bCNC.py

#!/usr/bin/python
# -*- coding: ascii -*-
# $Id: bCNC.py,v 1.6 2014/10/15 15:04:48 bnv Exp bnv $
#
# Author: vvlachoudis@gmail.com
# Date: 24-Aug-2014

__version__ = "0.9.5"
__date__    = "30 Jun 2016"
__author__  = "Vasilis Vlachoudis"
__email__   = "vvlachoudis@gmail.com"

import os
import re
import sys
import pdb
import time
import getopt
import socket
import traceback

try:
	import serial
except:
	serial = None

try:
	import Tkinter
	from Queue import *
	from Tkinter import *
	import ConfigParser
	import tkMessageBox
except ImportError:
	import tkinter
	from queue import *
	from tkinter import *
	import configparser as ConfigParser
	import tkinter.messagebox as tkMessageBox

PRGPATH=os.path.abspath(os.path.dirname(__file__))
sys.path.append(os.path.join(PRGPATH, 'lib'))
sys.path.append(os.path.join(PRGPATH, 'plugins'))

# Load configuration before anything else
# and if needed replace the  translate function _()
# before any string is initialized
import Utils
Utils.loadConfiguration()

import rexx
import tkExtra
import Unicode
import Updates
import bFileDialog

from CNC import WAIT, CNC, GCode
import Ribbon
import Pendant
from Sender import Sender, NOT_CONNECTED, STATECOLOR, STATECOLORDEF

import CNCList
import CNCCanvas
import webbrowser

from CNCRibbon	  import Page
from ToolsPage	  import Tools, ToolsPage
from FilePage	  import FilePage
from ControlPage  import ControlPage
from TerminalPage import TerminalPage
from ProbePage	  import ProbePage
from EditorPage   import EditorPage

_openserial = True	# override ini parameters
_device     = None
_baud	    = None

MONITOR_AFTER =  200	# ms
DRAW_AFTER    =  300	# ms

RX_BUFFER_SIZE = 128

MAX_HISTORY  = 500

#ZERO = ["G28", "G30", "G92"]

FILETYPES = [	(_("All accepted"), ("*.ngc","*.nc", "*.tap", "*.gcode", "*.dxf", "*.probe", "*.orient", "*.stl")),
		(_("G-Code"),("*.ngc","*.nc", "*.tap", "*.gcode")),
		("DXF",       "*.dxf"),
		("SVG",       "*.svg"),
		(_("Probe"),  "*.probe"),
		(_("Orient"), "*.orient"),
		("STL",       "*.stl"),
		(_("All"),    "*")]

geometry = None

#==============================================================================
# Main Application window
#==============================================================================
class Application(Toplevel,Sender):
	def __init__(self, master, **kw):
		Toplevel.__init__(self, master, **kw)
		Sender.__init__(self)

		if sys.platform == "win32":
			self.iconbitmap("bCNC.ico")
		else:
			self.iconbitmap("@%s/bCNC.xbm"%(Utils.prgpath))
		self.title(Utils.__prg__)
		self.widgets = []

		# Global variables
		self.tools = Tools(self.gcode)
		self.loadConfig()

		# --- Ribbon ---
		self.ribbon = Ribbon.TabRibbonFrame(self)
		self.ribbon.pack(side=TOP, fill=X)

		# Main frame
		self.paned = PanedWindow(self, orient=HORIZONTAL)
		self.paned.pack(fill=BOTH, expand=YES)

		# Status bar
		frame = Frame(self)
		frame.pack(side=BOTTOM, fill=X)
		self.statusbar = tkExtra.ProgressBar(frame, height=20, relief=SUNKEN)
		self.statusbar.pack(side=LEFT, fill=X, expand=YES)
		self.statusbar.configText(fill="DarkBlue", justify=LEFT, anchor=W)

		self.statusz = Label(frame, foreground="DarkRed", relief=SUNKEN, anchor=W, width=10)
		self.statusz.pack(side=RIGHT)
		self.statusy = Label(frame, foreground="DarkRed", relief=SUNKEN, anchor=W, width=10)
		self.statusy.pack(side=RIGHT)
		self.statusx = Label(frame, foreground="DarkRed", relief=SUNKEN, anchor=W, width=10)
		self.statusx.pack(side=RIGHT)

		# Buffer bar
		self.bufferbar = tkExtra.ProgressBar(frame, height=20, width=40, relief=SUNKEN)
		self.bufferbar.pack(side=RIGHT, expand=NO)
		self.bufferbar.setLimits(0, 100)
		tkExtra.Balloon.set(self.bufferbar,_("Controller buffer fill"))

		# --- Left side ---
		frame = Frame(self.paned)
		self.paned.add(frame) #, minsize=340)

		pageframe = Frame(frame)
		pageframe.pack(side=TOP, expand=YES, fill=BOTH)
		self.ribbon.setPageFrame(pageframe)

		# Command bar
		f = Frame(frame)
		f.pack(side=BOTTOM, fill=X)
		self.cmdlabel = Label(f, text=_("Command:"))
		self.cmdlabel.pack(side=LEFT)
		self.command = Entry(f, relief=SUNKEN, background="White")
		self.command.pack(side=RIGHT, fill=X, expand=YES)
		self.command.bind("<Return>",		self.cmdExecute)
		self.command.bind("<Up>",		self.commandHistoryUp)
		self.command.bind("<Down>",		self.commandHistoryDown)
		self.command.bind("<FocusIn>",		self.commandFocusIn)
		self.command.bind("<FocusOut>",		self.commandFocusOut)
		self.command.bind("<Key>",		self.commandKey)
		self.command.bind("<Control-Key-z>",	self.undo)
		self.command.bind("<Control-Key-Z>",	self.redo)
		self.command.bind("<Control-Key-y>",	self.redo)
		tkExtra.Balloon.set(self.command,
			_("MDI Command line: Accept g-code commands or macro " \
			  "commands (RESET/HOME...) or editor commands " \
			  "(move,inkscape, round...) [Space or Ctrl-Space]"))
		self.widgets.append(self.command)

		# --- Right side ---
		frame = Frame(self.paned)
		self.paned.add(frame)

		# --- Canvas ---
		self.canvasFrame = CNCCanvas.CanvasFrame(frame, self)
		self.canvasFrame.pack(side=TOP, fill=BOTH, expand=YES)
		#self.paned.add(self.canvasFrame)
# XXX FIXME do I need the self.canvas?
		self.canvas = self.canvasFrame.canvas

		# fist create Pages
		self.pages = {}
		for cls in (	ControlPage,
				EditorPage,
				FilePage,
				ProbePage,
				TerminalPage,
				ToolsPage):
			page = cls(self.ribbon, self)
			self.pages[page.name] = page

		# then add their properties (in separate loop)
		for name,page in self.pages.items():
			for n in Utils.getStr(Utils.__prg__,"%s.ribbon"%(page.name)).split():
				page.addRibbonGroup(n)

			for n in Utils.getStr(Utils.__prg__,"%s.page"%(page.name)).split():
				last = n[-1]
				if last == "*":
					page.addPageFrame(n[:-1],fill=BOTH,expand=TRUE)
				else:
					page.addPageFrame(n)

		# remember the editor list widget
		self.dro      = Page.frames["DRO"]
		self.gstate   = Page.frames["State"]
		self.control  = Page.frames["Control"]
		self.editor   = Page.frames["Editor"].editor
		self.terminal = Page.frames["Terminal"].terminal
		self.buffer   = Page.frames["Terminal"].buffer

		# XXX FIXME Do we need it or I can takes from Page every time?
		self.autolevel = Page.frames["Probe:Autolevel"]

		# Left side
		for name in Utils.getStr(Utils.__prg__,"ribbon").split():
			last = name[-1]
			if last == '>':
				name = name[:-1]
				side = RIGHT
			else:
				side = LEFT
			self.ribbon.addPage(self.pages[name],side)

		# Restore last page
		self.pages["Probe"].tabChange()	# Select "Probe:Probe" tab to show the dialogs!
		self.ribbon.changePage(Utils.getStr(Utils.__prg__,"page", "File"))

		probe = Page.frames["Probe:Probe"]
		tkExtra.bindEventData(self, "<<OrientSelect>>", lambda e,f=probe: f.selectMarker(int(e.data)))
		tkExtra.bindEventData(self, '<<OrientChange>>',	lambda e,s=self: s.canvas.orientChange(int(e.data)))
		self.bind('<<OrientUpdate>>',	probe.orientUpdate)

		# Global bindings
		self.bind('<<Undo>>',		self.undo)
		self.bind('<<Redo>>',		self.redo)
		self.bind('<<Copy>>',		self.copy)
		self.bind('<<Cut>>',		self.cut)
		self.bind('<<Paste>>',		self.paste)

		self.bind('<<Connect>>',	self.openClose)

		self.bind('<<New>>',		self.newFile)
		self.bind('<<Open>>',		self.loadDialog)
		self.bind('<<Save>>',		self.saveAll)
		self.bind('<<SaveAs>>',		self.saveDialog)
		self.bind('<<Reload>>',		self.reload)

		self.bind('<<Recent0>>',	self._loadRecent0)
		self.bind('<<Recent1>>',	self._loadRecent1)
		self.bind('<<Recent2>>',	self._loadRecent2)
		self.bind('<<Recent3>>',	self._loadRecent3)
		self.bind('<<Recent4>>',	self._loadRecent4)
		self.bind('<<Recent5>>',	self._loadRecent5)
		self.bind('<<Recent6>>',	self._loadRecent6)
		self.bind('<<Recent7>>',	self._loadRecent7)
		self.bind('<<Recent8>>',	self._loadRecent8)
		self.bind('<<Recent9>>',	self._loadRecent9)

		self.bind('<<TerminalClear>>',	Page.frames["Terminal"].clear)
		self.bind('<<AlarmClear>>',	self.alarmClear)
		self.bind('<<Help>>',		self.help)
						# Do not send the event otherwise it will skip the feedHold/resume
		self.bind('<<FeedHold>>',	lambda e,s=self: s.feedHold())
		self.bind('<<Resume>>',		lambda e,s=self: s.resume())
		self.bind('<<Run>>',		lambda e,s=self: s.run())
		self.bind('<<Stop>>',		self.stopRun)
		self.bind('<<Pause>>',		self.pause)
#		self.bind('<<TabAdded>>',	self.tabAdded)

		tkExtra.bindEventData(self, "<<Status>>",	self.updateStatus)
		tkExtra.bindEventData(self, "<<Coords>>",	self.updateCanvasCoords)

