)f %(units)s").replace("%f", fmt) % {'a': a, 'b': b, 'diff': b-a, 'units': units}
            props['toollist'] = o.canon.tool_list
        properties(root_window, _("G-Code Properties"), property_names, props)

    def launch_website(event=None):
        import webbrowser
        webbrowser.open("http://www.linuxcnc.org/")

    def set_spindlerate(newval):
        global spindlerate_blackout
        try:
            value = int(newval)
        except ValueError: return
        value = value / 100.
        c.spindleoverride(value)
        spindlerate_blackout = time.time() + 1

    def set_feedrate(newval):
        global feedrate_blackout
        try:
            value = int(newval)
        except ValueError: return
        value = value / 100.
        c.feedrate(value)
        feedrate_blackout = time.time() + 1

    def set_rapidrate(newval):
        global rapidrate_blackout
        try:
            value = int(newval)
        except ValueError: return
        value = value / 100.
        c.rapidrate(value)
        rapidrate_blackout = time.time() + 1

    def set_maxvel(newval):
        newval = float(newval)
        if vars.metric.get(): newval = newval / 25.4
        newval = from_internal_linear_unit(newval)
        global maxvel_blackout
        c.maxvel(newval / 60.)
        maxvel_blackout = time.time() + 1

    def copy_line(*args):
        line = -1
        if vars.running_line.get() != -1: line = vars.running_line.get()
        if vars.highlight_line.get() != -1: line = vars.highlight_line.get()
        if line == -1: return
        selection.set_value(t.get("%d.8" % line, "%d.end" % line))

    def task_run_line(*args):
        line = vars.highlight_line.get()
        if line != -1: set_first_line(line)
        commands.task_run()

    def reload_tool_table(*args):
        c.load_tool_table()

    def program_verify(*args):
        set_first_line(-1)
        commands.task_run()

    def zoomin(event=None):
        o.zoomin()

    def zoomout(event=None):
        o.zoomout()

    def set_view_x(event=None):
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="sunken")
        widgets.view_y.configure(relief="link")
        widgets.view_y2.configure(relief="link")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(3)
        o.set_view_x()

    def set_view_y(event=None):
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="sunken")
        widgets.view_y2.configure(relief="link")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(4)
        o.set_view_y()

    def set_view_y2(event=None):
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="link")
        widgets.view_y2.configure(relief="sunken")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(4)
        o.set_view_y2()

    def set_view_z(event=None):
        widgets.view_z.configure(relief="sunken")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="link")
        widgets.view_y2.configure(relief="link")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(1)
        o.set_view_z()

    def set_view_z2(event=None):
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="sunken")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="link")
        widgets.view_y2.configure(relief="link")
        widgets.view_p.configure(relief="link")
        vars.view_type.set(2)
        o.set_view_z2()


    def set_view_p(event=None):
        widgets.view_z.configure(relief="link")
        widgets.view_z2.configure(relief="link")
        widgets.view_x.configure(relief="link")
        widgets.view_y.configure(relief="link")
        widgets.view_y2.configure(relief="link")
        widgets.view_p.configure(relief="sunken")
        vars.view_type.set(5)
        o.set_view_p()

    def estop_clicked(event=None):
        s.poll()
        if s.task_state == linuxcnc.STATE_ESTOP:
            c.state(linuxcnc.STATE_ESTOP_RESET)
        else:
            c.state(linuxcnc.STATE_ESTOP)

    def onoff_clicked(event=None):
        s.poll()
        if s.task_state == linuxcnc.STATE_ESTOP_RESET:
            c.state(linuxcnc.STATE_ON)
        else:
            c.state(linuxcnc.STATE_OFF)

    def open_file(*event):
        if running(): return
        global open_directory
        all_extensions = tuple([".ngc"])
        for e in extensions:
            all_extensions = all_extensions + tuple(e[1])
        types = (
            (_("All machinable files"), all_extensions),
            (_("rs274ngc files"), ".ngc")) + extensions + \
            ((_("All files"), "*"),)
        f = root_window.tk.call("tk_getOpenFile", "-initialdir", open_directory,
            "-filetypes", types)
        if type(f) is tuple and not len(f): return
        if not len(str(f)): return
        o.set_highlight_line(None)
        f = str(f)
        open_directory = os.path.dirname(f)
        commands.open_file_name(f)

    def remote (cmd,arg=""):
        if cmd == "clear_live_plot":
            commands.clear_live_plot()
            return ""
        if running():
            return _("axis cannot accept remote command while running")
        if cmd == "open_file_name":
            commands.open_file_name(arg)
        elif cmd == "send_mdi_command":
            commands.send_mdi_command(arg)
        elif cmd == "reload_file":
            commands.reload_file()
        elif cmd == "destroy":
            root_window.tk.call("destroy", ".")
        return ""

    def open_file_name(f):
        open_file_guts(f)
        if str(widgets.view_x['relief']) == "sunken":
            commands.set_view_x()
        elif str(widgets.view_y['relief']) == "sunken":
            commands.set_view_y()
        elif str(widgets.view_y2['relief']) == "sunken":
            commands.set_view_y2()
        elif str(widgets.view_z['relief']) == "sunken":
            commands.set_view_z()
        elif  str(widgets.view_z2['relief']) == "sunken":
            commands.set_view_z2()
        else:
            commands.set_view_p()
        if o.canon is not None:
            x = (o.canon.min_extents[0] + o.canon.max_extents[0])/2
            y = (o.canon.min_extents[1] + o.canon.max_extents[1])/2
            z = (o.canon.min_extents[2] + o.canon.max_extents[2])/2
            o.set_centerpoint(x, y, z)

    def open_pipe(f, c):
        try:
            os.makedirs(os.path.join(tempdir, "pipe"))
        except os.error:
            pass
        f = os.path.join(tempdir, "pipe", os.path.basename(f))
        fi = open(f, "w")
        fi.write(c)
        fi.close()
        commands.open_file_name(f)

    def reload_file(*event):
        reload_file()

    def edit_program(*event):
        if loaded_file is None:
            pass
        else:
            omode = 0
            showname = os.path.basename(loaded_file)
            if not os.access(loaded_file,os.W_OK):
                omode = root_window.tk.call(
                      "nf_dialog",
                      ".filenotwritable",
                      _("File not Writable:") + showname,
                      _("This file is not writable\n"
                      "You can Edit-readonly\n\n"
                      "or\n\n"
                      "Save it to your own directory\n"
                      "then open that saved, writable file"),
                      "warning",
                      0,
                      _("Edit-readonly"),
                      _("Save"),
                      _("Cancel")
                      )

            if omode == 1:
                root_window.tk.call("save_gcode",
                                   "my_" + showname)
                return
            elif omode == 2: return

            e = str.split(editor)
            e.append(loaded_file)
            e.append("&")
            root_window.tk.call("exec", *e)

    def edit_tooltable(*event):
        if db_program is not None and tooleditor is not None:
            root_window.tk.call("exec",tooleditor)
            return
        if tooltable is None:
            pass
        else:
            e = str.split(tooleditor)
            e.append(tooltable)
            e.append("&")
            root_window.tk.call("exec", *e)

    def task_run(*event):
        if run_warn(): return

        global program_start_line, program_start_line_last
        program_start_line_last = program_start_line;
        ensure_mode(linuxcnc.MODE_AUTO)
        c.auto(linuxcnc.AUTO_RUN, program_start_line)
        program_start_line = 0
        t.tag_remove("ignored", "0.0", "end")
        o.set_highlight_line(None)

    def task_step(*event):
        if s.task_mode != linuxcnc.MODE_AUTO or s.interp_state != linuxcnc.INTERP_IDLE:
            o.set_highlight_line(None)
            if run_warn(): return
        ensure_mode(linuxcnc.MODE_AUTO)
        c.auto(linuxcnc.AUTO_STEP)

    def task_pause(*event):
        if s.task_mode != linuxcnc.MODE_AUTO or s.interp_state not in (linuxcnc.INTERP_READING, linuxcnc.INTERP_WAITING):
            return
        ensure_mode(linuxcnc.MODE_AUTO)
        c.auto(linuxcnc.AUTO_PAUSE)

    def task_reverse(*event):
        s.poll()
        if s.task_mode != linuxcnc.MODE_AUTO:
            return

        ensure_mode(linuxcnc.MODE_AUTO)
        c.auto(linuxcnc.AUTO_REVERSE)

    def task_forward(*event):
        s.poll()
        if s.task_mode != linuxcnc.MODE_AUTO:
            return

        ensure_mode(linuxcnc.MODE_AUTO)
        c.auto(linuxcnc.AUTO_FORWARD)

    def task_resume(*event):
        s.poll()
        if not s.paused:
            return
        if s.task_mode not in (linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI):
            return
        ensure_mode(linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI)
        c.auto(linuxcnc.AUTO_RESUME)

    def task_pauseresume(*event):
        if s.task_mode not in (linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI):
            return
        ensure_mode(linuxcnc.MODE_AUTO, linuxcnc.MODE_MDI)
        s.poll()
        if s.paused:
            global resume_inhibit
            if resume_inhibit: return
            c.auto(linuxcnc.AUTO_RESUME)
        elif s.interp_state != linuxcnc.INTERP_IDLE:
            c.auto(linuxcnc.AUTO_PAUSE)

    def task_stop(*event):
        if s.task_mode == linuxcnc.MODE_AUTO and vars.running_line.get() != 0:
            o.set_highlight_line(vars.running_line.get())
        comp["abort"] = True
        c.abort()
        c.wait_complete()
        time.sleep(0.3)
        comp["abort"] = False

    def mdi_up_cmd(*args):
        if args and args[0].char: return   # e.g., for KP_Up with numlock on
        global mdi_history_index
        if widgets.mdi_command.cget("state") == "disabled":
            return
        if mdi_history_index != -1:
            if mdi_history_index > 0:
                mdi_history_index -= 1
            else:
                mdi_history_index = widgets.mdi_history.size() - 1
            widgets.mdi_history.selection_clear(0, "end")
            widgets.mdi_history.see(mdi_history_index)
            if mdi_history_index != (widgets.mdi_history.size() - 1):
                widgets.mdi_history.selection_set(mdi_history_index, mdi_history_index)
            vars.mdi_command.set(widgets.mdi_history.get(mdi_history_index))
            widgets.mdi_command.selection_range(0, "end")

