#!/usr/bin/env python3
# -*- encoding: utf-8 -*-
#    This is pncconf, a graphical configuration editor for LinuxCNC
#    Chris Morley copyright 2009
#    This is based from stepconf, a graphical configuration editor for linuxcnc
#    Copyright 2007 Jeff Epler <jepler@unpythonic.net>
#
#    This program is free software; you can redistribute it and/or modify
#    it under the terms of the GNU General Public License as published by
#    the Free Software Foundation; either version 2 of the License, or
#    (at your option) any later version.
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU General Public License for more details.
#
#    You should have received a copy of the GNU General Public License
#    along with this program; if not, write to the Free Software
#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

import gi
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import Gdk
from gi.repository import GdkPixbuf
from gi.repository import GLib
import signal

import sys
import os
# this is for importing modules from lib/python/pncconf
BIN = os.path.dirname(__file__)
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
libdir = os.path.join(BASE, "lib", "python","pncconf")
sys.path.insert(0, libdir)

import errno
import time
import pickle
import shutil
import math
from optparse import Option, OptionParser
import locale
import copy
import fnmatch
import subprocess
import xml.dom.minidom
import xml.etree.ElementTree
import xml.etree.ElementPath
import traceback
from multifilebuilder import MultiFileBuilder
from touchy import preferences
from pncconf import pages
from pncconf import build_INI
from pncconf import build_HAL
from pncconf import tests
from pncconf import data
from pncconf import private_data
import cairo
import hal
#import mesatest
try:
    LINUXCNCVERSION = os.environ['LINUXCNCVERSION']
except:
    LINUXCNCVERSION = 'Master (2.9)'

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

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

# otherwise, on hardy the user is shown spurious "[application] closed
# unexpectedly" messages but denied the ability to actually "report [the]
# problem"
def excepthook(exc_type, exc_obj, exc_tb):
    try:
        w = app.widgets.window1
    except NameError:
        w = None
    lines = traceback.format_exception(exc_type, exc_obj, exc_tb)
    msg = _("PNCconf encountered an error.  The following "
            "information may be useful in troubleshooting:\n\n"
            "LinuxCNC Version:  %s\n\n"% LINUXCNCVERSION)
    m = Gtk.MessageDialog(
        parent=w,
        modal=True,
        destroy_with_parent=True,
        message_type=Gtk.MessageType.ERROR,
        buttons=Gtk.ButtonsType.OK,
        text=msg + "".join(lines))
    m.show()
    m.run()
    m.destroy()
sys.excepthook = excepthook

BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
LOCALEDIR = os.path.join(BASE, "share", "locale")
import gettext;
domain = "linuxcnc"
gettext.install(domain, localedir=LOCALEDIR)
locale.setlocale(locale.LC_ALL, '')
locale.bindtextdomain(domain, LOCALEDIR)
gettext.bindtextdomain(domain, LOCALEDIR)

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

prefs = preferences.preferences()
_DEBUGSTRING = ["NONE"]
debugstate = False

# a class for holding the glade widgets rather then searching for them each time
class Widgets:
    def __init__(self, xml):
        self._xml = xml
    def __getattr__(self, attr):
        r = self._xml.get_object(attr)
        if r is None: raise AttributeError("No widget %r" % attr)
        return r
    def __getitem__(self, attr):
        r = self._xml.get_object(attr)
        if r is None: raise IndexError("No widget %r" % attr)
        return r





class App:
    def __init__(self, dbgstate=0):
        print(dbgstate)
        global debug
        global dbg
        global _PD
        self.debugstate = dbgstate
        dbg = self.dbg
        if self.debugstate:
           print('PNCconf debug',dbgstate)
           global _DEBUGSTRING
           _DEBUGSTRING = [dbgstate]
        self.recursive_block = False
        self.firmware_block = False
        # Private data holds the array of pages to load, signals, and messages
        _PD = self._p = private_data.Private_Data(self,BIN,BASE)
        self.d = data.Data(self, _PD, BASE, LINUXCNCVERSION)
        self.progress_window ()
        # build the glade files
        self.builder = MultiFileBuilder()
        self.builder.set_translation_domain(domain)
        self.builder.add_from_file(os.path.join(self._p.DATADIR,'main_page.glade'))
        self.builder.add_from_file(os.path.join(self._p.DATADIR,'dialogs.glade'))
        self.builder.add_from_file(os.path.join(self._p.DATADIR,'help.glade'))
        window = self.builder.get_object("window1")
        notebook1 = self.builder.get_object("notebook1")
        self.pbar.set_text(_("PnCconf is setting up"))
        self.window.show()
        for name,y,z,a in (self._p.available_page):
            if name == 'intro': continue
            dbg("loading glade page REFERENCE:%s TITLE:%s INIT STATE: %s STATE:%s"% (name,y,z,a),mtype="glade")
            if not z:
                self.add_placeholder_page(name)
                page = self.builder.get_object('label_%s'%name)
                notebook1.append_page(page)
                continue
            self.builder.add_from_file(os.path.join(self._p.DATADIR, '%s.glade'%name))
            page = self.builder.get_object(name)
            notebook1.append_page(page)
            self.pbar.set_fraction(self.pbar.get_fraction() + 0.06)
            while Gtk.events_pending():
                Gtk.main_iteration()

        if not 'dev' in dbgstate:
            notebook1.set_show_tabs(False)

        self.widgets = Widgets(self.builder)
        self.TESTS = tests.TESTS(self)
        self.p = pages.Pages(self)
        self.INI = build_INI.INI(self)
        self.HAL = build_HAL.HAL(self)
        self.builder.set_translation_domain(domain) # for locale translations
        self.builder.connect_signals( self.p ) # register callbacks from Pages class
        wiz_pic = GdkPixbuf.Pixbuf.new_from_file(self._p.WIZARD)
        self.widgets.wizard_image.set_from_pixbuf(wiz_pic)

        self.window.hide()
        axisdiagram = os.path.join(self._p.HELPDIR,"axisdiagram1.png")
        self.widgets.helppic0.set_from_file(axisdiagram)
        axisdiagram = os.path.join(self._p.HELPDIR,"lathe_diagram.png")
        self.widgets.helppic1.set_from_file(axisdiagram)
        axisdiagram = os.path.join(self._p.HELPDIR,"HomeAxisTravel_V2.png")
        self.widgets.helppic2.set_from_file(axisdiagram)
        axisdiagram = os.path.join(self._p.HELPDIR,"HomeAxisTravel_V3.png")
        self.widgets.helppic3.set_from_file(axisdiagram)
        self.map_7i76 = GdkPixbuf.Pixbuf.new_from_file(os.path.join(self._p.HELPDIR,"7i76_map.png"))
        self.widgets.map_7i76_image.set_from_pixbuf(self.map_7i76)
        self.map_7i77 = GdkPixbuf.Pixbuf.new_from_file(os.path.join(self._p.HELPDIR,"7i77_map.png"))
        self.widgets.map_7i77_image.set_from_pixbuf(self.map_7i77)
        #self.widgets.openloopdialog.hide()

        self.p.initialize()
        self.axis_under_test = False
        self.jogminus = self.jogplus = 0
        self.origname = ['','']

        # set preferences if they exist
        link = short = advanced = show_pages = False
        filename = os.path.expanduser("~/.pncconf-preferences")
        if os.path.exists(filename):
            match =  open(filename).read()
            textbuffer = self.widgets.textoutput.get_buffer()
            try :
                textbuffer.set_text("%s\n\n"% filename)
                textbuffer.insert_at_cursor(match)
            except:
                pass
            version = 0.0
            try:
                d = xml.dom.minidom.parse(open(filename, "r"))
                for n in d.getElementsByTagName("property"):
                    name = n.getAttribute("name")
                    text = n.getAttribute('value')
                    if name == "version":
                        version = eval(text)
                    elif name == "always_shortcut":
                        short = eval(text)
                    elif name == "always_link":
                        link = eval(text)
                    elif name == "use_ini_substitution":
                        self.widgets.useinisubstitution.set_active(eval(text))
                    elif name == "show_advanced_pages":
                        show_pages = eval(text)
                    elif name == "machinename":
                        self.d._lastconfigname = text
                    elif name == "chooselastconfig":
                        self.d._chooselastconfig = eval(text)
                    elif name == "MESABLACKLIST":
                        if version == self.d._preference_version:
                            self._p.MESABLACKLIST = eval(text)
                    elif name == "EXTRA_MESA_FIRMWAREDATA":
                        self.d._customfirmwarefilename = text
                        rcfile = os.path.expanduser(self.d._customfirmwarefilename)
                        print(rcfile)
                        if os.path.exists(rcfile):
                            try:
                                exec(compile(open(rcfile, "rb").read(), rcfile, 'exec'))
                            except:
                                print(_("**** PNCCONF ERROR:    custom firmware loading error"))
                                self._p.EXTRA_MESA_FIRMWAREDATA = []
                        if not self._p.EXTRA_MESA_FIRMWAREDATA == []:
                            print(_("**** PNCCONF INFO:    Found extra firmware in file"))
            except:
                # corrupt or empty .pncconf-preferences
                print("\n.pncconf-preferences is empty or corrupt\n")
        # these are set from the hidden preference file
        self.widgets.createsymlink.set_active(link)
        self.widgets.createshortcut.set_active(short)
        self.widgets.advancedconfig.set_active(show_pages)

        tempfile = os.path.join(self._p.DISTDIR, "configurable_options/ladder/TEMP.clp")
        if os.path.exists(tempfile):
           os.remove(tempfile)
        geometry = Gdk.Geometry()
        geometry.max_width = geometry.base_width = geometry.min_width = 800
        geometry.max_height = geometry.base_height = geometry.min_height = 600
        geometry.width_inc = geometry.height_inc = geometry.min_aspect = geometry.max_aspect = 1
        hints = Gdk.WindowHints(Gdk.WindowHints.ASPECT |
                                Gdk.WindowHints.BASE_SIZE |
                                Gdk.WindowHints.MAX_SIZE |
                                Gdk.WindowHints.MIN_SIZE)
        window.set_geometry_hints(None, geometry, hints)
        window.set_position(Gtk.WindowPosition.CENTER)
        window.show()

    def add_placeholder_page(self,name):
                string = '''
                    <?xml version="1.0"?>
                    <interface>
                      <requires lib="gtk+" version="2.16"/>
                      <!-- interface-naming-policy project-wide -->
                      <object class="GtkLabel" id="label_%s">
                        <property name="visible">True</property>
                        <property name="label" translatable="yes">%s</property>
                      </object>
                    </interface>
                         '''%(name,name)
                self.builder.add_from_string(string)

# build functions

    def makedirs(self, path):
        makedirs(path)

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

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

    def buid_config(self):
        base = self.build_base()
        self.d.save(base)
        #self.write_readme(base)
        self.INI.write_inifile(base)
        self.HAL.write_halfile(base)
        # qtplasmac specific
        if self.d.frontend == _PD._QTPLASMAC:
            # copy M190 file
            if BASE == "/usr":
                m190Path = os.path.join(BASE, 'share/doc/linuxcnc/examples/sample-configs/by_machine/qtplasmac/M190')
            else:
                m190Path = os.path.join(BASE, 'configs/by_machine/qtplasmac/M190')
            shutil.copy(m190Path, os.path.join(base, 'M190'))
            # different looking tool table for qtplasmac
            filename = os.path.join(base, "tool.tbl")
            file = open(filename, "w")
            print("T0 P1 X0 Y0 ;torch", file=file)
            print("T1 P2 X0 Y0 ;scribe", file=file)
            file.close()
        self.copy(base, "tool.tbl")
        if self.warning_dialog(self._p.MESS_QUIT,False):
            Gtk.main_quit()

    def save(self):
        base = self.build_base()
        self.d.save(base)

# helper functions

    def get_discovery_meta(self):
        self.widgets.boarddiscoverydialog.set_title(_("Discovery metadata update"))
        #self.widgets.cardname_label.set_text('Boardname:  %s'%name)
        self.widgets.boarddiscoverydialog.show_all()
        self.widgets.window1.set_sensitive(0)
        result = self.widgets.boarddiscoverydialog.run()
        self.widgets.boarddiscoverydialog.hide()
        self.widgets.window1.set_sensitive(1)
        if result == Gtk.ResponseType.OK:
            n = self.widgets.discovery_name_entry.get_text()
            itr = self.widgets.discovery_interface_combobox.get_active_iter()
            d = self.widgets.discovery_interface_combobox.get_model().get_value(itr, 1)
            a = self.widgets.discovery_address_entry.get_text()
            r =  self.widgets.discovery_read_option.get_active()
            #print('discovery:',n,d,a,r)
            return n,d,a,r
        return None,None,None,None

    def discovery_interface_combobox_changed(self,w):
        itr = w.get_active_iter()
        d = w.get_model().get_value(itr, 1)
        if d == '--addr':
            self.widgets.discovery_address_entry.set_sensitive(True)
        else:
            self.widgets.discovery_address_entry.set_sensitive(False)

    def get_board_meta(self, name, num):
        name = name.lower()
        # 7i80hd and 7i80db don't use the HD or DB in the Hal name
        # store the original name here for getting the board meta
        if name != '7i80':
            self.origname[num] = name
        # change the name in currentfirmwaredata to the Hal name
        if name in ['7i80hd', '7i80db'] and self.d["mesa%d_currentfirmwaredata"% num]:
            self.d["mesa%d_currentfirmwaredata"% num][_PD._BOARDNAME] = '7i80'

        meta = _PD.MESA_BOARD_META.get(self.origname[num])
        if meta:
            return meta
        else:
            for key in _PD.MESA_BOARD_META:
                if key in self.origname[num]:
                    return _PD.MESA_BOARD_META.get(key)

        print('boardname %s not found in hardware metadata array'% name)
        self.widgets.boardmetadialog.set_title(_("%s metadata update") % name)
        self.widgets.cardname_label.set_text('Boardname:  %s'%name)
        self.widgets.boardmetadialog.show_all()
        self.widgets.window1.set_sensitive(0)
        result = self.widgets.boardmetadialog.run()
        self.widgets.boardmetadialog.hide()
        self.widgets.window1.set_sensitive(1)
        if result == Gtk.ResponseType.OK:
            itr = self.widgets.interface_combobox.get_active_iter()
            d = self.widgets.interface_combobox.get_model().get_value(itr, 1)
            ppc = int(self.widgets.ppc_combobox.get_model()[self.widgets.ppc_combobox.get_active()][0])
            tp = int(self.widgets.noc_spinbutton.get_value())
            _PD.MESA_BOARD_META[name] = {'DRIVER':d,'PINS_PER_CONNECTOR':ppc,'TOTAL_CONNECTORS':tp}
        meta = _PD.MESA_BOARD_META.get(name)
        if meta:
            return meta

    def progress_window(self):
        self.window = Gtk.Window(type=Gtk.WindowType.TOPLEVEL)
        self.window.set_type_hint(Gdk.WindowTypeHint.DIALOG)
        self.window.set_title(_("PnCconf setup"))
        self.window.set_border_width(10)
        vbox = Gtk.Grid()
        self.window.add(vbox)
        vbox.show()
        align = Gtk.Alignment()
        vbox.add(align)
        align.show()
        self.pbar = Gtk.ProgressBar()
        self.pbar.set_show_text(True)
        self.pbar.set_size_request(500, 20)
        self.pbar.set_fraction(0)
        align.add(self.pbar)
        self.pbar.show()

    def dbg(self,message,mtype='all'):
        for hint in _DEBUGSTRING:
            if "all" in hint or mtype in hint:
                print(message)
                if "step" in _DEBUGSTRING:
                    c = input(_("\n**** Debug Pause! ****"))
                return

    def query_dialog(self,title, message):
        def responseToDialog(entry, dialog, response):
            dialog.response(response)
        label = Gtk.Label(message)
        #label.modify_font(pango.FontDescription("sans 20"))
        entry = Gtk.Entry()
        dialog = Gtk.MessageDialog(
            parent=self.widgets.window1,
            modal=True,
            destroy_with_parent=True,
            message_type=Gtk.MessageType.WARNING,
            buttons=Gtk.ButtonsType.OK_CANCEL,
            text=title)
        dialog.vbox.pack_start(label)
        dialog.vbox.add(entry)
        #allow the user to press enter to do ok
        entry.connect("activate", responseToDialog, dialog, Gtk.ResponseType.OK)
        dialog.show_all()
        result = dialog.run()

        text = entry.get_text()
        dialog.destroy()
        if result ==  Gtk.ResponseType.OK:
            return text
        else:
            return None

    def warning_dialog(self,msg,is_ok_type):
        if is_ok_type:
            dialog = Gtk.MessageDialog(
                parent=self.widgets.window1,
                modal=True,
                destroy_with_parent=True,
                message_type=Gtk.MessageType.WARNING,
                buttons=Gtk.ButtonsType.OK,
                text=msg)
            dialog.show_all()
            result = dialog.run()
            dialog.destroy()
            return True
        else:
            dialog = Gtk.MessageDialog(
                parent=self.widgets.window1,
                modal=True,
                destroy_with_parent=True,
                message_type=Gtk.MessageType.QUESTION,
                buttons=Gtk.ButtonsType.YES_NO,
                text=msg)
            dialog.show_all()
            result = dialog.run()
            dialog.destroy()
            if result == Gtk.ResponseType.YES:
                return True
            else:
                return False

    def quit_dialog(self):
        dialog = self.widgets.quitdialog
        dialog.show_all()
        result = dialog.run()
        dialog.hide()
        if result == Gtk.ResponseType.YES:
            return True
        elif result == Gtk.ResponseType.CANCEL:
            return False
        # save data then quit
        else:
            self.p.on_button_fwd_clicked(None)
            self.save()
            return True

    def show_help(self):
        helpfilename = os.path.join(self._p.HELPDIR, "%s"% self.d.help)
        textbuffer = self.widgets.helpview.get_buffer()
        try :
            infile = open(helpfilename, "r")
            if infile:
                string = infile.read()
                infile.close()
                textbuffer.set_text(string)
        except:
            text = _("Specific Help page is unavailable\n")
            self.warning_dialog(text,True)
        self.widgets.help_window.set_title(_("Help Pages") )
        self.widgets.helpnotebook.set_current_page(0)
        self.widgets.help_window.show_all()
        self.widgets.help_window.present()

    def print_page(self,print_dialog, context, n, imagename):
        ctx = context.get_cairo_context()
        gdkcr = Gdk.CairoContext(ctx)
        gdkcr.set_source_pixbuf(self[imagename], 0,0)
        gdkcr.paint ()

    def print_image(self,image_name):
        print_dialog = Gtk.PrintOperation()
        print_dialog.set_n_pages(1)
        settings = Gtk.PrintSettings()
        settings.set_orientation(Gtk.PAGE_ORIENTATION_LANDSCAPE)
        print_dialog.set_print_settings(settings)
        print_dialog.connect("draw-page", self.print_page, image_name)
        res = print_dialog.run(Gtk.PRINT_OPERATION_ACTION_PRINT_DIALOG, self.widgets.help_window)
        if res == Gtk.PRINT_OPERATION_RESULT_APPLY:
            settings = print_dialog.get_print_settings()

    # check for realtime kernel
    def check_for_rt(self):
        actual_kernel = os.uname()[2]
        if hal.is_sim :
            self.warning_dialog(self._p.MESS_NO_REALTIME,True)
            if self.debugstate:
                return True
            else:
                return False
        elif hal.is_kernelspace and hal.kernel_version != actual_kernel:
            self.warning_dialog(self._p.MESS_KERNEL_WRONG + ' %s'%hal.kernel_version,True)
            if self.debugstate:
                return True
            else:
                return False
        else:
            return True

    def add_external_folder_boardnames(self):
        if os.path.exists(self._p.FIRMDIR):
            self._p.MESA_BOARDNAMES = []
            for root, dirs, files in os.walk(self._p.FIRMDIR):
                folder = root.lstrip(self._p.FIRMDIR)
                if folder in self._p.MESABLACKLIST:continue
                if folder == "":continue
                dbg("****folder added :%s"%folder,mtype='firmware')
                self._p.MESA_BOARDNAMES.append(folder)
        else:
            #TODO what if there are no external firmware is this enough?
            self.warning_dialog(_("You have no hostmot2 firmware downloaded in folder:\n%s\n\
PNCconf will use internal firmware data"%self._p.FIRMDIR),True)
        for firmware in self._p.MESA_INTERNAL_FIRMWAREDATA:
            if 'internal' in firmware[0].lower():
                if firmware[0] in self._p.MESA_BOARDNAMES:
                    continue
                self._p.MESA_BOARDNAMES.append(firmware[0])
        if self.d.advanced_option:
            self._p.MESA_BOARDNAMES.append('Discovery Option')
        # add any extra firmware boardnames from .pncconf-preference file
        if not self._p.EXTRA_MESA_FIRMWAREDATA == []:
            for search, item in enumerate(self._p.EXTRA_MESA_FIRMWAREDATA):
                d = self._p.EXTRA_MESA_FIRMWAREDATA[search]
                if not d[_PD._BOARDTITLE] in self._p.MESA_BOARDNAMES:
                    self._p.MESA_BOARDNAMES.append(d[_PD._BOARDTITLE])
        model = self.widgets.mesa_boardname_store
        model.clear()
        for search,item in enumerate(self._p.MESA_BOARDNAMES):
            #print(search,item)
            model.append((item,))

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

    # comboboxes with 3 levels
    def fill_combobox_models2(self):
        templist = [ ["_gpioisignaltree",_PD.human_input_names,1,'hal_input_names'],
                    ["_steppersignaltree",_PD.human_stepper_names,1,'hal_stepper_names'],
                    ["_encodersignaltree",_PD.human_encoder_input_names,1,'hal_encoder_input_names'],
                    ["_muxencodersignaltree",_PD.human_encoder_input_names,1,'hal_encoder_input_names'],
                    ["_pwmsignaltree",_PD.human_pwm_output_names,1,'hal_pwm_output_names'],]
        for item in templist:
            #print("\ntype",item[0])
            count = 0
            end = len(item[1])-1
            # treestore(parentname,parentnum,signalname,signaltreename,signal index number)
            self.d[item[0]]= Gtk.TreeStore(str,int,str,str,int)
            for i,parent in enumerate(item[1]):
                ############################
                # if there are no children:
                ############################
                if not isinstance(parent[1], list):
                    signame = parent[1]
                    index = _PD[item[3]].index(parent[1])
                    #print('no children:', signame, index)
                    # add parent and get reference for child
                    # This entry is selectable it has a signal attached to it
                    piter = self.d[item[0]].append(None, [parent[0], index,signame,item[3],0])
                    #print(parent,parentnum,count,signame,item[3],i,signame,count)
                else:
                    # If list is empty it's a custom signal - with no signals yet
                  if len(parent[1]) == 0:
                    piter = self.d[item[0]].append(None, [parent[0], 0,'none',item[3],0])
                  else:
                    #print("parsing child",parent[1])
                    # add parent title
                    ##########################
                    # if there are children:
                    # add an entry to first list that cannot be selected
                    # (well it always gives the unused signal - 0)
                    # because we need users to select from the next column
                    ##########################
                    piter = self.d[item[0]].append(None, [parent[0],0,signame,item[3],0])
                    for j,child in enumerate(parent[1]):
                        #############################
                        # If grandchildren
                        #############################
                        if isinstance(child[1], list):
                            ##########################
                            # if there are children:
                            # add an entry to second list that cannot be selected
                            # (well it always gives the unused signal - 0)
                            # because we need users to select from the next column
                            ##########################
                            citer = self.d[item[0]].append(piter, [child[0], 0,signame,item[3],0])
                            #print('add to CHILD list',child[0])
                            #print('String:',child[1])

                            for k,grandchild in enumerate(child[1]):
                                #print('raw grand:  ', grandchild)
                                #############################
                                # If GREAT children
                                #############################
                                #print(grandchild[0],grandchild[1])
                                if isinstance(grandchild[1], list):
                                    #print('ERROR combo boxes can not have GREAT children yet add')
                                    #print('skipping')
                                    continue
                                else:
                                    #############################
                                    # If No GREAT children
                                    ############################