		# Editor bindings
		self.bind("<<Add>>",			self.editor.insertItem)
		self.bind("<<Clone>>",			self.editor.clone)
		self.canvas.bind("<Control-Key-Prior>",	self.editor.orderUp)
		self.canvas.bind("<Control-Key-Next>",	self.editor.orderDown)
		self.canvas.bind('<Control-Key-d>',	self.editor.clone)
		self.canvas.bind('<Control-Key-c>',	self.copy)
		self.canvas.bind('<Control-Key-x>',	self.cut)
		self.canvas.bind('<Control-Key-v>',	self.paste)
		self.bind("<<Delete>>",			self.editor.deleteBlock)
		self.canvas.bind("<Delete>",		self.editor.deleteBlock)
		self.canvas.bind("<BackSpace>",		self.editor.deleteBlock)
		try:
			self.canvas.bind("<KP_Delete>",	self.editor.deleteBlock)
		except:
			pass
		self.bind('<<Invert>>',		self.editor.invertBlocks)
		self.bind('<<Expand>>',		self.editor.toggleExpand)
		self.bind('<<EnableToggle>>',	self.editor.toggleEnable)
		self.bind('<<Enable>>',		self.editor.enable)
		self.bind('<<Disable>>',	self.editor.disable)
		self.bind('<<ChangeColor>>',self.editor.changeColor)

		# Canvas X-bindings
		self.bind("<<ViewChange>>",	self.viewChange)
		self.bind("<<AddMarker>>",	self.canvas.setActionAddMarker)
		self.bind('<<MoveGantry>>',	self.canvas.setActionGantry)
		self.bind('<<SetWPOS>>',	self.canvas.setActionWPOS)

		frame = Page.frames["Probe:Tool"]
		self.bind('<<ToolCalibrate>>',	frame.calibrate)
		self.bind('<<ToolChange>>',	frame.change)

		self.bind('<<AutolevelMargins>>',self.autolevel.getMargins)
		self.bind('<<AutolevelZero>>',	self.autolevel.setZero)
		self.bind('<<AutolevelClear>>',	self.autolevel.clear)
		self.bind('<<AutolevelScan>>',	self.autolevel.scan)

		self.bind('<<CameraOn>>',	self.canvas.cameraOn)
		self.bind('<<CameraOff>>',	self.canvas.cameraOff)

		self.bind('<<CanvasFocus>>',	self.canvasFocus)
		self.bind('<<Draw>>',		self.draw)
		self.bind('<<DrawProbe>>',	lambda e,c=self.canvasFrame:c.drawProbe(True))
		self.bind('<<DrawOrient>>',	self.canvas.drawOrient)

		self.bind("<<ListboxSelect>>",	self.selectionChange)
		self.bind("<<Modified>>",	self.drawAfter)

		self.bind('<Control-Key-a>',	self.selectAll)
		self.bind('<Control-Key-A>',	self.unselectAll)
		self.bind('<Escape>',		self.unselectAll)
		self.bind('<Control-Key-i>',	self.selectInvert)

		self.bind('<<SelectAll>>',	self.selectAll)
		self.bind('<<SelectNone>>',	self.unselectAll)
		self.bind('<<SelectInvert>>',	self.selectInvert)
		self.bind('<<SelectLayer>>',	self.selectLayer)

#		self.bind('<Control-Key-f>',	self.find)
#		self.bind('<Control-Key-g>',	self.findNext)
#		self.bind('<Control-Key-h>',	self.replace)
		self.bind('<Control-Key-e>',	self.editor.toggleExpand)
		self.bind('<Control-Key-n>',	self.showInfo)
		self.bind('<<ShowInfo>>',	self.showInfo)
		self.bind('<Control-Key-l>',	self.editor.toggleEnable)
		self.bind('<Control-Key-q>',	self.quit)
		self.bind('<Control-Key-o>',	self.loadDialog)
		self.bind('<Control-Key-r>',	self.drawAfter)
		self.bind("<Control-Key-s>",	self.saveAll)
		self.bind('<Control-Key-y>',	self.redo)
		self.bind('<Control-Key-z>',	self.undo)
		self.bind('<Control-Key-Z>',	self.redo)
		self.canvas.bind('<Key-space>',	self.commandFocus)
		self.bind('<Control-Key-space>',self.commandFocus)
		self.bind('<<CommandFocus>>',	self.commandFocus)

		tools = self.pages["Tools"]
		self.bind('<<ToolAdd>>',	tools.add)
		self.bind('<<ToolDelete>>',	tools.delete)
		self.bind('<<ToolClone>>',	tools.clone)
		self.bind('<<ToolRename>>',	tools.rename)

		self.bind('<Up>',		self.control.moveYup)
		self.bind('<Down>',		self.control.moveYdown)
		self.bind('<Right>',		self.control.moveXup)
		self.bind('<Left>',		self.control.moveXdown)
		self.bind('<Prior>',		self.control.moveZup)
		self.bind('<Next>',		self.control.moveZdown)
		self.bind('<Home>',		self.home)
		try:
			self.bind('<KP_Up>',	self.control.moveYup)
			self.bind('<KP_Down>',	self.control.moveYdown)
			self.bind('<KP_Right>',	self.control.moveXup)
			self.bind('<KP_Left>',	self.control.moveXdown)
			self.bind('<KP_Prior>',	self.control.moveZup)
			self.bind('<KP_Next>',	self.control.moveZdown)
			self.bind('<KP_Home>',	self.home)
			self.bind('<KP_End>',	self.control.go2origin)
		except TclError:
			pass

		self.bind('<Key-plus>',		self.control.incStep)
		self.bind('<Key-equal>',	self.control.incStep)
		self.bind('<KP_Add>',		self.control.incStep)
		self.bind('<Key-minus>',	self.control.decStep)
		self.bind('<Key-underscore>',	self.control.decStep)
		self.bind('<KP_Subtract>',	self.control.decStep)

		self.bind('<Key-asterisk>',	self.control.mulStep)
		self.bind('<KP_Multiply>',	self.control.mulStep)
		self.bind('<Key-slash>',	self.control.divStep)
		self.bind('<KP_Divide>',	self.control.divStep)

		self.bind('<Key-1>',		self.control.setStep1)
		self.bind('<Key-2>',		self.control.setStep2)
		self.bind('<Key-3>',		self.control.setStep3)

		self.bind('<Key-exclam>',	self.feedHold)
		self.bind('<Key-asciitilde>',	self.resume)

		for x in self.widgets:
			if isinstance(x,Entry):
				x.bind("<Escape>", self.canvasFocus)

		self.bind('<FocusIn>',		self.focusIn)
		self.protocol("WM_DELETE_WINDOW", self.quit)

		self.canvas.focus_set()

		# Fill basic global variables
		CNC.vars["state"] = NOT_CONNECTED
		CNC.vars["color"] = STATECOLOR[NOT_CONNECTED]
		self._pendantFileUploaded = None
		self._drawAfter = None	# after handle for modification
		self._inFocus	= False
		self._insertCount = 0	# END - insertCount lines where ok was applied to for $xxx commands
		self.monitorSerial()
		self.canvasFrame.toggleDrawFlag()

		self.paned.sash_place(0, Utils.getInt(Utils.__prg__, "sash", 340), 0)

		# Auto start pendant and serial
		if Utils.getBool("Connection","pendant"):
			self.startPendant(False)

		if _openserial and Utils.getBool("Connection","openserial"):
			self.openClose()

		# Filedialog Load history
		for i in range(Utils._maxRecent):
			filename = Utils.getRecent(i)
			if filename is None: break
			bFileDialog.append2History(os.path.dirname(filename))

	#-----------------------------------------------------------------------
	def setStatus(self, msg, force_update=False):
		self.statusbar.configText(text=msg, fill="DarkBlue")
		if force_update:
			self.statusbar.update_idletasks()
			self.bufferbar.update_idletasks()

	#-----------------------------------------------------------------------
	# Set a status message from an event
	#-----------------------------------------------------------------------
	def updateStatus(self, event):
		self.setStatus(_(event.data))

	#-----------------------------------------------------------------------
	# Update canvas coordinates
	#-----------------------------------------------------------------------
	def updateCanvasCoords(self, event):
		x,y,z = event.data.split()
		self.statusx["text"] = "X: "+x
		self.statusy["text"] = "Y: "+y
		self.statusz["text"] = "Z: "+z

	#----------------------------------------------------------------------
	# Accept the user key if not editing any text
	#----------------------------------------------------------------------
	def acceptKey(self, skipRun=False):
		if not skipRun and self.running: return False
		focus = self.focus_get()
		if isinstance(focus, Entry) or \
		   isinstance(focus, Spinbox) or \
		   isinstance(focus, Listbox) or \
		   isinstance(focus, Text): return False
		return True

	#-----------------------------------------------------------------------
	def quit(self, event=None):
		if self.running and self._quit<1:
			tkMessageBox.showinfo(_("Running"),
				_("CNC is currently running, please stop it before."),
				parent=self)
			self._quit += 1
			return
		del self.widgets[:]

		if self.fileModified():
			return

		self.canvas.cameraOff()
		Sender.quit(self)
		self.saveConfig()
		self.destroy()
		if Utils.errors and Utils._errorReport:
			Utils.ReportDialog.sendErrorReport()
		tk.destroy()

