#!/usr/bin/env python2
#    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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

# import pdb

import sys, os
import string
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;
gettext.install("linuxcnc", localedir=os.path.join(BASE, "share", "locale"), unicode=True)

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

# Print Tk errors to stdout. python.org/sf/639266
import Tkinter 
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

from Tkinter import *
from minigl import *
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 os.environ.has_key("AXIS_NO_HAL"):
    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)
        try:
            o = m(self, "DEFAULT", option)
        except Exception, detail:
            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, type(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")
root_window.iconify()
nf.start(root_window)
nf.makecommand(root_window, "_", _)
rs274.options.install(root_window)
root_window.tk.call("set", "version", linuxcnc.version)

try:
    nf.source_lib_tcl(root_window,"axis.tcl")
except TclError:
    print root_window.tk.call("set", "errorInfo")
    raise


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
spindlerate_blackout = 0
maxvel_blackout = 0
jogincr_index_last = 1
mdi_history_index= -1

help1 = [
    ("F1", _("Emergency stop")),
    ("F2", _("Turn machine on")),
    ("", ""),
    ("X, `", _("Activate first axis")),
    ("Y, 1", _("Activate second axis")),
    ("Z, 2", _("Activate third axis")),
    ("A, 3", _("Activate fourth axis")),
    ("4..8", _("Activate fifth through ninth axis")),
    ("`, 1..9, 0", _("Set Feed Override from 0% to 100%")),
    (_(", and ."), _("Select jog speed")),
    (_("< and >"), _("Select angular jog speed")),
    (_("I, Shift-I"), _("Select jog increment")),
    ("C", _("Continuous jog")),
    (_("Home"), _("Send active axis home")),
    (_("Ctrl-Home"), _("Home all axes")),
    (_("Shift-Home"), _("Zero G54 offset for active axis")),
    (_("End"), _("Set G54 offset for active axis")),
    ("-, =", _("Jog active axis")),

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

    ("", ""),
    ("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")),
    (_("Control+Left Button"), _("Zoom view")),
]
help2 = [
    ("F3", _("Manual control")),
    ("F5", _("Code entry (MDI)")),
    (_("Control-M"), _("Clear MDI history")),
    (_("Control-H"), _("Copy selected MDI history elements")),
    ("",          _("to clipboard")),
    (_("Control-Shift-H"), _("Paste clipboard to MDI history")),
    ("L", _("Override Limits")),
    ("", ""),
    ("O", _("Open program")),
    (_("Control-R"), _("Reload program")),
    (_("Control-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")),
    ("", ""),
    (_("Control-K"), _("Clear live plot")),
    ("V", _("Cycle among preset views")),
    ("F4", _("Cycle among preview, DRO, and user tabs")),
    ("", ""),
    (_("Ctrl-Space"), _("Clear notifications")),
]


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 and s.kinematics_type != linuxcnc.KINEMATICS_IDENTITY

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

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 = 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)
            text.configure(text=message)
            widgets = frame, icon, text, button, iconname
        else:
            frame = Tkinter.Frame(self)
            icon = Tkinter.Label(frame, image=iconname)
            text = Tkinter.Label(frame, text=message, wraplength=300, justify="left")
            button = Tkinter.Button(frame, image=close)
            widgets = frame, icon, text, button, iconname
            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)

    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()

def soft_limits():
    def fudge(x):
        if abs(x) > 1e30: return 0
        return x

    ax = s.joint
    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_limits = None
        self.set_eyepoint(5.)
        self.get_resources()
        self.realize()

    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 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":
            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[:]
        i = 0
        for ts in t:
            if i < len(homed) and homed[i]:
                t[i] += "*"
            else:
                t[i] += " "
            if i < len(homed) and limit[i]:
                t[i] += "!" # !!!1!
            else:
                t[i] += " "
            i+=1
            
        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 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.set_manual_mode = False
        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
        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, spindlerate_blackout, maxvel_blackout
        feedrate_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, detail:
            print "error", detail
            del self.stat
            return
        self.after = self.win.after(update_ms, self.update)

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

        speed = self.stat.current_vel

        limits = soft_limits()

        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_table[0] != o.last_tool
                or self.stat.motion_mode != o.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
            o.last_motion_mode = self.stat.motion_mode
            o.last_tool = self.stat.tool_table[0]
            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 :
            set_manual_mode = comp["set-manual-mode"]
            if self.set_manual_mode != set_manual_mode:
                 self.set_manual_mode = set_manual_mode
                 if self.set_manual_mode:
                     root_window.tk.eval(pane_top + ".tabs raise manual")
            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")
        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_brake)
        vupdate(vars.spindledir, self.stat.spindle_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.spindlerate + .5))
        if time.time() > feedrate_blackout:
            vupdate(vars.feedrate, int(100 * self.stat.feedrate + .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")

        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 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
    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 mode
def ensure_mode(m, *p):
    s.poll()
    if s.task_mode == m or s.task_mode in p: return True
    if running(do_poll=False): return False
    c.mode(m)
    c.wait_complete()
    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, 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

    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.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()
                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:
            m = progress_re.match(line)
            if not m:
                stderr_text.append(line)
                sys.stderr.write(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 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):
    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
            return open_file_guts(tempfile, True, False)

    set_first_line(0)
    t0 = time.time()

    canon = None
    o.deselect(None) # remove highlight line from last program
    try:
        # be sure to switch modes to cause an interp synch, which
        # writes out the var file.  there was a reset here, and that
        # causes a var file write, but nukes important settings like
        # TLO.
        ensure_mode(linuxcnc.MODE_MDI)
        c.wait_complete()
        ensure_mode(linuxcnc.MODE_AUTO)
        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

        initcode = inifile.find("EMC", "RS274NGC_STARTUP_CODE") or ""
        if initcode == "":
            initcode = inifile.find("RS274NGC", "RS274NGC_STARTUP_CODE") or ""
        if not interpname:
            unitcode = "G%d" % (20 + (s.linear_units == 1))
        else:
            unitcode = ''
        try:
            result, seq = o.load_preview(f, canon, unitcode, initcode, 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()))

    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"))
widgets = nf.Widgets(root_window, 
    ("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, tabs_mdi + ".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"),

    ("joints", Radiobutton, tabs_manual + ".joints"),
    ("joint_0", Radiobutton, tabs_manual + ".joints.joint0"),
    ("joint_1", Radiobutton, tabs_manual + ".joints.joint1"),
    ("joint_2", Radiobutton, tabs_manual + ".joints.joint2"),
    ("joint_3", Radiobutton, tabs_manual + ".joints.joint3"),
    ("joint_4", Radiobutton, tabs_manual + ".joints.joint4"),
    ("joint_5", Radiobutton, tabs_manual + ".joints.joint5"),
    ("joint_6", Radiobutton, tabs_manual + ".joints.joint6"),
    ("joint_7", Radiobutton, tabs_manual + ".joints.joint7"),
    ("joint_8", Radiobutton, tabs_manual + ".joints.joint8"),
    ("joint_9", Radiobutton, tabs_manual + ".joints.joint9"),

    ("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_p", Button, ".toolbar.view_p"),
    ("rotate", Button, ".toolbar.rotate"),

    ("feedoverride", Scale, pane_top + ".feedoverride.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")
)

def activate_axis(i, force=0):
    if not force and not manual_ok(): return
    if joints_mode():
        if i >= num_joints: return
        axis = getattr(widgets, "joint_%d" % i)
    else:
        if not s.axis_mask & (1<<i): return
        axis = getattr(widgets, "axis_%s" % "xyzabcuvws"[i])
    axis.focus()
    axis.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 = iter(root_window.call(widgets.jogincr._w, "list", "get", "0", "end"))
    idx = 0
    cursel = -1
    for i in iterator:
        if i == unicode(value, 'utf-8'):
            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
    jogincr_size = int(root_window.call(widgets.jogincr._w, "list", "size"))
    # pdb.set_trace()
    cursel = root_window.call(widgets.jogincr._w, "curselection")
    if cursel == "":
        cursel = 0
    else:
        cursel = int(cursel)
    if dir == 1:
        if cursel > 0:
            # If it was "Continous" 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 = ['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, defaultsystem):
        systems = all_systems[:]
        if s.tool_in_spindle == 0:
            del systems[-1]
            if defaultsystem.startswith("T"): defaultsystem = systems[0]
        linear_axis = vars.current_axis.get() in "xyzuvw"
        if linear_axis:
            if vars.metric.get(): unit_str = " " + _("mm")
            else: unit_str = " " + _("in")
            if lathe and vars.current_axis.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)
        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()
        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 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, system=None):
    t = _prompt_touchoff(title, text, default, 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:")), ('x', _("X bounds:")),
    ('y', _("Y bounds:")), ('z', _("Z bounds:")),
    ('a', _("A bounds:")), ('b', _("B bounds:")),
    ('c', _("C bounds:"))
]

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

# returns units/sec
def get_jog_speed(a):
    if vars.joint_mode.get():
        # World Mode
        if a in (0,1,2,6,7,8): # XYZUVW
            speed = vars.jog_speed.get()/60. 
        else: # ABC
            speed = vars.jog_aspeed.get()/60.  
    else:
        # Joint Mode
        ini_joint = "JOINT_%d" % a
        jnt_type = inifile.find(ini_joint, "TYPE")
        if (jnt_type == "LINEAR"):
            speed = vars.jog_speed.get()/60.
        elif (inifile.find(ini_joint, "TYPE") == "ANGULAR"):
            speed = vars.jog_aspeed.get()/60.  
        else:
            print >>sys.stderr, "Unknown %s.TYPE" % ini_joint
            speed = 0.
    # print >>sys.stderr, "DEBUG: get_jog_speed(): j[%d] speed(%f), jog_speed(%f) jog_aspeed(%f)" \
    #                     % (a, speed, vars.jog_speed.get(),  vars.jog_aspeed.get())
    return speed
    
def get_max_jog_speed(a):
    if vars.joint_mode.get():
        # World Mode
        if a in (0,1,2,6,7,8): # XYZUVW
            speed = vars.max_speed.get()    # unit/sec
        else: # ABC
            speed = vars.max_aspeed.get()   # unit/sec
    else:
        # Joint Mode
        ini_joint = "JOINT_%d" % a
        jnt_type = inifile.find(ini_joint, "TYPE")
        if (jnt_type == "LINEAR"):
            speed = vars.max_speed.get()    # unit/sec
        elif (inifile.find(ini_joint, "TYPE") == "ANGULAR"):
            speed = vars.max_aspeed.get()   # unit/sec
        else:
            print >>sys.stderr, "Unknown %s.TYPE" % ini_joint
            speed = 0.
    return speed

def run_warn():
    warnings = []
    if o.canon:
        machine_limit_min, machine_limit_max = soft_limits()
        for i in range(2): # Does not enforce angle limits
            if not(s.axis_mask & (1<<i)): continue
            if o.canon.min_extents_notool[i] < machine_limit_min[i]:
                warnings.append(_("Program exceeds machine minimum on axis %s")
                    % "XYZABCUVW"[i])
            if o.canon.max_extents_notool[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)

recentUp = 0
recentDown = 0
is_wheel_down = 0
is_wheel_up =0

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 gcode 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}
        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_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_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_p.configure(relief="link")
        vars.view_type.set(4)
        o.set_view_y()

    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_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_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_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 not f: return
        o.set_highlight_line(None)
        f = str(f)
        open_directory = os.path.dirname(f)
        commands.open_file_name(f)

    def exec_teach(event=None):
        b = "teach-in " + open_directory+ "/teached.ngc &"
        print b
        os.system(b)
    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_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:
            e = string.split(editor)
            e.append(loaded_file)
            e.append("&")
            root_window.tk.call("exec", *e)

    def edit_tooltable(*event):
        if tooltable is None:
            pass
        else:
            e = string.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_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:
            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())
        c.abort()
        c.wait_complete()

    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 >>sys.stderr, "Can't open MDI history file [%s] for writing" % file_name

    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):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        commands.set_joint_mode()

    def ensure_mdi(*event):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MDI)

    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()

    # wheel up and down for mouse scroll wheel
    def wheel_up():
        # we should invoke deferred thread here
        global recentUp,is_wheel_up
        recentUp = 1
        if is_wheel_up==0:
            is_wheel_up=1
            thread.start_new_thread( wheel_up_deferred, ( ) )

    def wheel_down():
        # we should invoke deferred thread here
        global recentDown,is_wheel_down
        recentDown = 1
        if is_wheel_down==0:
            is_wheel_down=1
            thread.start_new_thread( wheel_down_deferred, ( ) )