    def mdi_down_cmd(*args):
        if args and args[0].char: return   # e.g., for KP_Up with numlock on
        global mdi_history_index
        if widgets.mdi_command.cget("state") == "disabled":
            return
        history_size = widgets.mdi_history.size()
        if mdi_history_index != -1:
            if mdi_history_index < (history_size - 1):
                mdi_history_index += 1
            else:
                mdi_history_index = 0
            widgets.mdi_history.selection_clear(0, "end")
            widgets.mdi_history.see(mdi_history_index)
            if mdi_history_index != (widgets.mdi_history.size() - 1):
                widgets.mdi_history.selection_set(mdi_history_index, mdi_history_index)
            vars.mdi_command.set(widgets.mdi_history.get(mdi_history_index))
            widgets.mdi_command.selection_range(0, "end")

    def send_mdi(*event):
        if not manual_ok(): return "break"
        command = vars.mdi_command.get()
        commands.send_mdi_command(command)
        return "break"

    def send_mdi_command(command):
        global mdi_history_index, mdi_history_save_filename
        if command != "":
            command= command.lstrip().rstrip()
            vars.mdi_command.set("")
            ensure_mode(linuxcnc.MODE_MDI)
            widgets.mdi_history.selection_clear(0, "end")
            ## check if input is already in list. If so, then delete old element
            #idx = 0
            #for ele in widgets.mdi_history.get(0, "end"):
            #    if ele == command:
            #        widgets.mdi_history.delete(idx)
            #        break
            #    idx += 1
            history_size = widgets.mdi_history.size()
            new_entry = 1
            if history_size > 1 and widgets.mdi_history.get(history_size - 2) == command:
                new_entry = 0
            if new_entry != 0:
                # if command is already at end of list, don't add it again
                widgets.mdi_history.insert(history_size - 1, "%s" % command)
                history_size += 1
            widgets.mdi_history.see(history_size - 1)
            if history_size > (mdi_history_max_entries + 1):
                widgets.mdi_history.delete(0, 0)
                history_size= (mdi_history_max_entries + 1)
            # pdb.set_trace()
            mdi_history_index = widgets.mdi_history.index("end") - 1

            c.mdi(command)
            o.tkRedraw()
            commands.mdi_history_write_to_file(mdi_history_save_filename, history_size)

    # write out mdi history file (history_size equal to -1 will delete history)
    def mdi_history_write_to_file(file_name, history_size):
        # print "mdi_history_write: %s : %d" % (file_name, history_size)
        if history_size > 1 or history_size == -1:
            file_name = os.path.expanduser(file_name)
            try:
                f = open(file_name, "w")
                try:
                    if history_size != -1:
                        for idx in range(history_size - 1):
                            f.write("%s\n" % widgets.mdi_history.get(idx, idx))
                finally:
                    f.close()
            except IOError:
                print("Can't open MDI history file [%s] for writing" % file_name, file=sys.stderr)

    def mdi_history_hist2clip(*event):
        cursel = widgets.mdi_history.curselection()
        root_window.clipboard_clear()
        selection = ""
        count = 0
        if cursel != "":
            for data in cursel:
                selection += "%s\n" % widgets.mdi_history.get(data)
                count += 1
            if selection != "":
                root_window.clipboard_append(selection, type = "STRING")

    def mdi_history_clip2hist(*event):
        try:
            history_size = widgets.mdi_history.size()
            vars.mdi_command.set("")
            count = 0
            for data in root_window.selection_get(selection="CLIPBOARD").split("\n"):
                if data != "":
                    history_size = widgets.mdi_history.size()
                    new_entry = 1
                    if history_size > 1 and widgets.mdi_history.get(history_size - 2) == data:
                        new_entry = 0
                    if new_entry != 0:
                        # if command is already at end of list, don't add it again
                        widgets.mdi_history.insert(history_size - 1, "%s" % data)
                        history_size += 1
                        count += 1
                        widgets.mdi_history.see(history_size - 1)
                        if history_size > (mdi_history_max_entries + 1):
                            widgets.mdi_history.delete(0, 0)
                            history_size= (mdi_history_max_entries + 1)
                        mdi_history_index = widgets.mdi_history.index("end") - 1
            commands.mdi_history_write_to_file(mdi_history_save_filename, history_size)
            return
        except Tkinter.TclError:
            print("DBG: Sorry, but the clipboard is empty ...")

    def mdi_history_double_butt_1(event):
        if widgets.mdi_command.cget("state") == "disabled":
            return
        cursel= widgets.mdi_history.index("active")
        if cursel < (widgets.mdi_history.size() - 1):
            commands.send_mdi(event)

    def mdi_history_butt_1(event):
        global mdi_history_index
        if len(widgets.mdi_history.curselection()) > 1:
            # multiple selection: clear mdi entry field and return
            vars.mdi_command.set("")
            return
        cursel = widgets.mdi_history.index('@' + str(event.x) + ',' + str(event.y))
        bbox = widgets.mdi_history.bbox(cursel)
        if bbox and (event.y <= (bbox[1] + bbox[3])) and  (cursel < widgets.mdi_history.size() - 1):
            mdi_history_index = cursel
            vars.mdi_command.set(widgets.mdi_history.get(cursel))
        else:
            widgets.mdi_history.see("end")
            widgets.mdi_history.selection_clear(0, "end")
            vars.mdi_command.set("")
            mdi_history_index = widgets.mdi_history.size()

    def clear_mdi_history(*ignored):
        global mdi_history_index, mdi_history_save_filename
        widgets.mdi_history.delete(0, "end")
        widgets.mdi_history.insert(0, "")
        widgets.mdi_history.see(0)
        widgets.mdi_history.selection_clear(0, 0)
        mdi_history_index = 0
        commands.mdi_history_write_to_file(mdi_history_save_filename, -1)

    def ensure_manual(*event):
        s.poll()
        if not manual_ok(): return
        if  (     all_homed()
             and (s.motion_mode == linuxcnc.TRAJ_MODE_TELEOP)
                  or
                 (s.motion_mode == linuxcnc.TRAJ_MODE_COORD)
            ):
            set_motion_teleop(1)
        else:
            ensure_mode(linuxcnc.MODE_MANUAL)
            set_motion_teleop(0)

    def ensure_mdi(*event):
        # called from axis.tcl on tab raisecmd
        if not manual_ok(): return
        set_motion_teleop(0)
        ensure_mode(linuxcnc.MODE_MDI)
        set_motion_teleop(1)
        s.poll()

    def redraw(*ignored):
        o.tkRedraw()

    def toggle_show_rapids(*event):
        ap.putpref("show_rapids", vars.show_rapids.get())
        o.tkRedraw()

    def toggle_show_program(*event):
        ap.putpref("show_program", vars.show_program.get())
        o.tkRedraw()

    def toggle_program_alpha(*event):
        ap.putpref("program_alpha", vars.program_alpha.get())
        o.tkRedraw()

    def toggle_show_live_plot(*event):
        ap.putpref("show_live_plot", vars.show_live_plot.get())
        o.tkRedraw()

    def toggle_show_tool(*event):
        ap.putpref("show_tool", vars.show_tool.get())
        o.tkRedraw()

    def toggle_show_extents(*event):
        ap.putpref("show_extents", vars.show_extents.get())
        o.tkRedraw()

    def toggle_show_offsets(*event):
        ap.putpref("show_offsets", vars.show_offsets.get())
        o.tkRedraw()

    def set_grid_size(*event):
        ap.putpref("grid_size", vars.grid_size.get(), type=float)
        o.tkRedraw()

    def set_grid_size_custom(*event):
        if vars.metric.get(): unit_str = " " + _("mm")
        else: unit_str = " " + _("in")
        v = prompt_float(_("Custom Grid"), _("Enter grid size"),
                "", unit_str) or 0
        if v <= 0: return
        if vars.metric.get(): v /= 25.4
        match_grid_size(v)

    def toggle_show_machine_limits(*event):
        ap.putpref("show_machine_limits", vars.show_machine_limits.get())
        o.tkRedraw()

    def toggle_show_machine_speed(*event):
        ap.putpref("show_machine_speed", vars.show_machine_speed.get())
        o.tkRedraw()

    def toggle_show_distance_to_go(*event):
        ap.putpref("show_distance_to_go", vars.show_distance_to_go.get())
        o.tkRedraw()

    def toggle_dro_large_font(*event):
        ap.putpref("dro_large_font", vars.dro_large_font.get())
        get_coordinate_font(vars.dro_large_font.get())
        o.tkRedraw()

    def clear_live_plot(*ignored):
        live_plotter.clear()

    def toggle_show_pyvcppanel(*event):
        # need to toggle variable manually for keyboard shortcut
        if len(event) > 0:
            vars.show_pyvcppanel.set(not vars.show_pyvcppanel.get())

        if vars.show_pyvcppanel.get():
            vcp_frame.grid(row=0, column=4, rowspan=6, sticky="nw", padx=4, pady=4)
        else:
            vcp_frame.grid_remove()
        o.tkRedraw()

    # The next three don't have 'manual_ok' because that's done in jog_on /
    # jog_off
    def jog_plus(incr=False):
        a = ja_from_rbutton()
        speed = get_jog_speed(a)
        jog_on(a, speed)

    def jog_minus(incr=False):
        a = ja_from_rbutton()
        speed = get_jog_speed(a)
        jog_on(a, -speed)

    def jog_stop(event=None):
        a = ja_from_rbutton()
        jog_off(a)

    def home_all_joints(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        isHomed = all_homed()
        doHoming=True
        if isHomed:
            doHoming=prompt_areyousure(_("Warning"),_("Joint is already homed, are you sure you want to re-home?"))
        if doHoming:
            go_home(-1)

    def unhome_all_joints(event=None):
        ensure_mode(linuxcnc.MODE_MANUAL)
        set_motion_teleop(0)
        c.unhome(-1)

    def home_joint(event=None):
        if not manual_ok(): return
        jora = vars.ja_rbutton.get()
        if jora in trajcoordinates:
            if s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
                print(_("home_joint <%s> Use joint mode for homing")%jora)
                return
            if jora in duplicate_coord_letters:
                print(_("\nIndividual axis homing disallowed for duplicated letter:<%s> ")%jora)
                return
            jnum = trajcoordinates.index(jora)
        else:
            jnum = int(jora)
        if lathe_historical_config():
            jnum = "xyz".index(jora)
        doHoming=True
        if s.homed[jnum]:
            doHoming=prompt_areyousure(_("Warning"),_("This joint is already homed, are you sure you want to re-home?"))
        if doHoming:
            ensure_mode(linuxcnc.MODE_MANUAL)
            go_home(jnum)