                                    humanName = grandchild[0]
                                    sigName = grandchild[1]
                                    index = _PD[item[3]].index(grandchild[1])
                                    halNameArray = item[3]
                                    #print('adding to grandchild to childlist:  ', humanName,index,sigName,halNameArray,index)
                                    self.d[item[0]].append(citer, [humanName, index,sigName,halNameArray,index])
                        ####################
                        # No grandchildren
                        ####################
                        else:
                            #print' add to child - no grandchild',child
                            humanName = child[0]
                            sigName = child[1]
                            index = _PD[item[3]].index(child[1])
                            halNameArray = item[3]
                            #print(child[0],index,sigName,item[3],index)
                            self.d[item[0]].append(piter, [humanName, index,sigName,halNameArray,index])
                            count +=item[2]

    # combobox with 2 levels
    def fill_combobox_models(self):
        templist = [ ["_gpioosignaltree",_PD.human_output_names,1,'hal_output_names'],
                     ["_resolversignaltree",_PD.human_resolver_input_names,1,'hal_resolver_input_names'],
                     ["_tppwmsignaltree",_PD.human_tppwm_output_names,8,'hal_tppwm_output_names'],
                     ["_8i20signaltree",_PD.human_8i20_input_names,1,'hal_8i20_input_names'],
                     ["_potsignaltree",_PD.human_pot_output_names,2,'hal_pot_output_names'],
                     ["_analoginsignaltree",_PD.human_analog_input_names,1,'hal_analog_input_names'],
                     ["_sserialsignaltree",_PD.human_sserial_names,3,'hal_sserial_names']
                   ]
        for item in templist:
            #print("\ntype",item[0])
            count = 0
            end = len(item[1])-1
            # treestore(parentname,parentnum,signalname,signaltreename,signal index number)
            self.d[item[0]]= Gtk.TreeStore(str,int,str,str,int)
            for i,parent in enumerate(item[1]):
                ############################
                # if there are no children:
                ############################
                if len(parent[1]) == 0:
                    # if combobox has a 'custom' signal choice then the index must be 0
                    if i == end and not item[0] =="_sserialsignaltree":parentnum = 0
                    else:parentnum = count
                    #print("length of human names:",len(parent[1]))
                    # this adds the index number (parentnum) of the signal
                    try:
                        signame=_PD[item[3]][count]
                    except:
                        signame = 'none'
                    # add parent and get reference for child
                    piter = self.d[item[0]].append(None, [parent[0], parentnum,signame,item[3],count])
                    #print(parent,parentnum,count,signame,item[3],i,signame,count)
                    if count == 0: count = 1
                    else: count +=item[2]
                ##########################
                # if there are children:
                ##########################
                else:
                    #print("parsing child",signame)
                    # add parent title
                    piter = self.d[item[0]].append(None, [parent[0],0,signame,item[3],count])
                    for j,child in enumerate(parent[1]):
                        #print(len(child[1]), child[0])
                        #if item[0] =='_gpioisignaltree':
                            #print(item[0], child[0],len(child[1]))
                        #############################
                        # If grandchildren
                        #############################
                        if len(child[1]) > 1:
                            # add child and get reference
                            citer = self.d[item[0]].append(piter, [child[0], 0,signame,item[3],count])
                            #if item[0] =='_gpioisignaltree':
                                #print('add to CHILD list',child[0])
                                #print('Strig:',child[1])
                            for k,grandchild in enumerate(child[1]):
                                #print('raw grand:  ', grandchild)
                                #############################
                                # If greatchildren
                                #############################
                                #print(grandchild[0],grandchild[1])
                                if len(grandchild) > 1:
                                    #print('add to grandchild child list',grandchild[0])
                                    index = _PD[item[3]].index(grandchild[1])
                                    self.d[item[0]].append(citer, [grandchild[0],index,grandchild[1],item[3],index])
                                    continue
                                else:
                                    #############################
                                    # If No greatchildren
                                    #############################
                                    try:
                                        signame=_PD[item[3]][count]
                                    except:
                                        signame = 'none'
                                    #print('adding to grandchild to childlist:  ', grandchild,signame,item[3],count)
                                    # add grandchild
                                    self.d[item[0]].append(piter, [child,0,signame,item[3],count])
                                    #count +=item[2]

                        ####################
                        # No grandchildren
                        ####################
                        else:
                            #print' add to child - no grandchild',child
                            signame=_PD[item[3]][count]
                            #print(i,count,parent[0],child,signame,item[3], _PD[item[3]].index(signame),count)
                            self.d[item[0]].append(piter, [child, count,signame,item[3],count])
                            count +=item[2]

        self.fill_combobox_models2()
        self.d._notusedsignaltree = Gtk.TreeStore(str,int,str,str,int)
        self.d._notusedsignaltree.append(None, [_PD.human_notused_names[0][0],0,'unused-unused','_notusedsignaltree',0])
        # make a filter for sserial encoder as they can't be used for AXES
        self.d._encodersignalfilter = self.d._encodersignaltree.filter_new()
        self.d._enc_filter_list = ['Axis Encoder']
        self.d._encodersignalfilter.set_visible_func(self.visible_cb, self.d._enc_filter_list)
        # build filters for the 'controlling' sserial combbox
        # We need to limit selections often
        for channel in range(0,_PD._NUM_CHANNELS):
            self.d['_sserial%d_filter_list'%channel] =[]
            self.d['_sserial%d_signalfilter'%channel] = self.d._sserialsignaltree.filter_new()
            self.d['_sserial%d_signalfilter'%channel].set_visible_func(self.filter_cb,self.d['_sserial%d_filter_list'%channel])
            self.set_filter('_sserial%d'%channel,'ALL')

    # Filter out any matching names in a list
    def visible_cb(self, model, iter, data ):
        #print(model.get_value(iter, 0) ,data)
        return not model.get_value(iter, 0) in data

    # filter out anything not in one of the lists, the list depending on a keyword
    def set_filter(self,sserial,data):
        keyword = data.upper()
        if keyword == '7I77':
            f_list = ['Unused','7i77']
        elif keyword == '7I76':
            f_list = ['Unused','7i76']
        else:
            f_list = ['Unused','7i73','7i69','8i20','7i64','7i71','7i70','7i84']
        del self.d['%s_filter_list'%sserial][:]
        for i in(f_list):
            self.d['%s_filter_list'%sserial].append(i)
        #print('\n',filterlist,self.d[filterlist])
        self.d['%s_signalfilter'%sserial].refilter()

    # Filter callback
    def filter_cb(self, model, iter, data ):
        #print(model.get_value(iter, 0) ,data)
        for i in data:
            if i in model.get_value(iter, 0):
                return True
        return False

    def load_config(self):
        filter = Gtk.FileFilter()
        filter.add_pattern("*.pncconf")
        filter.set_name(_("LinuxCNC 'PNCconf' configuration files"))
        dialog = Gtk.FileChooserDialog(
            title=_("Modify Existing Configuration"),
            parent=self.widgets.window1,
            action=Gtk.FileChooserAction.OPEN)
        dialog.add_button(Gtk.STOCK_CANCEL, Gtk.ResponseType.CANCEL)
        dialog.add_button(Gtk.STOCK_OPEN, Gtk.ResponseType.OK)
        dialog.set_default_response(Gtk.ResponseType.OK)
        dialog.add_filter(filter)
        if not self.d._lastconfigname == "" and self.d._chooselastconfig:
            dialog.set_filename(os.path.expanduser("~/linuxcnc/configs/%s.pncconf"% self.d._lastconfigname))
        dialog.add_shortcut_folder(os.path.expanduser("~/linuxcnc/configs"))
        dialog.set_current_folder(os.path.expanduser("~/linuxcnc/configs"))
        dialog.show_all()
        result = dialog.run()
        if result == Gtk.ResponseType.OK:
            filename = dialog.get_filename()
            dialog.destroy()
            self.d.load(filename, self)
            self.d._mesa0_configured = False
            self.d._mesa1_configured = False
            try:
                # check that the firmware (if saved) is current enough by checking the length of a sub element and that the other is an integer.
                for boardnum in(0,1):
                    if self.d["mesa%d_currentfirmwaredata"% boardnum] != "None":
                        i=j=None
                        i = len(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._NUMOFCNCTRS])
                        j = self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._HIFREQ]+100 # throws an error if not an integer.
                        if not i > 1:
                            print(i,j,boardnum)
                            raise UserWarning
            except :
                print(i,j,boardnum)
                self.warning_dialog(_("It seems data in this file is from too old of a version of PNCConf to continue."),True)
                return True
        else:
            dialog.destroy()
            return True

    def mesa_firmware_search(self,boardtitle,*args):
        #TODO if no firm packages set up for internal data?
        #TODO don't do this if the firmware is already loaded
        firmlist = []
        for root, dirs, files in os.walk(self._p.FIRMDIR):
            folder = root.lstrip(self._p.FIRMDIR)
            #dbg('Firmware folder:%s'% folder)
            if folder in self._p.MESABLACKLIST:continue
            if not folder == boardtitle:continue
            for n,name in enumerate(files):
                if name in self._p.MESABLACKLIST:continue
                if ".xml" in name:
                    dbg('%s'% name)
                    temp = name.rstrip(".xml")
                    firmlist.append(temp)
        dbg("\nXML list:%s"%firmlist,mtype="firmname")
        self.pbar.set_text("Loading external firmware")
        self.window.show()
        for n,currentfirm in enumerate(firmlist):
            self.pbar.set_fraction(n*1.0/len(firmlist))
            while Gtk.events_pending():
                Gtk.main_iteration()
            # XMLs don't tell us the driver type so set to None (parse will guess)
            firmdata = self.parse_xml(None,boardtitle, currentfirm,os.path.join(
                                self._p.FIRMDIR,boardtitle,currentfirm+".xml"))
            self._p.MESA_FIRMWAREDATA.append(firmdata)
        self.window.hide()

    def parse_xml(self, driver, boardtitle, firmname, xml_path, boardnum=0):
            def search(elementlist):
                for i in elementlist:
                    temp = root.find(i)
                    if temp is not None:
                        return temp.text
                return temp

            root = xml.etree.ElementTree.parse(xml_path)
            watchdog = encoder = resolver = pwmgen = led = muxedqcount = 0
            stepgen = tppwmgen = sserialports = sserialchannels = 0
            numencoderpins = numpwmpins = 3; numstepperpins = 2; numttpwmpins = 0; numresolverpins = 10

            text = search(('boardname','BOARDNAME'))
            if text == None:
                print('Missing info: boardname')
                return
            boardname = text.lower()
            #dbg("\nBoard and firmwarename:  %s %s\n"%( boardname, firmname), "firmraw")

            text  = search(("IOPORTS","ioports")) ; #print(numcnctrs)
            if text == None:
                print('Missing info: ioports')
                return
            numcnctrs = int(text)
            text = search(("PORTWIDTH","portwidth"))
            if text == None:
                print('Missing info: portwidth')
                return
            portwidth = int(text)
            maxgpio  = numcnctrs * portwidth ; #print(maxgpio)
            placeholders = 24-portwidth
            text = search(("CLOCKLOW","clocklow")) ; #print(lowfreq)
            if text == None:
                print('Missing info: clocklow')
                return
            lowfreq = int(text)/1000000
            text = search(("CLOCKHIGH","clockhigh")); #print(hifreq)
            if text == None:
                print('Missing info: clockhigh')
                return
            hifreq = int(text)/1000000
            modules = root.findall(".//modules")[0]
            if driver == None:
                meta = self.get_board_meta(boardname, boardnum)
                driver = meta.get('DRIVER')
            for i,j in enumerate(modules):
                k = modules[i].find("tagname").text
                print(k)
                if k in ("Watchdog","WatchDog","WATCHDOG"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    watchdog = int(l)
                elif k in ("Encoder","QCOUNT"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    encoder = int(l)
                elif k in ("ResolverMod","RESOLVERMOD"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    resolver = int(l)
                elif k in ("PWMGen","PWMGEN","PWM"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    pwmgen = int(l)
                elif k == "LED":
                    l = modules[i].find("numinstances").text;#print(l,k)
                    led = int(l)
                elif k in ("MuxedQCount","MUXEDQCOUNT"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    muxedqcount = int(l)
                elif k in ("StepGen","STEPGEN"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    stepgen = int(l)
                elif k in ("TPPWM","TPPWM"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    tppwmgen = int(l)
                elif k in ("SSerial","SSERIAL"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                    sserialports = int(l)
                elif k in ("None","NONE"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                elif k in ("ssr","SSR"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                elif k in ("out","OUTM"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                elif k in ("inm","INM"):
                    l = modules[i].find("numinstances").text;#print(l,k)
                elif k in ("IOPort","AddrX","MuxedQCountSel"):
                    continue
                else:
                    print("**** WARNING: Pncconf parsing firmware: tagname (%s) not recognized"% k)

            discov_sserial = []
            ssname = root.findall("SSERIALDEVICES/SSERIALFUNCTION")
            for i in (ssname):
                port = i.find("PORT").text
                dev = i.find("DEVICE").text
                chan = i.find("CHANNEL").text
                discov_sserial.append((int(port),int(chan),dev))
            print('discovered sserial:', discov_sserial)

            pins = root.findall(".//pins")[0]
            temppinlist = []
            tempconlist = []
            pinconvertenc = {"PHASE A":_PD.ENCA,"PHASE B":_PD.ENCB,"INDEX":_PD.ENCI,"INDEXMASK":_PD.ENCM,
                "QUAD-A":_PD.ENCA,"QUAD-B":_PD.ENCB,"QUAD-IDX":_PD.ENCI,
                "MUXED PHASE A":_PD.MXE0,"MUXED PHASE B":_PD.MXE1,"MUXED INDEX":_PD.MXEI,
                "MUXED INDEX MASK":_PD.MXEM,"MUXED ENCODER SELECT 0":_PD.MXES,"MUXED ENCODER SELEC":_PD.MXES,
                "MUXQ-A":_PD.MXE0,"MUXQ-B":_PD.MXE1,"MUXQ-IDX":_PD.MXEI,"MUXSEL0":_PD.MXES}
            pinconvertresolver = {"RESOLVER POWER ENABLE":_PD.RESU,"RESOLVER SPIDI 0":_PD.RES0,
                 "RESOLVER SPIDI 1":_PD.RES1,"RESOLVER ADC CHANNEL 2":_PD.RES2,"RESOLVER ADC CHANNEL 1":_PD.RES3,
                 "RESOLVER ADC CHANNEL 0":_PD.RES4,"RESOLVER SPI CLK":_PD.RES5,"RESOLVER SPI CHIP SELECT":_PD.RESU,
                 "RESOLVER PDMM":_PD.RESU,"RESOLVER PDMP":_PD.RESU}
            pinconvertstep = {"STEP":_PD.STEPA,"DIR":_PD.STEPB,"STEP/TABLE1":_PD.STEPA,"DIR/TABLE2":_PD.STEPB}
                #"StepTable 2":STEPC,"StepTable 3":STEPD,"StepTable 4":STEPE,"StepTable 5":STEPF
            pinconvertppwm = {"PWM/UP":_PD.PWMP,"DIR/DOWN":_PD.PWMD,"ENABLE":_PD.PWME,
                    "PWM":_PD.PWMP,"DIR":_PD.PWMD,"/ENABLE":_PD.PWME}
            pinconverttppwm = {"PWM A":_PD.TPPWMA,"PWM B":_PD.TPPWMB,"PWM C":_PD.TPPWMC,
                "PWM /A":_PD.TPPWMAN,"PWM /B":_PD.TPPWMBN,"PWM /C":_PD.TPPWMCN,
                "FAULT":_PD.TPPWMF,"ENABLE":_PD.TPPWME}
            pinconvertsserial = {"RXDATA0":_PD.RXDATA0,"TXDATA0":_PD.TXDATA0,"TXE0":_PD.TXEN0,"TXEN0":_PD.TXEN0,
                                "RXDATA1":_PD.RXDATA1,"TXDATA1":_PD.TXDATA1,"TXE1":_PD.TXEN1,"TXEN1":_PD.TXEN1,
                                "RXDATA2":_PD.RXDATA2,"TXDATA2":_PD.TXDATA2,"TXE2":_PD.TXEN2,"TXEN2":_PD.TXEN2,
                                "RXDATA3":_PD.RXDATA3,"TXDATA3":_PD.TXDATA3,"TXE3":_PD.TXEN3,"TXEN3":_PD.TXEN3,
                                "RXDATA4":_PD.RXDATA4,"TXDATA4":_PD.TXDATA4,"TXE4":_PD.TXEN4,"TXEN4":_PD.TXEN4,
                                "RXDATA5":_PD.RXDATA5,"TXDATA5":_PD.TXDATA5,"TXE5":_PD.TXEN5,"TXEN4":_PD.TXEN5,
                                "RXDATA6":_PD.RXDATA6,"TXDATA6":_PD.TXDATA6,"TXE6":_PD.TXEN6,"TXEN6":_PD.TXEN6,
                                "RXDATA7":_PD.RXDATA7,"TXDATA7":_PD.TXDATA7,"TXE7":_PD.TXEN7,"TXEN7":_PD.TXEN7}
            pinconvertnone = {"NOT USED":_PD.GPIOI}

            count = 0
            fakecon = 0
            for i,j in enumerate(pins):
                instance_num = 9999
                iocode = None
                temppinunit = []
                temp = pins[i].find("connector").text
                if 'P' in temp:
                    tempcon = int(temp.strip("P"))
                else:
                    tempcon = temp
                tempfunc = pins[i].find("secondaryfunctionname").text
                tempfunc = tempfunc.upper().strip() # normalise capitalization: Peters XMLs are different from linuxcncs

                if "(IN)" in tempfunc:
                    tempfunc = tempfunc.rstrip(" (IN)")
                elif "(OUT" in tempfunc:
                    tempfunc = tempfunc.rstrip(" (OUT)")
                convertedname = "Not Converted"
                # this converts the XML file componennt names to pncconf's names

                try:
                    secmodname = pins[i].find("secondarymodulename")
                    modulename = secmodname.text.upper().strip()
                    dbg("secondary modulename:  %s, %s."%( tempfunc,modulename), "firmraw")
                    if modulename in ("ENCODER","QCOUNT","MUXEDQCOUNT","MUXEDQCOUNTSEL"):
                        convertedname = pinconvertenc[tempfunc]
                    elif modulename in ("ResolverMod","RESOLVERMOD"):
                        convertedname = pinconvertresolver[tempfunc]
                    elif modulename in ("PWMGen","PWMGEN","PWM"):
                        convertedname = pinconvertppwm[tempfunc]
                    elif modulename in ("StepGen","STEPGEN"):
                        convertedname = pinconvertstep[tempfunc]
                    elif modulename in ("TPPWM","TPPWM"):
                        convertedname = pinconverttppwm[tempfunc]
                    elif modulename in ("SSerial","SSERIAL"):
                        temp = pins[i].find("foundsserialdevice")
                        if temp is not None:
                            founddevice = temp.text.upper()
                        else:
                            founddevice = None
                        #print(tempfunc,founddevice)
                        # this auto selects the sserial 7i76 mode 0 card for sserial 0 and 2
                        # as the 5i25/7i76 uses some of the sserial channels for it's pins.
                        if boardname in ("5i25","7i92",'7i76e'):
                            if boardname == '7i76e' and 'discovered' in firmname:
                                if tempfunc == "TXDATA0": convertedname = _PD.SS7I76M0
                                else: convertedname = pinconvertsserial[tempfunc]
                            elif "7i77_7i76" in firmname:
                                if tempfunc == "TXDATA1": convertedname = _PD.SS7I77M0
                                elif tempfunc == "TXDATA2": convertedname = _PD.SS7I77M1
                                elif tempfunc == "TXDATA4": convertedname = _PD.SS7I76M3
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print("XML ",firmname, tempfunc,convertedname)
                            elif "7i76x2" in firmname or "7i76x1" in firmname:
                                if tempfunc == "TXDATA1": convertedname = _PD.SS7I76M0
                                elif tempfunc == "TXDATA3": convertedname = _PD.SS7I76M2
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print("XML ",firmname, tempfunc,convertedname)
                            elif "7i77x2" in firmname or "7i77x1" in firmname:
                                if tempfunc == "TXDATA1": convertedname = _PD.SS7I77M0
                                elif tempfunc == "TXDATA2": convertedname = _PD.SS7I77M1
                                elif tempfunc == "TXDATA4": convertedname = _PD.SS7I77M3
                                elif tempfunc == "TXDATA5": convertedname = _PD.SS7I77M4
                                else: convertedname = pinconvertsserial[tempfunc]
                                #print("XML ",firmname, tempfunc,convertedname
                            elif founddevice == "7I77-0": convertedname = _PD.SS7I77M0
                            elif founddevice == "7I77-1": convertedname = _PD.SS7I77M1
                            elif founddevice == "7I77-3": convertedname = _PD.SS7I77M3
                            elif founddevice == "7I77-4": convertedname = _PD.SS7I77M4
                            elif founddevice == "7I76-0": convertedname = _PD.SS7I76M0
                            elif founddevice == "7I76-2": convertedname = _PD.SS7I76M2
                            elif founddevice == "7I76-3": convertedname = _PD.SS7I76M3
                            else: convertedname = pinconvertsserial[tempfunc]
                        else:
                            convertedname = pinconvertsserial[tempfunc]
                    elif modulename in ('ssr','SSR'):
                        if tempfunc == 'AC':
                            if '7i96s' in boardtitle:
                                convertedname = _PD.PWMP
                            else:
                                convertedname = _PD.NUSED
                        elif 'OUT-' in tempfunc:
                            convertedname = _PD.SSR0
                            # ssr outputs encode the HAL number in the XML name
                            # add it to 100 so it's not changed from output
                            iocode = 100 + int(tempfunc[4:])
                    elif modulename in ('outm','OUTM'):
                            convertedname = _PD.OUTM0
                            # outm outputs encode the HAL number in the XML name
                            # add it to 100 so it's not changed from output
                            iocode = 100 + int(tempfunc[6:])
                    elif modulename in ('inm','INM'):
                            convertedname = _PD.INM0
                            # inm inputs encode the HAL number in the XML name
                            # add it to 100 so it's not changed from output
                            iocode = 100 + int(tempfunc[5:])
                    elif modulename in ("None","NONE"):
                        iocode = 0
                        #convertedname = pinconvertnone[tempfunc]
                    else:
                         print('unknown module - setting to unusable',modulename, tempfunc)
                         convertedname = _PD.NUSED
                except:
                    iocode = 0
                    exc_type, exc_value, exc_traceback = sys.exc_info()
                    formatted_lines = traceback.format_exc().splitlines()
                    print()
                    print("****pncconf verbose XML parse debugging:",formatted_lines[0])
                    traceback.print_tb(exc_traceback, limit=1, file=sys.stdout)
                    print(formatted_lines[-1])