	# ---------------------------------------------------------------------
	def configWidgets(self, var, value):
		for w in self.widgets:
			if isinstance(w,tuple):
				try:
					w[0].entryconfig(w[1], state=value)
				except TclError:
					pass
			elif isinstance(w,tkExtra.Combobox):
				w.configure(state=value)
			else:
				w[var] = value

	# ---------------------------------------------------------------------
	def busy(self):
		try:
			self.config(cursor="watch")
			self.update_idletasks()
		except TclError:
			pass

	# ----------------------------------------------------------------------
	def notBusy(self):
		try:
			self.config(cursor="")
		except TclError:
			pass

	# ---------------------------------------------------------------------
	def enable(self):
		self.configWidgets("state",NORMAL)
		self.statusbar.clear()
		self.statusbar.config(background="LightGray")
		self.bufferbar.clear()
		self.bufferbar.config(background="LightGray")
		self.bufferbar.setText("")

	# ---------------------------------------------------------------------
	def disable(self):
		self.configWidgets("state",DISABLED)

	# ----------------------------------------------------------------------
	# Check for updates
	# ----------------------------------------------------------------------
	def checkUpdates(self):
		# Find bCNC version
		Updates.CheckUpdateDialog(self, __version__)

	#-----------------------------------------------------------------------
	def loadShortcuts(self):
		for name, value in Utils.config.items("Shortcut"):
			# Convert to uppercase
			key = name.title()
			self.unbind("<%s>"%(key))	# unbind any possible old value
			if value:
				self.bind("<%s>"%(key), lambda e,s=self,c=value : s.execute(c))

	#-----------------------------------------------------------------------
	def showUserFile(self):
		webbrowser.open(Utils.iniUser)
		#os.startfile(Utils.iniUser)

	#-----------------------------------------------------------------------
	def loadConfig(self):
		global geometry

		if geometry is None:
			geometry = "%sx%s" % (Utils.getInt(Utils.__prg__, "width",  900),
					      Utils.getInt(Utils.__prg__, "height", 650))
		try: self.geometry(geometry)
		except: pass

		#restore windowsState
		try:
			self.wm_state(Utils.getStr(Utils.__prg__, "windowstate", "normal"))
		except:
			pass

		# read Tk fonts to initialize them
		font = Utils.getFont("TkDefaultFont")
		font = Utils.getFont("TkFixedFont")
		font = Utils.getFont("TkMenuFont")
		font = Utils.getFont("TkTextFont")

		tkExtra.Balloon.font = Utils.getFont("balloon", tkExtra.Balloon.font)

		Ribbon._FONT	= Utils.getFont("ribbon.label", Ribbon._FONT)
		Ribbon._TABFONT = Utils.getFont("ribbon.tab",	Ribbon._TABFONT)

		Ribbon._ACTIVE_COLOR	   = Utils.getStr("Color", "ribbon.active", Ribbon._ACTIVE_COLOR)
		Ribbon._LABEL_SELECT_COLOR = Utils.getStr("Color", "ribbon.select", Ribbon._LABEL_SELECT_COLOR)

		self.tools.loadConfig()
		Sender.loadConfig(self)
		self.loadShortcuts()

	#-----------------------------------------------------------------------
	def saveConfig(self):
		# Program
		Utils.setInt(Utils.__prg__,  "width",	 str(self.winfo_width()))
		Utils.setInt(Utils.__prg__,  "height",	 str(self.winfo_height()))
		#Utils.setInt(Utils.__prg__,  "x",	  str(self.winfo_rootx()))
		#Utils.setInt(Utils.__prg__,  "y",	  str(self.winfo_rooty()))
		Utils.setInt(Utils.__prg__,  "sash",	  str(self.paned.sash_coord(0)[0]))

		#save windowState
		Utils.setStr(Utils.__prg__,  "windowstate", str(self.wm_state()))
		Utils.setStr(Utils.__prg__,  "page",	 str(self.ribbon.getActivePage().name))

		# Connection
		Page.saveConfig()
		Sender.saveConfig(self)
		self.tools.saveConfig()
		self.canvasFrame.saveConfig()

	#-----------------------------------------------------------------------
	def loadHistory(self):
		try:
			f = open(Utils.hisFile,"r")
		except:
			return
		self.history = [x.strip() for x in f]
		self._historySearch = None
		f.close()

	#-----------------------------------------------------------------------
	def saveHistory(self):
		try:
			f = open(Utils.hisFile,"w")
		except:
			return
		f.write("\n".join(self.history))
		f.close()

	#-----------------------------------------------------------------------
	def cut(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.editor.cut()
			return "break"

	#-----------------------------------------------------------------------
	def copy(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.editor.copy()
			return "break"

	#-----------------------------------------------------------------------
	def paste(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.editor.paste()
			return "break"

	#-----------------------------------------------------------------------
	def undo(self, event=None):
		if not self.running and self.gcode.canUndo():
			self.gcode.undo();
			self.editor.fill()
			self.drawAfter()
		return "break"

	#-----------------------------------------------------------------------
	def redo(self, event=None):
		if not self.running and self.gcode.canRedo():
			self.gcode.redo();
			self.editor.fill()
			self.drawAfter()
		return "break"

	#-----------------------------------------------------------------------
	def addUndo(self, undoinfo):
		self.gcode.addUndo(undoinfo)

	#-----------------------------------------------------------------------
	def about(self, event=None, timer=None):
		toplevel = Toplevel(self)
		toplevel.transient(self)
		toplevel.title(_("About %s") % (Utils.__prg__))
		if sys.platform == "win32":
			self.iconbitmap("bCNC.ico")
		else:
			self.iconbitmap("@%s/bCNC.xbm"%(Utils.prgpath))

		bg = "#707070"
		fg = "#ffffff"

		font1 = 'Helvetica -32 bold'
		font2 = 'Helvetica -12'
		font3 = 'Helvetica -10'

		frame = Frame(toplevel, borderwidth=2,
				relief=SUNKEN, background=bg)
		frame.pack(side=TOP, expand=TRUE, fill=BOTH, padx=5, pady=5)

		# -----
		row = 0
		l = Label(frame, image=Utils.icons["bCNC"],
				foreground=fg, background=bg,
				relief=RAISED,
				padx=0, pady=0)
		l.grid(row=row, column=0, columnspan=2, padx=5, pady=5)

		# -----
		#row += 1
		#l = Label(frame, text=Utils.__prg__,
		#		foreground=fg, background=bg,
		#		font=font1)
		#l.grid(row=row, column=0, columnspan=2, sticky=W, padx=10, pady=5)

		# -----
		row += 1
		l = Label(frame, text=\
				_("bCNC/\tAn advanced fully featured\n" \
				  "\tg-code sender for GRBL."),
				font = font3,
				foreground=fg, background=bg, justify=LEFT)
		l.grid(row=row, column=0, columnspan=2, sticky=W, padx=10, pady=1)

		# -----
		row += 1
		f = Frame(frame, borderwidth=1, relief=SUNKEN,
			height=2, background=bg)
		f.grid(row=row, column=0, columnspan=2, sticky=EW, padx=5, pady=5)

		# -----
		row += 1
		l = Label(frame, text='www:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=E, padx=10, pady=2)

		l = Label(frame, text=Utils.__www__,
				foreground=fg, background=bg, justify=LEFT,
				activeforeground="Blue",
				font=font2, cursor="hand1")
		l.grid(row=row, column=1, sticky=W, padx=2, pady=2)
		l.bind('<Button-1>', lambda e : webbrowser.open(Utils.__www__))

		# -----
		row += 1
		l = Label(frame, text='email:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=E, padx=10, pady=2)

		l = Label(frame, text=__email__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=W, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='author:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=NE, padx=10, pady=2)

		l = Label(frame, text=__author__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='contributors:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=NE, padx=10, pady=2)

		l = Label(frame, text=Utils.__contribute__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='translations:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=NE, padx=10, pady=2)

		l = Label(frame, text=Utils.__translations__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='credits:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=NE, padx=10, pady=2)

		l = Label(frame, text=Utils.__credits__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='version:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=E, padx=10, pady=2)

		l = Label(frame, text=__version__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		# -----
		row += 1
		l = Label(frame, text='last change:',
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=0, sticky=E, padx=10, pady=2)

		l = Label(frame, text=__date__,
				foreground=fg, background=bg, justify=LEFT,
				font=font2)
		l.grid(row=row, column=1, sticky=NW, padx=2, pady=2)

		closeFunc = lambda e=None,t=toplevel: t.destroy()
		b = Button(toplevel, text=_("Close"), command=closeFunc)
		b.pack(pady=5)
		frame.grid_columnconfigure(1, weight=1)

		toplevel.bind('<Escape>',   closeFunc)
		toplevel.bind('<Return>',   closeFunc)
		toplevel.bind('<KP_Enter>', closeFunc)

		#Center to the screen
		#toplevel.update_idletasks()
		#w = toplevel.winfo_screenwidth()
		#h = toplevel.winfo_screenheight()
		#size = tuple(int(_) for _ in toplevel.geometry().split('+')[0].split('x'))
		#x = w/2 - size[0]/2
		#y = h/2 - size[1]/2
		#toplevel.geometry("%dx%d+%d+%d" % (size + (x, y)))

		toplevel.deiconify()
		toplevel.wait_visibility()
		toplevel.resizable(False, False)

		try: toplevel.grab_set()
		except: pass
		b.focus_set()
		toplevel.lift()
		if timer: toplevel.after(timer, closeFunc)
		toplevel.wait_window()

	#-----------------------------------------------------------------------
	def alarmClear(self, event=None):
		self._alarm = False

	#-----------------------------------------------------------------------
	# Display information on selected blocks
	#-----------------------------------------------------------------------
	def showInfo(self, event=None):
		self.canvas.showInfo(self.editor.getSelectedBlocks())
		return "break"

	#-----------------------------------------------------------------------
	# FIXME Very primitive
	#-----------------------------------------------------------------------
	def showStats(self, event=None):
		toplevel = Toplevel(self)
		toplevel.transient(self)
		toplevel.title(_("Statistics"))

		if CNC.inch:
			unit = "in"
		else:
			unit = "mm"