    def home_joint_number(num):
        # invoked by machine menu/home widgets
        ensure_mode(linuxcnc.MODE_MANUAL)
        go_home(num)

    def unhome_joint_number(num):
        # invoked by machine menu/unhome widgets
        ensure_mode(linuxcnc.MODE_MANUAL)
        set_motion_teleop(0)
        c.unhome(num)

    def clear_offset(num):
        ensure_mode(linuxcnc.MODE_MDI)
        s.poll()
        if num == "G92":
            clear_command = "G92.1"
        else:
            clear_command = "G10 L2 P%c R0" % num
            for i, a in enumerate("XYZABCUVW"):
                if s.axis_mask & (1<<i): clear_command += " %c0" % a
        c.mdi(clear_command)
        c.wait_complete()
        ensure_mode(linuxcnc.MODE_MANUAL)
        s.poll()
        o.tkRedraw()
        reload_file(False)

    def touch_off_system(event=None, new_axis_value = None):
        global system
        if not manual_ok(): return
        offset_axis = trajcoordinates.index(vars.ja_rbutton.get())
        if new_axis_value is None:
            new_axis_value, system = prompt_touchoff(
                title=_("Touch Off (system)"),
                text=_("Enter %s coordinate relative to %%s:") % vars.ja_rbutton.get().upper(),
                default=0.0,
                tool_only=False,
                system=vars.touch_off_system.get()
                )
        else:
            system = vars.touch_off_system.get()
        if new_axis_value is None: return

        save_task_mode = s.task_mode
        vars.touch_off_system.set(system)
        ensure_mode(linuxcnc.MODE_MDI)
        s.poll()

        linear_axis = vars.ja_rbutton.get() in "xyzuvw"
        if linear_axis and vars.metric.get(): scale = 1/25.4
        else: scale = 1

        if linear_axis and 210 in s.gcodes:
            scale *= 25.4

        offset_command = "G10 L20 %s %c[[%s]*%.12f]" % (system.split()[0], vars.ja_rbutton.get(), new_axis_value, scale)
        c.mdi(offset_command)
        c.wait_complete()

        s.poll()
        o.tkRedraw()
        reload_file(False)
        ensure_mode(save_task_mode)
        set_motion_teleop(1)
        o.redraw_dro()

    def touch_off_tool(event=None, new_axis_value = None):
        global system
        if not manual_ok(): return
        s.poll()
        # in case we get here via the keyboard shortcut, when the widget is disabled:
        if s.tool_in_spindle == 0: return
        if new_axis_value is None:
            new_axis_value, system = prompt_touchoff(
                title=_("Tool %s TouchOff"%s.tool_in_spindle),
                text=_("Enter %s coordinate relative to %%s:") % vars.ja_rbutton.get().upper(),
                default=0.0,
                tool_only=True,
                system=vars.touch_off_system.get()
                )
        else:
            system = vars.touch_off_system.get()
        if new_axis_value is None: return

        save_task_mode = s.task_mode
        vars.touch_off_system.set(system)
        ensure_mode(linuxcnc.MODE_MDI)
        s.poll()

        linear_axis = vars.ja_rbutton.get() in "xyzuvw"
        if linear_axis and vars.metric.get(): scale = 1/25.4
        else: scale = 1

        if linear_axis and 210 in s.gcodes:
            scale *= 25.4

        lnum = 10 + vars.tto_g11.get()
        offset_command = "G10 L%d P%d %c[[%s]*%.12f]" % (lnum, s.tool_in_spindle, vars.ja_rbutton.get(), new_axis_value, scale)
        c.mdi(offset_command)
        c.wait_complete()
        c.mdi("G43")
        c.wait_complete()

        s.poll()
        o.tkRedraw()
        reload_file(False)
        ensure_mode(save_task_mode)
        set_motion_teleop(1)
        o.redraw_dro()

    def set_axis_offset(event=None):
        commands.touch_off_system(new_axis_value=0.)

    def brake(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.brake(vars.brake.get())
    def flood(event=None):
        c.flood(vars.flood.get())
    def mist(event=None):
        c.mist(vars.mist.get())
    def spindle(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        d = vars.spindledir.get()
        if d == 0:
            c.spindle(d)
        else:
            c.spindle(d, default_spindle_speed)
    def spindle_increase(event=None):
        c.spindle(linuxcnc.SPINDLE_INCREASE)
    def spindle_decrease(event=None):
        c.spindle(linuxcnc.SPINDLE_DECREASE)
    def spindle_constant(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.spindle(linuxcnc.SPINDLE_CONSTANT)
    def set_first_line(lineno):
        if not manual_ok(): return
        set_first_line(lineno)

    def mist_toggle(*args):
        s.poll()
        c.mist(not s.mist)
    def flood_toggle(*args):
        s.poll()
        c.flood(not s.flood)

    def spindle_forward_toggle(*args):
        if not manual_ok(): return
        s.poll()
        if s.spindle[0]['direction'] == 0:
            c.spindle(linuxcnc.SPINDLE_FORWARD,default_spindle_speed)
        else:
            c.spindle(linuxcnc.SPINDLE_OFF)

    def spindle_backward_toggle(*args):
        if not manual_ok(): return "break"
        s.poll()
        if s.spindle[0]['direction'] == 0:
            c.spindle(linuxcnc.SPINDLE_REVERSE,default_spindle_speed)
        else:
            c.spindle(linuxcnc.SPINDLE_OFF)
        return "break" # bound to F10, don't activate menu

    def brake_on(*args):
        if not manual_ok(): return
        c.brake(1)
    def brake_off(*args):
        if not manual_ok(): return
        c.brake(0)

    def toggle_display_type(*args):
        vars.display_type.set(not vars.display_type.get())
        o.tkRedraw()

    def toggle_teleop_mode(*args):
        s.poll()
        set_motion_teleop(not (s.motion_mode == linuxcnc.TRAJ_MODE_TELEOP))

    def toggle_coord_type(*args):
        vars.coord_type.set(not vars.coord_type.get())
        o.tkRedraw()

    def toggle_override_limits(*args):
        s.poll()
        if s.interp_state != linuxcnc.INTERP_IDLE: return
        if s.joint[0]['override_limits']:
            ensure_mode(linuxcnc.MODE_AUTO)
        else:
            ensure_mode(linuxcnc.MODE_MANUAL)
            c.override_limits()

    def cycle_view(*args):
        if str(widgets.view_x['relief']) == "sunken":
            commands.set_view_y()
        elif str(widgets.view_y['relief']) == "sunken":
            commands.set_view_p()
        elif str(widgets.view_z['relief']) == "sunken":
            commands.set_view_z2()
        elif str(widgets.view_z2['relief']) == "sunken":
            commands.set_view_x()
        else:
            commands.set_view_z()

    def axis_activated(*args):
        # this only makes sense if HAL is present on this machine
        if not hal_present: return
        comp['jog.x'] = vars.ja_rbutton.get() == "x"
        comp['jog.y'] = vars.ja_rbutton.get() == "y"
        comp['jog.z'] = vars.ja_rbutton.get() == "z"
        comp['jog.a'] = vars.ja_rbutton.get() == "a"
        comp['jog.b'] = vars.ja_rbutton.get() == "b"
        comp['jog.c'] = vars.ja_rbutton.get() == "c"
        comp['jog.u'] = vars.ja_rbutton.get() == "u"
        comp['jog.v'] = vars.ja_rbutton.get() == "v"
        comp['jog.w'] = vars.ja_rbutton.get() == "w"

    def set_teleop_mode():
        set_motion_teleop(vars.teleop_mode.get())
        s.poll()

    def save_gcode(*args):
        if not loaded_file: return
        initialfile = ''
        if len(args):
           initialfile = args[0]
        global open_directory
        f = root_window.tk.call("tk_getSaveFile", "-initialdir", open_directory,
            "-initialfile", initialfile,
            "-filetypes",
             ((_("rs274ngc files"), ".ngc"),))
        if not f: return
        f = str(f)
        open_directory = os.path.dirname(f)
        if get_filter(loaded_file):
            srcfile = os.path.join(tempdir, os.path.basename(loaded_file))
        else:
            srcfile = loaded_file
        try:
            shutil.copyfile(srcfile, f)
        except (shutil.Error, os.error, IOError) as detail:
            tb = traceback.format_exc()
            root_window.tk.call("nf_dialog", ".error", _("Error saving file"),
                str(detail), "error", 0, _("OK"))
        else:
            add_recent_file(f)

    def goto_sensible_line():
        line = o.get_highlight_line()
        if not line: line = vars.running_line.get()
        if line is not None and line > 0:
            t.see("%d.0" % (line+2))
            t.see("%d.0" % line)

    def dynamic_tab(name, text):
        return _dynamic_tab(name,text) # caller: make a frame and pack

    def inifindall(section, item):
        # used by TKPKG=Ngcgui
        return inifile.findall(section,item) # list

    def clear_recent_files():
        ap.putpref('recentfiles', [], repr)
        update_recent_menu()

commands = TclCommands(root_window)