    # The next three don't have 'manual_ok' because that's done in jog_on /
    # jog_off
    def jog_plus(incr=False):
        a = vars.current_axis.get()
        if isinstance(a, (str, unicode)):
            a = "xyzabcuvws".index(a)
        speed = get_jog_speed(a)
        jog_on(a, speed)
    def jog_minus(incr=False):
        a = vars.current_axis.get()
        if isinstance(a, (str, unicode)):
            a = "xyzabcuvws".index(a)
        speed = get_jog_speed(a)
        jog_on(a, -speed)
    def jog_stop(event=None):
        jog_off(vars.current_axis.get())

    def home_all_axes(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        isHomed=True
        for i,h in enumerate(s.homed):
            if s.axis_mask & (1<<i):
                isHomed=isHomed and h
        doHoming=True
        if isHomed:
            doHoming=prompt_areyousure(_("Warning"),_("Axis is already homed, are you sure you want to re-home?"))
        if doHoming:
            c.home(-1)

    def unhome_all_axes(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.unhome(-1)

    def home_axis(event=None):
        if not manual_ok(): return
        doHoming=True
        if s.homed["xyzabcuvws".index(vars.current_axis.get())]:
            doHoming=prompt_areyousure(_("Warning"),_("This axis is already homed, are you sure you want to re-home?"))
        if doHoming:
            ensure_mode(linuxcnc.MODE_MANUAL)
            c.home("xyzabcuvws".index(vars.current_axis.get()))

    def unhome_axis(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.unhome("xyzabcuvws".index(vars.current_axis.get()))

    def home_axis_number(num):
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.home(num)

    def unhome_axis_number(num):
        ensure_mode(linuxcnc.MODE_MANUAL)
        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(event=None, new_axis_value = None):
        global system
        if not manual_ok(): return
        if joints_mode(): return
        offset_axis = "xyzabcuvws".index(vars.current_axis.get())
        if new_axis_value is None:
            new_axis_value, system = prompt_touchoff(_("Touch Off"),
                _("Enter %s coordinate relative to %%s:")
                        % vars.current_axis.get().upper(), 0.0, vars.touch_off_system.get())
        else:
            system = vars.touch_off_system.get()
        if new_axis_value is None: return
        vars.touch_off_system.set(system)
        ensure_mode(linuxcnc.MODE_MDI)
        s.poll()

        linear_axis = vars.current_axis.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

        if system.split()[0] == "T":
            lnum = 10 + vars.tto_g11.get()
            offset_command = "G10 L%d P%d %c[%s*%.12f]" % (lnum, s.tool_in_spindle, vars.current_axis.get(), new_axis_value, scale)
            c.mdi(offset_command)
            c.wait_complete()
            c.mdi("G43")
            c.wait_complete()
        else:
            offset_command = "G10 L20 %s %c[%s*%.12f]" % (system.split()[0], vars.current_axis.get(), new_axis_value, scale)
            c.mdi(offset_command)
            c.wait_complete()

        ensure_mode(linuxcnc.MODE_MANUAL)
        s.poll()
        o.tkRedraw()
        reload_file(False)

    def set_axis_offset(event=None):
        commands.touch_off(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):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.flood(vars.flood.get())
    def mist(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.mist(vars.mist.get())
    def spindle(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.spindle(vars.spindledir.get())
    def spindle_increase(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        c.spindle(linuxcnc.SPINDLE_INCREASE)
    def spindle_decrease(event=None):
        if not manual_ok(): return
        ensure_mode(linuxcnc.MODE_MANUAL)
        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):
        if not manual_ok(): return
        s.poll()
        c.mist(not s.mist)
    def flood_toggle(*args):
        if not manual_ok(): return
        s.poll()
        c.flood(not s.flood)

    def spindle_forward_toggle(*args):
        if not manual_ok(): return
        s.poll()
        if s.spindle_direction == 0:
            c.spindle(1)
        else:
            c.spindle(0)

    def spindle_backward_toggle(*args):
        if not manual_ok(): return "break"
        s.poll()
        if s.spindle_direction == 0:
            c.spindle(-1)
        else:
            c.spindle(0)
        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_joint_mode(*args):
        vars.joint_mode.set(not vars.joint_mode.get())
        commands.set_joint_mode()

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

    def set_joint_mode(*args):
        joint_mode = vars.joint_mode.get()
        c.teleop_enable(joint_mode)
        c.wait_complete()

    def save_gcode(*args):
        if not loaded_file: return
        global open_directory
        f = root_window.tk.call("tk_getSaveFile", "-initialdir", open_directory,
            "-filetypes", ((_("rs274ngc files"), ".ngc"),))
        if not f: return
        f = unicode(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.copy(srcfile, f)
        except (shutil.Error, os.error, IOError), 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):
	items = tuple(inifile.findall(section, item))
	return root_window.tk.merge(*items)

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),
    ("current_axis", StringVar),
    ("tto_g11", BooleanVar),
    ("mist", BooleanVar),
    ("flood", BooleanVar),
    ("brake", BooleanVar),
    ("spindledir", IntVar),
    ("running_line", IntVar),
    ("highlight_line", IntVar),
    ("show_program", IntVar),
    ("program_alpha", IntVar),
    ("show_live_plot", IntVar),
    ("show_tool", IntVar),
    ("show_extents", IntVar),
    ("show_offsets", IntVar),
    ("grid_size", DoubleVar),
    ("show_machine_limits", IntVar),
    ("show_machine_speed", IntVar),
    ("show_distance_to_go", IntVar),
    ("dro_large_font", IntVar),
    ("show_rapids", IntVar),
    ("feedrate", 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),
    ("joint_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),
)
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", 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.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

vars.touch_off_system.set("P1  G54")

update_recent_menu()

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

def activate_axis_or_set_feedrate(n):
    # XXX: axis_mask does not apply if in joint mode
    if manual_ok() and s.axis_mask & (1<<n):
        activate_axis(n)
    else:
        set_feedrate(10*n)

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("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)
root_window.bind("x", lambda event: activate_axis(0))
root_window.bind("y", lambda event: activate_axis(1))
root_window.bind("z", lambda event: activate_axis(2))
root_window.bind("a", lambda event: activate_axis(3))
# root_window.bind("`", lambda event: activate_axis_or_set_feedrate(0))
# root_window.bind("1", lambda event: activate_axis_or_set_feedrate(1))
# root_window.bind("2", lambda event: activate_axis_or_set_feedrate(2))
# root_window.bind("3", lambda event: activate_axis_or_set_feedrate(3))
# root_window.bind("4", lambda event: activate_axis_or_set_feedrate(4))
# root_window.bind("5", lambda event: activate_axis_or_set_feedrate(5))
# root_window.bind("6", lambda event: activate_axis_or_set_feedrate(6))
# root_window.bind("7", lambda event: activate_axis_or_set_feedrate(7))
# root_window.bind("8", lambda event: activate_axis_or_set_feedrate(8))
root_window.bind("`", lambda event: set_feedrate(0))
root_window.bind("1", lambda event: set_feedrate(10))
root_window.bind("2", lambda event: set_feedrate(20))
root_window.bind("3", lambda event: set_feedrate(30))
root_window.bind("4", lambda event: set_feedrate(40))
root_window.bind("5", lambda event: set_feedrate(50))
root_window.bind("6", lambda event: set_feedrate(60))
root_window.bind("7", lambda event: set_feedrate(70))
root_window.bind("8", lambda event: set_feedrate(80))
root_window.bind("9", lambda event: set_feedrate(90))
root_window.bind("0", lambda event: set_feedrate(100))
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_joint_mode)

root_window.bind("<Home>", commands.home_axis)
root_window.bind("<KP_Home>", kp_wrap(commands.home_axis, "KeyPress"))
root_window.bind("<Control-Home>", commands.home_all_axes)
root_window.bind("<Shift-Home>", commands.set_axis_offset)
root_window.bind("<End>", commands.touch_off)
root_window.bind("<Control-KP_Home>", kp_wrap(commands.home_all_axes, "KeyPress"))
root_window.bind("<Shift-KP_Home>", kp_wrap(commands.set_axis_offset, "KeyPress"))
root_window.bind("<KP_End>", kp_wrap(commands.touch_off, "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
    ensure_mode(linuxcnc.MODE_MANUAL)
    c.jog(*args)

# mouse wheel deferred functions

def wheel_up_deferred():
    global recentUp , is_wheel_up
    jog_plus()
    while recentUp==1:
        recentUp = 0
        time.sleep(0.1)
    jog_stop()
    is_wheel_up=0
    return
    

def wheel_down_deferred():
    global recentDown, is_wheel_down
    jog_minus()
    while recentDown==1:
        recentDown = 0
        time.sleep(0.1)
    jog_stop()
    is_wheel_down=0
    return

# function extract from TCL command
def jog_plus(incr=False):
    a = vars.current_axis.get()
    if isinstance(a, (str, unicode)):
        a = "xyzabcuvws".index(a)
    speed = get_jog_speed(a)
    jog_on(a, speed)
def jog_minus(incr=False):
    a = vars.current_axis.get()
    if isinstance(a, (str, unicode)):
        a = "xyzabcuvws".index(a)
    speed = get_jog_speed(a)
    jog_on(a, -speed)
def jog_stop(event=None):
    jog_off(vars.current_axis.get())

# XXX correct for machines with more than six axes
jog_after = [None] * 9
jog_cont  = [False] * 9
jogging   = [0] * 9
def jog_on(a, b):
    if not manual_ok(): return
    if not manual_tab_visible(): return
    if isinstance(a, (str, unicode)):
        a = "xyzabcuvws".index(a)
    if a < 3:
        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
    b = b*vars.feedrate.get()/100.0
    jogincr = widgets.jogincr.get()
    if s.motion_mode == linuxcnc.TRAJ_MODE_TELEOP:
        if jogincr != _("Continuous"):
            jogging[a] = 0
            print "WARNING: do not allow incremental jogging in TELEOP mode"
        else:
            jogging[a] = b
        jog_cont[a] = True
        cartesian_only=jogging[:6]
        c.teleop_vector(*cartesian_only)
    else:
        if jogincr != _("Continuous"):
            s.poll()
            if s.state != 1: return
            distance = parse_increment(jogincr)
            jog(linuxcnc.JOG_INCREMENT, a, b, distance)
            jog_cont[a] = False
        else:
            jog(linuxcnc.JOG_CONTINUOUS, a, b)
            jog_cont[a] = True
            jogging[a] = b

def jog_off(a):
    if isinstance(a, (str, unicode)):
        a = "xyzabcuvws".index(a)
    if jog_after[a]: return
    jog_after[a] = root_window.after_idle(lambda: jog_off_actual(a))

def jog_off_actual(a):
    if not manual_ok(): return
    activate_axis(a)
    jog_after[a] = None
    jogging[a] = 0
    if s.motion_mode == linuxcnc.TRAJ_MODE_TELEOP:
        cartesian_only=jogging[:6]
        c.teleop_vector(*cartesian_only)
    else:
        if jog_cont[a]:
            jog(linuxcnc.JOG_STOP, a)

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

def bind_axis(a, b, d):
    root_window.bind("<KeyPress-%s>" % a, kp_wrap(lambda e: jog_on(d, -get_jog_speed(d)), "KeyPress"))
    root_window.bind("<KeyPress-%s>" % b, kp_wrap(lambda e: jog_on(d, get_jog_speed(d)), "KeyPress"))
    root_window.bind("<Shift-KeyPress-%s>" % a, lambda e: jog_on(d, -get_max_jog_speed(d)))
    root_window.bind("<Shift-KeyPress-%s>" % b, lambda e: jog_on(d, get_max_jog_speed(d)))
    root_window.bind("<KeyRelease-%s>" % a, lambda e: jog_off(d))
    root_window.bind("<KeyRelease-%s>" % b, lambda e: jog_off(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"))
jointnames = "012345678"[:jointcount]
open_directory = inifile.find("DISPLAY", "PROGRAM_PREFIX")
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.find("HAL", "POSTGUI_HALFILE")
max_feed_override = float(inifile.find("DISPLAY", "MAX_FEED_OVERRIDE"))
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)

geometry = inifile.find("DISPLAY", "GEOMETRY") or "XYZBCUVW"
geometry = re.split(" *(-?[XYZABCUVW])", geometry.upper())
geometry = "".join(reversed(geometry))

jog_speed = (
    inifile.find("DISPLAY", "DEFAULT_LINEAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_LINEAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_VELOCITY")
    or 1.0)
vars.jog_speed.set(float(jog_speed)*60.)

jog_speed = (
    inifile.find("DISPLAY", "DEFAULT_ANGULAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_ANGULAR_VELOCITY")
    or inifile.find("TRAJ", "DEFAULT_VELOCITY")
    or jog_speed)
vars.jog_aspeed.set(float(jog_speed)*60.)

mlv = (
    inifile.find("DISPLAY","MAX_LINEAR_VELOCITY")
    or inifile.find("TRAJ","MAX_LINEAR_VELOCITY")
    or inifile.find("TRAJ","MAX_VELOCITY")
    or 1.0)
vars.max_speed.set(float(mlv))
mav = (
    inifile.find("DISPLAY","MAX_ANGULAR_VELOCITY")
    or inifile.find("TRAJ","MAX_ANGULAR_VELOCITY")
    or inifile.find("TRAJ","MAX_VELOCITY")
    or mlv)
vars.max_aspeed.set(float(mav))
mv = inifile.find("TRAJ","MAX_LINEAR_VELOCITY") or inifile.find("AXIS_0","MAX_VELOCITY") or 1.0
vars.maxvel_speed.set(float(mv)*60.)
vars.max_maxvel.set(float(mv))
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 $max_maxvel]")
widgets.feedoverride.configure(to=max_feed_override)
widgets.spinoverride.configure(to=max_spindle_override)
nmlfile = inifile.find("EMC", "NML_FILE")
if nmlfile:
    linuxcnc.nmlfile = os.path.join(os.path.dirname(sys.argv[2]), nmlfile)
vars.coord_type.set(inifile.find("DISPLAY", "POSITION_OFFSET") == "RELATIVE")
vars.display_type.set(inifile.find("DISPLAY", "POSITION_FEEDBACK") == "COMMANDED")
coordinate_display = inifile.find("DISPLAY", "POSITION_UNITS")
lathe = bool(inifile.find("DISPLAY", "LATHE"))
foam = bool(inifile.find("DISPLAY", "FOAM"))
editor = inifile.find("DISPLAY", "EDITOR")
vars.has_editor.set(editor is not None)
tooleditor = inifile.find("DISPLAY", "TOOL_EDITOR") or "tooledit"
tooltable = inifile.find("EMCIO", "TOOL_TABLE")
lu = units(inifile.find("TRAJ", "LINEAR_UNITS"))
a_axis_wrapped = inifile.find("AXIS_3", "WRAPPED_ROTARY")
b_axis_wrapped = inifile.find("AXIS_4", "WRAPPED_ROTARY")
c_axis_wrapped = inifile.find("AXIS_5", "WRAPPED_ROTARY")
if coordinate_display:
    if coordinate_display.lower() in ("mm", "metric"): vars.metric.set(1)
    else: vars.metric.set(0)
else:
    if lu in [.001, .01, .1, 1, 10]: vars.metric.set(1)
    else: vars.metric.set(0)
if lu == 1:
    root_window.tk.eval("${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("${pane_top}.maxvel.l1 configure -text in/min")
root_window.tk.eval(u"${pane_top}.ajogspeed.l1 configure -text deg/min")
homing_order_defined = inifile.find("JOINT_0", "HOME_SEQUENCE") is not None

if homing_order_defined:
    widgets.homebutton.configure(text=_("Home All"), command="home_all_axes")
    root_window.tk.call("DynamicHelp::add", widgets.homebutton,
            "-text", _("Home all axes [Ctrl-Home]"))
    widgets.homemenu.add_command(command=commands.home_all_axes)
    root_window.tk.call("setup_menu_accel", widgets.homemenu, "end",
            _("Home All Axes"))

update_ms = int(1000 * float(inifile.find("DISPLAY","CYCLE_TIME") or 0.020))

interpname = inifile.find("TASK", "INTERPRETER") or ""

widgets.unhomemenu.add_command(command=commands.unhome_all_axes)
root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end", _("Unhome All Axes"))

s = linuxcnc.stat();
s.poll()
statfail=0
statwait=.01
while s.joints == 0:
    print "waiting for s.joints"
    time.sleep(.01)
    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()

num_joints = s.joints
for i in range(num_joints):
    widgets.homemenu.add_command(command=lambda i=i: commands.home_axis_number(i))
    widgets.unhomemenu.add_command(command=lambda i=i: commands.unhome_axis_number(i))
    root_window.tk.call("setup_menu_accel", widgets.homemenu, "end",
            _("Home Joint _%s") % i)
    root_window.tk.call("setup_menu_accel", widgets.unhomemenu, "end",
            _("Unhome Joint _%s") % i)

astep_size = step_size = 1
for a in range(9):
    if s.axis_mask & (1<<a) == 0: continue
    section = "AXIS_%d" % 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 < 3: step_size = astep_size = step_size_tmp
            else: astep_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"))

if lathe:
    bind_axis("Left", "Right", 2)
    bind_axis("Up", "Down", 0)
    bind_axis("KP_Left", "KP_Right", 2)
    bind_axis("KP_Up", "KP_Down", 0)
    bind_axis("KP_4", "KP_6", 2)
    bind_axis("KP_8", "KP_2", 0)
    root_window.bind("<KeyPress-KP_Next>", kp_wrap(lambda e: None, "KeyPress"))
    root_window.bind("<KeyPress-KP_Prior>", kp_wrap(lambda e: None, "KeyPress"))
else:
    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)

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:')
for i in range(9):
    if s.axis_mask & (1<<i): continue
    c = getattr(widgets, "axis_%s" % ("xyzabcuvws"[i]))
    c.grid_forget()
for i in range(num_joints, 9):
    c = getattr(widgets, "joint_%d" % i)
    c.grid_forget()
    
if s.axis_mask & 56 == 0:
    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 = "courier bold 20"
    else:
        coordinate_font = "courier bold 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("<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("set-manual-mode",hal.HAL_BIT,hal.HAL_IN)
    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)
    vars.has_ladder.set(hal.component_exists('classicladder_rt'))

    if vcp:
        import vcpparse
        comp.setprefix("pyvcp")
        f = Tkinter.Frame(root_window)
        f.grid(row=0, column=4, rowspan=6, sticky="nw", padx=4, pady=4)
        vcpparse.filename = vcp
        vcpparse.create_vcp(f, comp)
    comp.ready()

    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:
        from subprocess import Popen

        xid = gladevcp_frame.winfo_id()
        cmd = "halcmd loadusr -Wn gladevcp gladevcp -c gladevcp".split()
        cmd += ['-x', str(xid)] + gladevcp.split()
        child = Popen(cmd)
        _dynamic_childs['gladevcp'] = (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_axis(0, True)
set_hal_jogincrement()

code = []
addrecent = True
if args:
    initialfile = args[0]
elif os.environ.has_key("AXIS_OPEN_FILE"):
    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:
    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(range(len(tab_cmd)), tab_names, tab_cmd):
        w = _dynamic_tab("user_" + str(i), t)
        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 _dynamic_childs.values():
        if not w:
            c.terminate()

def check_dynamic_tabs():
    for c,cmd,w in _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:
            res = os.spawnvp(os.P_WAIT, "halcmd", ["halcmd", "-i", vars.emcini.get(), "-f", postgui_halfile])
            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()

import _tk_seticon
from rs274.icon import icon
_tk_seticon.seticon(root_window, icon)
_tk_seticon.seticon(widgets.about_window, icon)
_tk_seticon.seticon(widgets.help_window, icon)

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:
    c.teleop_enable(0)
    c.wait_complete()
    vars.joint_mode.set(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:
    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_y.pack_forget()
    widgets.view_p.pack_forget()
    widgets.rotate.pack_forget()
    widgets.axis_y.grid_forget()
    widgets.menu_view.delete(0, 5)

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

def forget(widget, *pins):
    if os.environ.has_key("AXIS_NO_AUTOCONFIGURE"): 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, "motion.spindle-brake")
forget(widgets.spindle_cw, "motion.spindle-forward", "motion.spindle-on")
forget(widgets.spindle_ccw, "motion.spindle-reverse")
forget(widgets.spindle_stop, "motion.spindle-forward", "motion.spindle-reverse", "motion.spindle-on")
forget(widgets.spindle_plus, "motion.spindle-speed-out")
forget(widgets.spindle_minus, "motion.spindle-speed-out")
forget(widgets.spindlef,  "motion.spindle-forward", "motion.spindle-reverse",
    "motion.spindle-on", "motion.spindle-speed-out",
    "motion.spindle-brake")
forget(widgets.spindlel,  "motion.spindle-forward", "motion.spindle-reverse",
    "motion.spindle-on", "motion.spindle-speed-out",
    "motion.spindle-brake")
forget(widgets.spinoverridef, "motion.spindle-speed-out")

has_limit_switch = 0
for j in range(9):
    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, 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:
        execfile(rcfile)
    except:
        tb = traceback.format_exc()
        print >>sys.stderr, tb
        root_window.tk.call("nf_dialog", ".error", _("Error in ~/.axisrc"),
            tb, "error", 0, _("OK"))

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

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:
