#!/usr/bin/python2.4
# -*- encoding: utf-8 -*-
#    This is pncconf, a graphical configuration editor for LinuxCNC
#    Chris Morley copyright 2009
#    This is based from stepconf, a graphical configuration editor for linuxcnc
#    Copyright 2007 Jeff Epler <jepler@unpythonic.net>
#
#    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
_DEBUGSTRING = ["NONE"]
import sys
import os

# this is for importing modules from lib/python/pncconf
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
libdir = os.path.join(BASE, "lib", "python","pncconf")
sys.path.insert(0, libdir)
import pwd
import errno
import time
import hashlib
import pickle
import shutil
import math
import getopt
import textwrap
import locale
import copy
import commands
import fnmatch
import subprocess
import gobject
import gtk
import gtk.glade
import gnome.ui

import xml.dom.minidom
import xml.etree.ElementTree
import xml.etree.ElementPath
import traceback
from touchy import preferences
import cairo
import hal
#import mesatest

def get_value(w):
    try:
        return w.get_value()
    except AttributeError:
        pass
    oldlocale = locale.getlocale(locale.LC_NUMERIC)
    try:
        locale.setlocale(locale.LC_NUMERIC, "")
        return locale.atof(w.get_text())
    finally:
        locale.setlocale(locale.LC_NUMERIC, oldlocale)

# otherwise, on hardy the user is shown spurious "[application] closed
# unexpectedly" messages but denied the ability to actually "report [the]
# problem"
def excepthook(exc_type, exc_obj, exc_tb):
    try:
        w = app.widgets.window1
    except NameError:
        w = None
    lines = traceback.format_exception(exc_type, exc_obj, exc_tb)
    m = gtk.MessageDialog(w,
                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
                gtk.MESSAGE_ERROR, gtk.BUTTONS_OK,
                _("PNCconf encountered an error.  The following "
                "information may be useful in troubleshooting:\n\n")
                + "".join(lines))
    m.show()
    m.run()
    m.destroy()
sys.excepthook = excepthook

BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
LOCALEDIR = os.path.join(BASE, "share", "locale")
import gettext;
#def _(x): return x
gettext.install("linuxcnc", localedir=LOCALEDIR, unicode=True)
gtk.glade.bindtextdomain("linuxcnc", LOCALEDIR)
gtk.glade.textdomain("linuxcnc")

def iceil(x):
    if isinstance(x, (int, long)): return x
    if isinstance(x, basestring): x = float(x)
    return int(math.ceil(x))

datadir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "linuxcnc")
wizard = os.path.join(datadir, "linuxcnc-wizard.gif")
if not os.path.isfile(wizard):
    wizard = os.path.join("/etc/linuxcnc/linuxcnc-wizard.gif")
if not os.path.isfile(wizard):
    linuxcncicon = os.path.join("/usr/share/linuxcnc/linuxcnc-wizard.gif")
if not os.path.isfile(wizard):
    wizdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..")
    wizard = os.path.join(wizdir, "linuxcnc-wizard.gif")

icondir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..")
linuxcncicon = os.path.join(icondir, "linuxcncicon.png")
if not os.path.isfile(linuxcncicon):
    linuxcncicon = os.path.join("/etc/linuxcnc/linuxcnc-wizard.gif")
if not os.path.isfile(linuxcncicon):
    linuxcncicon = os.path.join("/usr/share/linuxcnc/linuxcncicon.png")

distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "configs", "common")
if not os.path.isdir(distdir):
    distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "doc", "linuxcnc", "sample-configs", "common")
if not os.path.isdir(distdir):
    distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "linuxcnc", "sample-configs", "common")
if not os.path.isdir(distdir):
    distdir = "/usr/share/doc/linuxcnc/examples/sample-configs/common"
helpdir = os.path.join(BASE, "share", "linuxcnc", "pncconf", "pncconf-help")
if not os.path.exists(helpdir):
    helpdir = os.path.join(BASE, "src", "emc", "usr_intf", "pncconf", "pncconf-help")
firmdir = "/lib/firmware/hm2/"
themedir = "/usr/share/themes"
mesablacklist = ["5i22","7i43","4i65","4i68","SVST8_3P.xml"]

# internalname / displayed name / steptime / step space / direction hold / direction setup
drivertypes = [
    ["gecko201", _("Gecko 201"), 500, 4000, 20000, 1000],
    ["gecko202", _("Gecko 202"), 500, 4500, 20000, 1000],
    ["gecko203v", _("Gecko 203v"), 1000, 2000, 200 , 200],
    ["gecko210", _("Gecko 210"),  500, 4000, 20000, 1000],
    ["gecko212", _("Gecko 212"),  500, 4000, 20000, 1000],
    ["gecko320", _("Gecko 320"),  3500, 500, 200, 200],
    ["gecko540", _("Gecko 540"),  1500, 2500, 700, 700],
    ["l297", _("L297"), 500,  4000, 4000, 1000],
    ["pmdx150", _("PMDX-150"), 1000, 2000, 1000, 1000],
    ["sherline", _("Sherline"), 22000, 22000, 100000, 100000],
    ["xylotex", _("Xylotex 8S-3"), 2000, 1000, 200, 200],
    ["oem750", _("Parker-Compumotor oem750"), 1000, 1000, 1000, 200000],
    ["jvlsmd41", _("JVL-SMD41 or 42"), 500, 500, 2500, 2500],
    ["hobbycnc", _("Hobbycnc Pro Chopper"), 2000, 2000, 2000, 2000],
    ["keling", _("Keling 4030"), 5000, 5000, 20000, 20000],
]
( NUSED, DUMMY ) = pintype_notused = [ _("Not Used"),_("Dummy") ]
( AMP8I20,DUMMY2 ) = pintype_8i20 = [ _("8i20 Servo Drive"), _("Dummy") ]
( POTO,POTE,POTD ) = pintype_potentiometer = [ _("POT Output"), _("POT Enable"),_("POT Direction") ]
( GPIOI, GPIOO, GPIOD) = pintype_gpio = [ _("GPIO Input"),_("GPIO Output"),_("GPIO O Drain") ]
( ENCA, ENCB, ENCI, ENCM ) = pintype_encoder = [_("Quad Encoder-A"),_("Quad Encoder-B"),_("Quad Encoder-I"),_("Quad Encoder-M") ]
(  MXE0, MXE1, MXEI, MXEM, MXES ) = pintype_muxencoder = [_("Muxed Encoder 0"),_("Muxed Encoder 1"),_("muxed enc"),_("mux enc mask"),_("mux select") ]
( RES0, RES1, RES2, RES3, RES4, RES5, RESU ) = pintype_resolver = [_("Resolver 0 Encoder"),_("Resolver 1 Encoder"),_("Resolver 2 Encoder"),
_("Resolver 3 Encoder"),_("Resolver 4 Encoder"),_("Resolver 5 Encoder"), "resolver" ]
( STEPA, STEPB, STEPC, STEPD, STEPE, STEPF ) = pintype_stepper = [_("Step Gen-A"),_("Dir Gen-B"),_("Step/Dir Gen-C"), _("Step/Dir Gen-D"),
    _("Step/Dir Gen-E"),_("Step/dir Gen-F") ]
( PWMP, PWMD, PWME ) = pintype_pwm = [ _("Pulse Width Gen-P"),_("Pulse Width Gen-D"),_("Pulse Width Gen-E") ]
( PDMP, PDMD, PDME ) = pintype_pdm = [ _("Pulse Density Gen-P"),_("Pulse Density Gen-D"),_("Pulse Density Gen-E") ]
( UDMU, UDMD, UDME ) = pintype_udm = [ _("Up/Down Mode -Up"),_("Up/Down Mode-Down"),_("Up/Down Mode-Enable") ]
( TPPWMA,TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF ) = pintype_tp_pwm = [ _("Motor Phase A"),_("Motor Phase B"),_("Motor Phase C"),
    _("Motor Phase A Not"),_("Motor Phase B Not") ,_("Motor Phase C Not"), _("Motor Enable"), _("Motor Fault") ]
( TXDATA0,RXDATA0,TXEN0,TXDATA1,RXDATA1,TXEN1,TXDATA2,RXDATA2,TXEN2,TXDATA3,RXDATA3,TXEN3,TXDATA4,RXDATA4,TXEN4,
TXDATA5,RXDATA5,TXEN5,TXDATA6,RXDATA6,TXEN6,TXDATA7,RXDATA7,TXEN7,SS7I76M0,SS7I76M2,SS7I76M3,
SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4 ) = pintype_sserial = [ _("SMARTSERIAL-P0-TX"),
_("SMARTSERIAL-P0-RX"),_("SMARTSERIAL-P0-EN"), _("SMARTSERIAL-P1-TX"),_("SMARTSERIAL-P1-RX"),_("SMARTSERIAL-P1-EN"),
_("SMARTSERIAL-P2-TX"),_("SMARTSERIAL-P2-RX"),_("SMARTSERIAL-P2-EN"),_("SMARTSERIAL-P3-TX"),_("SMARTSERIAL-P3-RX"),_("SMARTSERIAL-P3-EN"),
_("SMARTSERIAL-P4-TX"),_("SMARTSERIAL-P4-RX"),_("SMARTSERIAL-P4-EN"),_("SMARTSERIAL-P5-TX"),_("SMARTSERIAL-P5-RX"),_("SMARTSERIAL-P5-EN"),
_("SMARTSERIAL-P6-TX"),_("SMARTSERIAL-P6-RX"),_("SMARTSERIAL-P6-EN"),_("SMARTSERIAL-P7-TX"),_("SMARTSERIAL-P7-RX"),_("SMARTSERIAL-P7-EN"),
_("7i76 I/O (SS0)"),_("7i76 I/O (SS2)"),_("7i76 I/O (SS3)"),_("7i77 I/O (SS0)"),_("7i77 Analog   (SS1)"),
_("7i77 I/O (SS3)"),_("7i77 Analog   (SS4)"),
 ]
(ANALOGIN,DUMMY3) = pintype_analog_in = [ _("Analog Input"), _("Dummy")]


_BOARDTITLE = 0;_BOARDNAME = 1;_FIRMWARE = 2;_DIRECTORY = 3;_HALDRIVER = 4;_MAXENC = 5;_ENCPINS = 6;_MAXRES = 7;_RESPINS = 8;_MAXPWM = 9;
_PWMPINS = 10;_MAXTPPWM = 11;_TTPWMPINMS = 12;_MAXSTEP = 13;_STEPPINS = 14;_MAXSSERIALPORTS = 15;_MAXSSERIALCHANNELS = 16;_HASWATCHDOG = 25;
_MAXGPIO = 26;_LOWFREQ = 27;_HIFREQ = 28;_NUMOFCNCTRS = 29;_STARTOFDATA = 30
_SSCOMBOLEN = 60
_AXIS = 1;_TKLINUXCNC = 2;_MINI = 3;_TOUCHY = 4
_IMPERIAL = 0;_METRIC = 1

# board title, boardname, firmwarename, firmware directory,Hal driver name,
# max encoders, number of pins per encoder,
# max resolver gens, # of pins,
# max pwm gens, # of pins
# max tppwmgens , # of pins
# max step gens, number of pins per step gen,
# max smart serial, number of channels,
# spare,spare,spare,spare,spare,spare,spare,spare,
# has watchdog, max GPIOI, 
# low frequency rate , hi frequency rate, 
# available connector numbers,  then list of component type and logical number
mesafirmwaredata_internal = [
    ['5i25-Internal Data', '5i25', '7i76x2 -With One 7i76', '5i25', 'hm2_pci', 1,3, 0,0, 0,3, 0,0, 5,2, 1,2, 0,0,0,0,0,0,0,0, 1, 34, 33, 200, [3, 2],
        # TAB 3
        [STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3],[STEPA,4],[STEPB,4],
        [SS7I76M0,0],[RXDATA0,0],[TXDATA1,0],[RXDATA1,0],[ENCI,0],[ENCB,0],[ENCA,0],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
        # TAB 2
        [GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],
        [GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],],

    ["5i25-Internal Data", "5i25", "7i76x2", "5i24", "hm2_pci", 2,3, 0,0, 0,3, 0,0, 10,2, 1,4, 0,0,0,0,0,0,0,0, 1, 34 , 33, 200, [3,2],
        # TAB 3
        [STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3],[STEPA,4],[STEPB,4],
        [SS7I76M0,0],[RXDATA0,0],[TXDATA1,0],[RXDATA1,0],[ENCI,0],[ENCB,0],[ENCA,0],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
        # TAB 2
        [STEPA,5],[STEPB,5],[STEPA,6],[STEPB,6],[STEPA,7],[STEPB,7],[STEPA,8],[STEPB,8],[STEPA,9],[STEPB,9],
        [SS7I76M2,0],[RXDATA2,0],[TXDATA3,0],[RXDATA3,0],[ENCI,1],[ENCB,1],[ENCA,1],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],],

    ['5i25-Internal Data', '5i25', '7i77_7i76', '5i25', 'hm2_pci', 6,3, 0,0, 0,3, 0,0, 5,2, 1,5, 0,0,0,0,0,0,0,0, 1, 34, 33, 200, [3, 2],
        # Tab 3
        [TXEN2, 0],[TXDATA2, 0],[RXDATA2, 0],[SS7I77M1, 0],[RXDATA1, 0],[SS7I77M0, 0],[RXDATA0, 0],[MXES, 0],[MXE0, 0],[MXE1, 0],
        [MXEI, 0],[MXE0, 1],[MXE1, 1],[MXEI, 1],[MXE0, 2],[MXE1, 2],[MXEI, 2],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
        # TAB 2
        [STEPA,0],[STEPB,0],[STEPA,1],[STEPB,1],[STEPA,2],[STEPB,2],[STEPA,3],[STEPB,3],[STEPA,4],[STEPB,4],
        [SS7I76M3,0],[RXDATA3,0],[TXDATA4,0],[RXDATA4,0],[ENCI,0],[ENCB,0],[ENCA,0],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],],

    ['5i25-Internal Data', '5i25', '7i77x2 With One 7i77', '5i25', 'hm2_pci', 6,3, 0,0, 0,3, 0,0, 0,2, 1,3, 0,0,0,0,0,0,0,0, 1, 34, 33, 200, [3, 2],
        # TAB 3
        [TXEN2, 0],[TXDATA2, 0],[RXDATA2, 0],[SS7I77M1, 0],[RXDATA1, 0],[SS7I77M0, 0],[RXDATA0, 0],[MXES, 0],[MXE0, 0],[MXE1, 0],
        [MXEI, 0],[MXE0, 1],[MXE1, 1],[MXEI, 1],[MXE0, 2],[MXE1, 2],[MXEI, 2],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
        # TAB 2
        [GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],
        [GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],[GPIOI, 0],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],],

    ['5i25-Internal Data', '5i25', '7i77x2', '5i25', 'hm2_pci', 12,3, 0,0, 0,3, 0,0, 0,2, 1,6, 0,0,0,0,0,0,0,0, 1, 34, 33, 200, [3, 2], 
        # TAB 3
        [TXEN2, 0],[TXDATA2, 0],[RXDATA2, 0],[SS7I77M1, 0],[RXDATA1, 0],[SS7I77M0, 0],[RXDATA0, 0],[MXES, 0],[MXE0, 0],[MXE1, 0],
        [MXEI, 0],[MXE0, 1],[MXE1, 1],[MXEI, 1],[MXE0, 2],[MXE1, 2],[MXEI, 2],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
        # TAB 2
        [TXEN5, 0],[TXDATA5, 0],[RXDATA5, 0],[SS7I77M4, 0],[RXDATA4, 0],[SS7I77M3, 0],[RXDATA3, 0],[MXES, 3],[MXE0, 3],[MXE1, 3],
        [MXEI, 3],[MXE0, 4],[MXE1, 4],[MXEI, 4],[MXE0, 5],[MXE1, 5],[MXEI, 5],
        [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],],

    ['5i25-Internal Data', '5i25', 'prob_rfx2', '5i25', 'hm2_pci', 2,3, 0,0, 2,3, 0,0, 8,2, 0,0, 0,0,0,0,0,0,0,0, 1, 34, 33, 200,[3, 2],
        # TAB 3
        [GPIOI, 0],[PWMP, 0],[STEPA, 0],[GPIOI, 0],[STEPB, 0],[PWMD, 0],[STEPA, 1],[GPIOI, 0],[STEPB, 1],[STEPA, 2],
        [STEPB, 2],[STEPA, 3],[STEPB, 3],[GPIOI, 0],[ENCA, 0],[ENCB, 0],[ENCI, 0],
        [NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],
        # TAB 2
        [GPIOI, 0],[PWMP, 1],[STEPA, 4],[GPIOI, 0],[STEPB, 4],[PWMD, 1],[STEPA, 5],[GPIOI, 0],[STEPB, 5],
        [STEPA, 6],[STEPB, 6],[STEPA, 7],[STEPB, 7],[GPIOI, 0],[ENCA, 1],[ENCB, 1],[ENCI, 1],
        [NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],[NUSED, 0],],

    ["5i20", "5i20", "SV12", "5i20", "hm2_pci", 12,3, 0,0, 12,3, 0,0, 0,0, 0,0, 0,0,0,0,0,0,0,0, 1, 72 , 33, 100, [2,3,4],
        [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0],
        [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2],
        [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4],
        [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6],
        [ENCB,9],[ENCA,9],[ENCB,8],[ENCA,8],[ENCI,9],[ENCI,8],[PWMP,9],[PWMP,8],[PWMD,9],[PWMD,8],[PWME,9],[PWME,8],
        [ENCB,11],[ENCA,11],[ENCB,10],[ENCA,10],[ENCI,11],[ENCI,10],[PWMP,11],[PWMP,10],[PWMD,11],[PWMD,10],[PWME,11],[PWME,10]
    ],
    ["5i20", "5i20", "SVST8_4", "5i20", "hm2_pci", 8,3, 0,0, 8,3, 0,0, 4,2, 0,0, 0,0,0,0,0,0,0,0, 1, 72, 33, 100, [2,3,4],
      [ENCB,1],[ENCA,1],[ENCB,0],[ENCA,0],[ENCI,1],[ENCI,0],[PWMP,1],[PWMP,0],[PWMD,1],[PWMD,0],[PWME,1],[PWME,0],
      [ENCB,3],[ENCA,3],[ENCB,2],[ENCA,2],[ENCI,3],[ENCI,2],[PWMP,3],[PWMP,2],[PWMD,3],[PWMD,2],[PWME,3],[PWME,2],
      [ENCB,5],[ENCA,5],[ENCB,4],[ENCA,4],[ENCI,5],[ENCI,4],[PWMP,5],[PWMP,4],[PWMD,5],[PWMD,4],[PWME,5],[PWME,4],
      [ENCB,7],[ENCA,7],[ENCB,6],[ENCA,6],[ENCI,7],[ENCI,6],[PWMP,7],[PWMP,6],[PWMD,7],[PWMD,6],[PWME,7],[PWME,6],
      [STEPA,0],[STEPB,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,1],[STEPB,1],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],
      [STEPA,2],[STEPB,2],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0],[STEPA,3],[STEPB,3],[GPIOI,0],[GPIOI,0],[GPIOI,0],[GPIOI,0]
     ],

]
_SUBBOARDNAME = 0; _SUBFIRMNAME = 1; _SUBMODE = 2;_SUBCONLIST = 3;_SUBSTARTOFDATA = 12 # 4-10 spare for now.
mesadaughterdata = [ ["8i20", "8i20", 0,[_("Axis Selection"),"Not Used","Not Used"], 0,0,0,0,0,0,0,0,
    [AMP8I20,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i64", "7i64", 0,[_("7i64-Input\nP3 and P4"),_("7i64-Output\nP2 and P5"),_("7i64-Analog In")], 0,0,0,0,0,0,0,0,
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [ANALOGIN,0],[ANALOGIN,1],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i69", "7i69", 0,[_("7i69\nP2"),_("7i69\nP3"),"Not Used"], 0,0,0,0,0,0,0,0,
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i70", "7i70", 0,[_("7i70-Input\nTB3"),_("7i70-Input\nTB2"),"Not Used"], 0,0,0,0,0,0,0,0,
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
     [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i71", "7i71", 0,[_("7i71-Output\nTB3"),_("7i71-Output\nTB2"),"Not Used"], 0,0,0,0,0,0,0,0,
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
     [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i76", "7i76-m0", 0,[_("7i76-I/O\nTB6"),_("7i76-I/O\nTB5"),_("7i76-Analog Output\nTB4")], 0,0,0,0,0,0,0,0,
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [POTO,0],[POTE,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i77", "7i77-m0", 0,[_("7i77-I/O\nTB8"),_("7i77-I/O\nTB7"),_("7i77-Analog Output\nTB5")], 0,0,0,0,0,0,0,0,
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [PWME,0],[PWMP,0],[PWMD,0],[PWMP,1],[PWMD,1],[PWMP,2],[PWMD,2],[PWMP,3],[PWMD,3],[PWMP,4],[PWMD,4],[PWMP,5],
    [PWMD,5],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["7i73", "7i73-m1", 0,[_("7i73-I/O\n"),"7i73-I/O\n ","7i73-Analog/Encoders\n "], 0,0,0,0,0,0,0,0,
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],[GPIOI,100],
    [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],
    [GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[GPIOO,100],[NUSED,0],[NUSED,0],
    [ANALOGIN,0],[ANALOGIN,1],[ANALOGIN,2],[ANALOGIN,3],[ENCA,0],[ENCA,1],[ENCA,2],[ENCA,3],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],
    [NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0],[NUSED,0] ],
["error"]
 ]
mesafirmwaredata = []
custommesafirmwaredata = []
mesaboardnames = []

(UNUSED_UNUSED,UNUSED_DUMMY) = hal_notused_names = ["unused-unused","unused_dummy"]
human_notused_names = [ [_("Unused Unused"),[] ] ]
(UNUSED_OUTPUT,
ON, CW, CCW, BRAKE,
MIST, FLOOD, ESTOP, AMP, XAMP, YAMP, ZAMP, AAMP,
PUMP,FORCE_PIN_TRUE, DOUT0, DOUT1, DOUT2, DOUT3,
X_HALL1_OUT,X_HALL2_OUT,X_HALL3_OUT,X_C1_OUT,X_C2_OUT,X_C4_OUT,X_C8_OUT,
Y_HALL1_OUT,Y_HALL2_OUT,Y_HALL3_OUT,Y_C1_OUT,Y_C2_OUT,Y_C4_OUT,Y_C8_OUT,
Z_HALL1_OUT,Z_HALL2_OUT,Z_HALL3_OUT,Z_C1_OUT,Z_C2_OUT,Z_C4_OUT,Z_C8_OUT,
A_HALL1_OUT,A_HALL2_OUT,A_HALL3_OUT,A_C1_OUT,A_C2_OUT,A_C4_OUT,A_C8_OUT,
S_HALL1_OUT,S_HALL2_OUT,S_HALL3_OUT,S_C1_OUT,S_C2_OUT,S_C4_OUT,S_C8_OUT) = hal_output_names = [
"unused-output", 
"spindle-on", "spindle-cw", "spindle-ccw", "spindle-brake",
"coolant-mist", "coolant-flood", "estop-out", "machine-is-enabled", "x-enable", "y-enable", "z-enable", "a-enable",
"charge-pump", "force-pin-true", "dout-00", "dout-01", "dout-02", "dout-03",
"x-hall1-out","x-hall2-out","x-hall3-out","x-gray-c1-out","x-gray-c2-out","x-gray-C4-out","x-gray-C8-out",
"y-hall1-out","y-hall2-out","y-hall3-out","y-gray-c1-out","y-gray-c2-out","y-gray-C4-out","y-gray-C8-out",
"z-hall1-out","z-hall2-out","z-hall3-out","z-gray-c1-out","z-gray-c2-out","z-gray-C4-out","z-gray-C8-out",
"a-hall1-out","a-hall2-out","a-hall3-out","a-gray-c1-out","a-gray-c2-out","a-gray-C4-out","a-gray-C8-out",
"s-hall1-out","s-hall2-out","s-hall3-out","s-gray-c1-out","s-gray-c2-out","s-gray-C4-out","s-gray-C8-out", ]

spindle_output = [_("Spindle ON"),_("Spindle CW"), _("Spindle CCW"), _("Spindle Brake") ]
coolant_output = [_("Coolant Mist"), _("Coolant Flood")]
control_output = [_("ESTOP Out"), _("Machine Is Enabled"),_("X Amplifier Enable"),_("Y Amplifier Enable"),_("Z Amplifier Enable"),
_("A Amplifier Enable"),_("Charge Pump"),_("Force Pin True")]
digital_output = [_("Digital out 0"), _("Digital out 1"), _("Digital out 2"), _("Digital out 3")]
xmotor_control = [_("X HALL 1"),_("X HALL 2"),_("X HALL 3"),_("X Gray C1"),_("X Gray C2"),_("X Gray C4"),_("X Gray C8")]
ymotor_control = [_("Y HALL 1"),_("Y HALL 2"),_("Y HALL 3"),_("Y Gray C1"),_("Y Gray C2"),_("Y Gray C4"),_("Y Gray C8")]
zmotor_control = [_("Z HALL 1"),_("Z HALL 2"),_("Z HALL 3"),_("Z Gray C1"),_("Z Gray C2"),_("Z Gray C4"),_("Z Gray C8")]
amotor_control = [_("A HALL 1"),_("A HALL 2"),_("A HALL 3"),_("A Gray C1"),_("A Gray C2"),_("A Gray C4"),_("A Gray C8")]
smotor_control = [_("S HALL 1"),_("S HALL 2"),_("S HALL 3"),_("S Gray C1"),_("S Gray C2"),_("S Gray C4"),_("S Gray C8")]
human_output_names = [ [_("Unused Output"),[]],[_("Spindle"),spindle_output],[_("Coolant"),coolant_output],
    [_("Control"),control_output],[_("Digital"),digital_output],[_("X BLDC Control"),xmotor_control],
    [_("Y BLDC Control"),ymotor_control],[_("Z BLDC Control"),zmotor_control],[_("A BLDC Control"),amotor_control],
    [_(" S BLDC Control"),smotor_control],[_("Custom Signals"),[]]  ]

limit = [_("X Minimum Limit"), _("Y Minimum Limit"), _("Z Minimum Limit"), _("A Minimum Limit"),
    _("X Maximum Limit"), _("Y Maximum Limit"), _("Z Maximum Limit"), _("A Maximum Limit"),
    _("X Both Limit"), _("Y Both Limit"), _("Z Both Limit"), _("A Both Limit"),
    _("All Limits") ]
home = [_("X Home"), _("Y Home"), _("Z Home"), _("A Home"),_("All Home") ]
home_limits_shared = [ _("X Minimum Limit + Home"), _("Y Minimum Limit + Home"), _("Z Minimum Limit + Home"), _("A Minimum Limit + Home"),
    _("X Maximum Limit + Home"), _("Y Maximum Limit + Home"), _("Z Maximum Limit + Home"), _("A Maximum Limit + Home"),
    _("X Both Limit + Home"), _("Y Both Limit + Home"), _("Z Both Limit + Home"), _("A Both Limit + Home") ]
digital = [ _("Digital in 0"), _("Digital in 1"), _("Digital in 2"), _("Digital in 3") ]
axis_select = [_("Joint select A"),_("Joint select B"),_("Joint select C"), _("Joint select D") ]
override = [_("Jog incr A"),_("Jog incr B"),_("Jog incr C"),_("Jog incr D"),_("Feed Override incr A"),_("Feed Override incr B"),
    _("Feed Override incr C"),_("Feed Override incr D"),_("Spindle Override incr A"),_("Spindle Override incr B"),
    _("Spindle Override incr C"),_("Spindle Override incr D"), _("Max Vel Override incr A"),_("Max Vel Override incr B"),
    _("Max Vel Override incr C"),_("Max Vel Override incr D"), _("Feed Override enable"), _("Spindle Override enable"),
_("Max Vel Override enable") ]
spindle = [ _("Manual Spindle CW"),_("Manual Spindle CCW"),_("Manual Spindle Stop"),_("Spindle Up-To-Speed") ]
operation =  [_("Cycle Start"),_("Abort"),_("Single Step") ]
control = [_("ESTOP In"), _("Probe In") ]
xmotor_control = [_("X HALL 1"),_("X HALL 2"),_("X HALL 3"),_("X Gray C1"),_("X Gray C2"),_("X Gray C4"),_("X Gray C8")]
ymotor_control = [_("Y HALL 1"),_("Y HALL 2"),_("Y HALL 3"),_("Y Gray C1"),_("Y Gray C2"),_("Y Gray C4"),_("Y Gray C8")]
zmotor_control = [_("Z HALL 1"),_("Z HALL 2"),_("Z HALL 3"),_("Z Gray C1"),_("Z Gray C2"),_("Z Gray C4"),_("Z Gray C8")]
amotor_control = [_("A HALL 1"),_("A HALL 2"),_("A HALL 3"),_("A Gray C1"),_("A Gray C2"),_("A Gray C4"),_("A Gray C8")]
smotor_control = [_("S HALL 1"),_("S HALL 2"),_("S HALL 3"),_("S Gray C1"),_("S Gray C2"),_("S Gray C4"),_("S Gray C8")]
rapid = [_("Jog X +"),_("Jog X -"),_("Jog Y +"),_("Jog Y -"),_("Jog Z +"),_("Jog Z -"),_("Jog A +"),_("Jog A -"),
    _("Jog button selected +"),_("Jog button selected -") ]
human_input_names = [ [_("Unused Input"),[]],[_("Limits"),limit],[_("Home"),home],[_("Limts/Home Shared"),home_limits_shared],
    [_("Digital"),digital],[_("Axis Selection"),axis_select],[_("Overrides"),override],[_("Spindle"),spindle],
    [_("Operation"),operation],[_("External Control"),control],[_("Axis rapid"),rapid],[_("X BLDC Control"),xmotor_control],
    [_("Y BLDC Control"),ymotor_control],[_("Z BLDC Control"),zmotor_control],[_("A BLDC Control"),amotor_control],
    [_("S BLDC Control"),smotor_control],[_("Custom Signals"),[]] ]

(UNUSED_INPUT,
MIN_X, MIN_Y, MIN_Z, MIN_A,
MAX_X, MAX_Y, MAX_Z, MAX_A,
BOTH_X, BOTH_Y, BOTH_Z, BOTH_A,ALL_LIMIT, 
HOME_X, HOME_Y, HOME_Z, HOME_A,ALL_HOME,
MIN_HOME_X, MIN_HOME_Y, MIN_HOME_Z, MIN_HOME_A,
MAX_HOME_X, MAX_HOME_Y, MAX_HOME_Z, MAX_HOME_A,
BOTH_HOME_X, BOTH_HOME_Y, BOTH_HOME_Z, BOTH_HOME_A,
DIN0, DIN1, DIN2, DIN3,
SELECT_A, SELECT_B, SELECT_C, SELECT_D,
JOGA, JOGB, JOGC, JOGD, FOA, FOB, FOC, FOD,
SOA,SOB,SOC,SOD, MVOA, MVOB, MVOC, MVOD,
FOE,SOE,MVOE,
SPINDLE_CW, SPINDLE_CCW, SPINDLE_STOP,SPINDLE_AT_SPEED,
CYCLE_START, ABORT, SINGLE_STEP,
ESTOP_IN, PROBE,
JOGX_P,JOGX_N,JOGY_P,JOGY_N,JOGZ_P,JOGZ_N,JOGA_P,JOGA_N,JOGSLCT_P, JOGSLCT_N,
X_HALL1_IN,X_HALL2_IN,X_HALL3_IN,X_C1_IN,X_C2_IN,X_C4_IN,X_C8_IN,
Y_HALL1_IN,Y_HALL2_IN,Y_HALL3_IN,Y_C1_IN,Y_C2_IN,Y_C4_IN,Y_C8_IN,
Z_HALL1_IN,Z_HALL2_IN,Z_HALL3_IN,Z_C1_IN,Z_C2_IN,Z_C4_IN,Z_C8_IN,
A_HALL1_IN,A_HALL2_IN,A_HALL3_IN,A_C1_IN,A_C2_IN,A_C4_IN,A_C8_IN,
S_HALL1_IN,S_HALL2_IN,S_HALL3_IN,S_C1_IN,S_C2_IN,S_C4_IN,S_C8_IN ) = hal_input_names = ["unused-input",
"min-x", "min-y", "min-z", "min-a",
"max-x", "max-y", "max-z", "max-a",
"both-x", "both-y", "both-z", "both-a","all-limit",
"home-x", "home-y", "home-z", "home-a","all-home",
"min-home-x", "min-home-y", "min-home-z", "min-home-a",
"max-home-x", "max-home-y", "max-home-z", "max-home-a",
"both-home-x", "both-home-y", "both-home-z", "both-home-a",
"din-00", "din-01", "din-02", "din-03",
"joint-select-a","joint-select-b","joint-select-c","joint-select-d",
"jog-incr-a","jog-incr-b","jog-incr-c","jog-incr-d","fo-incr-a","fo-incr-b","fo-incr-c","fo-incr-d",
"so-incr-a","so-incr-b","so-incr-c","so-incr-d","mvo-incr-a","mvo-incr-b","mvo-incr-c","mvo-incr-d",
"fo-enable","so-enable","mvo-enable",
"spindle-manual-cw","spindle-manual-ccw","spindle-manual-stop","spindle-at-speed",
"cycle-start","abort","single-step",
"estop-ext", "probe-in",
"jog-x-pos","jog-x-neg","jog-y-pos","jog-y-neg",
"jog-z-pos","jog-z-neg","jog-a-pos","jog-a-neg","jog-selected-pos","jog-selected-neg",
"x-hall1-in","x-hall2-in","x-hall3-in","x-gray-c1-in","x-gray-c2-in","x-gray-C4-in","x-gray-C8-in",
"y-hall1-in","y-hall2-in","y-hall3-in","y-gray-c1-in","y-gray-c2-in","y-gray-C4-in","y-gray-C8-in",
"z-hall1-in","z-hall2-in","z-hall3-in","z-gray-c1-in","z-gray-c2-in","z-gray-C4-in","z-gray-C8-in",
"a-hall1-in","a-hall2-in","a-hall3-in","a-gray-c1-in","a-gray-c2-in","a-gray-C4-in","a-gray-C8-in",
"s-hall1-in","s-hall2-in","s-hall3-in","s-gray-c1-in","s-gray-c2-in","s-gray-C4-in","s-gray-C8-in" ]


human_names_multi_jog_buttons = [_("Jog X +"),_("Jog X -"),
_("Jog Y +"),_("Jog Y -"),
_("Jog Z +"),_("Jog Z -"),
_("Jog A +"),_("Jog A -")]

human_names_shared_home = [_("X Minimum Limit + Home"), _("Y Minimum Limit + Home"),
_("Z Minimum Limit + Home"), _("A Minimum Limit + Home"),
_("X Maximum Limit + Home"), _("Y Maximum Limit + Home"),
_("Z Maximum Limit + Home"), _("A Maximum Limit + Home"),
_("X Both Limit + Home"), _("Y Both Limit + Home"),
_("Z Both Limit + Home"), _("A Both Limit + Home")]

human_names_limit_only = [ _("X Minimum Limit"), _("Y Minimum Limit"),
_("Z Minimum Limit"), _("A Minimum Limit"),
_("X Maximum Limit"), _("Y Maximum Limit"),
_("Z Maximum Limit"), _("A Maximum Limit"),
_("X Both Limit"), _("Y Both Limit"),
_("Z Both Limit"), _("A Both Limit"), _("All Limits")]

(UNUSED_PWM,
X_PWM_PULSE, X_PWM_DIR, X_PWM_ENABLE, Y_PWM_PULSE, Y_PWM_DIR, Y_PWM_ENABLE, 
Z_PWM_PULSE, Z_PWM_DIR, Z_PWM_ENABLE, A_PWM_PULSE, A_PWM_DIR, A_PWM_ENABLE, 
SPINDLE_PWM_PULSE, SPINDLE_PWM_DIR, SPINDLE_PWM_ENABLE,   ) = hal_pwm_output_names = ["unused-pwm",
"x-pwm-pulse", "x-pwm-dir", "x-pwm-enable", "y-pwm-pulse", "y-pwm-dir", "y-pwm-enable",
"z-pwm-pulse", "z-pwm-dir", "z-pwm-enable", "a-pwm-pulse", "a-pwm-dir", "a-pwm-enable", 
"s-pwm-pulse", "s-pwm-dir", "s-pwm-enable"]

human_pwm_output_names =[ [_("Unused PWM Gen"),[]],[_("X Axis PWM"),[]],[_("Y Axis PWM"),[]],
                        [_("Z Axis PWM"),[]],[_("A Axis PWM"),[]],[_("Spindle PWM"),[]],[_("Custom Signals"),[]] ]

(UNUSED_ENCODER, 
X_ENCODER_A, X_ENCODER_B, X_ENCODER_I, X_ENCODER_M,
Y_ENCODER_A, Y_ENCODER_B, Y_ENCODER_I, Y_ENCODER_M,
Z_ENCODER_A, Z_ENCODER_B, Z_ENCODER_I, Z_ENCODER_M, 
A_ENCODER_A, A_ENCODER_B, A_ENCODER_I, A_ENCODER_M, 
SPINDLE_ENCODER_A, SPINDLE_ENCODER_B, SPINDLE_ENCODER_I, SPINDLE_ENCODER_M,
X_MPG_A, X_MPG_B, X_MPG_I, X_MPG_M, Y_MPG_A, Y_MPG_B, Y_MPG_I, Y_MPG_M,
Z_MPG_A, Z_MPG_B, Z_MPG_I, Z_MPG_M, A_MPG_A, A_MPG_B, A_MPG_I,A_MPG_M,
SELECT_MPG_A, SELECT_MPG_B, SELECT_MPG_I, SELECT_MPG_M,
FO_MPG_A,FO_MPG_B,FO_MPG_I,FO_MPG_M,SO_MPG_A,SO_MPG_B,SO_MPG_I,SO_MPG_I,
MVO_MPG_A,MVO_MPG_B,MVO_MPG_I,MVO_MPG_I,)  = hal_encoder_input_names = [ "unused-encoder",
"x-encoder-a", "x-encoder-b", "x-encoder-i", "x-encoder-m",
"y-encoder-a", "y-encoder-b", "y-encoder-i", "y-encoder-m",
"z-encoder-a", "z-encoder-b", "z-encoder-i", "z-encoder-m", 
"a-encoder-a", "a-encoder-b", "a-encoder-i", "a-encoder-m",
"s-encoder-a","s-encoder-b","s-encoder-i", "s-encoder-m",
"x-mpg-a","x-mpg-b", "x-mpg-i", "x-mpg-m", "y-mpg-a", "y-mpg-b", "y-mpg-i", "y-mpg-m",
"z-mpg-a","z-mpg-b", "z-mpg-i", "z-mpg-m", "a-mpg-a", "a-mpg-b", "a-mpg-i", "a-mpg-m",
"select-mpg-a", "select-mpg-b", "select-mpg-i", "select-mpg-m",
"fo-mpg-a","fo-mpg-b","fo-mpg-i","fo-mpg-m","so-mpg-a","so-mpg-b","so-mpg-i","so-mpg-m",
"mvo-mpg-a","mvo-mpg-b","mvo-mpg-i","mvo-mpg-m"]

axis = [_("X Encoder"),_("Y Encoder"), _("Z Encoder"),_("A Encoder"),_("Spindle Encoder")]
mpg = [_("X Hand Wheel"), _("Y Hand Wheel"), _("Z Hand Wheel"), _("A Hand Wheel") ,_("Multi Hand Wheel")]
over = [_("Feed Override"),_("spindle Override"),_("Max Vel Override")]
human_encoder_input_names = [ [_("Unused Encoder"),[]],[_("Axis Encoder"), axis],[_("MPG Jog Controls"), mpg],[_("Override MPG control"), over],
                            [_("Custom Signals"),[]] ]

human_resolver_input_names =[ [_("Unused Resolver"),[]],[_("X Resolver"), []],[_("Y Resolver"), []],[_("Z Resolver"), []],
                                [_("A Resolver"), []],[_("S Resolver"), []],[_("Custom Signals"),[]] ]
USED_RESOLVER,X_RESOLVER,Y_RESOLVER,Z_RESOLVER,A_RESOLVER,S_RESOLVER = hal_resolver_input_names = ["unused-resolver","x-resolver",
"y-resolver","z-resolver","a-resolver","s-resolver"]

human_8i20_input_names =[ [_("Unused 8I20"),[]],[_("X Axis"), []],[_("Y Axis"), []],[_("Z Axis"), []],
                                [_("A Axis"), []],[_("Spindle"), []],[_("Custom Signals"),[]] ]
USED_8I20,X_8I20,Y_8I20,Z_8I20,A_8I20,S_8I20 = hal_8i20_input_names = ["unused-8i20","x-8i20",
"y-8i20","z-8i20","a-8i20","s-8i20"]

human_pot_output_names =[ [_("Unused Analog Output"),[]],[_("Spindle Output"), []],[_("Custom Signals"),[]] ]
USED_POT,S_POT_OUT,S_POT_ENABLE = hal_pot_output_names = ["unused-pot","s-pot-output","s-pot-enable"]

(UNUSED_STEPGEN, 
X_STEPGEN_STEP, X_STEPGEN_DIR, X_STEPGEN_PHC, X_STEPGEN_PHD, X_STEPGEN_PHE, X_STEPGEN_PHF,
Y_STEPGEN_STEP, X_STEPGEN_DIR, X_STEPGEN_PHC, X_STEPGEN_PHD, X_STEPGEN_PHE, X_STEPGEN_PHF,
Z_STEPGEN_STEP, Z_STEPGEN_DIR, Z_STEPGEN_PHC, Z_STEPGEN_PHD, Z_STEPGEN_PHE, Z_STEPGEN_PHF,
A_STEPGEN_STEP, A_STEPGEN_DIR, A_STEPGEN_PHC, A_STEPGEN_PHD, A_STEPGEN_PHE, A_STEPGEN_PHF,
SPINDLE_STEPGEN_STEP, SPINDLE_STEPGEN_DIR, SPINDLE_STEPGEN_PHC, SPINDLE_STEPGEN_PHD, SPINDLE_STEPGEN_PHE, SPINDLE_STEPGEN_PHF,
X2_STEPGEN_STEP, X2_STEPGEN_DIR, X2_STEPGEN_PHC, X2_STEPGEN_PHD, X2_STEPGEN_PHE, X2_STEPGEN_PHF,
Y2_STEPGEN_STEP, Y2_STEPGEN_DIR, Y2_STEPGEN_PHC, Y2_STEPGEN_PHD, Y2_STEPGEN_PHE, Y2_STEPGEN_PHF,
Z2_STEPGEN_STEP, Z2_STEPGEN_DIR, Z2_STEPGEN_PHC, Z2_STEPGEN_PHD, Z2_STEPGEN_PHE, Z2_STEPGEN_PHF,
CHARGE_PUMP_STEP,CHARGE_PUMP_DIR,CHARGE_PUMP_PHC,CHARGE_PUMP_PHD,CHARGE_PUMP_PHE,CHARGE_PUMP_PHF) = hal_stepper_names = ["unused-stepgen", 
"x-stepgen-step", "x-stepgen-dir", "x-stepgen-phase-c", "x-stepgen-phase-d", "x-stepgen-phase-e", "x-stepgen-phase-f",
"y-stepgen-step", "y-stepgen-dir", "y-stepgen-phase-c", "y-stepgen-phase-d", "y-stepgen-phase-e", "y-stepgen-phase-f",
"z-stepgen-step", "z-stepgen-dir", "z-stepgen-phase-c", "z-stepgen-phase-d", "z-stepgen-phase-e", "z-stepgen-phase-f",
"a-stepgen-step", "a-stepgen-dir", "a-stepgen-phase-c", "a-stepgen-phase-d", "a-stepgen-phase-e", "a-stepgen-phase-f",
"s-stepgen-step", "s-stepgen-dir", "s-stepgen-phase-c", "s-stepgen-phase-d", "s-stepgen-phase-e", "s-stepgen-phase-f",
"x2-stepgen-step", "x2-stepgen-dir", "x2-stepgen-phase-c", "x2-stepgen-phase-d", "x2-stepgen-phase-e", "x2-stepgen-phase-f",
"y2-stepgen-step", "y2-stepgen-dir", "y2-stepgen-phase-c", "y2-stepgen-phase-d", "y2-stepgen-phase-e", "y2-stepgen-phase-f",
"z2-stepgen-step", "z2-stepgen-dir", "z2-stepgen-phase-c", "z2-stepgen-phase-d", "z2-stepgen-phase-e", "z2-stepgen-phase-f",
"charge-pump-out","cp-dir","cp-pc","cp-pd","cp-fe","cp-pf"]

human_stepper_names = [ [_("Unused StepGen"),[]],[_("X Axis StepGen"),[]],[_("Y Axis StepGen"),[]],[_("Z Axis StepGen"),[]],
                        [_("A Axis StepGen"),[]],[_("Spindle StepGen"),[]],[_("X2 Tandem StepGen"),[]],[_("Y2 Tandem StepGen"),[]],
                        [_("Z2 Tandem StepGen"),[]],[_("Charge Pump StepGen"),[]],[_("Custom Signals"),[]] ]

(UNUSED_TPPWM,
X_TPPWM_A, X_TPPWM_B,X_TPPWM_C,X_TPPWM_AN,X_TPPWM_BN,X_TPPWM_CN,X_TPPWM_ENABLE,X_TPPWM_FAULT,
Y_TPPWM_A, Y_TPPWM_B,Y_TPPWM_C,Y_TPPWM_AN,Y_TPPWM_BN,Y_TPPWM_CN,Y_TPPWM_ENABLE,Y_TPPWM_FAULT,
Z_TPPWM_A, Z_TPPWM_B,Z_TPPWM_C,Z_TPPWM_AN,Z_TPPWM_BN,Z_TPPWM_CN,Z_TPPWM_ENABLE,Z_TPPWM_FAULT,
A_TPPWM_A, A_TPPWM_B,A_TPPWM_C,A_TPPWM_AN,A_TPPWM_BN,A_TPPWM_CN,A_TPPWM_ENABLE,A_TPPWM_FAULT,
S_TPPWM_A, S_TPPWM_B,S_TPPWM_C,S_TPPWM_AN,S_TPPWM_BN,S_TPPWM_CN,S_TPPWM_ENABLE,S_TPPWM_FAULT) = hal_tppwm_output_names= ["unused-tppwm",
"x-tppwm-a","x-tppwm-b","x-tppwm-c","x-tppwm-anot","x-tppwm-bnot","x-tppwm-cnot", "x-tppwm-enable","x-tppwm-fault",
"y-tppwm-a","y-tppwm-b","y-tppwm-c","y-tppwm-anot","y-tppwm-bnot","y-tppwm-cnot", "y-tppwm-enable","y-tppwm-fault",
"z-tppwm-a","z-tppwm-b","z-tppwm-c","z-tppwm-anot","z-tppwm-bnot","z-tppwm-cnot", "z-tppwm-enable","z-tppwm-fault",
"a-tppwm-a","a-tppwm-b","a-tppwm-c","a-tppwm-anot","a-tppwm-bnot","a-tppwm-cnot", "a-tppwm-enable","a-tppwm-fault",
"s-tppwm-a","s-tppwm-b","s-tppwm-c","s-tppwm-anot","s-tppwm-bnot","s-tppwm-cnot", "s-tppwm-enable","s-tppwm-fault"]

human_tppwm_output_names = [ [_("Unused TPPWM Gen"),[]],[_("X Axis BL Driver"),[]],[ _("Y Axis BL Driver"),[]],
    [_("Z Axis BL Driver"),[]],[_("A Axis BL Driver"),[]],[_("S Axis BL Driver"),[]],[_("Custom Signals"),[]] ]

(UNUSED_SSERIAL,A8I20_T,A8I20_R,A8I20_E,I7I64_T,I7I64_R,I7I64_E,I7I69_T,I7I69_R,I7I69_E,
I7I70_T,I7I70_R,I7I70_E,I7I71_T,I7I71_R,I7I71_E,I7I76_M0_T,I7I76_M0_R,I7I76_M0_E,
I7I77_M0_T,I7I77_M0_R,I7I77_M0_E,I7I73_M0_T,I7I73_M0_R,I7I73_M0_E) = hal_sserial_names = ["unused-sserial",
"8i20-t","8i20-r","8i20-e","7i64-t","7i64-r","7i64-e","7i69-t","7i69-r","7i69-e","7i70-t","7i70-r","7i70-e",
"7i71-t","7i71-r","7i71-e","7i76-m0-t","7i76-m0-r","7i76-m0-e", "7i77-m0-t","7i77-m0-r","7i77-m0-e", "7i73-m1-t","7i73-m1-r","7i73-m1-e"]
 
human_sserial_names = [ [_("Unused Channel"),[]],[_("8i20 Amplifier Card"),[]],[ _("7i64 I/O Card"),[]],[ _("7i69 I/O Card"),[]],
                        [ _("7i70 I/O Card"),[]],[ _("7i71 I/O Card"),[]],[ _("7i76 Mode 0 I/O Card"),[]],[ _("7i77 Mode 0 I/O Card"),[]],
                        [ _("7i73 Mode 1 Pendant Card"),[]] ]
(UNUSED_ANALOG_IN) = hal_analog_input_names = ["unused-analog-input"]
human_analog_input_names = [ [_("Unused Analog In"),[]],[_("Custom Signals"),[]] ]

prefs = preferences.preferences()
def dbg(message,mtype):
    for hint in _DEBUGSTRING:
        if hint == "all" or hint in mtype:
            print(message)
            if "step" in _DEBUGSTRING:
                c = raw_input("\n**** Debug Pause! ****")
            return

def md5sum(filename):
    try:
        f = open(filename, "rb")
    except IOError:
        return None
    else:
        return hashlib.md5(f.read()).hexdigest()    

class Widgets:
    def __init__(self, xml):
        self._xml = xml
    def __getattr__(self, attr):
        r = self._xml.get_widget(attr)
        if r is None: raise AttributeError, "No widget %r" % attr
        return r
    def __getitem__(self, attr):
        r = self._xml.get_widget(attr)
        if r is None: raise IndexError, "No widget %r" % attr
        return r

class Data:
    def __init__(self):
        pw = pwd.getpwuid(os.getuid())
        # custom signal name lists
        self.halencoderinputsignames = []
        self.halmuxencodersignames = []
        self.halresolversignames = []
        self.hal8i20signames = []
        self.halpwmoutputsignames = []
        self.haltppwmoutputsignames = []
        self.halinputsignames = []
        self.haloutputsignames = []
        self.halsteppersignames = []
        self.halpotsignames = []
        self.halanaloginsignames = []

        # internal flags
        self._arrayloaded = False
        self._mesa0_configured = False
        self._mesa1_configured = False
        self._components_is_prepared = False

        # internal combobox arrays
        self._notusedliststore = None
        self._gpioliststore = None
        self._stepperliststore = None
        self._encoderliststore = None
        self._muxencoderliststore = None
        self._resolverliststore = None
        self._8i20liststore = None
        self._pwmliststore = None
        self._tppwmliststore = None
        self._sserialliststore = None
        self._potliststore = None
        self._analoginliststore = None

        self._gpioosignaltree = None
        self._gpioisignaltree = None
        self._steppersignaltree = None
        self._encodersignaltree = None
        self._muxencodersignaltree = None
        self._resolversignaltree = None
        self._8i20signaltree = None
        self._pwmcontrolsignaltree = None
        self._pwmrelatedsignaltree = None
        self._tppwmsignaltree = None
        self._sserialsignaltree = None
        self._potsignaltree = None
        self._analoginsignaltree = None

        # pncconf default options
        self.createsymlink = 1
        self.createshortcut = 0  
        self._lastconfigname= ""
        self._chooselastconfig = True
        self._preference_version = 1.0
        self._pncconf_version = 3.0 # This is the actual version of this program
        self.pncconf_loaded_version = 3.0 # This will version number for new configs or be overwritten by a loaded file to the files version.
        self._re_editmode = False
        self._customfirmwarefilename = "~/Desktop/custom_firmware/firmware.py"

        self._substitution_list=[]

        # basic machine data
        self.help = "help-welcome.txt"
        self.machinename = _("my_LinuxCNC_machine")
        self.frontend = _AXIS 
        self.axes = 0 # XYZ
        self.available_axes = []
        self.baseperiod = 50000
        self.servoperiod = 1000000
        self.units = _IMPERIAL # inch
        self.limitsnone = True
        self.limitswitch = False
        self.limitshared = False
        self.homenone = True
        self.homeswitch = False
        self.homeindex = False
        self.homeboth = False
        self.limitstype = 0
        self.homingtype = 0
        self.usbdevicename = "none"
        self.joystickjog = False
        self.joystickjograpidrate0 = 0.1
        self.joystickjograpidrate1 = 1.0
        self.joystickjograpidrate2 = 10.0
        self.joystickjograpidrate3 = 100.0
        self.joycmdrapida = ""
        self.joycmdrapidb = ""
        self.joycmdxpos = ""
        self.joycmdxneg = ""
        self.joycmdypos = ""
        self.joycmdyneg = ""
        self.joycmdzpos = ""
        self.joycmdzneg = ""
        self.joycmdapos = ""
        self.joycmdaneg = ""
        self.joycmdrapid = ""
        self.joycmdanalogx = ""
        self.joycmdanalogy = ""
        self.joycmdanalogz = ""
        self.joycmdanaloga = ""
        self.externaljog = False
        self.singlejogbuttons = False
        self.multijogbuttons = False
        self.jograpidrate = 1.0

        self.externalmpg = False
        self.guimpg = True    
        self.multimpg = False
        self.sharedmpg = False
        self.incrselect = False
        self.mpgincrvalue0 = 0     # all incr-select low
        self.mpgincrvalue1 = .0001 # incr-select-a  high
        self.mpgincrvalue2 = .0005 # b
        self.mpgincrvalue3 = .001  # ab
        self.mpgincrvalue4 = .005  # c
        self.mpgincrvalue5 = .01   # ac
        self.mpgincrvalue6 = .05   # bc
        self.mpgincrvalue7 = .1    # abc
        self.mpgincrvalue8 = .125 # d
        self.mpgincrvalue9 = .125  # ad
        self.mpgincrvalue10 = .125  # bd
        self.mpgincrvalue11 = .125  # abd
        self.mpgincrvalue12 = .125 # cd
        self.mpgincrvalue13 = .125 # acd
        self.mpgincrvalue14 = .125 # bcd
        self.mpgincrvalue15 = .125 # abcd
        self.mpgdebounce = True
        self.mpgdebouncetime = .2
        self.mpggraycode = False
        self.mpgignorefalse = False

        self.externalfo = False
        self.fo_usempg = False
        self.fo_useswitch = False
        self.foincrvalue0 = 0  # all incr-select low
        self.foincrvalue1 = 5  # incr-select-a  high
        self.foincrvalue2 = 10  # b
        self.foincrvalue3 = 25  # ab
        self.foincrvalue4 = 50 # c
        self.foincrvalue5 = 75 # ac
        self.foincrvalue6 = 90 # bc
        self.foincrvalue7 = 100 # abc
        self.foincrvalue8 = 110  # d
        self.foincrvalue9 = 125  # ad
        self.foincrvalue10 = 140  # bd
        self.foincrvalue11 = 150  # abd
        self.foincrvalue12 = 165 # cd
        self.foincrvalue13 = 180 # acd
        self.foincrvalue14 = 190 # bcd
        self.foincrvalue15 = 200 # abcd
        self.fodebounce = True
        self.fodebouncetime = .2
        self.fograycode = False
        self.foignorefalse = False

        self.externalso = False
        self.so_usempg = False
        self.so_useswitch = False
        self.soincrvalue0 = 0  # all incr-select low
        self.soincrvalue1 = 5  # incr-select-a  high
        self.soincrvalue2 = 10  # b
        self.soincrvalue3 = 25  # ab
        self.soincrvalue4 = 50 # c
        self.soincrvalue5 = 75 # ac
        self.soincrvalue6 = 90 # bc
        self.soincrvalue7 = 100 # abc
        self.soincrvalue8 = 110  # d
        self.soincrvalue9 = 125  # ad
        self.soincrvalue10 = 140  # bd
        self.soincrvalue11 = 150  # abd
        self.soincrvalue12 = 165 # cd
        self.soincrvalue13 = 180 # acd
        self.soincrvalue14 = 190 # bcd
        self.soincrvalue15 = 200 # abcd
        self.sodebounce = True
        self.sodebouncetime = .2
        self.sograycode = False
        self.soignorefalse = False

        self.externalmvo = False
        self.mvo_usempg = False
        self.mvo_useswitch = False
        self.mvoincrvalue0 = 0  # all incr-select low
        self.mvoincrvalue1 = 5  # incr-select-a  high
        self.mvoincrvalue2 = 10  # b
        self.mvoincrvalue3 = 25  # ab
        self.mvoincrvalue4 = 50 # c
        self.mvoincrvalue5 = 75 # ac
        self.mvoincrvalue6 = 90 # bc
        self.mvoincrvalue7 = 100 # abc
        self.mvoincrvalue8 = 100  # d
        self.mvoincrvalue9 = 100  # ad
        self.mvoincrvalue10 = 100  # bd
        self.mvoincrvalue11 = 100  # abd
        self.mvoincrvalue12 = 100 # cd
        self.mvoincrvalue13 = 100 # acd
        self.mvoincrvalue14 = 100 # bcd
        self.mvoincrvalue15 = 100 # abcd
        self.mvodebounce = True
        self.mvodebouncetime = .2
        self.mvograycode = False
        self.mvoignorefalse = False

        # GUI frontend defaults
        self.position_offset = 1 # relative
        self.position_feedback = 1 # actual
        self.max_feed_override = 2.0 # percentage
        self.min_spindle_override = .5
        self.max_spindle_override = 1.0
        # These are for AXIS gui only
        self.default_linear_velocity = .25 # units per second
        self.min_linear_velocity = .01
        self.max_linear_velocity = 1.0
        self.default_angular_velocity = .25
        self.min_angular_velocity = .01
        self.max_angular_velocity = 1.0
        self.increments_metric = "5mm 1mm .5mm .1mm .05mm .01mm .005mm"
        self.increments_imperial= ".1in .05in .01in .005in .001in .0005in .0001in"
        self.editor = "gedit"
        self.geometry = "xyz"
        self.axisforcemax = False
        self.axissize = [False,0,0]
        self.axisposition = [False,0,0]

        # Touchy only
        self.touchysize = [False,0,0]
        self.touchyposition = [False,0,0]
        self.touchytheme = "Follow System Theme"
        self.touchyforcemax = False
        self.touchyabscolor = "default"
        self.touchyrelcolor = "default"
        self.touchydtgcolor = "default"
        self.touchyerrcolor = "default"

        # LinuxCNC assorted defaults and options
        self.toolchangeprompt = True
        self.multimpg = False
        self.require_homing = True
        self.individual_homing = False
        self.restore_joint_position = False
        self.random_toolchanger = False
        self.raise_z_on_toolchange = False
        self.allow_spindle_on_toolchange = False
        self.customhal = False
        self.usebldc = False

        # These components can be used by pncconf so we must keep track of them.
        # in case the user needs some for a custom HAL file
        self.userneededpid = 0
        self.userneededabs = 0
        self.userneededscale = 0
        self.userneededmux16 = 0
        self.userneededlowpass = 0
        self.userneededbldc = 0

        # pyvcp data
        self.pyvcp = 0 # not included
        self.pyvcpname = "custom.xml"
        self.pyvcpexist = False
        self.pyvcp1 = False
        self.pyvcpblank = True
        self.pyvcphaltype = 0 # no HAL connections specified
        self.pyvcpconnect = 1 # HAL connections allowed
        self.pyvcpwidth = 200
        self.pyvcpheight = 200
        self.pyvcpxpos = 0
        self.pyvcpypos = 0
        self.pyvcpposition = False
        self.pyvcpsize = False

        # gladevcp data
        self.gladevcp = False # not included
        self.gladesample = True
        self.gladeexists = False
        self.spindlespeedbar = True
        self.spindleatspeed = True
        self.maxspeeddisplay = 1000
        self.zerox = False
        self.zeroy = False
        self.zeroz = False
        self.zeroa = False
        self.autotouchz = False
        self.gladevcphaluicmds = 0
        self.centerembededgvcp = True
        self.sideembededgvcp = False
        self.standalonegvcp = False
        self.gladevcpposition = False
        self.gladevcpsize = False
        self.gladevcpforcemax = False
        self.gladevcpwidth = 200
        self.gladevcpheight = 200
        self.gladevcpxpos = 0
        self.gladevcpypos = 0
        self.gladevcptheme = "Follow System Theme"

        # classicladder data
        self.classicladder = 0 # not included
        self.digitsin = 15 # default number of pins
        self.digitsout = 15
        self.s32in = 10
        self.s32out = 10
        self.floatsin = 10
        self.floatsout = 10
        self.bitmem = 50
        self.wordmem = 50
        self.tempexists = 0 # not present ( a blank CL program edited through pncconf)
        self.laddername = "custom.clp"
        self.modbus = 0 # not included
        self.ladderhaltype = 0 # no HAL connections specified
        self.ladderconnect = 1 # HAL connections allowed
        self.ladderexist = False
        self.cl_haluicmds = 0
        self.laddertouchz = False

        # stepper timing data
        self.drivertype = "other"
        self.steptime = 5000
        self.stepspace = 5000
        self.dirhold = 20000 
        self.dirsetup = 20000
        self.latency = 15000
        self.period = 25000

        # For parallel port 
        self.pp1_direction = 1 # output
        self.ioaddr = "0x0278"
        self.ioaddr2 = _("Enter Address")
        self.pp2_direction = 0 # input
        self.ioaddr3 = _("Enter Address")
        self.pp3_direction = 0 # input
        self.number_pports = 0

        for connector in("pp1","pp2","pp3"):
            # initialize parport input / inv pins
            for i in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                pinname ="%sIpin%d"% (connector,i)
                self[pinname] = UNUSED_INPUT
                pinname ="%sIpin%dinv"% (connector,i)
                self[pinname] = False
            # initialize parport output / inv pins
            for i in (1,2,3,4,5,6,7,8,9,14,16,17):
                pinname ="%sOpin%d"% (connector,i)
                self[pinname] = UNUSED_OUTPUT
                pinname ="%sOpin%dinv"% (connector,i)
                self[pinname] = False

        self.number_mesa = 1 # number of cards
        # for first mesa card
        self.mesa0_currentfirmwaredata = mesafirmwaredata_internal[0]
        self.mesa0_boardtitle = "5i20-Internal Data"    
        self.mesa0_firmware = mesafirmwaredata_internal[0][2]
        self.mesa0_parportaddrs = "0x378"
        self.mesa0_isawatchdog = 1
        self.mesa0_pwm_frequency = 20000
        self.mesa0_pdm_frequency = 6000000
        self.mesa0_3pwm_frequency = 20000
        self.mesa0_watchdog_timeout = 10000000
        self.mesa0_numof_encodergens = 1
        self.mesa0_numof_resolvers = 0
        self.mesa0_numof_pwmgens = 0
        self.mesa0_numof_tppwmgens = 0
        self.mesa0_numof_stepgens = 5
        self.mesa0_numof_sserialports = 1
        self.mesa0_numof_sserialchannels = 2
        self.mesa0_sanity_7i29 = False
        self.mesa0_sanity_7i30 = False
        self.mesa0_sanity_7i33 = True
        self.mesa0_sanity_7i40 = False
        self.mesa0_sanity_7i48 = False

        # second mesa card
        self.mesa1_currentfirmwaredata = mesafirmwaredata_internal[0]
        self.mesa1_boardtitle = "5i20-Internal Data"        
        self.mesa1_firmware = mesafirmwaredata_internal[0][2]
        self.mesa1_parportaddrs = "0x378"
        self.mesa1_isawatchdog = 1
        self.mesa1_pwm_frequency = 20000
        self.mesa1_pdm_frequency = 6000000
        self.mesa1_3pwm_frequency = 20000
        self.mesa1_watchdog_timeout = 10000000
        self.mesa1_numof_encodergens = 1
        self.mesa1_numof_resolvers = 0
        self.mesa1_numof_pwmgens = 0
        self.mesa1_numof_tppwmgens = 0
        self.mesa1_numof_stepgens = 5
        self.mesa1_numof_sserialports = 1
        self.mesa1_numof_sserialchannels = 2
        self.mesa1_sanity_7i29 = False
        self.mesa1_sanity_7i30 = False
        self.mesa1_sanity_7i33 = False
        self.mesa1_sanity_7i40 = False
        self.mesa1_sanity_7i48 = False

        for boardnum in(0,1):
            connector = 2
            pinname ="mesa%dc%dpin"% (boardnum,connector)
            self[pinname+"0"] = UNUSED_ENCODER
            self[pinname+"0type"] = ENCB
            self[pinname+"1"] = UNUSED_ENCODER
            self[pinname+"1type"] = ENCA
            self[pinname+"2"] = UNUSED_ENCODER
            self[pinname+"2type"] = ENCB
            self[pinname+"3"] = UNUSED_ENCODER
            self[pinname+"3type"] = ENCA
            self[pinname+"4"] = UNUSED_ENCODER
            self[pinname+"4type"] = ENCI
            self[pinname+"5"] = UNUSED_ENCODER
            self[pinname+"5type"] = ENCI
            self[pinname+"6"] = UNUSED_PWM
            self[pinname+"6type"] = PWMP
            self[pinname+"7"] = UNUSED_PWM
            self[pinname+"7type"] = PWMP
            self[pinname+"8"] = UNUSED_PWM
            self[pinname+"8type"] = PWMD
            self[pinname+"9"] = UNUSED_PWM
            self[pinname+"9type"] = PWMD
            self[pinname+"10"] = UNUSED_PWM
            self[pinname+"10type"] = PWME
            self[pinname+"11"] = UNUSED_PWM
            self[pinname+"11type"] = PWME
            self[pinname+"12"] = UNUSED_ENCODER
            self[pinname+"12type"] = ENCB
            self[pinname+"13"] = UNUSED_ENCODER
            self[pinname+"13type"] = ENCA
            self[pinname+"14"] = UNUSED_ENCODER
            self[pinname+"14type"] = ENCB
            self[pinname+"15"] = UNUSED_ENCODER
            self[pinname+"15type"] = ENCA
            self[pinname+"16"] = UNUSED_ENCODER
            self[pinname+"16type"] = ENCI
            self[pinname+"17"] = UNUSED_ENCODER
            self[pinname+"17type"] = ENCI
            self[pinname+"18"] = UNUSED_PWM
            self[pinname+"18type"] = PWMP
            self[pinname+"19"] = UNUSED_PWM
            self[pinname+"19type"] = PWMP
            self[pinname+"20"] = UNUSED_PWM
            self[pinname+"20type"] = PWMD
            self[pinname+"21"] = UNUSED_PWM
            self[pinname+"21type"] = PWMD
            self[pinname+"22"] = UNUSED_PWM
            self[pinname+"22type"] = PWME
            self[pinname+"23"] = UNUSED_PWM
            self[pinname+"23type"] = PWME
        for boardnum in(0,1):
            for connector in(3,4,5,6,7,8,9):
                # This initializes GPIO input pins
                for i in range(0,16):
                    pinname ="mesa%dc%dpin%d"% (boardnum,connector,i)
                    self[pinname] = UNUSED_INPUT
                    pinname ="mesa%dc%dpin%dtype"% (boardnum,connector,i)
                    self[pinname] = GPIOI
                # This initializes GPIO output pins
                for i in range(16,24):
                    pinname ="mesa%dc%dpin%d"% (boardnum,connector,i)
                    self[pinname] = UNUSED_OUTPUT
                    pinname ="mesa%dc%dpin%dtype"% (boardnum,connector,i)
                    self[pinname] = GPIOO
            for connector in(2,3,4,5,6,7,8,9):
                # This initializes the mesa inverse pins
                for i in range(0,24):
                    pinname ="mesa%dc%dpin%dinv"% (boardnum,connector,i)
                    self[pinname] = False
            port = 0 #TODO up to 4 ports
            for channel in range(0,5): #TODO add more sserial widgets should be 8
                self["mesa%dsserial%d_%dsubboard"% (boardnum, port,channel)] = "none"
                # This initializes pins
                for i in range(0,_SSCOMBOLEN):
                    pinname ="mesa%dsserial%d_%dpin%d"% (boardnum, port,channel,i)
                    if i < 24:
                        self[pinname] = UNUSED_INPUT
                    else:
                        self[pinname] = UNUSED_OUTPUT
                    pinname ="mesa%dsserial%d_%dpin%dtype"% (boardnum, port,channel,i)
                    if i < 24:
                        self[pinname] = GPIOI
                    else:
                        self[pinname] = GPIOO
                    pinname ="mesa%dsserial%d_%dpin%dinv"% (boardnum, port,channel,i)
                    self[pinname] = False

        # halui data
        self.halui = 0 # not included
        # Command list
        for i in range(0,15):
                pinname ="halui_cmd%s"% i
                self[pinname] = ""

        #HAL component command list
        self.loadcompservo = []
        self.addcompservo = []
        self.loadcompbase = []
        self.addcompbase = []

        # common axis data
        for temp in("x","y","z","a","s"):

            self[temp+"drivertype"]= "custom"
            self[temp+"steprev"]= 200
            self[temp+"microstep"]= 5
            self[temp+"motor_pulleydriver"]= 1
            self[temp+"motor_pulleydriven"]= 1
            self[temp+"motor_wormdriver"]= 1
            self[temp+"motor_wormdriven"]= 1
            self[temp+"encoder_pulleydriver"]= 1
            self[temp+"encoder_pulleydriven"]= 1
            self[temp+"encoder_wormdriver"]= 1
            self[temp+"encoder_wormdriven"]= 1
            self[temp+"motor_leadscrew"]= 5
            self[temp+"encoder_leadscrew"]= 5
            self[temp+"motor_leadscrew_tpi"]= 5
            self[temp+"encoder_leadscrew_tpi"]= 5
            self[temp+"encodercounts"]= 4000
            self[temp+"usecomp"]= 0
            self[temp+"compfilename"]= temp+"compensation"
            self[temp+"comptype"]= 0
            self[temp+"usebacklash"]= 0
            self[temp+"backlash"]= 0
            self[temp+"maxvel"]= 1.667
            self[temp+"maxacc"]= 2
            self[temp+"invertmotor"]= 0
            self[temp+"invertencoder"]= 0
            self[temp+"3pwmscale"]= 1
            self[temp+"3pwmdeadtime"]= 500
            self[temp+"outputscale"]= 10
            self[temp+"outputminlimit"]= -10
            self[temp+"outputmaxlimit"]= 10
            self[temp+"maxoutput"]= 10
            self[temp+"P"]= 1.0
            self[temp+"I"]= 0
            self[temp+"D"]= 0
            self[temp+"FF0"]= 0
            self[temp+"FF1"]= 0
            self[temp+"FF2"]= 0
            self[temp+"bias"]= 0
            self[temp+"deadband"]= 0
            self[temp+"steptime"]= 1000
            self[temp+"stepspace"]= 1000
            self[temp+"dirhold"]= 1000
            self[temp+"dirsetup"]= 1000
            self[temp+"minferror"]= .0005
            self[temp+"maxferror"]= .005
            self[temp+"homepos"]= 0
            self[temp+"minlim"]=  0
            self[temp+"maxlim"]=  8
            self[temp+"homesw"]=  0
            self[temp+"homesearchvel"]= .05
            self[temp+"homelatchvel"]= .025
            self[temp+"homefinalvel"]= 0
            self[temp+"latchdir"]= 0
            self[temp+"searchdir"]= 0
            self[temp+"usehomeindex"]= 0
            self[temp+"stepscale"]= 0
            self[temp+"encoderscale"]= 0

            self[temp+"bldc_option"]= False
            self[temp+"bldc_config"]= ""
            self[temp+"bldc_no_feedback"]= False
            self[temp+"bldc_absolute_feedback"]= False
            self[temp+"bldc_incremental_feedback"]= True
            self[temp+"bldc_use_hall"]= True
            self[temp+"bldc_use_encoder"]= False
            self[temp+"bldc_fanuc_alignment"]= False
            self[temp+"bldc_use_index"]= False
            self[temp+"bldc_digital_output"]= False
            self[temp+"bldc_six_outputs"]= False
            self[temp+"bldc_force_trapz"]= False
            self[temp+"bldc_emulated_feedback"]= False
            self[temp+"bldc_output_hall"]= False
            self[temp+"bldc_output_fanuc"]= False
            self[temp+"bldc_scale"]= 512
            self[temp+"bldc_poles"]= 4
            self[temp+"bldc_lead_angle"]= 90
            self[temp+"bldc_inital_value"]= 0.2
            self[temp+"bldc_encoder_offset"]= 0
            self[temp+"bldc_reverse"]= False
            self[temp+"bldc_drive_offset"]= 0.0
            self[temp+"bldc_pattern_out"]= 25
            self[temp+"bldc_pattern_in"]= 25
            self[temp+"8i20maxcurrent"] = 5.0

        # rotary tables need bigger limits
        self.aminlim = -9999
        self.amaxlim =  9999
        # spindle at speed near settings
        self.srpmrange = 200.0
        self.snearscale = 1.00
        self.sfiltergain = 1.0
        self.suseatspeed = False
        self.ssingleinputencoder = False

    def load(self, filename, app=None, force=False):
        self.pncconf_loaded_version = 0.0
        def str2bool(s):
            return s == 'True'

        converters = {'string': str, 'float': float, 'int': int, 'bool': str2bool, 'eval': eval}

        d = xml.dom.minidom.parse(open(filename, "r"))
        for n in d.getElementsByTagName("property"):
            name = n.getAttribute("name")
            conv = converters[n.getAttribute('type')]
            text = n.getAttribute('value')
            setattr(self, name, conv(text))
        
        # this loads custom signal names created by the user
        # adds endings to the custom signal name when put in
        # hal signal name arrays
        #encoders
        temp =[]; i = False
        for i in  self.halencoderinputsignames:
            temp.append(i)
            for j in(["-a","-b","-i","-m"]):
                hal_encoder_input_names.append(i+j)
        if i:  human_encoder_input_names[4][1]= temp
        #resolvers
        temp = []; i = False
        for i in  self.halresolversignames:
            temp.append(i)
            hal_resolver_input_names.append(i)
        if i: human_resolver_input_names[6][1]= temp
        # 8I20 amplifier card
        temp = []; i = False
        for i in  self.hal8i20signames:
            temp.append(i)
            hal_8i20_input_names.append(i)
        if i: human_8i20_input_names[6][1]= temp
        # potentiometer
        temp = []; i = False
        for i in  self.halpotsignames:
            temp.append(i)
            for j in(["-output","-enable"]):
                hal_pot_output_names.append(i+j)
        if i: human_pot_output_names[2][1]= temp
        # analog input
        temp = []; i = False
        for i in  self.halanaloginsignames:
            temp.append(i)
            hal_analog_input_names.append(i)
        if i: human_analog_input_names[1][1]= temp
        #pwm
        temp =[]; i = False
        for i in  self.halpwmoutputsignames:
            temp.append(i)
            for j in(["-pulse","-dir","-enable"]):
                hal_pwm_output_names.append(i+j)
        if i: human_pwm_output_names[6][1]= temp
        # tppwm
        temp =[]; i = False
        for i in  self.haltppwmoutputsignames:
            temp.append(i)
            for j in(["-a","-b","-c","-anot","-bnot","-cnot","-fault","-enable"]):
                hal_tppwm_output_names.append(i+j)
        if i:  human_tppwm_output_names[2][1]= temp
        # GPIO Input
        temp = []; i = False
        for i in  self.halinputsignames:
            temp.append(i)
            hal_input_names.append(i)
        if i: human_input_names[16][1]= temp
        # GPIO Output
        temp = []; i = False
        for i in  self.haloutputsignames:
            temp.append(i)
            hal_output_names.append(i)
        if i: human_output_names[10][1]= temp
        # steppers
        temp = []; i = False
        for i in  self.halsteppersignames:
            temp.append(i)
            for j in(["-step","-dir","-c","-d","-e","-f"]):
                hal_stepper_names.append(i+j)
        if i: human_stepper_names[6][1]= temp

        warnings = []
        warnings2 = []
        if self.pncconf_loaded_version < self._pncconf_version:
            warnings.append(_("This configuration was saved with an earlier version of pncconf which may be incompatible.\n\
If it doesn't plainly cause an error, you still may want to save it with another name and check it. Safer to start from scratch.\n\
If you have a REALLY large config that you wish to convert to this newer version of PNConf - ask on the LinuxCNC forum - it may be possible..") )
        for f, m in self.md5sums:
            m1 = md5sum(f)
            if m1 and m != m1:
                warnings2.append(_("File %r was modified since it was written by PNCconf") % f)
        if not warnings and not warnings2: return
        if warnings2:
            warnings.append("")
            warnings.append(_("Saving this configuration file will discard configuration changes made outside PNCconf."))
        if warnings:
            warnings = warnings + warnings2
        self.pncconf_loaded_version = self._pncconf_version
        if app:
            dialog = gtk.MessageDialog(app.widgets.window1,
                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
                gtk.MESSAGE_WARNING, gtk.BUTTONS_OK,
                     "\n".join(warnings))
            dialog.show_all()
            dialog.run()
            dialog.destroy()
        else:
            for para in warnings:
                for line in textwrap.wrap(para, 78): print line
                print
            print
            if force: return
            response = raw_input(_("Continue? "))
            if response[0] not in _("yY"): raise SystemExit, 1

    def add_md5sum(self, filename, mode="r"):
        self.md5sums.append((filename, md5sum(filename)))

    def write_inifile(self, base):
        filename = os.path.join(base, self.machinename + ".ini")
        file = open(filename, "w")
        print >>file, _("# Generated by PNCconf at %s") % time.asctime()
        print >>file, _("# If you make changes to this file, they will be")
        print >>file, _("# overwritten when you run PNCconf again")
        
        print >>file
        print >>file, "[EMC]"
        print >>file, "MACHINE = %s" % self.machinename
        print >>file, "DEBUG = 0"

        print >>file
        print >>file, "[DISPLAY]"
        if self.frontend == _AXIS:
            print >>file, "DISPLAY = axis"
        elif self.frontend == _TKLINUXCNC:
            print >>file, "DISPLAY = tklinuxcnc"
        elif self.frontend == _MINI:
            print >>file, "DISPLAY = mini"
        elif self.frontend == _TOUCHY:
            print >>file, "DISPLAY = touchy"
        if self.gladevcp:
            theme = self.gladevcptheme
            if theme == "Follow System Theme":theme = ""
            else: theme = " -t "+theme
            if self.centerembededgvcp:
                print >>file, "EMBED_TAB_NAME = GladeVCP"
                print >>file, "EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp%s -H gvcp_call_list.hal -x {XID} gvcp-panel.ui"%(theme)
            elif self.sideembededgvcp:
                print >>file, "GLADEVCP =%s -H gvcp_call_list.hal gvcp-panel.ui"%(theme)
        if self.position_offset == 1: temp ="RELATIVE"
        else: temp = "MACHINE"
        print >>file, "POSITION_OFFSET = %s"% temp
        if self.position_feedback == 1: temp ="ACTUAL"
        else: temp = "COMMANDED"
        print >>file, "POSITION_FEEDBACK = %s"% temp
        print >>file, "MAX_FEED_OVERRIDE = %f"% self.max_feed_override
        print >>file, "MAX_SPINDLE_OVERRIDE = %f"% self.max_spindle_override
        print >>file, "MIN_SPINDLE_OVERRIDE = %f"% self.min_spindle_override
        print >>file, "INTRO_GRAPHIC = linuxcnc.gif"
        print >>file, "INTRO_TIME = 5"
        print >>file, "PROGRAM_PREFIX = %s" % \
                                    os.path.expanduser("~/linuxcnc/nc_files")
        if self.pyvcp:
            print >>file, "PYVCP = pyvcp-panel.xml"
        # these are for AXIS GUI only
        if self.units == _METRIC:
            print >>file, "INCREMENTS = %s"% self.increments_metric
        else:
            print >>file, "INCREMENTS = %s"% self.increments_imperial
        if self.axes == 2:
            print >>file, "LATHE = 1"
        if self.position_offset:
            temp = "RELATIVE"
        else:
            temp = "MACHINE"
        print >>file, "POSITION_OFFSET = %s"% temp
        if self.position_feedback:
            temp = "ACTUAL"
        else:
            temp = "COMMANDED"
        print >>file, "POSITION_FEEDBACK = %s"% temp
        print >>file, "DEFAULT_LINEAR_VELOCITY = %f"% self.default_linear_velocity
        print >>file, "MAX_LINEAR_VELOCITY = %f"% self.max_linear_velocity
        print >>file, "MIN_LINEAR_VELOCITY = %f"% self.min_linear_velocity
        print >>file, "DEFAULT_ANGULAR_VELOCITY = %f"% self.default_angular_velocity
        print >>file, "MAX_ANGULAR_VELOCITY = %f"% self.max_angular_velocity
        print >>file, "MIN_ANGULAR_VELOCITY = %f"% self.min_angular_velocity
        print >>file, "EDITOR = %s"% self.editor
        print >>file, "GEOMETRY = %s"% self.geometry 

        print >>file
        print >>file, "[FILTER]"
        print >>file, "PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image"
        print >>file, "PROGRAM_EXTENSION = .py Python Script"
        print >>file, "png = image-to-gcode"
        print >>file, "gif = image-to-gcode"
        print >>file, "jpg = image-to-gcode"
        print >>file, "py = python"        

        print >>file
        print >>file, "[TASK]"
        print >>file, "TASK = milltask"
        print >>file, "CYCLE_TIME = 0.010"

        print >>file
        print >>file, "[RS274NGC]"
        print >>file, "PARAMETER_FILE = linuxcnc.var"

        #base_period = self.ideal_period()

        print >>file
        print >>file, "[EMCMOT]"
        print >>file, "EMCMOT = motmod"
        print >>file, "COMM_TIMEOUT = 1.0"
        print >>file, "COMM_WAIT = 0.010"
        #print >>file, "BASE_PERIOD = %d" % self.baseperiod
        print >>file, "SERVO_PERIOD = %d" % self.servoperiod
        print >>file
        print >>file, "[HOSTMOT2]"
        print >>file, "# **** This is for info only ****"
        print >>file, "# DRIVER0=%s"% self.mesa0_currentfirmwaredata[_HALDRIVER]
        print >>file, "# BOARD0=%s"% self.mesa0_currentfirmwaredata[_BOARDNAME]
        if self.number_mesa == 2:
            print >>file, "# DRIVER1=%s" % self.mesa1_currentfirmwaredata[_HALDRIVER]
            print >>file, "# BOARD1=%s"% self.mesa1_currentfirmwaredata[_BOARDNAME]
        if self._substitution_list:
            print >>file, "# These are to ease setting custom component's parameters in a custom HAL file"
            print >>file
            for i,temp in enumerate(self._substitution_list):
                a,b = self._substitution_list[i]
                if a =="":
                    print >>file
                else:
                    print >>file,"%s=%s"%(a,b)
        print >>file
        print >>file, "[HAL]"
        print >>file, "HALUI = halui"          
        print >>file, "HALFILE = %s.hal" % self.machinename
        print >>file, "HALFILE = custom.hal"
        if self.frontend == _AXIS:
            print >>file, "POSTGUI_HALFILE = postgui_call_list.hal"
        print >>file, "SHUTDOWN = shutdown.hal"
        print >>file
        print >>file, "[HALUI]"          
        if self.halui == True:
            for i in range(0,15):
                cmd =self["halui_cmd" + str(i)]
                if cmd =="": break
                print >>file,"MDI_COMMAND = %s"% cmd           

        print >>file
        print >>file, "[TRAJ]"
        if self.axes == 1:
            print >>file, "AXES = 4"
            print >>file, "COORDINATES = X Y Z A"
            print >>file, "MAX_ANGULAR_VELOCITY = %.2f" % self.amaxvel
            defvel = min(60, self.amaxvel/10.)
            print >>file, "DEFAULT_ANGULAR_VELOCITY = %.2f" % defvel
        elif self.axes == 0:
            print >>file, "AXES = 3"
            print >>file, "COORDINATES = X Y Z"
        else:
            print >>file, "AXES = 3"
            print >>file, "COORDINATES = X Z"
        if self.units == _METRIC:
            print >>file, "LINEAR_UNITS = mm"
        else:
            print >>file, "LINEAR_UNITS = inch"
        print >>file, "ANGULAR_UNITS = degree"
        print >>file, "CYCLE_TIME = 0.010"
        if self.axes == 2:
            maxvel = max(self.xmaxvel, self.zmaxvel)
        else:
            maxvel = max(self.xmaxvel, self.ymaxvel, self.zmaxvel)
        hypotvel = (self.xmaxvel**2 + self.ymaxvel**2 + self.zmaxvel**2) **.5
        defvel = min(maxvel, max(.1, maxvel/10.))
        print >>file, "DEFAULT_VELOCITY = %.2f" % defvel
        print >>file, "MAX_LINEAR_VELOCITY = %.2f" % maxvel
        if self.restore_joint_position:
            print >>file, "POSITION_FILE = position.txt"
        if not self.require_homing:
            print >>file, "NO_FORCE_HOMING = 1"
        print >>file
        print >>file, "[EMCIO]"
        print >>file, "EMCIO = io"
        print >>file, "CYCLE_TIME = 0.100"
        print >>file, "TOOL_TABLE = tool.tbl"
        if self.allow_spindle_on_toolchange:
            print >>file, "TOOL_CHANGE_WITH_SPINDLE_ON = 1"
        if self.raise_z_on_toolchange:
            print >>file, "TOOL_CHANGE_QUILL_UP = 1"
        if self.random_toolchanger:
            print >>file, "RANDOM_TOOLCHANGER = 1"
        
        all_homes = self.home_sig("x") and self.home_sig("z")
        if self.axes != 2: all_homes = all_homes and self.home_sig("y")
        if self.axes == 4: all_homes = all_homes and self.home_sig("a")

        self.write_one_axis(file, 0, "x", "LINEAR", all_homes)
        if self.axes != 2:
            self.write_one_axis(file, 1, "y", "LINEAR", all_homes)
        self.write_one_axis(file, 2, "z", "LINEAR", all_homes)
        if self.axes == 1:
            self.write_one_axis(file, 3, "a", "ANGULAR", all_homes)
        self.write_one_axis(file, 9, "s", "null", all_homes)
        file.close()
        self.add_md5sum(filename)

    def write_one_axis(self, file, num, letter, type, all_homes):
        order = "1203"
        def get(s): return self[letter + s]       
        pwmgen = self.pwmgen_sig(letter)
        tppwmgen = self.tppwmgen_sig(letter)
        stepgen = self.stepgen_sig(letter)
        encoder = self.encoder_sig(letter)
        resolver = self.resolver_sig(letter)
        potoutput = self.potoutput_sig(letter)
        
        closedloop = False
        if stepgen and (encoder or resolver): closedloop = True
        if (encoder or resolver) and (pwmgen or tppwmgen) : closedloop = True
        if closedloop and letter == "s": closedloop = False
        #print "INI ",letter + " is closedloop? "+ str(closedloop),encoder,pwmgen,tppwmgen,stepgen

        print >>file
        print >>file, "#********************"
        if letter == 's':
            print >>file, "# Spindle "
            print >>file, "#********************"
            print >>file, "[SPINDLE_%d]" % num
        else:
            print >>file, "# Axis %s" % letter.upper()
            print >>file, "#********************"
            print >>file, "[AXIS_%d]" % num
            print >>file, "TYPE = %s" % type
            print >>file, "HOME = %s" % get("homepos")
            print >>file, "FERROR = %s"% get("maxferror")
            print >>file, "MIN_FERROR = %s" % get("minferror")
        if not letter == "s" or (letter == "s" and stepgen):
            print >>file, "MAX_VELOCITY = %s" % get("maxvel")
            print >>file, "MAX_ACCELERATION = %s" % get("maxacc")
            print >>file, "# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION"
            print >>file, "# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger."
            print >>file, "STEPGEN_MAXVEL = %.1f" % (float(get("maxvel")) * 1.25)
            if self[letter + "usecomp"] or self[letter + "usebacklash"]:
                print >>file, "STEPGEN_MAXACCEL = %.1f" % (float(get("maxacc")) * 2.0)
            else:
                print >>file, "STEPGEN_MAXACCEL = %.1f" % (float(get("maxacc")) * 1.25)
        if encoder or resolver:
            if closedloop:
                print >>file, "P = %s" % get("P")
                print >>file, "I = %s" % get("I") 
                print >>file, "D = %s" % get("D")
                print >>file, "FF0 = %s" % get("FF0")
                print >>file, "FF1 = %s" % get("FF1")
                print >>file, "FF2 = %s" % get("FF2")
                print >>file, "BIAS = %s"% get("bias") 
                print >>file, "DEADBAND = %s"% get("deadband")
                print >>file, "MAX_OUTPUT = %s" % get("maxoutput")
            if get("invertencoder"):
                temp = -1
            else: temp = 1
            if encoder:
                print >>file, "ENCODER_SCALE = %s" % (get("encoderscale") * temp)
            else:
                print >>file, "RESOLVER_SCALE = %s" % (get("encoderscale") * temp)
        if pwmgen or potoutput:
            if get("invertmotor"):
                temp = -1
            else: temp = 1
            print >>file, "OUTPUT_SCALE = %s" % (get("outputscale") * temp)
            pwmpinname = self.make_pinname(pwmgen)
            if (pwmgen and "analog" in pwmpinname) or potoutput:
                print >>file, "OUTPUT_MIN_LIMIT = %s"% (get("outputminlimit"))
                print >>file, "OUTPUT_MAX_LIMIT = %s"% (get("outputmaxlimit"))

        if stepgen:
            print >>file, "# these are in nanoseconds"
            print >>file, "DIRSETUP   = %d"% int(get("dirsetup"))
            print >>file, "DIRHOLD    = %d"% int(get("dirhold"))
            print >>file, "STEPLEN    = %d"% int(get("steptime"))          
            print >>file, "STEPSPACE  = %d"% int(get("stepspace"))
            if get("invertmotor"):
                temp = -1
            else: temp = 1
            print >>file, "STEP_SCALE = %s"% (get("stepscale") * temp)
        if letter == 's':return
        if self[letter + "usecomp"]:
            print >>file, "COMP_FILE = %s" % get("compfilename")
            print >>file, "COMP_FILE_TYPE = %s" % get("comptype")
        if self[letter + "usebacklash"]:
            print >>file, "BACKLASH = %s" % get("backlash")
        # linuxcnc doesn't like having home right on an end of travel,
        # so extend the travel limit by up to .01in or .1mm
        minlim = -abs(get("minlim"))
        maxlim = get("maxlim")
        home = get("homepos")
        if self.units == _METRIC: extend = .01
        else: extend = .001
        minlim = min(minlim, home - extend)
        maxlim = max(maxlim, home + extend)
        print >>file, "MIN_LIMIT = %s" % minlim
        print >>file, "MAX_LIMIT = %s" % maxlim

        thisaxishome = set(("all-home", "home-" + letter, "min-home-" + letter, "max-home-" + letter, "both-home-" + letter))
        ignore = set(("min-home-" + letter, "max-home-" + letter, "both-home-" + letter))
        homes = False
        for i in thisaxishome:
            if self.findsignal(i): homes = True
        # set homing speeds and directions
        # search direction : True = positive direction
        # latch direction :  True = opposite direction
        if homes:
            searchvel = abs(get("homesearchvel"))
            latchvel = abs(get("homelatchvel"))
            #print get("searchdir")
            if get("searchdir") == 0:
                 searchvel = -searchvel
                 if get("latchdir") == 0: 
                    latchvel = -latchvel 
            else:
                if get("latchdir") == 1: 
                    latchvel = -latchvel
            print >>file, "HOME_OFFSET = %f" % get("homesw")
            print >>file, "HOME_SEARCH_VEL = %f" % searchvel                      
            print >>file, "HOME_LATCH_VEL = %f" % latchvel
            print >>file, "HOME_FINAL_VEL = %f" % get("homefinalvel")
            if get("usehomeindex"):useindex = "YES"
            else: useindex = "NO"   
            print >>file, "HOME_USE_INDEX = %s" % useindex
            for i in ignore:
                if self.findsignal(i):
                    print >>file, "HOME_IGNORE_LIMITS = YES"
                    break
            if all_homes and not self.individual_homing:
                print >>file, "HOME_SEQUENCE = %s" % order[num]
        else:
            print >>file, "HOME_OFFSET = %s" % get("homepos")

    def home_sig(self, axis):
        thisaxishome = set(("all-home", "home-" + axis, "min-home-" + axis, "max-home-" + axis, "both-home-" + axis))
        for i in thisaxishome:
            if self.findsignal(i): return i
        return None

    def min_lim_sig(self, axis):
           thisaxishome = set(("all-limit", "min-" + axis,"min-home-" + axis, "both-" + axis, "both-home-" + axis))
           for i in thisaxishome:
               if self.findsignal(i): return i
           return None

    def max_lim_sig(self, axis):
           thisaxishome = set(("all-limit", "max-" + axis, "max-home-" + axis, "both-" + axis, "both-home-" + axis))
           for i in thisaxishome:
               if self.findsignal(i): return i
           return None

    def stepgen_sig(self, axis):
           thisaxisstepgen =  axis + "-stepgen-step" 
           test = self.findsignal(thisaxisstepgen)
           return test

    def stepgen_invert_pins(self,pinnumber):
        # sample pinname = mesa0c0pin11
        signallist = []
        pin = int(pinnumber[10:])
        connector = int(pinnumber[6:7])
        boardnum = int(pinnumber[4:5])
        channel = None
        pinlist = self.list_related_pins([STEPA,STEPB], boardnum, connector, channel, pin, 0)
        #print pinlist
        for i in pinlist:
            if self[i[0]+"inv"]:
                gpioname = self.make_pinname(self.findsignal( self[i[0]] ),True)
                #print gpioname
                signallist.append(gpioname)
        return signallist

    def spindle_invert_pins(self,pinnumber):
        # sample pinname = mesa0sserial0_0pin11
        signallist = []
        pin = int(pinnumber[18:])
        port = int(pinnumber[12:13])
        boardnum = int(pinnumber[4:5])
        channel = int(pinnumber[14:15])
        pinlist = self.list_related_pins([POTO,POTE], boardnum, port, channel, pin, 0)
        for i in pinlist:
            if self[i[0]+"inv"]:
                name = self[i[0]+"type"]
                signallist.append(name)
        return signallist

    def encoder_sig(self, axis): 
           thisaxisencoder = axis +"-encoder-a"
           test = self.findsignal(thisaxisencoder)
           return test

    def resolver_sig(self, axis):
        thisaxisresolver = axis +"-resolver"
        test = self.findsignal(thisaxisresolver)
        return test

    def amp_8i20_sig(self, axis):
        thisaxis8i20 = "%s-8i20"% axis
        test = self.findsignal(thisaxis8i20)
        return test

    def potoutput_sig(self,axis):
        thisaxispot = "%s-pot-output"% axis
        test = self.findsignal(thisaxispot)
        return test

    def pwmgen_sig(self, axis):
           thisaxispwmgen =  axis + "-pwm-pulse" 
           test = self.findsignal( thisaxispwmgen)
           return test

    def pwmgen_invert_pins(self,pinnumber):
        print "list pwm invert pins",pinnumber
        # sample pinname = mesa0c0pin11
        signallist = []
        pin = int(pinnumber[10:])
        connector = int(pinnumber[6:7])
        boardnum = int(pinnumber[4:5])
        channel = None
        pinlist = self.list_related_pins([PWMP, PWMD, PWME], boardnum, connector, channel, pin, 0)
        print pinlist
        for i in pinlist:
            if self[i[0]+"inv"]:
                gpioname = self.make_pinname(self.findsignal( self[i[0]] ),True)
                print gpioname
                signallist.append(gpioname)
        return signallist

    def tppwmgen_sig(self, axis):
           thisaxispwmgen =  axis + "-tppwm-a" 
           test = self.findsignal(thisaxispwmgen)
           return test

    def tppwmgen_has_6(self, axis):
           thisaxispwmgen =  axis + "-tppwm-anot" 
           test = self.findsignal(thisaxispwmgen)
           return test

    def connect_axis(self, file, num, let):
        def get(s): return self[let + s]
        axnum = "xyzabcuvws".index(let)
        title = 'AXIS'
        if let == 's':
            title = 'SPINDLE'
        closedloop = False
        pwmpin = self.pwmgen_sig(let)
        pwmpinname = self.make_pinname(pwmpin)
        if pwmpinname and not 'serial' in pwmpin: # TODO allow sserial PWM to be inverted
            pwminvertlist = self.pwmgen_invert_pins(pwmpin)
        if not pwmpin == None:
            pwmtype = self.pwmgen_sig(let)+"type"
        else:
            pwmtype = None
        tppwmpinname = self.make_pinname(self.tppwmgen_sig(let))
        tppwm_six = self.tppwmgen_has_6(let)
        steppinname = self.make_pinname(self.stepgen_sig(let))
        steppinname2 = self.make_pinname(self.stepgen_sig(let+"2"))
        bldc_control = self[let+"bldc_option"]
        if steppinname:
            stepinvertlist = self.stepgen_invert_pins(self.stepgen_sig(let))
        if steppinname2:
            stepinvertlist2 = self.stepgen_invert_pins(self.stepgen_sig(let+"2"))
        encoderpinname = self.make_pinname(self.encoder_sig(let))
        amp8i20pinname = self.make_pinname(self.amp_8i20_sig(let))
        resolverpinname = self.make_pinname(self.resolver_sig(let))
        potpinname = self.make_pinname(self.potoutput_sig(let))
        if potpinname:
            potinvertlist = self.spindle_invert_pins(self.potoutput_sig(let))
        if steppinname and encoderpinname and not let == 's': closedloop = True
        if (encoderpinname or resolverpinname) and (pwmpinname or tppwmpinname or amp8i20pinname): closedloop = True
        if let == "s": closedloop = False
        print let + " is closedloop? "+ str(closedloop)
        print " ENCODER:",encoderpinname," RESOLVER:",resolverpinname
        print " PWM:",pwmpinname," 3PWM:",tppwmpinname," 8i20:",amp8i20pinname
        print " STEPPER:",steppinname, "STEPPER2:",steppinname2
        print " POTENTIOMETER:",potpinname
        lat = self.latency
        print >>file, "#*******************"
        print >>file, "#  %s %s" % (title, let.upper())
        print >>file, "#*******************"
        print >>file

        if bldc_control:
            bldc = self[let+"bldc_config"]
            print >>file, "# -- BLDC setup --"
            print >>file, "setp   bldc.%d.drive-offset       %d" % (axnum,self[let+"bldc_drive_offset"])
            print >>file, "setp   bldc.%s.rev                %d" % (axnum,self[let+"bldc_reverse"])
            if "q" in(bldc):
                print >>file, "setp   bldc.%d.scale              %d" % (axnum,self[let+"bldc_scale"])
                print >>file, "setp   bldc.%d.poles              %d" % (axnum,self[let+"bldc_poles"])
            if "i" in(bldc):
                print >>file, "setp   bldc.%s.initvalue          %d" % (axnum,self[let+"bldc_inital_value"])
            if "i" in(bldc) or "a" in(bldc):
                print >>file, "setp   bldc.%s.lead-angle         %d" % (axnum,self[let+"bldc_lead_angle"])
                print >>file, "setp   bldc.%d.encoder-offset     %d" % (axnum,self[let+"bldc_encoder_offset"])
            if "h" in(bldc):
                print >>file, "setp   bldc.%d.pattern            %d" % (axnum,self[let+"bldc_pattern_in"])
                print >>file, "net %s-hall1-in      bldc.%d.hall1"% (let,axnum)
                print >>file, "net %s-hall2-in      bldc.%d.hall2"% (let,axnum)
                print >>file, "net %s-hall3-in      bldc.%d.hall3"% (let,axnum)
            if "f" in(bldc):
                print >>file, "net %s-c1-in     bldc.%d.C1"% (let,axnum)
                print >>file, "net %s-c2-in     bldc.%d.C2"% (let,axnum)
                print >>file, "net %s-c4-in     bldc.%d.C4"% (let,axnum)
                print >>file, "net %s-c8-in     bldc.%d.C8"% (let,axnum)
            if "H" in(bldc):
                print >>file, "setp   bldc.%d.output-pattern     %d" % (axnum,self[let+"bldc_pattern_out"])
                print >>file, "net %s-hall1-out     bldc.%d.hall1-out"% (let,axnum)
                print >>file, "net %s-hall2-out     bldc.%d.hall2-out"% (let,axnum)
                print >>file, "net %s-hall3-out     bldc.%d.hall3-out"% (let,axnum)
            if "6" in(bldc) :
                if "B" in(bldc):
                    print >>file, "net %s-a-high-on     bldc.%d.A-high-on"% (let,axnum)
                    print >>file, "net %s-a-low-on      bldc.%d.A-low-on"% (let,axnum)
                    print >>file, "net %s-b-high-on     bldc.%d.B-high-on"% (let,axnum)
                    print >>file, "net %s-b-low-on      bldc.%d.B-low-on"% (let,axnum)
                    print >>file, "net %s-c-high-on     bldc.%d.C-high-on"% (let,axnum)
                    print >>file, "net %s-c-low-on      bldc.%d.C-low-on"% (let,axnum)
                else:
                    print >>file, "net %s-a-high-value      bldc.%d.A-high"% (let,axnum)
                    print >>file, "net %s-a-low-value       bldc.%d.A-low"% (let,axnum)
                    print >>file, "net %s-b-high-value      bldc.%d.B-high"% (let,axnum)
                    print >>file, "net %s-b-low-value       bldc.%d.B-low"% (let,axnum)
                    print >>file, "net %s-c-high-value      bldc.%d.C-high"% (let,axnum)
                    print >>file, "net %s-c-low-value       bldc.%d.C-low"% (let,axnum)
            elif "B" in(bldc):
                print >>file, "net %s-a-on          bldc.%d.A-on"% (let,axnum)
                print >>file, "net %s-b-on          bldc.%d.B-on"% (let,axnum)
                print >>file, "net %s-c-on          bldc.%d.C-on"% (let,axnum)
            elif "F" in(bldc):
                print >>file, "net %s-c1-out        bldc.%d.C1-out"% (let,axnum)
                print >>file, "net %s-c2-out        bldc.%d.C2-out"% (let,axnum)
                print >>file, "net %s-c4-out        bldc.%d.C4-out"% (let,axnum)
                print >>file, "net %s-c8-out        bldc.%d.C8-out"% (let,axnum)
            else:
                print >>file, "net %s-a-value       bldc.%d.A-value"% (let,axnum)
                print >>file, "net %s-b-value       bldc.%d.B-value"% (let,axnum)
                print >>file, "net %s-c-value       bldc.%d.C-value"% (let,axnum)
            print >>file
            print >>file, "net %s-pos-rawcounts      bldc.%d.rawcounts"% (let,axnum)
            print >>file, "net %s-index-enable      bldc.%d.index-enable"% (let,axnum)
            print >>file, "net %s-bldc-current      bldc.%d.out"% (let,axnum)
            print >>file, "net %s-meas-angle        bldc.%d.phase-angle"% (let,axnum)
            print >>file, "net %s-output             bldc.%d.value"% (let,axnum)
            print >>file, "net %s-enable             bldc.%d.init"% (let,axnum)
            print >>file, "net %s-is-init           bldc.%s.init-done"% (let,axnum)
            print >>file

        if closedloop:
                print >>file, "setp   pid.%s.Pgain     [%s_%d]P" % (let, title, axnum)
                print >>file, "setp   pid.%s.Igain     [%s_%d]I" % (let, title, axnum)
                print >>file, "setp   pid.%s.Dgain     [%s_%d]D" % (let, title, axnum)
                print >>file, "setp   pid.%s.bias      [%s_%d]BIAS" % (let, title, axnum)
                print >>file, "setp   pid.%s.FF0       [%s_%d]FF0" % (let, title, axnum)
                print >>file, "setp   pid.%s.FF1       [%s_%d]FF1" % (let, title, axnum)
                print >>file, "setp   pid.%s.FF2       [%s_%d]FF2" % (let, title, axnum)
                print >>file, "setp   pid.%s.deadband  [%s_%d]DEADBAND" % (let, title, axnum)
                print >>file, "setp   pid.%s.maxoutput [%s_%d]MAX_OUTPUT" % (let, title, axnum)
                print >>file
                if let == 's':
                    name = "spindle"
                else:
                    name = let
                print >>file, "net %s-index-enable  <=>  pid.%s.index-enable" % (name, let)
                print >>file, "net %s-enable       => pid.%s.enable" % (name, let)
                print >>file, "net %s-output       => pid.%s.output"% (name, let)
                if let == 's':
                    print >>file, "net %s-vel-cmd     => pid.%s.command" % (name, let)
                    print >>file, "net %s-vel-fb      => pid.%s.feedback"% (name, let)
                else:
                    print >>file, "net %s-pos-cmd      => pid.%s.command" % (name, let)
                    print >>file, "net %s-vel-fb       => pid.%s.feedback-deriv"% (name, let)
                    print >>file, "net %s-pos-fb       => pid.%s.feedback"% (name,let)
                print >>file

        if tppwmpinname:
                print >>file, "# ---TPPWM Generator signals/setup---"
                if tppwm_six:
                    print >>file, "# six output 3pwg"
                else:print >>file, "# three output 3pwg"
                print >>file, "# TODO write some commands!"
                print >>file

        if amp8i20pinname:
                print >>file, "# ---8i20 amplifier card signals/setup---"
                print >>file
                print >>file, "setp       %s.max_current %.3f"% (amp8i20pinname,self[let+"8i20maxcurrent"])
                print >>file, "net %s-meas-angle =>       %s.angle"% (let,amp8i20pinname)
                print >>file, "net %s-bldc-current =>     %s.current"% (let,amp8i20pinname)
                print >>file, "net %s-enable =>            %s.amp_enable"% (let,amp8i20pinname)
                print >>file

        if potpinname:
                # sserial digital potentiometer outputs for spindle eg 7i76 board
                print >>file, "# ---digital potentionmeter output signals/setup---"
                print >>file
                print >>file, "setp   "+potpinname+"spinout-minlim    [%s_%d]OUTPUT_MIN_LIMIT"% (title, axnum)
                print >>file, "setp   "+potpinname+"spinout-maxlim    [%s_%d]OUTPUT_MAX_LIMIT"% (title, axnum)
                print >>file, "setp   "+potpinname+"spinout-scalemax  [%s_%d]OUTPUT_SCALE"% (title, axnum)
                for i in potinvertlist:
                    if i == POTO:
                        print >>file, "setp   "+potpinname+"spindir-invert   true"
                    if i == POTE:
                        print >>file, "setp   "+potpinname+"spinena-invert   true"
                print >>file
                if closedloop:
                    print >>file, "net spindle-output      => " + potpinname + "spinout"
                else:
                    if get("outputminlimit") == 0:
                        signal = "spindle-vel-cmd-abs"
                    else:
                        signal = "spindle-vel-cmd"
                    print >>file, "net %s     => %sspinout"%(signal,potpinname)
                print >>file, "net machine-is-enabled      => " + potpinname +"spinena"
                print >>file, "net spindle-ccw         => " + potpinname +"spindir"
                print >>file

        if pwmpinname:
            print >>file, "# ---PWM Generator signals/setup---"
            print >>file
            # sserial daughter board PWMGENS eg 7i77
            if "analogout" in pwmpinname:
                rawpinname = self.make_pinname(pwmpin,False,True) # dont want the component name
                print >>file, "setp   "+pwmpinname+"-scalemax  [%s_%d]OUTPUT_SCALE"% (title, axnum)
                print >>file, "setp   "+pwmpinname+"-minlim    [%s_%d]OUTPUT_MIN_LIMIT"% (title, axnum)
                print >>file, "setp   "+pwmpinname+"-maxlim    [%s_%d]OUTPUT_MAX_LIMIT"% (title, axnum)
                print >>file
                if let == 's':
                    if get("outputminlimit") == 0:
                        signal = "spindle-vel-cmd-abs"
                    else:
                        signal = "spindle-vel-cmd"
                    print >>file
                    if closedloop:
                        print >>file, "net spindle-output      => " + pwmpinname
                        if 'analogout5' in pwmpinname: # on the 7i77 analog out 5 has it's own enable
                            print >>file, "net machine-is-enabled      => " + rawpinname + "spinena"
                    else:
                        print >>file, "net %s     => %s"%(signal,pwmpinname)
                        print >>file, "net machine-is-enabled      => " + rawpinname + "spinena"
                        if 'analogout5' in pwmpinname: # on the 7i77 analog out 5 has it's own enable
                            print >>file, "net machine-is-enabled      => " + rawpinname + "spinena"
                else:
                    print >>file, "net %s-output                             => "% (let) + pwmpinname
                    print >>file, "net %s-pos-cmd    axis.%d.motor-pos-cmd" % (let, axnum )
                    print >>file, "net %s-enable     axis.%d.amp-enable-out"% (let,axnum)
                    if 'analogout5' in pwmpinname: # on the 7i77 analog out 5 has it's own enable
                        print >>file, "net %s-enable   %spinena"% (let,rawpinname)
                    if let == "x":
                        print >>file, "# enable _all_ sserial pwmgens"
                        print >>file, "net %s-enable   %sanalogena"% (let,rawpinname)
                print >>file

            else:
                # mainboard PWMGENS
                pulsetype = 1
                if self[pwmtype] == PDMP: pulsetype = 3
                if self[pwmtype] == UDMU: pulsetype = 2
                print >>file, "setp   "+pwmpinname+".output-type %d"% pulsetype 
                print >>file, "setp   "+pwmpinname+".scale  [%s_%d]OUTPUT_SCALE"% (title, axnum)
                for i in pwminvertlist:
                    print >>file, "setp    "+i+".invert_output true"
                print >>file
                if let == 's':  
                    print >>file
                    if closedloop:
                        print >>file, "net spindle-output      => " + pwmpinname + ".value"
                        print >>file, "net machine-is-enabled      => " + pwmpinname +".enable"    
                    else:
                        print >>file, "net spindle-vel-cmd     => " + pwmpinname + ".value"
                        print >>file, "net machine-is-enabled      => " + pwmpinname +".enable"
                else:
                    print >>file, "net %s-output                             => "% (let) + pwmpinname + ".value"
                    print >>file, "net %s-pos-cmd    axis.%d.motor-pos-cmd" % (let, axnum )
                    print >>file, "net %s-enable     axis.%d.amp-enable-out  => "% (let,axnum) + pwmpinname +".enable"
                print >>file

        if steppinname:
            print >>file, "# Step Gen signals/setup"
            print >>file
            print >>file, "setp   " + steppinname + ".dirsetup        [%s_%d]DIRSETUP"% (title, axnum)
            print >>file, "setp   " + steppinname + ".dirhold         [%s_%d]DIRHOLD"% (title, axnum)
            print >>file, "setp   " + steppinname + ".steplen         [%s_%d]STEPLEN"% (title, axnum)
            print >>file, "setp   " + steppinname + ".stepspace       [%s_%d]STEPSPACE"% (title, axnum)
            print >>file, "setp   " + steppinname + ".position-scale  [%s_%d]STEP_SCALE"% (title, axnum)
            print >>file, "setp   " + steppinname + ".step_type        0"
            if closedloop or let == "s":
                print >>file, "setp   " + steppinname + ".control-type     1"
            else:
                print >>file, "setp   " + steppinname + ".control-type     0"
            if let =="s":
                print >>file, "setp   " + steppinname + ".maxaccel         [%s_%d]MAX_ACCELERATION"% (title, axnum)
                print >>file, "setp   " + steppinname + ".maxvel           [%s_%d]MAX_VELOCITY"% (title, axnum)
            else:
                print >>file, "setp   " + steppinname + ".maxaccel         [%s_%d]STEPGEN_MAXACCEL"% (title, axnum)
                print >>file, "setp   " + steppinname + ".maxvel           [%s_%d]STEPGEN_MAXVEL"% (title, axnum)
            for i in stepinvertlist:
                   print >>file, "setp    "+i+".invert_output true"
            if let == "s":
                print >>file
                print >>file, "net machine-is-enabled          =>  " + steppinname + ".enable" 
                print >>file, "net spindle-vel-cmd-rps     =>  "+ steppinname + ".velocity-cmd"
                if not encoderpinname and not resolverpinname:
                    print >>file, "net spindle-vel-fb         <=  "+ steppinname + ".velocity-fb"
            elif closedloop:
                print >>file
                print >>file, "# ---closedloop stepper signals---"
                print >>file
                print >>file, "net %s-pos-cmd    axis.%d.motor-pos-cmd" % (let, axnum )
                print >>file, "net %s-output                             => "% (let) + steppinname + ".velocity-cmd"
                print >>file, "net %s-enable     axis.%d.amp-enable-out  => "% (let,axnum) + steppinname +".enable"
            else:
                print >>file
                print >>file, "net %s-pos-fb     axis.%d.motor-pos-fb   <=  "% (let, axnum) + steppinname + ".position-fb"
                print >>file, "net %s-pos-cmd    axis.%d.motor-pos-cmd  =>  "% (let, axnum) + steppinname + ".position-cmd"
                print >>file, "net %s-enable     axis.%d.amp-enable-out =>  "% (let, axnum) + steppinname + ".enable"
            print >>file

        if steppinname2:
            steppinname = steppinname2
            print >>file, "# Step Gen signals/setup for tandem axis stepper"
            print >>file
            print >>file, "setp   " + steppinname + ".dirsetup        [%s_%d]DIRSETUP"% (title, axnum)
            print >>file, "setp   " + steppinname + ".dirhold         [%s_%d]DIRHOLD"% (title, axnum)
            print >>file, "setp   " + steppinname + ".steplen         [%s_%d]STEPLEN"% (title, axnum)
            print >>file, "setp   " + steppinname + ".stepspace       [%s_%d]STEPSPACE"% (title, axnum)
            print >>file, "setp   " + steppinname + ".position-scale  [%s_%d]STEP_SCALE"% (title, axnum)
            print >>file, "setp   " + steppinname + ".step_type        0"
            if closedloop:
                print >>file, "setp   " + steppinname + ".control-type     1"
            else:
                print >>file, "setp   " + steppinname + ".control-type     0"
            print >>file, "setp   " + steppinname + ".maxaccel         [%s_%d]STEPGEN_MAXACCEL"% (title, axnum)
            print >>file, "setp   " + steppinname + ".maxvel           [%s_%d]STEPGEN_MAXVEL"% (title, axnum)
            for i in stepinvertlist2:
                   print >>file, "setp    "+i+".invert_output true"
            if closedloop:
                print >>file
                print >>file, "# ---closedloop stepper signals---"
                print >>file
                print >>file, "net %s-output                             => "% (let) + steppinname + ".velocity-cmd"
                print >>file, "net %s-enable                             => "% (let) + steppinname +".enable"
            else:
                print >>file
                print >>file, "net %s2-pos-fb                            <=  " % (let) + steppinname + ".position-fb"
                print >>file, "net %s-pos-cmd                            =>  " % (let) + steppinname + ".position-cmd"
                print >>file, "net %s-enable                             =>  " % (let)+ steppinname + ".enable"
            print >>file

        if encoderpinname:             
            countmode = 0
            if let == "s" and self.ssingleinputencoder: countmode = 1
            print >>file, "# ---Encoder feedback signals/setup---"
            print >>file
            print >>file, "setp    "+encoderpinname+".counter-mode %d"% countmode
            print >>file, "setp    "+encoderpinname+".filter 1"
            print >>file, "setp    "+encoderpinname+".index-invert 0"
            print >>file, "setp    "+encoderpinname+".index-mask 0"
            print >>file, "setp    "+encoderpinname+".index-mask-invert 0"
            print >>file, "setp    "+encoderpinname+".scale  [%s_%d]ENCODER_SCALE"% (title, axnum)
            print >>file
            if let == 's':
                print >>file, "net spindle-revs              <=  " + encoderpinname + ".position"
                print >>file, "net spindle-vel-fb            <=  " + encoderpinname + ".velocity"
                print >>file, "net spindle-index-enable     <=>  " + encoderpinname + ".index-enable"
            else:
                print >>file, "net %s-pos-fb               <=  "% (let) + encoderpinname+".position"
                print >>file, "net %s-vel-fb               <=  "% (let) + encoderpinname + ".velocity"
                print >>file, "net %s-pos-fb               =>  axis.%d.motor-pos-fb" % (let, axnum)
                print >>file, "net %s-index-enable    axis.%d.index-enable  <=>  "% (let, axnum) + encoderpinname + ".index-enable"
                print >>file, "net %s-pos-rawcounts        <=  "% (let) + encoderpinname + ".rawcounts"
            print >>file

        if resolverpinname:
            print >>file, "# ---Resolver feedback signals/setup---"
            print >>file
            print >>file, "setp    "+resolverpinname+".velocity-scale 1 # mptor speed in RPS"
            print >>file, "setp    "+resolverpinname+".scale  [%s_%d]RESOLVER_SCALE"% (title, axnum)
            print >>file
            print >>file, "net %s-pos-rawcounts        <=  "% (let) + resolverpinname + ".rawcounts"
            if let == 's':
                print >>file, "net spindle-revs              <=  " + resolverpinname + ".position"
                print >>file, "net spindle-vel-fb            <=  " + resolverpinname + ".velocity"
                print >>file, "net spindle-index-enable     <=>  " + resolverpinname + ".index-enable"
            else:
                print >>file, "net %s-pos-fb               <=  "% (let) + resolverpinname+".position"
                print >>file, "net %s-vel-fb               <=  "% (let) + resolverpinname + ".velocity"
                print >>file, "net %s-pos-fb               =>  axis.%d.motor-pos-fb" % (let, axnum)
                print >>file, "net %s-index-enable    axis.%d.index-enable  <=>  "% (let, axnum) + resolverpinname + ".index-enable"
            print >>file

        if let =='s':
            print >>file, "# ---setup spindle control signals---" 
            print >>file
            print >>file, "net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps"
            print >>file, "net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs"
            print >>file, "net spindle-vel-cmd            <=  motion.spindle-speed-out"
            print >>file, "net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs"
            print >>file, "net spindle-on                 <=  motion.spindle-on"
            print >>file, "net spindle-cw                 <=  motion.spindle-forward"
            print >>file, "net spindle-ccw                <=  motion.spindle-reverse"
            print >>file, "net spindle-brake              <=  motion.spindle-brake"            
            print >>file, "net spindle-revs               =>  motion.spindle-revs"
            print >>file, "net spindle-at-speed           =>  motion.spindle-at-speed"
            print >>file, "net spindle-vel-fb             =>  motion.spindle-speed-in"
            print >>file, "net spindle-index-enable      <=>  motion.spindle-index-enable"
            print >>file
            if not self.findsignal("spindle-at-speed"):
                print >>file, "# ---Setup spindle at speed signals---"
                print >>file
                if (encoderpinname or resolverpinname) and self.suseatspeed:
                    print >>file, "net spindle-vel-cmd-rps    =>  near.0.in1"
                    print >>file, "net spindle-vel-fb         =>  near.0.in2"
                    print >>file, "net spindle-at-speed       <=  near.0.out"
                    print >>file, "setp near.0.scale %f"% self.snearscale
                    print >>file, "setp near.0.difference %f"% (self.srpmrange/60)
                    print >>file
                else:
                    print >>file, "sets spindle-at-speed true"
                    print >>file
            if (self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect) or (self.gladevcp and self.spindlespeedbar):
                if encoderpinname or resolverpinname:
                    print >>file, _("#  Use ACTUAL spindle velocity from spindle encoder")
                    print >>file, _("#  spindle-velocity bounces around so we filter it with lowpass")
                    print >>file, _("#  spindle-velocity is signed so we use absolute component to remove sign") 
                    print >>file, _("#  ACTUAL velocity is in RPS not RPM so we scale it.")
                    print >>file
                    print >>file, ("setp     scale.spindle.gain 60")
                    print >>file, ("setp     lowpass.spindle.gain %f"% self.sfiltergain)
                    print >>file, ("net spindle-vel-fb        =>   lowpass.spindle.in")
                    print >>file, ("net spindle-fb-filtered-rps    lowpass.spindle.out      =>   abs.spindle.in")
                    print >>file, ("net spindle-fb-filtered-abs-rps    abs.spindle.out      =>   scale.spindle.in")
                    print >>file, ("net spindle-fb-filtered-abs-rpm    scale.spindle.out")
            return

        min_limsig = self.min_lim_sig(let)
        if not min_limsig: min_limsig = "%s-neg-limit" % let
        max_limsig = self.max_lim_sig(let)  
        if not max_limsig: max_limsig = "%s-pos-limit" % let 
        homesig = self.home_sig(let)
        if not homesig: homesig = "%s-home-sw" % let
        print >>file, "# ---setup home / limit switch signals---"       
        print >>file       
        print >>file, "net %s     =>  axis.%d.home-sw-in" % (homesig, axnum)       
        print >>file, "net %s     =>  axis.%d.neg-lim-sw-in" % (min_limsig, axnum)       
        print >>file, "net %s     =>  axis.%d.pos-lim-sw-in" % (max_limsig, axnum)
        print >>file                

    def connect_input(self, file):
        print >>file, "# external input signals"

        def write_pins(pname,p,i,t):
            # for input pins
            if t == GPIOI:
                if not p == "unused-input":
                    pinname = self.make_pinname(pname) 
                    print >>file, "\n# ---",p.upper(),"---"
                    if "parport" in pinname:
                        if i: print >>file, "net %s     <= %s-not" % (p, pinname)
                        else: print >>file, "net %s     <= %s" % (p, pinname)
                    elif "sserial" in pname:
                        if i: print >>file, "net %s     <=  "% (p)+pinname +"-not"
                        else: print >>file, "net %s     <=  "% (p)+pinname
                    else:
                        if i: print >>file, "net %s     <=  "% (p)+pinname +".in_not"
                        else: print >>file, "net %s     <=  "% (p)+pinname +".in"
            # for encoder pins
            elif t in (ENCA,MXE0,MXE1):
                if not p == "unused-encoder":
                    for sig in (self.halencoderinputsignames):
                       if p == sig+"-a":
                            pinname = self.make_pinname(self.findsignal( p ))
                            print >>file, "\n# ---",sig.upper(),"---"
                            print >>file, "net %s         <=  "% (sig+"-position")+pinname +".position"
                            print >>file, "net %s            <=  "% (sig+"-count")+pinname +".count"
                            print >>file, "net %s         <=  "% (sig+"-velocity")+pinname +".velocity"
                            print >>file, "net %s            <=  "% (sig+"-reset")+pinname +".reset"
                            print >>file, "net %s     <=  "% (sig+"-index-enable")+pinname +".index-enable"
                            for ending in ("counter-mode","filter","index-invert","indek-mask","index-mask-invert","scale","vel-timeout"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
            elif t in (RES0,RES1,RES2,RES3,RES4,RES5):
                if not p == "unused-resolver":
                    for sig in (self.halresolversignames):
                       if p == sig:
                            pinname = self.make_pinname(self.findsignal( p ))
                            print >>file, "\n# ---",sig.upper(),"---"
                            print >>file, "net %s         <=  "% (sig+"-position")+pinname +".position"
                            print >>file, "net %s            <=  "% (sig+"-count")+pinname +".count"
                            print >>file, "net %s            <=  "% (sig+"-angle")+pinname +".angle"
                            print >>file, "net %s            <=  "% (sig+"-error")+pinname +".error"
                            print >>file, "net %s         <=  "% (sig+"-velocity")+pinname +".velocity"
                            print >>file, "net %s            <=  "% (sig+"-reset")+pinname +".reset"
                            print >>file, "net %s     <=  "% (sig+"-index-enable")+pinname +".index-enable"
                            for ending in ("scale","velocity-scale"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
            # for analog in pins
            elif t == (ANALOGIN):
                if not p == "unused-analog-input":
                            pinname = self.make_pinname(self.findsignal( p ))
                            print >>file, "\n# ---",p.upper(),"---"
                            print >>file, "net %s         <=  "% (p)+pinname

        # mesa mainboards
        for boardnum in range(0,int(self.number_mesa)):
            for concount,connector in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                for pin in range(0,24):
                    pname = 'mesa%dc%dpin%d' % (boardnum,connector, pin)
                    p = self['mesa%dc%dpin%d' % (boardnum,connector, pin)]
                    i = self['mesa%dc%dpin%dinv' % (boardnum,connector, pin)]
                    t = self['mesa%dc%dpin%dtype' % (boardnum,connector, pin)]
                    write_pins(pname,p,i,t)
        # sserial
            if self["mesa%d_numof_sserialports"% (boardnum)]: # only check if we have sserialports
                print >>file
                port = 0
                for channel in range (0,self["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALCHANNELS]):
                    if channel >4: break # TODO only have 5 channels worth of glade widgets
                    for pin in range (0,_SSCOMBOLEN):
                        pname = 'mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)
                        p = self['mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)]
                        i = self['mesa%dsserial%d_%dpin%dinv' % (boardnum,port,channel,pin)]
                        t = self['mesa%dsserial%d_%dpin%dtype' % (boardnum,port,channel,pin)]
                        write_pins(pname,p,i,t)
        # parports
        templist = ("pp1","pp2","pp3")
        for j, k in enumerate(templist):
            if self.number_pports < (j+1): break
            print >>file
            for x in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                pname = "%sIpin%d" % (k, x)
                p = self[pname]
                i = self[pname+"inv"]
                if not p == "unused-input":
                    write_pins(pname,p,i,GPIOI)

    def connect_output(self, file):
        print >>file, "# external output signals"

        def write_pins(pname,p,i,t,boardnum,connector,port,channel,pin):
            # for output /open drain pins
            if t in (GPIOO,GPIOD):
                if not p == "unused-output":
                    pinname = self.make_pinname(pname)
                    print >>file, "\n# ---",p.upper(),"---"
                    if "parport" in pinname:
                        if p == "force-pin-true":
                            print >>file, "setp %s true"% (pinname)
                        else:
                            print >>file, "net %s %s"% (p,pinname)
                    else:
                        if "sserial" in pname:
                            temp = pinname
                        # mainboard GPIOO require extra setup commands
                        else:
                            print >>file, "setp %s true"% (pinname + ".is_output")
                            if t == GPIOD: print >>file, "setp    "+pinname+".is_opendrain  true"
                            temp = pinname + ".out"
                        # set pin true if force-pin-true otherwise connect to a signal
                        if p == "force-pin-true":
                            print >>file, "setp %s true"% (temp)
                        else:
                            print >>file, "net %s %s"% (p,temp)
                    if i: # invert pin
                        if "sserial" in pname: 
                            ending = "-invert"
                        elif "parport" in pinname: ending = "-invert"
                        else: ending = ".invert_output"
                        print >>file, "setp %s true"%  (pinname + ending )

            # for pwm pins
            elif t in (PWMP,PDMP,UDMU):
                if not p == "unused-pwm":
                    for sig in (self.halpwmoutputsignames):
                        if p == (sig+"-pulse"):
                            pinname = self.make_pinname(pname)
                            print >>file, "\n# ---",sig.upper(),"---"
                            if t == PWMP:
                                print >>file, "setp    "+pinname +".output-type 1"
                            if t == UDMU:
                                print >>file, "setp    "+pinname +".output-type 2"
                            elif t == PDMP:
                                print >>file, "setp    "+pinname +".output-type 3"
                            print >>file, "net %s     <=  "% (sig+"-enable")+pinname +".enable"
                            print >>file, "net %s      <=  "% (sig+"-value")+pinname +".value"
                            for ending in ("scale","output-type"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
            # fot TP pwm pins
            elif t == (TPPWMA):
                if not p == "unused-tppwmgen":
                    for sig in (self.haltppwmoutputsignames):
                        if p == (sig+"-a"):
                            pinname = self.make_pinname(pname) 
                            print >>file, "\n# ---",sig.upper(),"---"
                            print >>file, "net %s           <=  "% (sig+"-enable")+pinname +".enable"
                            print >>file, "net %s           <=  "% (sig+"-a-value")+pinname +".A-value"
                            print >>file, "net %s           <=  "% (sig+"-b-value")+pinname +".B-value"
                            print >>file, "net %s           <=  "% (sig+"-c-value")+pinname +".C-value"
                            print >>file, "net %s           <=  "% (sig+"-fault")+pinname +".fault"
                            for ending in ("scale","deadtime","fault-invert","sample-time"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
            # for stepper pins
            elif t == (STEPA):
                if not p == "unused-stepgen":
                    for sig in (self.halsteppersignames):
                        if p == (sig+"-step"):
                            pinname = self.make_pinname(pname) 
                            print >>file, "\n# ---",sig.upper(),"---"
                            print >>file, "net %s           <=  "% (sig+"-enable")+pinname +".enable"  
                            print >>file, "net %s            <=  "% (sig+"-count")+pinname +".counts" 
                            print >>file, "net %s     <=  "% (sig+"-cmd-position")+pinname +".position-cmd"  
                            print >>file, "net %s     <=  "% (sig+"-act-position")+pinname +".position-fb" 
                            print >>file, "net %s         <=  "% (sig+"-velocity")+pinname +".velocity-fb"
                            pinlist = self.list_related_pins([STEPA,STEPB], boardnum, connector, channel, pin, 0)
                            for i in pinlist:
                                if self[i[0]+"inv"]:
                                    gpioname = self.make_pinname(i[0],True)
                                    print >>file, "setp    "+gpioname+".invert_output true"
                            for ending in ("position-scale","maxvel","maxaccel","steplen","stepspace","dirsetup","dirhold","step_type"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
            # potentiometer outpot
            elif t == (POTO):
                print pname
                if not p == "unused-pot":
                    for sig in (self.halpotsignames):
                        print "looking",p,sig
                        if p == (sig+"-output"):
                            pinname = self.make_pinname(pname) 
                            print >>file, "\n# ---",sig.upper(),"---"
                            print >>file, "net %s            =>  "% (sig+"-enable")+pinname +".spinena"  
                            print >>file, "net %s            =>  "% (sig+"-output")+pinname +".spinout" 
                            print >>file, "net %s          =>  "% (sig+"-direction")+pinname +".spindir"
                            pinlist = self.list_related_pins([POTO,POTE], boardnum, port, channel, pin, 0)
                            for i in pinlist:
                                if self[i[0]+"inv"]:
                                    if self[i[0]+"type"] == POTO:
                                        print >>file, "setp    "+pinname+".spindir-invert true"
                                    if self[i[0]+"type"] == POTE:
                                        print >>file, "setp    "+pinname+".spinena-invert true"
                            for ending in ("spindir-invert","spinena-invert","spinout-maxlim","spinout-minlim","spinout-scalemax"):
                                title = sig + "-%s"% ending
                                name = pinname + ".%s"% ending
                                self._substitution_list.append((title.upper(),name))
                            self._substitution_list.append(("",""))
                            break
        # mesa mainboards
        for boardnum in range(0,int(self.number_mesa)):
            for concount,connector in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                for pin in range(0,24):
                    pname = 'mesa%dc%dpin%d' % (boardnum,connector, pin)
                    p = self['mesa%dc%dpin%d' % (boardnum,connector, pin)]
                    i = self['mesa%dc%dpin%dinv' % (boardnum,connector, pin)]
                    t = self['mesa%dc%dpin%dtype' % (boardnum,connector, pin)]
                    write_pins(pname,p,i,t,boardnum,connector,None,None,pin)
            # mesa sserial
            if self["mesa%d_numof_sserialports"% (boardnum)]: # only check if we have sserialports
                print >>file
                port = 0
                for channel in range (0,self["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALCHANNELS]):
                    if channel >4: break # TODO only have 5 channels worth of glade widgets
                    for pin in range (0,_SSCOMBOLEN):
                        pname = 'mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)
                        p = self['mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)]
                        i = self['mesa%dsserial%d_%dpin%dinv' % (boardnum,port,channel,pin)]
                        t = self['mesa%dsserial%d_%dpin%dtype' % (boardnum,port,channel,pin)]
                        write_pins(pname,p,i,t,boardnum,None,port,channel,pin)
        # parports
        templist = ("pp1","pp2","pp3")
        for j, k in enumerate(templist):
            if self.number_pports < (j+1): break
            print >>file
            for x in (1,2,3,4,5,6,7,8,9,14,16,17):
                pname = "%sOpin%d" % (k, x)
                p = self[pname]
                i = self[pname+"inv"]
                if not p == "unused-output":
                    write_pins(pname,p,i,GPIOO,None,None,None,None,None)

    def write_halfile(self, base):
        def writebackup(origname):
            path, ext = os.path.splitext(origname)
            name = path.replace(base+"/","")
            print base
            print path,name,ext
            shutil.copy(origname ,os.path.join(base,"backups",name + str(time.time()).replace('.', '') + ext) )
        self._substitution_list = []
        axis_convert = ("x","y","z","a")
        halui_cmd_count = 0
        filename = os.path.join(base, self.machinename + ".hal")
        file = open(filename, "w")
        print >>file, _("# Generated by PNCconf at %s") % time.asctime()
        print >>file, _("# If you make changes to this file, they will be")
        print >>file, _("# overwritten when you run PNCconf again")
        print >>file
        if self.pyvcp and not self.frontend == _AXIS:
            size = pos = geo = ""
            if self.pyvcpposition or self.pyvcpsize:
                if self.pyvcpposition:
                    pos = "+%d+%d"% (self.pyvcpxpos,self.pyvcpypos)
                if self.pyvcpsize:
                    size = "%dx%d"% (self.pyvcpwidth,self.pyvcpheight)
                geo = " -g %s%s"%(size,pos)
            print >>file, "loadusr -Wn pyvcp pyvcp%s -c pyvcp [DISPLAY](PYVCP)"%(geo)
            print >>file, "source postgui_call_list.hal"
        if self.gladevcp and self.standalonegvcp:
            fmax = geo = pos = size =  ""
            if self.gladevcpposition or self.gladevcpsize:
                if self.gladevcpposition:
                    pos = "+%d+%d"% (self.gladevcpxpos,self.gladevcpypos)
                if self.gladevcpsize:
                    size = "%dx%d"% (self.gladevcpwidth,self.gladevcpheight)
                geo = " -g %s%s"%(size,pos)
            if self.gladevcpforcemax: fmax = " -m True"
            theme = self.gladevcptheme
            if theme == "Follow System Theme":theme = ""
            else: theme = " -t "+theme
            print >>file, "loadusr -Wn gladevcp gladevcp -c gladevcp%s%s%s -H gvcp_call_list.hal gvcp-panel.ui"%(theme,fmax,geo)
        print >>file, "loadrt trivkins"
        print >>file, "loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES"
        print >>file, "loadrt probe_parport"
        print >>file, "loadrt hostmot2"
        board0 = self.mesa0_currentfirmwaredata[_BOARDNAME]
        board1 = self.mesa1_currentfirmwaredata[_BOARDNAME]
        driver0 = self.mesa0_currentfirmwaredata[_HALDRIVER]
        driver1 = self.mesa1_currentfirmwaredata[_HALDRIVER]
        directory0 = self.mesa0_currentfirmwaredata[_DIRECTORY]
        directory1 = self.mesa1_currentfirmwaredata[_DIRECTORY]
        firm0 = self.mesa0_currentfirmwaredata[_FIRMWARE]
        firm1 = self.mesa1_currentfirmwaredata[_FIRMWARE]
        # TODO fix this hardcoded hack: only one serial port
        ssconfig0 = ssconfig1 = resolver0 = resolver1 = temp = mesa0_ioaddr = mesa1_ioaddr = ""
        if self.mesa0_numof_resolvers:
            resolver0 = "num_resolvers=%d"% self.mesa0_numof_resolvers
        if self.mesa1_numof_resolvers:
            resolver1 = "num_resolvers=%d"% self.mesa1_numof_resolvers
        if self.mesa0_numof_sserialports:
            for i in range(1,9):
                if i <= self.mesa0_numof_sserialchannels:
                    # if m1 in the name then it needs mode 1
                    if "m1" in self["mesa0sserial0_%dsubboard"% (i-1)]:
                        temp = temp + "1"
                    else:
                        temp = temp + "0"
                else:
                    temp = temp + "x"
            ssconfig0 = "sserial_port_0=%s"% temp
        if self.mesa1_numof_sserialports:
            for i in range(1,9):
                if i <= self.mesa1_numof_sserialchannels:
                    # if m1 in the name then it needs mode 1
                    if "m1" in self["mesa1sserial0_%dsubboard"% (i-1)]:
                        temp = temp + "1"
                    else:
                        temp = temp + "0"
                else:
                    temp = temp + "x"
            ssconfig1 = "sserial_port_0=%s"% temp
        if '7i43' in board0:
             mesa0_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=1'% self.mesa0_parportaddrs
        if '7i43' in board1:
             mesa1_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=1'% self.mesa1_parportaddrs
        firmstring0 = firmstring1 = ""
        if not "5i25" in board0:
            firmstring0 = "firmware=hm2/%s/%s.BIT" % (directory0, firm0)
        if not "5i25" in board1:
            firmstring1 = "firmware=hm2/%s/%s.BIT" % (directory1, firm1)
        if self.number_mesa == 1:            
            print >>file, """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s" """ % (
                    driver0, mesa0_ioaddr, firmstring0, self.mesa0_numof_encodergens, self.mesa0_numof_pwmgens, self.mesa0_numof_tppwmgens,
                    self.mesa0_numof_stepgens ,ssconfig0, resolver0)
        elif self.number_mesa == 2 and (driver0 == driver1):
            print >>file, """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s,%s%s num_encoders=%d       num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s"
                    """ % ( driver0, mesa0_ioaddr, firmstring0, self.mesa0_numof_encodergens, self.mesa0_numof_pwmgens, self.mesa0_numof_tppwmgens,
                    self.mesa0_numof_stepgens, ssconfig0, resolver0, mesa1_ioaddr,firmstring1, self.mesa1_numof_encodergens,
                    self.mesa1_numof_pwmgens, self.mesa1_numof_tppwmgens, self.mesa1_numof_stepgens, ssconfig1, resolver1 )
        elif self.number_mesa == 2:
            print >>file, """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s" """ % (
                    driver0, mesa0_ioaddr, firmstring0, self.mesa0_numof_encodergens, self.mesa0_numof_pwmgens,
                    self.mesa0_numof_tppwmgens,self.mesa0_numof_stepgens, ssconfig0, resolver0 )
            print >>file, """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s" """ % (
                    driver1, mesa1_ioaddr, firmstring1, self.mesa1_numof_encodergens, self.mesa1_numof_pwmgens,
                    self.mesa0_numof_tppwmgens,self.mesa1_numof_stepgens, ssconfig1, resolver1 )
        for boardnum in range(0,int(self.number_mesa)):
            if boardnum == 1 and (board0 == board1):
                halnum = 1
            else:
                halnum = 0
            if self["mesa%d_numof_pwmgens"% boardnum] > 0:
                print >>file, "setp     hm2_%s.%d.pwmgen.pwm_frequency %d"% ( self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME],
                     halnum, self["mesa%d_pwm_frequency"% boardnum] )
                print >>file, "setp     hm2_%s.%d.pwmgen.pdm_frequency %d"% ( self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME],
                     halnum,self["mesa%d_pdm_frequency"% boardnum] )
            print >>file, "setp     hm2_%s.%d.watchdog.timeout_ns %d"% ( self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME],
                     halnum,self["mesa%d_watchdog_timeout"% boardnum] )

        if self.number_pports>0:
            port3name = port2name = port1name = port3dir = port2dir = port1dir = ""
            if self.number_pports>2:
                 port3name = " " + self.ioaddr3
                 if self.pp3_direction:
                    port3dir =" out"
                 else: 
                    port3dir =" in"
            if self.number_pports>1:
                 port2name = " " + self.ioaddr2
                 if self.pp2_direction:
                    port2dir =" out"
                 else: 
                    port2dir =" in"
            port1name = self.ioaddr
            if self.pp1_direction:
               port1dir =" out"
            else: 
               port1dir =" in"
            print >>file, "loadrt hal_parport cfg=\"%s%s%s%s%s%s\"" % (port1name, port1dir, port2name, port2dir, port3name, port3dir)

        if self.joystickjog:
            print >>file, "loadusr -W hal_input -KRAL %s\n"% self.usbdevicename

        spindle_enc = counter = probe = pwm = pump = estop = False 
        spindle_on = spindle_cw = spindle_ccw = False
        mist = flood = brake = at_speed = bldc = False

        if self.findsignal("s-encoder-a"):
            spindle_enc = True        
        if self.findsignal("probe"):
            probe = True
        if self.findsignal("s-pwm-pulse"):
            pwm = True
        if self.findsignal("charge-pump"):
            pump = True
        if self.findsignal("estop-ext"):
            estop = True
        if self.findsignal("spindle-on"):
            spindle_on = True
        if self.findsignal("spindle-cw"):
            spindle_cw = True
        if self.findsignal("spindle-ccw"):
            spindle_ccw = True
        if self.findsignal("coolant-mist"):
            mist = True
        if self.findsignal("coolant-flood"):
            flood = True
        if self.findsignal("spindle-brake"):
            brake = True
        if self.findsignal("spindle-at-speed"):
            at_speed = True
        for i in self.available_axes:
            if self[i+"bldc_option"]:
                bldc = True
                break
        chargepump = self.findsignal("charge-pump-out")
        # load PID compnent:
        # if axis needs PID- (has pwm signal) then add its letter to pidlist
        temp = ""
        for i in self.available_axes:
            #print "looking at available axis : ",i
            if not self.findsignal(i+"-encoder-a") and not self.findsignal(i+"-resolver"):
                continue
            temp = temp + "pid.%s,"%i
        # if user requested PID components add them to the list as well, starting at 0 and working up
        for i in range(0,self.userneededpid):
                temp=temp+"pid.%d,"% (i)
        pidlist = temp.rstrip(",")
        if not pidlist == "":
            print >>file, "loadrt pid names=%s"% pidlist

        if bldc or self.userneededbldc:
            self._bldcconfigstring = ""
            if bldc:
                for i in self.available_axes:
                    temp = self[i+"bldc_config"]
                    #print i,temp
                    if temp:
                        self._bldcconfigstring = self._bldcconfigstring + temp + ","
            if self.userneededbldc:
                    self._bldcconfigstring = self._bldcconfigstring + self.userneededbldc + ","
            temp = self._bldcconfigstring.rstrip(",")
            if not temp == "":
                print >>file, "loadrt bldc cfg=%s"% temp

        if (self.pyvcp and self.pyvcpconnect == 1) or self.gladevcp or self.userneededabs >0:
            self.absnames=""
            needed = False
            if self.gladevcp and self.spindlespeedbar: needed = True
            if self.pyvcphaltype == 1 and self.pyvcpconnect == 1 and self.pyvcp: needed = True
            if needed:
                self.absnames=self.absnames+"abs.spindle"
                if self.userneededabs >0:
                    self.absnames=self.absnames+","
            for i in range(0,self.userneededabs):
                self.absnames = self.absnames+"abs.%d"% (i)
                if i <> self.userneededabs-1:
                    self.absnames = self.absnames+","
            if not self.absnames == "":
                print >>file, "loadrt abs names=%s"% self.absnames

        if (self.pyvcp and self.pyvcpconnect == 1) or self.gladevcp or self.userneededlowpass >0:
            self.lowpassnames=""
            needed = False
            for i in range(0,self.userneededlowpass):
                self.lowpassnames = self.lowpassnames+"lowpass.%d,"% (i)
            if self.pyvcphaltype == 1 and self.pyvcpconnect == 1 and self.pyvcp: needed = True
            if self.gladevcp and self.spindlespeedbar: needed = True
            if needed:
                self.lowpassnames=self.lowpassnames+"lowpass.spindle"
            temp = self.lowpassnames.rstrip(",")
            self.lowpassnames = temp
            if not self.lowpassnames == "":
                print >>file, "loadrt lowpass names=%s"% temp

        pytest = self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect == 1
        gladetest = self.gladevcp and self.spindlespeedbar
        self.scalenames=""
        if spindle_enc and (pytest or gladetest):
            self.scalenames=self.scalenames+"scale.spindle"
            if self.userneededscale >0:
                self.scalenames=self.scalenames+","
        if self.userneededscale >0:
            for i in range(0,self.userneededscale):
                self.scalenames = self.scalenames+"scale.%d"% (i)
                if  i <> self.userneededscale-1:
                    self.scalenames = self.scalenames+","
        if not self.scalenames == "":
            print >>file, "loadrt scale names=%s"% self.scalenames
        if pump:
            print >>file, "loadrt charge_pump"
        if not at_speed and self.suseatspeed:
            print >>file, "loadrt near"
        if self.classicladder:
            print >>file, ("loadrt classicladder_rt numPhysInputs=%d numPhysOutputs=%d numS32in=%d"
                          " numS32out=%d numFloatIn=%d numFloatOut=%d numBits=%d numWords=%d") \
                          %(self.digitsin , self.digitsout , self.s32in, self.s32out, self.floatsin, self.floatsout,self.bitmem,self.wordmem)
        
        if self.externalmpg or self.externalfo or self.externalmvo or self.externalso or self.joystickjog or self.userneededmux16 > 0:
            self.mux16names=""
            for i in range(0,self.userneededmux16):
                self.mux16names = self.mux16names+"mux16.%d,"% (i)
            if self.joystickjog: 
                self.mux16names = self.mux16names+"jogspeed,"
            if self.externalmpg: 
                self.mux16names = self.mux16names+"jogincr,"  
            if self.externalfo: 
                self.mux16names = self.mux16names+"foincr,"
            if self.externalmvo: 
                self.mux16names = self.mux16names+"mvoincr,"
            if self.externalso: 
                self.mux16names = self.mux16names+"soincr,"
            temp = self.mux16names.rstrip(",")
            self.mux16names = temp
            print >>file, "loadrt mux16 names=%s"% (self.mux16names)

        # load user custom components
        for i in self.loadcompbase:
            if i == '': continue
            else:              
                print >>file, i 
        for i in self.loadcompservo:
            if i == '': continue
            else:              
                print >>file, i 

        print >>file
        if self.number_pports > 0:
            print >>file, "addf parport.0.read servo-thread"
        if self.number_pports > 1:
            print >>file, "addf parport.1.read servo-thread"
        if self.number_pports > 2:
            print >>file, "addf parport.2.read servo-thread"
 
        if pump: print >>file, "addf charge-pump servo-thread"
           
        for i in self.addcompbase:
            if not i == '':
                print >>file, i +" base-thread"

        if self.number_pports > 0:
            print >>file, "addf parport.0.write servo-thread"         
        if self.number_pports > 1:
            print >>file, "addf parport.1.write servo-thread"
        if self.number_pports > 2:
            print >>file, "addf parport.2.write servo-thread"
        if self.number_mesa:
            for boardnum in range(0,int(self.number_mesa)):
                if boardnum == 1 and (self.mesa0_currentfirmwaredata[_BOARDNAME] == self.mesa1_currentfirmwaredata[_BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0
                if self.number_mesa> 0:
                    print >>file, "addf hm2_%s.%d.read servo-thread"% (self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum)
            
        print >>file, "addf motion-command-handler servo-thread"
        print >>file, "addf motion-controller servo-thread"

        if not pidlist == "":
            temp = pidlist.split(",")
            for i in temp:
                print >>file, "addf %s.do-pid-calcs                 servo-thread"% i
        
        if bldc or self.userneededbldc:
            temp=self._bldcconfigstring.split(",")
            for num,j in enumerate(temp):
                print >>file, "addf bldc.%d servo-thread"% num

        if self.classicladder:
            print >>file,"addf classicladder.0.refresh servo-thread"

        if self.externalmpg or self.externalfo or self.externalmvo or self.externalso or self.joystickjog or self.userneededmux16 > 0: 
            temp=self.mux16names.split(",")
            for j in (temp):
                print >>file, "addf %s               servo-thread"% j
        needed = False
        if self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect == 1: needed = True
        if self.userneededabs > 0 or (self.gladevcp and self.spindlespeedbar): needed = True
        if needed:
            temp=self.absnames.split(",")
            for j in (temp):
                print >>file, "addf %s                 servo-thread"% j
        needed = False
        if spindle_enc:
            if self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect == 1: needed = True
            if (self.gladevcp and self.spindlespeedbar): needed = True
        if self.userneededscale > 0 or needed :
                temp=self.scalenames.split(",")
                for j in (temp):
                    print >>file, "addf %s                 servo-thread"% j
        needed = False
        if self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect == 1: needed = True
        if self.userneededlowpass > 0 or (self.gladevcp and self.spindlespeedbar): needed = True
        if needed:
            temp=self.lowpassnames.split(",")
            for j in (temp):
                print >>file, "addf %s             servo-thread"% j

        for i in self.addcompservo:
            if not i == '':
                print >>file, i +" servo-thread"
        if not at_speed and self.suseatspeed:
            print >>file, "addf near.0                   servo-thread"
        if self.number_mesa:
            for boardnum in range(0,int(self.number_mesa)):
                if boardnum == 1 and (self.mesa0_currentfirmwaredata[_BOARDNAME] == self.mesa1_currentfirmwaredata[_BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0         
                print >>file, "addf hm2_%s.%d.write         servo-thread"% (self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum)
                print >>file, "addf hm2_%s.%d.pet_watchdog  servo-thread"% (self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum)

        if chargepump:
            steppinname = self.make_pinname(chargepump)
            print >>file
            print >>file, "# ---Chargepump StepGen: 0.25 velocity = 10Khz square wave output---"
            print >>file
            print >>file, "setp   " + steppinname + ".dirsetup        100"
            print >>file, "setp   " + steppinname + ".dirhold         100"
            print >>file, "setp   " + steppinname + ".steplen         100"
            print >>file, "setp   " + steppinname + ".stepspace       100"
            print >>file, "setp   " + steppinname + ".position-scale  10000"
            print >>file, "setp   " + steppinname + ".step_type       2"
            print >>file, "setp   " + steppinname + ".control-type    1"
            print >>file, "setp   " + steppinname + ".maxaccel        0"
            print >>file, "setp   " + steppinname + ".maxvel          0"
            print >>file, "setp   " + steppinname + ".velocity-cmd    0.25"
            print >>file
            print >>file, "net x-enable                                 => " + steppinname +".enable"

        print >>file
        self.connect_output(file)              
        print >>file
        self.connect_input(file)
        print >>file

        if self.axes == 2:
            self.connect_axis(file, 0, 'x')
            self.connect_axis(file, 1, 'z')
            self.connect_axis(file, 2, 's')
        elif self.axes == 0:
            self.connect_axis(file, 0, 'x')
            self.connect_axis(file, 1, 'y')
            self.connect_axis(file, 2, 'z')
            self.connect_axis(file, 3, 's')
        elif self.axes == 1:
            self.connect_axis(file, 0, 'x')
            self.connect_axis(file, 1, 'y')
            self.connect_axis(file, 2, 'z')
            self.connect_axis(file, 3, 'a')
            self.connect_axis(file, 4, 's')

        print >>file
        print >>file, "#******************************"
        print >>file, _("# connect miscellaneous signals") 
        print >>file, "#******************************"
        print >>file
        print >>file, _("#  ---HALUI signals---")
        print >>file
        for axnum,axletter in enumerate(axis_convert):
            if axletter in self.available_axes:
                print >>file, "net joint-select-%s        halui.joint.%d.select"% (chr(axnum+97),axnum)
                print >>file, "net %s-is-homed            halui.joint.%d.is-homed"% (axletter,axnum)
                print >>file, "net jog-%s-pos             halui.jog.%d.plus"% (axletter,axnum)
                print >>file, "net jog-%s-neg             halui.jog.%d.minus"% (axletter,axnum)
                print >>file, "net jog-%s-analog          halui.jog.%d.analog"% (axletter,axnum)
        print >>file, "net jog-selected-pos      halui.jog.selected.plus"
        print >>file, "net jog-selected-neg      halui.jog.selected.minus"
        print >>file, "net spindle-manual-cw     halui.spindle.forward"
        print >>file, "net spindle-manual-ccw    halui.spindle.reverse"
        print >>file, "net spindle-manual-stop   halui.spindle.stop"
        print >>file, "net machine-is-on         halui.machine.is-on"
        print >>file, "net jog-speed             halui.jog-speed "
        print >>file, "net MDI-mode              halui.mode.is-mdi"
        print >>file
        if pump:    
            print >>file, _("#  ---charge pump signals---")
            print >>file, "net estop-out       =>  charge-pump.enable"
            print >>file, "net charge-pump     <=  charge-pump.out"
            print >>file
        print >>file, _("#  ---coolant signals---")
        print >>file
        print >>file, "net coolant-mist      <=  iocontrol.0.coolant-mist"
        print >>file, "net coolant-flood     <=  iocontrol.0.coolant-flood"
        print >>file
        print >>file, _("#  ---probe signal---")
        print >>file
        print >>file, "net probe-in     =>  motion.probe-input"
        print >>file
        if self.externaljog:
            print >>file, _("# ---jog button signals---")
            print >>file
            print >>file, "sets    jog-speed %f"% self.jograpidrate
            print >>file
        if self.joystickjog:
            print >>file, _("# ---USB device jog button signals---")
            print >>file
            print >>file, "# connect selectable mpg jog speeds "
            print >>file, "net jog-speed-a           =>  jogspeed.sel0"
            print >>file, "net jog-speed-b           =>  jogspeed.sel1"
            print >>file, "net jog-speed             <=  jogspeed.out-f"
            print >>file, "setp    jogspeed.in00          %f"% (self.joystickjograpidrate0)
            print >>file, "setp    jogspeed.in01          %f"% (self.joystickjograpidrate1)
            print >>file, "setp    jogspeed.in02          %f"% (self.joystickjograpidrate2)
            print >>file, "setp    jogspeed.in03          %f"% (self.joystickjograpidrate3)
            if not self.joycmdrapida =="":
                print >>file, "net jog-speed-a           <=  %s"% (self.joycmdrapida)
            if not self.joycmdrapidb =="":
                print >>file, "net jog-speed-b           <=  %s"% (self.joycmdrapidb)
            for axnum,axletter in enumerate(axis_convert):
                if axletter in self.available_axes:
                    pin_pos = self["joycmd"+axletter+"pos"]
                    pin_neg = self["joycmd"+axletter+"neg"]
                    if not pin_pos == "" and not pin_neg =="":
                        print >>file, "net jog-%s-pos            %s"% (axletter,pin_pos)
                        print >>file, "net jog-%s-neg            %s"% (axletter,pin_neg)
                    pin_analog = self["joycmdanalog"+axletter]
                    if not pin_analog == "":
                        print >>file, "net jog-%s-analog         %s"% (axletter,pin_analog)
            print >>file

        # check for shared MPG 
        pinname = self.make_pinname(self.findsignal("select-mpg-a"))
        if pinname:
            print "shared MPG", pinname
            ending = ""
            if "enc" in pinname: ending = ".count"
            print >>file, "# ---jogwheel signals to mesa encoder - shared MPG---"
            print >>file
            print >>file, "net joint-selected-count     <=  %s%s"% (pinname,ending)
            if 'encoder' in ending:
                print >>file, "setp    %s.filter true" % pinname
                print >>file, "setp    %s.counter-mode true" % pinname
            print >>file
            # was jogging MPG option selected?
            if self.externalmpg:
                    print >>file, _("#  ---mpg signals---")
                    print >>file
                    if not self.multimpg:
                        for axnum,axletter in enumerate(axis_convert):
                            if axletter in self.available_axes:
                                print >>file, "#       for axis %s MPG" % (axletter)
                                print >>file, "setp    axis.%d.jog-vel-mode 0" % axnum
                                print >>file, "net selected-jog-incr    =>  axis.%d.jog-scale" % (axnum)
                                print >>file, "net joint-select-%s       =>  axis.%d.jog-enable"% (chr(axnum+97),axnum)
                                print >>file, "net joint-selected-count =>  axis.%d.jog-counts"% (axnum)
                            print >>file
        # check for dedicated axis MPG jogging option
        for axnum,axletter in enumerate(axis_convert):
            if axletter in self.available_axes:
                pinname = self.make_pinname(self.findsignal(axletter+"-mpg-a"))
                if pinname:
                    ending = ""
                    if "enc" in pinname: ending = ".count"
                    print >>file, "# ---jogwheel signals to mesa encoder - %s axis MPG---"% axletter
                    print >>file
                    print >>file, "net %s-jog-count          <=  %s%s"% (axletter, pinname,ending)
                    if 'encoder' in ending:
                        print >>file, "setp    %s.filter true" % pinname
                        print >>file, "setp    %s.counter-mode false" % pinname
                    print >>file
                    if self.externalmpg:
                        print >>file, _("#  ---mpg signals---")
                        print >>file
                        if self.multimpg: # means MPG per axis
                            print >>file, "setp    axis.%d.jog-vel-mode 0" % axnum
                            print >>file, "net %s-jog-enable         =>  axis.%d.jog-enable"% (axletter, axnum)            
                            print >>file, "net %s-jog-count          =>  axis.%d.jog-counts" % (axletter, axnum)
                            print >>file, "net selected-jog-incr    =>  axis.%d.jog-scale" % (axnum)
                            print >>file, "sets %s-jog-enable    true"% (axletter)
                            print >>file
        if self.externalmpg and not self.frontend == _TOUCHY:# TOUCHY GUI sets its own jog increments:
            if self.incrselect :
                print >>file, "# connect selectable mpg jog increments "
                print >>file
                print >>file, "net jog-incr-a           =>  jogincr.sel0"
                print >>file, "net jog-incr-b           =>  jogincr.sel1"
                print >>file, "net jog-incr-c           =>  jogincr.sel2"
                print >>file, "net jog-incr-d           =>  jogincr.sel3"
                print >>file, "net selected-jog-incr    <=  jogincr.out-f"
                if self.mpgdebounce:
                    print >>file, "    setp jogincr.debounce-time      %f"% self.mpgdebouncetime
                print >>file, "    setp jogincr.use-graycode      %s"% self.mpggraycode
                print >>file, "    setp jogincr.suppress-no-input %s" % self.mpgignorefalse
                for i in range(0,16):
                    value = self["mpgincrvalue%d"% i]
                    print >>file, "    setp jogincr.in%02d          %f"% (i,value)
                print >>file
            else:
                print >>file, "sets selected-jog-incr     %f"% (self.mpgincrvalue0)
                print >>file

        # check for dedicated feed override MPG
        pinname = self.make_pinname(self.findsignal("fo-mpg-a"))
        if pinname:
            ending = ""
            if "enc" in pinname: ending = ".count"
            print >>file, "# ---feed override signals to mesa encoder - mpg---"
            print >>file
            print >>file, "net fo-count     <=  %s%s"% (pinname,ending)
            if 'encoder' in ending:
                print >>file, "setp    %s.filter true" % pinname
                print >>file, "setp    %s.counter-mode true" % pinname
            print >>file
        # was feed overrride option selected? MPG or switch selcted?
        if self.externalfo:
            if self.fo_usempg:
                print >>file, "# connect feed overide increments - MPG"
                print >>file
                print >>file, "    setp halui.feed-override.direct-value false"
                print >>file, "    setp halui.feed-override.scale .01"
                if pinname: # dedicated MPG
                    if self.findsignal("fo-enable"): # make it enable-able externally 
                        print >>file, "net  fo-enable           => halui.feed-override.count-enable"
                    else:
                        print >>file, "    setp halui.feed-override.count-enable true"
                    print >>file, "net fo-count            =>  halui.feed-override.counts"
                else: # shared MPG
                    print >>file, "net fo-enable            => halui.feed-override.count-enable"
                    print >>file, "net joint-selected-count => halui.feed-override.counts"
                print >>file
            elif self.fo_useswitch:
                print >>file, "# connect feed overide increments - switches"
                print >>file
                print >>file, "    setp halui.feed-override.count-enable true"
                print >>file, "    setp halui.feed-override.direct-value true"
                print >>file, "    setp halui.feed-override.scale .01"
                print >>file, "net feedoverride-incr   =>  halui.feed-override.counts"
                print >>file, "net fo-incr-a           =>  foincr.sel0"
                print >>file, "net fo-incr-b           =>  foincr.sel1"
                print >>file, "net fo-incr-c           =>  foincr.sel2"
                print >>file, "net fo-incr-d           =>  foincr.sel3"
                print >>file, "net feedoverride-incr   <=  foincr.out-s"
                if self.fodebounce:
                    print >>file, "    setp foincr.debounce-time      %f"% self.fodebouncetime
                print >>file, "    setp foincr.use-graycode      %s"% self.fograycode
                print >>file, "    setp foincr.suppress-no-input %s" % self.foignorefalse
                for i in range(0,16):
                    value = self["foincrvalue%d"% i]
                    print >>file, "    setp foincr.in%02d          %f"% (i,value)
                print >>file

        # check for dedicated max velocity MPG
        pinname = self.make_pinname(self.findsignal("mvo-mpg-a"))
        if pinname:
            ending = ""
            if "enc" in pinname: ending = ".count"
            print >>file, "# ---max velocity override signals to mesa encoder - mpg---"
            print >>file
            print >>file, "net mvo-count     <=  %s%s"% (pinname,ending)
            if 'encoder' in ending:
                print >>file, "setp    %s.filter true" % pinname
                print >>file, "setp    %s.counter-mode true" % pinname
            print >>file
        # was max velocity override option selected? MPG or switch selected?
        if self.externalmvo:
            temp=[]
            for i in self.available_axes:
                temp.append(float(self[i+"maxvel"]))
            scale = max(temp)/100
            if self.mvo_usempg:
                print >>file, "# connect max velocity overide increments - MPG"
                print >>file
                print >>file, "    setp halui.max-velocity.direct-value false"
                print >>file, "    setp halui.max-velocity.scale %04f"% scale
                if pinname: # dedicated MPG
                    if self.findsignal("mvo-enable"): # make it enable-able externally 
                        print >>file, "net mvo-enable           =>  halui.max-velocity.count-enable"
                    else:
                        print >>file, "    setp halui.max-velocity.count-enable true"
                    print >>file, "net mvo-count            =>  halui.max-velocity.counts"
                else: # shared MPG
                    print >>file, "net mvo-enable           =>  halui.max-velocity.count-enable"
                    print >>file, "net joint-selected-count =>  halui.max-velocity.counts"
                print >>file
            elif self.mvo_useswitch:
                print >>file, "# connect max velocity overide increments - switches"
                print >>file
                print >>file, "    setp halui.max-velocity.count-enable true"
                print >>file, "    setp halui.max-velocity.direct-value true"
                print >>file, "    setp halui.max-velocity.scale %04f"% scale
                print >>file, "net max-vel-override-incr   =>  halui.max-velocity.counts"
                print >>file, "net mvo-incr-a           =>  mvoincr.sel0"
                print >>file, "net mvo-incr-b           =>  mvoincr.sel1"
                print >>file, "net mvo-incr-c           =>  mvoincr.sel2"
                print >>file, "net mvo-incr-d           =>  mvoincr.sel3"
                print >>file, "net max-vel-override-incr   <=  mvoincr.out-s"
                if self.mvodebounce:
                    print >>file, "    setp mvoincr.debounce-time      %f"% self.mvodebouncetime
                print >>file, "    setp mvoincr.use-graycode      %s"% self.mvograycode
                print >>file, "    setp mvoincr.suppress-no-input %s" % self.mvoignorefalse
                for i in range(0,16):
                    value = self["mvoincrvalue%d"% i]
                    print >>file, "    setp mvoincr.in%02d          %f"% (i,value)
                print >>file

        # check for dedicated spindle override MPG
        pinname = self.make_pinname(self.findsignal("so-mpg-a"))
        if pinname:
            ending = ""
            if "enc" in pinname: ending = ".count"
            print >>file, "# ---spindle override signals to mesa encoder - mpg---"
            print >>file
            print >>file, "net so-count     <=  %s%s"% (pinname,ending)
            if 'encoder' in ending:
                print >>file, "setp    %s.filter true" % pinname
                print >>file, "setp    %s.counter-mode true" % pinname
            print >>file
        if self.externalso:
            if self.so_usempg:
                print >>file, "# connect spindle overide increments - MPG"
                print >>file
                print >>file, "    setp halui.spindle-override.direct-value false"
                print >>file, "    setp halui.spindle-override.scale .01"
                if pinname: # dedicated MPG
                    if self.findsignal("so-enable"): # make it enable-able externally
                        print >>file, "net so-enable             =>  halui.spindle-override.count-enable"
                    else:
                        print >>file, "    setp halui.spindle-override.count-enable true"
                    print >>file, "net so-count              =>  halui.spindle-override.counts"
                else: # shared MPG
                    print >>file, "net so-enable             =>  halui.spindle-override.count-enable"
                    print >>file, "net joint-selected-count  =>  halui.spindle-override.counts"
                print >>file
            elif self.so_useswitch:
                print >>file, "# connect spindle overide increments "
                print >>file
                print >>file, "    setp halui.spindle-override.count-enable true"
                print >>file, "    setp halui.spindle-override.direct-value true"
                print >>file, "    setp halui.spindle-override.scale .01"
                print >>file, "net spindleoverride-incr  =>  halui.spindle-override.counts"
                print >>file, "net so-incr-a             =>  soincr.sel0"
                print >>file, "net so-incr-b             =>  soincr.sel1"
                print >>file, "net so-incr-c             =>  soincr.sel2"
                print >>file, "net so-incr-d             =>  soincr.sel3"
                print >>file, "net spindleoverride-incr  <=  soincr.out-s"
                if self.sodebounce:
                    print >>file, "    setp soincr.debounce-time      %f"% self.sodebouncetime
                print >>file, "    setp soincr.use-graycode      %s"% self.sograycode
                print >>file, "    setp soincr.suppress-no-input %s" % self.soignorefalse
                for i in range(0,16):
                    value = self["soincrvalue%d"% i]
                    print >>file, "    setp soincr.in%02d          %f"% (i,value)
                print >>file
        print >>file, _("#  ---motion control signals---")
        print >>file
        print >>file, "net in-position               <=  motion.in-position"
        print >>file, "net machine-is-enabled        <=  motion.motion-enabled"
        print >>file
        print >>file, _("#  ---digital in / out signals---")
        print >>file
        for i in range(4):
            dout = "dout-%02d" % i
            if self.findsignal(dout):
                print >>file, "net %s     <=  motion.digital-out-%02d" % (dout, i)
        for i in range(4):
            din = "din-%02d" % i
            if self.findsignal(din):
                print >>file, "net %s     =>  motion.digital-in-%02d" % (din, i)
        print >>file, _("#  ---estop signals---")
        print >>file
        print >>file, "net estop-out     <=  iocontrol.0.user-enable-out"
        if  self.classicladder and self.ladderhaltype == 1 and self.ladderconnect: # external estop program
            print >>file
            print >>file, _("# **** Setup for external estop ladder program -START ****")
            print >>file
            print >>file, "net estop-out     => classicladder.0.in-00"
            print >>file, "net estop-ext     => classicladder.0.in-01"
            print >>file, "net estop-strobe     classicladder.0.in-02   <=  iocontrol.0.user-request-enable"
            print >>file, "net estop-outcl      classicladder.0.out-00  =>  iocontrol.0.emc-enable-in"
            print >>file
            print >>file, _("# **** Setup for external estop ladder program -END ****")
        elif estop:
            print >>file, "net estop-ext     =>  iocontrol.0.emc-enable-in"
        else:
            print >>file, "net estop-out     =>  iocontrol.0.emc-enable-in"
        print >>file
        if self.toolchangeprompt:
            print >>file, _("#  ---manual tool change signals---")
            print >>file
            print >>file, "loadusr -W hal_manualtoolchange"
            print >>file, "net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change"
            print >>file, "net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed"
            print >>file, "net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number"
            print >>file, "net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared"
            print >>file
        else:
            print >>file, _("#  ---toolchange signals for custom tool changer---")
            print >>file
            print >>file, "net tool-number             <=  iocontrol.0.tool-prep-number"
            print >>file, "net tool-change-request     <=  iocontrol.0.tool-change"
            print >>file, "net tool-change-confirmed   =>  iocontrol.0.tool-changed" 
            print >>file, "net tool-prepare-request    <=  iocontrol.0.tool-prepare"
            print >>file, "net tool-prepare-confirmed  =>  iocontrol.0.tool-prepared" 
            print >>file
        if self.classicladder:
            print >>file
            if self.modbus:
                print >>file, _("# Load Classicladder with modbus master included (GUI must run for Modbus)")
                print >>file
                print >>file, "loadusr classicladder --modmaster custom.clp"
                print >>file
            else:
                print >>file, _("# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI")
                print >>file
                print >>file, "loadusr classicladder --nogui custom.clp"
                print >>file
            if self.laddertouchz:
                othercmds = self.gladevcphaluicmds
                print >>file, _("#  --- Classicladder signals for Z axis Auto touch off program---")
                print >>file, "net auto-touch-z    =>   classicladder.0.in-00"
                print >>file, "net MDI-mode        =>   classicladder.0.in-01"
                print >>file, "net in-position     =>   classicladder.0.in-02"
                print >>file, "net z-touchoff-cmd       classicladder.0.out-00   =>    halui.mdi-command-%02d"% (othercmds)
                print >>file, "net z-zero-cmd           classicladder.0.out-01   =>    halui.mdi-command-%02d"% (othercmds +1)
                print >>file, "net rapid-away-cmd       classicladder.0.out-02   =>    halui.mdi-command-%02d"% (othercmds +2)

        gvcp_options_filename = os.path.join(base, "gvcp_options.hal")
        gvcp_call_filename  = os.path.join(base, "gvcp_call_list.hal")
        if self.gladevcp:
                # write the call_list
                # the call_list allows multiple hal files to be loaded post gladevcp
                # this simplifies the problem of overwriting the users custom HAL code
                # when they change gvcp sample options
                # if the user asks for existing instead of sample then if the call_list file exists
                # don't overwrite it
            if (not self.gladesample and not os.path.exists(gvcp_call_filename)) or self.gladesample:
                f1 = open(gvcp_call_filename, "w")
                print >>f1, _("# These files are loaded post gladeVCP, in the order they appear")
                print >>f1
                if self.gladesample:
                    print >>f1, "source gvcp_options.hal"
                print >>f1, "source custom_gvcp.hal"
                # write hal file for sample options selected
            if self.gladesample:
                    # copy glade panel from temp file to config
                gvcp = os.path.join(base, "gvcp-panel.ui")
                if os.path.exists(gvcp):
                    writebackup(gvcp)
                shutil.copy2('/tmp/gvcp-panel.ui', gvcp)
                    # write gvcp options HAL file
                f1 = open(gvcp_options_filename, "w")
                print >>f1, _("# _DO NOT_ include your HAL commands here.")
                print >>f1, _("# Put custom HAL commands in custom_gvcp.hal")
                print >> f1 
                if self.spindlespeedbar:
                    print >>f1, _("# **** Setup of spindle speed display using gladevcp ****")
                    print >>f1
                    if spindle_enc:
                        print >>f1, ("net spindle-fb-filtered-abs-rpm       =>   gladevcp.spindle-speed")
                    else:
                        print >>f1, ("net spindle-vel-cmd-rpm-abs    =>    gladevcp.spindle-speed")
                if self.spindleatspeed:
                    print >>f1, ("net spindle-at-speed        =>    gladevcp.spindle-at-speed-led")
                i = 0
                print >>f1, _("# **** Setup GLADE MDI buttons ****")
                print >>f1, ("net machine-is-on          =>    gladevcp.button-box-active")
                for temp in(("zerox","zero-x","x"),("zeroy","zero-y","y"),("zeroz","zero-z","z"),("zeroa","zero-a","a")):
                    if self[temp[0]]:
                        print >>f1, ("# **** MDI Command %d - %s-axis is specified in the machine named INI file under [HALUI] heading ****"%(i,temp[1]))
                        print >>f1, ("net MDI-%s            gladevcp.%s          =>  halui.mdi-command-%02d")%(temp[0],temp[1],i)
                        if self.require_homing:
                            print >>f1, ("net %s-is-homed      =>    gladevcp.%s-active"% (temp[2],temp[1]))
                        else:
                            print >>f1, ("net machine-is-on          =>    gladevcp.%s-active"% (temp[1]))
                        print >>f1
                        i += 1
                if self.autotouchz:
                    print >>f1, _("# **** Z axis touch-off button - requires the touch-off classicladder program ****")
                    print >>f1, ("net auto-touch-z      <=    gladevcp.auto-touch-z")
                    print >>f1, ("net MDI-mode          =>    gladevcp.auto-touch-z-active")
                    print >>f1
        else:
            # gvcp was not selected remove any existing related HAl files
            if os.path.exists(gvcp_options_filename):
                os.remove(gvcp_options_filename)
            if os.path.exists(gvcp_call_filename):
                os.remove(gvcp_call_filename)

        if self.pyvcp:
            vcp = os.path.join(base, "pyvcp-panel.xml")
            if not os.path.exists(vcp):
                f1 = open(vcp, "w")
                print >>f1, "<?xml version='1.0' encoding='UTF-8'?>"
                print >>f1, "<!-- "
                print >>f1, _("Include your PyVCP panel here.\n")
                print >>f1, "-->"
                print >>f1, "<pyvcp>"
                print >>f1, "</pyvcp>"

        # the jump list allows multiple hal files to be loaded postgui
        # this simplifies the problem of overwritting the users custom HAL code
        # when they change pyvcp sample options
        # if the user picked existing pyvcp option and the postgui_call_list is present
        # don't overwrite it. otherwise write the file.
        calllist_filename = os.path.join(base, "postgui_call_list.hal")
        if (self.pyvcpexist and not os.path.exists(calllist_filename)) or not self.pyvcpexist:
            f1 = open(calllist_filename, "w")
            print >>f1, _("# These files are loaded post GUI, in the order they appear")
            print >>f1
            if self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect:
                print >>f1, "source pyvcp_options.hal"
            print >>f1, "source custom_postgui.hal"


        # If the user asked for pyvcp sample panel add the HAL commands too
        pyfilename = os.path.join(base, "pyvcp_options.hal")
        if self.pyvcp and self.pyvcphaltype == 1 and self.pyvcpconnect: # spindle speed display
            f1 = open(pyfilename, "w")
            print >>f1, _("# _DO NOT_ include your HAL commands here.")
            print >>f1, _("# Put custom HAL commands in custom_postgui.hal")
            print >>f1, _("""# The commands in this file are run after the GUI loads""") 
            print >>f1
            print >>f1, _("# **** Setup of spindle speed display using pyvcp -START ****")
            print >>f1
            if spindle_enc:
                print >>f1, ("net spindle-fb-filtered-abs-rpm       =>   pyvcp.spindle-speed")
            else:
                print >>f1, ("net spindle-vel-cmd-rpm-abs    =>    pyvcp.spindle-speed")
            print >>f1, ("net spindle-at-speed        =>    pyvcp.spindle-at-speed-led")
            print >>f1
            print >>f1, _("# **** Setup of spindle speed display using pyvcp -END ****")
            print >>f1
        else:
            if os.path.exists(pyfilename):
                os.remove(pyfilename)

        # pncconf adds a custom.hal and custom_postgui.hal file if one is not present
        for i in ("custom","custom_postgui","shutdown","custom_gvcp"):
            custom = os.path.join(base, i+".hal")
            if not os.path.exists(custom):
                f1 = open(custom, "w")
                print >>f1, ("# Include your %s HAL commands here")%i
                print >>f1, _("# This file will not be overwritten when you run PNCconf again")

        if self.frontend == _TOUCHY:# TOUCHY GUI
                touchyfile = os.path.join(base, "touchy.hal")
            #if not os.path.exists(touchyfile):
                f1 = open(touchyfile, "w")
                print >>f1, _("# These commands are required for Touchy GUI")
                print >>f1, ("net cycle-start          =>   touchy.cycle-start")
                print >>f1, ("net abort                =>   touchy.abort")
                print >>f1, ("net single-step          =>   touchy.single-block")
                print >>f1, ("net selected-jog-incr    <=   touchy.jog.wheel.increment")
                print >>f1, ("net joint-selected-count =>   touchy.wheel-counts")
                print >>f1, ("net jog-x-pos  => touchy.jog.continuous.x.positive")
                print >>f1, ("net jog-x-neg  => touchy.jog.continuous.x.negative")
                print >>f1, ("net jog-y-pos  => touchy.jog.continuous.y.positive")
                print >>f1, ("net jog-y-neg  => touchy.jog.continuous.y.negative")
                print >>f1, ("net jog-z-pos  => touchy.jog.continuous.z.positive")
                print >>f1, ("net jog-z-neg  => touchy.jog.continuous.z.negative")
                print >>f1, ("net quillup  => touchy.quill-up")
                for axnum,axletter in enumerate(axis_convert):
                    if axletter in self.available_axes:
                        print >>f1, "net joint-select-%s   <=   touchy.jog.wheel.%s"% (chr(axnum+97), axletter)

        if self.classicladder: 
           if not self.laddername == "custom.clp":
                filename = os.path.join(distdir, "configurable_options/ladder/%s" % self.laddername)
                original = os.path.expanduser("~/linuxcnc/configs/%s/custom.clp" % self.machinename)
                if os.path.exists(filename): # check for the master file to copy from 
                  if os.path.exists(original):
                     #print "custom file already exists"
                     writebackup(original)
                     #shutil.copy( original,os.path.expanduser("~/linuxcnc/configs/%s/backups/custom_backup.clp" % self.machinename) ) 
                     print "made backup of existing custom"
                  shutil.copy( filename,original)
                  #print "copied ladder program to usr directory"
                  #print"%s" % filename
                else:
                     print "Master or temp ladder files missing from configurable_options dir"
        if self.pyvcp and not self.pyvcpexist:                
           panelname = os.path.join(distdir, "configurable_options/pyvcp/%s" % self.pyvcpname)
           originalname = os.path.expanduser("~/linuxcnc/configs/%s/pyvcp-panel.xml" % self.machinename)
           if os.path.exists(panelname):     
                  if os.path.exists(originalname):
                     #print "custom PYVCP file already exists"
                     writebackup(originalname)
                     #shutil.copy( originalname,os.path.expanduser("~/linuxcnc/configs/%s/backups/pyvcp-panel_backup.xml" % self.machinename) ) 
                     print "made backup of existing custom"
                  shutil.copy( panelname,originalname)
                  #print "copied PYVCP program to usr directory"
                  #print"%s" % panelname
           else:
                  print "Master PYVCP file: %s missing from configurable_options dir"% self.pyvcpname
        file.close()
        self.add_md5sum(filename)

    def write_readme(self, base):
        filename = os.path.join(base, "README")
        file = open(filename, "w")
        print >>file, _("Generated by PNCconf at %s") % time.asctime()
        print >>file
        if  self.units == _IMPERIAL: unit = "an imperial"
        else: unit = "a metric"
        if self.frontend == _AXIS: display = "AXIS"
        elif self.frontend == _TKLINUXCNC: display = "Tklinuxcnc"
        elif self.frontend == _MINI: display = "Mini"
        elif self.frontend == _TOUCHY: display = "TOUCHY"
        else: display = "an unknown"
        if self.axes == 0:machinetype ="XYZ"
        elif self.axes == 1:machinetype ="XYZA"
        elif self.axes == 2:machinetype ="XZ-Lathe"
        print >>file, self.machinename,_("configures LinuxCNC as:\n")
        print >>file, unit,machinetype,_("type CNC\n")
        print >>file, display,_("will be used as the frontend display")
        print >>file
        if self.number_mesa <> 0:
            for boardnum in range(0,int(self.number_mesa)):
                print >>file, "Mesa hardware I/O card - board %d is designated as\n"% boardnum,self["mesa%d_currentfirmwaredata"% boardnum][_BOARDTITLE] 
                print >>file, "with", self["mesa%d_currentfirmwaredata"% boardnum][_MAXGPIO], "I/O pins and firmware is:", self["mesa%d_firmware"% boardnum]
                print >>file
            for boardnum in range(0,int(self.number_mesa)):
                for concount,connector in enumerate(self["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
                    print >>file,"** Mesa %s -> Board #"% self["mesa%d_boardtitle"% boardnum],boardnum,_(" connector")," %d **\n"% connector
                    print >>file ,"connector    board     num   component    signal        "
                    print >>file ,"number    position           type        name\n"
                    conpin = 1
                    for pin in range (0,24):
                        dummy,compnum = self["mesa%d_currentfirmwaredata"% (boardnum)][_STARTOFDATA+pin+(concount*24)]
                        temp = self["mesa%dc%dpin%d" % (boardnum,connector,pin) ]
                        tempinv = self["mesa%dc%dpin%dinv" % (boardnum,connector,pin) ]
                        temptype = self["mesa%dc%dpin%dtype" % (boardnum,connector,pin) ]
                        if temptype in(GPIOI,GPIOO,GPIOD):
                            compnum = pin+(concount*24)
                        if tempinv: 
                            invmessage = _("invrt")
                        else: invmessage =""
                        print >>file, ("P%d-%d   %d   (%d %s)  %s  %s\n"%(connector,conpin,pin,compnum,temptype,temp,invmessage))
                        #print >>file, ("    connected to signal:'%(data)s'%(mess)s\n" %{'data':temp, 'mess':invmessage})
                        conpin +=2
            print >>file
        templist = ("pp1","pp2","pp3")
        for j, k in enumerate(templist):
            if self.number_pports < (j+1): break 
            print >>file, _("%(name)s Parport" % { 'name':k})
            for x in (2,3,4,5,6,7,8,9,10,11,12,13,15): 
                temp = self["%sIpin%d" % (k, x)]
                tempinv = self["%sIpin%dinv" % (k, x)]
                if tempinv: 
                    invmessage = _("-> inverted")
                else: invmessage =""
                print >>file,_("pin# %(pinnum)d is connected to input signal:'%(data)s' %(mesag)s" 
                %{ 'pinnum':x,'data':temp,'mesag':invmessage})          
            for x in (1,2,3,4,5,6,7,8,9,14,16,17):  
                temp = self["%sOpin%d" % (k, x)]
                tempinv = self["%sOpin%dinv" % (k, x)]
                if tempinv: 
                    invmessage = _("-> inverted")
                else: invmessage =""
                print >>file,_("pin# %(pinnum)d is connected to output signal:'%(data)s' %(mesag)s" 
                %{ 'pinnum':x,'data':temp,'mesag':invmessage})   
            print >>file 
        file.close()
        self.add_md5sum(filename)

    def copy(self, base, filename):
        dest = os.path.join(base, filename)
        if not os.path.exists(dest):
            shutil.copy(os.path.join(distdir, filename), dest)

    def save(self):
        base = os.path.expanduser("~/linuxcnc/configs/%s" % self.machinename)
        ncfiles = os.path.expanduser("~/linuxcnc/nc_files")
        if not os.path.exists(ncfiles):
            makedirs(ncfiles)
            examples = os.path.join(BASE, "share", "linuxcnc", "ncfiles")
            if not os.path.exists(examples):
                examples = os.path.join(BASE, "nc_files")
            if os.path.exists(examples):
                os.symlink(examples, os.path.join(ncfiles, "examples"))
        
        makedirs(base)
        makedirs(base+"/backups")

        self.md5sums = []
        self.write_readme(base)
        self.write_halfile(base)
        self.write_inifile(base)

        filename = os.path.join(base, "tool.tbl")
        file = open(filename, "w")
        print >>file, "T0 P0 ;"
        print >>file, "T1 P1 ;"
        print >>file, "T2 P2 ;"
        print >>file, "T3 P3 ;"
        file.close()

        filename = "%s.pncconf" % base

        d = xml.dom.minidom.getDOMImplementation().createDocument(
                            None, "pncconf", None)
        e = d.documentElement

        for k, v in sorted(self.__dict__.iteritems()):
            if k.startswith("_"): continue
            n = d.createElement('property')
            e.appendChild(n)

            if isinstance(v, float): n.setAttribute('type', 'float')
            elif isinstance(v, bool): n.setAttribute('type', 'bool')
            elif isinstance(v, int): n.setAttribute('type', 'int')
            elif isinstance(v, list): n.setAttribute('type', 'eval')
            else: n.setAttribute('type', 'string')

            n.setAttribute('name', k)
            n.setAttribute('value', str(v))
        
        d.writexml(open(filename, "wb"), addindent="  ", newl="\n")
        print "%s" % base

        # write pncconf hidden preference file
        filename = os.path.expanduser("~/.pncconf-preferences")
        print filename
        d2 = xml.dom.minidom.getDOMImplementation().createDocument(
                            None, "int-pncconf", None)
        e2 = d2.documentElement

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'float')
        n2.setAttribute('name', "version")
        n2.setAttribute('value', str("%f"%self._preference_version))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'bool')
        n2.setAttribute('name', "always_shortcut")
        n2.setAttribute('value', str("%s"% self.createshortcut))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'bool')
        n2.setAttribute('name', "always_link")
        n2.setAttribute('value', str("%s"% self.createsymlink))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'bool')
        n2.setAttribute('name', "chooselastconfig")
        n2.setAttribute('value', str("%s"% self._chooselastconfig))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'string')
        n2.setAttribute('name', "machinename")
        n2.setAttribute('value', str("%s"%self.machinename))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'eval')
        n2.setAttribute('name', "mesablacklist")
        n2.setAttribute('value', str(mesablacklist))

        n2 = d2.createElement('property')
        e2.appendChild(n2)
        n2.setAttribute('type', 'string')
        n2.setAttribute('name', "customfirmwarefilename")
        n2.setAttribute('value', str("%s"% self._customfirmwarefilename))

        d2.writexml(open(filename, "wb"), addindent="  ", newl="\n")

        # write to Touchy preference file directly
        if self.frontend == _TOUCHY:
            #print "Setting TOUCHY preferences"
            templist = {"touchyabscolor":"abs_textcolor","touchyrelcolor":"rel_textcolor",
                        "touchydtgcolor":"dtg_textcolor","touchyerrcolor":"err_textcolor"}
            for key,value in templist.iteritems():
                prefs.putpref(value, self[key], str)
            if self.touchyposition[0] or self.touchysize[0]:
                    pos = size = ""
                    if self.touchyposition[0]:
                        pos = "+%d+%d"% (self.touchyposition[1],self.touchyposition[2])
                    if self.touchysize[0]:
                        size = "%dx%d"% (self.touchysize[1],self.touchysize[2])
                    geo = "%s%s"%(size,pos)
            else: geo = "default"
            prefs.putpref('window_geometry',geo, str)
            prefs.putpref('gtk_theme',self.touchytheme, str)
            prefs.putpref('window_force_max', self.touchyforcemax, bool)

        # write AXIS rc file for geometry
        if self.frontend == _AXIS and (self.axisposition[0] or self.axissize[0] or self.axisforcemax):
            filename = os.path.expanduser("~/.axisrc")
            if App.warning_dialog(app,"Ok to replace AXIS's .axisrc file?\n\
 If you haven't added custom commands to this hidden file, outside of pncconf, then this should be fine.\n\
Choosing no will mean AXIS options such as size/position and force maximum might not be as requested \n",False):
                f1 = open(filename, "w")
                if self.axisposition[0] or self.axissize[0]:
                    #print "Setting AXIS geometry option"
                    pos = size = ""
                    if self.axisposition[0]:
                        pos = "+%d+%d"% (self.axisposition[1],self.axisposition[2])
                    if self.axissize[0]:
                        size = "%dx%d"% (self.axissize[1],self.axissize[2])
                    geo = "%s%s"%(size,pos)
                    print >>f1,"""root_window.tk.call("wm","geometry",".","%s")"""%(geo)
                if self.axisforcemax:
                    #print "Setting AXIS forcemax option"
                    print >>f1,"""maxgeo=root_window.tk.call("wm","maxsize",".")"""
                    print >>f1,"""fullsize=maxgeo.split(' ')[0] + 'x' + maxgeo.split(' ')[1]"""
                    print >>f1,"""root_window.tk.call("wm","geometry",".",fullsize)"""

        # make system link and shortcut to pncconf files
        # see http://freedesktop.org/wiki/Software/xdg-user-dirs
        desktop = commands.getoutput("""
            test -f ${XDG_CONFIG_HOME:-~/.config}/user-dirs.dirs && . ${XDG_CONFIG_HOME:-~/.config}/user-dirs.dirs
            echo ${XDG_DESKTOP_DIR:-$HOME/Desktop}""")
        if self.createsymlink:
            shortcut = os.path.join(desktop, self.machinename)
            if os.path.exists(desktop) and not os.path.exists(shortcut):
                os.symlink(base,shortcut)

        if self.createshortcut and os.path.exists(desktop):
            if os.path.exists(BASE + "/scripts/linuxcnc"):
                scriptspath = (BASE + "/scripts/linuxcnc")
            else:
                scriptspath ="linuxcnc"

            filename = os.path.join(desktop, "%s.desktop" % self.machinename)
            file = open(filename, "w")
            print >>file,"[Desktop Entry]"
            print >>file,"Version=1.0"
            print >>file,"Terminal=false"
            print >>file,"Name=" + _("launch %s") % self.machinename
            print >>file,"Exec=%s %s/%s.ini" \
                         % ( scriptspath, base, self.machinename )
            print >>file,"Type=Application"
            print >>file,"Comment=" + _("Desktop Launcher for LinuxCNC config made by PNCconf")
            print >>file,"Icon=%s"% linuxcncicon
            file.close()
            # Ubuntu 10.04 require launcher to have execute permissions
            os.chmod(filename,0775)

    def __getitem__(self, item):
        return getattr(self, item)
    def __setitem__(self, item, value):
        return setattr(self, item, value)

    # This method returns I/O pin designation (name and number) of a given HAL signalname.
    # It does not check to see if the signalname is in the list more then once.
    # if parports are not used then signals are not searched.
    def findsignal(self, sig):
        if self.number_pports:
            ppinput = {}
            ppoutput = {}
            for i in (1,2,3):
                for s in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                    key = self["pp%dIpin%d" %(i,s)]
                    ppinput[key] = "pp%dIpin%d" %(i,s) 
                for s in (1,2,3,4,5,6,7,8,9,14,16,17):
                    key = self["pp%dOpin%d" %(i,s)]
                    ppoutput[key] = "pp%dOpin%d" %(i,s) 
        mesa = {}
        for boardnum in range(0,int(self.number_mesa)):
            for concount,connector in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                for s in range(0,24):
                    key =   self["mesa%dc%dpin%d"% (boardnum,connector,s)]
                    mesa[key] = "mesa%dc%dpin%d" %(boardnum,connector,s)
            if self["mesa%d_numof_sserialports"% boardnum]:
                sserial = {}
                port = 0
                for channel in range (0,self["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALCHANNELS]):
                        if channel >4: break # TODO only have 5 channels worth of glade widgets
                        for pin in range (0,_SSCOMBOLEN):       
                            key = self['mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)]
                            sserial[key] = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
        try:
            return mesa[sig]
        except:
            try:
                return sserial[sig]
            except:
                pass
        if self.number_pports:
            try:
                return ppinput[sig]
            except:
                try:
                    return ppoutput[sig]
                except:
                    return None
        else: return None

    # search all the current firmware array for related pins
    # if not the same component number as the pin that changed or
    # if not in the relate component type keep searching
    # if is the right component type and number, check the relatedsearch array for a match
    # if its a match add it to a list of pins (pinlist) that need to be updated
    def list_related_pins(self, relatedsearch, boardnum, connector, channel, pin, style):
        #print relatedsearch, boardnum, connector, channel, pin, style
        pinlist =[]
        if not channel == None:
            subfirmname = self["mesa%dsserial%d_%dsubboard"% (boardnum, connector, channel)]
            for subnum,temp in enumerate(mesadaughterdata):
                if mesadaughterdata[subnum][_SUBFIRMNAME] == subfirmname: break
            subboardname = mesadaughterdata[subnum][_SUBBOARDNAME]
            currentptype,currentcompnum = mesadaughterdata[subnum][_SUBSTARTOFDATA+pin]
            for t_pin in range (0,_SSCOMBOLEN):
                comptype,compnum = mesadaughterdata[subnum][_SUBSTARTOFDATA+t_pin]
                if compnum != currentcompnum: continue
                if comptype not in (relatedsearch): continue
                if style == 0:
                    tochange = ['mesa%dsserial%d_%dpin%d'% (boardnum,connector,channel,t_pin),boardnum,connector,channel,t_pin]
                if style == 1:
                    tochange = ['mesa%dsserial%d_%dpin%dtype'% (boardnum,connector,channel,t_pin),boardnum,connector,channel,t_pin]
                if style == 2:
                    tochange = ['mesa%dsserial%d_%dpin%dinv'% (boardnum,connector,channel,t_pin),boardnum,connector,channel,t_pin]
                pinlist.append(tochange)

        else:
            for concount,i in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]):
                if i == connector:
                    currentptype,currentcompnum = self["mesa%d_currentfirmwaredata"% (boardnum)][_STARTOFDATA+pin+(concount*24)]
                    for t_concount,t_connector in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]):
                        for t_pin in range (0,24):
                            comptype,compnum = self["mesa%d_currentfirmwaredata"% (boardnum)][_STARTOFDATA+t_pin+(t_concount*24)]
                            if compnum != currentcompnum: continue
                            if comptype not in (relatedsearch): continue
                            if style == 0:
                                tochange = ['mesa%dc%dpin%d'% (boardnum,t_connector,t_pin),boardnum,t_connector,None,t_pin]
                            if style == 1:
                                tochange = ['mesa%dc%dpin%dtype'% (boardnum,t_connector,t_pin),boardnum,t_connector,None,t_pin]
                            if style == 2:
                                tochange = ['mesa%dc%dpin%dinv'% (boardnum,t_connector,t_pin),boardnum,t_connector,None,t_pin]
                            pinlist.append(tochange)
        return pinlist

    # This method takes a signalname data pin (eg mesa0c3pin1)
    # and converts it to a HAL pin names (eg hm2_5i20.0.gpio.01)
    # component number conversion is for adjustment of position of pins related to the
    # 'controlling pin' eg encoder-a (controlling pin) encoder-b encoder -I
    # (a,b,i are related pins for encoder component)
    # gpionumber is a flag to return a gpio piname instead of the component pinname
    # this is used when we want to invert the pins of a component output (such as a stepper)
    # because you actually must invert the GPIO that would be in that position
    # prefixonly flag is used when we want the pin name without the component name.
    # used with sserial when we want the sserial port and channel so we can add out own name (eg enable pins)
    def make_pinname(self, pin, gpionumber = False, prefixonly = False):
        test = str(pin)  
        halboardnum = 0
        if test == "None": return None
        elif 'mesa' in test:
            type_name = { GPIOI:"gpio", GPIOO:"gpio", GPIOD:"gpio", ENCA:"encoder", ENCB:"encoder",ENCI:"encoder",ENCM:"encoder",
                RES0:"resolver",RES1:"resolver",RES2:"resolver",RES3:"resolver",RES4:"resolver",RES5:"resolver",
                MXE0:"encoder", MXE1:"encoder",
                PWMP:"pwmgen",PWMD:"pwmgen", PWME:"pwmgen", PDMP:"pwmgen", PDMD:"pwmgen", PDME:"pwmgen",
                UDMU:"pwmgen",UDMD:"pwmgen", UDME:"pwmgen",STEPA:"stepgen", STEPB:"stepgen",
                TPPWMA:"tppwmgen",TPPWMB:"tppwmgen",TPPWMC:"tppwmgen",TPPWMAN:"tppwmgen",TPPWMBN:"tppwmgen",TPPWMCN:"tppwmgen",
                TPPWME:"tppwmgen",TPPWMF:"tppwmgen",AMP8I20:"8i20",POTO:"spinout",POTE:"spinena",POTD:"spindir",ANALOGIN:"analog","Error":"None" }
            boardnum = int(test[4:5])
            boardname = self["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME]
            ptype = self[pin+"type"]
            if boardnum == 1 and self.mesa1_currentfirmwaredata[_BOARDNAME] == self.mesa0_currentfirmwaredata[_BOARDNAME]:
                halboardnum = 1
            if 'serial' in test:
                # sample pin name = mesa0sserial0_0pin24
                pinnum = int(test[18:])
                portnum = int(test[12:13])
                channel = int(test[14:15])
                subfirmname = self["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channel)]
                for subnum,temp in enumerate(mesadaughterdata):
                    #print "pinname search -",mesadaughterdata[subnum][_SUBFIRMNAME],subfirmname
                    if mesadaughterdata[subnum][_SUBFIRMNAME] == subfirmname: break
                #print "pinname -found subboard name:",mesadaughterdata[subnum][_SUBFIRMNAME],subfirmname,subnum,"channel:",channel
                subboardname = mesadaughterdata[subnum][_SUBBOARDNAME]
                firmptype,compnum = mesadaughterdata[subnum][_SUBSTARTOFDATA+pinnum]
                # we iter over this dic because of locale translation problems when using
                # comptype = type_name[ptype]
                comptype = "ERROR FINDING COMPONENT TYPE"
                for key,value in type_name.iteritems():
                    if key == ptype: comptype = value
                if value == "Error":
                    print "**** ERROR PNCCONF: pintype error in make_pinname: (sserial) ptype = ",ptype
                    return None
                # if gpionumber flag is true - convert to gpio pin name
                if gpionumber or ptype in(GPIOI,GPIOO,GPIOD):
                    if "7i77" in (subboardname) or "7i76" in(subboardname):
                        if ptype in(GPIOO,GPIOD):
                            comptype = "output"
                            if pinnum >15 and pinnum <24:
                                pinnum = pinnum-16
                            elif pinnum >39:
                                pinnum = pinnum -32
                        elif ptype == GPIOI:
                            comptype = "input"
                            if pinnum >23 and pinnum < 40:
                                pinnum = pinnum-8
                        return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    elif "7i69" in (subboardname) or "7i73" in (subboardname) or "7i64" in(subboardname):
                        if ptype in(GPIOO,GPIOD):
                            comptype = "output"
                            pinnum -= 24
                        elif ptype == GPIOI:
                            comptype = "input"
                        return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    elif "7i70" in (subboardname) or "7i71" in (subboardname):
                        if ptype in(GPIOO,GPIOD):
                            comptype = "output"
                        elif ptype == GPIOI:
                            comptype = "input"
                        return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    else:
                        print "**** ERROR PNCCONF: subboard name ",subboardname," in make_pinname: (sserial) ptype = ",ptype,pin
                        return None
                elif ptype in (AMP8I20,POTO,POTE,POTD) or prefixonly:
                    return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel)
                elif ptype in(PWMP,PDMP,UDMU):
                    comptype = "analogout"
                    return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"%d"% (compnum)
                elif ptype == (ANALOGIN):
                    if "7i64" in(subboardname):
                        comptype = "analog"
                    else:
                        comptype = "analogin"
                    return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"%d"% (compnum)
                elif ptype == (ENCA):
                    comptype = "enc"
                    return "hm2_%s.%d.%s.%d.%d."% (boardname,halboardnum,subboardname,portnum,channel) + comptype+"%d"% (compnum)
                else:
                    print "**** ERROR PNCCONF: pintype error in make_pinname: (sserial) ptype = ",ptype,pin
                    return None
            else:
                # sample pin name = mesa0c3pin1
                pinnum = int(test[10:])
                connum = int(test[6:7])
                # we iter over this dic because of locale translation problems when using
                # comptype = type_name[ptype]
                comptype = "ERROR FINDING COMPONENT TYPE"
                # we need concount (connector designations are not in numerical order, pin names are) and comnum from this
                for concount,i in enumerate(self["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]):
                        if i == connum:
                            dummy,compnum = self["mesa%d_currentfirmwaredata"% (boardnum)][_STARTOFDATA+pinnum+(concount*24)]
                            break
                for key,value in type_name.iteritems():
                    if key == ptype: comptype = value
                if value == "Error":
                    print "**** ERROR PNCCONF: pintype error in make_pinname: (mesa) ptype = ",ptype
                    return None
                # if gpionumber flag is true - convert to gpio pin name
                if gpionumber or ptype in(GPIOI,GPIOO,GPIOD):
                    comptype = "gpio"
                    if '5i25' in boardname:
                        compnum = int(pinnum)+(concount*17)
                    else:
                        compnum = int(pinnum)+(concount*24)
                    return "hm2_%s.%d."% (boardname,halboardnum) + comptype+".%03d"% (compnum)          
                elif ptype in (ENCA,ENCB,ENCI,ENCM,PWMP,PWMD,PWME,PDMP,PDMD,PDME,UDMU,UDMD,UDME,
                    STEPA,STEPB,STEPC,STEPD,STEPE,STEPF,TPPWMA,TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF):
                    return "hm2_%s.%d."% (boardname,halboardnum) + comptype+".%02d"% (compnum)
                elif ptype in (RES0,RES1,RES2,RES3,RES4,RES5):
                    temp = (RES0,RES1,RES2,RES3,RES4,RES5)
                    for num,dummy in enumerate(temp):
                        if ptype == dummy:break
                    return "hm2_%s.%d."% (boardname,halboardnum) + comptype+".%02d"% (compnum*6+num)
                elif ptype in (MXE0,MXE1):
                    num = 0
                    if ptype == MXE1: num = 1
                    return "hm2_%s.%d."% (boardname,halboardnum) + comptype+".%02d"% ((compnum * 2 + num))

        elif 'pp' in test:
            #print test
            ending = "-out"
            test = str(pin) 
            #print  self[pin]
            pintype = str(test[3:4])
            pinnum = int(test[7:])
            connum = int(test[2:3])-1
            if pintype == 'I': ending = "-in"
            return "parport."+str(connum)+".pin-%02d"%(pinnum)+ending
        else:
            print "pintype error in make_pinname: pinname = ",test
            return None

class App:
    fname = 'pncconf.glade'  # XXX search path

    def _getwidget(self, doc, id):
        for i in doc.getElementsByTagName('widget'):
            if i.getAttribute('id') == id: return i

    def make_axispage(self, doc, axisname):
        axispage = self._getwidget(doc, 'xaxis').parentNode.cloneNode(True)
        nextpage = self._getwidget(doc, 'advanced').parentNode
        widget = self._getwidget(axispage, "xaxis")
        for node in widget.childNodes:
            if (node.nodeType == xml.dom.Node.ELEMENT_NODE
                    and node.tagName == "property"
                    and node.getAttribute('name') == "title"):
                node.childNodes[0].data = _("%s Axis Configuration") % axisname.upper()
        for node in axispage.getElementsByTagName("widget"):
            id = node.getAttribute('id')
            if id.startswith("x"):
                node.setAttribute('id', axisname + id[1:])
            else:
                node.setAttribute('id', axisname + id)
        for node in axispage.getElementsByTagName("signal"):
            handler = node.getAttribute('handler')
            node.setAttribute('handler', handler.replace("on_x", "on_" + axisname))
        for node in axispage.getElementsByTagName("property"):
            name = node.getAttribute('name')
            if name == "mnemonic_widget":
                node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
        nextpage.parentNode.insertBefore(axispage, nextpage)

    def make_axismotorpage(self, doc, axisname):
        axispage = self._getwidget(doc, 'xaxismotor').parentNode.cloneNode(True)
        nextpage = self._getwidget(doc, 'xaxis').parentNode
        widget = self._getwidget(axispage, "xaxismotor")
        for node in widget.childNodes:
            if (node.nodeType == xml.dom.Node.ELEMENT_NODE
                    and node.tagName == "property"
                    and node.getAttribute('name') == "title"):
                if axisname =="s":
                    node.childNodes[0].data = _("Spindle Motor/Encoder Configuration")
                else:
                    node.childNodes[0].data = _("%s Axis Motor/Encoder Configuration") % axisname.upper()
                
        for node in axispage.getElementsByTagName("widget"):
            id = node.getAttribute('id')
            if id.startswith("x"):
                node.setAttribute('id', axisname + id[1:])
            else:
                node.setAttribute('id', axisname + id)
        for node in axispage.getElementsByTagName("signal"):
            handler = node.getAttribute('handler')
            node.setAttribute('handler', handler.replace("on_x", "on_" + axisname))
        for node in axispage.getElementsByTagName("property"):
            name = node.getAttribute('name')
            if name == "mnemonic_widget":
                node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
            if name == "group":
                group = node.childNodes[0].data
                if group.startswith("x"):
                    node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
        nextpage.parentNode.insertBefore(axispage, nextpage)

    def make_pportpage(self, doc, axisname):
        axispage = self._getwidget(doc, 'pp1pport').parentNode.cloneNode(True)
        nextpage = self._getwidget(doc, 'xaxismotor').parentNode
        widget = self._getwidget(axispage, "pp1pport")
        for node in widget.childNodes:
            if (node.nodeType == xml.dom.Node.ELEMENT_NODE
                    and node.tagName == "property"
                    and node.getAttribute('name') == "title"):
                node.childNodes[0].data = _("%s Parallel Port Setup") % axisname
        for node in axispage.getElementsByTagName("widget"):
            id = node.getAttribute('id')
            if id.startswith("pp1"):
                node.setAttribute('id', axisname + id[3:])
            else:
                node.setAttribute('id', axisname + id)
        for node in axispage.getElementsByTagName("signal"):
            handler = node.getAttribute('handler')
            node.setAttribute('handler', handler.replace("on_pp1", "on_" + axisname))
        for node in axispage.getElementsByTagName("property"):
            name = node.getAttribute('name')
            if name == "mnemonic_widget":
                node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
        nextpage.parentNode.insertBefore(axispage, nextpage)

    def make_mesapage(self, doc, axisname):
        axispage = self._getwidget(doc, 'mesa0').parentNode.cloneNode(True)
        nextpage = self._getwidget(doc, 'pp1pport').parentNode
        widget = self._getwidget(axispage, "mesa0")
        for node in widget.childNodes:
            if (node.nodeType == xml.dom.Node.ELEMENT_NODE
                    and node.tagName == "property"
                    and node.getAttribute('name') == "title"):
                node.childNodes[0].data = _("%s I/0 Setup") % axisname
        for node in axispage.getElementsByTagName("widget"):
            id = node.getAttribute('id')
            if id.startswith("mesa0"):
                node.setAttribute('id', axisname + id[5:])
            else:
                node.setAttribute('id', axisname + id)
        for node in axispage.getElementsByTagName("signal"):
            handler = node.getAttribute('handler')
            node.setAttribute('handler', handler.replace("on_mesa0", "on_" + axisname))
        for node in axispage.getElementsByTagName("property"):
            name = node.getAttribute('name')
            if name == "mnemonic_widget":
                node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
        nextpage.parentNode.insertBefore(axispage, nextpage)


    def splash_screen(self):
        self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
        self.window.set_type_hint(gtk.gdk.WINDOW_TYPE_HINT_SPLASHSCREEN)     
        self.window.set_title("Pncconf setup")
        self.window.set_border_width(10)

        vbox = gtk.VBox(False, 5)
        vbox.set_border_width(10)
        self.window.add(vbox)
        vbox.show()
        align = gtk.Alignment(0.5, 0.5, 0, 0)
        vbox.pack_start(align, False, False, 5)
        align.show()

        self.pbar = gtk.ProgressBar()
        self.pbar.set_text("Pncconf is setting up")
        self.pbar.set_fraction(.1)

        align.add(self.pbar)
        self.pbar.show()
        self.window.show()
        while gtk.events_pending():
            gtk.main_iteration()

    def __init__(self, debug=0):
        if debug:
           print 'PNCconf debug -ALL'
           global _DEBUGSTRING
           _DEBUGSTRING = ['all']

        gnome.init("pncconf", "0.6") 
        
        self.splash_screen()
        glade = xml.dom.minidom.parse(os.path.join(datadir, self.fname))
        self.make_axispage(glade, 'y')
        self.make_axispage(glade, 'z')
        self.make_axispage(glade, 'a')
        self.pbar.set_fraction(.2)
        while gtk.events_pending():
            gtk.main_iteration()
        self.make_axismotorpage(glade, 'y')
        self.make_axismotorpage(glade, 'z')
        self.make_axismotorpage(glade, 'a')
        self.make_axismotorpage(glade, 's')
        self.pbar.set_fraction(.3)
        while gtk.events_pending():
            gtk.main_iteration()
        self.make_pportpage(glade, 'pp2')
        self.make_pportpage(glade, 'pp3')
        self.make_mesapage(glade, 'mesa1')
        self.pbar.set_fraction(.4)
        while gtk.events_pending():
            gtk.main_iteration()
        doc = glade.toxml().encode("utf-8")
        self.pbar.set_fraction(.75)
        while gtk.events_pending():
            gtk.main_iteration()
        self.xml = gtk.glade.xml_new_from_buffer(doc, len(doc), domain="linuxcnc")
        self.window.hide()

        self.widgets = Widgets(self.xml)
        
        self.watermark = gtk.gdk.pixbuf_new_from_file(wizard)
        axisdiagram = os.path.join(helpdir,"axisdiagram1.png")
        self.widgets.helppic0.set_from_file(axisdiagram)
        axisdiagram = os.path.join(helpdir,"lathe_diagram.png")
        self.widgets.helppic1.set_from_file(axisdiagram)
        self.widgets.openloopdialog.hide()
        self.widgets.druidpagestart1.set_watermark(self.watermark)
        self.widgets.complete.set_watermark(self.watermark)
        self.widgets.druidpagestart1.show()
        self.widgets.complete.show()
        
        self.xml.signal_autoconnect(self)

        self.in_pport_prepare = False
        self.axis_under_test = False
        self.jogminus = self.jogplus = 0

        self.data = Data()

        # add some custom signals for motor/encoder scaling and bldc 
        for axis in ["x","y","z","a","s"]:
            cb = ["encoderscale","stepscale"]
            for i in cb:
                self.widgets[axis + i].connect("value-changed", self.motor_encoder_sanity_check,axis)
            cb = ["bldc_incremental_feedback","bldc_use_hall","bldc_use_encoder","bldc_use_index","bldc_fanuc_alignment","bldc_emulated_feedback",
                "bldc_output_hall"]
            for i in cb:
                self.widgets[axis + i].connect("clicked", self.bldc_update,axis)

        # connect signals with pin designation data to mesa signal comboboxes and pintype comboboxes
        # record the signal ID numbers so we can block the signals later in the mesa routines
        # have to do it here manually (instead of autoconnect) because glade doesn't handle added
        # user info (board/connector/pin number designations) and doesn't record the signal ID numbers
        # none of this is done if mesa is not checked off in pncconf
        # TODO we should check to see if signals are already present as each time user goes though this page
        # the signals get added again causing multple calls to the functions.

        if (self.data.number_mesa): 
            for boardnum in (0,1):
                cb = "mesa%d_comp_update"% (boardnum)
                i = "_mesa%dsignalhandler_comp_update"% (boardnum)
                self.data[i] = int(self.widgets[cb].connect("clicked", self.on_mesa_component_value_changed,boardnum))
#                cb = "mesa%d_boardtitle"% (boardnum)
#                i = "_mesa%dsignalhandler_boardname_change"% (boardnum)
#                self.data[i] = int(self.widgets[cb].connect("changed", self.on_mesa_boardname_changed,boardnum))
                cb = "mesa%d_firmware"% (boardnum)
                i = "_mesa%dsignalhandler_firmware_change"% (boardnum)
                self.data[i] = int(self.widgets[cb].connect("changed", self.on_mesa_firmware_changed,boardnum))
                for connector in (2,3,4,5,6,7,8,9):
                    for pin in range(0,24):
                      cb = "mesa%dc%ipin%i"% (boardnum,connector,pin)
                      i = "_mesa%dsignalhandlerc%ipin%i"% (boardnum,connector,pin)
                      self.data[i] = int(self.widgets[cb].connect("changed",
                        self.on_general_pin_changed,"mesa",boardnum,connector,None,pin,False))
                      i = "_mesa%dactivatehandlerc%ipin%i"% (boardnum,connector,pin)
                      self.data[i] = int(self.widgets[cb].child.connect("activate",
                        self.on_general_pin_changed,"mesa",boardnum,connector,None,pin,True))
                      cb = "mesa%dc%ipin%itype"% (boardnum,connector,pin)
                      i = "_mesa%dptypesignalhandlerc%ipin%i"% (boardnum,connector,pin)
                      self.data[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pintype_changed,boardnum,connector,None,pin))


                port = 0 #TODO we only support one serial port
                for channel in range (0,5):# TODO only have 5 channels worth of glade widgets
                    for pin in range (0,_SSCOMBOLEN):
                        cb = "mesa%dsserial%i_%ipin%i"% (boardnum,port,channel,pin)
                        i = "_mesa%dsignalhandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                        self.data[i] = int(self.widgets[cb].connect("changed",
                            self.on_general_pin_changed,"sserial",boardnum,port,channel,pin,False))
                        i = "_mesa%dactivatehandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                        self.data[i] = int(self.widgets[cb].child.connect("activate",
                            self.on_general_pin_changed,"sserial",boardnum,port,channel,pin,True))
                        cb = "mesa%dsserial%i_%ipin%itype"% (boardnum,port,channel,pin)
                        i = "_mesa%dptypesignalhandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                        self.data[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pintype_changed,boardnum,port,channel,pin))

        for connector in("pp1","pp2","pp3"):
            # initialize parport input / inv pins
            for pin in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                cb = "%sIpin%d"% (connector,pin)
                i = "_%ssignalhandler"% cb
                self.data[i] = int(self.widgets[cb].connect("changed", self.on_general_pin_changed,"parport",connector,"Ipin",None,pin,False))
                i = "_%sactivatehandler"% cb
                self.data[i] = int(self.widgets[cb].child.connect("activate", self.on_general_pin_changed,"parport",connector,"Ipin",None,pin,True))
            # initialize parport output / inv pins
            for pin in (1,2,3,4,5,6,7,8,9,14,16,17):
                cb = "%sOpin%d"% (connector,pin)
                i = "_%ssignalhandler"% cb
                self.data[i] = int(self.widgets[cb].connect("changed", self.on_general_pin_changed,"parport",connector,"Opin",None,pin,False))
                i = "_%sactivatehandler"% cb
                self.data[i] = int(self.widgets[cb].child.connect("activate", self.on_general_pin_changed,"parport",connector,"Opin",None,pin,True))

        # set preferences if they exist
        link = short = False
        filename = os.path.expanduser("~/.pncconf-preferences")
        if os.path.exists(filename):
            match =  open(filename).read()
            textbuffer = self.widgets.textoutput.get_buffer()
            try :
                textbuffer.set_text("%s\n\n"% filename)
                textbuffer.insert_at_cursor(match)
            except:
                pass
            version = 0.0
            d = xml.dom.minidom.parse(open(filename, "r"))
            for n in d.getElementsByTagName("property"):
                name = n.getAttribute("name")
                text = n.getAttribute('value')
                if name == "version":
                    version = eval(text)
                if name == "always_shortcut":
                    short = eval(text)
                if name == "always_link":
                    link = eval(text)
                if name == "machinename":
                    self.data._lastconfigname = text
                if name == "chooselastconfig":
                    self.data._chooselastconfig = eval(text)
                if name == "mesablacklist":
                    if version == self.data._preference_version:
                        global mesablacklist
                        mesablacklist = eval(text)
                if name == "customfirmwarefilename":
                    global custommesafirmwaredata
                    self.data._customfirmwarefilename = text
                    rcfile = os.path.expanduser(self.data._customfirmwarefilename)
                    print rcfile
                    if os.path.exists(rcfile):
                        try:
                            execfile(rcfile)
                        except:
                            print "**** PNCCONF ERROR:    custom firmware loading error"
                            custommesafirmwaredata = []
                    if not custommesafirmwaredata == []:
                        print "**** PNCCONF INFO:    Found extra firmware in file"
        self.widgets.createsymlink.set_active(link)
        self.widgets.createshortcut.set_active(short)

        tempfile = os.path.join(distdir, "configurable_options/ladder/TEMP.clp")
        if os.path.exists(tempfile):
           os.remove(tempfile)


    def gtk_main_quit(self, *args):
        gtk.main_quit()

    def on_window1_delete_event(self, *args):
        if self.warning_dialog (_("Quit PNCconfig and discard changes?"),False):
            gtk.main_quit()
            return False
        else:
            return True
    on_druid1_cancel = on_window1_delete_event
    
    def warning_dialog(self,message,is_ok_type):
        if is_ok_type:
           dialog = gtk.MessageDialog(app.widgets.window1,
                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
                gtk.MESSAGE_WARNING, gtk.BUTTONS_OK,message)
           dialog.show_all()
           result = dialog.run()
           dialog.destroy()
           return True
        else:   
            dialog = gtk.MessageDialog(self.widgets.window1,
               gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
               gtk.MESSAGE_QUESTION, gtk.BUTTONS_YES_NO,message)
            dialog.show_all()
            result = dialog.run()
            dialog.destroy()
            if result == gtk.RESPONSE_YES:
                return True
            else:
                return False

    def on_helpwindow_delete_event(self, *args):
        self.widgets.helpwindow.hide()
        return True

    def on_druid1_help(self, *args):
        helpfilename = os.path.join(helpdir, "%s"% self.data.help)
        textbuffer = self.widgets.helpview.get_buffer()
        try :
            infile = open(helpfilename, "r")
            if infile:
                string = infile.read()
                infile.close()
                textbuffer.set_text(string)
                self.widgets.helpwindow.set_title(_("Help Pages") )
                self.widgets.helpnotebook.set_current_page(0)
                self.widgets.helpwindow.show_all()
                self.widgets.helpwindow.present()
        except:
            text = _("Help page is unavailable\n")
            self.warning_dialog(text,True)

    def check_for_rt(self,fussy=True):
        if not _DEBUGSTRING is None:
            return True
        try:
            actual_kernel = os.uname()[2]
            if hal.is_sim == 1 :
                if fussy:
                    self.warning_dialog(_("You are using a simulated-realtime version of LinuxCNC, so testing / tuning of external hardware is unavailable."),True)
                    return False
                else:
                    return True
            elif hal.is_rt and not hal.kernel_version == actual_kernel:
                self.warning_dialog(_("""You are using a realtime version of LinuxCNC but didn't load a realtime kernel so testing / tuning of external  hardware is unavailable.\n This is probably because you updated the OS and it doesn't load the RTAI kernel anymore\n You are using the %(actual)s kernel instead of %(needed)s""")% {'actual':actual_kernel, 'needed':hal.kernel_version},True)
                return False
            else:
                return True
        except:
            return True

    def on_page_newormodify_prepare(self, *args):
        global mesaboardnames
        global mesafirmwaredata
        self.data.help = "help-load.txt"
        # search for firmware packages
        mesaboardnames = []
        mesaboardnames.append('5i25-Internal Data')
        if os.path.exists(firmdir):
            for root, dirs, files in os.walk(firmdir):
                folder = root.lstrip(firmdir)
                if folder in mesablacklist:continue
                if folder == "":continue
                mesaboardnames.append(folder)
                #print "\n**** ",folder,":\n"

        # add any extra firmware boardnames from .pncconf-preference file 
        if not custommesafirmwaredata == []:
            for search, item in enumerate(custommesafirmwaredata):
                d = custommesafirmwaredata[search]
                if not d[_BOARDTITLE] in mesaboardnames:
                    mesaboardnames.append(d[_BOARDTITLE])

    def on_page_newormodify_next(self, *args):
        if not self.widgets.createconfig.get_active():
            filter = gtk.FileFilter()
            filter.add_pattern("*.pncconf")
            filter.set_name(_("LinuxCNC 'PNCconf' configuration files"))
            dialog = gtk.FileChooserDialog(_("Modify Existing Configuration"),
                self.widgets.window1, gtk.FILE_CHOOSER_ACTION_OPEN,
                (gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL,
                 gtk.STOCK_OPEN, gtk.RESPONSE_OK))
            dialog.set_default_response(gtk.RESPONSE_OK)
            dialog.add_filter(filter) 
            if not self.data._lastconfigname == "" and self.data._chooselastconfig:
                dialog.set_filename(os.path.expanduser("~/linuxcnc/configs/%s.pncconf"% self.data._lastconfigname))
            dialog.add_shortcut_folder(os.path.expanduser("~/linuxcnc/configs"))
            dialog.set_current_folder(os.path.expanduser("~/linuxcnc/configs"))
            dialog.show_all()
            result = dialog.run()
            if result == gtk.RESPONSE_OK:
                filename = dialog.get_filename()
                dialog.destroy()
                self.data.load(filename, self)
                self.data._mesa0_configured = False
                self.data._mesa1_configured = False
                try:
                    # check that the firmware is current enough by checking the length of a sub element and that the other is an integer.
                    for boardnum in(0,1):
                        i=j=None
                        i = len(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS])
                        j = self.data["mesa%d_currentfirmwaredata"% boardnum][_HIFREQ]+100 # throws an error if not an integer.
                        if not i > 1:
                            print i,j,boardnum
                            raise UserWarning
                except :
                    print i,j,boardnum
                    self.warning_dialog(_("It seems data in this file is from too old of a version of PNCConf to continue.\n."),True)
                    return True
            else:
                dialog.destroy()
                return True
        self.data.createsymlink = self.widgets.createsymlink.get_active()
        self.data.createshortcut = self.widgets.createshortcut.get_active()
        self.widgets.window1.set_title(_("Point and click configuration - %s.pncconf ") % self.data.machinename)
        # here we initalise the mesa configure page data
        #TODO is this right place?
        self.data._mesa0_configured = False
        self.data._mesa1_configured = False
        self.fill_pintype_model()
        self.fill_combobox_models()

    def on_page_newormodify_back(self, *args):
        self.data.help = "help-welcome.txt"

    def on_basicinfo_prepare(self, *args):
        self.data.help = "help-basic.txt"
        self.widgets.machinename.set_text(self.data.machinename)
        self.widgets.axes.set_active(self.data.axes)
        self.widgets.units.set_active(self.data.units)
        self.widgets.servoperiod.set_value(self.data.servoperiod)
        self.widgets.machinename.grab_focus()
        if self.data.number_mesa == 1:
            self.widgets.mesa0_checkbutton.set_active(True)
            self.widgets.mesa1_checkbutton.set_active(False)
        elif self.data.number_mesa == 2:
            self.widgets.mesa0_checkbutton.set_active(True)
            self.widgets.mesa1_checkbutton.set_active(True)
        else:
            self.widgets.mesa0_checkbutton.set_active(False)
            self.widgets.mesa1_checkbutton.set_active(False)
        self.widgets.ioaddr.set_text(self.data.ioaddr)
        self.widgets.ioaddr2.set_text(self.data.ioaddr2) 
        self.widgets.ioaddr3.set_text(self.data.ioaddr3)
        self.widgets.pp1_direction.set_active(self.data.pp1_direction)
        self.widgets.pp2_direction.set_active(self.data.pp2_direction)
        self.widgets.pp3_direction.set_active(self.data.pp3_direction)
        if self.data.number_pports>0:
             self.widgets.pp1_checkbutton.set_active(1)
        else :
             self.widgets.pp1_checkbutton.set_active(0)
        if self.data.number_pports>1:
             self.widgets.pp2_checkbutton.set_active(1)
        if self.data.number_pports>2:
             self.widgets.pp3_checkbutton.set_active(1)
        if self.data.frontend == _AXIS : self.widgets.GUIAXIS.set_active(True)
        elif self.data.frontend == _TKLINUXCNC: self.widgets.GUITKLINUXCNC.set_active(True)
        elif self.data.frontend == _MINI: self.widgets.GUIMINI.set_active(True)
        elif self.data.frontend == _TOUCHY: self.widgets.GUITOUCHY.set_active(True)
        
        if not self.data._arrayloaded:
            for boardnum in(0,1):
                temp = 0 
                model = self.widgets["mesa%d_boardtitle"% boardnum].get_model()
                model.clear()
                for search,item in enumerate(mesaboardnames):
                    model.append((item,))
                    if mesaboardnames[search]  == self.data["mesa%d_boardtitle"% boardnum]:
                        temp = search
                self.widgets["mesa%d_boardtitle"% boardnum].set_active(temp)

    def on_mesa_checkbutton_toggled(self, *args): 
        i = self.widgets.mesa0_checkbutton.get_active()
        j = self.widgets.mesa1_checkbutton.get_active()
        self.widgets.mesa0_boardtitle.set_sensitive(i)
        self.widgets.mesa1_boardtitle.set_sensitive(j)
        if j and not i:
            self.widgets.mesa1_checkbutton.set_active(False)
            self.widgets.mesa1_boardtitle.set_sensitive(False)
        
    def on_pp1_checkbutton_toggled(self, *args): 
        i = self.widgets.pp1_checkbutton.get_active()   
        self.widgets.pp1_direction.set_sensitive(i)
        self.widgets.ioaddr.set_sensitive(i)
        if i == 0:
           self.widgets.pp2_checkbutton.set_active(i)
           self.widgets.ioaddr2.set_sensitive(i)
           self.widgets.pp3_checkbutton.set_active(i)
           self.widgets.ioaddr3.set_sensitive(i)

    def on_pp2_checkbutton_toggled(self, *args): 
        i = self.widgets.pp2_checkbutton.get_active()  
        if self.widgets.pp1_checkbutton.get_active() == 0:
          i = 0  
          self.widgets.pp2_checkbutton.set_active(0)
        self.widgets.pp2_direction.set_sensitive(i)
        self.widgets.ioaddr2.set_sensitive(i)
        if i == 0:
           self.widgets.pp3_checkbutton.set_active(i)
           self.widgets.ioaddr3.set_sensitive(i)

    def on_pp3_checkbutton_toggled(self, *args): 
        i = self.widgets.pp3_checkbutton.get_active() 
        if self.widgets.pp2_checkbutton.get_active() == 0:
          i = 0  
          self.widgets.pp3_checkbutton.set_active(0)
        self.widgets.pp3_direction.set_sensitive(i)
        self.widgets.ioaddr3.set_sensitive(i)      

    def on_basicinfo_next(self, *args):
        machinename= self.widgets.machinename.get_text()
        self.data.machinename = machinename.replace(" ","_")
        self.widgets.window1.set_title(_("Point and click configuration - %s.pncconf ") % self.data.machinename)
        self.data.axes = self.widgets.axes.get_active()
        if self.data.axes == 0: self.data.available_axes = ['x','y','z','s']
        elif self.data.axes == 1: self.data.available_axes = ['x','y','z','a','s']
        elif self.data.axes == 2: self.data.available_axes = ['x','z','s']
        self.data.units = self.widgets.units.get_active()
        self.data.servoperiod = self.widgets.servoperiod.get_value()
        self.data.ioaddr = self.widgets.ioaddr.get_text()
        self.data.ioaddr2 = self.widgets.ioaddr2.get_text()
        self.data.ioaddr3 = self.widgets.ioaddr3.get_text()
        i = self.widgets.mesa0_checkbutton.get_active()
        j = self.widgets.mesa1_checkbutton.get_active()
        self.data.number_mesa = int(i)+int(j)
        if self.widgets.pp3_checkbutton.get_active() and self.widgets.pp2_checkbutton.get_active():
            self.data.number_pports = 3
        elif self.widgets.pp2_checkbutton.get_active() and self.widgets.pp1_checkbutton.get_active():
            self.data.number_pports = 2
        elif self.widgets.pp1_checkbutton.get_active():
            self.data.number_pports = 1
        else :
            self.data.number_pports = 0
        if self.data.number_pports == 0 and self.data.number_mesa== 0 :
           self.warning_dialog(_("You need to designate a parport and/or mesa I/O device before continuing."),True)
           self.widgets.druid1.set_page(self.widgets.basicinfo)
           return True 
        self.data.pp1_direction = self.widgets.pp1_direction.get_active()
        self.data.pp2_direction = self.widgets.pp2_direction.get_active()
        self.data.pp3_direction = self.widgets.pp3_direction.get_active()
        if self.widgets.GUIAXIS.get_active():
           self.data.frontend = _AXIS
        elif self.widgets.GUITKLINUXCNC.get_active():
           self.data.frontend = _TKLINUXCNC
        elif self.widgets.GUIMINI.get_active():
           self.data.frontend = _MINI
        elif self.widgets.GUITOUCHY.get_active():
           self.data.frontend = _TOUCHY
        i = self.widgets.mesa0_boardtitle.get_active_text()
        j = self.widgets.mesa1_boardtitle.get_active_text()
        # check for installed firmware 
        if not self.data._arrayloaded or not self.data.mesa0_boardtitle == i or not self.data.mesa1_boardtitle == j:
            global mesafirmwaredata
            if os.path.exists(os.path.join(firmdir,i)) or os.path.exists(os.path.join(firmdir,j)):
                mesafirmwaredata = []
                self.mesa_firmware_search(i)
                if self.data.number_mesa == 2 and not i == j: self.mesa_firmware_search(j)
                self.data._arrayloaded = True
            # add any extra firmware data from .pncconf-preference file
            if not custommesafirmwaredata == []:
                for i,j in enumerate(custommesafirmwaredata):
                    mesafirmwaredata.append(custommesafirmwaredata[i])
            # add internal sample firmware
            global mesafirmwaredata_internal
            for i in mesafirmwaredata_internal:
                mesafirmwaredata.append(i)
            print 'internal added'
            # ok set up mesa info
            for boardnum in (0,1):
                model = self.widgets["mesa%d_firmware"% boardnum].get_model()
                model.clear()
                temp=[]
                for search, item in enumerate(mesafirmwaredata):
                    d = mesafirmwaredata[search]
                    if not d[_BOARDTITLE] == self.widgets["mesa%d_boardtitle"% boardnum].get_active_text():continue
                    temp.append(d[_FIRMWARE])
                temp.sort()
                for i in temp:
                    model.append((i,))
                for search,item in enumerate(model):
                    if model[search][0]  == self.data["mesa%d_firmware"% boardnum]:
                        self.widgets["mesa%d_firmware"% boardnum].set_active(search)
                        break
                if search == (len(model)-1):
                    self.widgets["mesa%d_firmware"% boardnum].set_active(0)
                    self.on_mesa_firmware_changed( None,boardnum)
                else:      
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_value(self.data["mesa%d_pwm_frequency"% boardnum])
                    self.widgets["mesa%d_pdm_frequency"% boardnum].set_value(self.data["mesa%d_pdm_frequency"% boardnum])
                    self.widgets["mesa%d_3pwm_frequency"% boardnum].set_value(self.data["mesa%d_3pwm_frequency"% boardnum])
                    self.widgets["mesa%d_watchdog_timeout"% boardnum].set_value(self.data["mesa%d_watchdog_timeout"% boardnum])
                    self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(self.data["mesa%d_numof_encodergens"% boardnum])
                    self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(self.data["mesa%d_numof_pwmgens"% boardnum])
                    self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_value(self.data["mesa%d_numof_tppwmgens"% boardnum])
                    self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(self.data["mesa%d_numof_stepgens"% boardnum])
                    self.widgets["mesa%d_numof_sserialports"% boardnum].set_value(self.data["mesa%d_numof_sserialports"% boardnum])
                    self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_value(self.data["mesa%d_numof_sserialchannels"% boardnum])
        self.data.mesa0_boardtitle = self.widgets.mesa0_boardtitle.get_active_text()
        self.data.mesa1_boardtitle = self.widgets.mesa1_boardtitle.get_active_text()

    def on_basicinfo_back(self, *args):
        if self.data._re_editmode:
            self.warning_dialog(_("You Have choosen to re-edit the current config, so you can not go to the\
 new/modify page.\n Quit and reload PNCconf if you wish to build a new config."),True)
            self.widgets.druid1.set_page(self.widgets.basicinfo)
            return True
        if not self.warning_dialog(_("If you can not go to the new/modify page your current data will be lost.\n\
Ok to reset data and start a new configuration?"),False):
            self.widgets.druid1.set_page(self.widgets.basicinfo)
            return True

    def mesa_firmware_search(self,boardtitle,*args):
        #TODO if no firm packages set up for internal data?
        #TODO don't do this if the firmware is already loaded
        self.pbar.set_text("Loading external firmware")
        self.pbar.set_fraction(0)
        self.window.show()
        while gtk.events_pending():
            gtk.main_iteration()
        firmlist = []
        for root, dirs, files in os.walk(firmdir):
            folder = root.lstrip(firmdir)
            if folder in mesablacklist:continue
            if not folder == boardtitle:continue
            for n,name in enumerate(files):
                if name in mesablacklist:continue
                if ".xml" in name:
                    #print name
                    temp = name.strip(".xml")
                    firmlist.append(temp)
        dbg("\nXML list:%s"%firmlist,"firmname")
        for n,currentfirm in enumerate(firmlist):
            self.pbar.set_fraction(n*1.0/len(firmlist))
            while gtk.events_pending():
                gtk.main_iteration()
            root = xml.etree.ElementTree.parse(os.path.join(firmdir,boardtitle,currentfirm+".xml"))
            watchdog = encoder = resolver = pwmgen = led = muxedqcount = stepgen = tppwmgen = sserialports = sserialchannels = 0
            numencoderpins = numpwmpins = 3; numstepperpins = 2; numttpwmpins = 0; numresolverpins = 10
            temp = root.find("boardname").text
            boardname = temp.lower()
            dbg("\nBoard and firmwarename:  %s %s\n"%( boardname, currentfirm), "firmraw")
            maxgpio  = int(root.find("iowidth").text) ; #print maxgpio
            numcnctrs  = int(root.find("ioports").text) ; #print numcnctrs
            portwidth = int(root.find("portwidth").text)
            placeholders = 24-portwidth
            lowfreq = int(root.find("clocklow").text)/1000000 ; #print lowfreq
            hifreq = int(root.find("clockhigh").text)/1000000 ; #print hifreq
            modules = root.findall("//modules")[0]
            if "7i43" in boardname:
                driver = "hm2_7i43"
            else:
                driver = "hm2_pci"
            for i,j in enumerate(modules):
                k = modules[i].find("tagname").text
                if k in ("Watchdog","WatchDog"): 
                    l = modules[i].find("numinstances").text;#print l,k
                    watchdog = int(l)
                elif k == "Encoder": 
                    l = modules[i].find("numinstances").text;#print l,k
                    encoder = int(l)
                elif k == "ResolverMod":
                    l = modules[i].find("numinstances").text;#print l,k
                    resolver = int(l)
                elif k == "PWMGen":
                    l = modules[i].find("numinstances").text;#print l,k
                    pwmgen = int(l)
                elif k == "LED": 
                    l = modules[i].find("numinstances").text;#print l,k
                    led = int(l)
                elif k == "MuxedQCount": 
                    l = modules[i].find("numinstances").text;#print l,k
                    muxedqcount = int(l)
                elif k == "StepGen": 
                    l = modules[i].find("numinstances").text;#print l,k
                    stepgen = int(l)
                elif k == "TPPWM": 
                    l = modules[i].find("numinstances").text;#print l,k
                    tppwmgen = int(l)
                elif k == "SSerial":
                    l = modules[i].find("numinstances").text;#print l,k
                    sserialports = int(l)
                elif k == "None": 
                    l = modules[i].find("numinstances").text;#print l,k
                elif k in ("IOPort","AddrX","MuxedQCountSel"):
                    continue
                else:
                    print "**** WARNING: Pncconf parsing firmware: tagname (%s) not reconized"% k
    
            pins = root.findall("//pins")[0]
            temppinlist = []
            tempconlist = []
            pinconvertenc = {"PHASE A":ENCA,"PHASE B":ENCB,"INDEX":ENCI,"INDEXMASK":ENCM,
                "MUXED PHASE A":MXE0,"MUXED PHASE B":MXE1,"MUXED INDEX":MXEI,"MUXED INDEX MASK":MXEM,
                "MUXED ENCODER SELECT 0":MXES,"MUXED ENCODER SELEC":MXES}
            pinconvertresolver = {"RESOLVER POWER ENABLE":RESU,"RESOLVER SPIDI 0":RES0,"RESOLVER SPIDI 1":RES1,
                                "RESOLVER ADC CHANNEL 2":RES2,"RESOLVER ADC CHANNEL 1":RES3,"RESOLVER ADC CHANNEL 0":RES4,
                                "RESOLVER SPI CLK":RES5,"RESOLVER SPI CHIP SELECT":RESU,"RESOLVER PDMM":RESU,
                                "RESOLVER PDMP":RESU}
            pinconvertstep = {"STEP":STEPA,"DIR":STEPB}
                #"StepTable 2":STEPC,"StepTable 3":STEPD,"StepTable 4":STEPE,"StepTable 5":STEPF
            pinconvertppwm = {"PWM/UP":PWMP,"DIR/DOWN":PWMD,"ENABLE":PWME}
            pinconverttppwm = {"PWM A":TPPWMA,"PWM B":TPPWMB,"PWM C":TPPWMC,"PWM /A":TPPWMAN,"PWM /B":TPPWMBN,
                "PWM /C":TPPWMCN,"FAULT":TPPWMF,"ENABLE":TPPWME}
            pinconvertsserial = {"RXDATA1":RXDATA0,"TXDATA1":TXDATA0,"TXE1":TXEN0,"TXEN1":TXEN0,"RXDATA2":RXDATA1,"TXDATA2":TXDATA1,"TXE2":TXEN1,
                                "TXEN2":TXEN1,"RXDATA3":RXDATA2,"TXDATA3":TXDATA2,"TXE3":TXEN2,"TXEN3":TXEN2,"RXDATA4":RXDATA3,"TXDATA4":TXDATA3,
                                "TXE4":TXEN3,"TXEN4":TXEN3,"RXDATA5":RXDATA4,"TXDATA5":TXDATA4,"TXE5":TXEN4,"TXEN4":TXEN4,"RXDATA6":RXDATA5,
                                "TXDATA6":TXDATA5,"TXE6":TXEN5,"TXEN6":TXEN5,"RXDATA7":RXDATA6,"TXDATA7":TXDATA6,"TXE7":TXEN6,"TXEN7":TXEN6,
                                "RXDATA8":RXDATA7,"TXDATA8":TXDATA7,"TXE8":TXEN7,"TXEN8":TXEN7}
            pinconvertnone = {"NOT USED":NUSED}
            count = 0
            for i,j in enumerate(pins):
                instance_num = 9999
                temppinunit = []
                temp = pins[i].find("connector").text
                tempcon = int(temp.strip("P"))
                tempfunc = pins[i].find("secondaryfunctionname").text
                tempfunc = tempfunc.upper() # normalise capitalization: Peters XMLs are different from linuxcncs

                if "(IN)" in tempfunc:
                    tempfunc = tempfunc.rstrip(" (IN)")
                elif "(OUT" in tempfunc:
                    tempfunc = tempfunc.rstrip(" (OUT)")
                convertedname = "Not Converted"
                # this converts the XML file componennt names to pncconf's names
                try:
                    modulename = pins[i].find("secondarymodulename").text
                    dbg("secondary modulename:  %s, %s."%( tempfunc,modulename), "firmraw")
                    if modulename in ("Encoder","MuxedQCount","MuxedQCountSel","QCount"):
                        convertedname = pinconvertenc[tempfunc]
                    elif modulename == "ResolverMod":
                        convertedname = pinconvertresolver[tempfunc]
                    elif modulename == "PWMGen":
                        convertedname = pinconvertppwm[tempfunc]
                    elif modulename == "StepGen":
                        convertedname = pinconvertstep[tempfunc]
                    elif modulename == "TPPWM":
                        convertedname = pinconverttppwm[tempfunc]
                    elif modulename == "SSerial":
                        # this auto selects the sserial 7i76 mode 0 card for sserial 0 and 2
                        # as the 5i25/7i76 uses some of the sserial channels for it's pins.
                        if boardname == "5i25":
                            if "7i77_7i76" in currentfirm:
                                if tempfunc == "TXDATA1": convertedname = SS7I77M0
                                elif tempfunc == "TXDATA2": convertedname = SS7I77M1
                                elif tempfunc == "TXDATA4": convertedname = SS7I76M3
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print "XML ",currentfirm, tempfunc,convertedname
                            elif "7i76x2" in currentfirm or "7i76x1" in currentfirm:
                                if tempfunc == "TXDATA1": convertedname = SS7I76M0
                                elif tempfunc == "TXDATA3": convertedname = SS7I76M2
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print "XML ",currentfirm, tempfunc,convertedname
                            elif "7i77x2" in currentfirm or "7i77x1" in currentfirm:
                                if tempfunc == "TXDATA1": convertedname = SS7I77M0
                                elif tempfunc == "TXDATA2": convertedname = SS7I77M1
                                elif tempfunc == "TXDATA4": convertedname = SS7I77M3
                                elif tempfunc == "TXDATA5": convertedname = SS7I77M4
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print "XML ",currentfirm, tempfunc,convertedname
                            else: convertedname = pinconvertsserial[tempfunc]
                        else:
                            convertedname = pinconvertsserial[tempfunc]
                    elif modulename == "None":
                        convertedname = pinconvertnone[tempfunc]
                    else: raise ValueError
                except:
                    # must be GPIO pins if there is no secondary mudule name
                    # or if pinconvert fails eg. StepTable instance default to GPIO 
                    temppinunit.append(GPIOI)
                    temppinunit.append(0) # 0 signals to pncconf that GPIO can changed to be input or output
                else:
                    instance_num = int(pins[i].find("secondaryinstance").text)
                    # this is a workaround for the 7i77_7i776 firmware. it uses a mux encoder for the 7i76 but only uses half of it
                    # this is because of a limitation of hostmot2 - it can't have mux encoders and regular encoders
                    # so in pncconf we look for this and change it to a regular encoder.
                    if boardname == "5i25" and currentfirm == "7i77_7i76":
                        if modulename == "MuxedQCount" and  instance_num == 3:
                            instance_num = 6
                            encoder =-1
                            if convertedname == MXE0: convertedname = ENCA
                            elif convertedname == MXE1: convertedname = ENCB
                            elif convertedname == MXEI: convertedname = ENCI
                    temppinunit.append(convertedname)
                    if tempfunc in("MUXED ENCODER SELECT 0") and  instance_num == 6:
                        instance_num = 3
                    temppinunit.append(instance_num)
                    tempmod = pins[i].find("secondarymodulename").text
                    tempfunc = tempfunc.upper()# normalize capitalization
                    dbg("secondary modulename, function:  %s, %s."%( tempmod,tempfunc), "firmraw")
                    if tempmod in("Encoder","MuxedQCount") and tempfunc in ("MUXED INDEX MASK (IN)","INDEXMASK (IN)"):
                        numencoderpins = 4
                    if tempmod =="SSerial" and tempfunc in ("TXDATA1","TXDATA2","TXDATA3","TXDATA4","TXDATA5","TXDATA6","TXDATA7","TXDATA8"):
                        sserialchannels +=1
                dbg("temp: %s, converted name: %s. num %d"%( tempfunc,convertedname,instance_num), "firmraw")
                if not tempcon in tempconlist:
                    tempconlist.append(tempcon)
                temppinlist.append(temppinunit)
                # add NONE place holders for boards with less then 24 pins per connector.
                if not placeholders == 0 and i == (portwidth + count-1):
                    #print "loop %d"% i
                    count =+ portwidth
                    #print "count %d" % count
                    for k in range(0,placeholders):
                        #print "%d fill here with %d parts"% (k,placeholders)
                        temppinlist.append((NUSED,0))

            temp = [boardtitle,boardname,currentfirm,boardtitle,driver,encoder + muxedqcount,
                    numencoderpins,resolver,numresolverpins,pwmgen,numpwmpins,
                    tppwmgen,numttpwmpins,stepgen,numstepperpins,sserialports,sserialchannels,0,0,0,0,0,0,0,0,watchdog,maxgpio,
                    lowfreq,hifreq,tempconlist]
            for i in temppinlist:
                temp.append(i)
            if boardname == "5i25":
                dbg("5i25 firmware:\n%s\n"%( temp), "5i25")
            mesafirmwaredata.append(temp)
        self.window.hide()

    def on_machinename_changed(self, *args):
        temp = self.widgets.machinename.get_text()
        self.widgets.confdir.set_text("~/linuxcnc/configs/%s" % temp.replace(" ","_"))

    def on_external_cntrl_prepare(self, *args):
        self.data.help = "help-extcontrols.txt"
        if self.data.multimpg :
            self.widgets.multimpg.set_active(1)
        else:
            self.widgets.sharedmpg.set_active(1)
        if self.data.fo_usempg :
            self.widgets.fo_usempg.set_active(1)
        else:
            self.widgets.fo_useswitch.set_active(1)
        if self.data.mvo_usempg :
            self.widgets.mvo_usempg.set_active(1)
        else:
            self.widgets.mvo_useswitch.set_active(1)
        if self.data.so_usempg :
            self.widgets.so_usempg.set_active(1)
        else:
            self.widgets.so_useswitch.set_active(1)
        self.widgets.jograpidrate.set_value(self.data.jograpidrate)
        self.widgets.singlejogbuttons.set_active(self.data.singlejogbuttons)
        self.widgets.multijogbuttons.set_active(self.data.multijogbuttons)
        self.widgets.externalmpg.set_active(self.data.externalmpg)
        self.widgets.externaljog.set_active(self.data.externaljog)
        self.widgets.externalfo.set_active(self.data.externalfo)
        self.widgets.externalmvo.set_active(self.data.externalmvo)
        self.widgets.externalso.set_active(self.data.externalso)
        self.widgets.sharedmpg.set_active(self.data.sharedmpg)
        self.widgets.multimpg.set_active(self.data.multimpg)
        self.widgets.incrselect.set_active(self.data.incrselect)
        for i in ("mpg","fo","so","mvo"):
            self.widgets[i+"debounce"].set_active(self.data[i+"debounce"])
            self.widgets[i+"debouncetime"].set_value(self.data[i+"debouncetime"])
            self.widgets[i+"graycode"].set_active(self.data[i+"graycode"])
            self.widgets[i+"ignorefalse"].set_active(self.data[i+"ignorefalse"])
        if self.data.units == _IMPERIAL :
            tempunits = "in"
        else:
            tempunits = "mm"      
        for i in range(0,16):          
            self.widgets["foincrvalue"+str(i)].set_value(self.data["foincrvalue"+str(i)])
            self.widgets["mvoincrvalue"+str(i)].set_value(self.data["mvoincrvalue"+str(i)])
            self.widgets["soincrvalue"+str(i)].set_value(self.data["soincrvalue"+str(i)])
            self.widgets["mpgincr"+str(i)].set_text(tempunits)

        self.widgets.jograpidunits.set_text(tempunits+" / min")
        for i in range(0,4):
            self.widgets["joystickjograpidunits%d"%i].set_text(tempunits+" / min")
        for i in range(0,8):
            self.widgets["mpgincrvalue"+str(i)].set_value(self.data["mpgincrvalue"+str(i)])
        self.widgets.joystickjog.set_active(self.data.joystickjog)
        self.widgets.usbdevicename.set_text(self.data.usbdevicename)
        for i in range(0,4):
            self.widgets["joystickjograpidrate%d"%i].set_value(self.data["joystickjograpidrate%d"%i])
        for temp in ("joycmdxpos","joycmdxneg","joycmdypos","joycmdyneg","joycmdzpos","joycmdzneg","joycmdapos","joycmdaneg","joycmdrapida","joycmdrapidb",
            "joycmdanalogx","joycmdanalogy","joycmdanalogz","joycmdanaloga"):
            self.widgets[temp].set_text(self.data[temp])

    def on_joystickjog_toggled(self, *args):
        if self.widgets.externaljog.get_active() == True and self.widgets.joystickjog.get_active() == True:
            self.widgets.externaljog.set_active(False)
        self.on_external_options_toggled()

    def on_externaljog_toggled(self, *args):
        if self.widgets.joystickjog.get_active() == True and self.widgets.externaljog.get_active() == True:
            self.widgets.joystickjog.set_active(False)
        self.on_external_options_toggled()

    def on_external_options_toggled(self, *args):
        self.widgets.externaljogbox.set_sensitive(self.widgets.externaljog.get_active())
        self.widgets.externalmpgbox.set_sensitive(self.widgets.externalmpg.get_active())
        self.widgets.externalfobox.set_sensitive(self.widgets.externalfo.get_active())
        self.widgets.externalmvobox.set_sensitive(self.widgets.externalmvo.get_active())
        self.widgets.externalsobox.set_sensitive(self.widgets.externalso.get_active())      
        self.widgets.foexpander.set_sensitive(self.widgets.fo_useswitch.get_active())
        self.widgets.mvoexpander.set_sensitive(self.widgets.mvo_useswitch.get_active())
        self.widgets.soexpander.set_sensitive(self.widgets.so_useswitch.get_active())
        self.widgets.joystickjogbox.set_sensitive(self.widgets.joystickjog.get_active())
        
        i =  self.widgets.incrselect.get_active()
        for j in range(1,16):
            self.widgets["incrlabel%d"% j].set_sensitive(i)
            self.widgets["mpgincrvalue%d"% j].set_sensitive(i)
            self.widgets["mpgincr%d"% j].set_sensitive(i)

    def on_addrule_clicked(self, *args):
        text = []
        sourcefile = "/tmp/"
        if os.path.exists("/etc/udev/rules.d/50-LINUXCNC-general.rules"):
            text.append( "General rule already exists\n")
        else:
            text.append("adding a general rule first\nso your device will be found\n")
            filename = os.path.join(sourcefile, "LINUXCNCtempGeneral.rules")
            file = open(filename, "w")
            print >>file, ("# This is a rule for LinuxCNC's hal_input\n")
            print >>file, ("""SUBSYSTEM="input", MODE="0660", GROUP="plugdev" """) 
            file.close()
            p=os.popen("gksudo cp  %sLINUXCNCtempGeneral.rules /etc/udev/rules.d/50-LINUXCNC-general.rules"% sourcefile )
            time.sleep(.1)
            p.flush()
            p.close()
            os.remove('%sLINUXCNCtempGeneral.rules'% sourcefile)
        text.append(("disconect USB device please\n"))
        if not self.warning_dialog("\n".join(text),False):return

        os.popen('less /proc/bus/input/devices >> %sLINUXCNCnojoytemp.txt'% sourcefile)
        text = ["Plug in USB device please"]
        if not self.warning_dialog("\n".join(text),False):return
        time.sleep(1)

        os.popen('less /proc/bus/input/devices >> %sLINUXCNCjoytemp.txt'% sourcefile).read()
        diff = os.popen (" less /proc/bus/input/devices  | diff   %sLINUXCNCnojoytemp.txt %sLINUXCNCjoytemp.txt "%(sourcefile, sourcefile) ).read()
        self.widgets.helpwindow.set_title(_("USB device Info Search"))

        os.remove('%sLINUXCNCnojoytemp.txt'% sourcefile)
        os.remove('%sLINUXCNCjoytemp.txt'% sourcefile)
        if diff =="":
            text = ["No new USB device found"]
            if not self.warning_dialog("\n".join(text),True):return
        else:
            textbuffer = self.widgets.textoutput.get_buffer()
            try :         
                textbuffer.set_text(diff)
                self.widgets.helpnotebook.set_current_page(2)
                self.widgets.helpwindow.show_all()
            except:
                text = _("USB device  page is unavailable\n")
                self.warning_dialog(text,True)
            linelist = diff.split("\n")
            for i in linelist:
                if "Name" in i:
                    temp = i.split("\"")
                    name = temp[1]
                    temp = name.split(" ")
                    self.widgets.usbdevicename.set_text(temp[0])
            infolist = diff.split()
            for i in infolist:
                if "Vendor" in i:
                    temp = i.split("=")
                    vendor = temp[1]           
                if "Product" in i:
                    temp = i.split("=")
                    product = temp[1]
        
            text =[ "Vendor = %s\n product = %s\n name = %s\nadding specific rule"%(vendor,product,name)]
            if not self.warning_dialog("\n".join(text),False):return
            tempname = sourcefile+"LINUXCNCtempspecific.rules"
            file = open(tempname, "w")
            print >>file, ("# This is a rule for LINUXCNC's hal_input\n")
            print >>file, ("# For devicename=%s\n"% name)
            print >>file, ("""SYSFS{idProduct}=="%s", SYSFS{idVendor}=="%s", MODE="0660", GROUP="plugdev" """%(product,vendor)) 
            file.close()
            # remove illegal filename characters
            for i in ("(",")"):
                temp = name.replace(i,"")
                name = temp
            newname = "50-LINUXCNC-%s.rules"% name.replace(" ","_")
            os.popen("gksudo cp  %s /etc/udev/rules.d/%s"% (tempname,newname) )
            time.sleep(1)
            os.remove('%sLINUXCNCtempspecific.rules'% sourcefile)
            text = ["Please unplug and plug in your device again"]
            if not self.warning_dialog("\n".join(text),True):return

    def on_joysticktest_clicked(self, *args):
        halrun = subprocess.Popen("halrun -I  ", shell=True,stdin=subprocess.PIPE,stdout=subprocess.PIPE )   
        #print "requested devicename = ",self.widgets.usbdevicename.get_text()
        halrun.stdin.write("loadusr hal_input -W -KRAL +%s\n"% self.widgets.usbdevicename.get_text())
        halrun.stdin.write("loadusr halmeter -g 0 500\n")
        time.sleep(1.5)
        halrun.stdin.write("show pin\n")
        self.warning_dialog("Close me When done.\n",True)
        halrun.stdin.write("exit\n")
        output = halrun.communicate()[0]
        temp2 = output.split(" ")
        temp=[]
        for i in temp2:
            if i =="": continue
            temp.append(i)
        buttonlist=""
        for index,i in enumerate(temp):
            if "bit" in i and "OUT" in temp[index+1]:
                buttonlist = buttonlist + "  Digital:    %s"% ( temp[index+3] )
            if "float" in i and "OUT" in temp[index+1]:
                buttonlist = buttonlist + "                                                            Analog:     %s"% ( temp[index+3] )
        if buttonlist =="": return
        textbuffer = self.widgets.textoutput.get_buffer()
        try :         
            textbuffer.set_text(buttonlist)
            self.widgets.helpnotebook.set_current_page(2)
            self.widgets.helpwindow.show_all()
        except:
            text = _("Pin names are unavailable\n")
            self.warning_dialog(text,True)

    def on_joysearch_clicked(self, *args):
        flag = False
        textbuffer = self.widgets.textoutput.get_buffer()
        textbuffer.set_text("Searching for device rules in folder:    /etc/udev/rules.d\n\n")
        for entry in os.listdir("/etc/udev/rules.d"):
            if fnmatch.fnmatch( entry,"50-LINUXCNC-*"):
                temp = open("/etc/udev/rules.d/" + entry, "r").read()
                templist = temp.split("\n")
                for i in templist:
                    if "devicename=" in i:
                        flag = True
                        temp = i.split("=")
                        name = temp[1]
                        try:
                            textbuffer.insert_at_cursor( "File name:    %s\n"% entry)
                            textbuffer.insert_at_cursor( "Device name:    %s\n\n"% name)
                            self.widgets.helpnotebook.set_current_page(2)
                            self.widgets.helpwindow.show_all()
                        except:
                            text = _("Device names are unavailable\n")
                            self.warning_dialog(text,True)
        if flag == False:
            text = _("No Pncconf made device rules were found\n")
            textbuffer.insert_at_cursor(text)
            self.warning_dialog(text,True)

    def on_external_cntrl_next(self, *args):
        self.data.multimpg = self.widgets.multimpg.get_active()
        self.data.fo_usempg = self.widgets.fo_usempg.get_active()
        self.data.fo_useswitch = self.widgets.fo_useswitch.get_active()
        self.data.mvo_usempg = self.widgets.mvo_usempg.get_active()
        self.data.mvo_useswitch = self.widgets.mvo_useswitch.get_active()
        self.data.so_usempg = self.widgets.so_usempg.get_active()
        self.data.so_useswitch = self.widgets.so_useswitch.get_active()
        self.data.jograpidrate = self.widgets.jograpidrate.get_value()
        self.data.singlejogbuttons = self.widgets.singlejogbuttons.get_active()
        self.data.multijogbuttons = self.widgets.multijogbuttons.get_active()
        self.data.externalmpg = self.widgets.externalmpg.get_active()
        self.data.externaljog = self.widgets.externaljog.get_active()
        self.data.externalfo = self.widgets.externalfo.get_active()
        self.data.externalso = self.widgets.externalso.get_active()
        self.data.externalmvo = self.widgets.externalmvo.get_active()
        self.data.sharedmpg = self.widgets.sharedmpg.get_active()
        self.data.multimpg = self.widgets.multimpg.get_active()
        self.data.incrselect = self.widgets.incrselect.get_active()
        for i in ("mpg","fo","so","mvo"):
            self.data[i+"debounce"] = self.widgets[i+"debounce"].get_active()
            self.data[i+"debouncetime"] = self.widgets[i+"debouncetime"].get_value()
            self.data[i+"graycode"] = self.widgets[i+"graycode"].get_active()
            self.data[i+"ignorefalse"] = self.widgets[i+"ignorefalse"].get_active()
        for i in range (0,16):
            self.data["foincrvalue"+str(i)] = self.widgets["foincrvalue"+str(i)].get_value()
            self.data["mvoincrvalue"+str(i)] = self.widgets["mvoincrvalue"+str(i)].get_value()
            self.data["soincrvalue"+str(i)] = self.widgets["soincrvalue"+str(i)].get_value()
            self.data["mpgincrvalue"+str(i)] = self.widgets["mpgincrvalue"+str(i)].get_value()
        self.data.usbdevicename = self.widgets.usbdevicename.get_text()
        self.data.joystickjog = self.widgets.joystickjog.get_active()
        for i in range(0,4):
            self.data["joystickjograpidrate%d"%i] = self.widgets["joystickjograpidrate%d"%i].get_value()
        for temp in ("joycmdxpos","joycmdxneg","joycmdypos","joycmdyneg","joycmdzpos","joycmdzneg","joycmdapos",
        "joycmdaneg","joycmdrapida","joycmdrapidb","joycmdanalogx","joycmdanalogy","joycmdanalogz","joycmdanaloga"):
            self.data[temp] = self.widgets[temp].get_text()
        self.widgets.joyjogexpander.set_expanded(False)

    def on_GUI_config_prepare(self, *args):
        self.data.help = "help-gui.txt"
        self.widgets.pyvcp.set_active(self.data.pyvcp)
        self.on_pyvcp_toggled()
        self.widgets.pyvcpexist.set_active(self.data.pyvcpexist)
        self.widgets.pyvcp1.set_active(self.data.pyvcp1)
        self.widgets.pyvcpblank.set_active(self.data.pyvcpblank)
        self.widgets.default_linear_velocity.set_value( self.data.default_linear_velocity*60)
        self.widgets.max_spindle_override.set_value( self.data.max_spindle_override*100)
        self.widgets.min_spindle_override.set_value( self.data.min_spindle_override*100)
        self.widgets.max_linear_velocity.set_value( self.data.max_linear_velocity*60)
        self.widgets.min_linear_velocity.set_value( self.data.min_linear_velocity*60)
        self.widgets.default_angular_velocity.set_value( self.data.default_angular_velocity*60)
        self.widgets.max_angular_velocity.set_value( self.data.max_angular_velocity*60)
        self.widgets.min_angular_velocity.set_value( self.data.min_angular_velocity*60)
        self.widgets.editor.set_text(self.data.editor)
        if self.data.units == _IMPERIAL :
            temp = self.data.increments_imperial
            tempunits = "in / min"
        else:
            temp = self.data.increments_metric
            tempunits = "mm / min"
        self.widgets.increments.set_text(temp)
        for i in (0,1,2):
            self.widgets["velunits"+str(i)].set_text(tempunits)
        self.widgets.position_offset.set_active(self.data.position_offset)
        self.widgets.position_feedback.set_active(self.data.position_feedback)
        self.widgets.geometry.set_text(self.data.geometry)
        self.widgets.pyvcpconnect.set_active(self.data.pyvcpconnect)
        self.widgets.require_homing.set_active(self.data.require_homing)
        self.widgets.individual_homing.set_active(self.data.individual_homing)
        self.widgets.restore_joint_position.set_active(self.data.restore_joint_position) 
        self.widgets.random_toolchanger.set_active(self.data.random_toolchanger) 
        self.widgets.raise_z_on_toolchange.set_active(self.data.raise_z_on_toolchange) 
        self.widgets.allow_spindle_on_toolchange.set_active(self.data.allow_spindle_on_toolchange)
        self.widgets.toolchangeprompt.set_active(self.data.toolchangeprompt)
        # This reads the Touchy preference file directly
        tempdict = {"touchyabscolor":"abs_textcolor","touchyrelcolor":"rel_textcolor",
                    "touchydtgcolor":"dtg_textcolor","touchyerrcolor":"err_textcolor"}
        for key,value in tempdict.iteritems():
            data = prefs.getpref(value, 'default', str)
            if data == "default":
                self.widgets[key].set_active(False)
            else:
                self.widgets[key].set_active(True)
                self.widgets[key+"button"].set_color(gtk.gdk.color_parse(data))
        self.widgets.touchyforcemax.set_active(bool(prefs.getpref('window_force_max')))
        for i in ("gladevcp","gladesample","gladeexists","spindlespeedbar","spindleatspeed","gladevcpforcemax",
                "zerox","zeroy","zeroz","zeroa","autotouchz","centerembededgvcp","sideembededgvcp","standalonegvcp",
                "gladevcpposition","gladevcpsize","pyvcpposition","pyvcpsize","axisforcemax"):
            self.widgets[i].set_active(self.data[i])
        for i in ("maxspeeddisplay","gladevcpwidth","gladevcpheight","gladevcpxpos","gladevcpypos",
                    "pyvcpwidth","pyvcpheight","pyvcpxpos","pyvcpypos"):
            self.widgets[i].set_value(self.data[i])
        for i in ("touchy","axis"):
            self.widgets[i+"size"].set_active(self.data[i+"size"][0])
            self.widgets[i+"width"].set_value(self.data[i+"size"][1])
            self.widgets[i+"height"].set_value(self.data[i+"size"][2])
            self.widgets[i+"position"].set_active(self.data[i+"position"][0])
            self.widgets[i+"xpos"].set_value(self.data[i+"position"][1])
            self.widgets[i+"ypos"].set_value(self.data[i+"position"][2])
        
        if os.path.exists(themedir):
            for i in ("gladevcptheme","touchytheme"):
                if i == "gladevcptheme": data = self.data[i]
                else: data = prefs.getpref('gtk_theme', 'Follow System Theme', str)
                model = self.widgets[i].get_model()
                model.clear()
                model.append(("Follow System Theme",))
                temp = 0
                names = os.listdir(themedir)
                names.sort()
                for search,dirs in enumerate(names):
                    model.append((dirs,))
                    if dirs  == data:
                        temp = search+1
                self.widgets[i].set_active(temp)
        self.on_gladevcp_toggled()
        
    def on_GUI_config_next(self, *args):
        # Sanity checks
        if not self.widgets.createconfig.get_active():
            if self.widgets.gladevcp.get_active() and self.widgets.gladesample.get_active():
                if os.path.exists(os.path.expanduser("~/linuxcnc/configs/%s/gvcp-panel.ui" % self.data.machinename)):
                    if not self.warning_dialog(_("OK to replace existing glade panel ?\
\nIt will be renamed and added to 'backups' folder.\n Clicking 'existing custom program' will avoid this warning, but \
if you change related options later -such as spindle feedback- the HAL connection will not update"),False):
                        return True
            if self.widgets.pyvcp.get_active() and not self.widgets.pyvcpexist.get_active():
              if os.path.exists(os.path.expanduser("~/linuxcnc/configs/%s/pyvcp-panel.xml" % self.data.machinename)):
                 if not self.warning_dialog(_("OK to replace existing custom pyvcp panel?\
\nExisting pyvcp-panel.xml will be renamed and added to 'backups' folder\n\
Clicking 'existing custom program' will aviod this warning. "),False):
                    return True
        self.data.default_linear_velocity = self.widgets.default_linear_velocity.get_value()/60
        self.data.max_spindle_override = self.widgets.max_spindle_override.get_value()/100
        self.data.min_spindle_override = self.widgets.min_spindle_override.get_value()/100
        self.data.max_linear_velocity = self.widgets.max_linear_velocity.get_value()/60
        self.data.min_linear_velocity = self.widgets.min_linear_velocity.get_value()/60
        self.data.default_angular_velocity = self.widgets.default_angular_velocity.get_value()/60
        self.data.max_angular_velocity = self.widgets.max_angular_velocity.get_value()/60
        self.data.min_angular_velocity = self.widgets.min_angular_velocity.get_value()/60
        self.data.editor = self.widgets.editor.get_text()
        if self.data.units == _IMPERIAL :self.data.increments_imperial = self.widgets.increments.get_text()
        else:self.data.increments_metric = self.widgets.increments.get_text()
        self.data.geometry = self.widgets.geometry.get_text()
        self.data.position_offset = self.widgets.position_offset.get_active()
        self.data.position_feedback = self.widgets.position_feedback.get_active()
        self.data.require_homing = self.widgets.require_homing.get_active()
        self.data.individual_homing = self.widgets.individual_homing.get_active()
        self.data.restore_joint_position = self.widgets.restore_joint_position.get_active() 
        self.data.random_toolchanger = self.widgets.random_toolchanger.get_active() 
        self.data.raise_z_on_toolchange = self.widgets.raise_z_on_toolchange.get_active() 
        self.data.allow_spindle_on_toolchange = self.widgets.allow_spindle_on_toolchange.get_active()
        self.data.toolchangeprompt = self.widgets.toolchangeprompt.get_active()
        self.data.pyvcpblank = self.widgets.pyvcpblank.get_active()
        self.data.pyvcp1 = self.widgets.pyvcp1.get_active()
        self.data.pyvcpexist = self.widgets.pyvcpexist.get_active()
        self.data.pyvcp = self.widgets.pyvcp.get_active()
        self.data.pyvcpconnect = self.widgets.pyvcpconnect.get_active() 
        if self.data.pyvcp == True:
           if self.widgets.pyvcpblank.get_active() == True:
              self.data.pyvcpname = "blank.xml"
              self.data.pyvcphaltype = 0
           if self.widgets.pyvcp1.get_active() == True:
              self.data.pyvcpname = "spindle.xml"
              self.data.pyvcphaltype = 1
           if self.widgets.pyvcpexist.get_active() == True:
              self.data.pyvcpname = "pyvcp-panel.xml"
        for i in ("touchyabscolor","touchyrelcolor","touchydtgcolor","touchyerrcolor"):
            if not self.widgets[i].get_active():
                self.data[i] = "default"
            else:
                self.data[i] = str(self.widgets[i+"button"].get_color())
        self.data.touchytheme = self.widgets.touchytheme.get_active_text()
        self.data.touchyforcemax = self.widgets.touchyforcemax.get_active()
        for i in ("gladevcp","gladesample","spindlespeedbar","spindleatspeed","gladevcpforcemax",
                "centerembededgvcp","sideembededgvcp","standalonegvcp","gladeexists",
                "gladevcpposition","gladevcpsize","pyvcpposition","pyvcpsize","axisforcemax","autotouchz"):
            self.data[i] = self.widgets[i].get_active()
        # set HALUI commands ( on advanced page) based on the user requested glade buttons
        i =  self.data.gladevcphaluicmds = 0
        for temp in(("zerox","G10 L20 P0 X0 ( Set X to zero )"),("zeroy","G10 L20 P0 Y0 ( Set Y to zero )"),
                    ("zeroz","G10 L20 P0 Z0 ( Set Z to zero )"),("zeroa","G10 L20 P0 A0 ( Set A to zero )")):
            self.data[temp[0]] = self.widgets[temp[0]].get_active()
            if self.data[temp[0]]:
                self.data.halui = True
                self.data["halui_cmd%d"% i] = temp[1]
                i += 1
                self.data.gladevcphaluicmds += 1
        for i in ("maxspeeddisplay","gladevcpwidth","gladevcpheight","gladevcpxpos","gladevcpypos",
                    "pyvcpwidth","pyvcpheight","pyvcpxpos","pyvcpypos"):
            self.data[i] = self.widgets[i].get_value()
        for i in ("touchy","axis"):
            self.data[i+"size"][0] = self.widgets[i+"size"].get_active()
            self.data[i+"size"][1] = self.widgets[i+"width"].get_value()
            self.data[i+"size"][2] = self.widgets[i+"height"].get_value()
            self.data[i+"position"][0] = self.widgets[i+"position"].get_active()
            self.data[i+"position"][1] = self.widgets[i+"xpos"].get_value()
            self.data[i+"position"][2] = self.widgets[i+"ypos"].get_value()
        self.data.gladevcptheme = self.widgets.gladevcptheme.get_active_text()
        # make sure there is a copy of the choosen gladevcp panel in /tmp/
        # We will copy it later into our config folder
        self.gladevcptestpanel(self)
        if self.widgets.autotouchz.get_active():
            self.data.classicladder = True
            if not self.widgets.ladderexist.get_active():
                self.widgets.laddertouchz.set_active(True)
        if not self.data.number_mesa:
           self.widgets.druid1.set_page(self.widgets.pp1pport)
           return True

    def do_exclusive_inputs(self, pin):
        if self.in_pport_prepare: return
        exclusive = {
            HOME_X: (MAX_HOME_X, MIN_HOME_X, BOTH_HOME_X, ALL_HOME),
            HOME_Y: (MAX_HOME_Y, MIN_HOME_Y, BOTH_HOME_Y, ALL_HOME),
            HOME_Z: (MAX_HOME_Z, MIN_HOME_Z, BOTH_HOME_Z, ALL_HOME),
            HOME_A: (MAX_HOME_A, MIN_HOME_A, BOTH_HOME_A, ALL_HOME),

            MAX_HOME_X: (HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME),
            MAX_HOME_Y: (HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME),
            MAX_HOME_Z: (HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME),
            MAX_HOME_A: (HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME),

            MIN_HOME_X: (HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME),
            MIN_HOME_Y: (HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME),
            MIN_HOME_Z: (HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME),
            MIN_HOME_A: (HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME),

            BOTH_HOME_X: (HOME_X, MAX_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_HOME),
            BOTH_HOME_Y: (HOME_Y, MAX_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_HOME),
            BOTH_HOME_Z: (HOME_Z, MAX_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_HOME),
            BOTH_HOME_A: (HOME_A, MAX_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_HOME),

            MIN_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT),
            MIN_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT),
            MIN_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT),
            MIN_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT),

            MAX_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT),
            MAX_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT),
            MAX_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT),
            MAX_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT),

            BOTH_X: (MIN_X, MAX_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT),
            BOTH_Y: (MIN_Y, MAX_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT),
            BOTH_Z: (MIN_Z, MAX_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT),
            BOTH_A: (MIN_A, MAX_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT),

            ALL_LIMIT: (
                MIN_X, MAX_X, BOTH_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X,
                MIN_Y, MAX_Y, BOTH_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y,
                MIN_Z, MAX_Z, BOTH_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z,
                MIN_A, MAX_A, BOTH_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A),
            ALL_HOME: (
                HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X,
                HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y,
                HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z,
                HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A),
        } 

        p = 'pp1Ipin%d' % pin
        v = self.widgets[p].get_active()
        ex = exclusive.get(hal_input_names[v], ())

        for pin1 in (10,11,12,13,15):
            if pin1 == pin: continue
            p = 'pp1Ipin%d' % pin1
            v1 = hal_input_names[self.widgets[p].get_active()]
            if v1 in ex or v1 == v:
                self.widgets[p].set_active(hal_input_names.index(UNUSED_INPUT))

    def on_pin10_changed(self, *args):
        self.do_exclusive_inputs(10)
    def on_pin11_changed(self, *args):
        self.do_exclusive_inputs(11)
    def on_pin12_changed(self, *args):
        self.do_exclusive_inputs(12)
    def on_pin13_changed(self, *args):
        self.do_exclusive_inputs(13)
    def on_pin15_changed(self, *args):
        self.do_exclusive_inputs(15)

    def on_mesa_boardname_changed(self, widget,boardnum):
        return
        #print "**** INFO boardname changed"
        model = self.widgets["mesa%d_boardtitle"% boardnum].get_model()
        active = self.widgets["mesa%d_boardtitle"% boardnum].get_active()
        if active < 0:
          title = None
        else: title = model[active][0]
        if title == None:return
        self.widgets["mesa%dtitle"%boardnum].set_text(title)
        model = self.widgets["mesa%d_firmware"% boardnum].get_model()
        model.clear()
        for search, item in enumerate(mesafirmwaredata):
            d = mesafirmwaredata[search]
            if not d[_BOARDTITLE] == title:continue
            model.append((d[_FIRMWARE],))
            break
        self.widgets["mesa%d_firmware"% boardnum].set_active(0)
        #print "boardname-" + d[_BOARDNAME]
        if  "7i43" in d[_BOARDNAME] :
            self.widgets["mesa%d_parportaddrs"% boardnum].set_sensitive(1)
        else:
            self.widgets["mesa%d_parportaddrs"% boardnum].set_sensitive(0)
        self.on_mesa_firmware_changed(self,boardnum)

    def on_mesa_firmware_changed(self, widget,boardnum):
        model = self.widgets["mesa%d_boardtitle"% boardnum].get_model()
        active = self.widgets["mesa%d_boardtitle"% boardnum].get_active()
        if active < 0:
          title = None
        else: title = model[active][0]
        firmware = self.widgets["mesa%d_firmware"% boardnum].get_active_text()
        for search, item in enumerate(mesafirmwaredata):
            d = mesafirmwaredata[search]
            if not d[_BOARDTITLE] == title:continue
            if d[_FIRMWARE] == firmware:
                self.widgets["mesa%d_numof_encodergens"%boardnum].set_range(0,d[_MAXENC])
                self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(d[_MAXENC])
                self.widgets["mesa%d_numof_pwmgens"% boardnum].set_range(0,d[_MAXPWM])
                self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(d[_MAXPWM])
                if d[_MAXTPPWM]:
                    self.widgets["mesa%d_numof_tppwmgens"% boardnum].show()
                    self.widgets["mesa%d_numof_tpp_label"% boardnum].show()
                    self.widgets["mesa%d_3pwm_freq_label"% boardnum].show()
                    self.widgets["mesa%d_3pwm_freq_units"% boardnum].show()
                    self.widgets["mesa%d_3pwm_frequency"% boardnum].show()
                else:
                    self.widgets["mesa%d_numof_tppwmgens"% boardnum].hide()
                    self.widgets["mesa%d_numof_tpp_label"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_freq_label"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_freq_units"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_frequency"% boardnum].hide()
                self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_range(0,d[_MAXTPPWM])
                self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_value(d[_MAXTPPWM])
                self.widgets["mesa%d_numof_stepgens"% boardnum].set_range(0,d[_MAXSTEP])
                self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(d[_MAXSTEP])
                self.data["mesa%d_numof_resolvers"% boardnum] = (d[_MAXRES]) # TODO fix this hack should be selectable
                if d[_MAXRES]:
                    self.widgets["mesa%d_numof_resolvers"% boardnum].show()
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_value(d[_MAXRES]*6)
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_sensitive(False)
                    self.widgets["mesa%d_numof_resolvers_label"% boardnum].show()
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_value(24000)
                else:
                    self.widgets["mesa%d_numof_resolvers"% boardnum].hide()
                    self.widgets["mesa%d_numof_resolvers_label"% boardnum].hide()
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_value(0)
                if d[_MAXSSERIALPORTS]:
                    self.widgets["mesa%d_numof_sserialports"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialports_label"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialchannels"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialchannels_label"% boardnum].show()
                else:
                    self.widgets["mesa%d_numof_sserialports"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialports_label"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialchannels"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialchannels_label"% boardnum].hide()
                self.widgets["mesa%d_numof_sserialports"% boardnum].set_range(0,d[_MAXSSERIALPORTS])
                self.widgets["mesa%d_numof_sserialports"% boardnum].set_value(d[_MAXSSERIALPORTS])
                self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_range(1,d[_MAXSSERIALCHANNELS])
                self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_value(d[_MAXSSERIALCHANNELS])
                self.widgets["mesa%d_totalpins"% boardnum].set_text("%s"% d[_MAXGPIO])
                self.widgets["mesa%d_3pwm_frequency"% boardnum].set_sensitive(d[_MAXTPPWM])
                if d[_MAXRES]:
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_sensitive(False)
                else:
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_sensitive(d[_MAXPWM])
                self.widgets["mesa%d_pdm_frequency"% boardnum].set_sensitive(d[_MAXPWM])
                if "7i43" in title:
                    self.widgets["mesa%d_parportaddrs"% boardnum].show()
                    self.widgets["mesa%d_parporttext"% boardnum].show()
                else:
                    self.widgets["mesa%d_parportaddrs"% boardnum].hide()
                    self.widgets["mesa%d_parporttext"% boardnum].hide()
                break
  
    # This method converts data from the GUI page to signal names for pncconf's mesa data variables
    # It starts by checking pin type to set up the proper lists to search
    # then depending on the pin type widget data is converted to signal names.
    # if the signal name is not in the list add it to Human_names, signal_names
    # and disc-saved signalname lists
    # if encoder, pwm, or stepper pins the related pin are also set properly
    # it does this by searching the current firmware array and finding what the
    # other related pins numbers are then changing them to the appropriate signalname.    
    def mesa_data_transfer(self,boardnum):
        for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
            for pin in range(0,24):
                p = 'mesa%dc%dpin%d' % (boardnum,connector,pin)
                pinv = 'mesa%dc%dpin%dinv' % (boardnum,connector,pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum,connector,pin)
                self.data_transfer(boardnum,connector,None,pin,p,pinv,ptype)
                self.data["mesa%d_pwm_frequency"% boardnum] = self.widgets["mesa%d_pwm_frequency"% boardnum].get_value()
        self.data["mesa%d_pdm_frequency"% boardnum] = self.widgets["mesa%d_pdm_frequency"% boardnum].get_value()
        self.data["mesa%d_3pwm_frequency"% boardnum] = self.widgets["mesa%d_3pwm_frequency"% boardnum].get_value()
        self.data["mesa%d_watchdog_timeout"% boardnum] = self.widgets["mesa%d_watchdog_timeout"% boardnum].get_value()
        port = 0
        for channel in range (0,self.data["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALCHANNELS]):
                if channel >4: break # TODO only have 5 channels worth of glade widgets
                subboardname = self.data["mesa%dsserial%d_%dsubboard"% (boardnum, port, channel)]
                #print "data transfer-channel ",channel," subboard name",subboardname
                if subboardname == "none": 
                    #print "no subboard for %s"% subboardname
                    continue
                #print "sserial data transfering"
                for pin in range (0,_SSCOMBOLEN):
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
                    pinv = 'mesa%dsserial%d_%dpin%dinv' % (boardnum, port, channel, pin)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
                    self.data_transfer(boardnum,port,channel,pin,p,pinv,ptype)
                    #print "sserial data transfer",p

    def data_transfer(self,boardnum,connector,channel,pin,p,pinv,ptype):
                foundit = False
                piter = self.widgets[p].get_active_iter()
                ptiter = self.widgets[ptype].get_active_iter()
                pintype = self.widgets[ptype].get_active_text()
                selection = self.widgets[p].get_active_text()
                #if "serial" in p:
                #    print "**** INFO mesa-data-transfer:",p," selection: ",selection,"  pintype: ",pintype
                #    print "**** INFO mesa-data-transfer:",ptiter,piter
                # type NOTUSED
                if pintype == NUSED:
                    self.data[p] = UNUSED_UNUSED
                    self.data[ptype] = NUSED
                    self.data[pinv] = False
                    return
                # type GPIO input
                if pintype == GPIOI:
                    signaltree = self.data._gpioisignaltree
                    ptypetree = self.data._gpioliststore
                    signaltocheck = hal_input_names
                # type gpio output and open drain
                elif pintype in (GPIOO,GPIOD):
                    signaltree = self.data._gpioosignaltree
                    ptypetree = self.data._gpioliststore
                    signaltocheck = hal_output_names
                #type encoder
                elif pintype in (ENCA,ENCB,ENCI,ENCM):
                    signaltree = self.data._encodersignaltree
                    ptypetree = self.data._encoderliststore
                    signaltocheck = hal_encoder_input_names
                # resolvers
                elif pintype in (RES0,RES1,RES2,RES3,RES4,RES5,RESU):
                    signaltree = self.data._resolversignaltree
                    ptypetree = self.data._resolverliststore
                    signaltocheck = hal_resolver_input_names
                # 8i20 amplifier card
                elif pintype == AMP8I20:
                    signaltree = self.data._8i20signaltree
                    ptypetree = self.data._8i20liststore
                    signaltocheck = hal_8i20_input_names
                # potentiometer output
                elif pintype in (POTO,POTE):
                    signaltree = self.data._potsignaltree
                    ptypetree = self.data._potliststore
                    signaltocheck = hal_pot_output_names
                # analog in 
                elif pintype == (ANALOGIN):
                    signaltree = self.data._analoginsignaltree
                    ptypetree = self.data._analoginliststore
                    signaltocheck = hal_analog_input_names
                #type mux encoder
                elif pintype in (MXE0, MXE1, MXEI, MXEM, MXES):
                    signaltree = self.data._muxencodersignaltree
                    ptypetree = self.data._muxencoderliststore
                    signaltocheck = hal_encoder_input_names
                # type PWM gen
                elif pintype in( PDMP,PDMD,PDME):
                    signaltree = self.data._pwmsignaltree
                    if pintype == PDMP:
                        ptypetree = self.data._pdmcontrolliststore
                    else:
                        ptypetree = self.data._pdmrelatedliststore
                    signaltocheck = hal_pwm_output_names
                # PDM
                elif pintype in( PWMP,PWMD,PWME):
                    signaltree = self.data._pwmsignaltree
                    if pintype == PWMP:
                        ptypetree = self.data._pwmcontrolliststore
                    else:
                        ptypetree = self.data._pwmrelatedliststore
                    signaltocheck = hal_pwm_output_names
                # Up/Down mode
                elif pintype in( UDMU,UDMD,UDME):
                    signaltree = self.data._pwmsignaltree
                    if pintype == UDMU:
                        ptypetree = self.data._udmcontrolliststore
                    else:
                        ptypetree = self.data._udmrelatedliststore
                    signaltocheck = hal_pwm_output_names
                # type tp pwm
                elif pintype in (TPPWMA,TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF): 
                    signaltree = self.data._tppwmsignaltree
                    ptypetree = self.data._tppwmliststore 
                    signaltocheck = hal_tppwm_output_names
                # type step gen
                elif pintype in (STEPA,STEPB):
                    signaltree = self.data._steppersignaltree
                    ptypetree = self.data._stepperliststore
                    signaltocheck = hal_stepper_names
                # type sserial
                elif pintype in (RXDATA0,TXDATA0,TXEN0,RXDATA1,TXDATA1,TXEN1,RXDATA2,TXDATA2,TXEN2,RXDATA3,TXDATA3,TXEN3,
                                 RXDATA4,TXDATA4,TXEN4,RXDATA5,TXDATA5,TXEN5,RXDATA6,TXDATA6,TXEN6,RXDATA7,TXDATA7,TXEN7,
                                 SS7I76M0,SS7I76M2,SS7I76M3,SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4):
                    signaltree = self.data._sserialsignaltree
                    ptypetree = self.data._sserialliststore
                    signaltocheck = hal_sserial_names
                # this suppresses errors because of unused and unintialized sserial instances
                elif pintype == None and "sserial" in ptype: return
                else :
                    print "**** ERROR mesa-data-transfer: error unknown pin type:",pintype,"of ",ptype
                    return
                
                # **Start widget to data Convertion**                    
                # for encoder pins
                if piter == None:
                        #print "callin pin changed !!!"
                        name ="mesa"
                        if "sserial" in p: name = "sserial"
                        self.on_general_pin_changed(None,name,boardnum,connector,channel,pin,True)  
                        selection = self.widgets[p].get_active_text()
                        piter = self.widgets[p].get_active_iter()
                        if piter == None:
                            print "****ERROR PNCCONF: no custom name available"
                            return
                        #print "found signame -> ",selection," "
                # ok we have a piter with a signal type now- lets convert it to a signalname
                #if not "serial" in p:
                #    self.debug_iter(piter,p,"signal")
                dummy, index = signaltree.get(piter,0,1)
                #if not "serial" in p:
                #    print "signaltree: ",dummy
                #    self.debug_iter(ptiter,ptype,"ptype")
                widgetptype, index2 = ptypetree.get(ptiter,0,1)
                #if not "serial" in p:
                #    print "ptypetree: ",widgetptype
                if pintype in (GPIOI,GPIOO,GPIOD,MXE0,MXE1,RES1,RES2,RES3,RES4,RES5,RESU,SS7I76M0,
                                SS7I76M2,SS7I76M3,SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4) or (index == 0):index2 = 0
                elif pintype in ( TXDATA0,RXDATA0,TXEN0,TXDATA1,RXDATA1,TXEN1,TXDATA2,RXDATA2,TXEN2,TXDATA3,RXDATA3,TXEN3,TXDATA4,RXDATA4,TXEN4,
                                  TXDATA5,RXDATA5,TXEN5,TXDATA6,RXDATA6,TXEN6,TXDATA7,RXDATA7,TXEN7 ):index2 = 0
                #print index,index2,signaltocheck[index+index2]
                self.data[p] = signaltocheck[index+index2]
                self.data[ptype] = widgetptype
                self.data[pinv] = self.widgets[pinv].get_active()
                #if "serial" in p:
                #    print "*** INFO PNCCONF mesa pin:",p,"signalname:",self.data[p],"pin type:",widgetptype
  
    # If we just reloaded a config then update the page right now
    # as we already know what board /firmware /components are.
    def on_mesa0_prepare(self, *args):
        self.data.help = "help-mesa.txt"
        boardnum = 0
        if not self.widgets.createconfig.get_active() and not self.data._mesa0_configured  :
            self.set_mesa_options(boardnum,self.data.mesa0_boardtitle,self.data.mesa0_firmware,self.data.mesa0_numof_pwmgens,
            self.data.mesa0_numof_tppwmgens,self.data.mesa0_numof_stepgens,self.data.mesa0_numof_encodergens,self.data.mesa0_numof_sserialports,
            self.data.mesa0_numof_sserialchannels)
        elif not self.data._mesa0_configured:
            self.widgets.mesa0con2table.hide()
            self.widgets.mesa0con3table.hide()   
            self.widgets.mesa0con4table.hide()
            self.widgets.mesa0con5table.hide()           
        self.widgets.mesa0_parportaddrs.set_text(self.data.mesa0_parportaddrs)
        for i in ("mesa0_sanity_7i29","mesa0_sanity_7i30","mesa0_sanity_7i33","mesa0_sanity_7i40","mesa0_sanity_7i48"):
            self.widgets[i].set_active( self.data[i] )

    def on_mesa0_next(self,*args):
        model = self.widgets.mesa0_boardtitle.get_model()
        active = self.widgets.mesa0_boardtitle.get_active()
        if active < 0:
            title = None
        else: title = model[active][0]
        if not self.data._mesa0_configured:
            self.warning_dialog(_("You need to configure the mesa0 page.\n Choose the board type, firmware, component amounts and press 'Accept component changes' button'"),True)
            self.widgets.druid1.set_page(self.widgets.mesa0)
            return True
        if not self.data.mesa0_currentfirmwaredata[_BOARDTITLE] ==  title:
            self.warning_dialog(_("The chosen Mesa0 board is different from the current displayed.\nplease press 'Accept component changes' button'"),True)
            self.widgets.druid1.set_page(self.widgets.mesa0)
            return True
        self.data.mesa0_parportaddrs = self.widgets.mesa0_parportaddrs.get_text()
        self.mesa_data_transfer(0)
        for i in ("mesa0_sanity_7i29","mesa0_sanity_7i30","mesa0_sanity_7i33","mesa0_sanity_7i40","mesa0_sanity_7i48"):
            self.data[i] = self.widgets[i].get_active()
        self.signal_sanity_check()
        if self.data.number_mesa > 1:
           self.widgets.druid1.set_page(self.widgets.mesa1)
           return True
        if self.data.number_pports<1:
           self.widgets.druid1.set_page(self.widgets.xaxismotor)
           return True
        else:
           self.widgets.druid1.set_page(self.widgets.pp1pport)
           return True
      
    # If we just reloaded a config then update the page right now
    # as we already know what board /firmware /components are wanted.
    def on_mesa1_prepare(self,*args):
        self.data.help = "help-mesa.txt"
        boardnum = 1
        if not self.widgets.createconfig.get_active() and not self.data._mesa1_configured  :
            self.set_mesa_options(boardnum,self.data.mesa1_boardtitle,self.data.mesa1_firmware,self.data.mesa1_numof_pwmgens,
                  self.data.mesa1_numof_tppwmgens,self.data.mesa1_numof_stepgens,self.data.mesa1_numof_encodergens,self.data.mesa1_numof_sserialports,
                  self.data.mesa1_numof_sserialchannels)
        elif not self.data._mesa1_configured:           
            self.widgets.mesa1con2table.hide()
            self.widgets.mesa1con3table.hide()           
            self.widgets.mesa1con4table.hide()
            self.widgets.mesa1con5table.hide()
        self.widgets.mesa1_parportaddrs.set_text(self.data.mesa1_parportaddrs)
        for i in ("mesa1_sanity_7i29","mesa1_sanity_7i30","mesa1_sanity_7i33","mesa1_sanity_7i40","mesa0_sanity_7i48"):
            self.widgets[i].set_active( self.data[i] )

    def on_mesa1_next(self,*args):
        model = self.widgets.mesa1_boardtitle.get_model()
        active = self.widgets.mesa1_boardtitle.get_active()
        if active < 0:
            title = None
        else: title = model[active][0]
        if not self.data._mesa1_configured:
            self.warning_dialog(_("You need to configure the mesa1 page.\n Choose the board type, firmware, component amounts and press 'Accept component changes' button'"),True)
            self.widgets.druid1.set_page(self.widgets.mesa1)
            return True
        if not self.data.mesa1_currentfirmwaredata[_BOARDTITLE] ==  title:
            self.warning_dialog(_("The chosen Mesa1 board is different from the current displayed.\nplease press 'Accept component changes' button'"),True)
            self.widgets.druid1.set_page(self.widgets.mesa1)
            return True    
        self.data.mesa1_parportaddrs = self.widgets.mesa1_parportaddrs.get_text()
        self.mesa_data_transfer(1)
        for i in ("mesa1_sanity_7i29","mesa1_sanity_7i30","mesa1_sanity_7i33","mesa1_sanity_7i40","mesa0_sanity_7i48"):
            self.data[i] = self.widgets[i].get_active()
        self.signal_sanity_check()
        if self.data.number_pports<1:
           self.widgets.druid1.set_page(self.widgets.xaxismotor)
           return True

    def on_mesapanel_clicked(self, *args):
        if not self.check_for_rt(): return
        if not self.warning_dialog(_("Do to technical reasons this test panel can be loaded only once without reloading pncconf.\
You also will not be able to do any other testing untill you reload pncconf and quite possibly open a terminal and type 'halrun -U' \
I hesitate to even allow it's use but at times it's very useful.\nDo you wish to continue the test?"),False):
                        return
        self.halrun = os.popen("halrun -I > /dev/null", "w") 
        self.halrun.write("loadrt threads period1=50000 name1=fast fp1=0 period2=1000000 name2=slow\n")
        self.hal_cmnds("LOAD")
        self.hal_cmnds("READ")
        self.hal_cmnds("WRITE")
        self.halrun.write("start\n")
        self.halrun.write("loadusr  halmeter\n")
        self.halrun.flush()
        time.sleep(1)
        try:
            PyApp(self,self.data,self.widgets)  
        except:
            self.halrun.close()
            a = os.popen("halrun -U > /dev/null", "w")
            a.flush()
            time.sleep(1)
            a.close()
            a.kill()
            
    def on_mesapanel_returned(self, *args):
        #print "Quit test panel"
        try:
            self.halrun.write("delsig all\n")
            self.halrun.write("exit\n")
            self.halrun.flush()
            time.sleep(1)
            self.halrun.close()
            a = os.popen("halrun -U > /dev/null", "w")
            a.flush()
            time.sleep(1)
            a.close()
            a.kill()
        except :
            pass

    def on_mesa_pintype_changed(self, widget,boardnum,connector,channel,pin):
                #print "mesa pintype changed:",boardnum,connector,channel,pin
                if not channel == None:
                    port = connector
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
                    blocksignal = "_mesa%dsignalhandlersserial%i_%ipin%i" % (boardnum, port, channel, pin)
                    ptypeblocksignal = "_mesa%dptypesignalhandlersserial%i_%ipin%i"% (boardnum, port, channel, pin)
                else:
                    p = 'mesa%dc%dpin%d' % (boardnum,connector,pin)
                    ptype = 'mesa%dc%dpin%dtype' %  (boardnum,connector,pin)
                    blocksignal = "_mesa%dsignalhandlerc%ipin%i"% (boardnum,connector,pin)
                    ptypeblocksignal  = "_mesa%dptypesignalhandlerc%ipin%i" % (boardnum, connector,pin)
                modelcheck = self.widgets[p].get_model()
                modelptcheck = self.widgets[ptype].get_model()
                new = self.widgets[ptype].get_active_text()
                #print "pintypechanged",p
                # switch GPIO input to GPIO output
                # here we switch the available signal names in the combobox
                # we block signals so pinchanged method is not called
                if modelcheck == self.data._gpioisignaltree and new in (GPIOO,GPIOD):
                    #print "switch GPIO input ",p," to output",new
                    self.widgets[p].handler_block(self.data[blocksignal])
                    self.widgets[p].set_model(self.data._gpioosignaltree)
                    self.widgets[p].set_active(0)
                    self.widgets[p].handler_unblock(self.data[blocksignal])
                # switch GPIO output to input
                elif modelcheck == self.data._gpioosignaltree:
                    if new == GPIOI:
                        #print "switch GPIO output ",p,"to input"
                        self.widgets[p].handler_block(self.data[blocksignal])
                        self.widgets[p].set_model(self.data._gpioisignaltree)
                        self.widgets[p].set_active(0)
                        self.widgets[p].handler_unblock(self.data[blocksignal])
                # switch between pulse width, pulse density or up/down mode analog modes
                # here we search the firmware for related pins (eg PWMP,PWMD,PWME ) and change them too.
                # we block signals so we don't call this routine again.
                elif modelptcheck in (self.data._pwmcontrolliststore, self.data._pdmcontrolliststore, self.data._udmcontrolliststore):
                    relatedpins = [PWMP,PWMD,PWME]
                    if new == PWMP:
                        display = 0
                        relatedliststore = self.data._pwmrelatedliststore
                        controlliststore = self.data._pwmcontrolliststore
                    elif new == PDMP:
                        display = 1
                        relatedliststore = self.data._pdmrelatedliststore
                        controlliststore = self.data._pdmcontrolliststore
                    elif new == UDMU:
                        display = 2
                        relatedliststore = self.data._udmrelatedliststore
                        controlliststore = self.data._udmcontrolliststore
                    else:print "**** WARNING PNCCONF: pintype error-PWM type not found";return
                    self.widgets[ptype].handler_block(self.data[ptypeblocksignal])
                    self.widgets[ptype].set_model(controlliststore)
                    self.widgets[ptype].set_active(display)
                    self.widgets[ptype].handler_unblock(self.data[ptypeblocksignal])
                    pinlist = self.data.list_related_pins(relatedpins, boardnum, connector, channel, pin, 1)
                    for i in (pinlist):
                        relatedptype = i[0]
                        if relatedptype == ptype :continue
                        if not channel == None:
                            ptypeblocksignal = "_mesa%dptypesignalhandlersserial%i_%ipin%i"% (i[1], i[2],i[3],i[4])
                        else:
                            ptypeblocksignal  = "_mesa%dptypesignalhandlerc%ipin%i" % (i[1], i[2],i[4])
                        self.widgets[relatedptype].handler_block(self.data[ptypeblocksignal])
                        j = self.widgets[relatedptype].get_active()
                        self.widgets[relatedptype].set_model(relatedliststore)
                        self.widgets[relatedptype].set_active(j)
                        self.widgets[relatedptype].handler_unblock(self.data[ptypeblocksignal])
                else: print "**** WARNING PNCCONF: pintype error in pintypechanged method new ",new,"    pinnumber ",p

    def on_mesa_component_value_changed(self, widget,boardnum):
        self.in_mesa_prepare = True
        self.data["mesa%d_pwm_frequency"% boardnum] = self.widgets["mesa%d_pwm_frequency"% boardnum].get_value()
        self.data["mesa%d_pdm_frequency"% boardnum] = self.widgets["mesa%d_pdm_frequency"% boardnum].get_value()
        self.data["mesa%d_watchdog_timeout"% boardnum] = self.widgets["mesa%d_watchdog_timeout"% boardnum].get_value()
        numofpwmgens = self.data["mesa%d_numof_pwmgens"% boardnum] = int(self.widgets["mesa%d_numof_pwmgens"% boardnum].get_value())
        numoftppwmgens = self.data["mesa%d_numof_tppwmgens"% boardnum] = int(self.widgets["mesa%d_numof_tppwmgens"% boardnum].get_value())
        numofstepgens = self.data["mesa%d_numof_stepgens"% boardnum] = int(self.widgets["mesa%d_numof_stepgens"% boardnum].get_value())
        numofencoders = self.data["mesa%d_numof_encodergens"% boardnum] = int(self.widgets["mesa%d_numof_encodergens"% boardnum].get_value())
        numofsserialports = self.data["mesa%d_numof_sserialports"% boardnum] = int(self.widgets["mesa%d_numof_sserialports"% boardnum].get_value())
        numofsserialchannels = self.data["mesa%d_numof_sserialchannels"% boardnum] = \
        int(self.widgets["mesa%d_numof_sserialchannels"% boardnum].get_value())
        title = self.data["mesa%d_boardtitle"% boardnum] = self.widgets["mesa%d_boardtitle"% boardnum].get_active_text()
        firmware = self.data["mesa%d_firmware"% boardnum] = self.widgets["mesa%d_firmware"% boardnum].get_active_text()
        self.set_mesa_options(boardnum,title,firmware,numofpwmgens,numoftppwmgens,numofstepgens,numofencoders,numofsserialports,numofsserialchannels)
        return True

    # This method sets up the mesa GUI page and is used when changing component values / firmware or boards from config page.
    # it changes the component comboboxes according to the firmware max and user requested amounts
    # it adds signal names to the signal name combo boxes according to component type and in the
    # case of GPIO options selected on the basic page such as limit/homing types.
    # it will grey out I/O tabs according to the selected board type. 
    # it uses GTK signal blocking to block on_general_pin_change and on_mesa_pintype_changed methods.
    # Since this method is for intialization, there is no need to check for changes and this speeds up
    # the update.  
    # 'mesafirmwaredata' holds all the firmware data.
    # 'self.data.mesaX_currentfirmwaredata' hold the current selected firmware data (X is 0 or 1)

    def set_mesa_options(self,boardnum,title,firmware,numofpwmgens,numoftppwmgens,numofstepgens,numofencoders,numofsserialports,numofsserialchannels):
        self.widgets.druid1.set_buttons_sensitive(0,0,1,1)
        self.pbar.set_text("Setting up Mesa tabs")
        self.pbar.set_fraction(0)
        self.window.show()
        while gtk.events_pending():
            gtk.main_iteration()
        for search, item in enumerate(mesafirmwaredata):
            d = mesafirmwaredata[search]
            if not d[_BOARDTITLE] == title:continue
            if d[_FIRMWARE] == firmware:
                self.data["mesa%d_currentfirmwaredata"% boardnum] = mesafirmwaredata[search]
                break
        #print mesafirmwaredata[search]

        self.widgets["mesa%dcon2table"% boardnum].hide()
        self.widgets["mesa%dcon3table"% boardnum].hide()
        self.widgets["mesa%dcon4table"% boardnum].hide()
        self.widgets["mesa%dcon5table"% boardnum].hide()
        self.widgets["mesa%dcon6table"% boardnum].hide()
        self.widgets["mesa%dcon7table"% boardnum].hide()
        self.widgets["mesa%dcon8table"% boardnum].hide()
        self.widgets["mesa%dcon9table"% boardnum].hide()
        self.widgets["mesa%dsserial0_0"% boardnum].hide()
        self.widgets["mesa%dsserial0_1"% boardnum].hide()
        self.widgets["mesa%dsserial0_2"% boardnum].hide()
        self.widgets["mesa%dsserial0_3"% boardnum].hide()
        self.widgets["mesa%dsserial0_4"% boardnum].hide()
        currentboard = self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME]
        if currentboard == "5i20" or currentboard == "5i23":
            self.widgets["mesa%dcon2table"% boardnum].show()
            self.widgets["mesa%dcon3table"% boardnum].show()
            self.widgets["mesa%dcon4table"% boardnum].show()
        if currentboard == "5i22":
            self.widgets["mesa%dcon2table"% boardnum].show()
            self.widgets["mesa%dcon3table"% boardnum].show()
            self.widgets["mesa%dcon4table"% boardnum].show()
            self.widgets["mesa%dcon5table"% boardnum].show()
        if currentboard == "5i25":
            self.widgets["mesa%dcon2table"% boardnum].show()
            self.widgets["mesa%dcon3table"% boardnum].show()
        if currentboard == "7i43":
            self.widgets["mesa%dcon3table"% boardnum].show()
            self.widgets["mesa%dcon4table"% boardnum].show()
        if currentboard == "3x20":
            self.widgets["mesa%dcon4table"% boardnum].show()
            self.widgets["mesa%dcon5table"% boardnum].show()
            self.widgets["mesa%dcon6table"% boardnum].show()
            self.widgets["mesa%dcon7table"% boardnum].show()
            self.widgets["mesa%dcon8table"% boardnum].show()
            self.widgets["mesa%dcon9table"% boardnum].show()


        self.widgets["mesa%d"%boardnum].set_title("Mesa%d Configuration-Board: %s firmware: %s"% (boardnum,self.data["mesa%d_boardtitle"%boardnum],
            self.data["mesa%d_currentfirmwaredata"% boardnum][_FIRMWARE]))

        temp = "/usr/share/doc/hostmot2-firmware-%s/%s.PIN"% (self.data["mesa%d_currentfirmwaredata"% boardnum][_DIRECTORY],
            self.data["mesa%d_currentfirmwaredata"% boardnum][_FIRMWARE] )
        filename = os.path.expanduser(temp)
        if os.path.exists(filename):
            match =  open(filename).read()
            textbuffer = self.widgets.textoutput.get_buffer()
            try :
                textbuffer.set_text("%s\n\n"% filename)
                textbuffer.insert_at_cursor(match)
            except:
                pass

        for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
            for pin in range (0,24):
                self.pbar.set_fraction((pin+1)/24.0)
                while gtk.events_pending():
                    gtk.main_iteration()
                firmptype,compnum = self.data["mesa%d_currentfirmwaredata"% boardnum][_STARTOFDATA+pin+(concount*24)]       
                p = 'mesa%dc%dpin%d' % (boardnum, connector, pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum, connector , pin)
                #print "**** INFO set-mesa-options DATA:",self.data[p],p,self.data[ptype]
                #print "**** INFO set-mesa-options FIRM:",firmptype
                #print "**** INFO set-mesa-options WIDGET:",self.widgets[p].get_active_text(),self.widgets[ptype].get_active_text()
                complabel = 'mesa%dc%dpin%dnum' % (boardnum, connector , pin)
                pinv = 'mesa%dc%dpin%dinv' % (boardnum, connector , pin)
                blocksignal = "_mesa%dsignalhandlerc%ipin%i" % (boardnum, connector, pin)    
                ptypeblocksignal  = "_mesa%dptypesignalhandlerc%ipin%i" % (boardnum, connector,pin)  
                actblocksignal = "_mesa%dactivatehandlerc%ipin%i"  % (boardnum, connector, pin) 
                # kill all widget signals:
                self.widgets[ptype].handler_block(self.data[ptypeblocksignal])
                self.widgets[p].handler_block(self.data[blocksignal]) 
                self.widgets[p].child.handler_block(self.data[actblocksignal])
                self.firmware_to_widgets(boardnum,firmptype,p,ptype,pinv,complabel,compnum,concount,pin,numofencoders,
                                        numofpwmgens,numoftppwmgens,numofstepgens,None,numofsserialports,numofsserialchannels,False)

        self.data["mesa%d_numof_stepgens"% boardnum] = numofstepgens
        self.data["mesa%d_numof_pwmgens"% boardnum] = numofpwmgens
        self.data["mesa%d_numof_encodergens"% boardnum] = numofencoders
        self.data["mesa%d_numof_sserialports"% boardnum] = numofsserialports
        self.data["mesa%d_numof_sserialchannels"% boardnum] = numofsserialchannels     
        self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(numofstepgens)
        self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(numofencoders)      
        self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(numofpwmgens)
        self.in_mesa_prepare = False   
        self.data["_mesa%d_configured"% boardnum] = True
        # unblock all the widget signals again
        for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
            for pin in range (0,24):
                p = 'mesa%dc%dpin%d' % (boardnum, connector, pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum, connector , pin)
                blocksignal = "_mesa%dsignalhandlerc%ipin%i" % (boardnum, connector, pin)    
                ptypeblocksignal  = "_mesa%dptypesignalhandlerc%ipin%i" % (boardnum, connector,pin)  
                actblocksignal = "_mesa%dactivatehandlerc%ipin%i"  % (boardnum, connector, pin) 
                self.widgets[ptype].handler_unblock(self.data[ptypeblocksignal])
                self.widgets[p].handler_unblock(self.data[blocksignal]) 
                self.widgets[p].child.handler_unblock(self.data[actblocksignal])
        self.mesa_mainboard_data_to_widgets(boardnum)
        self.window.hide()
        self.widgets.druid1.set_buttons_sensitive(1,1,1,1)

    def set_sserial_options(self,boardnum,port,channel):
        numofsserialports = self.data["mesa%d_numof_sserialports"% boardnum]
        numofsserialchannels = self.data["mesa%d_numof_sserialchannels"% boardnum]
        subboardname = self.data["mesa%dsserial%d_%dsubboard"% (boardnum, port, channel)]
        if subboardname == "none":return
        self.widgets.druid1.set_buttons_sensitive(0,0,1,1)
        self.pbar.set_text("Setting up Mesa Smart Serial tabs")
        self.pbar.set_fraction(0)
        self.window.show()
        while gtk.events_pending():
            gtk.main_iteration()
        for subnum,temp in enumerate(mesadaughterdata):
            #print mesadaughterdata[subnum][_SUBFIRMNAME],subboardname
            if mesadaughterdata[subnum][_SUBFIRMNAME] == subboardname: break
        #print "found subboard name:",mesadaughterdata[subnum][_SUBFIRMNAME],subboardname,subnum,"channel:",channel
        for pin in range (0,_SSCOMBOLEN):
            self.pbar.set_fraction((pin+1)/60.0)
            while gtk.events_pending():
                gtk.main_iteration()      
            p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
            ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
            pinv = 'mesa%dsserial%d_%dpin%dinv' % (boardnum, port, channel, pin)
            complabel = 'mesa%dsserial%d_%dpin%dnum' % (boardnum, port, channel, pin)
            blocksignal = "_mesa%dsignalhandlersserial%i_%ipin%i" % (boardnum, port, channel, pin)
            ptypeblocksignal  = "_mesa%dptypesignalhandlersserial%i_%ipin%i" % (boardnum, port, channel, pin)
            actblocksignal = "_mesa%dactivatehandlersserial%i_%ipin%i"  % (boardnum, port, channel, pin)
            firmptype,compnum = mesadaughterdata[subnum][_SUBSTARTOFDATA+pin]
            #print "sserial set options",p
            # kill all widget signals:
            self.widgets[ptype].handler_block(self.data[ptypeblocksignal])
            self.widgets[p].handler_block(self.data[blocksignal])
            self.widgets[p].child.handler_block(self.data[actblocksignal])
            concount = 0
            numofencoders = 10
            numofpwmgens = 12
            numoftppwmgens = 0
            numofstepgens = 0
            self.firmware_to_widgets(boardnum,firmptype,p,ptype,pinv,complabel,compnum,concount,pin,numofencoders,
                                    numofpwmgens,numoftppwmgens,numofstepgens,subboardname,numofsserialports,numofsserialchannels,True)
        # all this to unblock signals
        for pin in range (0,_SSCOMBOLEN):
            firmptype,compnum = mesadaughterdata[0][_SUBSTARTOFDATA+pin]       
            p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
            ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
            pinv = 'mesa%dsserial%d_%dpin%dinv' % (boardnum, port, channel, pin)
            complabel = 'mesa%dsserial%d_%dpin%dnum' % (boardnum, port, channel, pin)
            blocksignal = "_mesa%dsignalhandlersserial%i_%ipin%i" % (boardnum, port, channel, pin)    
            ptypeblocksignal  = "_mesa%dptypesignalhandlersserial%i_%ipin%i" % (boardnum, port, channel, pin)  
            actblocksignal = "_mesa%dactivatehandlersserial%i_%ipin%i"  % (boardnum, port, channel, pin) 
            # unblock all widget signals:
            self.widgets[ptype].handler_unblock(self.data[ptypeblocksignal])
            self.widgets[p].handler_unblock(self.data[blocksignal]) 
            self.widgets[p].child.handler_unblock(self.data[actblocksignal])
        # now that the widgets are set up as per firmware, change them as per the loaded data and add signals
        for pin in range (0,_SSCOMBOLEN):
            firmptype,compnum = mesadaughterdata[subnum][_SUBSTARTOFDATA+pin]       
            p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
            #print "INFO: data to widget smartserial- ",p, firmptype
            ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
            pinv = 'mesa%dsserial%d_%dpin%dinv' % (boardnum, port, channel, pin)
            self.data_to_widgets(boardnum,firmptype,compnum,p,ptype,pinv)
             #print "sserial data-widget",p
        self.widgets["mesa%d_numof_sserialports"% boardnum].set_value(numofsserialports)
        self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_value(numofsserialchannels)
        self.window.hide()
        self.widgets.druid1.set_buttons_sensitive(1,1,1,1)

    def firmware_to_widgets(self,boardnum,firmptype,p,ptype,pinv,complabel,compnum,concount,pin,numofencoders,numofpwmgens,numoftppwmgens,
                            numofstepgens,subboardname,numofsserialports,numofsserialchannels,sserialflag):
                currentboard = self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME]
                # *** convert widget[ptype] to component specified in firmwaredata  *** 

                # if the board has less then 24 pins hide the extra comboboxes
                if firmptype == NUSED:
                    self.widgets[p].hide()
                    self.widgets[ptype].hide()
                    self.widgets[pinv].hide()
                    self.widgets[complabel].hide()
                    self.widgets[ptype].set_model(self.data._notusedliststore)
                    self.widgets[ptype].set_active(0)
                    self.widgets[p].set_model(self.data._notusedsignaltree)
                    self.widgets[p].set_active(0)
                    return
                else:
                    self.widgets[p].show()
                    self.widgets[ptype].show()
                    self.widgets[pinv].show()
                    self.widgets[complabel].show()
                    self.widgets[p].child.set_editable(True)

                # ---SETUP GUI FOR ENCODER FAMILY COMPONENT--- 
                # check that we are not converting more encoders that user requested
                # if we are then we trick this routine into thinking the firware asked for GPIO:
                # we can do that by changing the variable 'firmptype' to ask for GPIO
                if firmptype in ( ENCA,ENCB,ENCI,ENCM ): 
                    if numofencoders >= (compnum+1):
                        # if the combobox is not already displaying the right component:
                        # then we need to set up the comboboxes for this pin, otherwise skip it
                        if not self.widgets[ptype].get_active_text() == firmptype or not self.data["_mesa%d_configured"%boardnum]:  
                            self.widgets[pinv].set_sensitive(0)
                            self.widgets[pinv].set_active(0)
                            self.widgets[ptype].set_model(self.data._encoderliststore)
                            self.widgets[p].set_model(self.data._encodersignaltree)
                            # we only add every 4th human name so the user can only select
                            # the encoder's 'A' signal name. If its the other signals
                            # we can add them all because pncconf controls what the user sees
                            if firmptype == ENCA:
                                self.widgets[complabel].set_text("%d:"%compnum)
                                self.widgets[p].set_active(0)
                                self.widgets[p].set_sensitive(1)
                                self.widgets[ptype].set_sensitive(0)
                                self.widgets[ptype].set_active(0)
                            # pncconf control what the user sees with these ones:
                            elif firmptype in(ENCB,ENCI,ENCM):
                                self.widgets[complabel].set_text("")
                                self.widgets[p].set_active(0)   
                                self.widgets[p].set_sensitive(0)
                                self.widgets[ptype].set_sensitive(0)
                                for i,j in enumerate((ENCB,ENCI,ENCM)):
                                    if firmptype == j:break 
                                self.widgets[ptype].set_active(i+1)
                    else:   
                        # user requested this encoder component to be GPIO instead
                        # We cheat a little and tell the rest of the method that the firmware says
                        # it should be GPIO and compnum is changed to signify that the GPIO can be changed
                        # from input to output
                        # Right now only mainboard GPIO can be changed
                        # sserial I/O can not
                        firmptype = GPIOI
                        compnum = 0

                # --- mux encoder ---
                elif firmptype in (MXE0,MXE1,MXEI,MXEM,MXES):
                    #print "**** INFO: MUX ENCODER:",firmptype,compnum,numofencoders
                    if numofencoders >= (compnum*2+1) or (firmptype == MXES and numofencoders >= compnum*2+1) or \
                        (firmptype == MXEM and numofencoders >= compnum +1):
                        # if the combobox is not already displaying the right component:
                        # then we need to set up the comboboxes for this pin, otherwise skip it
                        self.widgets[pinv].set_sensitive(0)
                        self.widgets[pinv].set_active(0)
                        pmodel = self.widgets[p].set_model(self.data._muxencodersignaltree)
                        ptmodel = self.widgets[ptype].set_model(self.data._muxencoderliststore)
                        self.widgets[ptype].set_active(pintype_muxencoder.index(firmptype))
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[p].set_active(0)
                        if firmptype in(MXE0,MXE1):
                            temp = 0
                            if firmptype == MXE1: temp = 1
                            self.widgets[complabel].set_text("%d:"%(compnum *2 + temp))
                            self.widgets[p].set_sensitive(1)
                            self.widgets[ptype].show()
                            self.widgets[p].show()
                        elif firmptype == MXEM:
                            self.widgets[complabel].set_text("%d:"%compnum)
                            self.widgets[p].set_sensitive(0)
                            self.widgets[ptype].show()
                            self.widgets[p].hide()
                        else:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].set_sensitive(0)
                            self.widgets[ptype].hide()
                            self.widgets[p].hide()
                    else:
                        firmptype = GPIOI
                        compnum = 0

                # ---SETUP GUI FOR RESOLVER FAMILY COMPONENTS---
                elif firmptype in (RES0,RES1,RES2,RES3,RES4,RES5,RESU):
                    if 0 == 0:
                        self.widgets[pinv].set_sensitive(0)
                        self.widgets[pinv].set_active(0)
                        self.widgets[p].set_model(self.data._resolversignaltree)
                        self.widgets[ptype].set_model(self.data._resolverliststore)
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[ptype].set_active(0)
                        if firmptype == RESU:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].hide()
                            self.widgets[p].set_sensitive(0)
                            self.widgets[p].set_active(0) 
                            self.widgets[ptype].set_active(6)
                        else:
                            temp = (RES0,RES1,RES2,RES3,RES4,RES5)
                            self.widgets[p].show()
                            for num,i in enumerate(temp):
                                if firmptype == i:break
                            self.widgets[complabel].set_text("%d:"% (compnum*6+num))
                            self.widgets[p].set_sensitive(1)
                            self.widgets[p].set_active(0)
                            self.widgets[ptype].set_active(num)

                # ---SETUP 8i20 amp---
                elif firmptype == AMP8I20:
                        self.widgets[ptype].set_model(self.data._8i20liststore)
                        self.widgets[p].set_model(self.data._8i20signaltree)
                        self.widgets[complabel].set_text("%d:"%compnum)
                        self.widgets[p].set_active(0)
                        self.widgets[p].set_sensitive(1)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[ptype].set_active(0)

                # --- SETUP potentiometer output
                elif firmptype in (POTO,POTE):
                        self.widgets[ptype].set_model(self.data._potliststore)
                        self.widgets[p].set_model(self.data._potsignaltree)
                        self.widgets[complabel].set_text("%d:"%compnum)
                        self.widgets[p].set_active(0)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[ptype].set_sensitive(0)
                        if firmptype == POTO:
                            self.widgets[ptype].set_active(0)
                            self.widgets[p].set_sensitive(1)
                        else:
                            self.widgets[ptype].set_active(1)
                            self.widgets[p].set_sensitive(0)

                # --- SETUP analog input
                elif firmptype == (ANALOGIN):
                        self.widgets[ptype].set_model(self.data._analoginliststore)
                        self.widgets[p].set_model(self.data._analoginsignaltree)
                        self.widgets[complabel].set_text("%d:"%compnum)
                        self.widgets[p].set_active(0)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[ptype].set_active(0)
                        self.widgets[p].set_sensitive(1)

                # ---SETUP GUI FOR PWM FAMILY COMPONENT---
                # the user has a choice of pulse width or pulse density modulation
                elif firmptype in ( PWMP,PWMD,PWME,PDMP,PDMD,PDME ):
                    if numofpwmgens >= (compnum+1):
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[p].set_model(self.data._pwmsignaltree)         
                        # only add the -pulse signal names for the user to see
                        if firmptype in(PWMP,PDMP):
                            self.widgets[complabel].set_text("%d:"%compnum)
                            #print "firmptype = controlling"
                            self.widgets[ptype].set_model(self.data._pwmcontrolliststore)
                            self.widgets[ptype].set_sensitive(not sserialflag) # sserial pwm cannot be changed
                            self.widgets[p].set_sensitive(1)
                            self.widgets[p].set_active(0)
                            self.widgets[ptype].set_active(0)
                        # add them all here      
                        elif firmptype in (PWMD,PWME,PDMD,PDME):
                            self.widgets[complabel].set_text("")
                            #print "firmptype = related"
                            if firmptype in (PWMD,PWME):
                                self.widgets[ptype].set_model(self.data._pwmrelatedliststore)
                            else:
                                self.widgets[ptype].set_model(self.data._pdmrelatedliststore)
                            self.widgets[p].set_sensitive(0)
                            self.widgets[p].set_active(0) 
                            self.widgets[ptype].set_sensitive(0)
                            temp = 1
                            if firmptype in (PWME,PDME):
                                self.widgets[pinv].set_sensitive(0)
                                temp = 2
                            self.widgets[ptype].set_active(temp)
                    else:
                        firmptype = GPIOI
                        compnum = 0
                # ---SETUP GUI FOR TP PWM FAMILY COMPONENT---   
                elif firmptype in ( TPPWMA,TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF ):
                    if numoftppwmgens >= (compnum+1):
                        if not self.widgets[ptype].get_active_text() == firmptype or not self.data["_mesa%d_configured"%boardnum]:
                            self.widgets[p].set_model(self.data._tppwmsignaltree)
                            self.widgets[ptype].set_model(self.data._tppwmliststore)
                            self.widgets[pinv].set_sensitive(0)
                            self.widgets[pinv].set_active(0)
                            self.widgets[ptype].set_sensitive(0)
                            self.widgets[ptype].set_active(pintype_tp_pwm.index(firmptype))
                            self.widgets[p].set_active(0)
                            # only add the -a signal names for the user to change
                            if firmptype == TPPWMA:
                                self.widgets[complabel].set_text("%d:"%compnum)
                                self.widgets[p].set_sensitive(1)
                            # the rest the user can't change      
                            else:
                                self.widgets[complabel].set_text("")
                                self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = GPIOI
                        compnum = 0
                # ---SETUP SMART SERIAL COMPONENTS---
                # smart serial has port numbers (0-3) and channels (0-7).
                # so the component number check is different from other components it checks the port number and channel number
                elif firmptype in (TXDATA0,RXDATA0,TXEN0,TXDATA1,RXDATA1,TXEN1,TXDATA2,RXDATA2,TXEN2,TXDATA3,RXDATA3,TXEN3,
                                    TXDATA4,RXDATA4,TXEN4,TXDATA5,RXDATA5,TXEN5,TXDATA6,RXDATA6,TXEN6,TXDATA7,RXDATA7,TXEN7,
                                    SS7I76M0,SS7I76M2,SS7I76M3,SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4):
                    channelnum = 1
                    if firmptype in (TXDATA1,RXDATA1,TXEN1,SS7I77M1): channelnum = 2
                    if firmptype in (TXDATA2,RXDATA2,TXEN2,SS7I76M2): channelnum = 3
                    if firmptype in (TXDATA3,RXDATA3,TXEN3,SS7I76M3,SS7I77M3): channelnum = 4
                    if firmptype in (TXDATA4,RXDATA4,TXEN4,SS7I77M4): channelnum = 5
                    if firmptype in (TXDATA5,RXDATA5,TXEN5): channelnum = 6
                    if firmptype in (TXDATA6,RXDATA6,TXEN6): channelnum = 7
                    if firmptype in (TXDATA7,RXDATA7,TXEN7): channelnum = 8
                    #print "**** INFO: SMART SERIAL ENCODER:",firmptype," compnum = ",compnum
                    #print "sserial channel:%d"% numofsserialchannels
                    if numofsserialports >= (compnum + 1) and numofsserialchannels >= (channelnum):
                        # if the combobox is not already displaying the right component:
                        # then we need to set up the comboboxes for this pin, otherwise skip it
                        #if compnum < 5: # TODO hack - haven't made all the serial components in glade yet
                        #    self.widgets["mesa%dsserialtab%d"% (boardnum,compnum)].show()
                        self.widgets[pinv].set_sensitive(0)
                        self.widgets[pinv].set_active(0)
                        pmodel = self.widgets[p].set_model(self.data._sserialsignaltree)
                        ptmodel = self.widgets[ptype].set_model(self.data._sserialliststore)
                        self.widgets[ptype].set_active(pintype_sserial.index(firmptype))
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[p].set_active(0)
                        self.widgets[p].child.set_editable(False) # sserial cannot have custom names
                        if firmptype in (TXDATA0,TXDATA1,TXDATA2,TXDATA3,TXDATA4,SS7I76M0,SS7I76M2,SS7I76M3,SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4):
                            self.widgets[complabel].set_text("%d:"% (channelnum -1))
                            if channelnum < 6:#TODO fix hack hardcoded at 5 sserial channels
                                self.widgets[p].set_sensitive(1)
                            else:
                                self.widgets[p].set_sensitive(0)
                            # if the sserial ptype is 7i76 or 7i77 then the data must be set to 7i76/7i77 signal
                            # as that sserial instance can only be for the 7i76/7i77 I/O points
                            if firmptype in (SS7I76M0,SS7I76M2,SS7I76M3):
                                self.data[p] = I7I76_M0_T
                                self.data[ptype] = firmptype
                                self.widgets[p].set_sensitive(0)
                            elif firmptype in (SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4):
                                self.data[p] = I7I77_M0_T
                                self.data[ptype] = firmptype
                                self.widgets[p].set_sensitive(0)
                        else:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = GPIOI
                        compnum = 0
                # ---SETUP FOR STEPPER FAMILY COMPONENT---
                elif firmptype in (STEPA,STEPB):
                    if numofstepgens >= (compnum+1):
                        self.widgets[ptype].set_model(self.data._stepperliststore)
                        self.widgets[p].set_model(self.data._steppersignaltree)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[ptype].set_active( pintype_stepper.index(firmptype) )
                        self.widgets[p].set_active(0)
                        #self.widgets[p].set_active(0)
                        if firmptype == STEPA:
                            self.widgets[complabel].set_text("%d:"%compnum)
                            self.widgets[p].set_sensitive(1)
                        elif firmptype == STEPB:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = GPIOI
                        compnum = 0
                # ---SETUP FOR GPIO FAMILY COMPONENT---
                # first check to see if firmware says it should be in GPIO family
                # (note this can be because firmware says it should be some other 
                # type but the user wants to deselect it so as to use it as GPIO
                # this is done in the firmptype checks before this check. 
                # They will change firmptype variable to GPIOI)       
                # check if firmptype is in GPIO family
                # check if widget is already configured
                # we now set everything in a known state.
                if firmptype in (GPIOI,GPIOO,GPIOD):
                    widgettext = self.widgets[ptype].get_active_text()
                    if sserialflag:
                        if "7i77" in subboardname or "7i76" in subboardname:
                            if pin <16:
                                self.widgets[complabel].set_text("%02d:"%(pin)) # sserial input
                            elif (pin >23 and pin < 40):
                                self.widgets[complabel].set_text("%02d:"%(pin-8)) # sserial input
                            elif pin >15 and pin < 24:
                                self.widgets[complabel].set_text("%02d:"%(pin-16)) #sserial output
                            elif pin >39:
                                self.widgets[complabel].set_text("%02d:"%(pin-32)) #sserial output
                        elif "7i70" in subboardname or "7i71" in subboardname:
                            self.widgets[complabel].set_text("%02d:"%(pin))
                        else:
                            if pin <24 :
                                self.widgets[complabel].set_text("%02d:"%(concount*24+pin)) # sserial input
                            else:
                                self.widgets[complabel].set_text("%02d:"%(concount*24+pin-24)) #sserial output
                    elif '5i25' in currentboard:
                         self.widgets[complabel].set_text("%03d:"%(concount*17+pin))# 5i25 mainboard GPIO
                    else:
                         self.widgets[complabel].set_text("%03d:"%(concount*24+pin))# mainboard GPIO
                    if compnum == 100 and widgettext == firmptype:
                        return
                    elif not compnum == 100 and (widgettext in (GPIOI,GPIOO,GPIOD)):
                        return
                    else:
                        #self.widgets[ptype].show()
                        #self.widgets[p].show()
                        self.widgets[p].set_sensitive(1)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[ptype].set_sensitive(not compnum == 100) # compnum = 100 means GPIO cannot be changed by user
                        self.widgets[ptype].set_model(self.data._gpioliststore)
                        if firmptype == GPIOI:
                            # set pin treestore to gpioi signals
                            if not self.widgets[p].get_model() == self.data._gpioisignaltree:
                                self.widgets[p].set_model(self.data._gpioisignaltree)
                                # set ptype gpioi
                                self.widgets[ptype].set_active(0)
                                # set p unused signal
                                self.widgets[p].set_active(0)
                                # set pinv unset
                                self.widgets[pinv].set_active(False)
                        else:
                            if not self.widgets[p].get_model() == self.data._gpioosignaltree:
                                self.widgets[p].set_model(self.data._gpioosignaltree)
                                # set ptype gpioo
                                self.widgets[ptype].set_active(1)
                                # set p unused signal
                                self.widgets[p].set_active(0)
                                # set pinv unset
                                self.widgets[pinv].set_active(False)

    def mesa_mainboard_data_to_widgets(self,boardnum):
        for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
            for pin in range (0,24):
                firmptype,compnum = self.data["mesa%d_currentfirmwaredata"% boardnum][_STARTOFDATA+pin+(concount*24)]       
                p = 'mesa%dc%dpin%d' % (boardnum, connector, pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum, connector , pin)
                pinv = 'mesa%dc%dpin%dinv' % (boardnum, connector , pin)
                self.data_to_widgets(boardnum,firmptype,compnum,p,ptype,pinv)

    # by now the widgets should be right according to the firmware (and user deselected components)
    # now we apply the data - setting signalnames and possible changing the pintype choice (eg pwm to pdm)
    # We need to only set the 'controlling' signalname the pinchanged method will be called
    # immediately and set the 'related' pins (if there are related pins)
    def data_to_widgets(self,boardnum,firmptype,compnum,p,ptype,pinv):
                debug = False
                datap = self.data[p]
                dataptype = self.data[ptype]
                datapinv = self.data[pinv]
                widgetp = self.widgets[p].get_active_text()
                widgetptype = self.widgets[ptype].get_active_text()
                #print "**** INFO set-data-options DATA:",p,datap,dataptype
                #print "**** INFO set-data-options WIDGET:",p,widgetp,widgetptype
                # ignore related pins
                if widgetptype in (ENCB,ENCI,ENCM,
                                    MXEI,MXEM,MXES,
                                    RESU,
                                    STEPB,STEPC,STEPD,STEPE,STEPF,
                                    PDMD,PDME,PWMD,PWME,UDMD,UDME,
                                    TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF,
                                    NUSED,POTD,POTE,
                                    RXDATA0,TXEN0,RXDATA1,TXEN1,RXDATA2,TXEN2,RXDATA3,TXEN3,
                                    RXDATA4,TXEN4,RXDATA5,TXEN5,RXDATA6,TXEN6,RXDATA7,TXEN7
                                    ):
                    self.widgets[pinv].set_active(datapinv)
                    return

                # type GPIO
                # if compnum  = 100  then it means that the GPIO type can not
                # be changed from what the firmware designates it as.
                if widgetptype in (GPIOI,GPIOO,GPIOD):
                        #print "data ptype index:",pintype_gpio.index(dataptype)
                        #self.debug_iter(0,p,"data to widget")
                        #self.debug_iter(0,ptype,"data to widget")
                        # signal names for GPIO INPUT
                        #print "compnum = ",compnum
                        if compnum == 100: dataptype = widgetptype 
                        self.widgets[pinv].set_active(self.data[pinv])
                        try:
                            self.widgets[ptype].set_active( pintype_gpio.index(dataptype) )
                        except:
                            self.widgets[ptype].set_active( pintype_gpio.index(widgetptype) )
                        # if GPIOI or dataptype not in GPIO family force it GPIOI
                        if dataptype == GPIOI or dataptype not in(GPIOO,GPIOI,GPIOD):
                            human = human_input_names
                            signal = hal_input_names
                            tree = self.data._gpioisignaltree
                        # signal names for GPIO OUTPUT and OPEN DRAIN OUTPUT
                        elif dataptype in (GPIOO,GPIOD):
                            human = human_output_names
                            signal = hal_output_names
                            tree = self.data._gpioosignaltree
                        self.widgets[p].set_model(tree)
                        try:
                            signalindex = signal.index(datap)
                        except:
                            if debug: print "**** INFO: PNCCONF warning no GPIO signal named: %s\n       found for pin %s"% (datap , p)
                            signalindex = 0
                        #print "gpio temp ptype:",dataptype,datap,signalindex
                        count = 0
                        temp = (0) # set unused gpio if no match
                        if signalindex > 0:
                            for row,parent in enumerate(human):
                                if len(parent[1]) == 0:continue
                                for column,child in enumerate(parent[1]):
                                    count +=1
                                    #print row,column,count,parent[0],child
                                    if count == signalindex:
                                        #print "match",row,column
                                        break
                                if count >= signalindex:break
                            temp = (row,column)
                        treeiter = tree.get_iter(temp)
                        self.widgets[p].set_active_iter(treeiter)

                # type encoder / mux encoder
                elif widgetptype == ENCA or widgetptype in(MXE0,MXE1):
                    try:
                        signalindex = hal_encoder_input_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no ENCODER signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "ENC ->dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = -3
                    temp = (0) # set unused encoder if no match
                    if signalindex > 0:
                        for row,parent in enumerate(human_encoder_input_names):
                            if len(parent[1]) == 0:continue
                            for column,child in enumerate(parent[1]):
                                count +=4
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row,column
                                    break
                            if count >= signalindex:break
                        temp = (row,column)
                    #print temp
                    if widgetptype == ENCA:
                        treeiter = self.data._encodersignaltree.get_iter(temp)
                    else:
                        treeiter = self.data._muxencodersignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # type resolver
                elif widgetptype in(RES0,RES1,RES2,RES3,RES4,RES5,RESU):
                    try:
                        signalindex = hal_resolver_input_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no resolver signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = 0
                    temp = (0) # set unused resolver
                    if signalindex > 0:
                        for row,parent in enumerate(human_resolver_input_names):
                            if row == 0: continue
                            if len(parent[1]) == 0:
                                    count +=1
                                    #print row,count,"parent-",parent[0]
                                    if count == signalindex:
                                        #print "match",row
                                        temp = (row)
                                        break
                                    continue
                            for column,child in enumerate(parent[1]):
                                count +=1
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row
                                    temp = (row,column)
                                    break
                            if count >= signalindex:break
                    #print "temp",temp
                    treeiter = self.data._resolversignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # Type 8i20 AMP
                elif widgetptype == AMP8I20:
                    try:
                        signalindex = hal_8i20_input_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no 8i20 signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = 0
                    temp = (0) # set unused 8i20 amp
                    if signalindex > 0:
                        for row,parent in enumerate(human_8i20_input_names):
                            if row == 0: continue
                            if len(parent[1]) == 0:
                                    count +=1
                                    #print row,count,"parent-",parent[0]
                                    if count == signalindex:
                                        #print "match",row
                                        temp = (row)
                                        break
                                    continue
                            for column,child in enumerate(parent[1]):
                                count +=1
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row
                                    temp = (row,column)
                                    break
                            if count >= signalindex:break
                    #print "temp",temp
                    treeiter = self.data._8i20signaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # Type potentiometer (7i76"s spindle control)
                elif widgetptype in (POTO,POTE):
                    self.widgets[pinv].set_active(self.data[pinv])
                    try:
                        signalindex = hal_pot_output_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no potentiometer signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = -1
                    temp = (0) # set unused potentiometer
                    if signalindex > 0:
                        for row,parent in enumerate(human_pot_output_names):
                            if row == 0: continue
                            if len(parent[1]) == 0:
                                    count +=2
                                    #print row,count,"parent-",parent[0]
                                    if count == signalindex:
                                        #print "match",row
                                        temp = (row)
                                        break
                                    continue
                            for column,child in enumerate(parent[1]):
                                count +=2
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row
                                    temp = (row,column)
                                    break
                            if count >= signalindex:break
                    #print "temp",temp
                    treeiter = self.data._potsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # Type analog in
                elif widgetptype == ANALOGIN:
                    try:
                        signalindex = hal_analog_input_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no analog in signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = 0
                    temp = (0) # set unused
                    if signalindex > 0:
                        for row,parent in enumerate(human_analog_input_names):
                            if row == 0: continue
                            if len(parent[1]) == 0:
                                    count +=1
                                    #print row,count,"parent-",parent[0]
                                    if count == signalindex:
                                        #print "match",row
                                        temp = (row)
                                        break
                                    continue
                            for column,child in enumerate(parent[1]):
                                count +=1
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row
                                    temp = (row,column)
                                    break
                            if count >= signalindex:break
                    #print "temp",temp
                    treeiter = self.data._analoginsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # type PWM gen
                elif widgetptype in (PDMP,PWMP,UDMU):
                    self.widgets[pinv].set_active(datapinv)
                    if self.widgets["mesa%d_numof_resolvers"% boardnum].get_value(): dataptype = UDMU # hack resolver board needs UDMU
                    if dataptype == PDMP:
                        #print "pdm"
                        self.widgets[ptype].set_model(self.data._pdmcontrolliststore)
                        self.widgets[ptype].set_active(1)
                    elif dataptype == PWMP:
                        #print "pwm",self.data._pwmcontrolliststore
                        self.widgets[ptype].set_model(self.data._pwmcontrolliststore)
                        self.widgets[ptype].set_active(0)
                    elif dataptype == UDMU:
                        #print "udm",self.data._udmcontrolliststore
                        self.widgets[ptype].set_model(self.data._udmcontrolliststore)
                        self.widgets[ptype].set_active(2)
                    try:
                        signalindex = hal_pwm_output_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no PWM / PDM signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    count = -2
                    temp = (0) # set unused pwm
                    if signalindex > 0:
                        #print "\n parsing PWM names"
                        for row,parent in enumerate(human_pwm_output_names):
                            if row == 0: continue
                            if len(parent[1]) == 0:
                                    count += 3
                                    #print row,count,"parent-",parent[0]
                                    if count == signalindex:
                                        #print "match",row
                                        temp = (row)
                                        break
                                    continue
                            #print "parsing child"
                            for column,child in enumerate(parent[1]):
                                count +=3
                                #print row,column,count,parent[0],child
                                if count == signalindex:
                                    #print "match",row
                                    temp = (row,column)
                                    break
                            if count >= signalindex:break
                    #print "temp",temp
                    treeiter = self.data._pwmsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)
 
                # type tp 3 pwm for direct brushless motor control 
                elif widgetptype == TPPWMA:
                    #print "3 pwm"
                    count = -7
                    temp = (0) # set unused stepper
                    try:
                        signalindex = hal_tppwm_output_names.index(datap)
                    except:
                        if debug: print "**** INFO: PNCCONF warning no THREE PWM signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    #print "3 PWw ,dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    if signalindex > 0:
                       for row,parent in enumerate(human_tppwm_output_names):
                          if row == 0:continue
                          if len(parent[1]) == 0:
                             count += 8
                             #print row,count,parent[0]
                             if count == signalindex:
                                #print "match",row
                                temp = (row)
                                break
                             continue
                       for column,child in enumerate(parent[1]):
                           count +=8
                           #print row,column,count,parent[0],child
                           if count == signalindex:
                               #print "match",row
                               temp = (row,column)
                               break
                           if count >= signalindex:break
                    treeiter = self.data._tppwmsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # type step gen
                elif widgetptype == STEPA:
                    #print "stepper", dataptype
                    self.widgets[ptype].set_active(0)
                    self.widgets[p].set_active(0)
                    self.widgets[pinv].set_active(datapinv)
                    try:
                        signalindex = hal_stepper_names.index(self.data[p])
                    except:
                        if debug: print "**** INFO: PNCCONF warning no STEPPER signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    count = -5
                    temp = (0) # set unused stepper
                    #print "stepper,dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    if signalindex > 0:
                       for row,parent in enumerate(human_stepper_names):
                          if row == 0:continue
                          if len(parent[1]) == 0:
                             count += 6
                             #print row,count,parent[0]
                             if count == signalindex:
                                #print "match",row
                                temp = (row)
                                break
                             continue
                       for column,child in enumerate(parent[1]):
                           count +=6
                           #print row,column,count,parent[0],child
                           if count == signalindex:
                               #print "match",row
                               temp = (row,column)
                               break
                           if count >= signalindex:break
                    treeiter = self.data._steppersignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # type smartserial  
                elif widgetptype in( TXDATA0,SS7I76M0,SS7I77M0,SS7I77M3,TXDATA1,TXDATA2,TXDATA3,TXDATA4,TXDATA5,TXDATA6,TXDATA7,
                                    SS7I76M2,SS7I76M3,SS7I77M1,SS7I77M4):
                    #print "SMART SERIAL", dataptype,widgetptype
                    self.widgets[pinv].set_active(datapinv)
                    try:
                        signalindex = hal_sserial_names.index(self.data[p])
                    except:
                        if debug: print "**** INFO: PNCCONF warning no SMART SERIAL signal named: %s\n     found for pin %s"% (datap ,p)
                        signalindex = 0
                    count = -2
                    temp = (0) # set unused sserial
                    #print "sserial,dataptype:",self.data[ptype]," dataptype:",self.data[p],signalindex
                    if signalindex > 0:
                       for row,parent in enumerate(human_sserial_names):
                          if row == 0:continue
                          if len(parent[1]) == 0:
                             count += 3
                             #print row,count,parent[0]
                             if count == signalindex:
                                #print "match",row
                                temp = (row)
                                break
                             continue
                    treeiter = self.data._sserialsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                else:
                    print "**** WARNING: PNCCONF data to widget: ptype not recognized/match:",dataptype,widgetptype

    def fill_pintype_model(self):
        # notused
        self.data._notusedliststore = gtk.ListStore(str,int)
        self.data._notusedliststore.append([pintype_notused[0],0])
        # gpio
        self.data._gpioliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_gpio):
            self.data._gpioliststore.append([text,0])
        # stepper
        self.data._stepperliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_stepper):
            self.data._stepperliststore.append([text,number])
        # encoder
        self.data._encoderliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_encoder):
            self.data._encoderliststore.append([text,number])
        # mux encoder
        self.data._muxencoderliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_muxencoder):
            self.data._muxencoderliststore.append([text,number])
        # resolver
        self.data._resolverliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_resolver):
            self.data._resolverliststore.append([text,number])
        # 8i20 AMP
        self.data._8i20liststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_8i20):
            self.data._8i20liststore.append([text,number])
        # potentiometer output
        self.data._potliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_potentiometer):
            self.data._potliststore.append([text,number])
        # analog input
        self.data._analoginliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_analog_in):
            self.data._analoginliststore.append([text,number])
        # pwm
        self.data._pwmrelatedliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_pwm):
            self.data._pwmrelatedliststore.append([text,number])
        self.data._pwmcontrolliststore = gtk.ListStore(str,int)
        self.data._pwmcontrolliststore.append([pintype_pwm[0],0])
        self.data._pwmcontrolliststore.append([pintype_pdm[0],0])
        self.data._pwmcontrolliststore.append([pintype_udm[0],0])
        # pdm
        self.data._pdmrelatedliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_pdm):
            self.data._pdmrelatedliststore.append([text,number])
        self.data._pdmcontrolliststore = gtk.ListStore(str,int)
        self.data._pdmcontrolliststore.append([pintype_pwm[0],0])
        self.data._pdmcontrolliststore.append([pintype_pdm[0],0])
        self.data._pdmcontrolliststore.append([pintype_udm[0],0])
        # udm
        self.data._udmrelatedliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_udm):
            self.data._udmrelatedliststore.append([text,number])
        self.data._udmcontrolliststore = gtk.ListStore(str,int)
        self.data._udmcontrolliststore.append([pintype_pwm[0],0])
        self.data._udmcontrolliststore.append([pintype_pdm[0],0])
        self.data._udmcontrolliststore.append([pintype_udm[0],0])
        #tppwm
        self.data._tppwmliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_tp_pwm):
            self.data._tppwmliststore.append([text,number])
        #sserial
        self.data._sserialliststore = gtk.ListStore(str,int)
        for number,text in enumerate(pintype_sserial):
            self.data._sserialliststore.append([text,number])

    def fill_combobox_models(self):
        templist = [ ["_gpioosignaltree",human_output_names,1],["_gpioisignaltree",human_input_names,1],
                     ["_encodersignaltree",human_encoder_input_names,4],["_resolversignaltree",human_resolver_input_names,1],
                     ["_pwmsignaltree",human_pwm_output_names,3],["_tppwmsignaltree",human_tppwm_output_names,8],
                     ["_steppersignaltree",human_stepper_names,6],
                     ["_muxencodersignaltree",human_encoder_input_names,4],
                     ["_8i20signaltree",human_8i20_input_names,1], ["_potsignaltree",human_pot_output_names,2],
                     ["_analoginsignaltree",human_analog_input_names,1],["_sserialsignaltree",human_sserial_names,3]]
        for item in templist:
            #print "\ntype",item[0]
            count = 0
            end = len(item[1])-1
            self.data[item[0]]= gtk.TreeStore(str,int)
            for i,parent in enumerate(item[1]):
                if len(parent[1]) == 0:
                    # if combobox has a 'custom' signal choice then the index must be 0
                    if i == end and not item[0] =="_sserialsignaltree":temp = 0 
                    else:temp = count
                    #print parent,temp,count
                    #print "length of human names:",len(parent[1])
                    # this adds the index number (temp) of the signal
                    piter = self.data[item[0]].append(None, [parent[0], temp])
                    if count == 0: count = 1
                    else: count +=item[2]
                else:
                    #print "parsing child"
                    piter = self.data[item[0]].append(None, [parent[0],0])
                    for j,child in enumerate(parent[1]):
                        #print i,count,parent[0],child
                        self.data[item[0]].append(piter, [child, count])
                        count +=item[2]
        self.data._notusedsignaltree = gtk.TreeStore(str,int)
        self.data._notusedsignaltree.append(None, [human_notused_names[0][0],0])

    # This is for when a user picks a signal name or creates a custom signal (by pressing enter)
    # if searches for the 'related pins' of a component so it can update them too
    # it also handles adding and updating custom signal names
    # it is used for mesa boards and parport boards according to boardtype
    def on_general_pin_changed(self, widget, boardtype, boardnum, connector, channel, pin, custom):
                if boardtype == "sserial":
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum,connector,channel,pin)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum,connector,channel,pin)
                    widgetptype = self.widgets[ptype].get_active_text()
                    #print "pinchaned-",p
                elif boardtype == "mesa":
                    p = 'mesa%dc%dpin%d' % (boardnum,connector,pin)
                    ptype = 'mesa%dc%dpin%dtype' % (boardnum,connector,pin)
                    widgetptype = self.widgets[ptype].get_active_text()
                elif boardtype == "parport":
                    p = '%s%s%d' % (boardnum,connector, pin)
                    #print p
                    if "I" in p: widgetptype = GPIOI
                    else: widgetptype = GPIOO
                pinchanged =  self.widgets[p].get_active_text()
                piter = self.widgets[p].get_active_iter()
                #print "generalpin changed",p
                #print "*** INFO ",boardtype,"-pin-changed: pin:",p,"custom:",custom
                #print "*** INFO ",boardtype,"-pin-changed: ptype:",widgetptype,"pinchaanged:",pinchanged
                if piter == None and not custom:
                    #print "*** INFO ",boardtype,"-pin-changed: no iter and not custom"
                    return
                if widgetptype in (ENCB,ENCI,ENCM,
                                    MXEI,MXEM,MXES,
                                    RESU,
                                    STEPB,STEPC,STEPD,STEPE,STEPF,
                                    PDMD,PDME,PWMD,PWME,UDMD,UDME,
                                    TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF,
                                    RXDATA0,TXEN0,RXDATA1,TXEN1,RXDATA2,TXEN2,RXDATA3,TXEN3,
                                    POTE,POTD
                                    ):return
                # for GPIO output
                if widgetptype in (GPIOO,GPIOD):
                    #print"ptype GPIOO\n"
                    signaltree = self.data._gpioosignaltree
                    halsignallist = hal_output_names
                    humansignallist = human_output_names
                    addsignalto = self.data.haloutputsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = 10
                # for GPIO input
                elif widgetptype == GPIOI:
                    #print"ptype GPIOI\n"
                    signaltree = self.data._gpioisignaltree
                    halsignallist = hal_input_names
                    humansignallist = human_input_names
                    addsignalto = self.data.halinputsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = 16
                # for stepgen pins
                elif widgetptype == STEPA:
                    #print"ptype step\n"
                    signaltree = self.data._steppersignaltree
                    halsignallist = hal_stepper_names
                    humansignallist = human_stepper_names
                    addsignalto = self.data.halsteppersignames
                    relatedsearch = [STEPA,STEPB,STEPC,STEPD,STEPE,STEPF]
                    relatedending = ["-step","-dir","-c","-d","-e","-f"]
                    customindex = 6
                # for encoder pins
                elif widgetptype == ENCA: 
                    #print"\nptype encoder"
                    signaltree = self.data._encodersignaltree
                    halsignallist = hal_encoder_input_names
                    humansignallist = human_encoder_input_names
                    addsignalto = self.data.halencoderinputsignames
                    relatedsearch = [ENCA,ENCB,ENCI,ENCM]
                    relatedending = ["-a","-b","-i","-m"]
                    customindex = 4
                # for mux encoder pins
                elif widgetptype in(MXE0,MXE1): 
                    #print"\nptype encoder"
                    signaltree = self.data._muxencodersignaltree
                    halsignallist = hal_encoder_input_names
                    humansignallist = human_encoder_input_names
                    addsignalto = self.data.halencoderinputsignames
                    relatedsearch = ["dummy","dummy","dummy","dummy",]
                    relatedending = ["-a","-b","-i","-m"]
                    customindex = 4
                # resolvers 
                elif widgetptype in (RES0,RES1,RES2,RES3,RES4,RES5):
                    signaltree = self.data._resolversignaltree
                    halsignallist = hal_resolver_input_names
                    humansignallist = human_resolver_input_names
                    addsignalto = self.data.halresolversignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = 1
                # 8i20 amplifier 
                elif widgetptype == AMP8I20:
                    signaltree = self.data._8i20signaltree
                    halsignallist = hal_8i20_input_names
                    humansignallist = human_8i20_input_names
                    addsignalto = self.data.hal8i20signames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = 1
                # potentiometer output
                elif widgetptype == POTO:
                    signaltree = self.data._potsignaltree
                    halsignallist = hal_pot_output_names
                    humansignallist = human_pot_output_names
                    addsignalto = self.data.halpotsignames
                    relatedsearch = [POTO,POTE]
                    relatedending = ["-output","-enable"]
                    customindex = 2
                # analog input
                elif widgetptype == ANALOGIN:
                    signaltree = self.data._analoginsignaltree
                    halsignallist = hal_analog_input_names
                    humansignallist = human_analog_input_names
                    addsignalto = self.data.halanaloginsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = 1
                # for PWM,PDM,UDM pins
                elif widgetptype in(PWMP,PDMP,UDMU): 
                    #print"ptype pwmp\n"
                    signaltree = self.data._pwmsignaltree
                    halsignallist = hal_pwm_output_names
                    humansignallist = human_pwm_output_names
                    addsignalto = self.data.halpwmoutputsignames
                    relatedsearch = [PWMP,PWMD,PWME]
                    relatedending = ["-pulse","-dir","-enable"]
                    customindex = 6
                elif widgetptype == TPPWMA: 
                    #print"ptype pdmp\n"
                    signaltree = self.data._tppwmsignaltree
                    halsignallist = hal_tppwm_output_names
                    humansignallist = human_tppwm_output_names
                    addsignalto = self.data.haltppwmoutputsignames
                    relatedsearch = [TPPWMA,TPPWMB,TPPWMC,TPPWMAN,TPPWMBN,TPPWMCN,TPPWME,TPPWMF]
                    relatedending = ["-a","-b","c","-anot","-bnot","cnot","-enable","-fault"]
                    customindex = 6
                elif widgetptype in (TXDATA0,TXDATA1,TXDATA2,TXDATA3,TXDATA4,SS7I76M0,SS7I76M3,SS7I76M2,SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4):
                    portnum = 0 #TODO support more ports
                    for count,temp in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
                        if connector == temp:
                            firmptype,portnum = self.data["mesa%d_currentfirmwaredata"% boardnum][_STARTOFDATA+pin+(count*24)]
                            if widgetptype in (TXDATA0,SS7I76M0,SS7I77M0): channelnum = 0
                            elif widgetptype in (TXDATA1,SS7I77M1): channelnum = 1
                            elif widgetptype in (TXDATA2,SS7I76M2): channelnum = 2
                            elif widgetptype in (TXDATA3,SS7I77M3,SS7I76M3): channelnum = 3
                            elif widgetptype in (TXDATA4,SS7I77M4): channelnum = 4
                            if self.widgets[p].get_active_text() == _("Unused Channel"):
                                self.widgets["mesa%dsserial0_%d"% (boardnum,channelnum)].hide()
                                self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "none"
                                return
                            else:
                                self.widgets["mesa%dsserial0_%d"% (boardnum,channelnum)].show()
                                # TODO we should search for these names rather then use hard coded logic
                                # so as to make adding cards easier
                                temp = self.widgets[p].get_active_text()
                                table = "mesa%dsserial%d_%dtable2"% (boardnum, portnum, channelnum)
                                self.widgets[table].show()
                                table = "mesa%dsserial%d_%dtable3"% (boardnum, portnum, channelnum)
                                self.widgets[table].show()
                                if "7i76" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i76-m0"
                                elif "7i64" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i64"
                                elif "7i69" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i69"
                                    self.widgets[table].hide()
                                elif "7i70" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i70"
                                    self.widgets[table].hide()
                                elif "7i71" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i71"
                                    self.widgets[table].hide()
                                elif "7i73" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i73-m1"
                                elif "7i77" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "7i77-m0"
                                    if channelnum in(0,3):
                                        self.widgets[table].hide()
                                    elif channelnum in(1,4):
                                        table = "mesa%dsserial%d_%dtable2"% (boardnum, portnum, channelnum)
                                        self.widgets[table].hide()
                                        table = "mesa%dsserial%d_%dtable1"% (boardnum, portnum, channelnum)
                                        self.widgets[table].hide()
                                elif "8i20" in temp:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "8i20"
                                    self.widgets[table].hide()
                                    table = "mesa%dsserial%d_%dtable2"% (boardnum, portnum, channelnum)
                                    self.widgets[table].hide()
                                else:
                                    self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)] = "none"
                                    self.widgets[table].hide()
                                    table = "mesa%dsserial%d_%dtable2"% (boardnum, portnum, channelnum)
                                    self.widgets[table].hide()
                                    table = "mesa%dsserial%d_%dtable1"% (boardnum, portnum, channelnum)
                                    self.widgets[table].hide()
                                    return
                                # set sserial tab names to corresond to connector numbers so users have a clue
                                # first we have to find the daughter board in pncconf's internal list
                                # TODO here we search the list- this should be done for the table names see above todo
                                subfirmname = self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)]
                                for subnum,temp in enumerate(mesadaughterdata):
                                    if mesadaughterdata[subnum][_SUBFIRMNAME] == subfirmname: break
                                subconlist = mesadaughterdata[subnum][_SUBCONLIST]
                                # now search the connector list and write it to the tab names
                                for tabnum in range(0,3):
                                    conname = subconlist[tabnum]
                                    tab = "mesa%dsserial%d_%dtab%d"% (boardnum, portnum, channelnum,tabnum)
                                    self.widgets[tab].set_text(conname)

                                #print p,temp," set at",self.data["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channelnum)]
                                self.set_sserial_options(boardnum,portnum,channelnum)
                                return
                    return
                else:
                    print"**** INFO: pncconf on_general_pin_changed:  pintype not found:%s\n"% widgetptype
                    return   
                # *** change the related pin's signal names ***
                     
                # see if the piter is none - if it is a custom names has been entered
                # else find the signal name index number if the index is zero set the piter to unused signal
                # this is a work around for thye combo box allowing the parent to be shown and selected in the
                # child column haven\t figured out how to stop that #TODO
                # either way we have to search the current firmware array for the pin numbers of the related
                # pins so we can change them to the related signal name 
                # all signal names have related signal (eg encoders have A and B phase and index and index mask)
                # except 'unused' signal it is a special case as there is no related signal names with it.
                if piter == None or custom:
                    #print "*** INFO ",boardtype,"-pin-changed: PITER:",piter," length:",len(signaltree)
                    if pinchanged in (addsignalto):return
                    for i in (humansignallist):
                        if pinchanged == i[0]:return
                        if pinchanged in i[1]:return
                    length = len(signaltree)
                    index = len(halsignallist) - len(relatedsearch)
                    customiter = signaltree.get_iter((length-1,))
                    childiter = signaltree.iter_nth_child(customiter, 0)
                    n = 0
                    while childiter:
                        dummy, index = signaltree.get(childiter, 0, 1)
                        n+=1
                        childiter = signaltree.iter_nth_child(customiter, n)
                    index += len(relatedsearch)
                    
                else:
                    dummy, index = signaltree.get(piter, 0, 1)
                    if index == 0:
                        piter = signaltree.get_iter_first()
                #print "*** INFO ",boardtype,"-pin-changed: index",index
                # This finds the pin type and component number of the pin that has changed
                pinlist = []
                # this components have no related pins - fake the list
                if widgetptype in(GPIOI,GPIOO,GPIOD,MXE0,MXE1,RES0,RES1,RES2,RES3,RES4,RES5,AMP8I20,ANALOGIN):
                    pinlist = [["%s"%p,boardnum,connector,channel,pin]]
                else:
                    pinlist = self.data.list_related_pins(relatedsearch, boardnum, connector, channel, pin, 0)
                #print pinlist
                # Now we have a list of pins that need to be updated
                # first check if the name is a custom name if it is
                #   add the legalized custom name to ;
                #   addsignalto -> for recording custom names for next time loaded
                #   signalsto check -> for making signal names (we add different endings for different signalnames
                #   signaltree -> for display in the gui - itis automatically added to all comboboxes that uses this treesort
                # then go through the pinlist:
                # block signals
                # display the proper text depending if custom or not
                # then unblock signals
                if custom:
                    legal_name = pinchanged.replace(" ","_")
                    addsignalto.append ((legal_name))
                    #print "add"+legal_name+"to human list"
                    humansignallist[customindex][1].append ((legal_name))
                    endoftree = len(signaltree)-1
                    customiter = signaltree.get_iter((endoftree,))
                    newiter = signaltree.append(customiter, [legal_name,index])
                    for offset,i in enumerate(relatedsearch):
                        with_endings = legal_name + relatedending[offset]
                        #print "new signal:",with_endings
                        halsignallist.append ((with_endings))
                for data in(pinlist):
                    if boardtype == "mesa":
                        blocksignal1 = "_mesa%dsignalhandlerc%ipin%i" % (data[1], data[2], data[4])
                        blocksignal2 = "_mesa%dactivatehandlerc%ipin%i"  % (data[1], data[2], data[4])
                    if boardtype == "sserial":
                        blocksignal1 = "_mesa%dsignalhandlersserial%i_%ipin%i" % (data[1], data[2], data[3], data[4])
                        blocksignal2 = "_mesa%dactivatehandlersserial%i_%ipin%i"  % (data[1], data[2], data[3],data[4])
                    elif boardtype =="parport":
                        blocksignal1 = "_%s%s%dsignalhandler" % (data[1], data[2], data[4])
                        blocksignal2 = "_%s%s%dactivatehandler"  % (data[1], data[2], data[4])
                    self.widgets[data[0]].handler_block(self.data[blocksignal1])
                    self.widgets[data[0]].child.handler_block(self.data[blocksignal2])
                    if custom:
                        self.widgets[data[0]].set_active_iter(newiter)
                    else:
                        self.widgets[data[0]].set_active_iter(piter)

                    self.widgets[data[0]].child.handler_unblock(self.data[blocksignal2])
                    self.widgets[data[0]].handler_unblock(self.data[blocksignal1])
                #self.debug_iter(0,p,"pin changed")
                #if boardtype == "mesa": self.debug_iter(0,ptype,"pin changed")

    def on_pp1pport_prepare(self, *args):
        self.data.help = 5
        self.in_pport_prepare = True
        self.prepare_parport("pp1")
        c = self.data.pp1_direction
        if c:
            self.widgets.pp1pport.set_title(_("First Parallel Port set for OUTPUT"))
        else:
            self.widgets.pp1pport.set_title(_("First Parallel Port set for INPUT"))   

    def on_pp1pport_next(self, *args):
        self.next_parport("pp1")
        if self.data.number_pports<2:
            self.widgets.druid1.set_page(self.widgets.xaxismotor)
            return True

    def on_pp1pport_back(self, *args):
        if self.data.number_mesa == 2:
            self.widgets.druid1.set_page(self.widgets.mesa1)
            return True
        elif self.data.number_mesa == 1:
            self.widgets.druid1.set_page(self.widgets.mesa0)
            return True
        elif not self.data.number_mesa:
            self.widgets.druid1.set_page(self.widgets.GUIconfig)
            return True

    def on_pp2pport_prepare(self, *args):
         self.data.help = 5
         self.prepare_parport("pp2")
         c = self.data.pp2_direction
         if c:
            self.widgets.pp2pport.set_title(_("Second Parallel Port set for OUTPUT"))
         else:
            self.widgets.pp2pport.set_title(_("Second Parallel Port set for INPUT"))

    def on_pp2pport_next(self, *args):
        self.next_parport("pp2")
        if self.data.number_pports<3:
                self.widgets.druid1.set_page(self.widgets.xaxismotor)
                return True

    def on_pp3pport_prepare(self, *args):
         self.prepare_parport("pp3")
         c = self.data.pp3_direction
         if c:
                self.widgets.pp3pport.set_title(_("Third Parallel Port set for OUTPUT"))
         else:
                self.widgets.pp3pport.set_title(_("Third Parallel Port set for INPUT"))
  
    def on_pp3pport_next(self, *args):
        self.data.help = 5
        self.next_parport("pp3")

    def prepare_parport(self,portname):
        self.data.help = "help-parport.txt"
        def set_combo(dataptype,p):
        # signal names for GPIO INPUT
            datap = self.data[p]
            if dataptype == GPIOI:
                human = human_input_names
                signal = hal_input_names
                tree = self.data._gpioisignaltree
                # signal names for GPIO OUTPUT and OPEN DRAIN OUTPUT
            elif dataptype in (GPIOO,GPIOD):
                human = human_output_names
                signal = hal_output_names
                tree = self.data._gpioosignaltree
            self.widgets[p].set_model(tree)
            # an error probably means the signal name cannot be found
            # set it as unused rather then error
            try:
                signalindex = signal.index(datap)
            except:
                signalindex = 0
                print "**** INFO: PNCCONF warning no GPIO signal named: %s\n       found for pin %s"% (datap , p)
            #print "gpio temp ptype:",dataptype,datap,signalindex
            count = 0
            temp = (0) # set unused gpio if no match
            if signalindex > 0:
                for row,parent in enumerate(human):
                    if len(parent[1]) == 0:continue
                    for column,child in enumerate(parent[1]):
                        count +=1
                        #print row,column,count,parent[0],child
                        if count == signalindex:
                            #print "match",row,column
                            break
                    if count >= signalindex:break
                temp = (row,column)
            treeiter = tree.get_iter(temp)
            self.widgets[p].set_active_iter(treeiter)

        for pin in (1,2,3,4,5,6,7,8,9,14,16,17):
            p = '%sOpin%d' % (portname,pin)
            set_combo(GPIOO,p)
            p = '%sOpin%dinv' % (portname, pin)
            self.widgets[p].set_active(self.data[p])
        for pin in (2,3,4,5,6,7,8,9,10,11,12,13,15):
            p = '%sIpin%d' % (portname, pin)
            set_combo(GPIOI,p)
            p = '%sIpin%dinv' % (portname, pin)
            self.widgets[p].set_active(self.data[p])
        self.in_pport_prepare = False
        c = self.data[portname+"_direction"]
        for pin in (2,3,4,5,6,7,8,9):
            p = '%sOpin%dlabel' % (portname, pin)
            self.widgets[p].set_sensitive(c)
            p = '%sOpin%dinv' % (portname, pin)
            self.widgets[p].set_sensitive(c)
            p = '%sOpin%d' % (portname, pin)
            self.widgets[p].set_sensitive(c)
            if not c :self.widgets[p].set_active(hal_output_names.index("unused-output"))
            p = '%sIpin%dlabel' % (portname, pin)
            self.widgets[p].set_sensitive(not c)
            p = '%sIpin%d' % (portname, pin)
            self.widgets[p].set_sensitive(not c)
            if c :self.widgets[p].set_active(hal_input_names.index("unused-input"))
            p = '%sIpin%dinv' % (portname, pin)
            self.widgets[p].set_sensitive(not c)

    def next_parport(self,portname):
        def push_data(port,direction,pin,pinv,signaltree,signaltocheck):
            p = '%s%s%d' % (port, direction, pin)
            piter = self.widgets[p].get_active_iter()
            selection = self.widgets[p].get_active_text()
            # **Start widget to data Convertion**                    
            if piter == None:# means new custom signal name and user never pushed enter
                    #print "callin pin changed !!!"
                    self.on_general_pin_changed( None,"parport", port, direction, None, pin, True)
                    selection = self.widgets[p].get_active_text()
                    piter = self.widgets[p].get_active_iter()
                    #print "found signame -> ",selection," "
            # ok we have a piter with a signal type now- lets convert it to a signalname
            #print "**** INFO parport-data-transfer piter:",piter
            #self.debug_iter(piter,p,"signal")
            dummy, index = signaltree.get(piter,0,1)
            #print "signaltree: ",dummy
            self.data[p] = signaltocheck[index]
            self.data[pinv] = self.widgets[pinv].get_active()

        #check input pins
        for pin in (2,3,4,5,6,7,8,9,10,11,12,13,15):
            direction = "Ipin"         
            pinv = '%sIpin%dinv' % (portname, pin)
            signaltree = self.data._gpioisignaltree
            signaltocheck = hal_input_names
            push_data(portname,direction,pin,pinv,signaltree,signaltocheck)

        # check output pins
        for pin in (1,2,3,4,5,6,7,8,9,14,16,17):           
            direction = "Opin"
            pinv = '%sOpin%dinv' % (portname, pin)
            signaltree = self.data._gpioosignaltree
            signaltocheck = hal_output_names
            push_data(portname,direction,pin,pinv,signaltree,signaltocheck)

    def on_parportpanel_clicked(self, *args):self.parporttest(self)
        
    def signal_sanity_check(self, *args):
        warnings = []
        do_warning = False
        for i in self.data.available_axes:
            tppwm = pwm = amp_8i20 = False
            step = self.data.findsignal(i+"-stepgen-step")
            step2 = self.data.findsignal(i+"2-stepgen-step")
            enc = self.data.findsignal(i+"-encoder-a")
            resolver = self.data.findsignal(i+"-resolver")
            if self.data.findsignal("%s-8i20"% i): amp_8i20 = pwm =True
            if self.data.findsignal(i+"-pwm-pulse"): pwm = True
            if self.data.findsignal(i+"-tppwm-a"): tppwm = pwm = True
            #print "signal sanity check: axis",i,"\n    pwm = ",pwm,"\n    3pwm =",tppwm,"\n    encoder =",enc,"\n    step=",step
            if i == 's':
                if step and pwm:
                    warnings.append(_("You can not have both steppers and pwm signals for spindle control\n") )
                    do_warning = True
                continue
            if not step and not pwm:
                warnings.append(_("You forgot to designate a stepper or pwm signal for axis %s\n")% i)
                do_warning = True
            if pwm and not (enc or resolver):
                warnings.append(_("You forgot to designate an encoder /resolver signal for axis %s servo\n")% i)
                do_warning = True
            if enc and not pwm and not step: 
                warnings.append(_("You forgot to designate a pwm signal or stepper signal for axis %s\n")% i)
                do_warning = True
            if step and pwm: 
                warnings.append(_("You can not have both steppers and pwm signals for axis %s\n")% i)
                do_warning = True
            if step2 and not step: 
                warnings.append(_("If using a tandem axis stepper, you must select a master stepgen for axis %s\n")% i)
                do_warning = True

        if self.data.frontend == _TOUCHY:# TOUCHY GUI
            abort = self.data.findsignal("abort")
            cycle = self.data.findsignal("cycle-start")
            single = self.data.findsignal("single-step")
            mpg = self.data.findsignal("select-mpg-a")
            if not cycle: 
                warnings.append(_("Touchy require an external cycle start signal\n"))
                do_warning = True
            if not abort: 
                warnings.append(_("Touchy require an external abort signal\n"))
                do_warning = True
            if not single: 
                warnings.append(_("Touchy require an external single-step signal\n"))
                do_warning = True
            if not mpg: 
                warnings.append(_("Touchy require an external multi handwheel MPG encoder signal on the mesa page\n"))
                do_warning = True
            if not self.data.externalmpg:
                warnings.append(_("Touchy require 'external mpg jogging' to be selected on the external control page\n"))
                do_warning = True
            if self.data.multimpg:
                warnings.append(_("Touchy require the external mpg to be in 'shared mpg' mode on the external controls page\n"))
                do_warning = True
            if self.data.incrselect:
                warnings.append(_("Touchy require selectable increments to be unchecked on the external controls page\n"))
                do_warning = True
        for boardnum in range(0,int(self.data.number_mesa)):
            if self.data["mesa%d_sanity_7i29"%boardnum]:
                warnings.append(_("The 7i29 daughter board requires PWM type generators and a PWM base frequency of 20 khz\n"))
                do_warning = True
            if self.data["mesa%d_sanity_7i30"%boardnum]:
                warnings.append(_("The 7i30 daughter board requires PWM type generators and a PWM base frequency of 20 khz\n"))
                do_warning = True
            if self.data["mesa%d_sanity_7i33"%boardnum]:
                warnings.append(_("The 7i33 daughter board requires PDM type generators and a PDM base frequency of 6 Mhz\n"))
                do_warning = True
            if self.data["mesa%d_sanity_7i40"%boardnum]:
                warnings.append(_("The 7i40 daughter board requires PWM type generators and a PWM base frequency of 50 khz\n"))
                do_warning = True
            if self.data["mesa%d_sanity_7i48"%boardnum]:
                warnings.append(_("The 7i48 daughter board requires UDM type generators and a PWM base frequency of 24 khz\n"))
                do_warning = True

        if do_warning: self.warning_dialog("\n".join(warnings),True)

    def on_xaxismotor_prepare(self, *args):
        self.data.help = "help-axismotor.txt"
        self.axis_prepare('x')
    def on_xaxismotor_next(self, *args):  
        self.data.help = "help-axisconfig.txt"   
        self.axis_done('x')
        self.widgets.druid1.set_page(self.widgets.xaxis)
        return True
    def on_xaxismotor_back(self, *args):
        self.axis_done('x')  
        if self.data.number_pports==1:
                self.widgets.druid1.set_page(self.widgets.pp1pport)
                return True
        elif self.data.number_pports==2:
                self.widgets.druid1.set_page(self.widgets.pp2pport)
                return True
        elif self.data.number_pports==3:
                self.widgets.druid1.set_page(self.widgets.pp3pport)
                return True
        elif self.data.number_mesa == 2:
                self.widgets.druid1.set_page(self.widgets.mesa1)
                return True   
        elif self.data.number_mesa == 1:
                self.widgets.druid1.set_page(self.widgets.mesa0)
                return True 
 
    def on_yaxismotor_prepare(self, *args):
        self.data.help = "help-axismotor.txt"
        self.axis_prepare('y')
    def on_yaxismotor_next(self, *args):
        self.data.help = "help-axisconfig.txt"
        self.axis_done('y')
        self.widgets.druid1.set_page(self.widgets.yaxis)
        return True
    def on_yaxismotor_back(self, *args):      
        self.axis_done('y')  
        self.widgets.druid1.set_page(self.widgets.xaxis)
        return True
    
    def on_zaxismotor_prepare(self, *args):
        self.data.help = "help-axismotor.txt"
        self.axis_prepare('z')
    def on_zaxismotor_next(self, *args):
        self.data.help = "help-axisconfig.txt"
        self.axis_done('z')
        self.widgets.druid1.set_page(self.widgets.zaxis)
        return True
    def on_zaxismotor_back(self, *args):   
        self.axis_done('z')  
        if self.data.axes == 2:
            self.widgets.druid1.set_page(self.widgets.xaxis)
            return True    
        else:
            self.widgets.druid1.set_page(self.widgets.yaxis)
            return True

    def on_aaxismotor_prepare(self, *args):
        self.data.help = "help-axismotor.txt"
        self.axis_prepare('a')
    def on_aaxismotor_next(self, *args):
        self.data.help = "help-axisconfig.txt"
        self.axis_done('a')
        self.widgets.druid1.set_page(self.widgets.aaxis)
        return True
    def on_aaxismotor_back(self, *args):   
        self.axis_done('a')      
        self.widgets.druid1.set_page(self.widgets.zaxis)
        return True

    def on_xcalculatescale_clicked(self, *args): self.calculate_scale('x')
    def on_ycalculatescale_clicked(self, *args): self.calculate_scale('y')
    def on_zcalculatescale_clicked(self, *args): self.calculate_scale('z')
    def on_acalculatescale_clicked(self, *args): self.calculate_scale('a')
    def on_scalculatescale_clicked(self, *args): self.calculate_scale('s')

    def axis_prepare(self, axis):
        d = self.data
        w = self.widgets
        def set_text(n): w[axis + n].set_text("%s" % d[axis + n])
        def set_value(n): w[axis + n].set_value(d[axis + n])
        def set_active(n): w[axis + n].set_active(d[axis + n])
        stepdriven = encoder = pwmgen = resolver = tppwm = digital_at_speed = amp_8i20 = False
        spindlepot = sserial_scaling = False
        if self.data.findsignal("%s-8i20"% axis):amp_8i20 = True
        if self.data.findsignal("spindle-at-speed"): digital_at_speed = True
        if self.data.findsignal(axis+"-stepgen-step"): stepdriven = True
        if self.data.findsignal(axis+"-encoder-a"): encoder = True
        if self.data.findsignal(axis+"-resolver"): encoder = resolver = True
        temp = self.data.findsignal(axis+"-pwm-pulse")
        if temp:
            pwmgen = True
            pinname = self.data.make_pinname(temp)
            if "analog" in pinname: sserial_scaling = True
        if self.data.findsignal(axis+"-tppwm-a"): pwmgen = tppwm = True
        if self.data.findsignal(axis+"-pot-output"): spindlepot = sserial_scaling = True

        model = w[axis+"drivertype"].get_model()
        model.clear()
        for i in drivertypes:
            model.append((i[1],))
        model.append((_("Custom"),))   
        w["steprev"].set_text("%s" % d[axis+"steprev"])
        w["microstep"].set_text("%s" % d[axis +"microstep"])
        set_value("P")
        set_value("I")
        set_value("D")
        set_value("FF0")
        set_value("FF1")
        set_value("FF2")
        set_value("bias")
        set_value("deadband")
        set_value("steptime")
        set_value("stepspace")
        set_value("dirhold")
        set_value("dirsetup")
        set_value("outputscale")
        set_value("outputminlimit")
        set_value("outputmaxlimit")
        set_value("3pwmscale")
        set_value("3pwmdeadtime")
        set_active("invertmotor")
        set_active("invertencoder")
        set_value("maxoutput")
        if amp_8i20:
            w[axis + "bldc_option"].set_active(True)
        else:
            set_active("bldc_option")
        
        set_active("bldc_no_feedback")
        set_active("bldc_absolute_feedback")
        set_active("bldc_incremental_feedback")
        set_active("bldc_use_hall")
        set_active("bldc_use_encoder" )
        set_active("bldc_use_index")
        set_active("bldc_fanuc_alignment")
        set_active("bldc_digital_output")
        set_active("bldc_six_outputs")
        set_active("bldc_emulated_feedback")
        set_active("bldc_output_hall")
        set_active("bldc_output_fanuc")
        set_active("bldc_force_trapz")

        set_active("bldc_reverse")
        set_value("bldc_scale")
        set_value("bldc_poles")
        set_value("bldc_lead_angle")
        set_value("bldc_inital_value")
        set_value("bldc_encoder_offset")
        set_value("bldc_drive_offset")
        set_value("bldc_pattern_out")
        set_value("bldc_pattern_in")
        set_value("8i20maxcurrent")

        w["motor_pulleydriver"].set_value(d[axis +"motor_pulleydriver"])
        w["motor_pulleydriven"].set_value(d[axis +"motor_pulleydriven"])
        w["encoder_pulleydriver"].set_value(d[axis +"encoder_pulleydriver"])
        w["encoder_pulleydriven"].set_value(d[axis +"encoder_pulleydriven"])
        w["motor_leadscrew_tpi"].set_value(d[axis +"motor_leadscrew_tpi"])
        w["encoder_leadscrew_tpi"].set_value(d[axis +"encoder_leadscrew_tpi"])
        w["motor_leadscrew"].set_value(d[axis +"motor_leadscrew"])
        w["encoder_leadscrew"].set_value(d[axis +"encoder_leadscrew"])
        w["encoderline"].set_value((d[axis+"encodercounts"]/4))
        set_text("encodercounts")
        set_value("stepscale")
        set_value("encoderscale")
        w[axis+"maxvel"].set_value(d[axis+"maxvel"]*60)
        set_value("maxacc")
        if encoder and not axis == "s":
            w[axis + "servo_info"].show()
        else:
            w[axis + "servo_info"].hide()
        if stepdriven:
            w[axis + "output_info"].hide()
        else:
            w[axis + "output_info"].show()
        w[axis + "invertencoder"].set_sensitive(encoder)
        w[axis + "encoderscale"].set_sensitive(encoder)
        w[axis + "stepscale"].set_sensitive(stepdriven)
        if stepdriven:
            w[axis + "stepper_info"].show()
        else:
            w[axis + "stepper_info"].hide()
        if pwmgen or spindlepot:
            w[axis + "outputscale"].show()
            w[axis + "outputscalelabel"].show()
        else:
            w[axis + "outputscale"].hide()
            w[axis + "outputscalelabel"].hide()
        if sserial_scaling:
            w[axis + "outputminlimit"].show()
            w[axis + "outputminlimitlabel"].show()
            w[axis + "outputmaxlimit"].show()
            w[axis + "outputmaxlimitlabel"].show()
        else:
            w[axis + "outputminlimit"].hide()
            w[axis + "outputminlimitlabel"].hide()
            w[axis + "outputmaxlimit"].hide()
            w[axis + "outputmaxlimitlabel"].hide()
        if pwmgen or amp_8i20: w[axis + "bldcframe"].show()
        else: w[axis + "bldcframe"].hide()
        if tppwm:
            w[axis + "3pwmdeadtime"].show()
            w[axis + "3pwmscale"].show()
            w[axis + "3pwmdeadtimelabel"].show()
            w[axis + "3pwmscalelabel"].show()
        else:
            w[axis + "3pwmdeadtime"].hide()
            w[axis + "3pwmscale"].hide()
            w[axis + "3pwmdeadtimelabel"].hide()
            w[axis + "3pwmscalelabel"].hide()
        w[axis + "drivertype"].set_active(self.drivertype_toindex(axis))
        if w[axis + "drivertype"].get_active_text()  == _("Custom"):
            w[axis + "steptime"].set_value(d[axis + "steptime"])
            w[axis + "stepspace"].set_value(d[axis + "stepspace"])
            w[axis + "dirhold"].set_value(d[axis + "dirhold"])
            w[axis + "dirsetup"].set_value(d[axis + "dirsetup"])
        gobject.idle_add(lambda: self.motor_encoder_sanity_check(None,axis))

        if axis == "s":
            unit = "rev"
            pitchunit =_("Gearbox Reduction Ratio")
        elif axis == "a":
            unit = "degree"
            pitchunit = _("Reduction Ratio")
        elif d.units ==_METRIC:
            unit = "mm"
            pitchunit =_("Leadscrew Pitch")
        else:
            unit = "inch"
            pitchunit =_("Leadscrew TPI")
        if axis == "s" or axis =="a":
            w["labelmotor_pitch"].set_text(pitchunit)
            w["labelencoder_pitch"].set_text(pitchunit)
            w["motor_screwunits"].set_text(_("("+unit+" / rev)"))
            w["encoder_screwunits"].set_text(_("("+unit+" / rev)"))
        w[axis + "velunits"].set_text(_(unit+" / min"))
        w[axis + "accunits"].set_text(_(unit+" / sec²"))
        w["accdistunits"].set_text(unit)
        if stepdriven:
            w[ "resolutionunits1"].set_text(_(unit+" / Step"))
            w["scaleunits"].set_text(_("Steps / "+unit))
        else:
            w["resolutionunits1"].set_text(_(unit+" / encoder pulse"))
            w["scaleunits"].set_text(_("Encoder pulses / "+unit))
        if not axis =="s":
            w[axis + "homevelunits"].set_text(_(unit+" / min"))
            w[axis + "homelatchvelunits"].set_text(_(unit+" / min"))
            w[axis + "homefinalvelunits"].set_text(_(unit+" / min"))
        w[axis + "minfollowunits"].set_text(unit)
        w[axis + "maxfollowunits"].set_text(unit)
        if resolver:
            w[axis + "encoderscale_label"].set_text(_("Resolver Scale:"))
        if axis == 's':
            #w["motor_screwunits"].set_text((""))
            #w["encoder_screwunits"].set_text((""))
            w.smaxoutput.set_sensitive(False)
            w.sencodercounts.set_sensitive(encoder)
            w.ssingleinputencoder.set_sensitive(encoder)
            w["sinvertencoder"].set_sensitive(encoder)
            w["ssingleinputencoder"].show()
            w["saxistest"].set_sensitive(pwmgen or spindlepot)
            w["sstepper_info"].set_sensitive(stepdriven)
            w["smaxferror"].set_sensitive(False)
            w["sminferror"].set_sensitive(False)
            w["smaxvel"].set_sensitive(stepdriven)
            w["smaxacc"].set_sensitive(stepdriven)
            w["satspeedframe"].hide()
            w["sfiltergainframe"].hide()
            if not digital_at_speed and encoder:
                w["satspeedframe"].show()
            if encoder or resolver:
                if (self.data.pyvcp and self.data.pyvcphaltype == 1 and self.data.pyvcpconnect == 1) or (self.data.gladevcp 
                    and self.data.spindlespeedbar):
                    w["sfiltergainframe"].show()
            set_active("useatspeed")
            w["snearscale"].set_value(d["snearscale"]*100)
            w["srpmrange"].set_value(d["srpmrange"])
            set_value("filtergain")
            set_active("singleinputencoder")
        else:
            w[axis+"maxferror"].set_sensitive(True)
            w[axis+"minferror"].set_sensitive(True)
            set_value("maxferror")
            set_value("minferror")
            set_text("compfilename")
            set_active("comptype")
            set_active("usebacklash")
            set_value("backlash")
            set_active("usecomp")      
            set_text("homepos")
            set_text("minlim")
            set_text("maxlim")
            set_text("homesw")
            w[axis+"homesearchvel"].set_text("%d" % (d[axis+"homesearchvel"]*60))
            w[axis+"homelatchvel"].set_text("%d" % (d[axis+"homelatchvel"]*60))
            w[axis+"homefinalvel"].set_text("%d" % (d[axis+"homefinalvel"]*60))
            set_active("searchdir")
            set_active("latchdir")
            set_active("usehomeindex")

            thisaxishome = set(("all-home", "home-" + axis, "min-home-" + axis,"max-home-" + axis, "both-home-" + axis))
            homes = False
            for i in thisaxishome:
                test = self.data.findsignal(i)
                if test: homes = True
            w[axis + "homesw"].set_sensitive(homes)
            w[axis + "homesearchvel"].set_sensitive(homes)
            w[axis + "searchdir"].set_sensitive(homes)
            w[axis + "latchdir"].set_sensitive(homes)
            w[axis + "usehomeindex"].set_sensitive(encoder and homes)
            w[axis + "homefinalvel"].set_sensitive(homes)
            w[axis + "homelatchvel"].set_sensitive(homes)
            i = d[axis + "usecomp"]
            w[axis + "comptype"].set_sensitive(i)
            w[axis + "compfilename"].set_sensitive(i)
            i = d[axis + "usebacklash"]
            w[axis + "backlash"].set_sensitive(i)
        self.widgets.druid1.set_buttons_sensitive(1,0,1,1)
        self.motor_encoder_sanity_check(None,axis)

    def on_xusecomp_toggled(self, *args): self.comp_toggle('x')
    def on_yusecomp_toggled(self, *args): self.comp_toggle('y')
    def on_zusecomp_toggled(self, *args): self.comp_toggle('z')
    def on_ausecomp_toggled(self, *args): self.comp_toggle('a')
    def on_xusebacklash_toggled(self, *args): self.backlash_toggle('x')
    def on_yusebacklash_toggled(self, *args): self.backlash_toggle('y')
    def on_zusebacklash_toggled(self, *args): self.backlash_toggle('z')
    def on_ausebacklash_toggled(self, *args): self.backlash_toggle('a')

    def on_xdrivertype_changed(self, *args): self.driver_changed('x')
    def on_ydrivertype_changed(self, *args): self.driver_changed('y')
    def on_zdrivertype_changed(self, *args): self.driver_changed('z')
    def on_adrivertype_changed(self, *args): self.driver_changed('a')
    def on_sdrivertype_changed(self, *args): self.driver_changed('s')

    def on_xbldc_toggled(self, *args): self.bldc_toggled('x')
    def on_ybldc_toggled(self, *args): self.bldc_toggled('y')
    def on_zbldc_toggled(self, *args): self.bldc_toggled('z')
    def on_abldc_toggled(self, *args): self.bldc_toggled('a')
    def on_sbldc_toggled(self, *args): self.bldc_toggled('s')

    def driver_changed(self, axis):
        d = self.data
        w = self.widgets
        v = w[axis + "drivertype"].get_active()
        if v < len(drivertypes):
            d = drivertypes[v]
            w[axis + "steptime"].set_value(d[2])
            w[axis + "stepspace"].set_value(d[3])
            w[axis + "dirhold"].set_value(d[4])
            w[axis + "dirsetup"].set_value(d[5])

            w[axis + "steptime"].set_sensitive(0)
            w[axis + "stepspace"].set_sensitive(0)
            w[axis + "dirhold"].set_sensitive(0)
            w[axis + "dirsetup"].set_sensitive(0)
        else:
            w[axis + "steptime"].set_sensitive(1)
            w[axis + "stepspace"].set_sensitive(1)
            w[axis + "dirhold"].set_sensitive(1)
            w[axis + "dirsetup"].set_sensitive(1)

    def drivertype_toindex(self, axis, what=None):
        if what is None: what = self.data[axis + "drivertype"]
        for i, d in enumerate(drivertypes):
            if d[0] == what: return i
        return len(drivertypes)

    def drivertype_toid(self, axis, what=None):
        if not isinstance(what, int): what = self.drivertype_toindex(axis, what)
        if what < len(drivertypes): return drivertypes[what][0]
        return "custom"

    def drivertype_fromindex(self, axis):
        i = self.widgets[axis + "drivertype"].get_active()
        if i < len(drivertypes): return drivertypes[i][1]
        return _("Custom")

    def comp_toggle(self, axis):
        i = self.widgets[axis + "usecomp"].get_active()   
        self.widgets[axis + "compfilename"].set_sensitive(i)
        self.widgets[axis + "comptype"].set_sensitive(i)
        if i:
            self.widgets[axis + "backlash"].set_sensitive(0)
            self.widgets[axis + "usebacklash"].set_active(0)

    def bldc_toggled(self, axis):
        i = self.widgets[axis + "bldc_option"].get_active()
        self.widgets[axis + "bldcoptionbox"].set_sensitive(i)

    def bldc_update(self,Widgets,axis):
        w = self.widgets
        i = False
        if w[axis+"bldc_incremental_feedback"].get_active():
            i = True
        w[axis+"bldc_pattern_in"].set_sensitive(i and  w[axis+"bldc_use_hall"].get_active() )
        w[axis+"bldc_inital_value"].set_sensitive(i and w[axis+"bldc_use_encoder"].get_active() and not w[axis+"bldc_use_hall"].get_active() )
        w[axis+"bldc_use_hall"].set_sensitive(i)
        w[axis+"bldc_use_encoder"].set_sensitive(i)
        w[axis+"bldc_use_index"].set_sensitive(i)
        w[axis+"bldc_fanuc_alignment"].set_sensitive(i)
        i = False
        if w[axis+"bldc_emulated_feedback"].get_active():
            i = True
        w[axis+"bldc_output_hall"].set_sensitive(i)
        w[axis+"bldc_output_fanuc"].set_sensitive(i)
        w[axis+"bldc_pattern_out"].set_sensitive(i and  w[axis+"bldc_output_hall"].get_active() )

    def backlash_toggle(self, axis):
        i = self.widgets[axis + "usebacklash"].get_active()   
        self.widgets[axis + "backlash"].set_sensitive(i)
        if i:
            self.widgets[axis + "compfilename"].set_sensitive(0)
            self.widgets[axis + "comptype"].set_sensitive(0)
            self.widgets[axis + "usecomp"].set_active(0)

    def axis_done(self, axis):
        d = self.data
        w = self.widgets
        def get_text(n): d[axis + n] = get_value(w[axis + n])
        def get_pagevalue(n): d[axis + n] = get_value(w[axis + n])
        def get_active(n): d[axis + n] = w[axis + n].get_active()
        stepdrive = self.data.findsignal(axis+"-stepgen-step")
        encoder = self.data.findsignal(axis+"-encoder-a")
        resolver = self.data.findsignal(axis+"-resolver")
        get_pagevalue("P")
        get_pagevalue("I")
        get_pagevalue("D")
        get_pagevalue("FF0")
        get_pagevalue("FF1")
        get_pagevalue("FF2")
        get_pagevalue("bias")
        get_pagevalue("deadband")
        get_pagevalue("maxoutput")
        get_pagevalue("steptime")
        get_pagevalue("stepspace")
        get_pagevalue("dirhold")
        get_pagevalue("dirsetup")
        get_pagevalue("outputscale")
        get_pagevalue("outputminlimit")
        get_pagevalue("outputmaxlimit")
        get_pagevalue("3pwmscale")
        get_pagevalue("3pwmdeadtime")
        get_active("bldc_option")
        get_active("bldc_reverse")
        get_pagevalue("bldc_scale")
        get_pagevalue("bldc_poles")
        get_pagevalue("bldc_encoder_offset")
        get_pagevalue("bldc_drive_offset")
        get_pagevalue("bldc_pattern_out")
        get_pagevalue("bldc_pattern_in")
        get_pagevalue("bldc_lead_angle")
        get_pagevalue("bldc_inital_value")
        get_pagevalue("8i20maxcurrent")
        get_active("bldc_no_feedback")
        get_active("bldc_absolute_feedback")
        get_active("bldc_incremental_feedback")
        get_active("bldc_use_hall")
        get_active("bldc_use_encoder" )
        get_active("bldc_use_index")
        get_active("bldc_fanuc_alignment")
        get_active("bldc_digital_output")
        get_active("bldc_six_outputs")
        get_active("bldc_emulated_feedback")
        get_active("bldc_output_hall")
        get_active("bldc_output_fanuc")
        get_active("bldc_force_trapz")
        if w[axis + "bldc_option"].get_active():
            self.configure_bldc(axis)
        d[axis + "encodercounts"] = int(float(w["encoderline"].get_text())*4)
        if stepdrive: get_pagevalue("stepscale")
        if encoder: get_pagevalue("encoderscale")
        if resolver: get_pagevalue("encoderscale")
        get_active("invertmotor")
        get_active("invertencoder")
        d[axis + "steprev"] = int(get_value(w["steprev"]))
        d[axis + "microstep"] = int(get_value(w["microstep"]))
        d[axis + "motor_pulleydriver"] = int(get_value(w["motor_pulleydriver"]))
        d[axis + "motor_pulleydriven"] = int(get_value(w["motor_pulleydriven"]))
        d[axis + "encoder_pulleydriver"] = int(get_value(w["encoder_pulleydriver"]))
        d[axis + "encoder_pulleydriven"] = int(get_value(w["encoder_pulleydriven"]))
        d[axis + "motor_leadscrew_tpi"] = int(get_value(w["motor_leadscrew_tpi"]))
        d[axis + "encoder_leadscrew_tpi"] = int(get_value(w["encoder_leadscrew_tpi"]))
        d[axis + "motor_leadscrew"] = int(get_value(w["motor_leadscrew"]))
        d[axis + "encoder_leadscrew"] = int(get_value(w["encoder_leadscrew"]))
        d[axis + "maxvel"] = (get_value(w[axis + "maxvel"])/60)
        get_text("maxacc")
        d[axis + "drivertype"] = self.drivertype_toid(axis, w[axis + "drivertype"].get_active())
        if not axis == "s":
            get_pagevalue("maxferror")
            get_pagevalue("minferror")
            get_text("homepos")
            get_text("minlim")
            get_text("maxlim")
            get_text("homesw")
            d[axis + "homesearchvel"] = (get_value(w[axis + "homesearchvel"])/60)
            d[axis + "homelatchvel"] = (get_value(w[axis + "homelatchvel"])/60)
            d[axis + "homefinalvel"] = (get_value(w[axis + "homefinalvel"])/60)
            get_active("searchdir")
            get_active("latchdir")
            get_active("usehomeindex")
            d[axis + "compfilename"] = w[axis + "compfilename"].get_text()
            get_active("comptype")
            d[axis + "backlash"]= w[axis + "backlash"].get_value()
            get_active("usecomp")
            get_active("usebacklash")
        else:
            get_active("useatspeed")
            get_pagevalue("nearscale")
            d["snearscale"] = w["snearscale"].get_value()/100
            d["srpmrange"] = w["srpmrange"].get_value()
            get_pagevalue("filtergain")
            get_active("singleinputencoder")

    def configure_bldc(self,axis):
        d = self.data
        string = ""
        # Inputs
        if d[axis + "bldc_no_feedback"]: string = string + "n"
        elif d[axis +"bldc_absolute_feedback"]: string = string + "a"
        elif d[axis + "bldc_incremental_feedback"]:
            if d[axis + "bldc_use_hall"]: string = string + "h"
            if d[axis + "bldc_use_encoder" ]: string = string + "q"
        if d[axis + "bldc_use_index"]: string = string + "i"
        if d[axis + "bldc_fanuc_alignment"]: string = string + "f"
        # Outputs
        if d[axis + "bldc_digital_output"]: string = string + "B"
        if d[axis + "bldc_six_outputs"]: string = string + "6"
        if d[axis + "bldc_emulated_feedback"]:
            if d[axis + "bldc_output_hall"]: string = string + "H"
            if d[axis + "bldc_output_fanuc"]: string = string +"F"
        if d[axis + "bldc_force_trapz"]: string = string + "T"
        #print "axis ",axis,"bldc config ",string 
        d[axis+"bldc_config"] = string

    def calculate_scale(self,axis):
        def get(n): return get_value(self.widgets[n])
        stepdrive = self.data.findsignal(axis+"-stepgen-step")
        encoder = self.data.findsignal(axis+"-encoder-a")
        resolver = self.data.findsignal(axis+"-resolver")
        # temparally add signals
        templist1 = ["encoderline","encoder_leadscrew","encoder_leadscrew_tpi","encoder_wormdriven","encoder_wormdriver","encoder_pulleydriven",
"encoder_pulleydriver","steprev","motor_leadscrew","motor_leadscrew_tpi","microstep","motor_wormdriven","motor_wormdriver",
"motor_pulleydriven","motor_pulleydriver"]
        for i in templist1:
            self.data[i] = self.widgets[i].connect("value-changed", self.update_scale_calculation,axis)
        templist2 = [ "cbencoder_pitch","cbencoder_tpi","cbencoder_worm","cbencoder_pulley","cbmotor_pitch","cbmotor_tpi","cbmicrosteps",
"cbmotor_worm","cbmotor_pulley"]
        for i in templist2:
            self.data[i] = self.widgets[i].connect("toggled", self.update_scale_calculation,axis)

        self.update_scale_calculation(self.widgets,axis)
        self.widgets.scaledialog.set_title(_("Axis Scale Calculation"))
        self.widgets.scaledialog.show_all()
        result = self.widgets.scaledialog.run()
        self.widgets.scaledialog.hide()
        # remove signals
        for i in templist1:
            self.widgets[i].disconnect(self.data[i])
        for i in templist2:
            self.widgets[i].disconnect(self.data[i])
        if not result: return
        if encoder or resolver:
            self.widgets[axis+"encoderscale"].set_value(get("calcencoder_scale"))
        if stepdrive:
            self.widgets[axis+"stepscale"].set_value(get("calcmotor_scale"))

    def update_scale_calculation(self,widgets,axis):
        w = self.widgets
        d = self.data
        def get(n): return get_value(w[n])
        stepdrive = self.data.findsignal(axis+"-stepgen-step")
        encoder = self.data.findsignal(axis+"-encoder-a")
        resolver = self.data.findsignal(axis+"-resolver")
        motor_pulley_ratio = encoder_pulley_ratio = 1
        motor_worm_ratio = encoder_worm_ratio = 1
        encoder_scale = motor_scale = 0
        microstepfactor = motor_pitch = encoder_pitch = motor_steps = 1
        if axis == "a": rotary_scale = 360
        else: rotary_scale = 1 
        try:
            if stepdrive:
                # stepmotor scale
                w["calcmotor_scale"].set_sensitive(True)
                w["stepscaleframe"].set_sensitive(True)
                if w["cbmotor_pulley"].get_active():
                    w["motor_pulleydriver"].set_sensitive(True)
                    w["motor_pulleydriven"].set_sensitive(True)
                    motor_pulley_ratio = (get("motor_pulleydriven") / get("motor_pulleydriver"))
                else:
                     w["motor_pulleydriver"].set_sensitive(False)
                     w["motor_pulleydriven"].set_sensitive(False)
                if w["cbmotor_worm"].get_active():
                    w["motor_wormdriver"].set_sensitive(True)
                    w["motor_wormdriven"].set_sensitive(True)
                    motor_worm_ratio = (get("motor_wormdriver") / get("motor_wormdriven"))
                else:
                    w["motor_wormdriver"].set_sensitive(False)
                    w["motor_wormdriven"].set_sensitive(False)
                if w["cbmicrosteps"].get_active():
                    w["microstep"].set_sensitive(True)
                    microstepfactor = get("microstep")
                else:
                    w["microstep"].set_sensitive(False)

                if w["cbmotor_pitch"].get_active():
                    w["motor_leadscrew"].set_sensitive(True)
                    w["cbmotor_tpi"].set_active(False)
                    if self.data.units == _METRIC:
                        motor_pitch = 1./ get("motor_leadscrew")
                    else:
                        motor_pitch = 1./ (get("motor_leadscrew")* .03937008)
                else: w["motor_leadscrew"].set_sensitive(False)

                if w["cbmotor_tpi"].get_active():
                    w["motor_leadscrew_tpi"].set_sensitive(True)
                    w["cbmotor_pitch"].set_active(False)
                    if self.data.units == _METRIC:
                        motor_pitch = (get("motor_leadscrew_tpi")* .03937008)
                    else:
                        motor_pitch = get("motor_leadscrew_tpi")
                else: w["motor_leadscrew_tpi"].set_sensitive(False)

                motor_steps = get("steprev")
                motor_scale = (motor_steps * microstepfactor * motor_pulley_ratio * motor_worm_ratio * motor_pitch) / rotary_scale
                w["calcmotor_scale"].set_text("%.4f" % motor_scale)
            else:
                w["calcmotor_scale"].set_sensitive(False)
                w["stepscaleframe"].set_sensitive(False)
            # encoder scale
            if encoder or resolver:
                w["calcencoder_scale"].set_sensitive(True)
                w["encoderscaleframe"].set_sensitive(True)
                if w["cbencoder_pulley"].get_active():
                    w["encoder_pulleydriver"].set_sensitive(True)
                    w["encoder_pulleydriven"].set_sensitive(True)
                    encoder_pulley_ratio = (get("encoder_pulleydriven") / get("encoder_pulleydriver"))
                else:
                     w["encoder_pulleydriver"].set_sensitive(False)
                     w["encoder_pulleydriven"].set_sensitive(False)
                if w["cbencoder_worm"].get_active():
                    w["encoder_wormdriver"].set_sensitive(True)
                    w["encoder_wormdriven"].set_sensitive(True)
                    encoder_worm_ratio = (get("encoder_wormdriver") / get("encoder_wormdriven"))
                else:
                    w["encoder_wormdriver"].set_sensitive(False)
                    w["encoder_wormdriven"].set_sensitive(False)
                if w["cbencoder_pitch"].get_active():
                    w["encoder_leadscrew"].set_sensitive(True)
                    w["cbencoder_tpi"].set_active(False)
                    if self.data.units == _METRIC:
                        encoder_pitch = 1./ get("encoder_leadscrew")
                    else:
                        encoder_pitch = 1./ (get("encoder_leadscrew")*.03937008)
                else: w["encoder_leadscrew"].set_sensitive(False)
                if w["cbencoder_tpi"].get_active():
                    w["encoder_leadscrew_tpi"].set_sensitive(True)
                    w["cbencoder_pitch"].set_active(False)
                    if self.data.units == _METRIC:
                        encoder_pitch = (get("encoder_leadscrew_tpi")*.03937008)
                    else:
                        encoder_pitch = get("encoder_leadscrew_tpi")
                else: w["encoder_leadscrew_tpi"].set_sensitive(False)

                encoder_cpr = get_value(w[("encoderline")]) * 4
                encoder_scale = (encoder_pulley_ratio * encoder_worm_ratio * encoder_pitch * encoder_cpr) / rotary_scale
                w["calcencoder_scale"].set_text("%.4f" % encoder_scale)
            else:
                w["calcencoder_scale"].set_sensitive(False)
                w["encoderscaleframe"].set_sensitive(False)
            #new stuff
            if stepdrive: scale = motor_scale
            else: scale = encoder_scale
            maxvps = (get_value(w[axis+"maxvel"]))/60
            pps = (scale * (maxvps))/1000
            if pps == 0: raise ValueError
            pps = abs(pps)
            w["khz"].set_text("%.1f" % pps)
            acctime = (maxvps) / get_value(w[axis+"maxacc"])
            accdist = acctime * .5 * (maxvps)
            if encoder or resolver:
                maxrpm = int(maxvps * 60 * (scale/encoder_cpr))
            else:
                maxrpm = int(maxvps * 60 * (scale/(microstepfactor * motor_steps)))
            w["acctime"].set_text("%.4f" % acctime)
            w["accdist"].set_text("%.4f" % accdist)
            w["chartresolution"].set_text("%.7f" % (1.0 / scale))
            w["calscale"].set_text(str(scale))
            w["maxrpm"].set_text("%d" % maxrpm)

        except (ValueError, ZeroDivisionError):
            w["calcmotor_scale"].set_text("200")
            w["calcencoder_scale"].set_text("1000")
            w["chartresolution"].set_text("")
            w["acctime"].set_text("")
            if not axis == 's':
                w["accdist"].set_text("")
            w["khz"].set_text("")
            w["calscale"].set_text("")

    def motor_encoder_sanity_check(self,widgets,axis):
        stepdrive = encoder = bad = resolver = pot = False
        if self.data.findsignal(axis+"-stepgen-step"): stepdrive = True
        if self.data.findsignal(axis+"-encoder-a"): encoder = True
        if self.data.findsignal(axis+"-resolver"): resolver = True
        if self.data.findsignal(axis+"-pot-outpot"): pot = True
        if encoder or resolver:
            if self.widgets[axis+"encoderscale"].get_value() < 1: bad = True
        if stepdrive:
            if self.widgets[axis+"stepscale"].get_value() < 1: bad = True
        if not (encoder or resolver) and not stepdrive and not axis == "s": bad = True
        if self.widgets[axis+"maxvel"] < 1: bad = True
        if self.widgets[axis+"maxacc"] < 1: bad = True
        if bad:
            self.widgets.druid1.set_buttons_sensitive(1,0,1,1)
            self.widgets[axis + "axistune"].set_sensitive(0)
            self.widgets[axis + "axistest"].set_sensitive(0)
        else:
            self.widgets.druid1.set_buttons_sensitive(1,1,1,1)
            self.widgets[axis + "axistune"].set_sensitive(1)
            self.widgets[axis + "axistest"].set_sensitive(1)
        
    def on_xaxis_prepare(self, *args): self.axis_prepare('x')
    def on_yaxis_prepare(self, *args): self.axis_prepare('y')
    def on_zaxis_prepare(self, *args): self.axis_prepare('z')
    def on_aaxis_prepare(self, *args): self.axis_prepare('a')
   
    def on_xaxis_next(self, *args):
        self.axis_done('x')
        if self.data.axes == 2:
            self.widgets.druid1.set_page(self.widgets.zaxismotor)
            return True
        else:
            self.widgets.druid1.set_page(self.widgets.yaxismotor)
            return True
    def on_yaxis_next(self, *args):
        self.axis_done('y')
        self.widgets.druid1.set_page(self.widgets.zaxismotor)
        return True  
    def on_xaxis_back(self, *args):
        self.axis_done('x')
        self.widgets.druid1.set_page(self.widgets.xaxismotor)
        return True
    def on_yaxis_back(self, *args): 
        self.axis_done('y')
        self.widgets.druid1.set_page(self.widgets.yaxismotor)
        return True
    def on_zaxis_next(self, *args):
        self.axis_done('z')
        if self.data.axes != 1 :
            if self.has_spindle_speed_control():
                self.widgets.druid1.set_page(self.widgets.saxismotor)
                return True
            else:
                self.widgets.druid1.set_page(self.widgets.advanced)
                return True
        else:
            self.widgets.druid1.set_page(self.widgets.aaxismotor)
            return True
    def on_zaxis_back(self, *args):
        self.axis_done('z')     
        self.widgets.druid1.set_page(self.widgets.zaxismotor)
        return True
    def on_aaxis_next(self, *args):
        self.axis_done('a')
        if self.has_spindle_speed_control():
            self.widgets.druid1.set_page(self.widgets.saxismotor)
        else:
            self.widgets.druid1.set_page(self.widgets.advanced)
        return True
    def on_aaxis_back(self, *args):
        self.axis_done('a')
        self.widgets.druid1.set_page(self.widgets.aaxismotor)
        return True

    def on_xaxistest_clicked(self, *args): self.test_axis('x')
    def on_yaxistest_clicked(self, *args): self.test_axis('y')
    def on_zaxistest_clicked(self, *args): self.test_axis('z')
    def on_aaxistest_clicked(self, *args): self.test_axis('a')
    def on_saxistest_clicked(self, *args): self.test_axis('s')

    def on_xaxistune_clicked(self, *args): self.tune_axis('x')
    def on_yaxistune_clicked(self, *args): self.tune_axis('y')
    def on_zaxistune_clicked(self, *args): self.tune_axis('z')
    def on_aaxistune_clicked(self, *args): self.tune_axis('a')
    def on_saxistune_clicked(self, *args): self.tune_axis('s')

    def on_saxismotor_prepare(self, *args):
        self.data.help = "help-axismotor.txt"
        self.axis_prepare('s')      
    def on_saxismotor_next(self, *args):
        self.axis_done('s')
        self.widgets.druid1.set_page(self.widgets.advanced)
        return True
    def on_saxismotor_back(self, *args):
        self.axis_done('s')
        if self.data.axes != 1:
            self.widgets.druid1.set_page(self.widgets.zaxis)
        else:
            self.widgets.druid1.set_page(self.widgets.aaxis)
        return True

    def has_spindle_speed_control(self):
        for test in ("s-stepgen-step", "s-pwm-pulse", "s-encoder-a", "spindle-on", "spindle-cw", "spindle-ccw", "spindle-brake",
                    "s-pot-output"):
            has_spindle = self.data.findsignal(test)
            if has_spindle:
                return True
        return False
       
    def on_advanced_prepare(self, *args):       
        self.data.help = "help-advanced.txt"
        self.widgets.classicladder.set_active(self.data.classicladder)
        self.widgets.modbus.set_active(self.data.modbus)
        self.widgets.digitsin.set_value(self.data.digitsin)
        self.widgets.digitsout.set_value(self.data.digitsout)
        self.widgets.s32in.set_value(self.data.s32in)
        self.widgets.s32out.set_value(self.data.s32out)
        self.widgets.floatsin.set_value(self.data.floatsin)
        self.widgets.floatsout.set_value(self.data.floatsout)
        self.widgets.bitmem.set_value(self.data.bitmem)
        self.widgets.wordmem.set_value(self.data.wordmem)
        self.widgets.halui.set_active(self.data.halui)
        self.widgets.ladderexist.set_active(self.data.ladderexist)
        self.widgets.laddertouchz.set_active(self.data.laddertouchz)
        self.on_halui_toggled()
        for i in range(0,15):
            self.widgets["halui_cmd"+str(i)].set_text(self.data["halui_cmd"+str(i)])  
        self.widgets.ladderconnect.set_active(self.data.ladderconnect)      
        self.on_classicladder_toggled()

    def on_advanced_next(self, *args):
        self.data.classicladder = self.widgets.classicladder.get_active()
        self.data.modbus = self.widgets.modbus.get_active()
        self.data.digitsin = self.widgets.digitsin.get_value()
        self.data.digitsout = self.widgets.digitsout.get_value()
        self.data.s32in = self.widgets.s32in.get_value()
        self.data.s32out = self.widgets.s32out.get_value()
        self.data.floatsin = self.widgets.floatsin.get_value()
        self.data.bitmem = self.widgets.bitmem.get_value()
        self.data.wordmem = self.widgets.wordmem.get_value()
        self.data.floatsout = self.widgets.floatsout.get_value()
        self.data.halui = self.widgets.halui.get_active()
        self.data.ladderexist = self.widgets.ladderexist.get_active()
        self.data.laddertouchz = self.widgets.laddertouchz.get_active()
        for i in range(0,15):
            self.data["halui_cmd"+str(i)] = self.widgets["halui_cmd"+str(i)].get_text()         
        self.data.ladderconnect = self.widgets.ladderconnect.get_active()          
        if self.data.classicladder:
            if self.widgets.ladderblank.get_active() == True:
                if self.data.tempexists:
                    self.data.laddername='TEMP.clp'
                else:
                    self.data.laddername= 'blank.clp'
                    self.data.ladderhaltype = 0
            if self.widgets.ladder1.get_active() == True:
                self.data.laddername = 'estop.clp'
                has_estop = self.data.findsignal("estop-ext")
                if not has_estop:
                    self.warning_dialog(_("You need to designate an E-stop input pin for this ladder program."),True)
                    self.widgets.druid1.set_page(self.widgets.advanced)
                    return True
                self.data.ladderhaltype = 1
            if self.widgets.ladder2.get_active() == True:
                self.data.laddername = 'serialmodbus.clp'
                self.data.modbus = 1
                self.widgets.modbus.set_active(self.data.modbus) 
                self.data.ladderhaltype = 0
            if self.widgets.laddertouchz.get_active() == True:
                has_probe = self.data.findsignal("probe-in")
                if not has_probe:
                    self.warning_dialog(_("You need to designate a probe input pin for this ladder program."),True)
                    self.widgets.druid1.set_page(self.widgets.advanced)
                    return True
                self.data.ladderhaltype = 2
                self.data.laddername = 'touchoff_z.clp'
                self.data.halui = True
                self.widgets.halui.set_active(True)
            if self.widgets.ladderexist.get_active() == True:
                self.data.laddername='custom.clp'
            else:
                if os.path.exists(os.path.expanduser("~/linuxcnc/configs/%s/custom.clp" % self.data.machinename)):
                    if not self.warning_dialog(_("OK to replace existing custom ladder program?\nExisting\
 Custom.clp will be renamed custom_backup.clp.\nAny existing file named -custom_backup.clp- will be lost.\
Selecting 'existing ladder program' will avoid this warning"),False):
                        self.widgets.druid1.set_page(self.widgets.advanced)
                        return True 
            if self.widgets.ladderexist.get_active() == False:
                if os.path.exists(os.path.join(distdir, "configurable_options/ladder/TEMP.clp")):
                    if not self.warning_dialog(_("You edited a ladder program and have selected a \
different program to copy to your configuration file.\nThe edited program will be lost.\n\nAre you sure?  "),False):
                        self.widgets.druid1.set_page(self.widgets.advanced)
                        return True       
        
    def on_advanced_back(self, *args):
        if self.has_spindle_speed_control():
            self.widgets.druid1.set_page(self.widgets.saxismotor)
        elif self.data.axes != 1:
            self.widgets.druid1.set_page(self.widgets.zaxis)
        else:
            self.widgets.druid1.set_page(self.widgets.aaxis)
        return True

    def on_loadladder_clicked(self, *args):self.load_ladder(self)
 
    def on_halui_toggled(self, *args):
        i= self.widgets.halui.get_active()
        self.widgets.haluitable.set_sensitive(i)

    def on_classicladder_toggled(self, *args):
        i= self.widgets.classicladder.get_active()
        self.widgets.digitsin.set_sensitive(i)
        self.widgets.digitsout.set_sensitive(i)
        self.widgets.s32in.set_sensitive(i)
        self.widgets.s32out.set_sensitive(i)
        self.widgets.floatsin.set_sensitive(i)
        self.widgets.floatsout.set_sensitive(i)
        self.widgets.bitmem.set_sensitive(i)
        self.widgets.wordmem.set_sensitive(i)
        self.widgets.modbus.set_sensitive(i)
        self.widgets.ladderblank.set_sensitive(i)
        self.widgets.ladder1.set_sensitive(i)
        self.widgets.ladder2.set_sensitive(i)
        self.widgets.laddertouchz.set_sensitive(i)
        if  self.widgets.createconfig.get_active():
            self.widgets.ladderexist.set_sensitive(False)
        else:
            self.widgets.ladderexist.set_sensitive(i)
        self.widgets.loadladder.set_sensitive(i)
        self.widgets.label_digin.set_sensitive(i)
        self.widgets.label_digout.set_sensitive(i)
        self.widgets.label_s32in.set_sensitive(i)
        self.widgets.label_s32out.set_sensitive(i)
        self.widgets.label_floatin.set_sensitive(i)
        self.widgets.label_floatout.set_sensitive(i)
        self.widgets.label_bitmem.set_sensitive(i)
        self.widgets.label_wordmem.set_sensitive(i)
        self.widgets.ladderconnect.set_sensitive(i)
        if self.widgets.laddertouchz.get_active():
            i = self.data.gladevcphaluicmds
            self.widgets["halui_cmd%d"%(i)].set_text("G38.2 Z-2 F16   ( search for touch off plate )")
            self.widgets["halui_cmd%d"%(i+1)].set_text("G10 L20 P0 Z.25 ( Ofset current Origin by plate thickness )")
            self.widgets["halui_cmd%d"%(i+2)].set_text("G0 Z.5           ( Rapid away from touch off plate )")
        
    def on_pyvcp_toggled(self,*args):
        i= self.widgets.pyvcp.get_active()
        self.widgets.pyvcpblank.set_sensitive(i)
        self.widgets.pyvcp1.set_sensitive(i)
        self.widgets.pyvcp2.set_sensitive(i)
        self.widgets.pyvcpgeometry.set_sensitive(i)
        if  self.widgets.createconfig.get_active():
            self.widgets.pyvcpexist.set_sensitive(False)
        else:
            self.widgets.pyvcpexist.set_sensitive(i)
        self.widgets.displaypanel.set_sensitive(i)
        self.widgets.pyvcpconnect.set_sensitive(i)

    def on_displaypanel_clicked(self,*args):
        self.testpanel(self)

    def on_realtime_components_prepare(self,*args):
        self.data.help = "help-realtime.txt"
        self.widgets.userneededpid.set_value(self.data.userneededpid)
        self.widgets.userneededabs.set_value(self.data.userneededabs)
        self.widgets.userneededscale.set_value(self.data.userneededscale)
        self.widgets.userneededmux16.set_value(self.data.userneededmux16)
        self.widgets.userneededlowpass.set_value(self.data.userneededlowpass)

        if not self.data._components_is_prepared:
            textbuffer = self.widgets.loadcompservo.get_buffer()
            for i in self.data.loadcompservo:
                if i == '': continue
                textbuffer.insert_at_cursor(i+"\n" )
            textbuffer = self.widgets.addcompservo.get_buffer()
            for i in self.data.addcompservo:
                if i == '': continue
                textbuffer.insert_at_cursor(i+"\n" )
            textbuffer = self.widgets.loadcompbase.get_buffer()
            for i in self.data.loadcompbase:
                if i == '': continue
                textbuffer.insert_at_cursor(i+"\n" )
            textbuffer = self.widgets.addcompbase.get_buffer()
            for i in self.data.addcompbase:
                if i == '': continue
                textbuffer.insert_at_cursor(i+"\n" )
            self.data._components_is_prepared = True

    def on_realtime_components_next(self,*args):
        self.data.userneededpid = int(self.widgets.userneededpid.get_value())
        self.data.userneededabs = int(self.widgets.userneededabs.get_value())
        self.data.userneededscale = int(self.widgets.userneededscale.get_value())
        self.data.userneededmux16 = int(self.widgets.userneededmux16.get_value())
        self.data.userneededlowpass = int(self.widgets.userneededlowpass.get_value())

        textbuffer = self.widgets.loadcompservo.get_buffer()
        startiter = textbuffer.get_start_iter()
        enditer = textbuffer.get_end_iter()
        test = textbuffer.get_text(startiter,enditer)
        i = test.split('\n')
        self.data.loadcompservo = i
        textbuffer = self.widgets.addcompservo.get_buffer()
        startiter = textbuffer.get_start_iter()
        enditer = textbuffer.get_end_iter()
        test = textbuffer.get_text(startiter,enditer)
        i = test.split('\n')
        self.data.addcompservo = i
        textbuffer = self.widgets.loadcompbase.get_buffer()
        startiter = textbuffer.get_start_iter()
        enditer = textbuffer.get_end_iter()
        test = textbuffer.get_text(startiter,enditer)
        i = test.split('\n')
        self.data.loadcompbase = i
        textbuffer = self.widgets.addcompbase.get_buffer()
        startiter = textbuffer.get_start_iter()
        enditer = textbuffer.get_end_iter()
        test = textbuffer.get_text(startiter,enditer)
        i = test.split('\n')
        self.data.addcompbase = i
   
    def on_complete_finish(self, *args):
        # if parallel ports not used clear all signals
        parportnames = ("pp1","pp2","pp3")
        for check,connector in enumerate(parportnames):
            if self.data.number_pports >= (check+1):continue
            # initialize parport input / inv pins
            for i in (1,2,3,4,5,6,7,8,10,11,12,13,15):
                pinname ="%sIpin%d"% (connector,i)
                self.data[pinname] = UNUSED_INPUT
                pinname ="%sIpin%dinv"% (connector,i)
                self.data[pinname] = False
            # initialize parport output / inv pins
            for i in (1,2,3,4,5,6,7,8,9,14,16,17):
                pinname ="%sOpin%d"% (connector,i)
                self.data[pinname] = UNUSED_OUTPUT
                pinname ="%sOpin%dinv"% (connector,i)
                self.data[pinname] = False        
        # clear all unused mesa signals
        for boardnum in(0,1):
            for connector in(2,3,4,5,6,7,8,9):
                if self.data.number_mesa >= boardnum + 1 :
                    if connector in(self.data["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                        continue
                # This initializes GPIO input pins
                for i in range(0,16):
                    pinname ="mesa%dc%dpin%d"% (boardnum,connector,i)
                    self.data[pinname] = UNUSED_INPUT
                    pinname ="mesa%dc%dpin%dtype"% (boardnum,connector,i)
                    self.data[pinname] = GPIOI
                # This initializes GPIO output pins
                for i in range(16,24):
                    pinname ="mesa%dc%dpin%d"% (boardnum,connector,i)
                    self.data[pinname] = UNUSED_OUTPUT
                    pinname ="mesa%dc%dpin%dtype"% (boardnum,connector,i)
                    self.data[pinname] = GPIOO
                # This initializes the mesa inverse pins
                for i in range(0,24):
                    pinname ="mesa%dc%dpin%dinv"% (boardnum,connector,i)
                    self.data[pinname] = False
            # clear unused sserial signals
            keeplist =[]
            # if the current firmware supports sserial better check for used channels
            # and make a 'keeplist'. we don't want to clear them
            if self.data["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALPORTS]:
                #search all pins for sserial port
                for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% boardnum][_NUMOFCNCTRS]) :
                    for pin in range (0,24):
                        firmptype,compnum = self.data["mesa%d_currentfirmwaredata"% boardnum][_STARTOFDATA+pin+(concount*24)]       
                        p = 'mesa%dc%dpin%d' % (boardnum, connector, pin)
                        ptype = 'mesa%dc%dpin%dtype' % (boardnum, connector , pin)
                        if self.data[ptype] in (TXDATA0,TXDATA1,TXDATA2,TXDATA3,TXDATA4,SS7I76M0,SS7I76M2,SS7I76M3,
                                                SS7I77M0,SS7I77M1,SS7I77M3,SS7I77M4) and not self.data[p] == UNUSED_SSERIAL:
                            if self.data[ptype] in (TXDATA0,SS7I76M0,SS7I77M0): channelnum = 0
                            elif self.data[ptype] in (TXDATA1,SS7I77M1): channelnum = 1
                            elif self.data[ptype] == TXDATA2: channelnum = 2
                            elif self.data[ptype] in (TXDATA3,SS7I76M3,SS7I77M3): channelnum = 3
                            elif self.data[ptype] in (TXDATA4,SS7I77M4): channelnum = 4
                            keeplist.append(channelnum)
            #print "board # %d sserial keeplist"%(boardnum),keeplist
            # ok clear the sserial pins unless they are in the keeplist
            port = 0# TODO hard code at only 1 sserial port 
            for channel in range(0,5): #TODO hardcoded at 5 sserial channels instead of 8
                if channel in keeplist: continue
                # This initializes pins
                for i in range(0,_SSCOMBOLEN):
                    pinname ="mesa%dsserial%d_%dpin%d"% (boardnum, port,channel,i)
                    if i < 24:
                        self.data[pinname] = UNUSED_INPUT
                    else:
                        self.data[pinname] = UNUSED_OUTPUT
                    pinname ="mesa%dsserial%d_%dpin%dtype"% (boardnum, port,channel,i)
                    if i < 24:
                        self.data[pinname] = GPIOI
                    else:
                        self.data[pinname] = GPIOO
                    pinname ="mesa%dsserial%d_%dpin%dinv"% (boardnum, port,channel,i)
                    self.data[pinname] = False


        self.data.save()        

        if not self.warning_dialog (_("Do you wish to continue to edit this configuration."),False):
            gtk.main_quit()
        #self._mesa0_configured = False
        #self._mesa1_configured = False
        self.data._re_editmode = True
        self.widgets.druid1.set_page(self.widgets.basicinfo)
        

    def on_calculate_ideal_period(self, *args):
        steptime = self.widgets.steptime.get_value()
        stepspace = self.widgets.stepspace.get_value()
        latency = self.widgets.latency.get_value()
        minperiod = self.data.minperiod(steptime, stepspace, latency)
        maxhz = int(1e9 / minperiod)     
        self.widgets.baseperiod.set_text("%d ns" % minperiod)
        self.widgets.maxsteprate.set_text("%d Hz" % maxhz)

    def on_latency_test_clicked(self, w):
        self.latency_pid = os.spawnvp(os.P_NOWAIT,
                                "latency-test", ["latency-test"])
        self.widgets['window1'].set_sensitive(0)
        gobject.timeout_add(1, self.latency_running_callback)

    def latency_running_callback(self):
        pid, status = os.waitpid(self.latency_pid, os.WNOHANG)
        if pid:
            self.widgets['window1'].set_sensitive(1)
            return False
        return True

    def on_address_search_clicked(self,w):
        self.on_druid1_help()
        match =  os.popen('lspci -v').read()
        textbuffer = self.widgets.textoutput.get_buffer()
        try :         
            textbuffer.set_text(match)
            self.widgets.helpnotebook.set_current_page(2)
            self.widgets.helpwindow.show_all()
        except:
            text = _("PCI search page is unavailable\n")
            self.warning_dialog(text,True)

    def parporttest(self,w):
        if not self.check_for_rt(self):
            return
        panelname = os.path.join(distdir, "configurable_options/pyvcp")
        self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -I > /dev/null"% {'panelname':panelname,}, "w" )  
        halrun.write("loadrt threads period1=100000 name1=fast fp1=0 period2=%d name2=slow\n"% self.data.servoperiod)
        self.hal_cmnds("LOAD")
        for i in range(0,self.data.number_pports ):
            halrun.write("loadusr -Wn parport%(number)dtest pyvcp -g +%(pos)d+0 -c parport%(number)dtest %(panel)s\n" 
                    % {'pos':(i*300),'number':i,'panel':"parportpanel.xml\n",})
        halrun.write("loadrt or2 count=%d\n"%(self.data.number_pports * 12))
        self.hal_cmnds("READ")
        for i in range(0,(self.data.number_pports * 12)):
           halrun.write("addf or2.%d fast\n"% i)
        halrun.write("loadusr halmeter pin parport.0.pin-01-out -g 0 500\n")
        self.hal_cmnds("WRITE")
        
        templist = ("pp1","pp2","pp3")
        for j in range(self.data.number_pports):         
            if self.data[templist[j]+"_direction"] == 1:
                inputpins = (10,11,12,13,15)
                outputpins = (1,2,3,4,5,6,7,8,9,14,16,17)               
                for x in (2,3,4,5,6,7,8,9):
                    halrun.write( "setp parport%dtest.led.%d.disable true\n"%(j, x))
                    halrun.write( "setp parport%dtest.led_text.%d.disable true\n"%(j, x))
            else:
                inputpins = (2,3,4,5,6,7,8,9,10,11,12,13,15)
                outputpins = (1,14,16,17)
                for x in (2,3,4,5,6,7,8,9):
                    halrun.write( "setp parport%dtest.button.%d.disable true\n"% (j , x))
                    halrun.write( "setp parport%dtest.button_text.%d.disable true\n"% (j , x))

            for x in inputpins: 
                i = self.widgets["%sIpin%dinv" % (templist[j], x)].get_active()
                if i:  halrun.write( "net red_in_not.%d parport%dtest.led.%d <= parport.%d.pin-%02d-in-not\n" % (x, j, x, j, x))
                else:  halrun.write( "net red_in.%d parport%dtest.led.%d <= parport.%d.pin-%02d-in\n" % (x, j, x, j ,x))
            for num, x in enumerate(outputpins):  
                i = self.widgets["%sOpin%dinv" % (templist[j], x)].get_active()
                if i:  halrun.write( "setp parport.%d.pin-%02d-out-invert true\n" %(j, x))
                halrun.write("net signal_out%d or2.%d.out parport.%d.pin-%02d-out\n"% (x, num, j, x))
                halrun.write("net pushbutton.%d or2.%d.in1 parport%dtest.button.%d\n"% (x, num, j, x))
                halrun.write("net latchbutton.%d or2.%d.in0 parport%dtest.checkbutton.%d\n"% (x, num, j, x))           
        halrun.write("start\n")
        halrun.write("waitusr parport0test\n"); halrun.flush()
        halrun.close()
        self.widgets['window1'].set_sensitive(1)

    # This is for pyvcp test panel
    def testpanel(self,w):
        pos = "+0+0"
        size = ""
        panelname = os.path.join(distdir, "configurable_options/pyvcp")
        if self.widgets.pyvcpblank.get_active() == True:
           return True
        if self.widgets.pyvcp1.get_active() == True:
           panel = "spindle.xml"
        if self.widgets.pyvcp2.get_active() == True:
           panel = "xyzjog.xml"
        if self.widgets.pyvcpexist.get_active() == True:
           panel = "pyvcp-panel.xml"
           panelname = os.path.expanduser("~/linuxcnc/configs/%s" % self.data.machinename)
        if self.widgets.pyvcpposition.get_active() == True:
            xpos = self.widgets.pyvcpxpos.get_value()
            ypos = self.widgets.pyvcpypos.get_value()
            pos = "+%d+%d"% (xpos,ypos)
        if self.widgets.pyvcpsize.get_active() == True:
            width = self.widgets.pyvcpwidth.get_value()
            height = self.widgets.pyvcpheight.get_value()
            size = "%dx%d"% (width,height)    
        self.halrun = halrun = os.popen("cd %(panelname)s\nhalrun -I > /dev/null"% {'panelname':panelname,}, "w" )    
        halrun.write("loadusr -Wn displaytest pyvcp -g %(size)s%(pos)s -c displaytest %(panel)s\n" %{'size':size,'pos':pos,'panel':panel,})
        if self.widgets.pyvcp1.get_active() == True:
                halrun.write("setp displaytest.spindle-speed 1000\n")
        halrun.write("waitusr displaytest\n"); halrun.flush()
        halrun.close()

    def on_gladevcp_toggled(self,*args):
        i = self.widgets.gladevcp.get_active()
        self.widgets.gladevcpbox.set_sensitive( i )
        if self.widgets.sideembededgvcp.get_active() and not self.data.frontend == _AXIS:
            if self.data.frontend == _TOUCHY: self.widgets.centerembededgvcp.set_active(True)
            else: self.widgets.standalonegvcp.set_active(True)
        self.widgets.sideembededgvcp.set_sensitive(self.data.frontend == _AXIS)
        self.widgets.centerembededgvcp.set_sensitive(self.data.frontend == _TOUCHY or self.data.frontend == _AXIS)
        if self.widgets.centerembededgvcp.get_active() and not ( self.data.frontend == _AXIS or self.data.frontend == _TOUCHY ):
            self.widgets.standalonegvcp.set_active(True)
        i = self.widgets.standalonegvcp.get_active()
        self.widgets.gladevcpsize.set_sensitive(i)
        self.widgets.gladevcpposition.set_sensitive(i)
        self.widgets.gladevcpforcemax.set_sensitive(i)
        if not i:
            self.widgets.gladevcpsize.set_active(False)
            self.widgets.gladevcpposition.set_active(False)
            self.widgets.gladevcpforcemax.set_active(False)
        i = self.widgets.gladevcpsize.get_active()
        self.widgets.gladevcpwidth.set_sensitive(i)
        self.widgets.gladevcpheight.set_sensitive(i)
        i = self.widgets.gladevcpposition.get_active()
        self.widgets.gladevcpxpos.set_sensitive(i)
        self.widgets.gladevcpypos.set_sensitive(i)
        for i in (("zerox","x"),("zeroy","y"),("zeroz","z"),("zeroa","a"),("autotouchz","z")):
            if not i[1] in(self.data.available_axes):
                self.widgets[i[0]].set_active(False)
                self.widgets[i[0]].set_sensitive(False)
            else:
                self.widgets[i[0]].set_sensitive(True)

    def on_displaygladevcp_clicked(self,*args):
        pos = "+0+0"
        size = "200x200"
        options = ""
        folder = "/tmp"
        if not self.widgets.createconfig.get_active() and self.widgets.gladeexists.get_active():
            folder = os.path.expanduser("~/linuxcnc/configs/%s" % self.data.machinename)
            if not os.path.exists(folder + "/gvcp-panel.ui"):
                self.warning_dialog (_("""You specified there is an existing gladefile, \
But there is not one in the machine-named folder.."""),True)
                return
        self.gladevcptestpanel(self)
        if self.widgets.gladevcpposition.get_active() == True:
            xpos = self.widgets.gladevcpxpos.get_value()
            ypos = self.widgets.gladevcpypos.get_value()
            pos = "+%d+%d"% (xpos,ypos)
        if self.widgets.gladevcpsize.get_active() == True:
            width = self.widgets.gladevcpwidth.get_value()
            height = self.widgets.gladevcpheight.get_value()
            size = "%dx%d"% (width,height)
        if not self.widgets.gladevcptheme.get_active_text() == "Follow System Theme":
            options ="-t %s"% (self.widgets.gladevcptheme.get_active_text())
            print options
        self.halrun = halrun = os.popen("cd %s\nhalrun -I > /dev/null"%(folder), "w" )    
        halrun.write("loadusr -Wn displaytest gladevcp -g %(size)s%(pos)s -c displaytest %(option)s gvcp-panel.ui\n" %{'size':size,'pos':pos,'option':options})
        if self.widgets.spindlespeedbar.get_active():
            halrun.write("setp displaytest.spindle-speed 500\n")
        if self.widgets.zerox.get_active():
            halrun.write("setp displaytest.zero-x-active true\n")
        if self.widgets.zeroy.get_active():
            halrun.write("setp displaytest.zero-y-active true\n")
        if self.widgets.zeroz.get_active():
            halrun.write("setp displaytest.zero-z-active true\n")
        if self.widgets.zeroa.get_active():
            halrun.write("setp displaytest.zero-a-active true\n")
        if self.widgets.autotouchz.get_active():
            halrun.write("setp displaytest.auto-touch-z-active true\n")
        if self.widgets.spindleatspeed.get_active():
            halrun.write("setp displaytest.spindle-at-speed-led true\n")
        halrun.write("setp displaytest.button-box-active true\n")
        halrun.write("waitusr displaytest\n"); halrun.flush()
        halrun.close()

    def gladevcptestpanel(self,w):
        directory = "/tmp/"
        filename = os.path.join(directory, "gvcp-panel.ui")
        file = open(filename, "w")
        print >>file, ("""<?xml version="1.0"?>
<interface>
  <!-- interface-requires gladevcp 0.0 -->
  <requires lib="gtk+" version="2.16"/>
  <!-- interface-naming-policy project-wide -->
  <object class="GtkWindow" id="window1">
    <property name="width_request">100</property>
    <child>
      <object class="GtkVBox" id="vbox1">
        <property name="visible">True</property>""")
        if self.widgets.spindlespeedbar.get_active():
            print >>file, ("""
        <child>
          <object class="HAL_HBar" id="spindle-speed">
            <property name="visible">True</property>
            <property name="force_height">36</property>""")
            print >>file, ("""<property name="max">%(maxrpm)d</property>"""%{'maxrpm':self.widgets.maxspeeddisplay.get_value() })
            print >>file, ("""
            <property name="z0_color">#0000ffff0000</property>
            <property name="value">44.25</property>
            <property name="z1_color">#ffffffff0000</property>
            <property name="bg_color">#bebebebebebe</property>
            <property name="text_template">Spindle: % 4d RPM</property>
            <property name="z0_border">0.94999998807907104</property>
            <property name="z2_color">#ffff00000000</property>
            <property name="show_limits">False</property>
          </object>
          <packing>
            <property name="expand">False</property>
            <property name="position">0</property>
          </packing>
        </child>""" )
        if self.widgets.spindleatspeed.get_active():
            print >>file, ("""
        <child>
          <object class="GtkHBox" id="hbox1">
            <property name="visible">True</property>
            <child>
              <object class="GtkLabel" id="label1">
                <property name="visible">True</property>
                <property name="ypad">5</property>
                <property name="label" translatable="yes"> Spindle Up To Speed </property>
              </object>
              <packing>
                <property name="expand">False</property>
                <property name="fill">False</property>
                <property name="position">0</property>
              </packing>
            </child>
            <child>
              <object class="HAL_LED" id="spindle-at-speed-led">
                <property name="visible">True</property>
                <property name="led_shape">2</property>
                <property name="on_color">green</property>
                <property name="led_size">5</property>
              </object>
              <packing>
                <property name="expand">False</property>
                <property name="fill">False</property>
                <property name="padding">10</property>
                <property name="position">1</property>
              </packing>
            </child>
          </object>
          <packing>
            <property name="expand">False</property>
            <property name="position">1</property>
          </packing>
        </child>""")
        print >>file, ("""
        <child>
          <object class="HAL_Table" id="button-box-active">
            <property name="visible">True</property>
            <property name="n_rows">5</property>
            <property name="homogeneous">False</property>""")
        if self.widgets.autotouchz.get_active():
            print >>file, ("""
            <child>
              <object class="HAL_HBox" id="auto-touch-z-active">
                <property name="visible">True</property>
                <child>
                  <object class="HAL_Button" id="auto-touch-z">
                    <property name="label" translatable="yes">Z  Auto Touch Off</property>
                    <property name="visible">True</property>
                    <property name="can_focus">True</property>
                    <property name="receives_default">True</property>
                    <property name="yalign">0.56000000238418579</property>
                  </object>
                  <packing>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
              <packing>
                <property name="top_attach">4</property>
                <property name="bottom_attach">5</property>
              </packing>
            </child>""")
        if self.widgets.zeroa.get_active():
            print >>file, ("""
            <child>
              <object class="HAL_HBox" id="zero-a-active">
                <property name="visible">True</property>
                <child>
                  <object class="HAL_Button" id="zero-a">
                    <property name="label" translatable="yes">Zero A</property>
                    <property name="visible">True</property>
                    <property name="can_focus">True</property>
                    <property name="receives_default">True</property>
                  </object>
                  <packing>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
              <packing>
                <property name="top_attach">3</property>
                <property name="bottom_attach">4</property>
              </packing>
            </child>""")
        if self.widgets.zeroz.get_active():
            print >>file, ("""
            <child>
              <object class="HAL_HBox" id="zero-z-active">
                <property name="visible">True</property>
                <child>
                  <object class="HAL_Button" id="zero-z">
                    <property name="label" translatable="yes">Zero Z</property>
                    <property name="visible">True</property>
                    <property name="can_focus">True</property>
                    <property name="receives_default">True</property>
                  </object>
                  <packing>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
              <packing>
                <property name="top_attach">2</property>
                <property name="bottom_attach">3</property>
              </packing>
            </child>""")
        if self.widgets.zeroy.get_active():
            print >>file, ("""
            <child>
              <object class="HAL_HBox" id="zero-y-active">
                <property name="visible">True</property>
                <child>
                  <object class="HAL_Button" id="zero-y">
                    <property name="label" translatable="yes">Zero Y</property>
                    <property name="visible">True</property>
                    <property name="can_focus">True</property>
                    <property name="receives_default">True</property>
                  </object>
                  <packing>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
              <packing>
                <property name="top_attach">1</property>
                <property name="bottom_attach">2</property>
              </packing>
            </child>""")
        if self.widgets.zerox.get_active():
            print >>file, ("""
            <child>
              <object class="HAL_HBox" id="zero-x-active">
                <property name="visible">True</property>
                <child>
                  <object class="HAL_Button" id="zero-x">
                    <property name="label" translatable="yes">Zero X</property>
                    <property name="visible">True</property>
                    <property name="can_focus">True</property>
                    <property name="receives_default">True</property>
                  </object>
                  <packing>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
            </child>""")
        print >>file, ("""
          </object>
          <packing>
            <property name="expand">False</property>
            <property name="fill">False</property>
            <property name="position">2</property>
          </packing>
        </child>
      </object>
    </child>
  </object>
</interface>""")
        file.close()



    # for classicladder test  
    def load_ladder(self,w): 
        newfilename = os.path.join(distdir, "configurable_options/ladder/TEMP.clp")    
        self.data.modbus = self.widgets.modbus.get_active()
        self.halrun = halrun = os.popen("halrun -I > /dev/null", "w")
        halrun.write(""" 
              loadrt threads period1=%(period)d name1=fast fp1=0 period2=%(period2)d name2=slow 
              loadrt classicladder_rt numPhysInputs=%(din)d numPhysOutputs=%(dout)d numS32in=%(sin)d\
               numS32out=%(sout)d numFloatIn=%(fin)d numFloatOut=%(fout)d numBits=%(bmem)d numWords=%(wmem)d
               addf classicladder.0.refresh slow
               start\n""" % {
                      'din': self.widgets.digitsin.get_value(),
                      'dout': self.widgets.digitsout.get_value(),
                      'sin': self.widgets.s32in.get_value(),
                      'sout': self.widgets.s32out.get_value(), 
                      'fin':self.widgets.floatsin.get_value(),
                      'fout':self.widgets.floatsout.get_value(),
                      'bmem':self.widgets.bitmem.get_value(),
                      'wmem':self.widgets.wordmem.get_value(),
                      'period':100000, 
                      'period2':self.data.servoperiod
                 })
        if self.widgets.ladderexist.get_active() == True:
            if self.data.tempexists:
               self.data.laddername='TEMP.clp'
            else:
               self.data.laddername= 'blank.clp'
        if self.widgets.ladder1.get_active() == True:
            self.data.laddername= 'estop.clp'
        if self.widgets.ladder2.get_active() == True:
            self.data.laddername = 'serialmodbus.clp'
            self.data.modbus = True
            self.widgets.modbus.set_active(True)
        if self.widgets.laddertouchz.get_active() == True:
            self.data.laddertouchz = True
            self.data.laddername = 'touchoff_z.clp'
            self.data.halui = True
            self.widgets.halui.set_active(True)
        if self.widgets.ladderexist.get_active() == True:
            self.data.laddername='custom.clp'
            originalfile = filename = os.path.expanduser("~/linuxcnc/configs/%s/custom.clp" % self.data.machinename)
        else:
            filename = os.path.join(distdir, "configurable_options/ladder/"+ self.data.laddername)        
        if self.data.modbus == True: 
            halrun.write("loadusr -w classicladder --modmaster --newpath=%(newname)s %(filename)s\n" %                                  {'newname':newfilename,'filename':filename})
        else:
            halrun.write("loadusr -w classicladder --newpath=%(newname)s %(filename)s\n" % { 'newname':newfilename ,'filename':filename })
        halrun.write("start\n"); halrun.flush()
        halrun.close()
        if os.path.exists(newfilename):
            self.data.tempexists = True
            self.widgets.newladder.set_text('Edited ladder program')
            self.widgets.ladderexist.set_active(True)
        else:
            self.data.tempexists = 0
      
    # servo and stepper test  
    def tune_axis(self, axis):
        if not self.check_for_rt(self):
            return
        d = self.data
        w = self.widgets
        self.updaterunning = False
        axnum = "xyzas".index(axis)
        self.axis_under_tune = axis
        step_sig = self.data.stepgen_sig(axis)
        self.stepgen = self.data.stepgen_sig(axis)
        #print axis," stepgen--",self.stepgen
        self.encoder = self.data.encoder_sig(axis)
        #print axis," encoder--",self.encoder
        pwm_sig = self.data.pwmgen_sig(axis)
        self.pwm = self.data.make_pinname(pwm_sig)
        #print axis," pwgen--",self.pwmgen
        pump = self.data.findsignal("charge-pump")
        w.tuneaxispage.set_current_page(axnum)
        w[axis+"tunepage"].set_sensitive(1)

        if self.stepgen:
            w[axis+"tuningnotebook"].set_current_page(1)
            w[axis+"pid"].set_sensitive(0)
            w[axis+"tuneinvertencoder"].set_sensitive(0)
            w[axis+"pidtable"].set_sensitive(0)
        else:
            w[axis+"tuningnotebook"].set_current_page(0)
            w[axis+"step"].set_sensitive(0)
            w[axis+"steptable"].set_sensitive(0)
            text = _("Servo tuning is not avaiable in PNCconf yet\n")
            self.warning_dialog(text,True)
            return

        if axis == "a":
            w[axis + "tunedistunits"].set_text(_("degrees"))
            w[axis + "tunevelunits"].set_text(_("degrees / minute"))
            w[axis + "tuneaccunits"].set_text(_("degrees / second²"))
        elif axis == "s":
            w[axis + "tunedistunits"].set_text(_("revolutions"))
            w[axis + "tunevelunits"].set_text(_("rpm"))
            w[axis + "tuneaccunits"].set_text(_("revs / second²"))
        elif d.units == _METRIC:
            w[axis + "tunedistunits"].set_text(_("mm"))
            w[axis + "tunevelunits"].set_text(_("mm / minute"))
            w[axis + "tuneaccunits"].set_text(_("mm / second²"))
        else:
            w[axis + "tunedistunits"].set_text(_("inches"))
            w[axis + "tunevelunits"].set_text(_("inches / minute"))
            w[axis + "tuneaccunits"].set_text(_("inches / second²"))
        w[axis+"tunevel"].set_value(get_value(w[axis+"maxvel"]))
        w[axis+"tuneacc"].set_value(get_value(w[axis+"maxacc"]))
        w[axis+"tunecurrentP"].set_value(w[axis+"P"].get_value())
        w[axis+"tuneorigP"].set_text("%s" % w[axis+"P"].get_value())
        w[axis+"tunecurrentI"].set_value(w[axis+"I"].get_value())
        w[axis+"tuneorigI"].set_text("%s" % w[axis+"I"].get_value())
        w[axis+"tunecurrentD"].set_value(w[axis+"D"].get_value())
        w[axis+"tuneorigD"].set_text("%s" % w[axis+"D"].get_value())
        w[axis+"tunecurrentFF0"].set_value(w[axis+"FF0"].get_value())
        w[axis+"tuneorigFF0"].set_text("%s" % w[axis+"FF0"].get_value())
        w[axis+"tunecurrentFF1"].set_value(w[axis+"FF1"].get_value())
        w[axis+"tuneorigFF1"].set_text("%s" % w[axis+"FF1"].get_value())
        w[axis+"tunecurrentFF2"].set_value(w[axis+"FF2"].get_value())
        w[axis+"tuneorigFF2"].set_text("%s" % w[axis+"FF2"].get_value())
        w[axis+"tunecurrentbias"].set_value(w[axis+"bias"].get_value())
        w[axis+"tuneorigbias"].set_text("%s" % w[axis+"bias"].get_value())
        w[axis+"tunecurrentdeadband"].set_value(w[axis+"deadband"].get_value())
        w[axis+"tuneorigdeadband"].set_text("%s" % w[axis+"deadband"].get_value())
        w[axis+"tunecurrentsteptime"].set_value(w[axis+"steptime"].get_value())
        w[axis+"tuneorigsteptime"].set_text("%s" % w[axis+"steptime"].get_value())
        w[axis+"tunecurrentstepspace"].set_value(get_value(w[axis+"stepspace"]))
        w[axis+"tuneorigstepspace"].set_text("%s" % w[axis+"stepspace"].get_value())
        w[axis+"tunecurrentdirhold"].set_value(get_value(w[axis+"dirhold"]))
        w[axis+"tuneorigdirhold"].set_text("%s" % w[axis+"dirhold"].get_value())
        w[axis+"tunecurrentdirsetup"].set_value(get_value(w[axis+"dirsetup"]))
        w[axis+"tuneorigdirsetup"].set_text("%s" % w[axis+"dirsetup"].get_value())
        self.tunejogplus = self.tunejogminus = 0
        w[axis+"tunedir"].set_active(0)
        w[axis+"tunerun"].set_active(0)
        w[axis+"tuneinvertmotor"].set_active(w[axis+"invertmotor"].get_active())
        w[axis+"tuneinvertencoder"].set_active(w[axis+"invertencoder"].get_active())
        dac_scale = get_value(w[axis+"outputscale"])
        pwmminlimit = get_value(w[axis+"outputminlimit"])
        pwmmaxlimit = get_value(w[axis+"outputmaxlimit"])
        pwmmaxoutput = get_value(w[axis+"outputscale"])
             
        self.halrun = halrun = os.popen("halrun -I > /dev/null", "w")

        halrun.write("""
        loadrt threads period1=%(period)d name1=fast fp1=0 period2=%(period2)d name2=slow
        loadusr halscope
        loadrt scale names=scale_to_rpm
        loadrt steptest     
        """ % {'period':100000, 'period2':self.data.servoperiod })   
        if not self.stepgen: 
            halrun.write("loadrt pid num_chan=1\n")
        self.hal_cmnds("LOAD")
        self.hal_cmnds("READ")
        if pump:
            halrun.write( "loadrt charge_pump\n")
            halrun.write( "net enable charge-pump.enable\n")
            halrun.write( "net charge-pump <= charge-pump.out\n")
            halrun.write( "addf charge-pump slow\n")
        halrun.write("addf steptest.0 slow \n")
        if not self.stepgen: 
            halrun.write("addf pid.0.do-pid-calcs slow \n")
        halrun.write("addf scale_to_rpm slow \n")
        self.hal_cmnds("WRITE")
        halrun.write( "newsig estop-out bit\n")
        halrun.write( "sets estop-out false\n")
        # search and connect I/o signals needed to enable amps etc
        self.hal_test_signals(axis)
        # for encoder signals
        if self.encoder: 
            #print self.encoder,"--",self.encoder[4:5],self.encoder[10:],self.encoder[6:7] 
            self.enc_signalname = self.data.make_pinname(self.encoder)                 
            halrun.write("setp %s.counter-mode 0\n"% (self.enc_signalname))
            halrun.write("setp %s.filter 1\n"% (self.enc_signalname))
            halrun.write("setp %s.index-invert 0\n"% (self.enc_signalname))
            halrun.write("setp %s.index-mask 0\n"% (self.enc_signalname))
            halrun.write("setp %s.index-mask-invert 0\n"% (self.enc_signalname)) 
            halrun.write("setp %s.scale %d\n"% (self.enc_signalname, get_value(w[axis + "encoderscale"])))                         
            halrun.write("loadusr halmeter -s pin %s.velocity -g 0 625 330\n"% (self.enc_signalname))
            halrun.write("loadusr halmeter -s pin %s.position -g 0 675 330\n"% (self.enc_signalname))
            halrun.write("loadusr halmeter pin %s.velocity -g 275 415\n"% (self.enc_signalname))

        # setup pwm generator
        if self.pwm:
            print self.pwm
            if "pwm" in self.pwm: # mainboard PWM
                pwmtype = self.data[pwm_sig+"type"]
                if  pwmtype == PWMP: pulsetype = 1
                elif pwmtype == PDMP: pulsetype = 3
                elif pwmtype == UDMU: pulsetype = 2
                else: 
                    print "**** ERROR PNCCONF- PWM type not recognized in tune test"
                    return
                halrun.write("setp %s %d \n"%  (self.pwm +".output-type", pulsetype))
                halrun.write("net enable %s \n"%  (self.pwm +".enable"))
                halrun.write("setp %s \n"%  (self.pwm +".scale %f"% dac_scale))
                ending = ".value"
                pwminvertlist = self.data.pwmgen_invert_pins(pwm_sig)
                for i in pwminvertlist:
                    halrun.write("setp    "+i+".invert_output true")
            else: # sserial PWM
                pwm_enable = self.data.make_pinname(pwm_sig,False,True) # get prefix only
                halrun.write("net enable %s \n"%  (pwm_enable +"analogena"))
                halrun.write("setp   "+self.pwm+"-minlim   %.1f\n"% pwmminlimit)
                halrun.write("setp   "+self.pwm+"-maxlim   %.1f\n"% pwmmaxlimit)
                halrun.write("setp   "+self.pwm+"-scalemax %.1f\n"% pwmmaxoutput)
                ending = ""
            halrun.write("net output %s \n"%  (self.pwm + ending))
            halrun.write("loadusr halmeter -s pin %s -g 0 575 330\n"%  (self.pwm + ending))
            halrun.write("loadusr halmeter pin %s -g 0 550 375\n"% (self.pwm + ending) )
            halrun.write("loadusr halmeter -s sig enable -g 0 525 330\n")

        # for step gen components
        if self.stepgen:                        
            # check current component number to signal's component number                             
            self.step_signalname = self.data.make_pinname(self.stepgen) 
            #print "step_signal--",self.step_signalname   
            if w[axis+"invertmotor"].get_active():
                self.scale = get_value(w[axis + "stepscale"]) * -1
            else:
                self.scale = get_value(w[axis + "stepscale"]) * 1
            stepinvertlist = self.data.stepgen_invert_pins(step_sig)
            for i in stepinvertlist:
                halrun.write("setp    "+i+".invert_output true")
            halrun.write("setp %s.step_type 0 \n"% (self.step_signalname))
            halrun.write("setp %s.position-scale %f \n"% (self.step_signalname,self.scale))
            halrun.write("setp %s.steplen %d \n"% (self.step_signalname,w[axis+"steptime"].get_value()))
            halrun.write("setp %s.stepspace %d \n"% (self.step_signalname,w[axis+"stepspace"].get_value()))
            halrun.write("setp %s.dirhold %d \n"% (self.step_signalname,w[axis+"dirhold"].get_value()))
            halrun.write("setp %s.dirsetup %d \n"% (self.step_signalname,w[axis+"dirsetup"].get_value()))
            halrun.write("setp steptest.0.epsilon %f\n"% abs(1. / get_value(w[axis + "stepscale"]))  )
            halrun.write("setp %s.maxaccel 0 \n"% (self.step_signalname))
            halrun.write("setp %s.maxvel 0 \n"% (self.step_signalname))
            halrun.write("net enable => %s.enable \n"% (self.step_signalname))
            halrun.write("net cmd steptest.0.position-cmd => %s.position-cmd \n"% (self.step_signalname))
            halrun.write("net feedback steptest.0.position-fb <= %s.position-fb \n"% (self.step_signalname))
            halrun.write("net speed_rps scale_to_rpm.in <= %s.velocity-fb \n"% (self.step_signalname))
            halrun.write("net speed_rpm scale_to_rpm.out\n")
            halrun.write("setp scale_to_rpm.gain 60\n")
            halrun.write("loadusr halmeter sig speed_rpm -g 0 415\n")
            halrun.write("loadusr halmeter -s pin %s.velocity-fb -g 0 575 350\n"% (self.step_signalname))
            halrun.write("loadusr halmeter -s pin %s.position-fb -g 0 525 350\n"% (self.step_signalname))
        # set up PID if there is a feedback sensor and pwm. TODO add ability to test closed loop steppers
        if self.encoder and self.pwm:
            halrun.write("setp pid.0.Pgain     %d\n"% ( w[axis+"P"].get_value() ))
            halrun.write("setp pid.0.Igain     %d\n"% ( w[axis+"I"].get_value() ))
            halrun.write("setp pid.0.Dgain     %d\n"% ( w[axis+"D"].get_value() ))
            halrun.write("setp pid.0.bias      %d\n"% ( w[axis+"bias"].get_value() ))
            halrun.write("setp pid.0.FF0       %d\n"% ( w[axis+"FF0"].get_value() ))
            halrun.write("setp pid.0.FF1       %d\n"% ( w[axis+"FF1"].get_value() ))
            halrun.write("setp pid.0.FF2       %d\n"% ( w[axis+"FF2"].get_value() ))
            halrun.write("setp pid.0.deadband  %d\n"% ( w[axis+"deadband"].get_value() ))
            halrun.write("setp pid.0.maxoutput  %d\n"% ( w[axis+"maxoutput"].get_value() ))
            halrun.write("net enable     => pid.0.enable\n")
            halrun.write("net output     pid.0.output\n")
            halrun.write("net pos-cmd    steptest.0.position-cmd => pid.0.command\n")
            halrun.write("net feedback steptest.0.position-fb <= %s.position \n"% (self.enc_signalname))
   
        self.updaterunning = True
        halrun.write("start\n"); halrun.flush()
        w.tunedialog.set_title(_("%s Axis Tune") % axis.upper())
        w.tunedialog.move(550,0)
        w.tunedialog.show_all()
        self.widgets['window1'].set_sensitive(0)
        result = w.tunedialog.run()
        w.tunedialog.hide()
        if result == gtk.RESPONSE_OK:
            w[axis+"maxvel"].set_value( get_value(w[axis+"tunevel"]))
            w[axis+"maxacc"].set_value( get_value(w[axis+"tuneacc"]))
            w[axis+"P"].set_value( get_value(w[axis+"tunecurrentP"]))
            w[axis+"I"].set_value( get_value(w[axis+"tunecurrentI"]))
            w[axis+"D"].set_value( get_value(w[axis+"tunecurrentD"]))
            w[axis+"FF0"].set_value( get_value(w[axis+"tunecurrentFF0"]))
            w[axis+"FF1"].set_value( get_value(w[axis+"tunecurrentFF1"]))
            w[axis+"FF2"].set_value( get_value(w[axis+"tunecurrentFF2"]))
            w[axis+"bias"].set_value( get_value(w[axis+"tunecurrentbias"]))
            w[axis+"deadband"].set_value( get_value(w[axis+"tunecurrentdeadband"]))
            w[axis+"tunecurrentbias"].set_value(w[axis+"bias"].get_value())
            w[axis+"steptime"].set_value(get_value(w[axis+"tunecurrentsteptime"]))
            w[axis+"stepspace"].set_value(get_value(w[axis+"tunecurrentstepspace"]))
            w[axis+"dirhold"].set_value(get_value(w[axis+"tunecurrentdirhold"]))
            w[axis+"dirsetup"].set_value(get_value(w[axis+"tunecurrentdirsetup"]))
            w[axis+"invertmotor"].set_active(w[axis+"tuneinvertmotor"].get_active())
            w[axis+"invertencoder"].set_active(w[axis+"tuneinvertencoder"].get_active())      
        halrun.write("sets enable false\n")   
        time.sleep(.001)   
        halrun.close()  
        self.widgets['window1'].set_sensitive(1)

    def update_tune_axis_params(self, *args):       
        axis = self.axis_under_tune
        if axis is None or not self.updaterunning: return   
        temp = not self.widgets[axis+"tunerun"].get_active()
        self.widgets[axis+"tuneinvertmotor"].set_sensitive( temp)
        self.widgets[axis+"tuneamplitude"].set_sensitive( temp)
        self.widgets[axis+"tunedir"].set_sensitive( temp)
        self.widgets[axis+"tunejogminus"].set_sensitive(temp)
        self.widgets[axis+"tunejogplus"].set_sensitive(temp)
        temp = self.widgets[axis+"tuneenable"].get_active()
        if not self.widgets[axis+"tunerun"].get_active():
            self.widgets[axis+"tunejogminus"].set_sensitive(temp)
            self.widgets[axis+"tunejogplus"].set_sensitive(temp)
        self.widgets[axis+"tunerun"].set_sensitive(temp)
        halrun = self.halrun
        if self.stepgen:
            halrun.write("""
                setp %(stepgen)s.steplen %(len)d
                setp %(stepgen)s.stepspace %(space)d
                setp %(stepgen)s.dirhold %(hold)d
                setp %(stepgen)s.dirsetup %(setup)d
                setp %(stepgen)s.maxaccel %(accel)f
                setp %(stepgen)s.maxvel %(velps)f
                setp %(stepgen)s.position-scale %(scale)f  
                setp steptest.0.jog-minus %(jogminus)s
                setp steptest.0.jog-plus %(jogplus)s
                setp steptest.0.run %(run)s
                setp steptest.0.amplitude %(amplitude)f
                setp steptest.0.maxvel %(velps)f
                setp steptest.0.maxaccel %(accel)f
                setp steptest.0.dir %(dir)s
                setp steptest.0.pause %(pause)d
                sets enable %(enable)s
                sets estop-out %(estop)s
            """ % {
                'scale':self.scale,
                'len':self.widgets[axis+"tunecurrentsteptime"].get_value(),
                'space':self.widgets[axis+"tunecurrentstepspace"].get_value(),
                'hold':self.widgets[axis+"tunecurrentdirhold"].get_value(),
                'setup':self.widgets[axis+"tunecurrentdirsetup"].get_value(),
                'stepgen': self.step_signalname,               
                'jogminus': self.tunejogminus,
                'jogplus': self.tunejogplus,
                'run': self.widgets[axis+"tunerun"].get_active(),
                'amplitude': self.widgets[axis+"tuneamplitude"].get_value(),
                'accel': self.widgets[axis+"tuneacc"].get_value(),
                'vel': self.widgets[axis+"tunevel"].get_value(),
                'velps': (self.widgets[axis+"tunevel"].get_value()/60),
                'dir': self.widgets[axis+"tunedir"].get_active(),
                'pause':int(self.widgets[axis+"tunepause"].get_value()),
                'enable':self.widgets[axis+"tuneenable"].get_active(),
                'estop':(self.widgets[axis+"tuneenable"].get_active())
            })
        else:
            halrun.write("""  
                setp pid.0.Pgain  %(p)f
                setp pid.0.Igain  %(i)f
                setp pid.0.Dgain  %(d)f 
                setp pid.0.bias   %(bias)f
                setp pid.0.FF0    %(ff0)f
                setp pid.0.FF1    %(ff1)f     
                setp pid.0.FF2    %(ff2)f
                setp pid.0.bias   %(bias)f
                setp pid.0.deadband  %(deadband)f
                setp steptest.0.jog-minus %(jogminus)s
                setp steptest.0.jog-plus %(jogplus)s
                setp steptest.0.run %(run)s
                setp steptest.0.amplitude %(amplitude)f
                setp steptest.0.maxvel %(velps)f
                setp steptest.0.maxaccel %(accel)f
                setp steptest.0.dir %(dir)s
                setp steptest.0.pause %(pause)d
                sets enable %(enable)s
            """ % {
                'p':self.widgets[axis+"tunecurrentP"].get_value(),
                'i':self.widgets[axis+"tunecurrentI"].get_value(),
                'd':self.widgets[axis+"tunecurrentD"].get_value(),
                'ff0':self.widgets[axis+"tunecurrentFF0"].get_value(),
                'ff1':self.widgets[axis+"tunecurrentFF1"].get_value(),
                'ff2':self.widgets[axis+"tunecurrentFF2"].get_value(),
                'bias':self.widgets[axis+"tunecurrentbias"].get_value(),
                'deadband':self.widgets[axis+"tunecurrentdeadband"].get_value(),
                'invert':self.widgets[axis+"tuneinvertmotor"].get_active(),
                'jogminus': self.tunejogminus,
                'jogplus': self.tunejogplus,
                'run': self.widgets[axis+"tunerun"].get_active(),
                'amplitude': self.widgets[axis+"tuneamplitude"].get_value(),
                'accel': self.widgets[axis+"tuneacc"].get_value(),
                'vel': self.widgets[axis+"tunevel"].get_value(),
                'velps': (self.widgets[axis+"tunevel"].get_value()/60),
                'dir': self.widgets[axis+"tunedir"].get_active(),
                'pause':int(self.widgets[axis+"tunepause"].get_value()),
                'enable':self.widgets[axis+"tuneenable"].get_active()
            })
        halrun.flush()

    def on_tunejogminus_pressed(self, w):
        self.tunejogminus = 1
        self.update_tune_axis_params()
    def on_tunejogminus_released(self, w):
        self.tunejogminus = 0
        self.update_tune_axis_params()
    def on_tunejogplus_pressed(self, w):
        self.tunejogplus = 1
        self.update_tune_axis_params()
    def on_tunejogplus_released(self, w):
        self.tunejogplus = 0
        self.update_tune_axis_params()
    # TODO fix scaling for servos:
    def on_tuneinvertmotor_toggled(self, w):
        axis = self.axis_under_tune
        w = self.widgets
        if w[axis+"tuneinvertmotor"].get_active():
            self.scale = get_value(w[axis + "stepscale"]) * -1
        else:
            self.scale = get_value(w[axis + "stepscale"])                 
        self.update_tune_axis_params()

    # openloop servo test
    def test_axis(self, axis):
        # can't test with a simulator
        if not self.check_for_rt(self):
            return
        # one needs real time, pwm gen and an encoder for open loop testing.
        temp = self.data.findsignal( (axis + "-encoder-a"))
        self.enc = self.data.make_pinname(temp)
        temp = self.data.findsignal( (axis + "-resolver"))
        self.res = self.data.make_pinname(temp)
        pwm_sig = self.data.findsignal( (axis + "-pwm-pulse"))
        self.pwm = self.data.make_pinname(pwm_sig)
        pot_sig = self.data.findsignal(axis+"-pot-output")
        self.pot = self.data.make_pinname(pot_sig)

        if axis == "s":
            if (not self.pwm and not self.pot) and (not self.enc and not self.res):
                self.warning_dialog( _(" You must designate a ENCODER / RESOLVER signal and an ANALOG SPINDLE signal for this axis test") , True)
                return
        else:
            if not self.pwm or (not self.enc and not self.res) :
                self.warning_dialog( _(" You must designate a ENCODER / RESOLVER signal and a PWM signal for this axis test") , True)
                return           

        self.halrun = halrun = os.popen("halrun -I > /dev/null", "w")  
        data = self.data
        widgets = self.widgets
        axnum = "xyzas".index(axis)
        pump = False
        fastdac = get_value(widgets["fastdac"])
        slowdac = get_value(widgets["slowdac"])
        dacspeed = widgets.Dac_speed_fast.get_active()
        dac_scale = get_value(widgets[axis+"outputscale"])
        max_dac = get_value(widgets[axis+"maxoutput"])
        pwmminlimit = get_value(widgets[axis+"outputminlimit"])
        pwmmaxlimit = get_value(widgets[axis+"outputmaxlimit"])
        pwmmaxoutput = get_value(widgets[axis+"outputscale"])
        enc_scale = get_value(widgets[axis+"encoderscale"])
        pump = self.data.findsignal("charge-pump")

        halrun.write("loadrt threads period1=%d name1=fast fp1=0 period2=%d name2=slow \n" % (100000, self.data.servoperiod  ))
        if not _DEBUGSTRING is None:
            halrun.write("echo\n")
        self.hal_cmnds("LOAD")
        #halrun.write("loadrt steptest\n")
        halrun.write("loadusr halscope\n")
        self.hal_cmnds("READ")
        if pump:
            halrun.write( "loadrt charge_pump\n")
            halrun.write( "net enable charge-pump.enable\n")
            halrun.write( "net charge-pump <= charge-pump.out\n")
            halrun.write( "addf charge-pump slow\n")
        #halrun.write("addf steptest.0 slow\n")
        self.hal_cmnds("WRITE")
        halrun.write( "newsig estop-out bit\n")
        halrun.write( "sets estop-out false\n")
        halrun.write( "newsig enable-not bit\n")
        halrun.write( "newsig dir-not bit\n")
        halrun.write( "newsig dir bit\n")
        # search for pins with test signals that may be needed to enable amp
        self.hal_test_signals(axis)

        # setup sserial potentiometer 
        if self.pot:
            halrun.write("net dac " + self.pot + "spinout\n")
            halrun.write("net enable " + self.pot +"spinena\n")
            halrun.write("net dir " + self.pot +"spindir\n")
            halrun.write("setp   "+self.pot+"spinout-minlim   %.1f\n"% pwmminlimit)
            halrun.write("setp   "+self.pot+"spinout-maxlim   %.1f\n"% pwmmaxlimit)
            halrun.write("setp   "+self.pot+"spinout-scalemax %.1f\n"% pwmmaxoutput)
            potinvertlist = self.data.spindle_invert_pins(pot_sig)
            for i in potinvertlist:
                    if i == POTO:
                        halrun.write("setp   "+self.pot+"spindir-invert   true\n")
                    if i == POTE:
                        halrun.write("setp   "+self.pot+"spinena-invert   true\n")
        # setup pwm generator
        if self.pwm:
            if "pwm" in self.pwm: # mainboard PWM
                pwmtype = self.data[pwm_sig+"type"]
                if  pwmtype == PWMP: pulsetype = 1
                elif pwmtype == PDMP: pulsetype = 3
                elif pwmtype == UDMU: pulsetype = 2
                else: 
                    print "**** ERROR PNCCONF- PWM type not recognized in open loop test"
                    return
                halrun.write("setp %s %d \n"%  (self.pwm +".output-type", pulsetype))
                halrun.write("net enable %s \n"%  (self.pwm +".enable"))
                halrun.write("setp %s \n"%  (self.pwm +".scale %f"% dac_scale))
                ending = ".value"
                pwminvertlist = self.data.pwmgen_invert_pins(pwm_sig)
                for i in pwminvertlist:
                    halrun.write("setp    "+i+".invert_output true\n")

            else: # sserial PWM
                pwm_enable = self.data.make_pinname(pwm_sig,False,True) # get prefix only
                if 'analogout5' in self.pwm:
                    enable ='spinena'
                else:
                    enable ='analogena'
                halrun.write("net enable %s \n"%  (pwm_enable + enable))
                halrun.write("setp   "+self.pwm+"-minlim   %.1f\n"% pwmminlimit)
                halrun.write("setp   "+self.pwm+"-maxlim   %.1f\n"% pwmmaxlimit)
                halrun.write("setp   "+self.pwm+"-scalemax %.1f\n"% pwmmaxoutput)
                ending = ""
            halrun.write("net dac %s \n"%  (self.pwm + ending))
            halrun.write("loadusr halmeter -s pin %s -g 550 500 330\n"%  (self.pwm + ending))
            halrun.write("loadusr halmeter pin %s -g 550 375\n"% (self.pwm + ending) )
            halrun.write("loadusr halmeter -s sig enable -g 0 475 330\n")

        # set up encoder     
        if self.enc:
            print self.enc
            halrun.write("net enc-reset %s \n"%  (self.enc +".reset"))
            halrun.write("setp %s.scale %f \n"%  (self.enc, enc_scale))
            halrun.write("setp %s \n"%  (self.enc +".filter true"))
            halrun.write("loadusr halmeter -s pin %s -g 550 550 330\n"%  (self.enc +".position"))
            halrun.write("loadusr halmeter -s pin %s -g 550 600 330\n"%  (self.enc +".velocity"))
        # set up resolver
        if self.res:
            halrun.write("net resolver-reset %s \n"%  (self.res +".reset"))
            halrun.write("setp %s.scale %f \n"%  (self.res, enc_scale))

        widgets.openloopdialog.set_title(_("%s Axis Test") % axis.upper())
        widgets.openloopdialog.move(550,0)
        self.jogplus = self.jogminus = self.enc_reset = self.res_reset = self.enable_amp = 0
        self.axis_under_test = axis
        widgets.testinvertmotor.set_active(widgets[axis+"invertmotor"].get_active())
        widgets.testinvertencoder.set_active(widgets[axis+"invertencoder"].get_active())
        widgets.testenc_scale.set_value(float(enc_scale))
        widgets.fastdac.set_range(0,max_dac)
        widgets.slowdac.set_range(0,max_dac)
        self.update_axis_params()      
        halrun.write("start\n"); halrun.flush()
        self.widgets['window1'].set_sensitive(0)
        self.widgets.jogminus.set_sensitive(0)
        self.widgets.jogplus.set_sensitive(0)
        widgets.openloopdialog.show_all()
        result = widgets.openloopdialog.run()

        widgets.openloopdialog.hide()
        time.sleep(.001)
        halrun.close()        
        if result == gtk.RESPONSE_OK:
            #widgets[axis+"maxacc"].set_text("%s" % widgets.testacc.get_value())
            widgets[axis+"invertmotor"].set_active(widgets.testinvertmotor.get_active())
            widgets[axis+"invertencoder"].set_active(widgets.testinvertencoder.get_active())
            widgets[axis+"encoderscale"].set_value(widgets.testenc_scale.get_value())
            #widgets[axis+"maxvel"].set_text("%s" % widgets.testvel.get_value())
        self.axis_under_test = None
        self.widgets['window1'].set_sensitive(1)
    
    def update_axis_params(self, *args):
        axis = self.axis_under_test
        if axis is None: return
        halrun = self.halrun
        enc_scale = self.widgets.testenc_scale.get_value()
        if self.widgets.testinvertencoder.get_active() == True: 
            enc_invert = -1
        else: 
            enc_invert = 1
        if self.widgets.Dac_speed_fast.get_active() == True:
            output = get_value(self.widgets.fastdac)
        else: 
            output = get_value(self.widgets.slowdac)
        if self.jogminus == 1:
            output = output * -1
        elif not self.jogplus == 1:
            output = 0
        invertmotor = self.widgets.testinvertmotor.get_active()
        output += get_value(self.widgets.testoutputoffset)
        halrun.write("sets enable %d\n"% ( self.enable_amp))
        halrun.write("sets enable-not %d\n"% ( not(self.enable_amp)))
        halrun.write("sets estop-out %d\n"% ( self.enable_amp))
        if invertmotor:
            output = output * -1
        if self.enc:
            halrun.write("""setp %(scalepin)s.scale %(scale)f\n""" % { 'scalepin':self.enc, 'scale': (enc_scale * enc_invert)})
            halrun.write("""sets enc-reset %(reset)d\n""" % { 'reset': self.enc_reset})
        if self.res:
            halrun.write("""setp %(scalepin)s.scale %(scale)f\n""" % { 'scalepin':self.res, 'scale': (enc_scale * enc_invert)})
            halrun.write("""sets resolver-reset %(reset)d\n""" % { 'reset': self.res_reset})
        if self.pwm:
            halrun.write("""sets dac %(output)f\n""" % { 'output': output})
        if self.pot:
            halrun.write("""sets dac %(output)f\n""" % { 'output': abs(output)})
            if output == 0:
                halrun.write("sets dir false\n")
                halrun.write("sets dir-not false\n")
            elif output < 0:
                halrun.write("sets dir true\n")
                halrun.write("sets dir-not false\n")
            else:
                halrun.write("sets dir false\n")
                halrun.write("sets dir-not true\n")
        halrun.flush()

    def on_jogminus_pressed(self, w):
        self.jogminus = 1
        self.update_axis_params()
    def on_jogminus_released(self, w):
        self.jogminus = 0
        self.update_axis_params()
    def on_jogplus_pressed(self, w):
        self.jogplus = 1
        self.update_axis_params()
    def on_jogplus_released(self, w):
        self.jogplus = 0
        self.update_axis_params()
    def on_resetbutton_pressed(self, w):
        self.enc_reset = self.res_reset = 1
        self.update_axis_params()
    def on_resetbutton_released(self, w):
        self.enc_reset = self.res_reset = 0
        self.update_axis_params()
    def on_testinvertmotor_toggled(self, w):
        self.update_axis_params()
    def on_testinvertencoder_toggled(self, w):
        self.update_axis_params()
    def on_testoutputoffset_value_changed(self, w):
        self.update_axis_params()
    def on_enableamp_toggled(self, w):
        self.enable_amp = self.enable_amp * -1 + 1
        self.widgets.jogminus.set_sensitive(self.enable_amp)
        self.widgets.jogplus.set_sensitive(self.enable_amp)
        self.update_axis_params()

    def run(self):
        gtk.main()

    def hal_test_signals(self, axis):
        # during testing pncconf looks for pins with these signals names
        # and connects to them so as to enable amps etc
        # force-pin-true will just make the pin be true all the time
        # this could be used as a temparary way to enable I/O that the
        # specific machine needs on for the amp to work but pncconf doesn't look for.
        if not axis == "s":
            signallist = ((axis+"-enable"),"machine-is-enabled","estop-out","charge-pump","force-pin-true")
        else:
            signallist = ("spindle-cw","spindle-ccw","spindle-brake","spindle-on","machine-is-enabled",
                            "estop-out","charge-pump","force-pin-true")
        halrun = self.halrun
        def write_pins(pname,p,i,t):
            if p in signallist:
                pinname  = self.data.make_pinname(pname)
                if pinname:
                    #print p, pname, i
                    if p == "estop-out": signal = p
                    elif p == "spindle-cw": signal = "dir"
                    elif p == "spindle-ccw": signal = "dir-not"
                    elif p == "spindle-brake": signal = "enable-not"
                    else: signal = "enable"
                    print pinname, p
                    if "parport" in pinname:
                        if p == "force-pin-true":
                            halrun.write("setp %s true\n"% (pinname))
                        else:
                            halrun.write("net %s %s \n"% (signal,pinname))
                    else:
                        if not "sserial" in pname: # mainboard GPIO need to be set to output/opendrain
                            halrun.write("setp %s true\n"% (pinname + ".is_output"))
                            if t == GPIOD: halrun.write("setp    "+pinname+".is_opendrain  true\n")
                        if "sserial" in pname and "dig" in pinname: ending = ".out" # 7i76 sserial board
                        elif "sserial" in pname: ending = "" # all other sserial
                        elif not "sserial" in pname: ending =".out" # mainboard GPIO
                        if p == "force-pin-true":
                            halrun.write("setp %s true\n"% ((pinname + ending)))
                        else:
                            halrun.write("net %s %s \n"% (signal,(pinname + ending)))
                    if i: # invert pin
                        if "sserial" in pname and "dig" in pinname: ending = ".invert" # 7i76 sserial board
                        elif "sserial" in pname or "parport" in pinname: ending = "-invert"# all other sserial or parport
                        else: ending = ".invert_output" # mainboard GPIO
                        halrun.write("setp %s true\n"%  (pinname + ending ))
                    return

        # search everything for multiple same named signal output pins
        # mesa mainboard
        for boardnum in range(0,int(self.data.number_mesa)):
            for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                for pin in range(0,24):
                    pname = 'mesa%dc%dpin%d' % (boardnum,connector, pin)
                    p = self.data['mesa%dc%dpin%d' % (boardnum,connector, pin)]
                    i = self.data['mesa%dc%dpin%dinv' % (boardnum,connector, pin)]
                    t = self.data['mesa%dc%dpin%dtype' % (boardnum,connector, pin)]
                    if t in (GPIOO,GPIOD) and not p == "unused-output":
                        write_pins(pname,p,i,t)
            # mesa sserial
            if self.data["mesa%d_numof_sserialports"% (boardnum)]: # only check if we have sserialports
                port = 0
                for channel in range (0,self.data["mesa%d_currentfirmwaredata"% boardnum][_MAXSSERIALCHANNELS]):
                    if channel >4: break # TODO only have 5 channels worth of glade widgets
                    for pin in range (0,_SSCOMBOLEN):
                        pname = 'mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)
                        p = self.data['mesa%dsserial%d_%dpin%d' % (boardnum,port,channel,pin)]
                        i = self.data['mesa%dsserial%d_%dpin%dinv' % (boardnum,port,channel,pin)]
                        t = self.data['mesa%dsserial%d_%dpin%dtype' % (boardnum,port,channel,pin)]
                        if t in (GPIOO,GPIOD) and not p == "unused-output":
                            write_pins(pname,p,i,t)
        # parports
        templist = ("pp1","pp2","pp3")
        for j, k in enumerate(templist):
            if self.data.number_pports < (j+1): break 
            for x in (1,2,3,4,5,6,7,8,9,14,16,17):
                pname = "%sOpin%d" % (k, x)
                p = self.data[pname]
                i = self.data[pname+"inv"]
                if not p == "unused-output":
                    write_pins(pname,p,i,None)

    def hal_cmnds(self,command ):
        halrun = self.halrun
        if command == "LOAD":
            halrun.write("loadrt probe_parport\n")
            # parport stuff
            if self.data.number_pports>0:
                port3name = port2name = port1name = port3dir = port2dir = port1dir = ""
                if self.data.number_pports>2:
                     port3name = " " + self.data.ioaddr3
                     if self.data.pp3_direction:
                        port3dir =" out"
                     else: 
                        port3dir =" in"
                if self.data.number_pports>1:
                     port2name = " " + self.data.ioaddr2
                     if self.data.pp2_direction:
                        port2dir =" out"
                     else: 
                        port2dir =" in"
                port1name = self.data.ioaddr
                if self.data.pp1_direction:
                   port1dir =" out"
                else: 
                   port1dir =" in"
                halrun.write("loadrt hal_parport cfg=\"%s%s%s%s%s%s\"\n" % (port1name, port1dir, port2name, port2dir, port3name, port3dir))
            # mesa stuff
            halrun.write("loadrt hostmot2\n")
            board0 = self.data.mesa0_currentfirmwaredata[_BOARDNAME]
            board1 = self.data.mesa1_currentfirmwaredata[_BOARDNAME]
            driver0 = self.data.mesa0_currentfirmwaredata[_HALDRIVER]
            driver1 = self.data.mesa1_currentfirmwaredata[_HALDRIVER]
            directory0 = self.data.mesa0_currentfirmwaredata[_DIRECTORY]
            directory1 = self.data.mesa1_currentfirmwaredata[_DIRECTORY]
            firm0 = self.data.mesa0_currentfirmwaredata[_FIRMWARE]
            firm1 = self.data.mesa1_currentfirmwaredata[_FIRMWARE]
            firmstring0 = firmstring1 = mesa0_ioaddr = mesa1_ioaddr = ""
            if '7i43' in board0:
                mesa0_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=1'% self.data.mesa0_parportaddrs
            if '7i43' in board1:
                mesa1_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=1'% self.data.mesa1_parportaddrs
            if not "5i25" in board0:
                firmstring0 = "firmware=hm2/%s/%s.BIT" % (directory0, firm0)
            if not "5i25" in board1:
                firmstring1 = "firmware=hm2/%s/%s.BIT" % (directory1, firm1)
            # TODO fix this hardcoded hack: only one serialport
            ssconfig0 = ssconfig1 = resolver0 = resolver1 = temp = ""
            if self.data.mesa0_numof_sserialports:
                for i in range(1,9):
                    if i <= self.data.mesa0_numof_sserialchannels:
                        # if m1 in the name then it needs mode 1
                        if "m1" in self.data["mesa0sserial0_%dsubboard"% (i-1)]:
                            temp = temp + "1"
                        else:
                            temp = temp + "0"
                    else:
                        temp = temp + "x"
                ssconfig0 = "sserial_port_0=%s"% temp
            if self.data.mesa1_numof_sserialports:
                for i in range(1,9):
                    if i <= self.data.mesa1_numof_sserialchannels:
                        # if m1 in the name then it needs mode 1
                        if "m1" in self.data["mesa1sserial0_%dsubboard"% (i-1)]:
                            temp = temp + "1"
                        else:
                            temp = temp + "0"
                    else:
                        temp = temp + "x"
                ssconfig1 = "sserial_port_0=%s"% temp
            if self.data.mesa0_numof_resolvers:
                resolver0 = "num_resolvers=%d"% self.data.mesa0_numof_resolvers
            if self.data.mesa1_numof_resolvers:
                resolver1 = "num_resolvers=%d"% self.data.mesa1_numof_resolvers

            if self.data.number_mesa == 1:            
                halrun.write( """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s"\n """ % (
                    driver0, mesa0_ioaddr, firmstring0, self.data.mesa0_numof_encodergens, self.data.mesa0_numof_pwmgens,
                    self.data.mesa0_numof_tppwmgens, self.data.mesa0_numof_stepgens, ssconfig0, resolver0))
            elif self.data.number_mesa == 2 and (driver0 == driver1):
                halrun.write( """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s,\
                                %s%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s"\n""" % (
                    driver0, mesa0_ioaddr, firmstring0, self.data.mesa0_numof_encodergens, self.data.mesa0_numof_pwmgens,
                    self.data.mesa0_numof_tppwmgens,self.data.mesa0_numof_stepgens, ssconfig0, resolver0, mesa1_ioaddr, firmstring1,
                    self.data.mesa1_numof_encodergens, self.data.mesa1_numof_pwmgens, self.data.mesa1_numof_tppwmgens,
                    self.data.mesa1_numof_stepgens, ssconfig1, resolver1))
            elif self.data.number_mesa == 2:
                halrun.write( """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d" %s %s\n """ % (
                    driver0, mesa0_ioaddr, firmstring0, self.data.mesa0_numof_encodergens, self.data.mesa0_numof_pwmgens,
                    self.data.mesa0_numof_tppwmgens, self.data.mesa0_numof_stepgens, ssconfig0, resolver0 ))
                halrun.write( """loadrt %s%s config="%s num_encoders=%d num_pwmgens=%d num_3pwmgens=%d num_stepgens=%d %s %s"\n """ % (
                    driver1, mesa1_ioaddr, firmstring1, self.data.mesa1_numof_encodergens, self.data.mesa1_numof_pwmgens,
                    self.data.mesa0_numof_tppwmgens, self.data.mesa1_numof_stepgens, ssconfig1, resolver1 ))
            for boardnum in range(0,int(self.data.number_mesa)):
                if boardnum == 1 and (board0 == board1):
                    halnum = 1
                else:
                    halnum = 0
                if self.data["mesa%d_numof_pwmgens"% boardnum] > 0:
                    halrun.write( "    setp hm2_%s.%d.pwmgen.pwm_frequency %d\n"% (
                     self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME],halnum, self.data["mesa%d_pwm_frequency"% boardnum] ))
                    halrun.write( "    setp hm2_%s.%d.pwmgen.pdm_frequency %d\n"% ( 
                    self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum,self.data["mesa%d_pdm_frequency"% boardnum] ))
                halrun.write( "    setp hm2_%s.%d.watchdog.timeout_ns %d\n"% ( 
                    self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum,self.data["mesa%d_watchdog_timeout"% boardnum] ))  
        if command == "READ":
            if self.data.number_pports > 0:
                halrun.write( "addf parport.0.read fast\n")
            if self.data.number_pports > 1:
                halrun.write( "addf parport.1.read fast\n")
            if self.data.number_pports > 2:
                halrun.write( "addf parport.2.read fast\n")
            for boardnum in range(0,int(self.data.number_mesa)):
                if boardnum == 1 and (self.data.mesa0_currentfirmwaredata[_BOARDNAME] == self.data.mesa1_currentfirmwaredata[_BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0         
                halrun.write( "addf hm2_%s.%d.read slow\n"% (self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum))
                halrun.write( "addf hm2_%s.%d.pet_watchdog  slow\n"% (self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum))
        if command == "WRITE":
            if self.data.number_pports > 0:
                halrun.write( "addf parport.0.write fast\n")
            if self.data.number_pports > 1:
                halrun.write( "addf parport.1.write fast\n")
            if self.data.number_pports > 2:
                halrun.write( "addf parport.2.write fast\n")
            for boardnum in range(0,int(self.data.number_mesa)):
                if boardnum == 1 and (self.data.mesa0_currentfirmwaredata[_BOARDNAME] == self.data.mesa1_currentfirmwaredata[_BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0         
                halrun.write( "addf hm2_%s.%d.write slow\n"% (self.data["mesa%d_currentfirmwaredata"% boardnum][_BOARDNAME], halnum))

    def debug_iter(self,test,testwidget,message=None):
        print "#### DEBUG :",message
        for i in ("_gpioosignaltree","_gpioisignaltree","_steppersignaltree","_encodersignaltree","_muxencodersignaltree",
                    "_pwmcontrolsignaltree","_pwmrelatedsignaltree","_tppwmsignaltree",
                    "_gpioliststore","_encoderliststore","_muxencoderliststore","_pwmliststore","_tppwmliststore"):
            modelcheck = self.widgets[testwidget].get_model()
            if modelcheck == self.data[i]:print i;break

#***************************************************************
# testpanel code
class hal_interface:
    def __init__(self):  
        try: 
            self.c = hal.component("testpanel")      
        except:
            print"problem in HAL routine"
class Data2:
    def __init__(self):
        self.inv = []
        self.swch = []
        self.led = []
        self.enc = []
        self.pwm = []
        self.stp = []
    def __getitem__(self, item):
        return getattr(self, item)
    def __setitem__(self, item, value):
        return setattr(self, item, value)

class LED(gtk.DrawingArea):

    def __init__(self, parent):
        self.par = parent       
        super(LED, self).__init__() 
        self._dia = 10
        self._state = 0
        self._on_color = [0.3, 0.4, 0.6]
        self._off_color = [0.9, 0.1, 0.1]
        self.set_size_request(25, 25)
        self.connect("expose-event", self.expose)
        

    # This method draws our widget
    # it draws a black circle for a rim around LED
    # Then depending on self.state
    # fills in that circle with on or off color.
    # the dim depends on self.diam
    def expose(self, widget, event):
        cr = widget.window.cairo_create()
        cr.set_line_width(3)
        #cr.set_source_rgb(0, 0, 0.0)    
        self.set_size_request(25, 25)  
        #cr.set_source_rgb(0, 0, 0.0)    
        #self.set_size_request(self._dia*2+5, self._dia*2+5) 
        w = self.allocation.width
        h = self.allocation.height
        cr.translate(w/2, h/2)
        #cr = widget.window.cairo_create()
        lg2 = cairo.RadialGradient(0, 0, 0,  0, 0, self._dia)
        if self._state:
            r = self._on_color[0]
            g = self._on_color[1]
            b = self._on_color[2]
        else:
            r = self._off_color[0]
            g = self._off_color[1]
            b = self._off_color[2]
        lg2.add_color_stop_rgba(1, r/.25,g/.25,b/.25, 1)
        lg2.add_color_stop_rgba(.5, r,g,b, .5)
        #lg2.add_color_stop_rgba(0, 0, 0, 0, 1)
        cr.arc(0, 0, self._dia, 0, 2*math.pi)
        cr.stroke_preserve()
        #cr.rectangle(20, 20, 300, 100)
        cr.set_source(lg2)
        cr.fill()

        return False
      
    # This sets the LED on or off
    # and then redraws it
    # Usage: ledname.set_active(True) 
    def set_active(self, data2 ):
        self._state = data2
        self.queue_draw()
    
    # This allows setting of the on and off color
    # Usage: ledname.set_color("off",[r,g,b])
    def set_color(self, state, color = [0,0,0] ):
        if state == "off":
            self._off_color = color
        elif state == "on":
            self._on_color = color
        else:
            return

    def set_dia(self, dia):
        self._dia = dia
        self.queue_draw()
 
class PyApp(gtk.Window): 

    def switch_callback(self, widget, component , boardnum,number, data=None):   
        print component,boardnum,number,data
        if component == "switch":
            invrt = self.data2["brd%dinv%d" % (boardnum,number)].get_active()
            if (data and not invrt ) or (not data and invrt):
                self.hal.c["brd.%d.switch.%d"% (boardnum, number)] = True
            else:
                self.hal.c["brd.%d.switch.%d"% (boardnum, number)] = False
        if component == "invert":
            self.switch_callback(None,"switch",boardnum,number,False)

    def pwm_callback(self, widget, component , boardnum,number, data=None):
        if component == "pwm":
            value = self.data2["brd%dpwm%dadj" % (boardnum,number)].get_value()
            active = self.data2["brd%dpmw_ckbutton%d"% (boardnum,number)].get_active()
            self.hal.c["brd.%d.pwm.%d.enable"% (boardnum, number)] = active
            if active:
                self.hal.c["brd.%d.pwm.%d.value"% (boardnum, number)] = value
            else:
                 self.hal.c["brd.%d.pwm.%d.value"% (boardnum, number)] = 0
    
    def stp_callback(self, widget, component , boardnum,number, data=None):
        if component == "stp":
            value = self.data2["brd%dstp%dcmd" % (boardnum,number)].get_value()
            active = self.data2["brd%dstp_ckbutton%d"% (boardnum,number)].get_active()
            self.hal.c["brd.%d.stp.%d.enable"% (boardnum, number)] = active
            if active:
                self.hal.c["brd.%d.stp.%d.position-cmd"% (boardnum, number)] = value
            

    def quit(self,widget):  
        self.widgets['window1'].set_sensitive(1)                 
        gobject.source_remove(self.timer)
        self.hal.c.exit()
        self.app.on_mesapanel_returned()
        return True

    def update(self):      
        if hal.component_exists("testpanel"):
            for i in (0,1):
                for j in range(0,72):
                    try:
                        self.data2["brd%dled%d"%(i,j)].set_active(self.hal.c["brd.%d.led.%d"% (i,j)]) 
                    except :
                        continue    
                for k in range(0,16):
                    try:
                        self.data2["brd%denc%dcount"%(i,k)].set_text("%s"% str(self.hal.c["brd.%d.enc.%d.count"% (i,k)])) 
                    except :
                        continue 
            return True # keep running this event
        else:
            return False # kill the event

    # This creates blank labels for placemarks for components
    # such as encoders that use 3 or 4 pins as input
    # but only need one line for user interaction
    # this keeps the page uniform
    def make_blank(self,container,boardnum,number):
        #blankname = "enc-%d" % (number)
        #self.data2["brd%denc%d" % (boardnum,number)]= gtk.Button("Reset-%d"% number)
        #self.hal.c.newpin(encname, hal.HAL_S32, hal.HAL_IN)
        label = gtk.Label("     ")
        container.pack_start(label, False, False, 10)
        label = gtk.Label("      ")
        container.pack_start(label, False, False, 10)
  
    # This creates widgets and HAL pins for encoder controls
    def make_enc(self,container,boardnum,number):
        encname = "brd.%d.enc.%d.reset" % (boardnum,number)   
        print"making HAL pin enc bit Brd %d,num %d"%(boardnum,number)   
        self.hal.c.newpin(encname, hal.HAL_BIT, hal.HAL_OUT)
        hal.new_sig(encname+"-signal",hal.HAL_BIT)
        hal.connect("testpanel."+encname,encname+"-signal")
        self.data2["brd%denc%dreset" % (boardnum,number)]= gtk.Button("Reset-%d"% number)
        container.pack_start(self.data2["brd%denc%dreset" % (boardnum,number)], False, False, 10)
        encname = "brd.%d.enc.%d.count" % (boardnum,number)
        print"making HAL pin enc s32 brd %d num %d"%(boardnum,number)      
        self.hal.c.newpin(encname, hal.HAL_S32, hal.HAL_IN)
        hal.new_sig(encname+"-signal",hal.HAL_S32)
        hal.connect("testpanel."+encname,encname+"-signal")
        label = self.data2["brd%denc%dcount" % (boardnum,number)] = gtk.Label("Encoder-%d"% (number))
        label.set_size_request(100, -1)
        container.pack_start(label, False, False, 10)
    
    # This creates widgets and HAL pins for stepper controls 
    def make_stp(self,container,boardnum,number):
        stpname = "brd.%d.stp.%d.position-cmd" % (boardnum,number)
        self.hal.c.newpin(stpname, hal.HAL_FLOAT, hal.HAL_OUT)
        hal.new_sig(stpname+"-signal",hal.HAL_FLOAT)
        hal.connect("testpanel."+stpname,stpname+"-signal")
        stpname = "brd.%d.stp.%d.enable" % (boardnum,number)
        self.hal.c.newpin(stpname, hal.HAL_BIT, hal.HAL_OUT)
        hal.new_sig(stpname+"-signal",hal.HAL_BIT)
        hal.connect("testpanel."+stpname,stpname+"-signal")
        adj = gtk.Adjustment(0.0, -1000.0, 1000.0, 1.0, 5.0, 0.0)
        spin = self.data2["brd%dstp%dcmd" % (boardnum,number)]= gtk.SpinButton(adj, 0, 1)  
        adj.connect("value_changed", self.stp_callback,"stp",boardnum,number,None)    
        container.pack_start(spin, False, False, 10)
        ckb = self.data2["brd%dstp_ckbutton%d"% (boardnum,number)] = gtk.CheckButton("Enable %d"% (number))
        ckb.connect("toggled", self.stp_callback, "stp",boardnum,number,None)
        container.pack_start(ckb, False, False, 10)
        

    # This places a spinbox for pwm value and a checkbox to enable pwm
    # It creates two HAL pins
    def make_pwm(self,container,boardnum,number):
        pwmname = "brd.%d.pwm.%d.value" % (boardnum,number)
        print"making HAL pin pwm float brd%d num %d"%(boardnum,number)
        self.hal.c.newpin(pwmname, hal.HAL_FLOAT, hal.HAL_OUT)
        hal.new_sig(pwmname+"-signal",hal.HAL_FLOAT)
        hal.connect("testpanel."+pwmname,pwmname+"-signal")
        pwmname = "brd.%d.pwm.%d.enable" % (boardnum,number)
        print"making HAL pin pwm bit brd %d num %d"%(boardnum,number)
        self.hal.c.newpin(pwmname, hal.HAL_BIT, hal.HAL_OUT)
        hal.new_sig(pwmname+"-signal",hal.HAL_BIT)
        hal.connect("testpanel."+pwmname,pwmname+"-signal")
        adj = self.data2["brd%dpwm%dadj" % (boardnum,number)] = gtk.Adjustment(0.0, -10.0, 10.0, 0.1, 0.5, 0.0)
        adj.connect("value_changed", self.pwm_callback,"pwm",boardnum,number,None)      
        pwm = self.data2["brd%dpwm%d" % (boardnum,number)] = gtk.HScale(adj)
        pwm.set_digits(1)
        pwm.set_size_request(100, -1)      
        container.pack_start(pwm, False, False, 10)        
        ckb = self.data2["brd%dpmw_ckbutton%d"% (boardnum,number)] = gtk.CheckButton("PWM-%d\nON"% (number))
        ckb.connect("toggled", self.pwm_callback, "pwm",boardnum,number,None)
        container.pack_start(ckb, False, False, 10)
    
    # This places a LED and a label in specified container
    # it specifies the led on/off colors
    # and creates a HAL pin
    def make_led(self,container,boardnum,number):
        ledname = "brd.%d.led.%d" % (boardnum,number)
        print"making HAL pin led bit brd %d num %d"%(boardnum,number)
        self.hal.c.newpin(ledname, hal.HAL_BIT, hal.HAL_IN)
        hal.new_sig(ledname+"-signal",hal.HAL_BIT)
        hal.connect("testpanel."+ledname,ledname+"-signal")
        led = self.data2["brd%dled%d" % (boardnum,number)] = LED(self)
        led.set_color("off",[1,0,0]) # red
        led.set_color("on",[0,1,0]) # Green
        container.pack_start(led, False, False, 10)
        label = gtk.Label("<--GPIO-%d"% (number))
        container.pack_start(label, False, False, 10)

    # This is for placing a button (switch) and an invert check box into
    # a specified container. It also creates the HAL pin
    # and connects some signals. 
    def make_switch(self,container,boardnum,number):
        # make a HAL pin
        switchname = "brd.%d.switch.%d" % (boardnum,number)
        print"making HAL pin switch bit brd %d num %d"%(boardnum,number)
        self.hal.c.newpin(switchname, hal.HAL_BIT, hal.HAL_OUT)
        hal.new_sig(switchname+"-signal",hal.HAL_BIT)
        hal.connect("testpanel."+switchname,switchname+"-signal")
        # add button to container using boarnum and number as a reference     
        button = self.data2["brd%dswch%d" % (boardnum,number)]= gtk.Button("OUT-%d"% number)
        container.pack_start(button, False, False, 10)
        # connect signals
        button.connect("pressed", self.switch_callback, "switch",boardnum,number,True)
        button.connect("released", self.switch_callback, "switch",boardnum,number,False) 
        # add invert switch
        ckb = self.data2["brd%dinv%d" % (boardnum,number)]= gtk.CheckButton("Invert")
        container.pack_start(ckb, False, False, 10) 
        ckb.connect("toggled", self.switch_callback, "invert",boardnum,number,None)
    
    def __init__(self,App,data,widgets):
        super(PyApp, self).__init__()
        #print "init super pyapp"
        self.data2 = Data2()
        self.data = data
        self.app = App
        self.widgets = widgets
        #self.halrun = self.app.halrun
        #print "entering HAL init"
        self.hal = hal_interface()
        #print "done HAL init"
        self.set_title("Mesa Test Panel")
        self.set_size_request(450, 450)        
        self.set_position(gtk.WIN_POS_CENTER)
        self.connect_after("destroy", self.quit)
        self.timer = gobject.timeout_add(100, self.update)
        #print "added timer"
        brdnotebook = gtk.Notebook()
        brdnotebook.set_tab_pos(gtk.POS_TOP)
        brdnotebook.show()
        self.add(brdnotebook)             
        
        for boardnum in range(0,int(self.data.number_mesa)):
            board = self.data["mesa%d_currentfirmwaredata"% (boardnum)][_BOARDNAME]+".%d"% boardnum
            self.data2["notebook%d"%boardnum] = gtk.Notebook()
            self.data2["notebook%d"%boardnum].set_tab_pos(gtk.POS_TOP)
            self.data2["notebook%d"%boardnum].show()
            label = gtk.Label("Mesa Board Number %d"% (boardnum))      
            brdnotebook.append_page(self.data2["notebook%d"%boardnum], label)
            for concount,connector in enumerate(self.data["mesa%d_currentfirmwaredata"% (boardnum)][_NUMOFCNCTRS]) :
                table = gtk.Table(12, 3, False)
                seperator = gtk.VSeparator()
                table.attach(seperator, 1, 2, 0, 12,True)
                for pin in range (0,24):
                    if pin >11:
                        column = 2
                        adjust = -12    
                    else:
                        column = 0
                        adjust = 0
                    firmptype,compnum = self.data["mesa%d_currentfirmwaredata"% (boardnum)][_STARTOFDATA+pin+(concount*24)]
                    pinv = 'mesa%dc%dpin%dinv' % (boardnum,connector,pin)
                    ptype = 'mesa%dc%dpin%dtype' % (boardnum,connector,pin)
                    pintype = self.widgets[ptype].get_active_text()
                    pininv = self.widgets[pinv].get_active()
                    truepinnum = (concount*24) + pin
                    # for output / open drain pins
                    if  pintype in (GPIOO,GPIOD): 
                        h = gtk.HBox(False,2)
                        self.make_switch(h,boardnum,truepinnum)
                        table.attach(h, 0 + column, 1 + column, pin + adjust, pin +1+ adjust,True)
                        hal.set_p("hm2_%s.gpio.%03d.is_output"% (board,truepinnum ),"true")
                        if pininv:  hal.set_p("hm2_%s.gpio.%03d.invert_output"% (board,truepinnum ),"true")
                        hal.connect("hm2_%s.gpio.%03d.out"% (board,truepinnum ),"brd.%d.switch.%d-signal" % (boardnum,truepinnum))
                    # for input pins
                    elif pintype == GPIOI: 
                        h = gtk.HBox(False,2)
                        self.make_led(h,boardnum,truepinnum)
                        table.attach(h, 0 + column, 1 + column, pin + adjust, pin +1+ adjust,True)
                        if pininv: hal.connect("hm2_%s.gpio.%03d.in_not"% (board,truepinnum),"brd.%d.led.%d-signal"% (boardnum,truepinnum))
                        else:   hal.connect("hm2_%s.gpio.%03d.in"% (board,truepinnum),"brd.%d.led.%d-signal"% (boardnum,truepinnum))
                    # for encoder pins
                    elif pintype in (ENCA,ENCB,ENCI,ENCM):
                        h = gtk.HBox(False,2)
                        if pintype == ENCA:
                            self.make_enc(h,boardnum,compnum)
                            hal.connect("hm2_%s.encoder.%02d.reset"% (board,compnum), "brd.%d.enc.%d.reset-signal"% (boardnum,compnum))
                            hal.connect("hm2_%s.encoder.%02d.count"% (board,compnum), "brd.%d.enc.%d.count-signal"% (boardnum,compnum))
                        else:
                            self.make_blank(h,boardnum,compnum)
                        table.attach(h, 0 + column, 1 + column, pin + adjust, pin +1+ adjust,True)
                    # for PWM pins
                    elif pintype in (PWMP,PWMD,PWME,PDMP,PDMD,PDME,UDMD,UDME):
                        h = gtk.HBox(False,2)
                        if pintype in (PWMP,PDMP,UDMU):
                            self.make_pwm(h,boardnum,compnum)
                            hal.connect("hm2_%s.pwmgen.%02d.enable"% (board,compnum),"brd.%d.pwm.%d.enable-signal"% (boardnum,compnum)) 
                            hal.connect("hm2_%s.pwmgen.%02d.value"% (board,compnum),"brd.%d.pwm.%d.value-signal"% (boardnum,compnum)) 
                            hal.set_p("hm2_%s.pwmgen.%02d.scale"% (board,compnum),"10") 
                        else:
                            self.make_blank(h,boardnum,compnum)
                        table.attach(h, 0 + column, 1 + column, pin + adjust, pin +1+ adjust,True)
                    # for Stepgen pins
                    elif pintype in (STEPA,STEPB):
                        h = gtk.HBox(False,2)
                        if pintype == STEPA:          
                            self.make_stp(h,boardnum,compnum)
                            hal.connect("hm2_%s.stepgen.%02d.enable"% (board,compnum),"brd.%d.stp.%d.enable-signal"% (boardnum,compnum))
                            hal.connect("hm2_%s.stepgen.%02d.position-cmd"% (board,compnum),"brd.%d.stp.%d.position-cmd-signal"% (boardnum,compnum))   
                            hal.set_p("hm2_%s.stepgen.%02d.maxaccel"% (board,compnum),"0")
                            hal.set_p("hm2_%s.stepgen.%02d.maxvel"% (board,compnum),"2000")
                            hal.set_p("hm2_%s.stepgen.%02d.steplen"% (board,compnum),"2000")
                            hal.set_p("hm2_%s.stepgen.%02d.stepspace"% (board,compnum),"2000")
                            hal.set_p("hm2_%s.stepgen.%02d.dirhold"% (board,compnum),"2000")
                            hal.set_p("hm2_%s.stepgen.%02d.dirsetup"% (board,compnum),"2000")
                        else:
                            self.make_blank(h,boardnum,compnum)
                        table.attach(h, 0 + column, 1 + column, pin + adjust, pin +1+ adjust,True)
                    else:
                        print "pintype error IN mesa test panel method pintype %s boardnum %d connector %d pin %d"% (pintype,boardnum,connector,pin)
                label = gtk.Label("Mesa %d-Connector %d"% (boardnum,connector))      
                self.data2["notebook%d"%boardnum].append_page(table, label)
           
        self.show_all() 
        self.widgets['window1'].set_sensitive(0) 
        self.hal.c.ready()
        
        #print "got to end of panel"

        
        
# testpanel code end
#****************************************************************

def makedirs(d):
    try:
        os.makedirs(d)
    except os.error, detail:
        if detail.errno != errno.EEXIST: raise
makedirs(os.path.expanduser("~/linuxcnc/configs"))

opts, args = getopt.getopt(sys.argv[1:], "dfr")
mode = 0
force = 0
debugswitch = 0
for k, v in opts:
    if k == "-r": mode = 1
    if k == "-f": force = 1
    if k == "-d": debugswitch = 1
if mode:
    filename = args[0]
    data = Data()
    data.load(filename, None, force)
    data.save()
if debugswitch:
    app = App(1)
    app.run()
elif args:
    app = App()
    app.run(args[0])
else:
    app = App()
    app.run()