vars = nf.Variables(root_window,
    ("linuxcnctop_command", StringVar),
    ("emcini", StringVar),
    ("mdi_command", StringVar),
    ("taskfile", StringVar),
    ("interp_pause", IntVar),
    ("exec_state", IntVar),
    ("task_state", IntVar),
    ("task_paused", IntVar),
    ("interp_state", IntVar),
    ("task_mode", IntVar),
    ("has_ladder", IntVar),
    ("has_editor", IntVar),
    ("ja_rbutton", StringVar),
    ("tto_g11", BooleanVar),
    ("mist", BooleanVar),
    ("flood", BooleanVar),
    ("brake", BooleanVar),
    ("spindledir", IntVar),
    ("running_line", IntVar),
    ("highlight_line", IntVar),
    ("show_program", BooleanVar),
    ("program_alpha", BooleanVar),
    ("show_live_plot", BooleanVar),
    ("show_tool", BooleanVar),
    ("show_extents", BooleanVar),
    ("show_offsets", BooleanVar),
    ("grid_size", DoubleVar),
    ("show_machine_limits", BooleanVar),
    ("show_machine_speed", BooleanVar),
    ("show_distance_to_go", BooleanVar),
    ("dro_large_font", BooleanVar),
    ("show_pyvcppanel", BooleanVar),
    ("show_rapids", BooleanVar),
    ("feedrate", IntVar),
    ("rapidrate", IntVar),
    ("spindlerate", IntVar),
    ("tool", StringVar),
    ("active_codes", StringVar),
    ("metric", IntVar),
    ("coord_type", IntVar),
    ("display_type", IntVar),
    ("override_limits", BooleanVar),
    ("view_type", IntVar),
    ("jog_speed", DoubleVar),
    ("jog_aspeed", DoubleVar),
    ("max_speed", DoubleVar),
    ("max_aspeed", DoubleVar),
    ("maxvel_speed", DoubleVar),
    ("max_maxvel", DoubleVar),
    ("teleop_mode", IntVar),
    ("motion_mode", IntVar),
    ("kinematics_type", IntVar),
    ("optional_stop", BooleanVar),
    ("block_delete", BooleanVar),
    ("rotate_mode", BooleanVar),
    ("touch_off_system", StringVar),
    ("machine", StringVar),
    ("on_any_limit", BooleanVar),
    ("queued_mdi_commands", IntVar),
    ("max_queued_mdi_commands", IntVar),
    ("trajcoordinates", StringVar),
)
vars.linuxcnctop_command.set(os.path.join(os.path.dirname(sys.argv[0]), "linuxcnctop"))
vars.highlight_line.set(-1)
vars.running_line.set(-1)
vars.tto_g11.set(ap.getpref("tto_g11", "False"))
vars.show_program.set(ap.getpref("show_program", "True"))
vars.show_rapids.set(ap.getpref("show_rapids", "True"))
vars.program_alpha.set(ap.getpref("program_alpha", "False"))
vars.show_live_plot.set(ap.getpref("show_live_plot", "True"))
vars.show_tool.set(ap.getpref("show_tool", "True"))
vars.show_extents.set(ap.getpref("show_extents", "True"))
vars.show_offsets.set(ap.getpref("show_offsets", "True"))
vars.grid_size.set(ap.getpref("grid_size", str(0.0), type=float))
vars.show_machine_limits.set(ap.getpref("show_machine_limits", "True"))
vars.show_machine_speed.set(ap.getpref("show_machine_speed", "True"))
vars.show_distance_to_go.set(ap.getpref("show_distance_to_go", "False"))
vars.dro_large_font.set(ap.getpref("dro_large_font", "False"))
vars.show_pyvcppanel.set("True")
vars.block_delete.set(ap.getpref("block_delete", "True"))
vars.optional_stop.set(ap.getpref("optional_stop", "True"))

# placeholder function for LivePlotter.update():
def user_live_update():
    pass
# placeholder function for building user HAL pins
def user_hal_pins():
    pass

vars.touch_off_system.set(all_systems[0])

update_recent_menu()

def set_feedrate(n):
    widgets.feedoverride.set(n)

def set_rapidrate(n):
    widgets.rapidoverride.set(n)

def activate_ja_widget_or_set_feedrate(jora):
    # note: call with integers only
    if joints_mode() and s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
        if jora == 10: jora = 0
        activate_ja_widget(jora,True)
        return
    else:
        set_feedrate(10*jora)

def nomodifier(f):
    def g(event):
        if event.state & (1|4|8|32|64|128): return ""
        return f(event)
    return g

def kp_wrap(f,g):
    return nomodifier(f)

root_window.bind("<Escape>", commands.task_stop)
root_window.bind("l", commands.toggle_override_limits)
root_window.bind("o", commands.open_file)
root_window.bind("s", commands.task_resume)
root_window.bind("t", commands.task_step)
root_window.bind("p", commands.task_pause)
root_window.bind("R", commands.task_reverse)
root_window.bind("F", commands.task_forward)
root_window.bind("v", commands.cycle_view)
root_window.bind("<Alt-p>", "#nothing")
root_window.bind("r", commands.task_run)
root_window.bind("<Control-r>", commands.reload_file)
root_window.bind("<Control-s>", commands.save_gcode)
root_window.bind_class("all", "<Key-F1>", commands.estop_clicked)
root_window.bind("<Key-F2>", commands.onoff_clicked)
root_window.bind("<Key-F7>", commands.mist_toggle)
root_window.bind("<Key-F8>", commands.flood_toggle)
root_window.bind("<Key-F9>", commands.spindle_forward_toggle)
root_window.bind("<Key-F10>", commands.spindle_backward_toggle)
root_window.bind("<Key-F11>", commands.spindle_decrease)
root_window.bind("<Key-F12>", commands.spindle_increase)
root_window.bind("B", commands.brake_on)
root_window.bind("b", commands.brake_off)
root_window.bind("<Control-k>", commands.clear_live_plot)

#----------------------------------------------------
# letters for teleop only
root_window.bind("x", lambda event: activate_ja_widget("x"))
root_window.bind("y", lambda event: activate_ja_widget("y"))
root_window.bind("z", lambda event: activate_ja_widget("z"))
root_window.bind("a", lambda event: activate_ja_widget("a"))
#----------------------------------------------------

root_window.bind("`", lambda event: activate_ja_widget_or_set_feedrate(0))
root_window.bind("1", lambda event: activate_ja_widget_or_set_feedrate(1))
root_window.bind("2", lambda event: activate_ja_widget_or_set_feedrate(2))
root_window.bind("3", lambda event: activate_ja_widget_or_set_feedrate(3))
root_window.bind("4", lambda event: activate_ja_widget_or_set_feedrate(4))
root_window.bind("5", lambda event: activate_ja_widget_or_set_feedrate(5))
root_window.bind("6", lambda event: activate_ja_widget_or_set_feedrate(6))
root_window.bind("7", lambda event: activate_ja_widget_or_set_feedrate(7))
root_window.bind("8", lambda event: activate_ja_widget_or_set_feedrate(8))
root_window.bind("9", lambda event: activate_ja_widget_or_set_feedrate(9))
root_window.bind("0", lambda event: activate_ja_widget_or_set_feedrate(10))

root_window.bind("c", lambda event: jogspeed_continuous())
root_window.bind("d", lambda event: widgets.rotate.invoke())
root_window.bind("i", lambda event: jogspeed_incremental())
root_window.bind("I", lambda event: jogspeed_incremental(-1))
root_window.bind("!", "set metric [expr {!$metric}]; redraw")
root_window.bind("@", commands.toggle_display_type)
root_window.bind("#", commands.toggle_coord_type)
root_window.bind("$", commands.toggle_teleop_mode)

root_window.bind("<Home>", commands.home_joint)
root_window.bind("<KP_Home>", kp_wrap(commands.home_joint, "KeyPress"))
root_window.bind("<Control-Home>", commands.home_all_joints)
root_window.bind("<Shift-Home>", commands.set_axis_offset)
root_window.bind("<End>", commands.touch_off_system)
root_window.bind("<Control-End>", commands.touch_off_tool)
root_window.bind("<Control-KP_Home>", kp_wrap(commands.home_all_joints, "KeyPress"))
root_window.bind("<Shift-KP_Home>", kp_wrap(commands.set_axis_offset, "KeyPress"))
root_window.bind("<KP_End>", kp_wrap(commands.touch_off_system, "KeyPress"))
widgets.mdi_history.bind("<Configure>", "%W see end" )
widgets.mdi_history.bind("<ButtonRelease-1>", commands.mdi_history_butt_1)
widgets.mdi_history.bind("<Double-Button-1>", commands.mdi_history_double_butt_1)
widgets.mdi_command.unbind("<Control-h>")
widgets.mdi_command.bind("<Control-m>", commands.clear_mdi_history)
widgets.mdi_command.bind("<Control-h>", commands.mdi_history_hist2clip)
widgets.mdi_command.bind("<Control-Shift-H>", commands.mdi_history_clip2hist)
widgets.mdi_command.bind("<Key-Return>", commands.send_mdi)
widgets.mdi_command.bind("<Up>",  commands.mdi_up_cmd)
widgets.mdi_command.bind("<Down>", commands.mdi_down_cmd)
widgets.mdi_command.bind("<Key-KP_Enter>", commands.send_mdi)
widgets.mdi_command.bind("<KP_Up>",  commands.mdi_up_cmd)
widgets.mdi_command.bind("<KP_Down>", commands.mdi_down_cmd)
widgets.mdi_command.bind("<KeyRelease-minus>", "break")
widgets.mdi_command.bind("<KeyRelease-equal>", "break")

# try to read back previously saved mdi history data
mdi_hist_file = os.path.expanduser(mdi_history_save_filename)
try:
    line_cnt = 0
    f = open(mdi_hist_file, "r")
    try:
        for line in f:
            line_cnt += 1
    finally:
        f.seek(0)
    skip = line_cnt - mdi_history_max_entries
    history_size = 1
    try:
        for line in f:
            if skip <= 0:
                widgets.mdi_history.insert(history_size - 1, "%s" % line.rstrip("\r\n"))
                mdi_history_index = history_size
                history_size += 1
            else:
                skip -= 1
    finally:
        f.close()
except IOError:
    pass

def jog(*args):
    if not manual_ok(): return
    if not manual_tab_visible(): return
    c.jog(*args)

def get_jog_mode():
    s.poll()
    if  (    (s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY)
        and  all_homed() ):
        teleop_mode = 1
        jjogmode = False
    else:
        # check motion_mode since other guis (halui) could alter it
        if s.motion_mode == linuxcnc.TRAJ_MODE_FREE:
            teleop_mode = 0
            jjogmode = True
        else:
            teleop_mode = 1
            jjogmode = False
    if (   (    jjogmode and s.motion_mode != linuxcnc.TRAJ_MODE_FREE)
        or (not jjogmode and s.motion_mode != linuxcnc.TRAJ_MODE_TELEOP) ):
        set_motion_teleop(teleop_mode)
    return jjogmode