		# count enabled blocks
		e = 0
		l = 0
		r = 0
		t = 0
		for block in self.gcode.blocks:
			if block.enable:
				e += 1
				l += block.length
				r += block.rapid
				t += block.time

		# ===========
		frame = LabelFrame(toplevel, text=_("Enabled GCode"), foreground="DarkRed")
		frame.pack(fill=BOTH)

		# ---
		row, col = 0,0
		Label(frame, text=_("Margins X:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["xmin"], CNC.vars["xmax"],
			 CNC.vars["xmax"] -CNC.vars["xmin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text="... Y:").grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["ymin"], CNC.vars["ymax"],
			 CNC.vars["ymax"] -CNC.vars["ymin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text="... Z:").grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["zmin"], CNC.vars["zmax"],
			 CNC.vars["zmax"] -CNC.vars["zmin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("# Blocks:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text=str(e),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("Length:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g %s" % (l, unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("Rapid:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g %s" % (r, unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("Time:")).grid(row=row, column=col, sticky=E)
		col += 1
		h,m = divmod(t, 60)	# t in min
		s = (m-int(m))*60
		Label(frame, text="%d:%02d:%02d s" % (int(h),int(m),int(s)),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		frame.grid_columnconfigure(1, weight=1)


		# ===========
		frame = LabelFrame(toplevel, text=_("All GCode"), foreground="DarkRed")
		frame.pack(fill=BOTH)

		# ---
		row, col = 0,0
		Label(frame, text=_("Margins X:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["axmin"], CNC.vars["axmax"],
			 CNC.vars["axmax"] -CNC.vars["axmin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text="... Y:").grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["aymin"], CNC.vars["aymax"],
			 CNC.vars["aymax"] -CNC.vars["aymin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text="... Z:").grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g .. %g [%g] %s" % \
			(CNC.vars["azmin"], CNC.vars["azmax"],
			 CNC.vars["azmax"] -CNC.vars["azmin"],
			 unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("# Blocks:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text=str(len(self.gcode.blocks)),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)
		# ---
		row += 1
		col = 0
		Label(frame, text=_("Length:")).grid(row=row, column=col, sticky=E)
		col += 1
		Label(frame, text="%g %s" % (self.cnc.totalLength, unit),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		# ---
		row += 1
		col = 0
		Label(frame, text=_("Time:")).grid(row=row, column=col, sticky=E)
		col += 1
		h,m = divmod(self.cnc.totalTime, 60)	# t in min
		s = (m-int(m))*60
		Label(frame, text="%d:%02d:%02d s" % (int(h),int(m),int(s)),
			foreground="DarkBlue").grid(row=row, column=col, sticky=W)

		frame.grid_columnconfigure(1, weight=1)

		# ===========
		frame = Frame(toplevel)
		frame.pack(fill=X)

		closeFunc = lambda e=None,t=toplevel: t.destroy()
		b = Button(frame, text=_("Close"), command=closeFunc)
		b.pack(pady=5)
		frame.grid_columnconfigure(1, weight=1)

		toplevel.bind("<Escape>",    closeFunc)
		toplevel.bind("<Return>",    closeFunc)
		toplevel.bind("<KP_Enter>",  closeFunc)

		# ----
		toplevel.deiconify()
		toplevel.wait_visibility()
		toplevel.resizable(False, False)

		try: toplevel.grab_set()
		except: pass
		b.focus_set()
		toplevel.lift()
		toplevel.wait_window()

	#-----------------------------------------------------------------------
	def reportDialog(self, event=None):
		Utils.ReportDialog(self)

	#-----------------------------------------------------------------------
	def viewChange(self, event=None):
		if self.running:
			self._selectI = 0	# last selection pointer in items
		self.draw()

	# ----------------------------------------------------------------------
	def refresh(self, event=None):
		self.editor.fill()
		self.draw()

	# ----------------------------------------------------------------------
	def draw(self):
		view = CNCCanvas.VIEWS.index(self.canvasFrame.view.get())
		self.canvas.draw(view)
		self.selectionChange()

	# ----------------------------------------------------------------------
	# Redraw with a small delay
	# ----------------------------------------------------------------------
	def drawAfter(self, event=None):
		if self._drawAfter is not None: self.after_cancel(self._drawAfter)
		self._drawAfter = self.after(DRAW_AFTER, self.draw)
		return "break"

	#-----------------------------------------------------------------------
	def canvasFocus(self, event=None):
		self.canvas.focus_set()
		return "break"

	#-----------------------------------------------------------------------
	def selectAll(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.editor.copy()
			self.ribbon.changePage("Editor")
			self.editor.selectAll()
			self.selectionChange()
			return "break"

	#-----------------------------------------------------------------------
	def unselectAll(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.ribbon.changePage("Editor")
			self.editor.selectClear()
			self.selectionChange()
			return "break"

	#-----------------------------------------------------------------------
	def selectInvert(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.ribbon.changePage("Editor")
			self.editor.selectInvert()
			self.selectionChange()
			return "break"

	#-----------------------------------------------------------------------
	def selectLayer(self, event=None):
		focus = self.focus_get()
		if focus in (self.canvas, self.editor):
			self.ribbon.changePage("Editor")
			self.editor.selectLayer()
			self.selectionChange()
			return "break"

	#-----------------------------------------------------------------------
	def find(self, event=None):
		self.ribbon.changePage("Editor")
####		self.editor.findDialog()
#		return "break"
#
#	#-----------------------------------------------------------------------
	def findNext(self, event=None):
		self.ribbon.changePage("Editor")
####		self.editor.findNext()
#		return "break"
#
#	#-----------------------------------------------------------------------
	def replace(self, event=None):
		self.ribbon.changePage("Editor")
####		self.editor.replaceDialog()
#		return "break"

	#-----------------------------------------------------------------------
	def activeBlock(self):
		return self.editor.activeBlock()

	#-----------------------------------------------------------------------
	# Keyboard binding to <Return>
	#-----------------------------------------------------------------------
	def cmdExecute(self, event):
		self.commandExecute()

	# ----------------------------------------------------------------------
	def insertCommand(self, cmd, execute=False):
		self.command.delete(0,END)
		self.command.insert(0,cmd)
		if execute: self.commandExecute(False)

	#-----------------------------------------------------------------------
	# Execute command from command line
	#-----------------------------------------------------------------------
	def commandExecute(self, addHistory=True):
		self._historyPos = None
		self._historySearch = None

		line = self.command.get().strip()
		if not line: return

		if self._historyPos is not None:
			if self.history[self._historyPos] != line:
				self.history.append(line)
		elif not self.history or self.history[-1] != line:
			self.history.append(line)

		if len(self.history)>MAX_HISTORY:
			self.history.pop(0)
		self.command.delete(0,END)
		self.execute(line)

	#-----------------------------------------------------------------------
	# Execute a single command
	#-----------------------------------------------------------------------
	def execute(self, line):
		#print
		#print "<<<",line
		try:
			line = self.evaluate(line)
		except:
			tkMessageBox.showerror(_("Evaluation error"),
				sys.exc_info()[1], parent=self)
			return "break"
		#print ">>>",line

		if line is None: return "break"

		if self.executeGcode(line): return "break"

		oline = line.strip()
		line  = oline.replace(","," ").split()
		cmd   = line[0].upper()

		# ABO*UT: About dialog
		if rexx.abbrev("ABOUT",cmd,3):
			self.about()

		# CAM*ERA: camera actions
		elif rexx.abbrev("CAMERA",cmd,3):
			# FIXME will make crazy the button state
			if rexx.abbrev("SWITCH",line[1].upper(),1):
				Page.groups["Probe:Camera"].switchCamera()

			elif rexx.abbrev("SPINDLE",line[1].upper(),2):
				Page.frames["Probe:Camera"].registerSpindle()

			elif rexx.abbrev("CAMERA",line[1].upper(),1):
				Page.frames["Probe:Camera"].registerCamera()

		# CLE*AR: clear terminal
		elif rexx.abbrev("CLEAR",cmd,3) or cmd=="CLS":
			self.ribbon.changePage("Terminal")
			Page.frames["Terminal"].clear()

		# CLOSE: close path - join end with start with a line segment
		elif rexx.abbrev("CLOSE",cmd,4):
			self.executeOnSelection("CLOSE", True)

		# CONT*ROL: switch to control tab
		elif rexx.abbrev("CONTROL",cmd,4):
			self.ribbon.changePage("Control")

		# CUT [depth] [pass-per-depth] [z-surface]: replicate selected blocks to cut-height
		# default values are taken from the active material
		elif cmd == "CUT":
			try:	depth = float(line[1])
			except: depth = None

			try:	step = float(line[2])
			except: step = None

			try:	surface = float(line[3])
			except: surface = None
			self.executeOnSelection("CUT", True, depth, step, surface)

		# DOWN: move downward in cutting order the selected blocks
		# UP: move upwards in cutting order the selected blocks
		elif cmd=="DOWN":
			self.editor.orderDown()
		elif cmd=="UP":
			self.editor.orderUp()

		# DIR*ECTION
		elif rexx.abbrev("DIRECTION", cmd, 3):
			if rexx.abbrev("CLIMB", line[1].upper(), 2):
				direction = -1
			elif rexx.abbrev("CONVENTIONAL", line[1].upper(), 2):
				direction =  1
			else:
				tkMessageBox.showerror(_("Direction command error"),
					_("Invalid direction %s specified"%(line[1])),
					parent=self)
				return "break"
			self.executeOnSelection("DIRECTION", True, direction)

		# DRI*LL [depth] [peck]: perform drilling at all penetrations points
		elif rexx.abbrev("DRILL",cmd,3):
			try:	h = float(line[1])
			except: h = None

			try:	p = float(line[2])
			except: p = None
			self.executeOnSelection("DRILL", True, h, p)

		# ECHO <msg>: echo message
		elif cmd=="ECHO":
			self.setStatus(oline[5:].strip())

		# FEED on/off: append feed commands on every motion line for feed override testing
		elif cmd=="FEED":
			try:
				CNC.appendFeed = (line[1].upper()=="ON")
			except:
				CNC.appendFeed = True
			self.setStatus(CNC.appendFeed and \
				"Feed appending turned on" or \
				"Feed appending turned off")

		# INV*ERT: invert selected blocks
		elif rexx.abbrev("INVERT",cmd,3):
			self.editor.invertBlocks()

		# MSG|MESSAGE <msg>: echo message
		elif cmd in ("MSG","MESSAGE"):
			tkMessageBox.showinfo("Message",oline[oline.find(" ")+1:].strip(), parent=self)

		# FIL*TER: filter editor blocks with text
		elif rexx.abbrev("FILTER",cmd,3) or cmd=="ALL":
			try:
				self.editor.filter = line[1]
			except:
				self.editor.filter = None
			self.editor.fill()

		# ED*IT: edit current line or item
		elif rexx.abbrev("EDIT",cmd,2):
			self.edit()

		# IM*PORT <filename>: import filename with gcode or dxf at cursor location
		# or at the end of the file
		elif rexx.abbrev("IMPORT",cmd,2):
			try:	self.importFile(line[1])
			except: self.importFile()

		# INK*SCAPE: remove uneccessary Z motion as a result of inkscape gcodetools
		elif rexx.abbrev("INKSCAPE",cmd,3):
			if len(line)>1 and rexx.abbrev("ALL",line[1].upper()):
				self.editor.selectAll()
			self.executeOnSelection("INKSCAPE", True)

		# ISO1: switch to ISO1 projection
		elif cmd=="ISO1":
			self.canvasFrame.viewISO1()
		# ISO2: switch to ISO2 projection
		elif cmd=="ISO2":
			self.canvasFrame.viewISO2()
		# ISO3: switch to ISO3 projection
		elif cmd=="ISO3":
			self.canvasFrame.viewISO3()

		# LO*AD [filename]: load filename containing g-code
		elif rexx.abbrev("LOAD",cmd,2) and len(line)==1:
			self.loadDialog()

		# MAT*ERIAL [name/height] [pass-per-depth] [feed]: set material from database or parameters
#		elif rexx.abbrev("MATERIAL",cmd,3):
#			tool = self.tools["Material"]
#			# MAT*ERIAL [height] [pass-depth] [feed]
#			try: self.height = float(line[1])
#			except: pass
#			try: self.depth_pass = float(line[2])
#			except: pass
#			try: self.feed = float(line[3])
#			except: pass
#			self.setStatus(_("Height: %g  Depth-per-pass: %g  Feed: %g")%(self.height,self.depth_pass, self.feed))

		# MIR*ROR [H*ORIZONTAL/V*ERTICAL]: mirror selected objects horizontally or vertically
		elif rexx.abbrev("MIRROR",cmd,3):
			if len(line)==1: return "break"
			line1 = line[1].upper()
			#if nothing is selected:
			self.editor.selectAll()
			if rexx.abbrev("HORIZONTAL",line1):
				self.executeOnSelection("MIRRORH", False)
			elif rexx.abbrev("VERTICAL",line1):
				self.executeOnSelection("MIRRORV", False)

		elif rexx.abbrev("ORDER",cmd,2):
			if line[1].upper() == "UP":
				self.editor.orderUp()
			elif line[1].upper() == "DOWN":
				self.editor.orderDown()

		# MO*VE [|CE*NTER|BL|BR|TL|TR|UP|DOWN|x] [[y [z]]]:
		# move selected objects either by mouse or by coordinates
		elif rexx.abbrev("MOVE",cmd,2):
			if len(line)==1:
				self.canvas.setActionMove()
				return "break"
			line1 = line[1].upper()
			dz = 0.0
			if rexx.abbrev("CENTER",line1,2):
				dx = -(CNC.vars["xmin"] + CNC.vars["xmax"])/2.0
				dy = -(CNC.vars["ymin"] + CNC.vars["ymax"])/2.0
				self.editor.selectAll()
			elif line1=="BL":
				dx = -CNC.vars["xmin"]
				dy = -CNC.vars["ymin"]
				self.editor.selectAll()
			elif line1=="BC":
				dx = -(CNC.vars["xmin"] + CNC.vars["xmax"])/2.0
				dy = -CNC.vars["ymin"]
				self.editor.selectAll()
			elif line1=="BR":
				dx = -CNC.vars["xmax"]
				dy = -CNC.vars["ymin"]
				self.editor.selectAll()
			elif line1=="TL":
				dx = -CNC.vars["xmin"]
				dy = -CNC.vars["ymax"]
				self.editor.selectAll()
			elif line1=="TC":
				dx = -(CNC.vars["xmin"] + CNC.vars["xmax"])/2.0
				dy = -CNC.vars["ymax"]
				self.editor.selectAll()
			elif line1=="TR":
				dx = -CNC.vars["xmax"]
				dy = -CNC.vars["ymax"]
				self.editor.selectAll()
			elif line1=="LC":
				dx = -CNC.vars["xmin"]
				dy = -(CNC.vars["ymin"] + CNC.vars["ymax"])/2.0
				self.editor.selectAll()
			elif line1=="RC":
				dx = -CNC.vars["xmax"]
				dy = -(CNC.vars["ymin"] + CNC.vars["ymax"])/2.0
				self.editor.selectAll()
			elif line1 in ("UP","DOWN"):
				dx = line1
				dy = dz = line1
			else:
				try:	dx = float(line[1])
				except: dx = 0.0
				try:	dy = float(line[2])
				except: dy = 0.0
				try:	dz = float(line[3])
				except: dz = 0.0
			self.executeOnSelection("MOVE", False, dx,dy,dz)

		# OPT*IMIZE: reorder selected blocks to minimize rapid motions
		elif rexx.abbrev("OPTIMIZE",cmd,3):
			if not self.editor.curselection():
				tkMessageBox.showinfo(_("Optimize"),
					_("Please select the blocks of gcode you want to optimize."),
					parent=self)
			else:
				self.executeOnSelection("OPTIMIZE", True)

		# OPT*IMIZE: reorder selected blocks to minimize rapid motions
		elif rexx.abbrev("ORIENT",cmd,4):
			if not self.editor.curselection():
				self.editor.selectAll()
			self.executeOnSelection("ORIENT", False)

		# ORI*GIN x y z: move origin to x,y,z by moving all to -x -y -z
		elif rexx.abbrev("ORIGIN",cmd,3):
			try:	dx = -float(line[1])
			except: dx = 0.0
			try:	dy = -float(line[2])
			except: dy = 0.0
			try:	dz = -float(line[3])
			except: dz = 0.0
			self.editor.selectAll()
			self.executeOnSelection("MOVE", False, dx,dy,dz)

		# POC*KET: create pocket path
		elif rexx.abbrev("POCKET",cmd,3):
			self.pocket()

		# PROF*ILE [offset]: create profile path
		elif rexx.abbrev("PROFILE",cmd,3):
			if len(line)>1:
				self.profile(line[1])
			else:
				self.profile()

		# REV*ERSE: reverse path direction
		elif rexx.abbrev("REVERSE", cmd, 3):
			self.executeOnSelection("REVERSE", True)

		# ROT*ATE [CCW|CW|FLIP|ang] [x0 [y0]]: rotate selected blocks
		# counter-clockwise(90) / clockwise(-90) / flip(180)
		# 90deg or by a specific angle and a pivot point
		elif rexx.abbrev("ROTATE",cmd,3):
			line1 = line[1].upper()
			x0 = y0 = 0.0
			if line1 == "CCW":
				ang = 90.0
				#self.editor.selectAll()
			elif line1 == "CW":
				ang = -90.0
				#self.editor.selectAll()
			elif line1=="FLIP":
				ang = 180.0
				#self.editor.selectAll()
			else:
				try: ang = float(line[1])
				except: pass
				try: x0 = float(line[2])
				except: pass
				try: y0 = float(line[3])
				except: pass
			self.executeOnSelection("ROTATE", False, ang,x0,y0)

		# ROU*ND [n]: round all digits to n fractional digits
		elif rexx.abbrev("ROUND",cmd,3):
			acc = None
			if len(line)>1:
				if rexx.abbrev("ALL",line[1].upper()):
					self.editor.selectAll()
				else:
					try:
						acc = int(line[1])
					except:
						pass
			self.executeOnSelection("ROUND", False, acc)

		# RU*LER: measure distances with mouse ruler
		elif rexx.abbrev("RULER",cmd,2):
			self.canvas.setActionRuler()

		# STAT*ISTICS: show statistics of current job
		elif rexx.abbrev("STATISTICS",cmd,4):
			self.showStats()

		# STEP [s]: set motion step size to s
		elif cmd == "STEP":
			try:
				self.setStep(float(line[1]))
			except:
				pass

		# SPI*NDLE [ON|OFF|speed]: turn on/off spindle
		elif rexx.abbrev("SPINDLE",cmd,3):
			if len(line)>1:
				if line[1].upper()=="OFF":
					self.spindle.set(False)
				elif line[1].upper()=="ON":
					self.spindle.set(True)
				else:
					try:
						rpm = int(line[1])
						if rpm==0:
							self.spindleSpeed.set(0)
							self.spindle.set(False)
						else:
							self.spindleSpeed.set(rpm)
							self.spindle.set(True)
					except:
						pass
			else:
				# toggle spindle
				self.spindle.set(not self.spindle.get())
			self.spindleControl()

		# STOP: stop current run
		elif cmd == "STOP":
			self.stopRun()

		# TAB*S [ntabs] [dtabs] [dx] [dy] [z]: create tabs on selected blocks
		# default values are taken from the active tab
		elif rexx.abbrev("TABS",cmd,3):
			tabs = self.tools["TABS"]
			try:	ntabs = int(line[1])
			except:	ntabs = int(tabs["ntabs"])
			try:	dtabs = float(line[2])
			except:	dtabs = tabs.fromMm("dtabs")
			try:	dx = float(line[3])
			except:	dx = tabs.fromMm("dx")
			try:	dy = float(line[4])
			except:	dy = tabs.fromMm("dy")
			try:	z = float(line[5])
			except:	z = tabs.fromMm("z")
			self.executeOnSelection("TABS", True, ntabs, dtabs, dx, dy, z)

		# TERM*INAL: switch to terminal tab
		elif rexx.abbrev("TERMINAL",cmd,4):
			self.ribbon.changePage("Terminal")

		# TOOL [diameter]: set diameter of cutting tool
		elif cmd in ("BIT","TOOL","MILL"):
			try:
				diam = float(line[1])
			except:
				tool = self.tools["EndMill"]
				diam = self.tools.fromMm(tool["diameter"])
			self.setStatus(_("EndMill: %s %g")%(tool["name"], diam))

		# TOOLS
		elif cmd=="TOOLS":
			self.ribbon.changePage("Tools")

		# UNL*OCK: unlock grbl
		elif rexx.abbrev("UNLOCK",cmd,3):
			self.unlock()

		# US*ER cmd: execute user command, cmd=number or name
		elif rexx.abbrev("USER",cmd,2):
			n = Utils.getInt("Buttons","n",6)
			try:
				idx = int(line[1])
			except:
				try:
					name = line[1].upper()
					for i in range(n):
						if name == Utils.getStr("Buttons","name.%d"%(i),"").upper():
							idx = i
							break
				except:
					return "break"
			if idx<0 or idx>=n:
				self.setStatus(_("Invalid user command %s")%(line[1]))
				return "break"
			cmd = Utils.getStr("Buttons","command.%d"%(idx),"")
			for line in cmd.splitlines():
				self.execute(line)

		# XY: switch to XY view
		# YX: switch to XY view
		elif cmd in ("XY","YX"):
			self.canvasFrame.viewXY()

		# XZ: switch to XZ view
		# ZX: switch to XZ view
		elif cmd in ("XZ","ZX"):
			self.canvasFrame.viewXZ()

		# YZ: switch to YZ view
		# ZY: switch to YZ view
		elif cmd in ("YZ","ZY"):
			self.canvasFrame.viewYZ()

		else:
			rc = self.executeCommand(oline)
			if rc:
				tkMessageBox.showerror(rc[0],rc[1], parent=self)
			return "break"

	#-----------------------------------------------------------------------
	# Execute a command over the selected lines
	#-----------------------------------------------------------------------
	def executeOnSelection(self, cmd, blocksonly, *args):
		if blocksonly:
			items = self.editor.getSelectedBlocks()
		else:
			items = self.editor.getCleanSelection()
		if not items: return

		self.busy()
		sel = None
		undoinfo = None	# all operations should return undo information
		if   cmd == "CUT":
			sel = self.gcode.cut(items, *args)
		elif cmd == "CLOSE":
			sel = self.gcode.close(items)
		elif cmd == "DIRECTION":
			self.gcode.cutDirection(items, *args)
		elif cmd == "DRILL":
			sel = self.gcode.drill(items, *args)
		elif cmd == "ORDER":
			self.gcode.orderLines(items, *args)
		elif cmd == "INKSCAPE":
			self.gcode.inkscapeLines()
		elif cmd == "MIRRORH":
			self.gcode.mirrorHLines(items)
		elif cmd == "MIRRORV":
			self.gcode.mirrorVLines(items)
		elif cmd == "MOVE":
			self.gcode.moveLines(items, *args)
		elif cmd == "OPTIMIZE":
			self.gcode.optimize(items)
		elif cmd == "ORIENT":
			self.gcode.orientLines(items)
		elif cmd == "REVERSE":
			self.gcode.reverse(items, *args)
		elif cmd == "ROUND":
			self.gcode.roundLines(items, *args)
		elif cmd == "ROTATE":
			self.gcode.rotateLines(items, *args)
		elif cmd == "TABS":
			self.gcode.createTabs(items, *args)

		# Fill listbox and update selection
		self.editor.fill()
		if sel is not None:
			if isinstance(sel, str):
				tkMessageBox.showerror(_("Operation error"), sel, parent=self)
			else:
				self.editor.select(sel,clear=True)
		self.drawAfter()
		self.notBusy()
		self.setStatus("%s %s"%(cmd," ".join([str(a) for a in args if a is not None])))

	#-----------------------------------------------------------------------
	def profile(self, direction=None, offset=0.0, overcut=False, name=None):
		tool = self.tools["EndMill"]
		ofs  = self.tools.fromMm(tool["diameter"])/2.0
		sign = 1.0

		if direction is None:
			pass
		elif rexx.abbrev("INSIDE",direction.upper()):
			sign = -1.0
		elif rexx.abbrev("OUTSIDE",direction.upper()):
			sign = 1.0
		else:
			try:
				ofs = float(direction)/2.0
			except:
				pass

		# additional offset
		try: ofs += float(offset)
		except: pass

		self.busy()
		blocks = self.editor.getSelectedBlocks()
		# on return we have the blocks with the new blocks to select
		msg = self.gcode.profile(blocks, ofs*sign, overcut, name)
		if msg:
			tkMessageBox.showwarning("Open paths",
					"WARNING: %s"%(msg),
					parent=self)
		self.editor.fill()
		self.editor.selectBlocks(blocks)
		self.draw()
		self.notBusy()
		self.setStatus(_("Profile block distance=%g")%(ofs*sign))

	#-----------------------------------------------------------------------
	def pocket(self, name=None):
		tool = self.tools["EndMill"]
		diameter = self.tools.fromMm(tool["diameter"])
		stepover = tool["stepover"] / 100.0

		self.busy()
		blocks = self.editor.getSelectedBlocks()
		# on return we have the blocks with the new blocks to select
		msg = self.gcode.pocket(blocks, diameter, stepover, name)
		if msg:
			tkMessageBox.showwarning(_("Open paths"),
					_("WARNING: %s")%(msg),
					parent=self)
		self.editor.fill()
		self.editor.selectBlocks(blocks)
		self.draw()
		self.notBusy()
#		self.setStatus(_("Pocket block distance=%g")%(ofs*sign))

#	#-----------------------------------------------------------------------
#	def tabAdded(self, event=None):
#		tools = Page.frames["Tools"]
#		tools.populate()
#		tools.selectTab(-1)

	#-----------------------------------------------------------------------
	def edit(self, event=None):
		page = self.ribbon.getActivePage()
		if page.name == "Editor":
			self.editor.edit()
		elif page.name == "Tools":
			page.edit()

	#-----------------------------------------------------------------------
	def commandFocus(self, event=None):
		self.command.focus_set()

	#-----------------------------------------------------------------------
	def commandFocusIn(self, event=None):
		self.cmdlabel["foreground"] = "Blue"

	#-----------------------------------------------------------------------
	def commandFocusOut(self, event=None):
		self.cmdlabel["foreground"] = "Black"

	#-----------------------------------------------------------------------
	# FIXME why it is not called?
	#-----------------------------------------------------------------------
	def commandKey(self, event):
		if event.char or event.keysym in ("BackSpace"):
			self._historyPos    = None
			self._historySearch = None

	#-----------------------------------------------------------------------
	def commandHistoryUp(self, event=None):
		if self._historyPos is None:
			s = self.command.get()
			if self.history:
				self._historyPos = len(self.history)-1
			else:
				self._historySearch = None
				return
			if s and self._historySearch is None:
				self._historySearch = s.strip().upper()
		else:
			self._historyPos = max(0, self._historyPos-1)

		if self._historySearch:
			for i in range(self._historyPos,-1,-1):
				h = self.history[i]
				if h.upper().startswith(self._historySearch):
					self._historyPos = i
					break

		self.command.delete(0,END)
		self.command.insert(0,self.history[self._historyPos])

	#-----------------------------------------------------------------------
	def commandHistoryDown(self, event=None):
		if self._historyPos is None:
			self._historySearch = None
			return
		else:
			self._historyPos += 1
			if self._historyPos >= len(self.history):
				self._historyPos    = None
				self._historySearch = None

		if self._historySearch:
			for i in range(self._historyPos,len(self.history)):
				h = self.history[i]
				if h.upper().startswith(self._historySearch):
					self._historyPos = i
					break

		self.command.delete(0,END)
		if self._historyPos is not None:
			self.command.insert(0,self.history[self._historyPos])

	#-----------------------------------------------------------------------
	def select(self, items, double, clear, toggle=True):
		self.editor.select(items, double, clear, toggle)
		self.selectionChange()

	# ----------------------------------------------------------------------
	# Selection has changed highlight the canvas
	# ----------------------------------------------------------------------
	def selectionChange(self, event=None):
		items = self.editor.getSelection()
		self.canvas.clearSelection()
		if not items: return
		self.canvas.select(items)
		self.canvas.activeMarker(self.editor.getActive())

	#-----------------------------------------------------------------------
	# Create a new file
	#-----------------------------------------------------------------------
	def newFile(self, event=None):
		if self.running: return
		if self.fileModified(): return
		self.gcode.init()
		self.gcode.headerFooter()
		self.editor.fill()
		self.draw()
		self.title(Utils.__prg__)

	#-----------------------------------------------------------------------
	# load dialog
	#-----------------------------------------------------------------------
	def loadDialog(self, event=None):
		if self.running: return
		filename = bFileDialog.askopenfilename(master=self,
			title=_("Open file"),
			initialfile=os.path.join(
					Utils.getUtf("File", "dir"),
					Utils.getUtf("File", "file")),
			filetypes=FILETYPES)
		if filename: self.load(filename)
		return "break"

	#-----------------------------------------------------------------------
	# save dialog
	#-----------------------------------------------------------------------
	def saveDialog(self, event=None):
		if self.running: return
		filename = bFileDialog.asksaveasfilename(master=self,
			title=_("Save file"),
			initialfile=os.path.join(
					Utils.getUtf("File", "dir"),
					Utils.getUtf("File", "file")),
			filetypes=FILETYPES)
		if filename: self.save(filename)
		return "break"

	#-----------------------------------------------------------------------
	def fileModified(self):
		if self.gcode.isModified():
			ans = tkMessageBox.askquestion(_("File modified"),
				_("Gcode was modified do you want to save it first?"),
				type = tkMessageBox.YESNOCANCEL,
				parent=self)
			if ans==tkMessageBox.CANCEL:
				return True
			if ans==tkMessageBox.YES or ans==True:
				self.saveAll()

		if not self.gcode.probe.isEmpty() and not self.gcode.probe.saved:
			ans = tkMessageBox.askquestion(_("Probe File modified"),
				_("Probe was modified do you want to save it first?"),
				type = tkMessageBox.YESNOCANCEL,
				parent=self)
			if ans==tkMessageBox.CANCEL:
				return True
			if ans==tkMessageBox.YES or ans==True:
				if self.gcode.probe.filename == "":
					self.saveDialog()
				else:
					self.gcode.probe.save()
		return False

	#-----------------------------------------------------------------------
	# Load a file into editor
	#-----------------------------------------------------------------------
	def load(self, filename):
		fn,ext = os.path.splitext(filename)
		if ext==".probe":
			pass
		else:
			if self.fileModified(): return

			if not self.gcode.probe.isEmpty():
				ans = tkMessageBox.askquestion(_("Existing Autolevel"),
					_("Autolevel/probe information already exists.\nDelete it?"),
					parent=self)
				if ans==tkMessageBox.YES or ans==True:
					self.gcode.probe.init()

		self.setStatus(_("Loading: %s ...")%(filename), True)
		Sender.load(self,filename)

		if ext==".probe":
			self.autolevel.setValues()
			self.event_generate("<<DrawProbe>>")

		elif ext==".orient":
			self.event_generate("<<DrawOrient>>")
			self.event_generate("<<OrientSelect>>",data=0)
			self.event_generate("<<OrientUpdate>>")

		else:
			self.editor.selectClear()
			self.editor.fill()
			self.canvas.reset()
			self.draw()
			self.canvas.fit2Screen()
			Page.frames["Tools"].populate()

		self.setStatus(_("'%s' loaded").decode("utf8")%(filename))
		self.title("%s: %s"%(Utils.__prg__,self.gcode.filename))

	#-----------------------------------------------------------------------
	def save(self, filename):
		Sender.save(self, filename)
		self.setStatus(_("'%s' saved").decode("utf8")%(filename))
		self.title("%s: %s"%(Utils.__prg__,self.gcode.filename))

	#-----------------------------------------------------------------------
	def saveAll(self, event=None):
		if self.gcode.filename:
			Sender.saveAll(self)
		else:
			self.saveDialog()
		return "break"

	#-----------------------------------------------------------------------
	def reload(self, event=None):
		self.load(self.gcode.filename)

	#-----------------------------------------------------------------------
	def importFile(self, filename=None):
		if filename is None:
			filename = bFileDialog.askopenfilename(master=self,
				title=_("Import Gcode/DXF file"),
				initialfile=os.path.join(
						Utils.getUtf("File", "dir"),
						Utils.getUtf("File", "file")),
				filetypes=[(_("G-Code"),("*.ngc","*.nc", "*.gcode")),
					   ("DXF",    "*.dxf"),
					   ("All","*")])
		if filename:
			fn,ext = os.path.splitext(filename)
			ext = ext.lower()
			gcode = GCode()
			if ext == ".dxf":
				gcode.importDXF(filename)
			else:
				gcode.load(filename)
			sel = self.editor.getSelectedBlocks()
			if not sel:
				pos = None
			else:
				pos = sel[-1]
			self.addUndo(self.gcode.insBlocksUndo(pos, gcode.blocks))
			del gcode
			self.editor.fill()
			self.draw()
			self.canvas.fit2Screen()

	#-----------------------------------------------------------------------
	def focusIn(self, event):
		if self._inFocus: return
		# FocusIn is generated for all sub-windows, handle only the main window
		if self is not event.widget: return
		self._inFocus = True
		if self.gcode.checkFile():
			if self.gcode.isModified():
				ans = tkMessageBox.askquestion(_("Warning"),
					_("Gcode file %s was changed since editing started\n" \
					  "Reload new version?")%(self.gcode.filename),
					parent=self)
				if ans==tkMessageBox.YES or ans==True:
					self.gcode.resetModified()
					self.load(self.gcode.filename)
			else:
				self.load(self.gcode.filename)
		self._inFocus = False

	#-----------------------------------------------------------------------
	def openClose(self, event=None):
		serialPage = Page.frames["Serial"]
		if self.serial is not None:
			self.close()
			serialPage.connectBtn.config(text=_("Open"),
						background="LightGreen",
						activebackground="LightGreen")
		else:
			serialPage = Page.frames["Serial"]
			device	 = _device or serialPage.portCombo.get()
			baudrate = _baud   or serialPage.baudCombo.get()
			if self.open(device, baudrate):
				serialPage.connectBtn.config(text=_("Close"),
							background="Salmon",
							activebackground="Salmon")
				self.enable()

	#-----------------------------------------------------------------------
	def open(self, device, baudrate):
		try:
			return Sender.open(self, device, baudrate)
		except:
			self.serial = None
			self.thread = None
			tkMessageBox.showerror(_("Error opening serial"),
					sys.exc_info()[1],
					parent=self)
		return False

	#-----------------------------------------------------------------------
	def close(self):
		Sender.close(self)
		try:
			self.dro.updateState()
		except TclError:
			pass

	#-----------------------------------------------------------------------
	# An entry function should be called periodically during compiling
	# to check if the Pause or Stop buttons are pressed
	# @return true if the compile has to abort
	#-----------------------------------------------------------------------
	def checkStop(self):
		try:
			self.update()	# very tricky function of Tk
		except TclError:
			pass
		return self._stop

	#-----------------------------------------------------------------------
	# Send enabled gcode file to the CNC machine
	#-----------------------------------------------------------------------
	def run(self, lines=None):
		if self.serial is None and not CNC.developer:
			tkMessageBox.showerror(_("Serial Error"),
				_("Serial is not connected"),
				parent=self)
			return
		if self.running:
			if self._pause:
				self.resume()
				return
			tkMessageBox.showerror(_("Already running"),
				_("Please stop before"),
				parent=self)
			return

		self.editor.selectClear()
		self.selectionChange()
		CNC.vars["errline"] = ""

		# the buffer of the machine should be empty?
		self.initRun()
		self.canvas.clearSelection()
		self._runLines = sys.maxint	# temporary WARNING this value is used
						# by Sender._serialIO to check if we
						# are still sending or we finished
		self._gcount   = 0		# count executed lines
		self._selectI  = 0		# last selection pointer in items
		self._paths    = None		# temporary

		if lines is None:
			#if not self.gcode.probe.isEmpty() and not self.gcode.probe.zeroed:
			#	tkMessageBox.showerror(_("Probe is not zeroed"),
			#		_("Please ZERO any location of the probe before starting a run"),
			#		parent=self)
			#	return
			self.statusbar.setLimits(0, 9999)
			self.statusbar.setProgress(0,0)

			#class MyQueue:
			#	def put(self,line):
			#		print ">>>",line
			#self._paths = self.gcode.compile(MyQueue(), self.checkStop)
			#return

			self._paths = self.gcode.compile(self.queue, self.checkStop)
			if self._paths is None:
				self.emptyQueue()
				self.purgeController()
				return
			elif not self._paths:
				tkMessageBox.showerror(_("Empty gcode"),
					_("Not gcode file was loaded"),
					parent=self)
				return

			# reset colors
			for ij in self._paths:
				if not ij: continue
				path = self.gcode[ij[0]].path(ij[1])
				if path:
					self.canvas.itemconfig(
						path,
						width=1,
						fill=CNCCanvas.ENABLE_COLOR)

			# the buffer of the machine should be empty?
			self._runLines = len(self._paths) + 1	# plus the wait
		else:
			n = 1		# including one wait command
			for line in CNC.compile(lines):
				if line is not None:
					if isinstance(line,str) or isinstance(line,unicode):
						self.queue.put(line+"\n")
					else:
						self.queue.put(line)
					n += 1
			self._runLines = n	# set it at the end to be sure that all lines are queued
		self.queue.put((WAIT,))		# wait at the end fo become idle

		self.setStatus(_("Running..."))
		self.statusbar.setLimits(0, self._runLines)
		self.statusbar.configText(fill="White")
		self.statusbar.config(background="DarkGray")

		self.bufferbar.configText(fill="White")
		self.bufferbar.config(background="DarkGray")
		self.bufferbar.setText("")

	#-----------------------------------------------------------------------
	# Start the web pendant
	#-----------------------------------------------------------------------
	def startPendant(self, showInfo=True):
		started=Pendant.start(self)
		if showInfo:
			hostName="http://%s:%d"%(socket.gethostname(),Pendant.port)
			if started:
				tkMessageBox.showinfo(_("Pendant"),
					_("Pendant started:\n")+hostName,
					parent=self)
			else:
				dr=tkMessageBox.askquestion(_("Pendant"),
					_("Pendant already started:\n") \
					+ hostName + \
					_("\nWould you like open it locally?"),
					parent=self)
				if dr=="yes":
					webbrowser.open(hostName,new=2)

	#-----------------------------------------------------------------------
	# Stop the web pendant
	#-----------------------------------------------------------------------
	def stopPendant(self):
		if Pendant.stop():
			tkMessageBox.showinfo(_("Pendant"),_("Pendant stopped"), parent=self)

	#-----------------------------------------------------------------------
	# Inner loop to catch any generic exception
	#-----------------------------------------------------------------------
	def _monitorSerial(self):
		# Check serial output
		t = time.time()

		# dump in the terminal what ever you can in less than 0.1s
		inserted = False
		while self.log.qsize()>0 and time.time()-t<0.1:
			try:
				msg, line = self.log.get_nowait()
				line = line.rstrip("\n")
				inserted = True
#				print "<<<",msg,line,"\n" in line

				if msg == Sender.MSG_BUFFER:
					self.buffer.insert(END, line)

				elif msg == Sender.MSG_SEND:
					self.terminal.insert(END, line)
					self.terminal.itemconfig(END, foreground="Blue")

				elif msg == Sender.MSG_RECEIVE:
					self.terminal.insert(END, line)
					if self._insertCount:
						# when counting is started, then continue
						self._insertCount += 1
					elif line and line[0] in ("[","$"):
						# start the counting on the first line received
						# starting with $ or [
						self._insertCount = 1

				elif msg == Sender.MSG_OK:
					if self.terminal.size()>0:
						if self._insertCount:
							pos = self.terminal.size()-self._insertCount
							self._insertCount = 0
						else:
							pos = END
						self.terminal.insert(pos, self.buffer.get(0))
						self.terminal.itemconfig(pos, foreground="Blue")
						self.buffer.delete(0)
					self.terminal.insert(END, line)

				elif msg == Sender.MSG_ERROR:
					if self.terminal.size()>0:
						if self._insertCount:
							pos = self.terminal.size()-self._insertCount
							self._insertCount = 0
						else:
							pos = END
						self.terminal.insert(pos, self.buffer.get(0))
						self.terminal.itemconfig(pos, foreground="Blue")
						self.buffer.delete(0)
					self.terminal.insert(END, line)
					self.terminal.itemconfig(END, foreground="Red")

				elif msg == Sender.MSG_RUNEND:
					self.terminal.insert(END, line)
					self.terminal.itemconfig(END, foreground="Magenta")
					self.setStatus(line)
					self.enable()

				elif msg == Sender.MSG_CLEAR:
					self.buffer.delete(0,END)

				else:
					# Unknown?
					self.buffer.insert(END, line)
					self.terminal.itemconfig(END, foreground="Magenta")

				if self.terminal.size() > 1000:
					self.terminal.delete(0,500)
			except Empty:
				break

		if inserted: self.terminal.see(END)

		# Check pendant
		try:
			cmd = self.pendant.get_nowait()
			self.execute(cmd)
		except Empty:
			pass

		# Load file from pendant
		if self._pendantFileUploaded!=None:
			self.load(self._pendantFileUploaded)
			self._pendantFileUploaded=None

		# Update position if needed
		if self._posUpdate:
			state = CNC.vars["state"]
			#print state
			#print Sender.ERROR_CODES[state]
			try:
				CNC.vars["color"] = STATECOLOR[state]
			except KeyError:
				if self._alarm:
					CNC.vars["color"] = STATECOLOR["Alarm"]
				else:
					CNC.vars["color"] = STATECOLORDEF
			self._pause = (state=="Hold")
			self.dro.updateState()
			self.dro.updateCoords()
			self.canvas.gantry(CNC.vars["wx"],
					   CNC.vars["wy"],
					   CNC.vars["wz"],
					   CNC.vars["mx"],
					   CNC.vars["my"],
					   CNC.vars["mz"])
			self._posUpdate = False

		# Update status string
		if self._gUpdate:
			self.gstate.updateG()
			self._gUpdate = False

		# Update probe and draw point
		if self._probeUpdate:
			Page.frames["Probe:Probe"].updateProbe()
			Page.frames["ProbeCommon"].updateTlo()
			self.canvas.drawProbe()
			self._probeUpdate = False

		# Update any possible variable?
		if self._update:
			if self._update == "toolheight":
				Page.frames["Probe:Tool"].updateTool()
			elif self._update == "TLO":
				Page.frames["ProbeCommon"].updateTlo()
			self._update = None

		if self.running:
			self.statusbar.setProgress(self._runLines-self.queue.qsize(),
						self._gcount)
			CNC.vars["msg"] = self.statusbar.msg
			self.bufferbar.setProgress(Sender.getBufferFill(self))
			self.bufferbar.setText("%i%%"%Sender.getBufferFill(self))

			if self._selectI>=0 and self._paths:
				while self._selectI <= self._gcount and self._selectI<len(self._paths):
					if self._paths[self._selectI]:
						i,j = self._paths[self._selectI]
						path = self.gcode[i].path(j)
						if path:
							self.canvas.itemconfig(path,
								width=2,
								fill=CNCCanvas.PROCESS_COLOR)
					self._selectI += 1

			if self._gcount >= self._runLines:
				self.runEnded()

	#-----------------------------------------------------------------------
	# "thread" timed function looking for messages in the serial thread
	# and reporting back in the terminal
	#-----------------------------------------------------------------------
	def monitorSerial(self):
		try:
			self._monitorSerial()
		except:
			typ, val, tb = sys.exc_info()
			traceback.print_exception(typ, val, tb)
		self.after(MONITOR_AFTER, self.monitorSerial)

	#-----------------------------------------------------------------------
	def get(self, section, item):
		return Utils.config.get(section, item)

	#-----------------------------------------------------------------------
	def set(self, section, item, value):
		return Utils.config.set(section, item, value)

#------------------------------------------------------------------------------
def usage(rc):
	sys.stdout.write("%s V%s [%s]\n"%(Utils.__prg__, __version__, __date__))
	sys.stdout.write("%s <%s>\n\n"%(__author__, __email__))
	sys.stdout.write("Usage: [options] [filename...]\n\n")
	sys.stdout.write("Options:\n")
	sys.stdout.write("\t-b # | --baud #\t\tSet the baud rate\n")
	sys.stdout.write("\t-d\t\t\tEnable developer features\n")
	sys.stdout.write("\t-D\t\t\tDisable developer features\n")
	sys.stdout.write("\t-g #\t\tSet the default geometry\n")
	sys.stdout.write("\t-h | -? | --help\tThis help page\n")
	sys.stdout.write("\t-i # | --ini #\t\tAlternative ini file for testing\n")
	sys.stdout.write("\t-l | --list\t\tList all recently opened files\n")
	sys.stdout.write("\t-p # | --pendant #\tOpen pendant to specified port\n")
	sys.stdout.write("\t-P\t\t\tDo not start pendant\n")
	sys.stdout.write("\t-r | --recent\t\tLoad the most recent file opened\n")
	sys.stdout.write("\t-R #\t\t\tLoad the recent file matching the argument\n")
	sys.stdout.write("\t-s # | --serial #\tOpen serial port specified\n")
	sys.stdout.write("\t-S\t\t\tDo not open serial port\n")
	sys.stdout.write("\t--run\t\t\tDirectly run the file once loaded\n")
	sys.stdout.write("\n")
	sys.exit(rc)

#------------------------------------------------------------------------------
if __name__ == "__main__":
	if sys.version_info.major != 2:
		sys.stdout.write("="*80+"\n")
		sys.stdout.write("WARNING: bCNC is running only on python v2.x for the moment\n")
		sys.stdout.write("="*80+"\n")
		sys.exit(0)
	tk = Tk()
	tk.withdraw()
	try:
		Tkinter.CallWrapper = Utils.CallWrapper
	except:
		tkinter.CallWrapper = Utils.CallWrapper

	tkExtra.bindClasses(tk)
	Utils.loadIcons()

	# Parse arguments
	try:
		optlist, args = getopt.getopt(sys.argv[1:],
			'?b:dDhi:g:rlpPSs:',
			['help', 'ini=', 'recent', 'list','pendant=','serial=','baud=','run'])
	except getopt.GetoptError:
		usage(1)

	recent	 = None
	run	 = False
	for opt, val in optlist:
		if opt in ("-h", "-?", "--help"):
			usage(0)
		elif opt in ("-i", "--ini"):
			Utils.iniUser = val
			Utils.loadConfiguration()
		elif opt == "-d":
			CNC.developer = True
		elif opt == "-D":
			CNC.developer = False
		elif opt == "-g":
			geometry = val
		elif opt in ("-r", "-R", "--recent", "-l", "--list"):
			if opt in ("-r","--recent"):
				r = 0
			elif opt in ("--list","-l"):
				r = -1
			else:
				try:
					r = int(val)-1
				except:
					# Scan in names
					for r in range(Utils._maxRecent):
						filename = Utils.getRecent(r)
						if filename is None: break
						fn, ext = os.path.splitext(os.path.basename(filename))
						if fn == val:
							break
					else:
						r = 0
			if r<0:
				# display list of recent files
				sys.stdout.write("Recent files:\n")
				for i in range(Utils._maxRecent):
					filename = Utils.getRecent(i)
					if filename is None: break
					d  = os.path.dirname(filename)
					fn = os.path.basename(filename)
					sys.stdout.write("  %2d: %-10s\t%s\n"%(i+1,fn,d))

				try:
					sys.stdout.write("Select one: ")
					r = int(sys.stdin.readline())-1
				except:
					pass
			try: recent = Utils.getRecent(r)
			except: pass

		elif opt == "-S":
			_openserial = False

		elif opt in ("-s", "--serial"):
			_openserial = True
			_device = val

		elif opt in ("-b", "--baud"):
			_baud = val

		elif opt == "-p":
			pass #startPendant()

		elif opt == "-P":
			pass #stopPendant()

		elif opt == "--pendant":
			pass #startPendant on port

		elif opt == "--run":
			run = True

	# Start application
	application = Application(tk)

	# Parse remaining arguments except files
	if recent: args.append(recent)
	for fn in args:
		application.load(fn)

	if serial is None:
		tkMessageBox.showerror(_("python serial missing"),
			_("ERROR: Please install the python pyserial module\n" \
			  "Windows:\n\tC:\PythonXX\Scripts\easy_install pyserial\n" \
			  "Mac:\tpip install pyserial\n" \
			  "Linux:\tsudo apt-get install python-serial\n" \
			  "\tor yum install python-serial\n" \
			  "\tor dnf install python-pyserial"),
			  parent=application)
		if Updates.need2Check(): application.checkUpdates()

	if run:
		application.run()

	try:
		tk.mainloop()
	except KeyboardInterrupt:
		application.quit()

	application.close()
	Utils.saveConfiguration()
 #vim:ts=8:sw=8:sts=8:noet