? .mill.xml.swp
? .scope.cfg
? agg.hal
? agg.xml
? box
? build-stamp
? examples
? h.xml
? mill.xml
? table.xml
? tabs.xml
? bin/xmlmachine
? configs/scara/.scope.cfg
? configs/sim/.scope.cfg
? configs/sim/shutdown.hal
? docs/man/man9/deadzone.9
? docs/man/man9/tristate_float.9
? docs/src/hal/drivers.html
? docs/src/hal/parport-block-diag.png
? docs/src/hal/pluto-pinout.png
? lib/python/pyvcp_widgets+agg.py
? scripts/.emc.in.swp
? scripts/.emc.swp
? src/emc/kinematics/.scarakins.c.swp
? src/emc/task/.emccanon.cc.swp
Index: configs/puma/puma.var
===================================================================
RCS file: /cvs/emc2/configs/puma/puma.var,v
retrieving revision 1.1
diff -u -p -u -r1.1 puma.var
--- configs/puma/puma.var	3 Feb 2007 16:32:54 -0000	1.1
+++ configs/puma/puma.var	19 Feb 2007 03:57:44 -0000
@@ -19,9 +19,9 @@
 5218	0.000000
 5219	0.000000
 5220	1.000000
-5221	0.000000
-5222	0.000000
-5223	0.000000
+5221	350.000000
+5222	70.000000
+5223	-400.000000
 5224	0.000000
 5225	0.000000
 5226	0.000000
Index: configs/puma/puma_postgui.hal
===================================================================
RCS file: /cvs/emc2/configs/puma/puma_postgui.hal,v
retrieving revision 1.2
diff -u -p -u -r1.2 puma_postgui.hal
--- configs/puma/puma_postgui.hal	4 Feb 2007 22:07:12 -0000	1.2
+++ configs/puma/puma_postgui.hal	19 Feb 2007 03:57:44 -0000
@@ -1,6 +1,6 @@
-net j0 pyvcp.joint0
-net j1 pyvcp.joint1
-net j2 pyvcp.joint2
-net j3 pyvcp.joint3
-net j4 pyvcp.joint4
-net j5 pyvcp.joint5
+#net j0 pyvcp.joint0
+#net j1 pyvcp.joint1
+#net j2 pyvcp.joint2
+#net j3 pyvcp.joint3
+#net j4 pyvcp.joint4
+#net j5 pyvcp.joint5
Index: configs/scara/scara.ini
===================================================================
RCS file: /cvs/emc2/configs/scara/scara.ini,v
retrieving revision 1.3
diff -u -p -u -r1.3 scara.ini
--- configs/scara/scara.ini	7 Feb 2007 13:35:25 -0000	1.3
+++ configs/scara/scara.ini	19 Feb 2007 03:57:44 -0000
@@ -129,9 +129,9 @@ POSTGUI_HALFILE =            scara_postg
 ###############################################################################
 [TRAJ]
 #+ machine specific settings
-AXES =                  4
-COORDINATES =           X Y Z R 
-HOME = 			0 0 0 0 
+AXES =                  6
+COORDINATES =           X Y Z A B R 
+HOME = 			0 0 0 0 0 0
 LINEAR_UNITS =          1.0
 ANGULAR_UNITS =         1.0
 CYCLE_TIME =            0.010
@@ -224,6 +224,48 @@ HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
 HOME_SEQUENCE =                 0
 
+
+#+ Fifth axis
+[AXIS_4]
+TYPE =                          ANGULAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.0
+MAX_ACCELERATION =              200.0
+BACKLASH =                      0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE =                  1.000
+MIN_LIMIT =                     -180.0
+MAX_LIMIT =                     180.0
+FERROR =                        2.000
+MIN_FERROR =                    0.200
+HOME_OFFSET =                   0.0
+HOME_SEARCH_VEL =               0.0
+HOME_LATCH_VEL =                0.0
+HOME_USE_INDEX =                NO
+HOME_IGNORE_LIMITS =            NO
+HOME_SEQUENCE =                 0
+
+
+#+ Sixth axis
+[AXIS_5]
+TYPE =                          ANGULAR
+HOME =                          0.000
+MAX_VELOCITY =                  30.0
+MAX_ACCELERATION =              200.0
+BACKLASH =                      0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE =                  1.000
+MIN_LIMIT =                     -180.0
+MAX_LIMIT =                     180.0
+FERROR =                        2.000
+MIN_FERROR =                    0.200
+HOME_OFFSET =                   0.0
+HOME_SEARCH_VEL =               0.0
+HOME_LATCH_VEL =                0.0
+HOME_USE_INDEX =                NO
+HOME_IGNORE_LIMITS =            NO
+HOME_SEQUENCE =                 0
+
 ###############################################################################
 # section for main IO controller parameters 
 ###############################################################################
Index: configs/scara/scara.var
===================================================================
RCS file: /cvs/emc2/configs/scara/scara.var,v
retrieving revision 1.1
diff -u -p -u -r1.1 scara.var
--- configs/scara/scara.var	5 Feb 2007 00:07:35 -0000	1.1
+++ configs/scara/scara.var	19 Feb 2007 03:57:44 -0000
@@ -19,9 +19,9 @@
 5218	0.000000
 5219	0.000000
 5220	1.000000
-5221	0.000000
+5221	244.788348
 5222	0.000000
-5223	0.000000
+5223	233.984420
 5224	0.000000
 5225	0.000000
 5226	0.000000
Index: configs/scara/scara_sim_4.hal
===================================================================
RCS file: /cvs/emc2/configs/scara/scara_sim_4.hal,v
retrieving revision 1.2
diff -u -p -u -r1.2 scara_sim_4.hal
--- configs/scara/scara_sim_4.hal	5 Feb 2007 10:12:46 -0000	1.2
+++ configs/scara/scara_sim_4.hal	19 Feb 2007 03:57:44 -0000
@@ -27,6 +27,10 @@ newsig J2pos float
 linksp J2pos <= axis.2.motor-pos-cmd
 newsig J3pos float
 linksp J3pos <= axis.3.motor-pos-cmd
+newsig J4pos float
+linksp J4pos <= axis.4.motor-pos-cmd
+newsig J5pos float
+linksp J5pos <= axis.5.motor-pos-cmd
 
 
 # loop position commands back to motion module feedback
@@ -34,6 +38,8 @@ linksp J0pos => axis.0.motor-pos-fb
 linksp J1pos => axis.1.motor-pos-fb
 linksp J2pos => axis.2.motor-pos-fb
 linksp J3pos => axis.3.motor-pos-fb
+linksp J4pos => axis.4.motor-pos-fb
+linksp J5pos => axis.5.motor-pos-fb
 