# Note: require linuxcnc.MAX_JOINTS >= linuxcnc.MAX_AXIS
jog_after = [None]  * linuxcnc.MAX_JOINTS
jog_cont  = [False] * linuxcnc.MAX_JOINTS
jogging   = [0]     * linuxcnc.MAX_JOINTS
def jog_on(a, b):
    if not manual_ok(): return
    if not manual_tab_visible(): return
    if a < 3 or a > 5:
        if vars.metric.get(): b = b / 25.4
        b = from_internal_linear_unit(b)
    if jog_after[a]:
        root_window.after_cancel(jog_after[a])
        jog_after[a] = None
        return
    jogincr = widgets.jogincr.get()
    jjogmode = get_jog_mode()
    if jogincr != _("Continuous"):
        s.poll()
        if s.state != 1: return
        distance = parse_increment(jogincr)
        jog(linuxcnc.JOG_INCREMENT, jjogmode, a, b, distance)
        jog_cont[a] = False
    else:
        global continuous_jog_in_progress,cjogindices
        continuous_jog_in_progress = True
        if not a in cjogindices: cjogindices.append(a)
        jog(linuxcnc.JOG_CONTINUOUS, jjogmode, a, b)
        jog_cont[a] = True
        jogging[a] = b
    activate_ja_widget(a)

def jog_off(a):
    if jog_after[a]: return
    jog_after[a] = root_window.after_idle(lambda: jog_off_actual(a))

def jog_off_actual(a):
    global continuous_jog_in_progress
    continuous_jog_in_progress = False
    if not manual_ok(): return
    jog_after[a] = None
    jogging[a] = 0
    jjogmode = get_jog_mode()
    if jog_cont[a]:
        jog(linuxcnc.JOG_STOP, jjogmode, a)

def jog_off_all():
    for i in range(6):
        if jogging[i]:
            jog_off_actual(i)

def jog_on_map(num, speed):
    if not get_jog_mode():
        if num >= len(jog_order): return
        axis_letter = jog_order[num]
        num = "XYZABCUVW".index(axis_letter)
        if axis_letter in jog_invert: speed = -speed
    elif num >= num_joints:
        return
    elif lathe:
        if num >= len(jog_order): return
        axis_letter = jog_order[num]
        if lathe_historical_config():
            num = "XYZ".index(axis_letter)
        else:
            num = trajcoordinates.upper().index(axis_letter)
        if axis_letter in jog_invert: speed = -speed
    return jog_on(num, speed)

def jog_off_map(num):
    if not get_jog_mode():
        if num >= len(jog_order): return
        num = "XYZABCUVW".index(jog_order[num])
    elif num >= num_joints:
        return
    elif lathe:
        if num >= len(jog_order): return
        if lathe_historical_config():
            num = "XYZ".index(jog_order[num])
        else:
            num = trajcoordinates.upper().index(jog_order[num])
    return jog_off(num)

def bind_axis(a, b, d):
    root_window.bind("<KeyPress-%s>" % a, kp_wrap(lambda e: jog_on_map(d, -get_jog_speed_map(d)), "KeyPress"))
    root_window.bind("<KeyPress-%s>" % b, kp_wrap(lambda e: jog_on_map(d, get_jog_speed_map(d)), "KeyPress"))
    root_window.bind("<Shift-KeyPress-%s>" % a, lambda e: jog_on_map(d, -get_max_jog_speed_map(d)))
    root_window.bind("<Shift-KeyPress-%s>" % b, lambda e: jog_on_map(d, get_max_jog_speed_map(d)))
    root_window.bind("<KeyRelease-%s>" % a, lambda e: jog_off_map(d))
    root_window.bind("<KeyRelease-%s>" % b, lambda e: jog_off_map(d))

root_window.bind("<FocusOut>", lambda e: str(e.widget) == "." and jog_off_all())

open_directory = "programs"

unit_values = {'inch': 1/25.4, 'mm': 1}
def units(s, d=1.0):
    try:
        return float(s)
    except ValueError:
        return unit_values.get(s, d)

random_toolchanger = int(inifile.find("EMCIO", "RANDOM_TOOLCHANGER") or 0)
vars.emcini.set(sys.argv[2])
jointcount = int(inifile.find("KINS", "JOINTS"))
open_directory = inifile.find("DISPLAY", "PROGRAM_PREFIX") or open_directory
vars.machine.set(inifile.find("EMC", "MACHINE"))
extensions = inifile.findall("FILTER", "PROGRAM_EXTENSION")
extensions = [e.split(None, 1) for e in extensions]
extensions = tuple([(v, tuple(k.split(","))) for k, v in extensions])
postgui_halfile = inifile.findall("HAL", "POSTGUI_HALFILE") or None
max_feed_override = float(inifile.find("DISPLAY", "MAX_FEED_OVERRIDE") or 1.0)
max_spindle_override = float(inifile.find("DISPLAY", "MAX_SPINDLE_OVERRIDE") or max_feed_override)
max_feed_override = int(max_feed_override * 100 + 0.5)
max_spindle_override = int(max_spindle_override * 100 + 0.5)
default_spindle_speed = int(inifile.find("DISPLAY", "DEFAULT_SPINDLE_SPEED") or 1)
geometry = inifile.find("DISPLAY", "GEOMETRY") or "XYZABCUVW"
geometry = re.split(" *(-?[XYZABCUVW])", geometry.upper())
geometry = "".join(reversed(geometry))

try:
    trajcoordinates=inifile.find("TRAJ", "COORDINATES").lower().replace(" ","")
except:
    raise SystemExit("Missing [TRAJ]COORDINATES")
vars.trajcoordinates.set(trajcoordinates)

joint_type = [None] * jointcount
joint_sequence = [None] * jointcount
for j in range(jointcount):
    section = "JOINT_%d" % j
    joint_type[j] = inifile.find(section, "TYPE") or "LINEAR"
    joint_sequence[j]  = inifile.find(section, "HOME_SEQUENCE") or ""

axis_type = [None] * linuxcnc.MAX_AXIS
for a in range(linuxcnc.MAX_AXIS):
    # supply defaults, supersede with INI [AXIS_*]TYPE
    letter = "xyzabcuvw"[a]
    if not (letter in trajcoordinates): continue
    if letter in "abc":
        axis_type[a] = "ANGULAR"
    else:
        axis_type[a] = "LINEAR"
    section = "AXIS_%s" % letter.upper()
    initype = inifile.find(section, "TYPE")
    if initype is None: continue # use default
    axis_type[a] = initype

has_angular_joint_or_axis = (   ("ANGULAR" in joint_type)
                             or ("ANGULAR" in axis_type) )

has_linear_joint_or_axis = (    ("LINEAR" in joint_type)
                             or ("LINEAR" in axis_type) )

# Search rules for slider items
max_linear_speed = (
    inifile.find("DISPLAY","MAX_LINEAR_VELOCITY")
    or inifile.find("TRAJ","MAX_LINEAR_VELOCITY")
    or None)
default_jog_linear_speed = (
    inifile.find("DISPLAY", "DEFAULT_LINEAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_LINEAR_VELOCITY")
    or None)

max_angular_speed = (
    inifile.find("DISPLAY","MAX_ANGULAR_VELOCITY")
    or inifile.find("TRAJ","MAX_ANGULAR_VELOCITY")
    or None)
default_jog_angular_speed = (
    inifile.find("DISPLAY", "DEFAULT_ANGULAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_ANGULAR_VELOCITY")
    or None)

max_velocity = (
    inifile.find("DISPLAY","MAX_LINEAR_VELOCITY")
    or inifile.find("TRAJ","MAX_LINEAR_VELOCITY")
    or inifile.find("AXIS_X","MAX_VELOCITY")
    or None)

# Enforce these slider items (exit if missing)
try:
    msg = ("   [DISPLAY]MAX_LINEAR_VELOCITY\n"
           "or [TRAJ]MAX_LINEAR_VELOCITY\n"
           "or [AXIS_X]MAX_VELOCITY")
    vars.maxvel_speed.set(float(max_velocity)*60)
    vars.max_maxvel.set(float(max_velocity))
except Exception:
    print (_("\nMissing required specifier:\n%s"
           "\nSee the \'INI Configuration\' documents\n")%msg)
    raise SystemExit

try:
    if has_linear_joint_or_axis:
        msg = ("   [DISPLAY]MAX_LINEAR_VELOCITY\n"
               "or [TRAJ]MAX_LINEAR_VELOCITY")
        vars.max_speed.set(float(max_linear_speed))
        if default_jog_linear_speed is None:
            default_jog_linear_speed = max_linear_speed
        vars.jog_speed.set(float(default_jog_linear_speed)*60)
except Exception:
    print (_("\nMissing required specifier (has linear joint or axis):\n%s"
           "\nSee the \'INI Configuration\' documents\n")%msg)
    raise SystemExit

# Check for these slider items (message if missing)
try:
    if has_angular_joint_or_axis:
        msg = ("    [DISPLAY]MAX_ANGULAR_VELOCITY\n"
               "or  [TRAJ]MAX_ANGULAR_VELOCITY")
        vars.max_aspeed.set(float(max_angular_speed))
        if default_jog_angular_speed is None: default_jog_angular_speed = max_angular_speed
        vars.jog_aspeed.set(float(default_jog_angular_speed)*60)
except Exception:
    print (_("\nWarning: Missing required specifier (has angular joint or axis):\n%s"
           "\nSee the \'INI Configuration\' documents\n")%msg)
    max_angular_speed = 1
    default_jog_angular_speed = 1
    vars.max_aspeed.set(float(max_angular_speed))
    vars.jog_aspeed.set(float(default_jog_angular_speed)*60)

# temporary debugging prints
print("note: MAXV     max: %.3f units/sec %.3f units/min"%(
      float(max_velocity),60*float(max_velocity)), file=sys.stderr)
if has_linear_joint_or_axis:
    print("note: LJOG     max: %.3f units/sec %.3f units/min"%(
          float(max_linear_speed),60*float(max_linear_speed)), file=sys.stderr)
    print("note: LJOG default: %.3f units/sec %.3f units/min"%(
          float(default_jog_linear_speed),60*float(default_jog_linear_speed)), file=sys.stderr)
if has_angular_joint_or_axis:
    print("note: AJOG     max: %.3f units/sec %.3f units/min"%(
          float(max_angular_speed),60*float(max_angular_speed)), file=sys.stderr)
    print("note: AJOG default: %.3f units/sec %.3f units/min"%(
          float(default_jog_angular_speed),60*float(default_jog_angular_speed)), file=sys.stderr)

# always allow tcl widgets creation (though they may be forgotten later)
if not has_linear_joint_or_axis:
    vars.jog_speed.set(1)
    vars.max_speed.set(1)
if not has_angular_joint_or_axis:
    vars.jog_aspeed.set(1)
    vars.max_aspeed.set(1)

root_window.tk.eval("${pane_top}.jogspeed.s set [setval $jog_speed $max_speed]")
root_window.tk.eval("${pane_top}.ajogspeed.s set [setval $jog_aspeed $max_aspeed]")
root_window.tk.eval("${pane_top}.maxvel.s set [setval $maxvel_speed $max_maxvel]")
widgets.feedoverride.configure(to=max_feed_override)
widgets.rapidoverride.configure(to=100)
widgets.spinoverride.configure(to=max_spindle_override)
nmlfile = inifile.find("EMC", "NML_FILE")
if nmlfile:
    linuxcnc.nmlfile = os.path.join(os.path.dirname(sys.argv[2]), nmlfile)
vars.coord_type.set(inifile.find("DISPLAY", "POSITION_OFFSET") == "RELATIVE")
vars.display_type.set(inifile.find("DISPLAY", "POSITION_FEEDBACK") == "COMMANDED")
coordinate_display = inifile.find("DISPLAY", "POSITION_UNITS")
lathe = bool(inifile.find("DISPLAY", "LATHE"))
lathe_backtool = bool(inifile.find("DISPLAY", "BACK_TOOL_LATHE"))
foam = bool(inifile.find("DISPLAY", "FOAM"))
editor = inifile.find("DISPLAY", "EDITOR")
vars.has_editor.set(editor is not None)

tooltable  = inifile.find("EMCIO", "TOOL_TABLE")
db_program = inifile.find("EMCIO", "DB_PROGRAM")
if (db_program is not None and tooltable is not None):
    print("%s:DB_PROGRAM specified: TOOL_TABLE=%s is not used"%
         (sys.argv[0],tooltable))

default_tooleditor = "tooledit"
if db_program is not None: default_tooleditor = None

tooleditor = inifile.find("DISPLAY","TOOL_EDITOR") or default_tooleditor

if inifile.find("RS274NGC", "PARAMETER_FILE") is None:
    raise SystemExit("Missing INI file setting for [RS274NGC]PARAMETER_FILE")
try:
    lu = units(inifile.find("TRAJ", "LINEAR_UNITS"))
except TypeError:
    raise SystemExit("Missing [TRAJ]LINEAR_UNITS or ANGULAR_UNITS")
a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
if coordinate_display:
    if coordinate_display.lower() in ("mm", "metric"): vars.metric.set(1)
    else: vars.metric.set(0)
else:
    if lu in [.001, .01, .1, 1, 10]: vars.metric.set(1)
    else: vars.metric.set(0)
if lu == 1:
    root_window.tk.eval("${pane_top}.jogspeed.l1 configure -text mm/min")
    root_window.tk.eval("${pane_top}.maxvel.l1 configure -text mm/min")
else:
    root_window.tk.eval("${pane_top}.jogspeed.l1 configure -text in/min")
    root_window.tk.eval("${pane_top}.maxvel.l1 configure -text in/min")
root_window.tk.eval("${pane_top}.ajogspeed.l1 configure -text deg/min")

homing_order_defined = 1
# set homing_order_defined only if ALL joints specify a HOME_SEQUENCE
for j in range(jointcount):
    if inifile.find("JOINT_"+str(j), "HOME_SEQUENCE") is None:
         homing_order_defined = 0
         break

ct = float(inifile.find('DISPLAY', 'CYCLE_TIME') or .020)
if ct < 1:
    update_ms = int(ct * 1000)
else:
    update_ms = int(ct)
interpname = inifile.find("TASK", "INTERPRETER") or ""

s = linuxcnc.stat();
s.poll()

statfail=0
statwait=.01
while ((s.joints == 0) or (s.kinematics_type < linuxcnc.KINEMATICS_IDENTITY)):
    print("waiting for s.joints<%d>, s.kinematics_type<%d>"%(s.joints,s.kinematics_type))
    time.sleep(statwait)
    statfail+=1
    statwait *= 2
    if statfail > 8:
        raise SystemExit(
            "A configuration error is preventing LinuxCNC from starting.\n"
            "More information may be available when running from a terminal.")
    s.poll()

if s.num_extrajoints > 0:
    # Preview display for extra joints is shared with offsets.
    # Initially ignore preference for show_offsets in order
    # to show extra joints in preview, (user can still set
    # show_offsets)
    vars.show_offsets.set(False)

if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
    ja_name = _("Axes")
else:
    ja_name = _("Joints")
if homing_order_defined:
    widgets.homebutton.configure(text=_("Home All"), command="home_all_joints")
    root_window.tk.call("DynamicHelp::add", widgets.homebutton,
            "-text", _("Home all %s [Ctrl-Home]") % ja_name)
    widgets.homemenu.add_command(command=commands.home_all_joints)
    root_window.tk.call("setup_menu_accel", widgets.homemenu, "end",
            _("Home All %s") % ja_name)
widgets.unhomemenu.add_command(command=commands.unhome_all_joints)
root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end", _("Unhome All %s") % ja_name)

kinsmodule=inifile.find("KINS", "KINEMATICS")
kins_is_trivkins = False
if kinsmodule.split()[0] == "trivkins":
    kins_is_trivkins = True
    trivkinscoords = "XYZABCUVW"
    for item in kinsmodule.split():
        if "coordinates=" in item:
            trivkinscoords = item.split("=")[1].upper()

duplicate_coord_letters = ""
for i in range(len(trajcoordinates)):
    if trajcoordinates[i] == " ": continue
    if trajcoordinates.count(trajcoordinates[i]) > 1:
        duplicate_coord_letters = duplicate_coord_letters + trajcoordinates[i]
if duplicate_coord_letters != "":
    # duplicate_coord_letters are allowed
    #
    # Example: configs/sim/axis/gantry.ini -- trivkins with kinstype=both.
    # With such kins, the value displayed on the gui graphical display
    # in JOINT mode AFTER homing may be confusing for a pair of joints that
    # are assigned using a duplicated axis letter in [TRAJ]COORDINATES
    # and specified consistently with the trivkins 'coordinates=' parameter.
    #
    # Moving the joint in the pair with the highest number will update its
    # displayed joint value and move the cone in the gui graphical display
    # as expected.
    #
    # Moving the joint in the pair with the lower number will update its
    # displayed joint value but will not move the cone.
    #
    # Note also that returning to world mode from joint mode, the
    # value assigned to the duplicated axis letter will be the value of
    # the highest number joint since trivkins forward kinematics iterates
    # through all joint numbers and ends up with the value for the
    # highest joint number.  These behaviors, due in part to the simple
    # implementation of the trivkins module, could be customized by a more
    # sophisticated kinematics module that accepts duplicated coordinate
    # letters with some special requirements -- hence the warning:

    print (_("Warning: Forward kinematics must handle duplicate coordinate letters:%s")%
          duplicate_coord_letters)
if len(trajcoordinates) > jointcount:
    print (_("Note: number of [TRAJ]COORDINATES=%(t)s exceeds [KINS]JOINTS=%(l)d")
          %({'t':trajcoordinates,'l':jointcount}))

def lathe_historical_config():
    # detect historical lathe config with dummy joint 1
    if      (lathe
        and (trajcoordinates.upper() == "XZ")
        and (num_joints == 3)):
        return True
    return False

def aletter_for_jnum(jnum):
    if lathe_historical_config():
        if jnum == 1: return "Y"
        if jnum == 2: return "Z"
    if kins_is_trivkins:
        return trivkinscoords.upper()[jnum]
    if s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
        raise SystemExit("aletter_for_jnum: Must be KINEMATICS_IDENTITY")
    else:
        guess = trajcoordinates.upper()[jnum]
        print("aletter_for_jnum guessing %d --> %s"%(jnum,guess))
        return guess

num_joints = s.joints
gave_individual_homing_message = ""
for jnum in range(num_joints):
    if s.kinematics_type == linuxcnc.KINEMATICS_IDENTITY:
        ja_name = _("Axis ")
        ja_id = aletter_for_jnum(jnum)
        if ja_id.lower() in duplicate_coord_letters:
            if ja_id not in gave_individual_homing_message:
                print(_("\nNote:\nIndividual axis homing is not currently supported for"))
                print(_("KINEMATICS_IDENTITY with duplicate axis letter <%s>\n")%ja_id)
                gave_individual_homing_message = gave_individual_homing_message + ja_id
            continue # no menu item for this individual axis letter
        widgets.homemenu.add_command(
               command=lambda jnum=jnum: commands.home_joint_number(jnum))
        widgets.unhomemenu.add_command(
               command=lambda jnum=jnum: commands.unhome_joint_number(jnum))
    else:
        widgets.homemenu.add_command(
               command=lambda jnum=jnum: commands.home_joint_number(jnum))
        widgets.unhomemenu.add_command(
               command=lambda jnum=jnum: commands.unhome_joint_number(jnum))
        ja_name = _("Joint")
        if not homing_order_defined:
            widgets.homebutton.configure(text=_("Home Joint"))
        if joint_sequence[jnum] == '':
            ja_id = "%d"%jnum
        elif (int(joint_sequence[jnum]) < 0):
            ja_id = "%d (Sequence: %2s SYNC)"%(jnum,joint_sequence[jnum])
        else:
            ja_id = "%d (Sequence: %2s)"%(jnum,joint_sequence[jnum])
    root_window.tk.call("setup_menu_accel", widgets.homemenu, "end",
            _("Home %(name)s _%(id)s") % {"name":ja_name, "id":ja_id})
    root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end",
            _("Unhome %(name)s _%(id)s") % {"name":ja_name, "id":ja_id})

astep_size = step_size = 1
for a in range(linuxcnc.MAX_AXIS):
    a = "XYZABCUVW"[a]
    if s.axis_mask & (1<<i) == 0: continue
    section = "AXIS_%s" % a
    unit = inifile.find(section, "UNITS") or lu
    unit = units(unit) * 25.4
    f = inifile.find(section, "SCALE") or inifile.find(section, "INPUT_SCALE") or "8000"
    try:
        f = abs(float(f.split()[0]))
    except ValueError:
        pass
    else:
        if f != 0:
           step_size_tmp = min(step_size, 1. / f)
           if a in 'XYZ': step_size = astep_size = step_size_tmp
           elif a in 'ABC': astep_size = step_size_tmp
           else: step_size = step_size_tmp

if inifile.find("DISPLAY", "MIN_LINEAR_VELOCITY"):
    root_window.tk.call("set_slider_min", float(inifile.find("DISPLAY", "MIN_LINEAR_VELOCITY"))*60)
elif inifile.find("DISPLAY", "MIN_VELOCITY"):
    root_window.tk.call("set_slider_min", float(inifile.find("DISPLAY", "MIN_VELOCITY"))*60)
elif step_size != 1:
    root_window.tk.call("set_slider_min", step_size*30)

if inifile.find("DISPLAY", "MIN_ANGULAR_VELOCITY"):
    root_window.tk.call("set_aslider_min", float(inifile.find("DISPLAY", "MIN_ANGULAR_VELOCITY"))*60)
elif inifile.find("DISPLAY", "MIN_VELOCITY"):
    root_window.tk.call("set_aslider_min", float(inifile.find("DISPLAY", "MIN_VELOCITY"))*60)
elif astep_size != 1:
    root_window.tk.call("set_aslider_min", astep_size*30)

increments = inifile.find("DISPLAY", "INCREMENTS")
if increments:
    if "," in increments:
        increments = [i.strip() for i in increments.split(",")]
    else:
        increments = increments.split()
    root_window.call(widgets.jogincr._w, "list", "delete", "1", "end")
    root_window.call(widgets.jogincr._w, "list", "insert", "end", *increments)
widgets.jogincr.configure(command= jogspeed_listbox_change)
root_window.call(widgets.jogincr._w, "select", 0)

vcp = inifile.find("DISPLAY", "PYVCP")

arcdivision = int(inifile.find("DISPLAY", "ARCDIVISION") or 64)

del sys.argv[1:3]

root_window.bind("<KeyPress-KP_Begin>", kp_wrap(lambda e: None, "KeyPress"))
root_window.bind("<KeyPress-KP_Insert>", kp_wrap(lambda e: None, "KeyPress"))

def unique_axes(axes, order):
    r = ""
    axes = set(axes.upper())
    for c in order.upper():
        if c in axes: r += c
    return r

jog_invert = inifile.find("DISPLAY", "JOG_INVERT")
if jog_invert is None:
    if lathe and not lathe_backtool: jog_invert = "X"
    else: jog_invert = ""
jog_invert = set(jog_invert.upper())

jog_order = inifile.find("DISPLAY", "JOG_AXES")
if jog_order is None:
    if lathe:
        jog_order = unique_axes(trajcoordinates, "ZXYABCUVW")
    elif foam:
        jog_order = unique_axes(trajcoordinates, "XYUVABCZW")
    else:
        jog_order = unique_axes(trajcoordinates, "XYZABCUVW")
else: jog_order = jog_order.upper()

print("note: jog_order=%r" % jog_order, file=sys.stderr)
print("note: jog_invert=%r" % jog_invert, file=sys.stderr)
bind_axis("Left", "Right", 0)
bind_axis("Down", "Up", 1)
bind_axis("Next", "Prior", 2)
bind_axis("KP_Left", "KP_Right", 0)
bind_axis("KP_Down", "KP_Up", 1)
bind_axis("KP_Next", "KP_Prior", 2)
bind_axis("KP_4", "KP_6", 0)
bind_axis("KP_2", "KP_8", 1)
bind_axis("KP_3", "KP_9", 2)
bind_axis("bracketleft", "bracketright", 3)

if len(jog_order) < 3:
    root_window.bind("<KeyPress-KP_Next>", kp_wrap(lambda e: None, "KeyPress"))
    root_window.bind("<KeyPress-KP_Prior>", kp_wrap(lambda e: None, "KeyPress"))

root_window.bind("<KeyPress-minus>", nomodifier(commands.jog_minus))
root_window.bind("<KeyPress-equal>", nomodifier(commands.jog_plus))
root_window.bind("<KeyRelease-minus>", commands.jog_stop)
root_window.bind("<KeyRelease-equal>", commands.jog_stop)

opts, args = getopt.getopt(sys.argv[1:], 'd:')

# forget axis radiobuttons not in axis_mask
for i in range(linuxcnc.MAX_AXIS):
    if s.axis_mask & (1<<i): continue
    letter = "xyzabcuvw"[i]
    c = getattr(widgets, "axis_%s" % letter)
    c.grid_forget()

# forget joint radiobuttons for joints > num_joints
for i in range(num_joints, linuxcnc.MAX_JOINTS):
    c = getattr(widgets, "joint_%d" % i)
    c.grid_forget()

if  (       (s.axis_mask & 56 == 0)  # 56==0x38== 000111000 (ABC)
    and not ("ANGULAR" in joint_type)
    ):
    widgets.ajogspeed.grid_forget()

c = linuxcnc.command()
e = linuxcnc.error_channel()

c.set_block_delete(vars.block_delete.get())
c.wait_complete()
c.set_optional_stop(vars.optional_stop.get())
c.wait_complete()

o = MyOpengl(widgets.preview_frame, width=400, height=300, double=1, depth=1)
o.last_line = 1
o.pack(fill="both", expand=1)

def match_grid_size(v):
    for idx in range(3, widgets.menu_grid.index("end")+1):
        gv = widgets.menu_grid.entrycget(idx, "value")
        if abs(float(gv)-v) < 1e-5:
            vars.grid_size.set(gv)
            widgets.menu_grid.entryconfigure(2, value=-1)
            break
    else:
        vars.grid_size.set(v)
        widgets.menu_grid.entryconfigure(2, value=v)
    commands.set_grid_size()
    o.tkRedraw()

def setup_grid_menu(grids):
    for i in grids.split():
        v = to_internal_linear_unit(parse_increment(i))
        widgets.menu_grid.add_radiobutton(value=v, label=i,
                variable="grid_size", command="set_grid_size")
    match_grid_size(vars.grid_size.get())

grids = inifile.find("DISPLAY", "GRIDS") \
        or "10mm 20mm 50mm 100mm 1in 2in 5in 10in"
setup_grid_menu(grids)


# Find font for coordinate readout and get metrics
font_cache = {}
def get_coordinate_font(large):
    global coordinate_font
    global coordinate_linespace
    global coordinate_charwidth
    global fontbase

    if large:
        coordinate_font = "monospace 20"
    else:
        coordinate_font = "monospace 11"

    if coordinate_font not in font_cache:
        font_cache[coordinate_font] = \
            glnav.use_pango_font(coordinate_font, 0, 128)
    fontbase, coordinate_charwidth, coordinate_linespace = \
            font_cache[coordinate_font]

root_window.bind("<Key-F3>", pane_top + ".tabs raise manual")
root_window.bind("<Key-F5>", pane_top + ".tabs raise mdi")
root_window.bind("<Key-F5>", "+" + tabs_mdi + ".command selection range 0 end")
root_window.bind("<Key-F4>", commands.next_tab)

init()

#right click menu for the program
def rClicker(e):

    def select_run_from(e):
        commands.task_run_line()

    #if no line is selected drop out
    if vars.highlight_line.get() == -1 :
        return
    nclst=[
        ('        ',None),   #
        (' ------ ',None),   #
        (_('Run from here'), lambda e=e: select_run_from(e)),
        ]
    rmenu = Tkinter.Menu(None, tearoff=0, takefocus=0)
    cas = {}
    for (txt, cmd) in nclst:
        if txt == ' ------ ':
            rmenu.add_separator()
        else: rmenu.add_command(label=txt, command=cmd)
    rmenu.entryconfigure(0, label = "AXIS", state = 'disabled')
    if not manual_ok():
        rmenu.entryconfigure(2, state = 'disabled')
    rmenu.tk_popup(e.x_root-3, e.y_root+3,entry="0")
    return "break"

t = widgets.text
t.bind('<Button-3>', rClicker) #allow right-click to select start from line
t.tag_configure("ignored", background="#ffffff", foreground="#808080")
t.tag_configure("lineno", foreground="#808080")
t.tag_configure("executing", background="#804040", foreground="#ffffff")
t.bind("<Button-1>", select_line)
t.bind("<Double-Button-1>", release_select_line)
t.bind("<B1-Motion>", lambda e: "break")
t.bind("<B1-Leave>", lambda e: "break")
t.bind("<Button-4>", scroll_up)
t.bind("<Button-5>", scroll_down)
t.configure(state="disabled")

if hal_present == 1 :
    comp = hal.component("axisui")
    comp.newpin("jog.x", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.y", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.z", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.a", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.b", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.c", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.u", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.v", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.w", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("jog.increment", hal.HAL_FLOAT, hal.HAL_OUT)
    comp.newpin("notifications-clear",hal.HAL_BIT,hal.HAL_IN)
    comp.newpin("notifications-clear-info",hal.HAL_BIT,hal.HAL_IN)
    comp.newpin("notifications-clear-error",hal.HAL_BIT,hal.HAL_IN)
    comp.newpin("resume-inhibit",hal.HAL_BIT,hal.HAL_IN)
    comp.newpin("error", hal.HAL_BIT, hal.HAL_OUT)
    comp.newpin("abort", hal.HAL_BIT, hal.HAL_OUT)

    vars.has_ladder.set(hal.component_exists('classicladder_rt'))

    if vcp:
        import vcpparse
        f = Tkinter.Frame(root_window)
        if inifile.find("DISPLAY", "PYVCP_POSITION") == "BOTTOM":
            f.grid(row=4, column=0, columnspan=6, sticky="nw", padx=4, pady=4)
        else:
            f.grid(row=0, column=4, rowspan=6, sticky="nw", padx=4, pady=4)
        vcpparse.filename = vcp
        vcpcomp = hal.component("pyvcp")
        vcpparse.create_vcp(f, vcpcomp)
        vcpcomp.ready()
        vcp_frame = f
        root_window.bind("<Control-e>", commands.toggle_show_pyvcppanel)
        help2 += [("Ctrl-E", _("toggle PYVCP panel visibility"))]
    else:
        widgets.menu_view.delete(_("Show PyVCP pan_el").replace("_", ""))

    gladevcp = inifile.find("DISPLAY", "GLADEVCP")
    if gladevcp:
        f = Tkinter.Frame(root_window, container=1, borderwidth=0, highlightthickness=0)
        f.grid(row=0, column=5, rowspan=6, sticky="nsew", padx=4, pady=4)
    else:
        f = None
    gladevcp_frame = f

_dynamic_childs = {}
# Call this later
def load_gladevcp_panel():
    gladevcp = inifile.find("DISPLAY", "GLADEVCP")
    if gladevcp:
        gladecmd = gladevcp.split()
        if '-c' in gladecmd:
            gladename = gladecmd[gladecmd.index('-c') + 1]
            del gladecmd[gladecmd.index('-c') + 1]
            del gladecmd[gladecmd.index('-c')]
        else:
            gladename = 'gladevcp'
        from subprocess import Popen
        xid = gladevcp_frame.winfo_id()
        cmd = "halcmd loadusr -Wn {0} gladevcp -c {0}".format(gladename).split()
        cmd += ['-d', '-x', str(xid)] + gladecmd
        print(cmd)
        child = Popen(cmd)
        _dynamic_childs['{}'.format(gladename)] = (child, cmd, True)

notifications = Notification(root_window)

root_window.bind("<Control-space>", lambda event: notifications.clear())
widgets.mdi_command.bind("<Control-space>", lambda event: notifications.clear())


get_coordinate_font(vars.dro_large_font.get())

live_plotter = LivePlotter(o)
live_plotter.start()
o.lp = live_plotter.logger
hershey = Hershey()

def remove_tempdir(t):
    shutil.rmtree(t)
tempdir = tempfile.mkdtemp()
atexit.register(remove_tempdir, tempdir)

activate_ja_widget(0, True)
set_hal_jogincrement()

code = []
addrecent = True
if args:
    initialfile = args[0]
elif "AXIS_OPEN_FILE" in os.environ:
    initialfile = os.environ["AXIS_OPEN_FILE"]
elif inifile.find("DISPLAY", "OPEN_FILE"):
    initialfile = inifile.find("DISPLAY", "OPEN_FILE")
elif lathe:
    initialfile = os.path.join(BASE, "share", "axis", "images","axis-lathe.ngc")
    addrecent = False
else:
    initialfile = os.path.join(BASE, "share", "axis", "images", "axis.ngc")
    addrecent = False

if os.path.exists(initialfile):
    open_file_guts(initialfile, False, addrecent)

if lathe:
    if lathe_backtool:
        commands.set_view_y2()
    else:
        commands.set_view_y()
else:
    commands.set_view_p()
if o.canon:
    x = (o.canon.min_extents[0] + o.canon.max_extents[0])/2
    y = (o.canon.min_extents[1] + o.canon.max_extents[1])/2
    z = (o.canon.min_extents[2] + o.canon.max_extents[2])/2
    o.set_centerpoint(x, y, z)

def destroy_splash():
    try:
        root_window.send("popimage", "destroy", ".")
    except Tkinter.TclError:
        pass

def _dynamic_tab(name, text):
    tab = widgets.right.insert("end", name, text=text)
    tab.configure(borderwidth=1, highlightthickness=0)
    return tab

def _dynamic_tabs(inifile):
    from subprocess import Popen
    tab_names = inifile.findall("DISPLAY", "EMBED_TAB_NAME")
    tab_cmd   = inifile.findall("DISPLAY", "EMBED_TAB_COMMAND")
    if len(tab_names) != len(tab_cmd):
        print("Invalid tab configuration")
        # Complain somehow
        return

    # XXX: Set our root window ID in environment so child GladeVcp processes
    # may forward keyboard events to it
    rxid = root_window.winfo_id()
    os.environ['AXIS_FORWARD_EVENTS_TO'] = str(rxid)
    for i,t,c in zip(list(range(len(tab_cmd))), tab_names, tab_cmd):
        w = _dynamic_tab("user_" + str(i), t)
        if c.split()[0] == 'pyvcp': # this is a pycvp panel
            import vcpparse
            f = Tkinter.Frame(w, borderwidth=0, highlightthickness=0)
            pyvcp = c.split()
            if len(pyvcp) != 2:
                print("Invalid PyVCP tab configuration: EMBED_TAB COMMAND =", c)
                print("Incorrect number of parameters")
                continue
            try:
                f.pack(fill="y", expand=0)
                vcpparse.filename = pyvcp[1]
                vcpparse.create_vcp(f, comp=None, compname=t.lower().replace(' ','_'))
            except Exception as e:
                print("Invalid PyVCP tab configuration: EMBED_TAB COMMAND =", c)
                print(e)
        else: # this is a gladevcp panel
            f = Tkinter.Frame(w, container=1, borderwidth=0, highlightthickness=0)
            f.pack(fill="both", expand=1)
            xid = f.winfo_id()
            cmd = c.replace('{XID}', str(xid)).split()
            child = Popen(cmd)
            wait = cmd[:2] == ['halcmd', 'loadusr']

            _dynamic_childs[str(w)] = (child, cmd, wait)

@atexit.register
def kill_dynamic_childs():
    for c,_,w in list(_dynamic_childs.values()):
        if not w:
            c.terminate()

def check_dynamic_tabs():
    for c,cmd,w in list(_dynamic_childs.values()):
        if not w:
            continue
        r = c.poll()
        if r == 0:
            continue
        if r is None:
            break
        print('Embeded tab command "%s" exited with error: %s' %\
                             (" ".join(cmd), r))
        raise SystemExit(r)
    else:
        if postgui_halfile is not None:
            for f in postgui_halfile:
                if f.lower().endswith('.tcl'):
                    res = os.spawnvp(os.P_WAIT, "haltcl", ["haltcl", "-i", vars.emcini.get(), f])
                else:
                    res = os.spawnvp(os.P_WAIT, "halcmd", ["halcmd", "-i", vars.emcini.get(), "-f", f])
                if res: raise SystemExit(res)
        root_window.deiconify()
        destroy_splash()
        return
    root_window.after(100, check_dynamic_tabs)

tkpkgs = inifile.findall("DISPLAY","TKPKG") or ""
for pkg in tkpkgs:
    pkg=pkg.split()
    root_window.tk.call("package","require",*pkg)

tkapps = inifile.findall("DISPLAY","TKAPP") or ""
for app in tkapps:
    root_window.tk.call("source",app)

o.update_idletasks()


icons = (root_window.tk.call("load_image", "axis-48x48"),
         root_window.tk.call("load_image", "axis-24x24"))
for win in root_window, widgets.about_window, widgets.help_window:
    root_window.tk.call("wm", "iconphoto", win, *icons)

vars.kinematics_type.set(s.kinematics_type)
vars.max_queued_mdi_commands.set(int(inifile.find("TASK", "MDI_QUEUED_COMMANDS") or  10))

def balance_ja():
    w = max(widgets.axes.winfo_reqwidth(), widgets.joints.winfo_reqwidth())
    h = max(widgets.axes.winfo_reqheight(), widgets.joints.winfo_reqheight())
    widgets.axes.configure(width=w, height=h)
    widgets.joints.configure(width=w, height=h)
if s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY:
    set_motion_teleop(0)
    widgets.joints.grid_propagate(0)
    widgets.axes.grid_propagate(0)
    root_window.after_idle(balance_ja)
else:
    widgets.menu_view.delete("end")
    widgets.menu_view.delete("end")
    widgets.menu_view.delete("end")
    root_window.bind("$", "")


if lathe:
    if lathe_backtool:
        root_window.after_idle(commands.set_view_y2)
        root_window.bind("v", commands.set_view_y2)
    else:
        root_window.after_idle(commands.set_view_y)
        root_window.bind("v", commands.set_view_y)
    root_window.bind("d", "")
    widgets.view_z.pack_forget()
    widgets.view_z2.pack_forget()
    widgets.view_x.pack_forget()
    widgets.view_p.pack_forget()
    widgets.rotate.pack_forget()
    widgets.axis_y.grid_forget()
    widgets.menu_view.delete(0, 5)
else:
    widgets.view_y2.pack_forget()

widgets.feedoverride.set(100)
commands.set_feedrate(100)
widgets.rapidoverride.set(100)
commands.set_rapidrate(100)
widgets.spinoverride.set(100)
commands.set_spindlerate(100)

def forget(widget, *pins):
    if "AXIS_NO_AUTOCONFIGURE" in os.environ: return
    if hal_present == 1:
        for p in pins:
            if hal.pin_has_writer(p): return
    m = widget.winfo_manager()
    if m in ("grid", "pack"):
        widget.tk.call(m, "forget", widget._w)

forget(widgets.brake, "spindle.0.brake")
forget(widgets.spindle_cw, "spindle.0.forward", "spindle.0.on",
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")
forget(widgets.spindle_ccw, "spindle.0.reverse",
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")
forget(widgets.spindle_stop, "spindle.0.forward", "spindle.0.reverse", "spindle.0.on",
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")

forget(widgets.spindle_plus,
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")
forget(widgets.spindle_minus,
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")

forget(widgets.spindlef,  "spindle.0.forward", "spindle.0.reverse", "spindle.0.on", "spindle.0.brake",
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")
forget(widgets.spindlel,  "spindle.0.forward", "spindle.0.reverse", "spindle.0.on", "spindle.0.brake",
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")

forget(widgets.spinoverridef,
       "spindle.0.speed-out", "spindle.0.speed-out-abs", "spindle.0.speed-out-rps", "spindle.0.speed-out-rps-abs")

has_limit_switch = 0
for j in range(linuxcnc.MAX_JOINTS):
    try:
        if hal.pin_has_writer("joint.%d.neg-lim-sw-in" % j):
            has_limit_switch=1
            break
        if hal.pin_has_writer("joint.%d.pos-lim-sw-in" % j):
            has_limit_switch=1
            break
    except NameError as detail:
        break
if not has_limit_switch:
    widgets.override.grid_forget()


forget(widgets.mist, "iocontrol.0.coolant-mist")
forget(widgets.flood, "iocontrol.0.coolant-flood")
forget(widgets.lubel, "iocontrol.0.coolant-flood", "iocontrol.0.coolant-mist")

rcfile = "~/.axisrc"
user_command_file = inifile.find("DISPLAY", "USER_COMMAND_FILE") or ""
if user_command_file:
    rcfile = user_command_file
rcfile = os.path.expanduser(rcfile)
if os.path.exists(rcfile):
    try:
        exec(compile(open(rcfile, "rb").read(), rcfile, 'exec'))
    except:
        tb = traceback.format_exc()
        print(tb, file=sys.stderr)
        root_window.tk.call("nf_dialog", ".error", _("Error in ~/.axisrc"),
            tb, "error", 0, _("OK"))

# call an empty function that can be overridden
# by an .axisrc user_hal_pins() function
# then set HAL component ready if the .axisui didn't
if hal_present == 1 :
    user_hal_pins()
    if not hal.component_is_ready('axisui'):
        comp.ready()

_dynamic_tabs(inifile)
if hal_present == 1:
    load_gladevcp_panel()
    check_dynamic_tabs()
else:
    root_window.deiconify()
    destroy_splash()

set_motion_teleop(0) # start in joint mode

root_window.tk.call("trace", "variable", "metric", "w", "update_units")
install_help(root_window)

widgets.numbers_text.bind("<Configure>", commands.redraw_soon)
live_plotter.update()
live_plotter.error_task()
o.mainloop()
live_plotter.stop()

# vim:sw=4:sts=4:et: