Connect all homing command signals to genuine gmoccapy buttons, and remove temporary panel

gmoccapy_postgui.hal

 net X-homed	    => halui.joint.0.home
 net Z-homed	    => halui.joint.2.home
 
+net Home-All	<= gmoccapy.joint.all.home
+net Home-X	    <= gmoccapy.joint.0.home
+net Home-Z	    <= gmoccapy.joint.2.home
+

maurice_gmoccapy.ini

@@ -9,11 +9,11 @@ MACHINE = EtherCAT Machine
 DEBUG = 1
 
 [DISPLAY]
-DISPLAY = gmoccapy
+DISPLAY = ./maurice_gmoccapy.py
 
-EMBED_TAB_NAME = right_side_panel
-EMBED_TAB_LOCATION = box_custom_4
-EMBED_TAB_COMMAND = gladevcp -x {XID} -H vcp_box.hal vcp_box.glade
+#EMBED_TAB_NAME = right_side_panel
+#EMBED_TAB_LOCATION = box_custom_4
+#EMBED_TAB_COMMAND = gladevcp -x {XID} -H vcp_box.hal vcp_box.glade
 
 PREFERENCE_FILE_PATH = gmoccapy_preferences
 LATHE = 1

maurice_gmoccapy.py

@@ -110,7 +110,8 @@ _BB_LOAD_FILE = 8
 _TEMPDIR = tempfile.gettempdir()  # Now we know where the tempdir is, usualy /tmp
 
 # set up paths to files
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
+#BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
+BASE = "/usr"  # Maurice local gmoccapy
 LIBDIR = os.path.join(BASE, "lib", "python")
 sys.path.insert(0, LIBDIR)
 
@@ -3583,7 +3584,10 @@ class gmoccapy(object):
     def on_btn_home_all_clicked(self, widget, data=None):
         self._set_motion_mode(0)
         # home -1 means all
-        self.command.home(-1)
+        #self.command.home(-1)
+        # Maurice homing
+        self.halcomp["joint.all.home"] = 1
+        self.halcomp["joint.all.home"] = 0
 
     def _on_btn_unhome_clicked(self, widget):
         self._set_motion_mode(0)
@@ -3608,8 +3612,15 @@ class gmoccapy(object):
             joint_or_axis = -1
 
         self._set_motion_mode(0)
-        self.command.home(joint_or_axis)
-
+        #self.command.home(joint_or_axis)
+        # Maurice homing
+        if joint_axis == 1:
+            home_pin = "joint.all.home"
+        else:
+            home_pin = "joint.%d.home" % (joint_axis)
+        self.halcomp[home_pin] = 1
+        self.halcomp[home_pin] = 0
+        
     def _unhome_signal(self, object, joint):
         self._set_motion_mode(0)
         self.all_homed = False
@@ -5181,6 +5192,11 @@ class gmoccapy(object):
         # make a pin to set ignore limits
         pin = self.halcomp.newpin("ignore-limits", hal.HAL_BIT, hal.HAL_IN)
         hal_glib.GPin(pin).connect("value_changed", self._ignore_limits)
+        
+        # make pins for Maurice lathe
+        self.halcomp.newpin("joint.all.home", hal.HAL_BIT, hal.HAL_OUT)
+        self.halcomp.newpin("joint.0.home", hal.HAL_BIT, hal.HAL_OUT)
+        self.halcomp.newpin("joint.2.home", hal.HAL_BIT, hal.HAL_OUT)
 
 # Hal Pin Handling End
 # =========================================================