 # send the position commands thru differentiators to
 # generate velocity and accel signals
@@ -98,3 +104,5 @@ net j0 axis.0.joint-pos-fb scaragui.join
 net j1 axis.1.joint-pos-fb scaragui.joint1
 net j2 axis.2.joint-pos-fb scaragui.joint2
 net j3 axis.3.joint-pos-fb scaragui.joint3
+net j4 axis.4.joint-pos-fb scaragui.joint4
+net j5 axis.5.joint-pos-fb scaragui.joint5
Index: configs/sim/axis.ini
===================================================================
RCS file: /cvs/emc2/configs/sim/axis.ini,v
retrieving revision 1.27
diff -u -p -u -r1.27 axis.ini
--- configs/sim/axis.ini	26 Jan 2007 22:29:20 -0000	1.27
+++ configs/sim/axis.ini	19 Feb 2007 03:57:44 -0000
@@ -116,6 +116,8 @@ HALFILE = simulated_home.hal
 # AXIS at this time (only AXIS creates a HAL component of its own)
 #POSTGUI_HALFILE = test_postgui.hal
 
+SHUTDOWN = shutdown.hal
+
 # Trajectory planner section --------------------------------------------------
 [TRAJ]
 
Index: docs/html/gcode.html
===================================================================
RCS file: /cvs/emc2/docs/html/gcode.html,v
retrieving revision 1.5
diff -u -p -u -r1.5 gcode.html
--- docs/html/gcode.html	15 Feb 2007 00:51:15 -0000	1.5
+++ docs/html/gcode.html	19 Feb 2007 03:57:44 -0000
@@ -1,5 +1,22 @@
 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
    "http://www.w3.org/TR/html4/strict.dtd">
+<!-- 
+Copyright (C) 2006, 2007 Jeff Epler
+
+    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
+-->
 <HTML>
 <HEAD>
 <STYLE type="text/css">
Index: lib/python/vismach.py
===================================================================
RCS file: /cvs/emc2/lib/python/vismach.py,v
retrieving revision 1.6
diff -u -p -u -r1.6 vismach.py
--- lib/python/vismach.py	6 Feb 2007 10:15:29 -0000	1.6
+++ lib/python/vismach.py	19 Feb 2007 03:57:45 -0000
@@ -15,8 +15,16 @@
 #    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 import rs274.OpenGLTk, Tkinter
+import hal
 from minigl import *
 
+def order(a, b):
+    if a < b: return a,b
+    return b, a
+
+class HalArg:
+    "Abstract class indicating that the derived class takes a HAL argument"
+
 class Collection:
     def __init__(self, parts):
 	self.parts = parts
@@ -46,12 +54,16 @@ class Translate(Collection):
     def unapply(self):
 	glPopMatrix()
 
-class HalTranslate(Collection):
+class HalTranslate(Collection, HalArg):
     def __init__(self, parts, comp, var, x, y, z):
 	self.parts = parts
 	self.where = x, y, z
 	self.comp = comp
 	self.var = var
+	try:
+	    comp[var]
+	except AttributeError:
+	    comp.newpin(var, hal.HAL_FLOAT, hal.HAL_IN)
 
     def apply(self):
 	x, y, z = self.where
@@ -63,12 +75,16 @@ class HalTranslate(Collection):
     def unapply(self):
 	glPopMatrix()
 
-class HalRotate(Collection):
+class HalRotate(Collection, HalArg):
     def __init__(self, parts, comp, var, th, x, y, z):
 	self.parts = parts
 	self.where = th, x, y, z
 	self.comp = comp
 	self.var = var
+	try:
+	    comp[var]
+	except AttributeError:
+	    comp.newpin(var, hal.HAL_FLOAT, hal.HAL_IN)
 
     def apply(self):
 	th, x, y, z = self.where
@@ -102,12 +118,8 @@ class CylinderX:
     def draw(self):
 	x1, r1, x2, r2 = self.coords
 	if x1 > x2:
-	    tmp = x1
-	    x1 = x2
-	    x2 = tmp
-	    tmp = r1
-	    r1 = r2
-	    r2 = tmp
+	    x1, x2 = x2, x1
+	    r1, r2 = r2, r1
 	glPushMatrix()
 	# GL creates cylinders along Z, so need to rotate
 	z1 = x1
@@ -138,12 +150,8 @@ class CylinderY:
     def draw(self):
 	y1, r1, y2, r2 = self.coords
 	if y1 > y2:
-	    tmp = y1
-	    y1 = y2
-	    y2 = tmp
-	    tmp = r1
-	    r1 = r2
-	    r2 = tmp
+	    y1, y2 = y2, y1
+	    r1, r2 = r2, r1
 	glPushMatrix()
 	# GL creates cylinders along Z, so need to rotate
 	z1 = y1
@@ -174,12 +182,8 @@ class CylinderZ:
     def draw(self):
 	z1, r1, z2, r2 = self.coords
 	if z1 > z2:
-	    tmp = z1
-	    z1 = z2
-	    z2 = tmp
-	    tmp = r1
-	    r1 = r2
-	    r2 = tmp
+	    z1, z2 = z2, z1
+	    r1, r2 = r2, r1
 	# need to translate the whole thing to z1
 	glPushMatrix()
 	glTranslatef(0,0,z1)
@@ -218,18 +222,9 @@ class Box:
 
     def draw(self):
         x1, y1, z1, x2, y2, z2 = self.coords
-        if x1 > x2:
-	    tmp = x1
-	    x1 = x2
-	    x2 = tmp
-        if y1 > y2:
-	    tmp = y1
-	    y1 = y2
-	    y2 = tmp
-        if z1 > z2:
-	    tmp = z1
-	    z1 = z2
-	    z2 = tmp
+	x1, x2 = order(x1, x2)
+	y1, y2 = order(y1, y2)
+	z1, z2 = order(z1, z2)
 
         glBegin(GL_QUADS)
 	# bottom face
Index: nc_files/holecircle.py
===================================================================
RCS file: /cvs/emc2/nc_files/holecircle.py,v
retrieving revision 1.2
diff -u -p -u -r1.2 holecircle.py
--- nc_files/holecircle.py	28 Oct 2006 01:35:27 -0000	1.2
+++ nc_files/holecircle.py	19 Feb 2007 03:57:45 -0000
@@ -1,7 +1,4 @@
 import sys, os
-BASE = os.environ['EMC2_HOME']
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import math
 
 def _(s): return s
Index: share/axis/images/axis.ngc
===================================================================
RCS file: /cvs/emc2/share/axis/images/axis.ngc,v
retrieving revision 1.3
diff -u -p -u -r1.3 axis.ngc
--- share/axis/images/axis.ngc	10 Aug 2006 03:27:08 -0000	1.3
+++ share/axis/images/axis.ngc	19 Feb 2007 03:57:45 -0000
@@ -54,6 +54,7 @@ G01 X [.5+2347.50*#3] Y [2420.75*#3]
 G01 X [.5+2225.00*#3] Y [2497.00*#3]
 G01 X [.5+1784.00*#3] Y [2556.00*#3]
 G01 X [.5+1536.00*#3] Y [2556.00*#3]
+G0 B25
 (Character: 'M')
 G00 Z #1
 G00 X [.5+4222.00*#3] Y [2742.00*#3]
@@ -95,6 +96,7 @@ G01 X [.5+3447.00*#3] Y [2596.00*#3]
 G01 X [.5+3221.00*#3] Y [2624.00*#3]
 G01 X [.5+3245.00*#3] Y [2742.00*#3]
 G01 X [.5+4222.00*#3] Y [2742.00*#3]
+G0 A25
 (Character: 'C')
 G00 Z #1
 G00 X [.5+9246.00*#3] Y [2806.00*#3]
Index: src/Makefile.inc.in
===================================================================
RCS file: /cvs/emc2/src/Makefile.inc.in,v
retrieving revision 1.72
diff -u -p -u -r1.72 Makefile.inc.in
--- src/Makefile.inc.in	17 Feb 2007 17:20:23 -0000	1.72
+++ src/Makefile.inc.in	19 Feb 2007 03:57:45 -0000
@@ -105,6 +105,7 @@ GTK_VERSION = @GTK_VER@
 GTK_CFLAGS = @GTK_CFLAGS@
 GTK_LIBS = @GTK_LIBS@
 HAVE_GNOMEPRINT = @HAVE_GNOMEPRINT@
+HAVE_GNOMECANVAS = @HAVE_GNOMECANVAS@
 
 # tcl tk cflags, includes and libs
 TCL_DBGX=@TCL_DBGX@
Index: src/configure
===================================================================
RCS file: /cvs/emc2/src/configure,v
retrieving revision 1.126
diff -u -p -u -r1.126 configure
--- src/configure	15 Feb 2007 17:13:27 -0000	1.126
+++ src/configure	19 Feb 2007 03:57:46 -0000
@@ -312,7 +312,7 @@ ac_includes_default="\
 # include <unistd.h>
 #endif"
 
-ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS AUTODIRS PACKAGE EMC2VERSION SIMULATOR PTH_CONFIG RTNAME RTAI RTLINUX RTLINUXPRO RTPREFIX KERNELDIR RTFLAGS RTDIR EMC2_HOME CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT CPP ASM_BITOPS_DEFINE EGREP KERNEL_VERS MODEXT BUILD_SYS EXT_RTFLAGS MODULE_DIR RIP_MODULE_DIR RUN_IN_PLACE EMC2_BIN_DIR EMC2_TCL_DIR EMC2_HELP_DIR EMC2_RTLIB_DIR EMC2_LANG_DIR EMC2_CONFIG_PATH EMC2_NCFILES_DIR REALTIME EMC2_IMAGE_DIR HAVE_GNOMEPRINT GTK_VER GTK_LIBS GTK_CFLAGS CXX CXXFLAGS ac_ct_CXX SET_MAKE RANLIB ac_ct_RANLIB AR GREP INSTALL SED PS KILL WHOAMI AWK INSMOD RMMOD LSMOD PIDOF IPCS FUSER MANDB PYTHON LYX PDFLATEX EPSTOPDF LATEX2HTML BUILD_DOCS BUILD_DOCS_PDF BUILD_DOCS_HTML USE_LIBM USE_STUBS USE_RTLIBM MATHINC MATHLIB RTAI3_MOD RTAI_MOD RTL_MOD MODPATH_adeos MODPATH_rtai_hal MODPATH_rtai_ksched MODPATH_rtai_fifos MODPATH_rtai_shm MODPATH_rtai_sem MODPATH_rtai_math MODPATH_rtai MODPATH_rt_mem_mgr MODPATH_rtai_sched MODPATH_rtai_libm MODPATH_rtl MODPATH_mbuff MODPATH_rtl_time MODPATH_rtl_sched MODPATH_rtl_posixio MODPATH_rtl_fifo TCL_DBGX TK_DBGX TCL_CFLAGS TK_CFLAGS TCL_LIBS TK_LIBS WISH DATE X_CFLAGS X_PRE_LIBS X_LIBS X_EXTRA_LIBS HAVE_XAW XAW_LIBS HAVE_READLINE READLINE_LIBS HAVE_NCURSES NCURSES_LIBS USE_NLS HAVE_LOCALE_H LANGUAGES HAVE_LIBINTL_H HAVE_LIBINTL LOCALEDIR XGETTEXT XGETTEXT_TCL_WORKS MSGFMT MSGFMT_TCL_WORKS BUILD_PYTHON INCLUDEPY SITEPY LIBOBJS LTLIBOBJS'
+ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS AUTODIRS PACKAGE EMC2VERSION SIMULATOR PTH_CONFIG RTNAME RTAI RTLINUX RTLINUXPRO RTPREFIX KERNELDIR RTFLAGS RTDIR EMC2_HOME CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT CPP ASM_BITOPS_DEFINE EGREP KERNEL_VERS MODEXT BUILD_SYS EXT_RTFLAGS MODULE_DIR RIP_MODULE_DIR RUN_IN_PLACE EMC2_BIN_DIR EMC2_TCL_DIR EMC2_HELP_DIR EMC2_RTLIB_DIR EMC2_LANG_DIR EMC2_CONFIG_PATH EMC2_NCFILES_DIR REALTIME EMC2_IMAGE_DIR HAVE_GNOMECANVAS HAVE_GNOMEPRINT GTK_VER GTK_LIBS GTK_CFLAGS CXX CXXFLAGS ac_ct_CXX SET_MAKE RANLIB ac_ct_RANLIB AR GREP INSTALL SED PS KILL WHOAMI AWK INSMOD RMMOD LSMOD PIDOF IPCS FUSER MANDB PYTHON LYX PDFLATEX EPSTOPDF LATEX2HTML BUILD_DOCS BUILD_DOCS_PDF BUILD_DOCS_HTML USE_LIBM USE_STUBS USE_RTLIBM MATHINC MATHLIB RTAI3_MOD RTAI_MOD RTL_MOD MODPATH_adeos MODPATH_rtai_hal MODPATH_rtai_ksched MODPATH_rtai_fifos MODPATH_rtai_shm MODPATH_rtai_sem MODPATH_rtai_math MODPATH_rtai MODPATH_rt_mem_mgr MODPATH_rtai_sched MODPATH_rtai_libm MODPATH_rtl MODPATH_mbuff MODPATH_rtl_time MODPATH_rtl_sched MODPATH_rtl_posixio MODPATH_rtl_fifo TCL_DBGX TK_DBGX TCL_CFLAGS TK_CFLAGS TCL_LIBS TK_LIBS WISH DATE X_CFLAGS X_PRE_LIBS X_LIBS X_EXTRA_LIBS HAVE_XAW XAW_LIBS HAVE_READLINE READLINE_LIBS HAVE_NCURSES NCURSES_LIBS USE_NLS HAVE_LOCALE_H LANGUAGES HAVE_LIBINTL_H HAVE_LIBINTL LOCALEDIR XGETTEXT XGETTEXT_TCL_WORKS MSGFMT MSGFMT_TCL_WORKS BUILD_PYTHON INCLUDEPY SITEPY LIBOBJS LTLIBOBJS'
 ac_subst_files=''
 
 # Initialize some variables set by options.
@@ -3371,6 +3371,19 @@ if pkg-config gtk+-2.0 --atleast-version
 echo "${ECHO_T}yes - $GTK_VER" >&6
   GTK_CFLAGS=`pkg-config gtk+-2.0 --cflags`
   GTK_LIBS=`pkg-config gtk+-2.0 --libs`
+  echo "$as_me:$LINENO: checking for libgnomecanvas-2.0" >&5
+echo $ECHO_N "checking for libgnomecanvas-2.0... $ECHO_C" >&6
+  if pkg-config --exists libgnomecanvas-2.0; then
+    echo "$as_me:$LINENO: result: yes" >&5
+echo "${ECHO_T}yes" >&6
+    GTK_CFLAGS="$GTK_CFLAGS `pkg-config --cflags libgnomecanvas-2.0`"
+    GTK_LIBS="$GTK_LIBS `pkg-config --libs libgnomecanvas-2.0`"
+    HAVE_GNOMECANVAS=yes
+  else
+    echo "$as_me:$LINENO: result: no -- halscope display will not be antialised" >&5
+echo "${ECHO_T}no -- halscope display will not be antialised" >&6
+    HAVE_GNOMECANVAS=no
+  fi
   echo "$as_me:$LINENO: checking for libgnomeprintui-2.2" >&5
 echo $ECHO_N "checking for libgnomeprintui-2.2... $ECHO_C" >&6
   if pkg-config --exists libgnomeprintui-2.2; then
@@ -3393,6 +3406,7 @@ fi
 
 
 
+
 ##############################################################################
 # Subsection 3.6 - check for utility programs needed to build and run EMC    #
 #                                                                            #
@@ -6357,7 +6371,7 @@ _ACEOF
 cat confdefs.h >>conftest.$ac_ext
 cat >>conftest.$ac_ext <<_ACEOF
 /* end confdefs.h.  */
-#include <X11/Intrinsic.h>
+#include <X11/Xlib.h>
 _ACEOF
 if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
   (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
@@ -6384,7 +6398,7 @@ else
 sed 's/^/| /' conftest.$ac_ext >&5
 
   for ac_dir in $ac_x_header_dirs; do
-  if test -r "$ac_dir/X11/Intrinsic.h"; then
+  if test -r "$ac_dir/X11/Xlib.h"; then
     ac_x_includes=$ac_dir
     break
   fi
@@ -6398,18 +6412,18 @@ if test "$ac_x_libraries" = no; then
   # See if we find them without any special options.
   # Don't add to $LIBS permanently.
   ac_save_LIBS=$LIBS
-  LIBS="-lXt $LIBS"
+  LIBS="-lX11 $LIBS"
   cat >conftest.$ac_ext <<_ACEOF
 /* confdefs.h.  */
 _ACEOF
 cat confdefs.h >>conftest.$ac_ext
 cat >>conftest.$ac_ext <<_ACEOF
 /* end confdefs.h.  */
-#include <X11/Intrinsic.h>
+#include <X11/Xlib.h>
 int
 main ()
 {
-XtMalloc (0)
+XrmInitialize ()
   ;
   return 0;
 }
@@ -6447,7 +6461,7 @@ for ac_dir in `echo "$ac_x_includes $ac_
 do
   # Don't even attempt the hair of trying to link an X program!
   for ac_extension in a so sl; do
-    if test -r $ac_dir/libXt.$ac_extension; then
+    if test -r $ac_dir/libX11.$ac_extension; then
       ac_x_libraries=$ac_dir
       break 2
     fi
@@ -10327,6 +10341,7 @@ s,@EMC2_CONFIG_PATH@,$EMC2_CONFIG_PATH,;
 s,@EMC2_NCFILES_DIR@,$EMC2_NCFILES_DIR,;t t
 s,@REALTIME@,$REALTIME,;t t
 s,@EMC2_IMAGE_DIR@,$EMC2_IMAGE_DIR,;t t
+s,@HAVE_GNOMECANVAS@,$HAVE_GNOMECANVAS,;t t
 s,@HAVE_GNOMEPRINT@,$HAVE_GNOMEPRINT,;t t
 s,@GTK_VER@,$GTK_VER,;t t
 s,@GTK_LIBS@,$GTK_LIBS,;t t
Index: src/configure.in
===================================================================
RCS file: /cvs/emc2/src/configure.in,v
retrieving revision 1.128
diff -u -p -u -r1.128 configure.in
--- src/configure.in	15 Feb 2007 17:13:28 -0000	1.128
+++ src/configure.in	19 Feb 2007 03:57:46 -0000
@@ -519,6 +519,16 @@ if pkg-config gtk+-2.0 --atleast-version
   AC_MSG_RESULT(yes - $GTK_VER)
   GTK_CFLAGS=`pkg-config gtk+-2.0 --cflags`
   GTK_LIBS=`pkg-config gtk+-2.0 --libs`
+  AC_MSG_CHECKING(for libgnomecanvas-2.0)
+  if pkg-config --exists libgnomecanvas-2.0; then
+    AC_MSG_RESULT(yes)
+    GTK_CFLAGS="$GTK_CFLAGS `pkg-config --cflags libgnomecanvas-2.0`"
+    GTK_LIBS="$GTK_LIBS `pkg-config --libs libgnomecanvas-2.0`"
+    HAVE_GNOMECANVAS=yes
+  else
+    AC_MSG_RESULT(no -- halscope display will not be antialised)
+    HAVE_GNOMECANVAS=no
+  fi
   AC_MSG_CHECKING(for libgnomeprintui-2.2)
   if pkg-config --exists libgnomeprintui-2.2; then
     AC_MSG_RESULT(yes)
@@ -532,6 +542,7 @@ if pkg-config gtk+-2.0 --atleast-version
 else
   AC_MSG_WARN([GTK2 not found, some utilities (halscope, halvcp, classicladder) will not be built])
 fi
+AC_SUBST(HAVE_GNOMECANVAS)
 AC_SUBST(HAVE_GNOMEPRINT)
 AC_SUBST(GTK_VER)
 AC_SUBST(GTK_LIBS)
Index: src/emc/nml_intf/canon.hh
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/canon.hh,v
retrieving revision 1.17
diff -u -p -u -r1.17 canon.hh
--- src/emc/nml_intf/canon.hh	5 Nov 2006 19:34:44 -0000	1.17
+++ src/emc/nml_intf/canon.hh	19 Feb 2007 03:57:46 -0000
@@ -388,6 +388,15 @@ a point moving along the arc has of its 
 
 */
 
+extern void SPLINE_FEED(double x1, double y1, double x2, double y2, double x3, double y3);
+/* Move at the feed rate along an approximation of the cubic
+ * bezier spline with control points x1y1 x2y2 and endpoint x3y3
+ */
+extern void SPLINE_FEED(double x1, double y1, double x2, double y2);
+/* Move at the feed rate along an approximation of the conic
+ * sline wth control point x1y1 and endpoint x2y2
+ */
+
 extern void STRAIGHT_FEED(double x, double y, double z,
 			  double a_position, double b_position,
 			  double c_position);
Index: src/emc/rs274ngc/gcodemodule.cc
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/gcodemodule.cc,v
retrieving revision 1.13
diff -u -p -u -r1.13 gcodemodule.cc
--- src/emc/rs274ngc/gcodemodule.cc	6 Feb 2007 19:34:10 -0000	1.13
+++ src/emc/rs274ngc/gcodemodule.cc	19 Feb 2007 03:57:46 -0000
@@ -178,6 +178,49 @@ void maybe_new_line() {
     Py_XDECREF(result);
 }
 
+static double TO_PROG_LEN(double p) {
+    if(metric) return p*25.4;
+    return p;
+}
+static double FROM_PROG_LEN(double p) {
+    if(metric) return p/25.4;
+    return p;
+}
+void SPLINE_FEED(double x1, double y1, double x2, double y2) {
+    double x0 = TO_PROG_LEN(_pos_x),
+	   y0 = TO_PROG_LEN(_pos_y);
+
+    fprintf(stderr, "SPLINE_FEED(conic): %8.4f %8.4f %8.4f %8.4f %8.4f %8.4f\n",
+	    x0,y0,x1,y1,x2,y2);
+
+    for(int i=1; i<=100; i++) {
+	double t = i / 100.;
+	double t2 = t*t;
+	double t1 = 2*t*(1-t);
+	double t0 = (1-t)*(1-t);
+	double x = x0*t0 + x1*t1 + x2*t2;
+	double y = y0*t0 + y1*t1 + y2*t2;
+	STRAIGHT_FEED(x,y, _pos_z, _pos_a, _pos_b, _pos_c);
+    }
+}
+
+void SPLINE_FEED(double x1, double y1, double x2, double y2, double x3, double y3) {
+    double x0 = TO_PROG_LEN(_pos_x),
+	   y0 = TO_PROG_LEN(_pos_y);
+
+    for(int i=1; i<=100; i++) {
+	double t = i / 100.;
+	double t3 = t*t*t;
+	double t2 = 3*t*t*(1-t);
+	double t1 = 3*t*(1-t)*(1-t);
+	double t0 = (1-t)*(1-t)*(1-t);
+	double x = x0*t0 + x1*t1 + x2*t2 + x3*t3;
+	double y = y0*t0 + y1*t1 + y2*t2 + y3*t3;
+	STRAIGHT_FEED(x,y, _pos_z, _pos_a, _pos_b, _pos_c);
+    }
+}
+
+
 void ARC_FEED(double first_end, double second_end, double first_axis,
         double second_axis, int rotation, double axis_end_point,
         double a_position, double b_position, double c_position) {
Index: src/emc/rs274ngc/interp_array.cc
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/interp_array.cc,v
retrieving revision 1.12
diff -u -p -u -r1.12 interp_array.cc
--- src/emc/rs274ngc/interp_array.cc	30 Dec 2006 23:12:03 -0000	1.12
+++ src/emc/rs274ngc/interp_array.cc	19 Feb 2007 03:57:46 -0000
@@ -75,7 +75,7 @@ group 13 = {g61,g61.1,g64} - control mod
 const int Interp::_gees[] = {
 /*   0 */   1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
 /*  20 */   1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
-/*  40 */   0,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
+/*  40 */   0,-1,-1,-1,-1,-1,-1,-1,-1,-1, 1, 1,-1,-1,-1,-1,-1,-1,-1,-1,
 /*  60 */  -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
 /*  80 */  -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
 /* 100 */   0,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,
Index: src/emc/rs274ngc/interp_check.cc
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/interp_check.cc,v
retrieving revision 1.12
diff -u -p -u -r1.12 interp_check.cc
--- src/emc/rs274ngc/interp_check.cc	2 Dec 2006 22:44:24 -0000	1.12
+++ src/emc/rs274ngc/interp_check.cc	19 Feb 2007 03:57:46 -0000
@@ -260,12 +260,14 @@ int Interp::check_other_codes(block_poin
   }
 
   if (block->i_flag == ON) {    /* could still be useless if yz_plane arc */
-    CHK(((motion != G_2) && (motion != G_3) && (motion != G_76) && (motion != G_87)),
+    CHK(((motion != G_2) && (motion != G_3) && (motion != G_5)
+		&& (motion != G_5_1) && (motion != G_76) && (motion != G_87)),
         NCE_I_WORD_WITH_NO_G2_OR_G3_G76_OR_G87_TO_USE_IT);
   }
 
   if (block->j_flag == ON) {    /* could still be useless if xz_plane arc */
-    CHK(((motion != G_2) && (motion != G_3) && (motion != G_76) && (motion != G_87)),
+    CHK(((motion != G_2) && (motion != G_3) && (motion != G_5)
+		&& (motion != G_5_1) && (motion != G_76) && (motion != G_87)),
         NCE_J_WORD_WITH_NO_G2_OR_G3_G76_OR_G87_TO_USE_IT);
   }
 
@@ -307,13 +309,14 @@ int Interp::check_other_codes(block_poin
          (block->m_modes[9] != 52) &&
          (block->m_modes[9] != 53) &&
          (block->user_m != 1) &&
+	 (motion != G_5) &&
          (motion != G_82) && (motion != G_86) &&
          (motion != G_88) && (motion != G_89) && (motion != G_76)),
         NCE_P_WORD_WITH_NO_G4_G10_G64_G76_G82_G86_G88_G89);
   }
 
   if (block->q_number != -1.0) {
-    CHK((motion != G_83) && (block->user_m != 1) && motion != G_76, 
+    CHK((motion != G_5) && (motion != G_83) && (block->user_m != 1) && motion != G_76, 
             NCE_Q_WORD_WITH_NO_G83);
   }
 
Index: src/emc/rs274ngc/interp_convert.cc
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/interp_convert.cc,v
retrieving revision 1.53
diff -u -p -u -r1.53 interp_convert.cc
--- src/emc/rs274ngc/interp_convert.cc	12 Jan 2007 16:35:13 -0000	1.53
+++ src/emc/rs274ngc/interp_convert.cc	19 Feb 2007 03:57:47 -0000
@@ -58,6 +58,76 @@ static double ztrans(setup_pointer setti
 
 /****************************************************************************/
 
+/*! convert_spline
+ *
+ * Returned value: int
+ * Returns a rs274ngc error code, or INTERP_OK if everything is OK.
+ *
+ * Side effects: Generates a spline move and updates the position of the tool
+ */
+int Interp::convert_spline(int mode,
+       block_pointer block,     //!< pointer to a block of RS274 instructions
+       setup_pointer settings)  //!< pointer to machine settings             
+{
+    static char name[] = "convert_spline";
+    double x1, y1, x2, y2, x3, y3;
+    double end_z, AA_end, BB_end, CC_end;
+
+    CHKF((settings->cutter_comp_side != OFF), (
+		"Cannot convert spline with cutter radius compensation"));
+
+    if (settings->feed_mode == UNITS_PER_MINUTE) {
+      CHK((settings->feed_rate == 0.0),
+	  NCE_CANNOT_MAKE_ARC_WITH_ZERO_FEED_RATE);
+    } else if (settings->feed_mode == INVERSE_TIME) {
+      CHK((block->f_number == -1.0),
+	  NCE_F_WORD_MISSING_WITH_INVERSE_TIME_ARC_MOVE);
+    }
+
+    CHKF((settings->plane != CANON_PLANE_XY),
+	    ("Splines must be in the XY plane"));
+	// Error (for now): Splines must be in XY plane
+
+    CHKF((block->z_flag == ON || block->a_flag == ON || block->b_flag == ON
+	    || block->c_flag == ON),
+	    ("Splines may not have motion in Z, A, B, or C"));
+	
+    if(mode == G_5_1) {
+	CHKF(block->i_flag != ON || block->j_flag != ON,
+		    ("Must specify both I and J with G5.1"));
+	x1 = settings->current_x + block->i_number;
+	y1 = settings->current_y + block->j_number;
+	find_ends(block, settings, &x2, &y2, &end_z, &AA_end, &BB_end, &CC_end);
+	SPLINE_FEED(x1,y1,x2,y2);
+	settings->current_x = x2;
+	settings->current_y = y2;
+    } else {
+	if(block->i_flag != ON || block->j_flag != ON) {
+	    CHKF(block->i_flag == ON || block->j_flag == ON,
+		    ("Must specify both I and J, or neither"));
+	    x1 = settings->current_x + settings->cycle_i;
+	    y1 = settings->current_y + settings->cycle_j;
+	} else {
+	    x1 = settings->current_x + block->i_number;
+	    y1 = settings->current_y + block->j_number;
+	}
+	find_ends(block, settings, &x3, &y3, &end_z, &AA_end, &BB_end, &CC_end);
+
+	x2 = x3 + block->p_number;
+	y2 = y3 + block->q_number;
+
+	SPLINE_FEED(x1, y1, x2, y2, x3, y3);
+
+	settings->cycle_i = -block->p_number;
+	settings->cycle_j = -block->q_number;
+	settings->current_x = x3;
+	settings->current_y = y3;
+    }
+    return INTERP_OK;
+}
+
+/****************************************************************************/
+
 /*! convert_arc
 
 Returned Value: int
@@ -2022,6 +2092,8 @@ int Interp::convert_motion(int motion,  
     CHP(convert_straight(motion, block, settings));
   } else if ((motion == G_3) || (motion == G_2)) {
     CHP(convert_arc(motion, block, settings));
+  } else if ((motion == G_5) || (motion == G_5_1)) {
+    CHP(convert_spline(motion, block, settings));
   } else if (motion == G_38_2) {
     CHP(convert_probe(block, settings));
   } else if (motion == G_80) {
Index: src/emc/rs274ngc/interp_internal.hh
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/interp_internal.hh,v
retrieving revision 1.21
diff -u -p -u -r1.21 interp_internal.hh
--- src/emc/rs274ngc/interp_internal.hh	10 Feb 2007 21:11:34 -0000	1.21
+++ src/emc/rs274ngc/interp_internal.hh	19 Feb 2007 03:57:47 -0000
@@ -128,6 +128,8 @@
 #define G_2     20
 #define G_3     30
 #define G_4     40
+#define G_5     50
+#define G_5_1   51
 #define G_10   100
 #define G_17   170
 #define G_18   180
@@ -435,6 +437,15 @@ macros totally crash-proof. If the funct
   return error_code;                                   \
   } else return error_code
 
+#define CHKF(bad, error_args) if (bad) {             \
+    setError error_args;                             \
+  _setup.stack_index = 0;                            \
+  strcpy(_setup.stack[_setup.stack_index++], name);  \
+  _setup.stack[_setup.stack_index][0] = 0;           \
+  return NCE_VARIABLE;                               \
+  } else
+
+
 #define CHK(bad, error_code) if (bad) {             \
   _setup.stack_index = 0;                      \
   strcpy(_setup.stack[_setup.stack_index++], name); \
Index: src/emc/rs274ngc/interp_write.cc
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/interp_write.cc,v
retrieving revision 1.10
diff -u -p -u -r1.10 interp_write.cc
--- src/emc/rs274ngc/interp_write.cc	4 Nov 2006 23:36:37 -0000	1.10
+++ src/emc/rs274ngc/interp_write.cc	19 Feb 2007 03:57:47 -0000
@@ -52,7 +52,7 @@ The group 0 entry is taken from the bloc
 codes are not modal.
 
 group 0  - gez[2]  g4, g10, g28, g30, g53, g92 g92.1, g92.2, g92.3 - misc
-group 1  - gez[1]  g0, g1, g2, g3, g38.2, g80, g81, g82, g83, g84, g85,
+group 1  - gez[1]  g0, g1, g2, g3, g5, g38.2, g80, g81, g82, g83, g84, g85,
                    g86, g87, g88, g89 - motion
 group 2  - gez[3]  g17, g18, g19 - plane selection
 group 3  - gez[6]  g90, g91 - distance mode
Index: src/emc/rs274ngc/rs274ngc.hh
===================================================================
RCS file: /cvs/emc2/src/emc/rs274ngc/rs274ngc.hh,v
retrieving revision 1.20
diff -u -p -u -r1.20 rs274ngc.hh
--- src/emc/rs274ngc/rs274ngc.hh	10 Feb 2007 21:11:34 -0000	1.20
+++ src/emc/rs274ngc/rs274ngc.hh	19 Feb 2007 03:57:47 -0000
@@ -161,6 +161,7 @@ private:
  int check_m_codes(block_pointer block);
  int check_other_codes(block_pointer block);
  int close_and_downcase(char *line);
+ int convert_spline(int move, block_pointer block, setup_pointer settings);
  int convert_arc(int move, block_pointer block, setup_pointer settings);
  int convert_arc2(int move, block_pointer block,
                         setup_pointer settings, double *current1,
Index: src/emc/task/emccanon.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/emccanon.cc,v
retrieving revision 1.77
diff -u -p -u -r1.77 emccanon.cc
--- src/emc/task/emccanon.cc	18 Jan 2007 21:41:51 -0000	1.77
+++ src/emc/task/emccanon.cc	19 Feb 2007 03:57:47 -0000
@@ -772,6 +772,126 @@ void SELECT_MOTION_MODE(CANON_MOTION_MOD
 
 /* Machining Functions */
 
+static double max(double a, double b) {
+    if(a < b) return b;
+    return a;
+}
+static void unit(double *x, double *y) {
+    double h = hypot(*x, *y);
+    if(h != 0) { *x/=h; *y/=h; }
+}
+
+static void
+arc(double x0, double y0, double x1, double y1, double dx, double dy) {
+    double x = x1-x0, y=y1-y0;
+    double den = 2 * (y*dx - x*dy);
+    double r = -(x*x+y*y)/den;
+    double i = dy*r, j = -dx*r;
+    double cx = x1+i, cy=y1+j;
+
+    ARC_FEED(x1, y1, cx, cy, r<0 ? 1 : -1, 
+	    TO_PROG_LEN(canonEndPoint.z), TO_PROG_ANG(canonEndPoint.a),
+	    TO_PROG_ANG(canonEndPoint.b), TO_PROG_ANG(canonEndPoint.c));
+}
+
+static int
+biarc(double p0x, double p0y, double tsx, double tsy,
+      double p4x, double p4y, double tex, double tey, double r=1.0) {
+    unit(&tsx, &tsy);
+    unit(&tex, &tey);
+
+    double vx = p0x - p4x, vy = p0y - p4y;
+    double c = vx*vx + vy*vy;
+    double b = 2 * (vx * (r*tsx + tex) + vy * (r*tsy + tey));
+    double a = 2 * r * (tsx * tex + tsy * tey - 1);
+
+    double discr = b*b - 4*a*c;
+    if(discr < 0) return 0;
+
+    double disq = sqrt(discr);
+    double beta1 = (-b-disq) / 2 / a;
+    double beta2 = (-b+disq) / 2 / a;
+
+    if(beta1 > 0 && beta2 > 0)
+	return 0;
+    double beta = max(beta1, beta2);
+    double alpha = beta * r;
+    double ab = alpha + beta;
+    double p1x = p0x + alpha * tsx, p1y = p0y + alpha * tsy,
+	   p3x = p4x - beta * tex, p3y = p4y - beta * tey,
+	   p2x = (p1x*beta + p3x*alpha) / ab,
+	   p2y = (p1y*beta + p3y*alpha) / ab;
+    double tmx = p3x-p2x, tmy = p3y-p2y;
+    unit(&tmx, &tmy);
+
+    arc(p0x, p0y, p2x, p2y, tsx, tsy);
+    arc(p2x, p2y, p4x, p4y, tmx, tmy);
+    return 1;
+}
+void SPLINE_FEED(double x1, double y1, double x2, double y2) {
+    flush_segments();
+
+    double x0 = TO_PROG_LEN(canonEndPoint.x);
+    double y0 = TO_PROG_LEN(canonEndPoint.y);
+    double xx0 = 2*(x1-x0), xx1 = 2*(x2-x1),
+           yy0 = 2*(y1-y0), yy1 = 2*(y2-y1),
+	   ox = x0, oy = y0, odx = xx0, ody = yy0;
+
+#define N 2
+    for(int i=1; i<=N; i++) {
+	double t = i * 1. / N;
+	double u = 1. / N;
+	double t0 = (1-t)*(1-t);
+	double t1 = 2*t*(1-t);
+	double t2 = t*t;
+	double q0 = (1-t);
+	double q1 = t;
+
+perturb:
+	double x = x0*t0 + x1*t1 + x2*t2;
+	double y = y0*t0 + y1*t1 + y2*t2;
+	double dx = xx0*q0 + xx1*q1;
+	double dy = yy0*q0 + yy1*q1;
+	if(!biarc(ox, oy, odx, ody, x, y, dx, dy)) {
+	    t = t - u; u /= -2; goto perturb;
+	}
+	ox = x; oy = y; odx = dx; ody = dy;
+    }
+}
+
+void SPLINE_FEED(double x1, double y1, double x2, double y2, double x3, double y3) {
+    flush_segments();
+
+    double x0 = TO_PROG_LEN(canonEndPoint.x);
+    double y0 = TO_PROG_LEN(canonEndPoint.y);
+    double xx0 = 3*(x1-x0), xx1 = 3*(x2-x1), xx2 = 3*(x3-x2),
+           yy0 = 3*(y1-y0), yy1 = 3*(y2-y1), yy2 = 3*(y3-y2),
+	   ox = x0, oy = y0, odx = xx0, ody = yy0;
+
+#define N 4
+    for(int i=1; i<=N; i++) {
+	double t = i * 1. / N;
+	double u = 1. / N;
+	double t3 = t*t*t;
+	double t2 = 3*t*t*(1-t);
+	double t1 = 3*t*(1-t)*(1-t);
+	double t0 = (1-t)*(1-t)*(1-t);
+	double q0 = (1-t)*(1-t);
+	double q1 = 2*t*(1-t);
+	double q2 = t*t;
+
+perturb:
+	double x = x0*t0 + x1*t1 + x2*t2 + x3*t3;
+	double y = y0*t0 + y1*t1 + y2*t2 + y3*t3;
+	double dx = xx0*q0 + xx1*q1 + xx2*q2;
+	double dy = yy0*q0 + yy1*q1 + yy2*q2;
+	if(!biarc(ox, oy, odx, ody, x, y, dx, dy)) {
+	    t = t - u; u /= -2; goto perturb;
+	}
+	ox = x; oy = y; odx = dx; ody = dy;
+    }
+}
+
 void ARC_FEED(double first_end, double second_end,
 	      double first_axis, double second_axis, int rotation,
 	      double axis_end_point, double a, double b, double c)
Index: src/emc/usr_intf/axis/scripts/axis.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/axis.py,v
retrieving revision 1.50
diff -u -p -u -r1.50 axis.py
--- src/emc/usr_intf/axis/scripts/axis.py	9 Feb 2007 18:06:26 -0000	1.50
+++ src/emc/usr_intf/axis/scripts/axis.py	19 Feb 2007 03:57:47 -0000
@@ -21,10 +21,8 @@
 # import pdb
 
 import sys, os
+import gettext
 BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
-import gettext;
 gettext.install("axis", localedir=os.path.join(BASE, "share", "locale"), unicode=True)
 r_ = gettext.translation("rs274_err", localedir=os.path.join(BASE, "share", "locale"), fallback=True).ugettext
 
Index: src/emc/usr_intf/axis/scripts/debuglevel.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/debuglevel.py,v
retrieving revision 1.2
diff -u -p -u -r1.2 debuglevel.py
--- src/emc/usr_intf/axis/scripts/debuglevel.py	21 Dec 2006 19:45:56 -0000	1.2
+++ src/emc/usr_intf/axis/scripts/debuglevel.py	19 Feb 2007 03:57:47 -0000
@@ -1,9 +1,7 @@
 #!/usr/bin/python
 import sys, os
+import gettext
 BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
-import gettext;
 gettext.install("axis", localedir=os.path.join(BASE, "share", "locale"), unicode=True)
 
 import emc
Index: src/emc/usr_intf/axis/scripts/emctop.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/emctop.py,v
retrieving revision 1.1
diff -u -p -u -r1.1 emctop.py
--- src/emc/usr_intf/axis/scripts/emctop.py	9 Aug 2006 22:56:57 -0000	1.1
+++ src/emc/usr_intf/axis/scripts/emctop.py	19 Feb 2007 03:57:47 -0000
@@ -18,9 +18,6 @@
 #    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 import sys, os
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import emc, time, Tkinter
 if len(sys.argv) > 1 and sys.argv[1] == '-ini':
     ini = emc.ini(sys.argv[2])
Index: src/emc/usr_intf/axis/scripts/hal_manualtoolchange.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/hal_manualtoolchange.py,v
retrieving revision 1.4
diff -u -p -u -r1.4 hal_manualtoolchange.py
--- src/emc/usr_intf/axis/scripts/hal_manualtoolchange.py	9 Feb 2007 18:06:26 -0000	1.4
+++ src/emc/usr_intf/axis/scripts/hal_manualtoolchange.py	19 Feb 2007 03:57:47 -0000
@@ -1,10 +1,7 @@
 #!/usr/bin/env python
-
 import sys, os
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import gettext
+BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
 gettext.install("axis", localedir=os.path.join(BASE, "share", "locale"), unicode=True)
 
 import emc, hal
Index: src/emc/usr_intf/axis/scripts/image-to-gcode.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/image-to-gcode.py,v
retrieving revision 1.12
diff -u -p -u -r1.12 image-to-gcode.py
--- src/emc/usr_intf/axis/scripts/image-to-gcode.py	9 Feb 2007 18:06:26 -0000	1.12
+++ src/emc/usr_intf/axis/scripts/image-to-gcode.py	19 Feb 2007 03:57:47 -0000
@@ -18,8 +18,6 @@
 
 import sys, os
 BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import gettext;
 gettext.install("axis", localedir=os.path.join(BASE, "share", "locale"), unicode=True)
 
Index: src/emc/usr_intf/axis/scripts/lintini.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/lintini.py,v
retrieving revision 1.2
diff -u -p -u -r1.2 lintini.py
--- src/emc/usr_intf/axis/scripts/lintini.py	15 Aug 2006 20:13:21 -0000	1.2
+++ src/emc/usr_intf/axis/scripts/lintini.py	19 Feb 2007 03:57:48 -0000
@@ -19,9 +19,6 @@
 #    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 import sys, os
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import emc
 
 ini = emc.ini(sys.argv[1])
Index: src/emc/usr_intf/axis/scripts/mdi.py
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/scripts/mdi.py,v
retrieving revision 1.2
diff -u -p -u -r1.2 mdi.py
--- src/emc/usr_intf/axis/scripts/mdi.py	17 Aug 2006 04:15:31 -0000	1.2
+++ src/emc/usr_intf/axis/scripts/mdi.py	19 Feb 2007 03:57:48 -0000
@@ -17,9 +17,6 @@
 #    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 import sys, os
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import emc
 
 if len(sys.argv) > 1:
Index: src/hal/user_comps/pyvcp.py
===================================================================
RCS file: /cvs/emc2/src/hal/user_comps/pyvcp.py,v
retrieving revision 1.7
diff -u -p -u -r1.7 pyvcp.py
--- src/hal/user_comps/pyvcp.py	3 Feb 2007 20:01:47 -0000	1.7
+++ src/hal/user_comps/pyvcp.py	19 Feb 2007 03:57:49 -0000
@@ -32,9 +32,6 @@
 """
 
 import sys, os
-BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
-sys.path.insert(0, os.path.join(BASE, "lib", "python"))
-
 import vcpparse
 import hal
 from Tkinter import Tk
Index: src/hal/utils/scope_disp.c
===================================================================
RCS file: /cvs/emc2/src/hal/utils/scope_disp.c,v
retrieving revision 1.37
diff -u -p -u -r1.37 scope_disp.c
--- src/hal/utils/scope_disp.c	18 Nov 2006 03:05:02 -0000	1.37
+++ src/hal/utils/scope_disp.c	19 Feb 2007 03:57:49 -0000
@@ -711,6 +711,7 @@ void lines(int chan_num, GdkPoint points
 
     scope_disp_t *disp = &(ctrl_usr->disp);
     if(DRAWING) {
+        fprintf(stderr, "lines %d\n", npoints);
         gdk_draw_lines(disp->win, disp->context, points, npoints);
     } else {
         int x1 = points[0].x, y1 = points[0].y, x2, y2, i;
Index: src/hal/utils/scope_horiz.c
===================================================================
RCS file: /cvs/emc2/src/hal/utils/scope_horiz.c,v
retrieving revision 1.11
diff -u -p -u -r1.11 scope_horiz.c
--- src/hal/utils/scope_horiz.c	31 Oct 2006 03:14:33 -0000	1.11
+++ src/hal/utils/scope_horiz.c	19 Feb 2007 03:57:49 -0000
@@ -178,7 +178,11 @@ static void init_horiz_window(void)
 	gtk_hbox_new_in_box(FALSE, 0, 0, ctrl_usr->horiz_info_win, FALSE,
 	TRUE, 0);
     /* graphic horizontal display */
+#ifdef HAVE_GNOMECANVS
+    horiz->disp_area = gnome_canvas_new_aa();
+#else
     horiz->disp_area = gtk_drawing_area_new();
+#endif
     gtk_signal_connect(GTK_OBJECT(horiz->disp_area), "button_press_event", 
         GTK_SIGNAL_FUNC(horiz_press), 0);
     gtk_signal_connect(GTK_OBJECT(horiz->disp_area), "button_release_event", 
@@ -1215,7 +1219,7 @@ static gint horiz_motion(GtkWidget *widg
 
     motion = x - horiz->x0;
 
-    gdk_window_get_geometry(horiz->disp_area->window, 0, 0, &width, 0, 0);
+    gdk_window_get_geometry(horiz->disp_area, 0, 0, &width, 0, 0);
 
     pre_trig = ctrl_shm->rec_len * ctrl_usr->trig.position;
     rec_start = -pre_trig * horiz->sample_period;