                if iocode == 0:
                    # must be GPIO if there is no secondary module name
                    # or if pinconvert fails eg. StepTable instance defaults to GPIO
                    temppinunit.append(_PD.GPIOI)
                    temppinunit.append(0) # 0 signals to pncconf that GPIO can changed to be input or output
                elif iocode and iocode >= 100:
                    if modulename in ('ssr','SSR'):
                        temppinunit.append(_PD.SSR0)
                    elif modulename in ('outm','OUTM'):
                        temppinunit.append(_PD.OUTM0)
                    if modulename in ('inm','INM'):
                        temppinunit.append(_PD.INM0)
                    temppinunit.append(iocode) # >= 100 signals to pncconf that SSR, OUTM, and INM can not be changed
                else:
                    instance_num = int(pins[i].find("secondaryinstance").text)
                    # this is a workaround for the 7i77_7i776 firmware. it uses a mux encoder for the 7i76 but only uses half of it
                    # this is because of a limitation of hostmot2 - it can't have mux encoders and regular encoders
                    # so in pncconf we look for this and change it to a regular encoder.
                    if boardname == "5i25" and firmname == "7i77_7i76":
                        if modulename in ("MuxedQCount","MUXEDQCOUNT") and  instance_num == 3:
                            instance_num = 6
                            encoder =-1
                            if convertedname == _PD.MXE0: convertedname = _PD.ENCA
                            elif convertedname == _PD.MXE1: convertedname = _PD.ENCB
                            elif convertedname == _PD.MXEI: convertedname = _PD.ENCI
                    temppinunit.append(convertedname)
                    if tempfunc in("MUXED ENCODER SELECT 0","MUXEDQCOUNTSEL") and  instance_num == 6:
                        instance_num = 3
                    temppinunit.append(instance_num)
                    tempmod = pins[i].find("secondarymodulename").text
                    tempfunc = tempfunc.upper()# normalize capitalization
                    #dbg("secondary modulename, function:  %s, %s."%( tempmod,tempfunc), "firmraw")
                    if tempmod in("Encoder","MuxedQCount") and tempfunc in ("MUXED INDEX MASK (IN)","INDEXMASK (IN)"):
                        numencoderpins = 4
                    if tempmod in("SSerial","SSERIAL") and tempfunc in ("TXDATA0", "TXDATA1","TXDATA2","TXDATA3",
                            "TXDATA4","TXDATA5","TXDATA6","TXDATA7"):
                        sserialchannels +=1
                #dbg("temp: %s, converted name: %s. num %d"%( tempfunc,convertedname,instance_num), "firmraw")
                if not tempcon in tempconlist:
                    tempconlist.append(tempcon)
                temppinlist.append(temppinunit)
                # add NONE place holders for boards with less then 24 pins per connector.
                if not placeholders == 0:
                    #print(i,portwidth*numcnctrs)
                    if  i == (portwidth + count-1) or i == portwidth*numcnctrs-1:
                        #print("loop %d %d"% (i,portwidth + count-1))
                        count =+ portwidth
                        #print("count %d" % count)
                        for k in range(0,placeholders):
                            #print("%d fill here with %d parts"% (k,placeholders))
                            temppinlist.append((_PD.NUSED,0))
            # 7i96 doesn't number the connectors with P numbers so we fake it
            # TODO
            # probably should move the connector numbers to board data rather then firmware
            for j in tempconlist:
                if not isinstance(j, int):
                    tempconlist = [i for i in range(1,len(tempconlist)+1)]
                    break
            temp = [boardtitle,boardname,firmname,boardtitle,driver,encoder + muxedqcount,
                    numencoderpins,resolver,numresolverpins,pwmgen,numpwmpins,
                    tppwmgen,numttpwmpins,stepgen,numstepperpins,
                    sserialports,sserialchannels,discov_sserial,0,0,0,0,0,0,0,watchdog,maxgpio,
                    lowfreq,hifreq,tempconlist]
            for i in temppinlist:
                temp.append(i)
            if "5i25" in boardname :
                dbg("5i25 firmware:\n%s\n"%( temp), mtype="5i25")
            print('firm added:\n',temp)
            return temp

    def discover_mesacards(self):
        name, interface, address, readoption = self.get_discovery_meta()
        if name is None: return None
        # This is a HACK to pass info about the interface forward
        # otherwise the driver info is blank in the discovered firmware
        if interface == '--addr':
            inter = 'ETH'
        elif interface == '--epp':
            inter = 'EPP'
        else:
            inter = 'PCI'
        if self.debugstate or readoption:
            print('try to discover board by reading help window input tab')
            buf = self.widgets.textinput.get_buffer()
            info = buf.get_text(buf.get_start_iter(),
                        buf.get_end_iter(),
                        True)
            if not info:
                text = [_('PIN file is empty:\n')]
                text.append(_('To use PIN file discovery mode, the contents of the'))
                text.append(_('cards PIN file needs to be pasted into the Input tab'))
                text.append(_('of the Help window before clicking Board Discovery'))
                self.warning_dialog("\n".join(text),True)
                return None
            info = info + "\n {}".format(inter)
        else:
            if not name:
                self.warning_dialog('Card Name is required',True)
                return None
            elif inter == 'ETH' and not address:
                self.warning_dialog(_('Address is required for ethernet card'),True)
                return None
            info = self.call_mesaflash(name,interface,address)
        print('INFO:',info,'<-')
        if info is None: return None
        lines = info.splitlines()
        try:
            if 'No' in lines[0] and 'board found' in lines[0]:
                text = [_("%s board was not found"%name)]
                if inter == 'ETH':
                    text.append(_("Is the address correct?"))
                self.warning_dialog("\n".join(text),True)
                return None
            elif 'Unsupported device' in lines[0]:
                text = _("%s is an unsupported device"%name)
                self.warning_dialog(text,True)
                return None
            elif 'ERROR' in lines[0]:
                raise ValueError('Mesaflash Error')
            elif 'root' in info:
                raise ValueError('Mesaflash Error')
        except ValueError as err:
            text = err.args
            self.warning_dialog(text[0],True)
            return None
        except Exception as e:
            print(e)
            self.warning_dialog(_('Unspecified Error with Discovery option'),True)
            return None
        return info

    def call_mesaflash(self, devicename, interface, address):
        if address == ' ':
            address = None
        textbuffer = self.widgets.textoutput.get_buffer()
        print('DEVICE NAME SPECIFIED',devicename, interface, address)

        # 7i43 needs it's firmware loaded before it can be 'discovered'
        if '7i43' in devicename.lower():
            halrun = os.popen("halrun -Is > /dev/null", "w")
            halrun.write("echo\n")
            load,read,write = self.hostmot2_command_string()
            # do I/O load commands
            for i in load:
                halrun.write('%s\n'%i)
            halrun.flush()
            time.sleep(.001)
            halrun.close()
        if interface == '--addr' and address:
            board_command = '--device %s %s %s' %(devicename, interface, address)
            admin = False
        elif interface == '--epp':
            board_command = '--device %s %s' %(devicename, interface)
            admin = False
        else:
            board_command = '--device %s' %(devicename)
            admin = True
        # PCI boards require sudo
        if admin:
            cmd ="""pkexec sh -c 'mesaflash %s;mesaflash %s --sserial;mesaflash %s --readhmid'  """%(board_command, board_command, board_command)
        else:
            cmd ="""sh -c 'mesaflash %s;mesaflash %s --sserial;mesaflash %s --readhmid'  """%(board_command, board_command, board_command)
        print('cmd=',cmd)

        discover = subprocess.Popen([cmd], shell=True,stdin=subprocess.PIPE,stdout=subprocess.PIPE,stderr=subprocess.PIPE )
        output, error = discover.communicate()
        if error:
            print('mesaflash error',error.decode())
        if output == '':
            text = _("Discovery has an error,\n\n Is mesaflash installed?\n\n %s"%error.decode())
            self.warning_dialog(text,True)
            try :
                textbuffer.set_text('Command:\n%s\n gave:\n%s'%(cmd,error.decode()))
                self.widgets.helpnotebook.set_current_page(2)
            except Exception as e :
                print(e)
            return None

        try :
            textbuffer.set_text(output.decode())
            self.widgets.helpnotebook.set_current_page(2)
            self.widgets.help_window.show_all()
        except:
            text = _("Discovery is  unavailable\n")
            self.warning_dialog(text,True)
        return output.decode()

    def parse_discovery(self,info,boardnum=0):
        DRIVER = BOARDNAME = ''
        WATCHDOG = NUMCONS = NUMCONPINS = ENCODERS = MUXENCODERS = 0
        RESOLVERS = NUMSSCHANNELS = SSERIALPORTS = 0
        PWMGENS = LEDS = STEPGENS = TPPWMGEN = 0
        SSRS = OUTMS = INMS = 0
        NUMENCODERPINS = NUMPWMPINS = 3; NUMSTEPPERPINS = 2
        NUMTPPWMPINS = 0;NUMRESOLVERPINS = 10

        DOC = xml.dom.minidom.getDOMImplementation().createDocument(
                            None, 'hostmot2', None)
        ELEMENT = DOC.documentElement

        def add_element(ELEMENT,name):
            n1 = DOC.createElement(name)
            ELEMENT.appendChild(n1)
            return n1

        def add_text(root,title,value):
            n = DOC.createElement(title)
            root.appendChild(n)
            nodeText = DOC.createTextNode( value )
            n.appendChild(nodeText)
            return n

        info = info.upper()
        lines = info.splitlines()
        sserial=[]
        ssflag = pinsflag = True
        dev7i77flag = dev7i76flag = False
        try:
            for l_num,i in enumerate(lines):
                i = i.lstrip()
                temp2 = i.split(" ")
                #print(i,temp2)
                if 'BOARDNAME' in i:
                    BOARDNAME = temp2[2].lstrip('MESA').lower()
                    # 7i76e thinks it is a 7i76, set it straight
                    if BOARDNAME == '7i76' and 'ETH' in info:
                        BOARDNAME = '7i76e'
                    # 7i96s thinks it is a 7i96, set it straight
                    if BOARDNAME == '7i96' and '20 KGATES' in info:
                        BOARDNAME = '7i96s'
                    add_text(ELEMENT,'BOARDNAME',BOARDNAME)
                if 'ETH' in i:
                    DRIVER = 'hm2_eth'
                elif 'PCI' in i:
                    DRIVER = 'hm2_pci'
                elif 'EPP' in i:
                    if '7i43' in BOARDNAME.lower():
                        DRIVER = 'hm2_7i43'
                    else:
                        DRIVER = 'hm2_7i90'
                if 'DEVICE AT' in i:
                    if ssflag:
                        n1 = add_element(ELEMENT,'SSERIALDEVICES')
                        ssflag = False
                    for num,i in enumerate(temp2):
                        if i =="CHANNEL":
                            sserial.append((temp2[num+1].strip(':'),temp2[num+2]))
                            n2 = add_element(n1,'SSERIALFUNCTION')
                            add_text(n2,'PORT','0')
                            add_text(n2,'CHANNEL',temp2[num+1].strip(':'))
                            add_text(n2,'DEVICE',temp2[num+2])
                            if '7I77' in(temp2[num+2]):
                                dev7i77flag = True
                            elif '7I76' in(temp2[num+2]):
                                dev7i76flag = True
                if 'SSLBP CHANNELS:' in i:
                    NUMSSCHANNELS = temp2[2]
                if 'CLOCK LOW FREQUENCY: ' in i:
                    add_text(ELEMENT,'CLOCKLOW',str(int(float(temp2[3])*1000000)))
                if 'CLOCK HIGH FREQUENCY:' in i:
                    add_text(ELEMENT,'CLOCKHIGH',str(int(float(temp2[3])*1000000)))
                if 'NUMBER OF IO PORTS:' in i:
                    NUMCONS = temp2[4]
                    add_text(ELEMENT,'IOPORTS',NUMCONS)
                if 'WIDTH OF ONE I/O PORT:' in i:
                    NUMCONPINS = temp2[5]
                    add_text(ELEMENT,'PORTWIDTH',NUMCONPINS)

                if 'MODULES IN CONFIGURATION:' in i:
                    mod_ele = add_element(ELEMENT,'modules')
                    modflag = True
                if 'MODULE: WATCHDOG' in i:
                    tline = lines[l_num+1].split(" ")
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','WATCHDOG')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: QCOUNT' in i:
                    tline = lines[l_num+1].split(" ")
                    ENCODERS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','QCOUNT')
                    add_text(new,'numinstances',tline[4].lstrip())

                if 'MODULE: MUXEDQCOUNTSEL' in i:
                    continue
                if 'MODULE: MUXEDQCOUNT' in i:
                    tline = lines[l_num+1].split(" ")
                    MUXENCODERS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','MUXEDQCOUNT')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: SSERIAL' in i:
                    tline = lines[l_num+1].split(" ")
                    SSERIALPORTS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','SSERIAL')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: RESOLVERMOD' in i:
                    tline = lines[l_num+1].split(" ")
                    RESOLVER = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','RESOLVERMOD')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: PWM' in i:
                    tline = lines[l_num+1].split(" ")
                    PWMGENS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','PWMGEN')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: TPPWM' in i:
                    tline = lines[l_num+1].split(" ")
                    TPPWMGENS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','TPPWMGEN')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: STEPGEN' in i:
                    tline = lines[l_num+1].split(" ")
                    STEPGENS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','STEPGEN')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: LED' in i:
                    tline = lines[l_num+1].split(" ")
                    LEDS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','LED')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: SSR' in i:
                    tline = lines[l_num+1].split(" ")
                    SSRS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','SSR')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: OUTM' in i:
                    tline = lines[l_num+1].split(" ")
                    OUTMS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','OUTM')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'MODULE: INM' in i:
                    tline = lines[l_num+1].split(" ")
                    INMS = tline[4].lstrip()
                    new = add_element(mod_ele,'module')
                    add_text(new,'tagname','INM')
                    add_text(new,'numinstances',tline[4].lstrip())
                if 'IO CONNECTIONS FOR' in i:
                    if pinsflag:
                        n1 = add_element(ELEMENT,'pins')
                        pinsflag = False
                    CON = temp2[3]
                    print(CON)
                    for num in range(l_num+3,l_num+3+int(NUMCONPINS)):
                        CHAN = PINFNCTN = ''
                        pin_line = ' '.join(lines[num].split()).split()
                        PINNO = pin_line[0]
                        IO = pin_line[1]
                        SECFNCTN = pin_line[3]
                        n2 = add_element(n1,'pin')
                        add_text(n2,'index',IO)
                        add_text(n2,'connector',CON)
                        add_text(n2,'pinno',PINNO)
                        add_text(n2,'secondarymodulename',SECFNCTN)
                        if not SECFNCTN == 'NONE':
                            CHAN = pin_line[4]
                            PINFNCTN = pin_line[5]
                            if PINFNCTN in("TXDATA1","TXDATA2","TXDATA3",
                                "TXDATA4","TXDATA5","TXDATA6","TXDATA7","TXDATA8"):
                                num = int(PINFNCTN[6])-1
                                print(num)
                                for idnum,dev in sserial:
                                    print(idnum,dev,num)
                                    if int(idnum) == num:
                                        NEW_FNCTN = '%s-%d'% (dev,num)
                                        add_text(n2,'foundsserialdevice',NEW_FNCTN)
                            add_text(n2,'secondaryfunctionname',PINFNCTN)
                            add_text(n2,'secondaryinstance',CHAN)
                        else:
                            add_text(n2,'secondaryfunctionname','NOT USED')

                        print('    I/O ',IO, ' function ',SECFNCTN,' CHANNEL:',CHAN,'PINFUNCTION:',PINFNCTN)

            print('Sserial CARDS FOUND:',sserial)
            print(NUMCONS,NUMCONPINS,ENCODERS,MUXENCODERS,SSERIALPORTS,NUMSSCHANNELS)
            print(RESOLVERS,PWMGENS,LEDS,SSRS,OUTMS,INMS)
            firmname = "~/mesa%d_discovered.xml"%boardnum
            filename = os.path.expanduser(firmname)
            DOC.writexml(open(filename, "w"), addindent="  ", newl="\n")
            return DRIVER, BOARDNAME, firmname, filename
        except:
            #print('Invalid data in parse_discovery')
            return None, None, None, None

    # update all the firmware/boardname arrays and comboboxes
    def discovery_selection_update(self, info, bdnum):
        driver, boardname, firmname, path = self.parse_discovery(info,boardnum=bdnum)
        if not driver or not boardname or not firmname or not path:
            text = ['Data is invalid:\n']
            if self.widgets.discovery_read_option.get_active():
                text.append(_('The pasted PIN file may be an invalid format'))
            else:
                text.append(_('The data returned from discovery is invalid'))
            self.warning_dialog("\n".join(text),True)
            return
        print(driver, boardname, firmname, path)
        boardname = 'Discovered:%s'% boardname
        firmdata = self.parse_xml( driver,boardname,firmname,path,bdnum)
        self._p.MESA_FIRMWAREDATA.append(firmdata)
        self._p.MESA_INTERNAL_FIRMWAREDATA.append(firmdata)
        self._p.MESA_BOARDNAMES.append(boardname)
        # add discovery address to entry
        self.widgets["mesa%s_card_addrs"%bdnum].set_text(self.widgets.discovery_address_entry.get_text())
        # add firmname to combo box if it's not there
        model = self.widgets["mesa%s_firmware"%bdnum].get_model()
        flag = True
        for search,item in enumerate(model):
            if model[search][0]  == firmname:
                flag = False
                break
        if flag:
            model.append((firmname,))
            search = 0
            model = self.widgets["mesa%s_firmware"%bdnum].get_model()
            for search,item in enumerate(model):
                if model[search][0]  == firmname:
                    self.widgets["mesa%s_firmware"%bdnum].set_active(search)
                    break
        # add boardtitle
        model = self.widgets["mesa%s_boardtitle"%bdnum].get_model()
        flag2 = True
        for search,item in enumerate(model):
            if model[search][0]  == boardname:
                flag2 = False
                break
        if flag2:
            model.append((boardname,))
            search = 0
            model = self.widgets["mesa%s_boardtitle"%bdnum].get_model()
            for search,item in enumerate(model):
                #print(model[search][0], boardname)
                if model[search][0]  == boardname:
                    self.widgets["mesa%s_boardtitle"%bdnum].set_active(search)
                    break
        # update if there was a change
        if flag or flag2:
            self.on_mesa_component_value_changed(None,0)

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

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

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

        os.remove('%sLINUXCNCnojoytemp.txt'% sourcefile)
        os.remove('%sLINUXCNCjoytemp.txt'% sourcefile)
        if diff =="":
            text = ["No new USB device found"]
            if not self.warning_dialog("\n".join(text),True):return
        else:
            textbuffer = self.widgets.textoutput.get_buffer()
            try :
                textbuffer.set_text(diff)
                self.widgets.helpnotebook.set_current_page(2)
                self.widgets.help_window.show_all()
            except:
                text = _("USB device  page is unavailable\n")
                self.warning_dialog(text,True)
            linelist = diff.split("\n")
            for i in linelist:
                if "Name" in i:
                    temp = i.split("\"")
                    name = temp[1]
                    temp = name.split(" ")
                    self.widgets.usbdevicename.set_text(temp[0])
            infolist = diff.split()
            for i in infolist:
                if "Vendor" in i:
                    temp = i.split("=")
                    vendor = temp[1]
                if "Product" in i:
                    temp = i.split("=")
                    product = temp[1]

            text =[ "Vendor = %s\n product = %s\n name = %s\nadding specific rule"%(vendor,product,name)]
            if not self.warning_dialog("\n".join(text),False):return
            tempname = sourcefile+"LINUXCNCtempspecific.rules"
            file = open(tempname, "w")
            print(("# This is a rule for LINUXCNC's hal_input\n"), file=file)
            print(("# For devicename=%s\n"% name), file=file)
            print(("""SYSFS{idProduct}=="%s", SYSFS{idVendor}=="%s", MODE="0660", GROUP="plugdev" """%(product,vendor)), file=file)
            file.close()
            # remove illegal filename characters
            for i in ("(",")"):
                temp = name.replace(i,"")
                name = temp
            newname = "50-LINUXCNC-%s.rules"% name.replace(" ","_")
            print (tempname,newname)
            p = os.popen("""pkexec sh -c 'cp %s /etc/udev/rules.d/%s'"""% (tempname,newname) )
            time.sleep(1)
            p.flush()
            p.close()
            os.remove('%sLINUXCNCtempspecific.rules'% sourcefile)
            text = ["Please unplug and plug in your device again"]
            if not self.warning_dialog("\n".join(text),True):return

    def test_joystick(self):
        halrun = subprocess.Popen("halrun -I", shell=True,stdin=subprocess.PIPE,stdout=subprocess.PIPE, encoding='utf-8' )
        halrun.stdin.write("echo\n")
        print("requested devicename = ",self.widgets.usbdevicename.get_text())
        if self.widgets.usbdevicename.get_text() == 'none':
            self.warning_dialog("You must set a device name - press search button and look at the help/output page for a list.\n",True)
            return
        halrun.stdin.write("loadusr hal_input -W -KRAL %s\n"% self.widgets.usbdevicename.get_text())
        halrun.stdin.write("loadusr halmeter -g 0 500\n")
        time.sleep(1.5)
        halrun.stdin.write("show pin\n")
        output = halrun.communicate()[0]
        self.warning_dialog("Close me When done.\n",True)
        #halrun.stdin.write("exit\n")

        temp2 = output.split(" ")
        temp=[]
        for i in temp2:
            if i =="": continue
            temp.append(i)
        buttonlist=""
        for index,i in enumerate(temp):
            if "bit" in i and "OUT" in temp[index+1]:
                buttonlist = buttonlist + "  Digital:    %s"% ( temp[index+3] )
            if "float" in i and "OUT" in temp[index+1]:
                buttonlist = buttonlist + "                                                            Analog:     %s"% ( temp[index+3] )
        if buttonlist =="": return
        textbuffer = self.widgets.textoutput.get_buffer()
        try :
            textbuffer.set_text(buttonlist)
            self.widgets.helpnotebook.set_current_page(2)
            self.widgets.help_window.show_all()
        except:
            text = _("Pin names are unavailable\n")
            self.warning_dialog(text,True)

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

    def read_touchy_preferences(self):
        # This reads the Touchy preference file directly
        tempdict = {"touchyabscolor":"abs_textcolor","touchyrelcolor":"rel_textcolor",
                    "touchydtgcolor":"dtg_textcolor","touchyerrcolor":"err_textcolor"}
        for key,value in tempdict.items():
            data = prefs.getpref(value, 'default', str)
            if data == "default":
                self.widgets[key].set_active(False)
            else:
                self.widgets[key].set_active(True)
                self.widgets[key+"button"].set_color(gdk.color_parse(data))
        self.widgets.touchyforcemax.set_active(bool(prefs.getpref('window_force_max')))

    def set_touchy_preference(self, value, default, type):
        prefs.getpref(value, default, type)

    def get_installed_themes(self):
            data1 = self.d.gladevcptheme
            data2 = prefs.getpref('gtk_theme', 'Follow System Theme', str)
            data3 = self.d.gmcpytheme
            model = self.widgets.themestore
            model.clear()
            model.append((_("Follow System Theme"),))
            model2 = self.widgets.glade_themestore
            model2.clear()
            model2.append((_("Follow System Theme"),))
            temp1 = temp2 = temp3 = 0
            names = os.listdir(_PD.THEMEDIR)
            names.sort()
            for search,dirs in enumerate(names):
                model.append((dirs,))
                model2.append((dirs,))
                if dirs  == data1:
                    temp1 = search+1
                if dirs  == data2:
                    temp2 = search+1
                if dirs  == data3:
                    temp3 = search+1
            self.widgets.gladevcptheme.set_active(temp1)
            self.widgets.touchytheme.set_active(temp2)
            self.widgets.gmcpytheme.set_active(temp3)

    def gladevcp_sanity_check(self):
                if os.path.exists(os.path.expanduser("~/linuxcnc/configs/%s/gvcp-panel.ui" % self.d.machinename)):
                    if not self.warning_dialog(_("OK to replace existing glade panel ?\
\nIt will be renamed and added to 'backups' folder.\n Clicking 'existing custom program' will avoid this warning, but \
if you change related options later -such as spindle feedback- the HAL connection will not update"),False):
                        return True

    def pyvcp_sanity_check(self):
              if os.path.exists(os.path.expanduser("~/linuxcnc/configs/%s/pyvcp-panel.xml" % self.d.machinename)):
                 if not self.warning_dialog(_("OK to replace existing custom pyvcp panel?\
\nExisting pyvcp-panel.xml will be renamed and added to 'backups' folder\n\
Clicking 'existing custom program' will avoid this warning. "),False):
                    return True

    # disallow some signal combinations
    def do_exclusive_inputs(self, widget,portnum,pinname):
        # If initializing the Pport pages we don't want the signal calls to register here.
        # if we are working in here we don't want signal calls because of changes made in here
        # GTK supports signal blocking but then you can't assign signal block name references in GLADE -slaps head
        if self._p.prepare_block or self.recursive_block: return
        if 'mesa' in pinname:
            ptype = '%stype'%pinname
            if not self.widgets[ptype].get_active_text() == _PD.pintype_gpio[0]: return
        self.recursive_block = True
        SIG = self._p
        exclusive = {
            SIG.HOME_X: (SIG.MAX_HOME_X, SIG.MIN_HOME_X, SIG.BOTH_HOME_X, SIG.ALL_HOME, SIG.ALL_LIMIT_HOME),
            SIG.HOME_Y: (SIG.MAX_HOME_Y, SIG.MIN_HOME_Y, SIG.BOTH_HOME_Y, SIG.ALL_HOME, SIG.ALL_LIMIT_HOME),
            SIG.HOME_Z: (SIG.MAX_HOME_Z, SIG.MIN_HOME_Z, SIG.BOTH_HOME_Z, SIG.ALL_HOME, SIG.ALL_LIMIT_HOME),
            SIG.HOME_A: (SIG.MAX_HOME_A, SIG.MIN_HOME_A, SIG.BOTH_HOME_A, SIG.ALL_HOME, SIG.ALL_LIMIT_HOME),

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

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

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

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

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

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

            SIG.ALL_LIMIT: (
                SIG.MIN_X, SIG.MAX_X, SIG.BOTH_X, SIG.MIN_HOME_X, SIG.MAX_HOME_X, SIG.BOTH_HOME_X,
                SIG.MIN_Y, SIG.MAX_Y, SIG.BOTH_Y, SIG.MIN_HOME_Y, SIG.MAX_HOME_Y, SIG.BOTH_HOME_Y,
                SIG.MIN_Z, SIG.MAX_Z, SIG.BOTH_Z, SIG.MIN_HOME_Z, SIG.MAX_HOME_Z, SIG.BOTH_HOME_Z,
                SIG.MIN_A, SIG.MAX_A, SIG.BOTH_A, SIG.MIN_HOME_A, SIG.MAX_HOME_A, SIG.BOTH_HOME_A,
                SIG.ALL_LIMIT_HOME),
            SIG.ALL_HOME: (
                SIG.HOME_X, SIG.MIN_HOME_X, SIG.MAX_HOME_X, SIG.BOTH_HOME_X,
                SIG.HOME_Y, SIG.MIN_HOME_Y, SIG.MAX_HOME_Y, SIG.BOTH_HOME_Y,
                SIG.HOME_Z, SIG.MIN_HOME_Z, SIG.MAX_HOME_Z, SIG.BOTH_HOME_Z,
                SIG.HOME_A, SIG.MIN_HOME_A, SIG.MAX_HOME_A, SIG.BOTH_HOME_A,
                SIG.ALL_LIMIT_HOME),
            SIG.ALL_LIMIT_HOME: (
                SIG.HOME_X, SIG.MIN_HOME_X, SIG.MAX_HOME_X, SIG.BOTH_HOME_X,
                SIG.HOME_Y, SIG.MIN_HOME_Y, SIG.MAX_HOME_Y, SIG.BOTH_HOME_Y,
                SIG.HOME_Z, SIG.MIN_HOME_Z, SIG.MAX_HOME_Z, SIG.BOTH_HOME_Z,
                SIG.HOME_A, SIG.MIN_HOME_A, SIG.MAX_HOME_A, SIG.BOTH_HOME_A,
                SIG.MIN_X, SIG.MAX_X, SIG.BOTH_X, SIG.MIN_HOME_X, SIG.MAX_HOME_X, SIG.BOTH_HOME_X,
                SIG.MIN_Y, SIG.MAX_Y, SIG.BOTH_Y, SIG.MIN_HOME_Y, SIG.MAX_HOME_Y, SIG.BOTH_HOME_Y,
                SIG.MIN_Z, SIG.MAX_Z, SIG.BOTH_Z, SIG.MIN_HOME_Z, SIG.MAX_HOME_Z, SIG.BOTH_HOME_Z,
                SIG.MIN_A, SIG.MAX_A, SIG.BOTH_A, SIG.MIN_HOME_A, SIG.MAX_HOME_A, SIG.BOTH_HOME_A,
                SIG.ALL_LIMIT, SIG.ALL_HOME),
        }
        model = self.widgets[pinname].get_model()
        piter = self.widgets[pinname].get_active_iter()
        try:
            dummy, index,signame,sig_group = model.get(piter, 0,1,2,3)
        except:
            self.recursive_block = False
            return
        dbg('exclusive: current:%s %d %s %s'%(pinname,index,signame,sig_group),mtype='excl')
        ex = exclusive.get(signame, ())
        if self.d.number_mesa > 0:
            dbg( 'looking for %s in mesa'%signame,mtype='excl')
            # check mesa main board - only if the tab is shown and the ptype is GOIOI
            for boardnum in range(0,int(self.d.number_mesa)):
                for concount,connector in enumerate(self.d["mesa%d_currentfirmwaredata"% (boardnum)][_PD._NUMOFCNCTRS]) :
                    try:
                        if not self.widgets['mesa%dcon%dtable'%(boardnum,connector)].get_visible():continue
                    except:
                        break
                        break
                    for s in range(0,24):
                        p = "mesa%dc%dpin%d"% (boardnum,connector,s)
                        ptype = "mesa%dc%dpin%dtype"% (boardnum,connector,s)
                        #print(p,self.widgets[ptype].get_active_text(),_PD.pintype_gpio[0])
                        try:
                            if not self.widgets[ptype].get_active_text() == _PD.pintype_gpio[0]: continue
                            if self.widgets[p] == widget:continue
                        except:
                            break
                            break
                            break
                        model = self.widgets[p].get_model()
                        piter = self.widgets[p].get_active_iter()
                        dummy, index,v1,sig_group = model.get(piter, 0,1,2,3)
                        #print('check mesa signals',v1)
                        if v1 in ex or v1 == signame:
                            dbg( 'found %s, at %s'%(signame,p),mtype='excl')
                            self.widgets[p].set_active(self._p.hal_input_names.index(SIG.UNUSED_INPUT))
                            self.d[p] = SIG.UNUSED_INPUT
            port = 0
            dbg( 'looking for %s in mesa sserial'%signame,mtype='excl')
            for channel in range (0,self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._MAXSSERIALCHANNELS]):
                if channel == _PD._NUM_CHANNELS: break # TODO may not have all channels worth of glade widgets
                if not self.widgets['mesa%dsserial%d_%d'%(boardnum,port,channel)].get_visible():continue
                #print("sserial data transferring")
                for s in range (0,_PD._SSCOMBOLEN):
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, s)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, s)
                    try:
                        if not self.widgets[ptype].get_active_text() == _PD.pintype_gpio[0]: continue
                        if self.widgets[p] == widget:continue
                    except:
                        break
                        break
                    model = self.widgets[p].get_model()
                    piter = self.widgets[p].get_active_iter()
                    dummy, index,v1,sig_group = model.get(piter, 0,1,2,3)
                    #print('check mesa signals',v1)
                    if v1 in ex or v1 == signame:
                        dbg( 'found %s, at %s'%(signame,p),mtype='excl')
                        self.widgets[p].set_active(self._p.hal_input_names.index(SIG.UNUSED_INPUT))
                        self.d[p] = SIG.UNUSED_INPUT

        if self.d.number_pports >0:
            # search pport1 for the illegal signals and change them to unused.
            dbg( 'looking for %s in pport1'%signame,mtype='excl')
            for pin1 in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                p = 'pp1_Ipin%d' % pin1
                # pport2 may not be loaded yet
                try:
                    if self.widgets[p] == widget:continue
                except:
                    self.recursive_block = False
                    return
                model = self.widgets[p].get_model()
                piter = self.widgets[p].get_active_iter()
                dummy, index,v1,sig_group = model.get(piter, 0,1,2,3)
                #print('check pport1 signals',v1)
                if v1 in ex or v1 == signame:
                    dbg( 'found %s, at %s'%(signame,p),mtype='excl')
                    self.widgets[p].set_active(self._p.hal_input_names.index(SIG.UNUSED_INPUT))
                    self.d[p] = SIG.UNUSED_INPUT
        if self.d.number_pports >1:
            # search pport2 for the illegal signals and change them to unused.
            dbg( 'looking for %s in pport2'%signame,mtype='excl')
            for pin1 in (2,3,4,5,6,7,8,9,10,11,12,13,15):
                p2 = 'pp2_Ipin%d' % pin1
                # pport2 may not be loaded yet
                try:
                    if self.widgets[p2] == widget: continue
                except:
                    self.recursive_block = False
                    return
                model = self.widgets[p].get_model()
                piter = self.widgets[p].get_active_iter()
                dummy, index,v2,sig_group = model.get(piter, 0,1,2,3)
                #print('check pport2 signals',v1)
                if v2 in ex or v2 == signame:
                    dbg( 'found %s, at %s'%(signame,p2),mtype='excl')
                    self.widgets[p2].set_active(self._p.hal_input_names.index(SIG.UNUSED_INPUT))
                    self.d[p2] = SIG.UNUSED_INPUT
        self.recursive_block = False

        # MESA SIGNALS
        # connect signals with pin designation data to mesa signal comboboxes and pintype comboboxes
        # record the signal ID numbers so we can block the signals later in the mesa routines
        # have to do it here manually (instead of autoconnect) because glade doesn't handle added
        # user info (board/connector/pin number designations) and doesn't record the signal ID numbers
        # none of this is done if mesa is not checked off in pncconf
        # TODO we should check to see if signals are already present as each time user goes though this page
        # the signals get added again causing multiple calls to the functions.
    def init_mesa_signals(self,boardnum):
        cb = "mesa%d_discovery"% (boardnum)
        i = "_mesa%dsignalhandler_discovery"% (boardnum)
        self.d[i] = int(self.widgets[cb].connect("clicked", self.p['on_mesa%d_discovery_clicked'%boardnum]))
        cb = "mesa%d_comp_update"% (boardnum)
        i = "_mesa%dsignalhandler_comp_update"% (boardnum)
        self.d[i] = int(self.widgets[cb].connect("clicked", self.on_mesa_component_value_changed,boardnum))
        cb = "mesa%d_boardtitle"% (boardnum)
        i = "_mesa%dsignalhandler_boardname_change"% (boardnum)
        self.d[i] = int(self.widgets[cb].connect("changed", self.on_mesa_boardname_changed,boardnum))
        cb = "mesa%d_firmware"% (boardnum)
        i = "_mesa%dsignalhandler_firmware_change"% (boardnum)
        self.d[i] = int(self.widgets[cb].connect("changed", self.on_mesa_firmware_changed,boardnum))
        for connector in (1,2,3,4,5,6,7,8,9):
            for pin in range(0,24):
                cb = "mesa%dc%ipin%i"% (boardnum,connector,pin)
                i = "_mesa%dsignalhandlerc%ipin%i"% (boardnum,connector,pin)
                self.d[i] = int(self.widgets[cb].connect("changed",
                    self.on_general_pin_changed,"mesa",boardnum,connector,None,pin,False))
                i = "_mesa%dactivatehandlerc%ipin%i"% (boardnum,connector,pin)
                self.d[i] = int(self.widgets[cb].connect("move_active",
                    self.on_general_pin_changed,"mesa",boardnum,connector,None,pin,True))
                self.widgets[cb].connect('changed', self.do_exclusive_inputs,boardnum,cb)
                cb = "mesa%dc%ipin%itype"% (boardnum,connector,pin)
                i = "_mesa%dptypesignalhandlerc%ipin%i"% (boardnum,connector,pin)
                self.d[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pintype_changed,boardnum,connector,None,pin))
        # SmartSerial signals
        port = 0 #TODO we only support one serial port
        for channel in range (0,self._p._NUM_CHANNELS):
            for pin in range (0,self._p._SSCOMBOLEN):
                cb = "mesa%dsserial%i_%ipin%i"% (boardnum,port,channel,pin)
                i = "_mesa%dsignalhandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                self.d[i] = int(self.widgets[cb].connect("changed",
                    self.on_general_pin_changed,"sserial",boardnum,port,channel,pin,False))
                i = "_mesa%dactivatehandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                self.d[i] = int(self.widgets[cb].connect("move_active",
                    self.on_general_pin_changed,"sserial",boardnum,port,channel,pin,True))
                self.widgets[cb].connect('changed', self.do_exclusive_inputs,boardnum,cb)
                cb = "mesa%dsserial%i_%ipin%itype"% (boardnum,port,channel,pin)
                i = "_mesa%dptypesignalhandlersserial%i_%ipin%i"% (boardnum,port,channel,pin)
                self.d[i] = int(self.widgets[cb].connect("changed", self.on_mesa_pintype_changed,boardnum,port,channel,pin))
        self.widgets["mesa%d_7i29_sanity_check"%boardnum].connect('clicked', self.daughter_board_sanity_check)
        self.widgets["mesa%d_7i30_sanity_check"%boardnum].connect('clicked', self.daughter_board_sanity_check)
        self.widgets["mesa%d_7i33_sanity_check"%boardnum].connect('clicked', self.daughter_board_sanity_check)
        self.widgets["mesa%d_7i40_sanity_check"%boardnum].connect('clicked', self.daughter_board_sanity_check)
        self.widgets["mesa%d_7i48_sanity_check"%boardnum].connect('clicked', self.daughter_board_sanity_check)

    def init_mesa_options(self,boardnum):
        #print('init mesa%d options'%boardnum)
        i = self.widgets['mesa%d_boardtitle'%boardnum].get_active_text()
        # check for installed firmware
        #print(i,self.d['mesa%d_boardtitle'%boardnum])
        if 1==1:#if not self.d['_mesa%d_arrayloaded'%boardnum]:
            #print(boardnum,self._p.FIRMDIR,i)
            # add any extra firmware data from .pncconf-preference file
            #if not customself._p.MESA_FIRMWAREDATA == []:
            #    for i,j in enumerate(customself._p.MESA_FIRMWAREDATA):
            #        self._p.MESA_FIRMWAREDATA.append(customself._p.MESA_FIRMWAREDATA[i])
            # ok set up mesa info
            dbg('Looking for firmware data %s'%self.d["mesa%d_firmware"% boardnum])
            found = False
            search = 0
            model = self.widgets["mesa%d_firmware"% boardnum].get_model()
            for search,item in enumerate(model):
                dbg('%d,%s'%(search,model[search][0]))
                if model[search][0]  == self.d["mesa%d_firmware"% boardnum]:
                    self.widgets["mesa%d_firmware"% boardnum].set_active(search)
                    found = True
                    dbg('found firmware # %d'% search)
                    break
            if not found:
                dbg('firmware not found')
                cur_firm = self.d['mesa%d_currentfirmwaredata'% boardnum][_PD._FIRMWARE]
                dbg('looking for: %s'% cur_firm )
                #self.widgets["mesa%d_firmware"% boardnum].set_active(0)
                self._p.MESA_FIRMWAREDATA.append(self.d['mesa%d_currentfirmwaredata'% boardnum])
                model.append((cur_firm,))
                self.init_mesa_options(boardnum)
                return
            else:
                self.widgets["mesa%d_pwm_frequency"% boardnum].set_value(self.d["mesa%d_pwm_frequency"% boardnum])
                self.widgets["mesa%d_pdm_frequency"% boardnum].set_value(self.d["mesa%d_pdm_frequency"% boardnum])
                self.widgets["mesa%d_3pwm_frequency"% boardnum].set_value(self.d["mesa%d_3pwm_frequency"% boardnum])
                self.widgets["mesa%d_watchdog_timeout"% boardnum].set_value(self.d["mesa%d_watchdog_timeout"% boardnum])
                self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(self.d["mesa%d_numof_encodergens"% boardnum])
                self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(self.d["mesa%d_numof_pwmgens"% boardnum])
                self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_value(self.d["mesa%d_numof_tppwmgens"% boardnum])
                self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(self.d["mesa%d_numof_stepgens"% boardnum])
                self.widgets["mesa%d_numof_sserialports"% boardnum].set_value(self.d["mesa%d_numof_sserialports"% boardnum])
                self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_value(self.d["mesa%d_numof_sserialchannels"% boardnum])
        if not self.widgets.createconfig.get_active() and not self.d['_mesa%d_configured'%boardnum]:
            bt = self.d['mesa%d_boardtitle'%boardnum]
            firm = self.d['mesa%d_firmware'%boardnum]
            pgens = self.d['mesa%d_numof_pwmgens'%boardnum]
            tpgens = self.d['mesa%d_numof_tppwmgens'%boardnum]
            stepgens = self.d['mesa%d_numof_stepgens'%boardnum]
            enc = self.d['mesa%d_numof_encodergens'%boardnum]
            ssports = self.d['mesa%d_numof_sserialports'%boardnum]
            sschannels = self.d['mesa%d_numof_sserialchannels'%boardnum]
            self.set_mesa_options(boardnum,bt,firm,pgens,tpgens,stepgens,enc,ssports,sschannels)
        elif not self.d._mesa0_configured:
            self.widgets['mesa%dcon2table'%boardnum].hide()
            self.widgets['mesa%dcon3table'%boardnum].hide()
            self.widgets['mesa%dcon4table'%boardnum].hide()
            self.widgets['mesa%dcon5table'%boardnum].hide()

    def on_mesa_boardname_changed(self, widget,boardnum):
        #print("**** INFO boardname %d changed"% boardnum)
#TODO TODO do we need to change this to suit comboboxtext ???
        model = self.widgets["mesa%d_boardtitle"% boardnum].get_model()
        title = self.widgets["mesa%d_boardtitle"% boardnum].get_active_text()
        if title:
            if 'Discovery Option' in title:
                self.widgets["mesa%d_discovery"% boardnum].show()
            else:
                self.widgets["mesa%d_discovery"% boardnum].hide()
        for i in(1,2,3,4,5,6,7,8,9):
            self.widgets['mesa%dcon%dtable'%(boardnum,i)].hide()
            self.widgets["mesa{}con{}tab".format(boardnum,i)].set_text('I/O\n Connector %d'%i)
        for i in(0,1,2,3,4,5):
            self.widgets["mesa%dsserial0_%d"%(boardnum,i)].hide()
        if title == None: return
        if 'Discovery Option' not in title:
            meta = self.get_board_meta(title, boardnum)
            names = meta.get('TAB_NAMES')
            tnums = meta.get('TAB_NUMS')
            if names and tnums:
                for index, tabnum in enumerate(tnums):
                    self.widgets["mesa{}con{}tab".format(boardnum,tabnum)].set_text(names[index])
        #print('title',title)
        self.fill_firmware(boardnum)

    def fill_firmware(self,boardnum):
        #print('fill firmware')
        self.firmware_block = True
        title = self.widgets["mesa%d_boardtitle"% boardnum].get_active_text()
        #print(title)
        self._p.MESA_FIRMWAREDATA = []
        if os.path.exists(os.path.join(self._p.FIRMDIR,title)):
            self.mesa_firmware_search(title)
            self.d['_mesa%d_arrayloaded'%boardnum] = True
        for i in self._p.MESA_INTERNAL_FIRMWAREDATA:
            self._p.MESA_FIRMWAREDATA.append(i)
        model = self.widgets["mesa%d_firmware"% boardnum]
        model.remove_all()
        temp=[]
        for search, item in enumerate(self._p.MESA_FIRMWAREDATA):
            d = self._p.MESA_FIRMWAREDATA[search]
            if not d[self._p._BOARDTITLE] == title:continue
            temp.append(d[self._p._FIRMWARE])
        temp.sort()
        for i in temp:
            #print(i)
            model.append_text(i)
        self.widgets["mesa%d_firmware"% boardnum].set_active(0)
        self.firmware_block = False
        self.on_mesa_firmware_changed(None,boardnum)
        #print("firmware-",self.widgets["mesa%d_firmware"% boardnum].get_active_text(),self.widgets["mesa%d_firmware"% boardnum].get_active())
        #print("boardname-" + d[_PD._BOARDNAME])

    def on_mesa_firmware_changed(self, widget,boardnum):
        if self.firmware_block:
            return
        print("**** INFO firmware %d changed"% boardnum)
        model = self.widgets["mesa%d_boardtitle"% boardnum].get_model()
        active = self.widgets["mesa%d_boardtitle"% boardnum].get_active()
        if active < 0:
          title = None
        else: title = model[active][0]
        firmware = self.widgets["mesa%d_firmware"% boardnum].get_active_text()
        for search, item in enumerate(self._p.MESA_FIRMWAREDATA):
            d = self._p.MESA_FIRMWAREDATA[search]
            #print(firmware,d[_PD._FIRMWARE],title,d[_PD._BOARDTITLE])
            if not d[_PD._BOARDTITLE] == title:continue
            if d[_PD._FIRMWARE] == firmware:
                self.widgets["mesa%d_numof_encodergens"%boardnum].set_range(0,d[_PD._MAXENC])
                self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(d[_PD._MAXENC])
                self.widgets["mesa%d_numof_pwmgens"% boardnum].set_range(0,d[_PD._MAXPWM])
                self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(d[_PD._MAXPWM])
                if d[_PD._MAXTPPWM]:
                    self.widgets["mesa%d_numof_tppwmgens"% boardnum].show()
                    self.widgets["mesa%d_numof_tpp_label"% boardnum].show()
                    self.widgets["mesa%d_3pwm_freq_label"% boardnum].show()
                    self.widgets["mesa%d_3pwm_freq_units"% boardnum].show()
                    self.widgets["mesa%d_3pwm_frequency"% boardnum].show()
                else:
                    self.widgets["mesa%d_numof_tppwmgens"% boardnum].hide()
                    self.widgets["mesa%d_numof_tpp_label"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_freq_label"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_freq_units"% boardnum].hide()
                    self.widgets["mesa%d_3pwm_frequency"% boardnum].hide()
                self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_range(0,d[_PD._MAXTPPWM])
                self.widgets["mesa%d_numof_tppwmgens"% boardnum].set_value(d[_PD._MAXTPPWM])
                self.widgets["mesa%d_numof_stepgens"% boardnum].set_range(0,d[_PD._MAXSTEP])
                self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(d[_PD._MAXSTEP])
                self.d["mesa%d_numof_resolvers"% boardnum] = (d[_PD._MAXRES]) # TODO fix this hack should be selectable
                if d[_PD._MAXRES]:
                    self.widgets["mesa%d_numof_resolvers"% boardnum].show()
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_value(d[_PD._MAXRES]*6)
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_sensitive(False)
                    self.widgets["mesa%d_numof_resolvers_label"% boardnum].show()
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_value(24000)
                else:
                    self.widgets["mesa%d_numof_resolvers"% boardnum].hide()
                    self.widgets["mesa%d_numof_resolvers_label"% boardnum].hide()
                    self.widgets["mesa%d_numof_resolvers"% boardnum].set_value(0)
                if d[_PD._MAXSSERIALPORTS]:
                    self.widgets["mesa%d_numof_sserialports"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialports_label"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialchannels"% boardnum].show()
                    self.widgets["mesa%d_numof_sserialchannels_label"% boardnum].show()
                else:
                    self.widgets["mesa%d_numof_sserialports"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialports_label"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialchannels"% boardnum].hide()
                    self.widgets["mesa%d_numof_sserialchannels_label"% boardnum].hide()
                self.widgets["mesa%d_numof_sserialports"% boardnum].set_range(0,d[_PD._MAXSSERIALPORTS])
                self.widgets["mesa%d_numof_sserialports"% boardnum].set_value(d[_PD._MAXSSERIALPORTS])
                self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_range(1,d[_PD._MAXSSERIALCHANNELS])
                self.widgets["mesa%d_numof_sserialchannels"% boardnum].set_value(d[_PD._MAXSSERIALCHANNELS])
                self.widgets["mesa%d_totalpins"% boardnum].set_text("%s"% d[_PD._MAXGPIO])
                self.widgets["mesa%d_3pwm_frequency"% boardnum].set_sensitive(d[_PD._MAXTPPWM])
                if d[_PD._MAXRES]:
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_sensitive(False)
                else:
                    self.widgets["mesa%d_pwm_frequency"% boardnum].set_sensitive(d[_PD._MAXPWM])
                self.widgets["mesa%d_pdm_frequency"% boardnum].set_sensitive(d[_PD._MAXPWM])

                if 'eth' in d[_PD._HALDRIVER] or "7i43" in title or '7i90' in title:
                    self.widgets["mesa%d_card_addrs_hbox"% boardnum].show()
                    if '7i43' in title or '7i90' in title:
                        self.widgets["mesa%d_parportaddrs"% boardnum].show()
                        self.widgets["mesa%d_card_addrs"% boardnum].hide()
                    else:
                        self.widgets["mesa%d_parportaddrs"% boardnum].hide()
                        self.widgets["mesa%d_card_addrs"% boardnum].show()
                    self.widgets["mesa%d_parporttext"% boardnum].show()
                else:
                    self.widgets["mesa%d_card_addrs_hbox"% boardnum].hide()
                    self.widgets["mesa%d_parporttext"% boardnum].hide()
                break

    # This method converts data from the GUI page to signal names for pncconf's mesa data variables
    # It starts by checking pin type to set up the proper lists to search
    # then depending on the pin type widget data is converted to signal names.
    # if the signal name is not in the list add it to Human_names, signal_names
    # and disc-saved signalname lists
    # if encoder, pwm, or stepper pins the related pin are also set properly
    # it does this by searching the current firmware array and finding what the
    # other related pins numbers are then changing them to the appropriate signalname.
    def mesa_data_transfer(self,boardnum):
        for concount,connector in enumerate(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._NUMOFCNCTRS]) :
            for pin in range(0,24):
                p = 'mesa%dc%dpin%d' % (boardnum,connector,pin)
                pinv = 'mesa%dc%dpin%dinv' % (boardnum,connector,pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum,connector,pin)
                self.data_transfer(boardnum,connector,None,pin,p,pinv,ptype)
                self.d["mesa%d_pwm_frequency"% boardnum] = self.widgets["mesa%d_pwm_frequency"% boardnum].get_value()
        self.d["mesa%d_pdm_frequency"% boardnum] = self.widgets["mesa%d_pdm_frequency"% boardnum].get_value()
        self.d["mesa%d_3pwm_frequency"% boardnum] = self.widgets["mesa%d_3pwm_frequency"% boardnum].get_value()
        self.d["mesa%d_watchdog_timeout"% boardnum] = self.widgets["mesa%d_watchdog_timeout"% boardnum].get_value()
        port = 0
        for channel in range (0,self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._MAXSSERIALCHANNELS]):
                if channel == _PD._NUM_CHANNELS: break # TODO may not have all channels worth of glade widgets
                subboardname = self.d["mesa%dsserial%d_%dsubboard"% (boardnum, port, channel)]
                #print("data transfer-channel ",channel," subboard name",subboardname)
                if subboardname == "none":
                    #print("no subboard for %s"% subboardname)
                    continue
                #print("sserial data transferring")
                for pin in range (0,_PD._SSCOMBOLEN):
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum, port, channel, pin)
                    pinv = 'mesa%dsserial%d_%dpin%dinv' % (boardnum, port, channel, pin)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum, port, channel, pin)
                    self.data_transfer(boardnum,port,channel,pin,p,pinv,ptype)
                    #print("sserial data transfer",p)

    def data_transfer(self,boardnum,connector,channel,pin,p,pinv,ptype):
                foundit = False
                piter = self.widgets[p].get_active_iter()
                ptiter = self.widgets[ptype].get_active_iter()
                pintype = self.widgets[ptype].get_active_text()
                selection = self.widgets[p].get_active_text()
                signaltree = self.widgets[p].get_model()
                #if "serial" in p:
                #    #print("**** INFO mesa-data-transfer:",p," selection: ",selection,"  pintype: ",pintype)
                #    #print("**** INFO mesa-data-transfer:",ptiter,piter)
                # type NOTUSED
                if pintype == _PD.NUSED:
                    self.d[p] = _PD.UNUSED_UNUSED
                    self.d[ptype] = _PD.NUSED
                    self.d[pinv] = False
                    return
                # type GPIO input
                if pintype == _PD.GPIOI:
                    ptypetree = self.d._gpioliststore
                    signaltocheck = _PD.hal_input_names
                # type gpio output and open drain
                elif pintype in (_PD.GPIOO,_PD.GPIOD):
                    ptypetree = self.d._gpioliststore
                    signaltocheck = _PD.hal_output_names
                elif pintype == _PD.SSR0:
                    ptypetree = self.d._ssrliststore
                    signaltocheck = _PD.hal_output_names
                # type OUTM output
                elif pintype == _PD.OUTM0:
                    ptypetree = self.d._outmliststore
                    signaltocheck = _PD.hal_output_names
                # type INM input
                elif pintype == _PD.INM0:
                    ptypetree = self.d._inmliststore
                    signaltocheck = _PD.hal_input_names
                #type encoder
                elif pintype in (_PD.ENCA,_PD.ENCB,_PD.ENCI,_PD.ENCM):
                    ptypetree = self.d._encoderliststore
                    signaltocheck = _PD.hal_encoder_input_names
                # resolvers
                elif pintype in (_PD.RES0,_PD.RES1,_PD.RES2,_PD.RES3,_PD.RES4,_PD.RES5,_PD.RESU):
                    ptypetree = self.d._resolverliststore
                    signaltocheck = _PD.hal_resolver_input_names
                # 8i20 amplifier card
                elif pintype == _PD.AMP8I20:
                    ptypetree = self.d._8i20liststore
                    signaltocheck = _PD.hal_8i20_input_names
                # potentiometer output
                elif pintype in (_PD.POTO,_PD.POTE):
                    ptypetree = self.d._potliststore
                    signaltocheck = _PD.hal_pot_output_names
                # analog in
                elif pintype == (_PD.ANALOGIN):
                    ptypetree = self.d._analoginliststore
                    signaltocheck = _PD.hal_analog_input_names
                #type mux encoder
                elif pintype in (_PD.MXE0, _PD.MXE1, _PD.MXEI, _PD.MXEM, _PD.MXES):
                    ptypetree = self.d._muxencoderliststore
                    signaltocheck = _PD.hal_encoder_input_names
                # type PWM gen
                elif pintype in( _PD.PDMP,_PD.PDMD,_PD.PDME):
                    if pintype == _PD.PDMP:
                        ptypetree = self.d._pdmcontrolliststore
                    else:
                        ptypetree = self.d._pdmrelatedliststore
                    signaltocheck = _PD.hal_pwm_output_names
                # PDM
                elif pintype in( _PD.PWMP,_PD.PWMD,_PD.PWME):
                    if pintype == _PD.PWMP:
                        ptypetree = self.d._pwmcontrolliststore
                    else:
                        ptypetree = self.d._pwmrelatedliststore
                    signaltocheck = _PD.hal_pwm_output_names
                # Up/Down mode
                elif pintype in( _PD.UDMU,_PD.UDMD,_PD.UDME):
                    if pintype == _PD.UDMU:
                        ptypetree = self.d._udmcontrolliststore
                    else:
                        ptypetree = self.d._udmrelatedliststore
                    signaltocheck = _PD.hal_pwm_output_names
                # type tp pwm
                elif pintype in (_PD.TPPWMA,_PD.TPPWMB,_PD.TPPWMC,_PD.TPPWMAN,_PD.TPPWMBN,_PD.TPPWMCN,_PD.TPPWME,_PD.TPPWMF):
                    ptypetree = self.d._tppwmliststore
                    signaltocheck = _PD.hal_tppwm_output_names
                # type step gen
                elif pintype in (_PD.STEPA,_PD.STEPB):
                    ptypetree = self.d._stepperliststore
                    signaltocheck = _PD.hal_stepper_names
                # type sserial
                elif pintype in (_PD.RXDATA0,_PD.TXDATA0,_PD.TXEN0,_PD.RXDATA1,_PD.TXDATA1,_PD.TXEN1,_PD.RXDATA2,
                                    _PD.TXDATA2,_PD.TXEN2,_PD.RXDATA3,_PD.TXDATA3,_PD.TXEN3,
                                    _PD.RXDATA4,_PD.TXDATA4,_PD.TXEN4,_PD.RXDATA5,_PD.TXDATA5,_PD.TXEN5,_PD.RXDATA6,_PD.TXDATA6,
                                    _PD.TXEN6,_PD.RXDATA7,_PD.TXDATA7,_PD.TXEN7,
                                    _PD.SS7I76M0,_PD.SS7I76M2,_PD.SS7I76M3,_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                    ptypetree = self.d._sserialliststore
                    signaltocheck = _PD.hal_sserial_names
                # this suppresses errors because of unused and uninitialized sserial instances
                elif pintype == None and "sserial" in ptype: return
                else :
                    print("**** ERROR mesa-data-transfer: error unknown pin type:",pintype,"of ",ptype)
                    return

                # **Start widget to data Conversion**
                # for encoder pins
                if piter == None:
                        #print("callin pin changed !!!")
                        name ="mesa"
                        if "sserial" in p: name = "sserial"
                        self.on_general_pin_changed(None,name,boardnum,connector,channel,pin,True)
                        selection = self.widgets[p].get_active_text()
                        piter = self.widgets[p].get_active_iter()
                        if piter == None:
                            print("****ERROR PNCCONF: no custom name available")
                            return
                        #print("found signame -> ",selection," ")
                # ok we have a piter with a signal type now- lets convert it to a signalname
                #if not "serial" in p:
                #    self.debug_iter(piter,p,"signal")
                dummy, index = signaltree.get(piter,0,1)
                #if not "serial" in p:
                #    #print("signaltree: ",dummy)
                #    self.debug_iter(ptiter,ptype,"ptype")
                widgetptype, index2 = ptypetree.get(ptiter,0,1)
                #if not "serial" in p:
                #    #print("ptypetree: ",widgetptype)
                if pintype in (_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0,_PD.MXE0,_PD.MXE1,
                               _PD.RES1,_PD.RES2,_PD.RES3,_PD.RES4,_PD.RES5,_PD.RESU,_PD.SS7I76M0,_PD.SS7I76M2,
                               _PD.SS7I76M3,_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4) or (index == 0):
                    index2 = 0
                elif pintype in ( _PD.TXDATA0,_PD.RXDATA0,_PD.TXEN0,_PD.TXDATA1,_PD.RXDATA1,_PD.TXEN1,
                                  _PD.TXDATA2,_PD.RXDATA2,_PD.TXEN2,_PD.TXDATA3,_PD.RXDATA3,_PD.TXEN3,
                                  _PD.TXDATA4,_PD.RXDATA4,_PD.TXEN4,_PD.TXDATA5,_PD.RXDATA5,_PD.TXEN5,
                                  _PD.TXDATA6,_PD.RXDATA6,_PD.TXEN6,_PD.TXDATA7,_PD.RXDATA7,_PD.TXEN7 ):
                    index2 = 0
                #print(index,index2,signaltocheck[index+index2])
                self.d[p] = signaltocheck[index+index2]
                self.d[ptype] = widgetptype
                self.d[pinv] = self.widgets[pinv].get_active()
                #if "serial" in p:
                #    #print("*** INFO PNCCONF mesa pin:",p,"signalname:",self.d[p],"pin type:",widgetptype)

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

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

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

    def set_mesa_options(self,boardnum,title,firmware,numofpwmgens,numoftppwmgens,numofstepgens,numofencoders,numofsserialports,numofsserialchannels):
        _PD.prepare_block = True
        self.p.set_buttons_sensitive(0,0)
        for search, item in enumerate(self._p.MESA_FIRMWAREDATA):
            d = self._p.MESA_FIRMWAREDATA[search]
            if not d[_PD._BOARDTITLE] == title:continue
            if d[_PD._FIRMWARE] == firmware:
                self.d["mesa%d_currentfirmwaredata"% boardnum] = self._p.MESA_FIRMWAREDATA[search]
                break
        dbg('current firmware:\n%r'%self._p.MESA_FIRMWAREDATA[search],mtype='curfirm')

        self.widgets["mesa%dcon2table"% boardnum].hide()
        self.widgets["mesa%dcon3table"% boardnum].hide()
        self.widgets["mesa%dcon4table"% boardnum].hide()
        self.widgets["mesa%dcon5table"% boardnum].hide()
        self.widgets["mesa%dcon6table"% boardnum].hide()
        self.widgets["mesa%dcon7table"% boardnum].hide()
        self.widgets["mesa%dcon8table"% boardnum].hide()
        self.widgets["mesa%dcon9table"% boardnum].hide()
        self.widgets["mesa%dsserial0_0"% boardnum].hide()
        self.widgets["mesa%dsserial0_1"% boardnum].hide()
        self.widgets["mesa%dsserial0_2"% boardnum].hide()
        self.widgets["mesa%dsserial0_3"% boardnum].hide()
        self.widgets["mesa%dsserial0_4"% boardnum].hide()
        for i in self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._NUMOFCNCTRS]:
            self.widgets["mesa%dcon%dtable"% (boardnum,i)].show()

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

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

        currentboard = self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._BOARDNAME]
        meta = self.get_board_meta(currentboard, boardnum)
        ppc = meta.get('PINS_PER_CONNECTOR')

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

        self.d["mesa%d_numof_stepgens"% boardnum] = numofstepgens
        self.d["mesa%d_numof_pwmgens"% boardnum] = numofpwmgens
        self.d["mesa%d_numof_encodergens"% boardnum] = numofencoders
        self.d["mesa%d_numof_sserialports"% boardnum] = numofsserialports
        self.d["mesa%d_numof_sserialchannels"% boardnum] = numofsserialchannels
        self.widgets["mesa%d_numof_stepgens"% boardnum].set_value(numofstepgens)
        self.widgets["mesa%d_numof_encodergens"% boardnum].set_value(numofencoders)
        self.widgets["mesa%d_numof_pwmgens"% boardnum].set_value(numofpwmgens)
        self.in_mesa_prepare = False
        self.d["_mesa%d_configured"% boardnum] = True
        # unblock all the widget signals again
        for concount,connector in enumerate(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._NUMOFCNCTRS]) :
            for pin in range (0,24):
                self.pbar.set_fraction((pin+1)/24.0)
                while Gtk.events_pending():
                    Gtk.main_iteration()
                p = 'mesa%dc%dpin%d' % (boardnum, connector, pin)
                ptype = 'mesa%dc%dpin%dtype' % (boardnum, connector , pin)
                blocksignal = "_mesa%dsignalhandlerc%ipin%i" % (boardnum, connector, pin)
                ptypeblocksignal  = "_mesa%dptypesignalhandlerc%ipin%i" % (boardnum, connector,pin)
                actblocksignal = "_mesa%dactivatehandlerc%ipin%i"  % (boardnum, connector, pin)
                self.widgets[ptype].handler_unblock(self.d[ptypeblocksignal])
                self.widgets[p].handler_unblock(self.d[blocksignal])
#TODO TODO ???
#                self.widgets[p].get_child().handler_unblock(self.d[actblocksignal])
        self.mesa_mainboard_data_to_widgets(boardnum)
        self.window.hide()
        self.p.set_buttons_sensitive(1,1)
        _PD.prepare_block = False

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

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

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

                # ---SETUP GUI FOR ENCODER FAMILY COMPONENT---
                # check that we are not converting more encoders that user requested
                # if we are then we trick this routine into thinking the firmware asked for GPIO:
                # we can do that by changing the variable 'firmptype' to ask for GPIO
                if firmptype in ( _PD.ENCA,_PD.ENCB,_PD.ENCI,_PD.ENCM ):
                    if numofencoders >= (compnum+1):
                        # if the combobox is not already displaying the right component:
                        # then we need to set up the comboboxes for this pin, otherwise skip it
                        if self.widgets[ptype].get_model():
                            widgetptype = self.widgets[ptype].get_active_text()
                        else: widgetptype = None
                        if not widgetptype == firmptype or not self.d["_mesa%d_configured"%boardnum]:
                            self.widgets[pinv].set_sensitive(0)
                            self.widgets[pinv].set_active(0)
                            self.widgets[ptype].set_model(self.d._encoderliststore)
                            # serial encoders are not for AXES - filter AXES selections out
                            if sserialflag:
                                self.widgets[p].set_model(self.d._encodersignalfilter)
                            else:
                                self.widgets[p].set_model(self.d._encodersignaltree)
                            # we only add every 4th human name so the user can only select
                            # the encoder's 'A' signal name. If its the other signals
                            # we can add them all because pncconf controls what the user sees
                            if firmptype == _PD.ENCA:
                                self.widgets[complabel].set_text("%d:"%compnum)
                                self.widgets[p].set_active(0)
                                self.widgets[p].set_sensitive(1)
                                self.widgets[ptype].set_sensitive(0)
                                self.widgets[ptype].set_active(0)
                            # pncconf control what the user sees with these ones:
                            elif firmptype in(_PD.ENCB,_PD.ENCI,_PD.ENCM):
                                self.widgets[complabel].set_text("")
                                self.widgets[p].set_active(0)
                                self.widgets[p].set_sensitive(0)
                                self.widgets[ptype].set_sensitive(0)
                                for i,j in enumerate((_PD.ENCB,_PD.ENCI,_PD.ENCM)):
                                    if firmptype == j:break
                                self.widgets[ptype].set_active(i+1)
                    else:
                        # user requested this encoder component to be GPIO instead
                        # We cheat a little and tell the rest of the method that the firmware says
                        # it should be GPIO and compnum is changed to signify that the GPIO can be changed
                        # from input to output
                        # Right now only mainboard GPIO can be changed
                        # sserial I/O can not
                        firmptype = _PD.GPIOI
                        compnum = 0

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

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

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

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

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

                # ---SETUP GUI FOR PWM FAMILY COMPONENT---
                # the user has a choice of pulse width or pulse density modulation
                elif firmptype in ( _PD.PWMP,_PD.PWMD,_PD.PWME,_PD.PDMP,_PD.PDMD,_PD.PDME ):
                    if numofpwmgens >= (compnum+1):
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[p].set_model(self.d._pwmsignaltree)
                        # only add the -pulse signal names for the user to see
                        if firmptype in(_PD.PWMP,_PD.PDMP):
                            self.widgets[complabel].set_text("%d:"%compnum)
                            #print("firmptype = controlling")
                            self.widgets[ptype].set_model(self.d._pwmcontrolliststore)
                            self.widgets[ptype].set_sensitive(not sserialflag) # sserial pwm cannot be changed
                            self.widgets[p].set_sensitive(1)
                            self.widgets[p].set_active(0)
                            self.widgets[ptype].set_active(0)
                        # add them all here
                        elif firmptype in (_PD.PWMD,_PD.PWME,_PD.PDMD,_PD.PDME):
                            self.widgets[complabel].set_text("")
                            #print("firmptype = related")
                            if firmptype in (_PD.PWMD,_PD.PWME):
                                self.widgets[ptype].set_model(self.d._pwmrelatedliststore)
                            else:
                                self.widgets[ptype].set_model(self.d._pdmrelatedliststore)
                            self.widgets[p].set_sensitive(0)
                            self.widgets[p].set_active(0)
                            self.widgets[ptype].set_sensitive(0)
                            temp = 1
                            if firmptype in (_PD.PWME,_PD.PDME):
                                self.widgets[pinv].set_sensitive(0)
                                temp = 2
                            self.widgets[ptype].set_active(temp)
                    else:
                        firmptype = _PD.GPIOI
                        compnum = 0
                # ---SETUP GUI FOR TP PWM FAMILY COMPONENT---
                elif firmptype in ( _PD.TPPWMA,_PD.TPPWMB,_PD.TPPWMC,_PD.TPPWMAN,_PD.TPPWMBN,_PD.TPPWMCN,_PD.TPPWME,_PD.TPPWMF ):
                    if numoftppwmgens >= (compnum+1):
                        if not self.widgets[ptype].get_active_text() == firmptype or not self.d["_mesa%d_configured"%boardnum]:
                            self.widgets[p].set_model(self.d._tppwmsignaltree)
                            self.widgets[ptype].set_model(self.d._tppwmliststore)
                            self.widgets[pinv].set_sensitive(0)
                            self.widgets[pinv].set_active(0)
                            self.widgets[ptype].set_sensitive(0)
                            self.widgets[ptype].set_active(_PD.pintype_tp_pwm.index(firmptype))
                            self.widgets[p].set_active(0)
                            # only add the -a signal names for the user to change
                            if firmptype == _PD.TPPWMA:
                                self.widgets[complabel].set_text("%d:"%compnum)
                                self.widgets[p].set_sensitive(1)
                            # the rest the user can't change
                            else:
                                self.widgets[complabel].set_text("")
                                self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = _PD.GPIOI
                        compnum = 0
                # ---SETUP SMART SERIAL COMPONENTS---
                # smart serial has port numbers (0-3) and channels (0-7).
                # so the component number check is different from other components it checks the port number and channel number
                elif firmptype in (_PD.TXDATA0,_PD.RXDATA0,_PD.TXEN0,_PD.TXDATA1,_PD.RXDATA1,_PD.TXEN1,
                                    _PD.TXDATA2,_PD.RXDATA2,_PD.TXEN2,_PD.TXDATA3,_PD.RXDATA3,_PD.TXEN3,
                                    _PD.TXDATA4,_PD.RXDATA4,_PD.TXEN4,_PD.TXDATA5,_PD.RXDATA5,_PD.TXEN5,
                                    _PD.TXDATA6,_PD.RXDATA6,_PD.TXEN6,_PD.TXDATA7,_PD.RXDATA7,_PD.TXEN7,
                                    _PD.SS7I76M0,_PD.SS7I76M2,_PD.SS7I76M3,_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                    channelnum = 1
                    if firmptype in (_PD.TXDATA1,_PD.RXDATA1,_PD.TXEN1,_PD.SS7I77M1): channelnum = 2
                    if firmptype in (_PD.TXDATA2,_PD.RXDATA2,_PD.TXEN2,_PD.SS7I76M2): channelnum = 3
                    if firmptype in (_PD.TXDATA3,_PD.RXDATA3,_PD.TXEN3,_PD.SS7I76M3,_PD.SS7I77M3): channelnum = 4
                    if firmptype in (_PD.TXDATA4,_PD.RXDATA4,_PD.TXEN4,_PD.SS7I77M4): channelnum = 5
                    if firmptype in (_PD.TXDATA5,_PD.RXDATA5,_PD.TXEN5): channelnum = 6
                    if firmptype in (_PD.TXDATA6,_PD.RXDATA6,_PD.TXEN6): channelnum = 7
                    if firmptype in (_PD.TXDATA7,_PD.RXDATA7,_PD.TXEN7): channelnum = 8
                    # control combobox is the one the user can select from others are unsensitized
                    CONTROL = False
                    if firmptype in (_PD.TXDATA0,_PD.TXDATA1,_PD.TXDATA2,_PD.TXDATA3,_PD.TXDATA4,_PD.TXDATA5,
                                        _PD.TXDATA6,_PD.TXDATA7,_PD.SS7I76M0,_PD.SS7I76M2,_PD.SS7I76M3,
                                        _PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                        CONTROL = True
                    #print("**** INFO: SMART SERIAL ENCODER:",firmptype," compnum = ",compnum," channel = ",channelnum)
                    #print("sserial channel:%d"% numofsserialchannels)
                    if numofsserialports >= (compnum + 1) and numofsserialchannels >= (channelnum):
                        # if the combobox is not already displaying the right component:
                        # then we need to set up the comboboxes for this pin, otherwise skip it
                        #if compnum < _PD._NUM_CHANNELS: # TODO not all channels available
                        #    self.widgets["mesa%dsserialtab%d"% (boardnum,compnum)].show()

                        self.widgets[pinv].set_sensitive(0)
                        self.widgets[pinv].set_active(0)
                        # Filter the selection that the user can choose.
                        # eg only show two modes for 7i77 and 7i76 or
                        # don't give those selections on regular sserial channels
                        if CONTROL:
                            self.widgets[p].set_model(self.d['_sserial%d_signalfilter'%(channelnum-1)])
                            if firmptype in (_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                                self.set_filter('_sserial%d'% (channelnum-1),'7I77')
                            elif firmptype in (_PD.SS7I76M0,_PD.SS7I76M2,_PD.SS7I76M3):
                                self.set_filter('_sserial%d'% (channelnum-1),'7I76')
                            else:
                                self.set_filter('_sserial%d'% (channelnum-1),'ALL')
                        else:
                            self.widgets[p].set_model(self.d._sserialsignaltree)
                        self.widgets[ptype].set_model(self.d._sserialliststore)
                        self.widgets[ptype].set_active(_PD.pintype_sserial.index(firmptype))
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[p].set_active(0)
                        self.widgets[p].get_child().set_editable(False) # sserial cannot have custom names
                        # controlling combbox
                        if CONTROL:
                            self.widgets[complabel].set_text("%d:"% (channelnum -1))
                            if channelnum <= _PD._NUM_CHANNELS:#TODO not all channels available
                                self.widgets[p].set_sensitive(1)
                            else:
                                self.widgets[p].set_sensitive(0)
                            # This is a bit of a hack to make 7i77 and 7i76 firmware automatically choose
                            # the appropriate sserial component and allow the user to select different modes
                            # if the sserial ptype is 7i76 or 7i77 then the data must be set to 7i76/7i77 signal
                            # as that sserial instance can only be for the 7i76/7i77 I/O points
                            # 7i76:
                            if firmptype in (_PD.SS7I76M0,_PD.SS7I76M2,_PD.SS7I76M3):
                                if not self.d[p] in (_PD.I7I76_M0_T,_PD.I7I76_M2_T):
                                    self.d[p] = _PD.I7I76_M0_T
                                self.d[ptype] = firmptype
                                self.widgets[p].set_sensitive(self.d.advanced_option)
                            # 7i77:
                            elif firmptype in (_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                                if not self.d[p] in (_PD.I7I77_M3_T,_PD.I7I77_M0_T):
                                    self.d[p] = _PD.I7I77_M0_T
                                if not firmptype in( _PD.SS7I77M1,_PD.SS7I77M4):
                                    self.widgets[p].set_sensitive(self.d.advanced_option)
                                else:
                                    self.widgets[p].set_sensitive(0)
                                self.d[ptype] = firmptype
                            else:
                                print('found a sserial channel')
                                ssdevice = self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._SSDEVICES]
                                for port,channel,device in (ssdevice):
                                    print(port,channel,device,channelnum)
                                    if port == 0 and channel+1 == channelnum:
                                        print('configure for: %s device'% device)
                                        if '7I64' in device:
                                            if not '7i64' in self.d[p]:
                                                self.d[p] = _PD.I7I64_T
                                        elif '7I73' in device:
                                            if not '7i73' in self.d[p]:
                                                self.d[p] = _PD.I7I73_M1_T
                        else:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = _PD.GPIOI
                        compnum = 0
                # ---SETUP FOR STEPPER FAMILY COMPONENT---
                elif firmptype in (_PD.STEPA,_PD.STEPB):
                    if numofstepgens >= (compnum+1):
                        self.widgets[ptype].set_model(self.d._stepperliststore)
                        self.widgets[p].set_model(self.d._steppersignaltree)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[pinv].set_active(0)
                        self.widgets[ptype].set_sensitive(0)
                        self.widgets[ptype].set_active( _PD.pintype_stepper.index(firmptype) )
                        self.widgets[p].set_active(0)
                        #self.widgets[p].set_active(0)
                        if firmptype == _PD.STEPA:
                            self.widgets[complabel].set_text("%d:"%compnum)
                            self.widgets[p].set_sensitive(1)
                        elif firmptype == _PD.STEPB:
                            self.widgets[complabel].set_text("")
                            self.widgets[p].set_sensitive(0)
                    else:
                        firmptype = _PD.GPIOI
                        compnum = 0
                # ---SETUP FOR GPIO FAMILY COMPONENT---
                # first check to see if firmware says it should be in GPIO family
                # (note this can be because firmware says it should be some other
                # type but the user wants to deselect it so as to use it as GPIO
                # this is done in the firmptype checks before this check.
                # They will change firmptype variable to GPIOI)
                # check if firmptype is in GPIO family
                # check if widget is already configured
                # we now set everything in a known state.
                if firmptype in (_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0):
                    if self.widgets[ptype].get_model():
                        widgettext = self.widgets[ptype].get_active_text()
                    else:
                        widgettext = None
                    if sserialflag:
                        if "7i77" in subboardname or "7i76" in subboardname or "7i84" in subboardname:
                            if pin <16:
                                self.widgets[complabel].set_text("%02d:"%(pin)) # sserial input
                            elif (pin >23 and pin < 40):
                                self.widgets[complabel].set_text("%02d:"%(pin-8)) # sserial input
                            elif pin >15 and pin < 24:
                                self.widgets[complabel].set_text("%02d:"%(pin-16)) #sserial output
                            elif pin >39:
                                self.widgets[complabel].set_text("%02d:"%(pin-32)) #sserial output
                        elif "7i70" in subboardname or "7i71" in subboardname:
                            self.widgets[complabel].set_text("%02d:"%(pin))
                        else:
                            if pin <24 :
                                self.widgets[complabel].set_text("%02d:"%(concount*24+pin)) # sserial input
                            else:
                                self.widgets[complabel].set_text("%02d:"%(concount*24+pin-24)) #sserial output
                    else:
                        if firmptype in (_PD.SSR0, _PD.OUTM0, _PD.INM0):
                            self.widgets[complabel].set_text("%02d:"%(compnum - 100))
                        else:
                            self.widgets[complabel].set_text("%03d:"%(concount*ppc+pin))# mainboard GPIO or INM

                    if compnum >= 100 and widgettext == firmptype:
                        return
                    elif compnum < 100 and (widgettext in (_PD.GPIOI,_PD.GPIOO,_PD.GPIOD)):
                        return
                    else:
                        #self.widgets[ptype].show()
                        #self.widgets[p].show()
                        self.widgets[p].set_sensitive(1)
                        self.widgets[pinv].set_sensitive(1)
                        self.widgets[ptype].set_sensitive(not compnum >= 100) # compnum = 100 means GPIO cannot be changed by user
                        if firmptype == _PD.SSR0:
                            self.widgets[ptype].set_model(self.d._ssrliststore)
                        elif firmptype == _PD.OUTM0:
                            self.widgets[ptype].set_model(self.d._outmliststore)
                        elif firmptype == _PD.INM0:
                            self.widgets[ptype].set_model(self.d._inmliststore)
                        else:
                            self.widgets[ptype].set_model(self.d._gpioliststore)
                        if firmptype in (_PD.GPIOI, _PD.INM0):
                            # set pin treestore to gpioi signals
                            self.widgets[p].set_model(self.d._gpioisignaltree)
                            # set ptype gpioi
                            self.widgets[ptype].set_active(0)
                            # set p unused signal
                            self.widgets[p].set_active(0)
                            # set pinv unset
                            self.widgets[pinv].set_active(False)
                        elif firmptype in (_PD.SSR0, _PD.OUTM0):
                            self.widgets[p].set_model(self.d._gpioosignaltree)
                            # set ptype gpioo
                            self.widgets[ptype].set_active(0)
                            # set p unused signal
                            self.widgets[p].set_active(0)
                            # set pinv unset
                            self.widgets[pinv].set_active(False)
                        else:
                            self.widgets[p].set_model(self.d._gpioosignaltree)
                            # set ptype gpioo
                            self.widgets[ptype].set_active(1)
                            # set p unused signal
                            self.widgets[p].set_active(0)
                            # set pinv unset
                            self.widgets[pinv].set_active(False)


    def find_sig_name_iter(self,model, signal_name):
        for i, k in enumerate(model):
            itr = model.get_iter(i)
            title = model.get_value(itr,2)
            #print('first:',title)
            # check first set
            if title == signal_name :return itr
            cld_itr = model.iter_children(itr)
            if cld_itr != None:
                while cld_itr != None:
                    gcld_itr = model.iter_children(cld_itr)
                    if gcld_itr != None:
                        while gcld_itr != None:
                            title = model.get_value(gcld_itr,2)
                            #print(title)
                            # check third set
                            if title == signal_name :return gcld_itr
                            gcld_itr = model.iter_next(gcld_itr)
                    title = model.get_value(cld_itr,2)
                    #print(title)
                    # check second set
                    if title == signal_name :return cld_itr
                    cld_itr = model.iter_next(cld_itr)
        # return first entry if no signal name is found
        return model.get_iter_first()



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

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




                # TODO fix this for cmboboxes withgrandchildren
                # we are searching through human names - why not just search the model?

                # type GPIO
                # if compnum  = 100  then it means that the GPIO type can not
                # be changed from what the firmware designates it as.
                if widgetptype in (_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0):
                        #print("data ptype index:",_PD.pintype_gpio.index(dataptype))
                        #self.debug_iter(0,p,"data to widget")
                        #self.debug_iter(0,ptype,"data to widget")
                        # signal names for GPIO INPUT
                        #print("compnum = ",compnum)
                        if compnum >= 100: dataptype = widgetptype
                        self.widgets[pinv].set_active(self.d[pinv])
                        if widgetptype in (_PD.SSR0,_PD.OUTM0,_PD.INM0):
                            self.widgets[ptype].set_active(0)
                        else:
                            try:
                                self.widgets[ptype].set_active( _PD.pintype_gpio.index(dataptype) )
                            except:
                                self.widgets[ptype].set_active( _PD.pintype_gpio.index(widgetptype) )
                        # if input family or not in output family force it to input
                        if dataptype in (_PD.GPIOI,_PD.INM0) or dataptype not in \
                                        (_PD.GPIOO,_PD.GPIOI,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0):
                            human = _PD.human_input_names
                            signal = _PD.hal_input_names
                            tree = self.d._gpioisignaltree
                        # signal names for GPIO OUTPUT and OPEN DRAIN OUTPUT
                        elif dataptype in (_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0):
                            human = _PD.human_output_names
                            signal = _PD.hal_output_names
                            tree = self.d._gpioosignaltree
                        self.widgets[p].set_model(tree)
                        itr = self.find_sig_name_iter(tree, datap)
                        self.widgets[p].set_active_iter(itr)

                # type encoder / mux encoder
                # we find the data's signal index
                # then we search through the combobox's actual model's 4th array index
                # this contains the comboxbox's signal's index number
                # when they match then that is the row to show in the combobox
                # this is different because the sserial combobox's model
                # can be filtered and that screws with the relationship of
                # signalname array vrs model row
                elif widgetptype == _PD.ENCA or widgetptype in(_PD.MXE0,_PD.MXE1):
                    #print("ENC ->dataptype:",self.d[ptype]," dataptype:",self.d[p],signalindex)
                    pinmodel = self.widgets[p].get_model()
                    itr = self.find_sig_name_iter(pinmodel, datap)
                    self.widgets[p].set_active_iter(itr)

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

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

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

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

                # type PWM gen
                elif widgetptype in (_PD.PDMP,_PD.PWMP,_PD.UDMU):
                    self.widgets[pinv].set_active(datapinv)
                    if self.widgets["mesa%d_numof_resolvers"% boardnum].get_value(): dataptype = _PD.UDMU # hack resolver board needs UDMU
                    if dataptype == _PD.PDMP:
                        #print("pdm")
                        self.widgets[ptype].set_model(self.d._pdmcontrolliststore)
                        self.widgets[ptype].set_active(1)
                    elif dataptype == _PD.PWMP:
                        #print("pwm",self.d._pwmcontrolliststore)
                        self.widgets[ptype].set_model(self.d._pwmcontrolliststore)
                        self.widgets[ptype].set_active(0)
                    elif dataptype == _PD.UDMU:
                        #print("udm",self.d._udmcontrolliststore)
                        self.widgets[ptype].set_model(self.d._udmcontrolliststore)
                        self.widgets[ptype].set_active(2)
                    itr = self.find_sig_name_iter(self.d._pwmsignaltree, datap)
                    self.widgets[p].set_active_iter(itr)

                # type tp 3 pwm for direct brushless motor control
                elif widgetptype == _PD.TPPWMA:
                    #print("3 pwm")
                    count = -7
                    try:
                        signalindex = _PD.hal_tppwm_output_names.index(datap)
                    except:
                        if debug: print("**** INFO: PNCCONF warning no THREE PWM signal named: %s\n     found for pin %s"% (datap ,p))
                        signalindex = 0
                    #print("3 PWw ,dataptype:",self.d[ptype]," dataptype:",self.d[p],signalindex)
                    temp = (0) # set unused stepper
                    if signalindex > 0:
                       for row,parent in enumerate(_PD.human_tppwm_output_names):
                          if row == 0:continue
                          if len(parent[1]) == 0:
                             count += 8
                             #print(row,count,parent[0])
                             if count == signalindex:
                                #print("match",row)
                                temp = (row)
                                break
                             continue
                       for column,child in enumerate(parent[1]):
                           count +=8
                           #print(row,column,count,parent[0],child)
                           if count == signalindex:
                               #print("match",row)
                               temp = (row,column)
                               break
                           if count >= signalindex:break
                    treeiter = self.d._tppwmsignaltree.get_iter(temp)
                    self.widgets[p].set_active_iter(treeiter)

                # type step gen
                elif widgetptype == _PD.STEPA:
                    #print("stepper", dataptype)
                    self.widgets[ptype].set_active(0)
                    self.widgets[p].set_active(0)
                    self.widgets[pinv].set_active(datapinv)
                    itr = self.find_sig_name_iter(self.d._steppersignaltree, datap)
                    self.widgets[p].set_active_iter(itr)

                # type smartserial
                # we do things differently here
                # we find the data's signal index
                # then we search through the combobox's model's 4th array index
                # this contains the comboxbox's signal's index number
                # when they match then that is the row to show in the combobox
                # this is different because the sserial combobox's model
                # can be filtered and that screws with the relationship of
                # signalname array vrs model row
                elif widgetptype in( _PD.TXDATA0,_PD.SS7I76M0,_PD.SS7I77M0,_PD.SS7I77M3,_PD.TXDATA1,
                                    _PD.TXDATA2,_PD.TXDATA3,_PD.TXDATA4,_PD.TXDATA5,_PD.TXDATA6,_PD.TXDATA7,
                                    _PD.SS7I76M2,_PD.SS7I76M3,_PD.SS7I77M1,_PD.SS7I77M4):
                    #print("SMART SERIAL", dataptype,widgetptype)
                    self.widgets[pinv].set_active(datapinv)
                    try:
                        signalindex = _PD.hal_sserial_names.index(self.d[p])
                    except:
                        if debug: print("**** INFO: PNCCONF warning no SMART SERIAL signal named: %s\n     found for pin %s"% (datap ,p))
                        signalindex = 0

                    pinmodel = self.widgets[p].get_model()
                    for row,parent in enumerate(pinmodel):
                            #print(row,parent[0],parent[2],parent[3],parent[4])
                            if parent[4] == signalindex:
                                #print('FOUND',parent[2],parent[4])
                                treeiter = pinmodel.get_iter(row)
                                self.widgets[p].set_active_iter(treeiter)
                else:
                    print("**** WARNING: PNCCONF data to widget: ptype not recognized/match:",dataptype,widgetptype)

    # This is for when a user picks a signal name or creates a custom signal (by pressing enter)
    # if searches for the 'related pins' of a component so it can update them too
    # it also handles adding and updating custom signal names
    # it is used for mesa boards and parport boards according to boardtype
    def on_general_pin_changed(self, widget, boardtype, boardnum, connector, channel, pin, custom):
                self.p.set_buttons_sensitive(0,0)
                if boardtype == "sserial":
                    p = 'mesa%dsserial%d_%dpin%d' % (boardnum,connector,channel,pin)
                    ptype = 'mesa%dsserial%d_%dpin%dtype' % (boardnum,connector,channel,pin)
                    widgetptype = self.widgets[ptype].get_active_text()
                    #print("pinchanged-",p)
                elif boardtype == "mesa":
                    p = 'mesa%dc%dpin%d' % (boardnum,connector,pin)
                    ptype = 'mesa%dc%dpin%dtype' % (boardnum,connector,pin)
                    widgetptype = self.widgets[ptype].get_active_text()
                elif boardtype == "parport":
                    p = '%s_%s%d' % (boardnum,connector, pin)
                    #print(p)
                    if "I" in p: widgetptype = _PD.GPIOI
                    else: widgetptype = _PD.GPIOO
                pinchanged =  self.widgets[p].get_child().get_text()
                piter = self.widgets[p].get_active_iter()
                signaltree = self.widgets[p].get_model()
                try:
                    basetree = signaltree.get_model()
                except:
                    basetree = signaltree
                #print("generalpin changed",p)
                #print("*** INFO ",boardtype,"-pin-changed: pin:",p,"custom:",custom)
                #print("*** INFO ",boardtype,"-pin-changed: ptype:",widgetptype,"pinchaanged:",pinchanged)
                if piter == None and not custom:
                    #print("*** INFO ",boardtype,"-pin-changed: no iter and not custom")
                    self.p.set_buttons_sensitive(1,1)
                    return
                if widgetptype in (_PD.ENCB,_PD.ENCI,_PD.ENCM,
                                    _PD.MXEI,_PD.MXEM,_PD.MXES,
                                    _PD.RESU,
                                    _PD.STEPB,_PD.STEPC,_PD.STEPD,_PD.STEPE,_PD.STEPF,
                                    _PD.PDMD,_PD.PDME,_PD.PWMD,_PD.PWME,_PD.UDMD,_PD.UDME,
                                    _PD.TPPWMB,_PD.TPPWMC,_PD.TPPWMAN,_PD.TPPWMBN,_PD.TPPWMCN,_PD.TPPWME,_PD.TPPWMF,
                                    _PD.RXDATA0,_PD.TXEN0,_PD.RXDATA1,_PD.TXEN1,_PD.RXDATA2,_PD.TXEN2,_PD.RXDATA3,_PD.TXEN3,
                                    _PD.POTE,_PD.POTD, _PD.SSR0, _PD.OUTM0, _PD.INM0):
                    self.p.set_buttons_sensitive(1,1)
                    return
                # for GPIO output
                if widgetptype in (_PD.GPIOO,_PD.GPIOD):
                    #print"ptype GPIOO\n"
                    halsignallist = 'hal_output_names'
                    humansignallist = _PD.human_output_names
                    addsignalto = self.d.haloutputsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = len(humansignallist)-1
                # for GPIO input
                elif widgetptype == _PD.GPIOI:
                    #print"ptype GPIOI\n"
                    halsignallist =  'hal_input_names'
                    humansignallist = _PD.human_input_names
                    addsignalto = self.d.halinputsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = len(humansignallist)-1
                # for stepgen pins
                elif widgetptype == _PD.STEPA:
                    #print"ptype step\n"
                    halsignallist = 'hal_stepper_names'
                    humansignallist = _PD.human_stepper_names
                    addsignalto = self.d.halsteppersignames
                    relatedsearch = [_PD.STEPA,_PD.STEPB,_PD.STEPC,_PD.STEPD,_PD.STEPE,_PD.STEPF]
                    relatedending = ["-step","-dir","-c","-d","-e","-f"]
                    customindex = len(humansignallist)-1
                # for encoder pins
                elif widgetptype == _PD.ENCA:
                    #print"\nptype encoder"
                    halsignallist = 'hal_encoder_input_names'
                    humansignallist = _PD.human_encoder_input_names
                    addsignalto = self.d.halencoderinputsignames
                    relatedsearch = [_PD.ENCA,_PD.ENCB,_PD.ENCI,_PD.ENCM]
                    relatedending = ["-a","-b","-i","-m"]
                    customindex = len(humansignallist)-1
                    # check for a thcad encoder
                    if "Arc Voltage" in pinchanged:
                        self.d._arcvpin = pin
                    elif self.d._arcvpin == pin:
                        self.d._arcvpin = None
                    if self.d._arcvpin and self.d.frontend == _PD._QTPLASMAC:
                        self.p.page_set_state('thcad', True)
                    else:
                        self.p.page_set_state('thcad', False)
                # for mux encoder pins
                elif widgetptype in(_PD.MXE0,_PD.MXE1):
                    #print"\nptype encoder"
                    halsignallist = 'hal_encoder_input_names'
                    humansignallist = _PD.human_encoder_input_names
                    addsignalto = self.d.halencoderinputsignames
                    relatedsearch = ["dummy","dummy","dummy","dummy",]
                    relatedending = ["-a","-b","-i","-m"]
                    customindex = len(humansignallist)-1
                # resolvers
                elif widgetptype in (_PD.RES0,_PD.RES1,_PD.RES2,_PD.RES3,_PD.RES4,_PD.RES5):
                    halsignallist = 'hal_resolver_input_names'
                    humansignallist = _PD.human_resolver_input_names
                    addsignalto = self.d.halresolversignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = len(humansignallist)-1
                # 8i20 amplifier
                elif widgetptype == _PD.AMP8I20:
                    halsignallist = 'hal_8i20_input_names'
                    humansignallist = _PD.human_8i20_input_names
                    addsignalto = self.d.hal8i20signames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = len(humansignallist)-1
                # potentiometer output
                elif widgetptype == _PD.POTO:
                    halsignallist = 'hal_pot_output_names'
                    humansignallist = _PD.human_pot_output_names
                    addsignalto = self.d.halpotsignames
                    relatedsearch = [_PD.POTO,_PD.POTE]
                    relatedending = ["-output","-enable"]
                    customindex = 2
                # analog input
                elif widgetptype == _PD.ANALOGIN:
                    halsignallist = 'hal_analog_input_names'
                    humansignallist = _PD.human_analog_input_names
                    addsignalto = self.d.halanaloginsignames
                    relatedsearch = ["dummy"]
                    relatedending = [""]
                    customindex = len(humansignallist)-1
                # for PWM,PDM,UDM pins
                elif widgetptype in(_PD.PWMP,_PD.PDMP,_PD.UDMU):
                    #print"ptype pwmp\n"
                    halsignallist = 'hal_pwm_output_names'
                    humansignallist = _PD.human_pwm_output_names
                    addsignalto = self.d.halpwmoutputsignames
                    relatedsearch = [_PD.PWMP,_PD.PWMD,_PD.PWME]
                    relatedending = ["-pulse","-dir","-enable"]
                    customindex = len(humansignallist)-1
                elif widgetptype == _PD.TPPWMA:
                    #print"ptype pdmp\n"
                    halsignallist = 'hal_tppwm_output_names'
                    humansignallist = _PD.human_tppwm_output_names
                    addsignalto = self.d.haltppwmoutputsignames
                    relatedsearch = [_PD.TPPWMA,_PD.TPPWMB,_PD.TPPWMC,_PD.TPPWMAN,_PD.TPPWMBN,_PD.TPPWMCN,_PD.TPPWME,_PD.TPPWMF]
                    relatedending = ["-a","-b","c","-anot","-bnot","cnot","-enable","-fault"]
                    customindex = len(humansignallist)-1
                elif widgetptype in (_PD.TXDATA0,_PD.TXDATA1,_PD.TXDATA2,_PD.TXDATA3,_PD.TXDATA4,_PD.TXDATA5,_PD.SS7I76M0,_PD.SS7I76M3,
                                     _PD.SS7I76M2,_PD.SS7I77M0,_PD.SS7I77M1,_PD.SS7I77M3,_PD.SS7I77M4):
                    portnum = 0 #TODO support more ports
                    for count,temp in enumerate(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._NUMOFCNCTRS]) :
                        if connector == temp:
                            firmptype,portnum = self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._STARTOFDATA+pin+(count*24)]
                            if widgetptype in (_PD.TXDATA0,_PD.SS7I76M0,_PD.SS7I77M0): channelnum = 0
                            elif widgetptype in (_PD.TXDATA1,_PD.SS7I77M1): channelnum = 1
                            elif widgetptype in (_PD.TXDATA2,_PD.SS7I76M2): channelnum = 2
                            elif widgetptype in (_PD.TXDATA3,_PD.SS7I77M3,_PD.SS7I76M3): channelnum = 3
                            elif widgetptype in (_PD.TXDATA4,_PD.SS7I77M4): channelnum = 4
                            elif widgetptype in (_PD.TXDATA5): channelnum = 5
                            BASE = "mesa%dsserial0_%d"% (boardnum,channelnum)
                            if self.widgets[p].get_active_text() == _("Unused Channel"):
                                self.widgets[BASE].hide()
                                self.d[BASE+"subboard"] = "none"
                                self.p.set_buttons_sensitive(1,1)
                                return
                            else:
                                self.widgets[BASE].show()
                                # TODO we should search for these names rather then use hard coded logic
                                # so as to make adding cards easier
                                temp = self.widgets[p].get_active_text()
                                table = BASE+"table2"
                                self.widgets[table].show()
                                table = BASE+"table3"
                                self.widgets[table].show()
                                if "7i76" in temp:
                                    if 'Mode 2' in temp:
                                        ssfirmname = "7i76-m2"
                                    else:
                                        ssfirmname = "7i76-m0"
                                    self.d[BASE+"subboard"] = ssfirmname
                                    self.widgets[BASE+'_tablabel'].set_text("7I76 I/O\n (SS# %d)"% channelnum)
                                elif "7i64" in temp:
                                    self.d[BASE+"subboard"] = "7i64"
                                    self.widgets[BASE+'_tablabel'].set_text("7I64 I/O\n (SS# %d)"% channelnum)
                                elif "7i69" in temp:
                                    self.d[BASE+"subboard"] = "7i69"
                                    self.widgets[table].hide()
                                    self.widgets[BASE+'_tablabel'].set_text("7I69 I/O\n (SS# %d)"% channelnum)
                                elif "7i70" in temp:
                                    self.d[BASE+"subboard"] = "7i70"
                                    self.widgets[table].hide()
                                    self.widgets[BASE+'_tablabel'].set_text("7I70 I/O\n (SS# %d)"% channelnum)
                                elif "7i71" in temp:
                                    self.d[BASE+"subboard"] = "7i71"
                                    self.widgets[table].hide()
                                    self.widgets[BASE+'_tablabel'].set_text("7I71 I/O\n (SS# %d)"% channelnum)
                                elif "7i73" in temp:
                                    self.d[BASE+"subboard"] = "7i73-m1"
                                    self.widgets[BASE+'_tablabel'].set_text("7I73 I/O\n (SS# %d)"% channelnum)
                                elif "7i77" in temp:
                                    print('ssname',temp,'sschannel#',channelnum)
                                    if 'Mode 3' in temp:
                                        ssfirmname = "7i77-m3"
                                    else:
                                        ssfirmname = "7i77-m0"
                                    self.d[BASE+"subboard"] = ssfirmname
                                    if channelnum in(0,3):
                                        self.widgets[BASE+'_tablabel'].set_text("7I77 I/O\n (SS# %d)"% channelnum)
                                        self.widgets[table].hide()
                                    elif channelnum in(1,4):
                                        self.widgets[BASE+'_tablabel'].set_text("7I77 PWM\n (SS# %d)"% channelnum)
                                        table = BASE+"table2"
                                        self.widgets[table].hide()
                                        table = BASE+"table1"
                                        self.widgets[table].hide()
                                elif "7i84" in temp:
                                    print('ssname',temp,'sschannel#',channelnum)
                                    if 'Mode 3' in temp:
                                        ssfirmname = "7i84-m3"
                                    else:
                                        ssfirmname = "7i84-m0"
                                    self.d[BASE+"subboard"] = ssfirmname
                                    self.widgets[table].hide()
                                    self.widgets[BASE+'_tablabel'].set_text("7I84 I/O\n (SS# %d)"%channelnum)
                                elif "8i20" in temp:
                                    self.d[BASE+"subboard"] = "8i20"
                                    self.widgets[table].hide()
                                    table = BASE+"table2"
                                    self.widgets[table].hide()
                                    self.widgets[BASE+'_tablabel'].set_text("8I20\n (SS# %d)"% channelnum)
                                else:
                                    self.d[BASE+"subboard"] = "none"
                                    self.widgets[table].hide()
                                    table = BASE+"table2"
                                    self.widgets[table].hide()
                                    table = BASE+"table1"
                                    self.widgets[table].hide()
                                    self.p.set_buttons_sensitive(1,1)
                                    return
                                # set sserial tab names to correspond to connector numbers so users have a clue
                                # first we have to find the daughter board in pncconf's internal list
                                # TODO here we search the list- this should be done for the table names see above todo
                                subfirmname = self.d[BASE+"subboard"]
                                for subnum,temp in enumerate(self._p.MESA_DAUGHTERDATA):
                                    if self._p.MESA_DAUGHTERDATA[subnum][self._p._SUBFIRMNAME] == subfirmname: break
                                subconlist = self._p.MESA_DAUGHTERDATA[subnum][self._p._SUBCONLIST]
                                # now search the connector list and write it to the tab names
                                for tabnum in range(0,3):
                                    conname = subconlist[tabnum]
                                    tab = BASE+"tab%d"% tabnum
                                    self.widgets[tab].set_text(conname)

                                #print(p,temp," set at",self.d[BASE+"subboard"])
                                self.set_sserial_options(boardnum,portnum,channelnum)
                                self.p.set_buttons_sensitive(1,1)
                                return
                    self.p.set_buttons_sensitive(1,1)
                    return
                else:
                    print("**** INFO: pncconf on_general_pin_changed:  pintype not found:%s\n"% widgetptype)
                    self.p.set_buttons_sensitive(1,1)
                    return
                # *** change the related pin's signal names ***

                # see if the piter is none - if it is a custom names has been entered
                # else find the signal name index number if the index is zero set the piter to unused signal
                # this is a work around for thye combo box allowing the parent to be shown and selected in the
                # child column haven\t figured out how to stop that #TODO
                # either way we have to search the current firmware array for the pin numbers of the related
                # pins so we can change them to the related signal name
                # all signal names have related signal (eg encoders have A and B phase and index and index mask)
                # except 'unused' signal it is a special case as there is no related signal names with it.
                if piter == None or custom:
                    #print("*** INFO ",boardtype,"-pin-changed: PITER:",piter," length:",len(signaltree))
                    if pinchanged in (addsignalto):return
                    for i in (humansignallist):
                        if pinchanged == i[0]:return
                        if pinchanged in i[1]:return
                    length = len(signaltree)
                    index = len(_PD[halsignallist]) - len(relatedsearch)
                    customiter = signaltree.get_iter((length-1,))
                    childiter = signaltree.iter_nth_child(customiter, 0)
                    n = 0
                    while childiter:
                        dummy, index = signaltree.get(childiter, 0, 1)
                        n+=1
                        childiter = signaltree.iter_nth_child(customiter, n)
                    index += len(relatedsearch)

                else:
                    dummy, index = signaltree.get(piter, 0, 1)
                    if index == 0:
                        piter = signaltree.get_iter_first()
                #print("*** INFO ",boardtype,"-pin-changed: index",index)
                # This finds the pin type and component number of the pin that has changed
                pinlist = []
                # this components have no related pins - fake the list
                if widgetptype in(_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0,
                                  _PD.MXE0,_PD.MXE1,_PD.RES0,_PD.RES1,_PD.RES2,_PD.RES3,
                                  _PD.RES4,_PD.RES5,_PD.AMP8I20,_PD.ANALOGIN):
                    pinlist = [["%s"%p,boardnum,connector,channel,pin]]
                else:
                    pinlist = self.list_related_pins(relatedsearch, boardnum, connector, channel, pin, 0)
                #print(pinlist)
                # Now we have a list of pins that need to be updated
                # first check if the name is a custom name if it is
                #   add the legalized custom name to ;
                #   addsignalto -> for recording custom names for next time loaded
                #   signalsto check -> for making signal names (we add different endings for different signalnames
                #   signaltree -> for display in the gui - itis automatically added to all comboboxes that uses this treesort
                # then go through the pinlist:
                # block signals
                # display the proper text depending if custom or not
                # then unblock signals
                if custom:
                    legal_name = pinchanged.replace(" ","_")
                    addsignalto.append ((legal_name))
                    print("add: "+legal_name+" to human list",humansignallist[customindex][1])
                    humansignallist[customindex][1].append ((legal_name))
                    endoftree = len(basetree)-1
                    customiter = basetree.get_iter((endoftree,))
                    newiter = basetree.append(customiter, [legal_name,index,legal_name,halsignallist,index])
                    #print('new signal:',legal_name,index,legal_name,halsignallist,endoftree,index)
                    for offset,i in enumerate(relatedsearch):
                        with_endings = legal_name + relatedending[offset]
                        #print("new signal:",with_endings)
                        _PD[halsignallist].append ((with_endings))
                for data in(pinlist):
                    if boardtype == "mesa":
                        blocksignal1 = "_mesa%dsignalhandlerc%ipin%i" % (data[1], data[2], data[4])
                        blocksignal2 = "_mesa%dactivatehandlerc%ipin%i"  % (data[1], data[2], data[4])
                    if boardtype == "sserial":
                        blocksignal1 = "_mesa%dsignalhandlersserial%i_%ipin%i" % (data[1], data[2], data[3], data[4])
                        blocksignal2 = "_mesa%dactivatehandlersserial%i_%ipin%i"  % (data[1], data[2], data[3],data[4])
                    elif boardtype =="parport":
                        blocksignal1 = "_%s_%s%dsignalhandler" % (data[1], data[2], data[4])
                        blocksignal2 = "_%s_%s%dactivatehandler"  % (data[1], data[2], data[4])
                    self.widgets[data[0]].handler_block(self.d[blocksignal1])
#TODO TODO ???
#                    self.widgets[data[0]].get_child().handler_block(self.d[blocksignal2])
                    if custom:
                        if basetree == signaltree:
                            temp = newiter
                        else:
                            temp = signaltree.convert_child_iter_to_iter(newiter)
                        self.widgets[data[0]].set_active_iter(temp)
                    else:
                        self.widgets[data[0]].set_active_iter(piter)

#TODO TODO ???
#                    self.widgets[data[0]].get_child().handler_unblock(self.d[blocksignal2])
                    self.widgets[data[0]].handler_unblock(self.d[blocksignal1])
                #self.debug_iter(0,p,"pin changed")
                #if boardtype == "mesa": self.debug_iter(0,ptype,"pin changed")
                self.p.set_buttons_sensitive(1,1)


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

    def set_pport_combo(self,pinname):
            #print(pinname)
            # signal names for GPIO INPUT
            datap = self.d[pinname]
            if '_Ipin' in pinname:
                human = self._p.human_input_names
                signal = self._p.hal_input_names
                tree = self.d._gpioisignaltree
                # signal names for GPIO OUTPUT and OPEN DRAIN OUTPUT
            elif 'Opin'in pinname:
                human = self._p.human_output_names
                signal =self._p.hal_output_names
                tree = self.d._gpioosignaltree
            #self.w[pinname].set_model(tree)
            # an error probably means the signal name cannot be found
            # set it as unused rather then error

            itr = self.find_sig_name_iter(tree, datap)
            self.widgets[pinname].set_active_iter(itr)
#??? return already ???
            return
            try:
                signalindex = signal.index(datap)
            except:
                signalindex = 0
                print("**** INFO: PNCCONF warning no GPIO signal named: %s\n       found for pin %s"% (datap , p))
            #print("gpio temp ptype:",pinname,datap,signalindex)
            count = 0
            temp = (0) # set unused gpio if no match
            if signalindex > 0:
                for row,parent in enumerate(human):
                    #print(row,parent)
                    if len(parent[1]) == 0:continue
                    for column,child in enumerate(parent[1]):
                        count +=1
                        #print(row,column,count,parent[0],child)
                        if count == signalindex:
                            #print("match",row,column)
                            break
                    if count >= signalindex:break
                temp = (row,column)
            treeiter = tree.get_iter(temp)
            self.widgets[pinname].set_active_iter(treeiter)

    def signal_sanity_check(self, *args):
        warnings = []
        do_warning = False
        do_error = False
        for i in self.d.available_axes:
            tppwm = pwm = amp_8i20 = False
            step = self.findsignal(i+"-stepgen-step")
            step2 = self.findsignal(i+"2-stepgen-step")
            enc = self.findsignal(i+"-encoder-a")
            resolver = self.findsignal(i+"-resolver")
            if self.findsignal("%s-8i20"% i): amp_8i20 = pwm =True
            if self.findsignal(i+"-pwm-pulse"): pwm = True
            if self.findsignal(i+"-tppwm-a"): tppwm = pwm = True
            #print("signal sanity check: axis",i,"\n    pwm = ",pwm,"\n    3pwm =",tppwm,"\n    encoder =",enc,"\n    step=",step)
            if i == 's':
                if step and pwm:
                    warnings.append(_("You can not have both steppers and pwm signals for spindle control\n") )
                    do_error = True
                continue
            if not step and not pwm:
                warnings.append(_("You forgot to designate a stepper or pwm signal for axis %s\n")% i)
                do_error = True
            if pwm and not (enc or resolver):
                warnings.append(_("You forgot to designate an encoder /resolver signal for axis %s servo\n")% i)
                do_error = True
            if enc and not pwm and not step:
                warnings.append(_("You forgot to designate a pwm signal or stepper signal for axis %s\n")% i)
                do_error = True
            if step and pwm:
                warnings.append(_("You can not have both steppers and pwm signals for axis %s\n")% i)
                do_error = True
            if step2 and not step:
                warnings.append(_("If using a tandem axis stepper, you must select a master stepgen for axis %s\n")% i)
                do_error = True
        if self.d.frontend == _PD._TOUCHY:# TOUCHY GUI
            abort = self.findsignal("abort")
            cycle = self.findsignal("cycle-start")
            single = self.findsignal("single-step")
            mpg = self.findsignal("select-mpg-a")
            if not cycle:
                warnings.append(_("Touchy require an external cycle start signal\n"))
                do_warning = True
            if not abort:
                warnings.append(_("Touchy require an external abort signal\n"))
                do_warning = True
            if not single:
                warnings.append(_("Touchy require an external single-step signal\n"))
                do_warning = True
            if not mpg:
                warnings.append(_("Touchy require an external multi handwheel MPG encoder signal on the mesa page\n"))
                do_warning = True
            if not self.d.externalmpg:
                warnings.append(_("Touchy require 'external mpg jogging' to be selected on the external control page\n"))
                do_warning = True
            if self.d.multimpg:
                warnings.append(_("Touchy require the external mpg to be in 'shared mpg' mode on the external controls page\n"))
                do_warning = True
            if self.d.incrselect:
                warnings.append(_("Touchy require selectable increments to be unchecked on the external controls page\n"))
                do_warning = True

        if do_warning or do_error:
            self.warning_dialog("\n".join(warnings),True)
        if do_error: return True
        return False

    def daughter_board_sanity_check(self,widget):
        warnings = []
        do_warning = False
        for boardnum in range(0,int(self.d.number_mesa)):
            if widget == self.widgets["mesa%d_7i29_sanity_check"%boardnum]:
                warnings.append(_("The 7i29 daughter board requires PWM type generators and a PWM base frequency of 20 khz\n"))
                do_warning = True
            if widget == self.widgets["mesa%d_7i30_sanity_check"%boardnum]:
                warnings.append(_("The 7i30 daughter board requires PWM type generators and a PWM base frequency of 20 khz\n"))
                do_warning = True
            if widget == self.widgets["mesa%d_7i33_sanity_check"%boardnum]:
                warnings.append(_("The 7i33 daughter board requires PDM type generators and a PDM base frequency of 6 Mhz\n"))
                do_warning = True
            if widget == self.widgets["mesa%d_7i40_sanity_check"%boardnum]:
                warnings.append(_("The 7i40 daughter board requires PWM type generators and a PWM base frequency of 50 khz\n"))
                do_warning = True
            if widget == self.widgets["mesa%d_7i48_sanity_check"%boardnum]:
                warnings.append(_("The 7i48 daughter board requires UDM type generators and a PWM base frequency of 24 khz\n"))
                do_warning = True

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

    def axis_prepare(self, axis):
        d = self.d
        w = self.widgets
        def set_text_from_text(n): w[axis + n].set_text("%s" % d[axis + n])
        def set_text(n): w[axis + n].set_text(locale.format_string("%.4f", (d[axis + n])))
        def set_value(n): w[axis + n].set_value(d[axis + n])
        def set_active(n): w[axis + n].set_active(d[axis + n])
        stepdriven = encoder = pwmgen = resolver = tppwm = digital_at_speed = amp_8i20 = False
        spindlepot = sserial_scaling = False
        vfd_spindle = self.d.serial_vfd and (self.d.mitsub_vfd or self.d.gs2_vfd)
        if self.findsignal("%s-8i20"% axis):amp_8i20 = True
        if self.findsignal("spindle-at-speed"): digital_at_speed = True
        if self.findsignal(axis+"-stepgen-step"): stepdriven = True
        if self.findsignal(axis+"-encoder-a"): encoder = True
        if self.findsignal(axis+"-resolver"): encoder = resolver = True
        temp = self.findsignal(axis+"-pwm-pulse")
        if temp:
            pwmgen = True
            pinname = self.make_pinname(temp)
            if "analog" in pinname: sserial_scaling = True
        if self.findsignal(axis+"-tppwm-a"): pwmgen = tppwm = True
        if self.findsignal(axis+"-pot-output"): spindlepot = sserial_scaling = True

        driverlist = w[axis+"drivertype"]
        driverlist.remove_all()
        for i in _PD.alldrivertypes:
            driverlist.append_text((i[1]))
        driverlist.append_text((_("Custom")))
        w["steprev"].set_text("%s" % d[axis+"steprev"])
        w["microstep"].set_text("%s" % d[axis +"microstep"])
        # P setting needs to default to different values based on
        # stepper vrs servo configs. But we still want to allow user setting it.
        # If the value is None then we should set a default value, if not then
        # that means it's been set to something already...hopefully right.
        # TODO this should be smarter - after going thru a config once it
        # always uses the value set here - if it is set to a default value
        # if should keep checking that the value is still right.
        # but that's a bigger change then we want now.
        # We check for None and 'None' because when None is saved 
        # it's saved as a string
        if not d[axis + "P"] == None and not d[axis + "P"] == 'None':
            set_value("P")
        elif stepdriven == True:
            w[axis + "P"].set_value(1/(d.servoperiod/1000000000))
        else:
            w[axis + "P"].set_value(50)
        set_value("I")
        set_value("D")
        set_value("FF0")
        set_value("FF1")
        set_value("FF2")
        set_value("bias")
        set_value("deadband")
        set_value("steptime")
        set_value("stepspace")
        set_value("dirhold")
        set_value("dirsetup")
        set_value("outputscale")
        set_value("3pwmscale")
        set_value("3pwmdeadtime")
        set_active("invertmotor")
        set_active("invertencoder")
        set_value("maxoutput")
        if amp_8i20:
            w[axis + "bldc_option"].set_active(True)
        else:
            set_active("bldc_option")

        set_active("bldc_no_feedback")
        set_active("bldc_absolute_feedback")
        set_active("bldc_incremental_feedback")
        set_active("bldc_use_hall")
        set_active("bldc_use_encoder" )
        set_active("bldc_use_index")
        set_active("bldc_fanuc_alignment")
        set_active("bldc_digital_output")
        set_active("bldc_six_outputs")
        set_active("bldc_emulated_feedback")
        set_active("bldc_output_hall")
        set_active("bldc_output_fanuc")
        set_active("bldc_force_trapz")

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

        w["encoderline"].set_value((d[axis+"encodercounts"]/4))
        set_value("stepscale")
        set_value("encoderscale")
        w[axis+"maxvel"].set_value(d[axis+"maxvel"]*60)
        set_value("maxacc")
        if not axis == "s" or axis == "s" and (encoder and (pwmgen or tppwm or stepdriven or sserial_scaling)):
            w[axis + "servo_info"].show()
        else:
            w[axis + "servo_info"].hide()
        if stepdriven or not (pwmgen or spindlepot):
            w[axis + "output_info"].hide()
        else:
            w[axis + "output_info"].show()
        w[axis + "invertencoder"].set_sensitive(encoder)
        w[axis + "encoderscale"].set_sensitive(encoder)
        w[axis + "stepscale"].set_sensitive(stepdriven)
        if stepdriven:
            w[axis + "stepper_info"].show()
        else:
            w[axis + "stepper_info"].hide()
        if pwmgen or sserial_scaling:
            w[axis + "outputscale"].show()
            w[axis + "outputscalelabel"].show()
        else:
            w[axis + "outputscale"].hide()
            w[axis + "outputscalelabel"].hide()
        if amp_8i20 or pwmgen and d.advanced_option == True:
            w[axis + "bldcframe"].show()
        else: w[axis + "bldcframe"].hide()
        if tppwm:
            w[axis + "3pwmdeadtime"].show()
            w[axis + "3pwmscale"].show()
            w[axis + "3pwmdeadtimelabel"].show()
            w[axis + "3pwmscalelabel"].show()
        else:
            w[axis + "3pwmdeadtime"].hide()
            w[axis + "3pwmscale"].hide()
            w[axis + "3pwmdeadtimelabel"].hide()
            w[axis + "3pwmscalelabel"].hide()
        w[axis + "drivertype"].set_active(self.drivertype_toindex(axis))
        if w[axis + "drivertype"].get_active_text()  == _("Custom"):
            w[axis + "steptime"].set_value(d[axis + "steptime"])
            w[axis + "stepspace"].set_value(d[axis + "stepspace"])
            w[axis + "dirhold"].set_value(d[axis + "dirhold"])
            w[axis + "dirsetup"].set_value(d[axis + "dirsetup"])
        GLib.idle_add(lambda: self.motor_encoder_sanity_check(None,axis))

        if axis == "s":
            unit = "rev"
            pitchunit =_("Gearbox Reduction Ratio")
        elif axis == "a":
            unit = "degree"
            pitchunit = _("Reduction Ratio")
        elif d.units ==_PD._METRIC:
            unit = "mm"
            pitchunit =_("Leadscrew Pitch")
        else:
            unit = "inch"
            pitchunit =_("Leadscrew TPI")
        if axis == "s" or axis =="a":
            w["labelmotor_pitch"].set_text(pitchunit)
            w["labelencoder_pitch"].set_text(pitchunit)
            w["motor_screwunits"].set_text(_("("+unit+" / rev)"))
            w["encoder_screwunits"].set_text(_("("+unit+" / rev)"))
        w[axis + "velunits"].set_text(_(unit+" / min"))
        w[axis + "accunits"].set_text(_(unit+" / sec²"))
        w["accdistunits"].set_text(unit)
        if stepdriven:
            w[ "resolutionunits1"].set_text(_(unit+" / Step"))
            w["scaleunits"].set_text(_("Steps / "+unit))
        else:
            w["resolutionunits1"].set_text(_(unit+" / encoder pulse"))
            w["scaleunits"].set_text(_("Encoder pulses / "+unit))
        if not axis =="s":
            w[axis + "homevelunits"].set_text(_(unit+" / min"))
            w[axis + "homelatchvelunits"].set_text(_(unit+" / min"))
            w[axis + "homefinalvelunits"].set_text(_(unit+" / min"))
            w[axis + "minfollowunits"].set_text(unit)
            w[axis + "maxfollowunits"].set_text(unit)
        if resolver:
            w[axis + "encoderscale_label"].set_text(_("Resolver Scale:"))
        if axis == 's':
            if vfd_spindle:
                w.serial_vfd_info.show()
            else:
                w.serial_vfd_info.hide()
            set_value("outputscale2")
            w.ssingleinputencoder.set_sensitive(encoder)
            w["sinvertencoder"].set_sensitive(encoder)
            w["ssingleinputencoder"].show()
            w["saxistest"].set_sensitive(pwmgen or spindlepot)
            w["sstepper_info"].set_sensitive(stepdriven)
            w["smaxvel"].set_sensitive(stepdriven)
            w["smaxacc"].set_sensitive(stepdriven)
            w["suseatspeed"].set_sensitive(not digital_at_speed and encoder)
            if encoder or resolver:
                if (self.d.pyvcp and self.d.pyvcphaltype == 1 and self.d.pyvcpconnect == 1) or (self.d.gladevcp
                    and self.d.spindlespeedbar):
                    w["sfiltergain"].set_sensitive(True)
            set_active("useatspeed")
            w.snearrange_button.set_active(d.susenearrange)
            w["snearscale"].set_value(d["snearscale"]*100)
            w["snearrange"].set_value(d["snearrange"])
            set_value("filtergain")
            set_active("singleinputencoder")
            set_value("outputmaxvoltage")
            set_active("usenegativevoltage")
            set_active("useoutputrange2")
            self.useoutputrange2_toggled()
        else:
            if sserial_scaling:
                w[axis + "outputminlimit"].show()
                w[axis + "outputminlimitlabel"].show()
                w[axis + "outputmaxlimit"].show()
                w[axis + "outputmaxlimitlabel"].show()
            else:
                w[axis + "outputminlimit"].hide()
                w[axis + "outputminlimitlabel"].hide()
                w[axis + "outputmaxlimit"].hide()
                w[axis + "outputmaxlimitlabel"].hide()
            set_value("outputminlimit")
            set_value("outputmaxlimit")
            set_text("encodercounts")
            w[axis+"maxferror"].set_sensitive(True)
            w[axis+"minferror"].set_sensitive(True)
            set_value("maxferror")
            set_value("minferror")
            set_text_from_text("compfilename")
            set_active("comptype")
            set_active("usebacklash")
            set_value("backlash")
            set_active("usecomp")
            set_text("homepos")
            set_text("minlim")
            set_text("maxlim")
            set_text("homesw")
            set_text("hometandemsw")
            w[axis+"homesearchvel"].set_text("%d" % (d[axis+"homesearchvel"]*60))
            w[axis+"homelatchvel"].set_text("%d" % (d[axis+"homelatchvel"]*60))
            w[axis+"homefinalvel"].set_text("%d" % (d[axis+"homefinalvel"]*60))
            w[axis+"homesequence"].set_text("%d" % abs(d[axis+"homesequence"]))
            set_active("searchdir")
            set_active("latchdir")
            set_active("usehomeindex")
            thisaxishome = set(("all-limit-home", "all-home", "home-" + axis, "min-home-" + axis,"max-home-" + axis, "both-home-" + axis))
            homes = False
            for i in thisaxishome:
                test = self.findsignal(i)
                if test: homes = True
            w[axis + "homesw"].set_sensitive(homes)
            w[axis + "hometandemsw"].set_sensitive(homes)
            w[axis + "hometandemsw"].set_visible(self.tandem_check(axis))
            w[axis + "labelhometandemsw"].set_visible(self.tandem_check(axis))
            w[axis + "homesearchvel"].set_sensitive(homes)
            w[axis + "searchdir"].set_sensitive(homes)
            w[axis + "latchdir"].set_sensitive(homes)
            w[axis + "usehomeindex"].set_sensitive(encoder and homes)
            w[axis + "homefinalvel"].set_sensitive(homes)
            w[axis + "homelatchvel"].set_sensitive(homes)
            i = d[axis + "usecomp"]
            w[axis + "comptype"].set_sensitive(i)
            w[axis + "compfilename"].set_sensitive(i)
            i = d[axis + "usebacklash"]
            w[axis + "backlash"].set_sensitive(i)
        self.p.set_buttons_sensitive(1,0)
        self.motor_encoder_sanity_check(None,axis)



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

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

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

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

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

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

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

    def useatspeed_toggled(self):
        i = self.widgets.suseatspeed.get_active()
        self.widgets.snearscale.set_sensitive(self.widgets.snearscale_button.get_active() and i)
        self.widgets.snearrange.set_sensitive(self.widgets.snearrange_button.get_active() and i)

    def useoutputrange2_toggled(self):
        i = self.widgets.suseoutputrange2.get_active()
        self.widgets.soutputscale2.set_sensitive(i)

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

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

    def axis_done(self, axis):
        d = self.d
        w = self.widgets
        def get_text(n): d[axis + n] = get_value(w[axis + n])
        def get_pagevalue(n): d[axis + n] = get_value(w[axis + n])
        def get_active(n): d[axis + n] = w[axis + n].get_active()
        stepdrive = self.findsignal(axis+"-stepgen-step")
        encoder = self.findsignal(axis+"-encoder-a")
        resolver = self.findsignal(axis+"-resolver")
        get_pagevalue("P")
        get_pagevalue("I")
        get_pagevalue("D")
        get_pagevalue("FF0")
        get_pagevalue("FF1")
        get_pagevalue("FF2")
        get_pagevalue("bias")
        get_pagevalue("deadband")
        if stepdrive:
            d[axis + "maxoutput"] = (get_value(w[axis + "maxvel"])/60) *1.25 # TODO should be X2 if using backlash comp ?
        if axis == "s":
            d[axis + "maxoutput"] = (get_value(w[axis +"outputscale"]))
        else:
            get_pagevalue("maxoutput")
        get_pagevalue("steptime")
        get_pagevalue("stepspace")
        get_pagevalue("dirhold")
        get_pagevalue("dirsetup")
        get_pagevalue("outputscale")
        get_pagevalue("3pwmscale")
        get_pagevalue("3pwmdeadtime")
        get_active("bldc_option")
        get_active("bldc_reverse")
        get_pagevalue("bldc_scale")
        get_pagevalue("bldc_poles")
        get_pagevalue("bldc_encoder_offset")
        get_pagevalue("bldc_drive_offset")
        get_pagevalue("bldc_pattern_out")
        get_pagevalue("bldc_pattern_in")
        get_pagevalue("bldc_lead_angle")
        get_pagevalue("bldc_inital_value")
        get_pagevalue("8i20maxcurrent")
        get_active("bldc_no_feedback")
        get_active("bldc_absolute_feedback")
        get_active("bldc_incremental_feedback")
        get_active("bldc_use_hall")
        get_active("bldc_use_encoder" )
        get_active("bldc_use_index")
        get_active("bldc_fanuc_alignment")
        get_active("bldc_digital_output")
        get_active("bldc_six_outputs")
        get_active("bldc_emulated_feedback")
        get_active("bldc_output_hall")
        get_active("bldc_output_fanuc")
        get_active("bldc_force_trapz")
        if w[axis + "bldc_option"].get_active():
            self.configure_bldc(axis)
        d[axis + "encodercounts"] = int(float(w["encoderline"].get_text())*4)
        if stepdrive: get_pagevalue("stepscale")
        if encoder: get_pagevalue("encoderscale")
        if resolver: get_pagevalue("encoderscale")
        get_active("invertmotor")
        get_active("invertencoder")
        d[axis + "maxvel"] = (get_value(w[axis + "maxvel"])/60)
        get_pagevalue("maxacc")
        d[axis + "drivertype"] = self.drivertype_toid(axis, w[axis + "drivertype"].get_active())
        if not axis == "s":
            get_pagevalue("outputminlimit")
            get_pagevalue("outputmaxlimit")
            get_pagevalue("maxferror")
            get_pagevalue("minferror")
            get_text("homepos")
            get_text("minlim")
            get_text("maxlim")
            get_text("homesw")
            get_text("hometandemsw")
            d[axis + "homesearchvel"] = (get_value(w[axis + "homesearchvel"])/60)
            d[axis + "homelatchvel"] = (get_value(w[axis + "homelatchvel"])/60)
            d[axis + "homefinalvel"] = (get_value(w[axis + "homefinalvel"])/60)
            d[axis+"homesequence"] = (abs(get_value(w[axis+"homesequence"])))
            get_active("searchdir")
            get_active("latchdir")
            get_active("usehomeindex")
            d[axis + "compfilename"] = w[axis + "compfilename"].get_text()
            get_active("comptype")
            d[axis + "backlash"]= w[axis + "backlash"].get_value()
            get_active("usecomp")
            get_active("usebacklash")
        else:
            get_active("useatspeed")
            d.susenearrange = w.snearrange_button.get_active()
            get_pagevalue("nearscale")
            d["snearscale"] = w["snearscale"].get_value()/100
            d["snearrange"] = w["snearrange"].get_value()
            get_pagevalue("filtergain")
            get_active("singleinputencoder")
            get_pagevalue("outputscale2")
            self.d.gsincrvalue0 = self.d.soutputscale
            self.d.gsincrvalue1 = self.d.soutputscale2
            get_active("useoutputrange2")
            self.d.scaleselect = self.d.suseoutputrange2
            get_active("usenegativevoltage")
            get_pagevalue("outputmaxvoltage")

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

    def calculate_spindle_scale(self):
        def get(n): return get_value(self.widgets[n])
        stepdrive = bool(self.findsignal("s-stepgen-step"))
        encoder = bool(self.findsignal("s-encoder-a"))
        resolver = bool(self.findsignal("s-resolver"))
        twoscales = self.widgets.suseoutputrange2.get_active()

        data_list=[ "steprev","microstep","motor_pulleydriver","motor_pulleydriven","motor_gear1driver","motor_gear1driven",
                        "motor_gear2driver","motor_gear2driven","motor_max"]
        templist1 = ["encoderline","steprev","microstep","motor_gear1driven","motor_gear1driver","motor_gear2driven","motor_gear2driver",
                        "motor_pulleydriven","motor_pulleydriver","motor_max"]
        checkbutton_list = ["cbmicrosteps","cbmotor_gear1","cbmotor_gear2","cbmotor_pulley","rbvoltage_5"
                    ]

        self.widgets.spindle_cbmicrosteps.set_sensitive(stepdrive)
        self.widgets.spindle_microstep.set_sensitive(stepdrive)
        self.widgets.spindle_steprev.set_sensitive(stepdrive)
        self.widgets.label_steps_per_rev.set_sensitive(stepdrive)
        self.widgets.spindle_motor_max.set_sensitive(not stepdrive)
        self.widgets.label_motor_at_max_volt.set_sensitive(not stepdrive)
        self.widgets.label_volt_at_max_rpm.set_sensitive(not stepdrive)
        self.widgets.spindle_rbvoltage_10.set_sensitive(not stepdrive)
        self.widgets.spindle_rbvoltage_5.set_sensitive(not stepdrive)
        self.widgets.spindle_cbnegative_rot.set_sensitive(not stepdrive)

        # pre set data
        for i in data_list:
            self.widgets['spindle_'+i].set_value(self.d['s'+i])
        for i in checkbutton_list:
            self.widgets['spindle_'+i].set_active(self.d['s'+i])
        self.widgets.spindle_encoderline.set_value(self.widgets.sencoderscale.get_value()/4)
        self.widgets.spindle_cbmotor_gear2.set_active(twoscales)
        self.widgets.spindle_cbnegative_rot.set_active(self.widgets.susenegativevoltage.get_active())

        # temporarily add signals
        for i in templist1:
            self.d[i] = self.widgets['spindle_'+i].connect("value-changed", self.update_spindle_calculation)
        for i in checkbutton_list:
            self.d[i] = self.widgets['spindle_'+i].connect("toggled", self.update_spindle_calculation)
        self.update_spindle_calculation(None)
        # run dialog
        self.widgets.spindle_scaledialog.set_title(_("Spindle Scale Calculation"))
        self.widgets.spindle_scaledialog.show_all()
        result = self.widgets.spindle_scaledialog.run()
        self.widgets.spindle_scaledialog.hide()

        # remove signals
        for i in templist1:
            self.widgets['spindle_'+i].disconnect(self.d[i])
        for i in checkbutton_list:
            self.widgets['spindle_'+i].disconnect(self.d[i])

        if not result: return

        # record data values
        for i in data_list:
            self.d['s'+i] = get('spindle_'+i)
        for i in checkbutton_list:
            self.d['s'+i] = self.widgets['spindle_'+i].get_active()
        # set the widgets on the spindle page as per calculations
        self.widgets.susenegativevoltage.set_active(self.widgets.spindle_cbnegative_rot.get_active())
        if self.widgets.spindle_rbvoltage_5.get_active():
            self.widgets.soutputmaxvoltage.set_value(5)
        else:
            self.widgets.soutputmaxvoltage.set_value(10)
        self.widgets.soutputscale.set_value(self.temp_max_motor_speed1)
        self.widgets.soutputscale2.set_value(self.temp_max_motor_speed2)
        self.widgets.smaxoutput.set_value(self.temp_max_motor_speed1)
        self.widgets.sencoderscale.set_value(self.widgets.spindle_encoderline.get_value()*4)
        self.widgets.suseoutputrange2.set_active(self.widgets.spindle_cbmotor_gear2.get_active())
        if stepdrive:
            motor_steps = get_value(self.widgets.spindle_steprev)
            if self.widgets.spindle_cbmicrosteps.get_active():
                microstepfactor = get_value(self.widgets.spindle_microstep)
            else:
                microstepfactor = 1
            self.widgets.sstepscale.set_value(motor_steps * microstepfactor)
        if encoder or resolver:
            self.widgets.sencoderscale.set_value(get("spindle_encoderline")*4)

    def update_spindle_calculation(self,widget):
        w= self.widgets
        def get(n): return get_value(w[n])
        motor_pulley_ratio = gear1_ratio = gear2_ratio = 1
        motor_rpm = get("spindle_motor_max")
        volts_at_max_rpm = 5
        if self.widgets.spindle_rbvoltage_10.get_active():
            volts_at_max_rpm = 10
        if w["spindle_cbmotor_pulley"].get_active():
            w["spindle_motor_pulleydriver"].set_sensitive(True)
            w["spindle_motor_pulleydriven"].set_sensitive(True)
            motor_pulley_ratio = (get("spindle_motor_pulleydriver") / get("spindle_motor_pulleydriven"))
        else:
            w["spindle_motor_pulleydriver"].set_sensitive(False)
            w["spindle_motor_pulleydriven"].set_sensitive(False)
            motor_pulley_ratio = 1
        if w["spindle_cbmotor_gear1"].get_active():
            w["spindle_motor_gear1driver"].set_sensitive(True)
            w["spindle_motor_gear1driven"].set_sensitive(True)
            gear1_ratio = (get("spindle_motor_gear1driver") / get("spindle_motor_gear1driven"))
        else:
            w["spindle_motor_gear1driver"].set_sensitive(False)
            w["spindle_motor_gear1driven"].set_sensitive(False)
            gear1_ratio = 1
        i = w["spindle_cbmotor_gear2"].get_active()
        w["spindle_motor_gear2driver"].set_sensitive(i)
        w["spindle_motor_gear2driven"].set_sensitive(i)
        w["label_rpm_at_max_motor2"].set_sensitive(i)
        w["label_gear2_max_speed"].set_sensitive(i)
        if i:
            gear2_ratio = (get("spindle_motor_gear2driver") / get("spindle_motor_gear2driven"))
        else:
            gear2_ratio = 1
        w["spindle_microstep"].set_sensitive(w["spindle_cbmicrosteps"].get_active())
        self.temp_max_motor_speed1 = (motor_pulley_ratio * gear1_ratio * motor_rpm)
        self.temp_max_motor_speed2 = (motor_pulley_ratio * gear2_ratio * motor_rpm)
        w["label_motor_at_max_volt"].set_markup("      <b>MOTOR</b> RPM at %d Volt Command"% volts_at_max_rpm)
        w["label_volt_at_max_rpm"].set_text("      Voltage for %d Motor RPM:"% motor_rpm)
        w["label_rpm_at_max_motor1"].set_text("Spindle RPM at %d Motor RPM -gear 1:"% motor_rpm)
        w["label_rpm_at_max_motor2"].set_text("Spindle RPM at %d Motor RPM -gear 2:"% motor_rpm)
        w["label_gear1_max_speed"].set_text("%d" % (motor_pulley_ratio * gear1_ratio * motor_rpm))
        w["label_gear2_max_speed"].set_text("%d" % (motor_pulley_ratio * gear2_ratio * motor_rpm))

    def calculate_scale(self,axis):
        def get(n): return get_value(self.widgets[n])
        stepdrive = self.findsignal(axis+"-stepgen-step")
        encoder = self.findsignal(axis+"-encoder-a")
        resolver = self.findsignal(axis+"-resolver")
        data_list=[ "steprev","microstep","motor_pulleydriver","motor_pulleydriven","motor_wormdriver","motor_wormdriven",
                    "encoder_pulleydriver","encoder_pulleydriven","encoder_wormdriver","encoder_wormdriven","motor_leadscrew",
                    "encoder_leadscrew","motor_leadscrew_tpi","encoder_leadscrew_tpi",
                    ]
        templist1 = ["encoderline","encoder_leadscrew","encoder_leadscrew_tpi","encoder_wormdriven",
                    "encoder_wormdriver","encoder_pulleydriven","encoder_pulleydriver","steprev","motor_leadscrew","motor_leadscrew_tpi",
                    "microstep","motor_wormdriven","motor_wormdriver","motor_pulleydriven","motor_pulleydriver"
                    ]
        checkbutton_list = [ "cbencoder_pitch","cbencoder_tpi","cbencoder_worm","cbencoder_pulley","cbmotor_pitch",
                        "cbmotor_tpi","cbmicrosteps","cbmotor_worm","cbmotor_pulley"
                    ]
        # pre set data
        for i in data_list:
            self.widgets[i].set_value(self.d[axis+i])
        for i in checkbutton_list:
            self.widgets[i].set_active(self.d[axis+i])

        # temporarily add signals
        for i in templist1:
            self.d[i] = self.widgets[i].connect("value-changed", self.update_scale_calculation,axis)
        for i in checkbutton_list:
            self.d[i] = self.widgets[i].connect("toggled", self.update_scale_calculation,axis)
        # pre calculate
        self.update_scale_calculation(self.widgets,axis)
        # run dialog
        self.widgets.scaledialog.set_title(_("Axis Scale Calculation"))
        self.widgets.scaledialog.show_all()
        result = self.widgets.scaledialog.run()
        self.widgets.scaledialog.hide()
        # remove signals
        for i in templist1:
            self.widgets[i].disconnect(self.d[i])
        for i in checkbutton_list:
            self.widgets[i].disconnect(self.d[i])
        if not result: return
        # record data values
        for i in data_list:
            self.d[axis+i] = self.widgets[i].get_value()
        for i in checkbutton_list:
            self.d[axis+i] = self.widgets[i].get_active()
        # set the calculations result
        if encoder or resolver:
            self.widgets[axis+"encoderscale"].set_value(get("calcencoder_scale"))
        if stepdrive:
            self.widgets[axis+"stepscale"].set_value(get("calcmotor_scale"))
    def update_scale_calculation(self,widget,axis):
        w = self.widgets
        d = self.d
        def get(n): return get_value(w[n])
        stepdrive = self.findsignal(axis+"-stepgen-step")
        encoder = self.findsignal(axis+"-encoder-a")
        resolver = self.findsignal(axis+"-resolver")
        motor_pulley_ratio = encoder_pulley_ratio = 1
        motor_worm_ratio = encoder_worm_ratio = 1
        encoder_scale = motor_scale = 0
        microstepfactor = motor_pitch = encoder_pitch = motor_steps = 1
        if axis == "a": rotary_scale = 360
        else: rotary_scale = 1
        try:
            if stepdrive:
                # stepmotor scale
                w["calcmotor_scale"].set_sensitive(True)
                w["stepscaleframe"].set_sensitive(True)
                if w["cbmotor_pulley"].get_active():
                    w["motor_pulleydriver"].set_sensitive(True)
                    w["motor_pulleydriven"].set_sensitive(True)
                    motor_pulley_ratio = (get("motor_pulleydriven") / get("motor_pulleydriver"))
                else:
                     w["motor_pulleydriver"].set_sensitive(False)
                     w["motor_pulleydriven"].set_sensitive(False)
                if w["cbmotor_worm"].get_active():
                    w["motor_wormdriver"].set_sensitive(True)
                    w["motor_wormdriven"].set_sensitive(True)
                    motor_worm_ratio = (get("motor_wormdriver") / get("motor_wormdriven"))
                else:
                    w["motor_wormdriver"].set_sensitive(False)
                    w["motor_wormdriven"].set_sensitive(False)
                if w["cbmicrosteps"].get_active():
                    w["microstep"].set_sensitive(True)
                    microstepfactor = get("microstep")
                else:
                    w["microstep"].set_sensitive(False)

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

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

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

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

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

    def motor_encoder_sanity_check(self,widgets,axis):
        stepdrive = encoder = bad = resolver = pot = False
        if self.findsignal(axis+"-stepgen-step"): stepdrive = True
        if self.findsignal(axis+"-encoder-a"): encoder = True
        if self.findsignal(axis+"-resolver"): resolver = True
        if self.findsignal(axis+"-pot-outpot"): pot = True
        if encoder or resolver:
            if self.widgets[axis+"encoderscale"].get_value() < 1:
                self.widgets[axis+"encoderscale"].override_background_color(Gtk.StateFlags.NORMAL, Gdk.RGBA.from_color(Gdk.color_parse('red')))
                dbg('encoder resolver scale bad %f'%self.widgets[axis+"encoderscale"].get_value())
                bad = True
        if stepdrive:
            if self.widgets[axis+"stepscale"].get_value() < 1:
                self.widgets[axis+"stepscale"].override_background_color(Gtk.StateFlags.NORMAL, Gdk.RGBA.from_color(Gdk.color_parse('red')))
                dbg('step scale bad')
                bad = True
        if not (encoder or resolver) and not stepdrive and not axis == "s":
            dbg('encoder %s resolver %s stepper %s axis %s'%(encoder,resolver,stepdrive,axis))
            bad = True
        if self.widgets[axis+"maxvel"].get_value() < 1:
            dbg('max vel low')
            bad = True
        if self.widgets[axis+"maxacc"].get_value() < 1:
            dbg('max accl low')
            bad = True
        if bad:
            dbg('motor %s_encoder sanity check -bad'%axis)
            self.p.set_buttons_sensitive(1,0)
            self.widgets[axis + "axistune"].set_sensitive(0)
            self.widgets[axis + "axistest"].set_sensitive(0)
        else:
            dbg('motor %s_encoder sanity check - good'%axis)
            self.widgets[axis+"encoderscale"].override_background_color(Gtk.StateFlags.NORMAL, self.origbg)
            self.widgets[axis+"stepscale"].override_background_color(Gtk.StateFlags.NORMAL, self.origbg)
            self.p.set_buttons_sensitive(1,1)
            self.widgets[axis + "axistune"].set_sensitive(1)
            self.widgets[axis + "axistest"].set_sensitive(1)

    def update_gladevcp(self):
        i = self.widgets.gladevcp.get_active()
        self.widgets.gladevcpbox.set_sensitive( i )
        if self.d.frontend == _PD._TOUCHY:
            self.widgets.centerembededgvcp.set_active(True)
            self.widgets.centerembededgvcp.set_sensitive(True)
            self.widgets.sideembededgvcp.set_sensitive(False)
            self.widgets.standalonegvcp.set_sensitive(False)
        elif self.d.frontend == _PD._GMOCCAPY or self.d.frontend == _PD._AXIS:
            self.widgets.sideembededgvcp.set_sensitive(True)
            self.widgets.centerembededgvcp.set_sensitive(True)
            self.widgets.standalonegvcp.set_sensitive(False)
            if not self.widgets.centerembededgvcp.get_active() and not self.widgets.sideembededgvcp.get_active():
                self.widgets.centerembededgvcp.set_active(True)
        else:
            self.widgets.sideembededgvcp.set_sensitive(False)
            self.widgets.centerembededgvcp.set_sensitive(False)
            self.widgets.standalonegvcp.set_sensitive(True)
            self.widgets.standalonegvcp.set_active(True)

        i = self.widgets.standalonegvcp.get_active()
        self.widgets.gladevcpsize.set_sensitive(i)
        self.widgets.gladevcpposition.set_sensitive(i)
        self.widgets.gladevcpforcemax.set_sensitive(i)
        if not i:
            self.widgets.gladevcpsize.set_active(False)
            self.widgets.gladevcpposition.set_active(False)
            self.widgets.gladevcpforcemax.set_active(False)
        i = self.widgets.gladevcpsize.get_active()
        self.widgets.gladevcpwidth.set_sensitive(i)
        self.widgets.gladevcpheight.set_sensitive(i)
        i = self.widgets.gladevcpposition.get_active()
        self.widgets.gladevcpxpos.set_sensitive(i)
        self.widgets.gladevcpypos.set_sensitive(i)
        for i in (("zerox","x"),("zeroy","y"),("zeroz","z"),("zeroa","a"),("autotouchz","z")):
            if not i[1] in(self.d.available_axes):
                self.widgets[i[0]].set_active(False)
                self.widgets[i[0]].set_sensitive(False)
            else:
                self.widgets[i[0]].set_sensitive(True)

    def has_spindle_speed_control(self):
        for test in ("s-stepgen-step", "s-pwm-pulse", "s-encoder-a", "spindle-enable", "spindle-cw", "spindle-ccw", "spindle-brake",
                    "s-pot-output"):
            has_spindle = self.findsignal(test)
            print(test,has_spindle)
            if has_spindle:
                return True
        if self.d.serial_vfd and (self.d.mitsub_vfd or self.d.gs2_vfd):
            return True
        return False

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

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

#********************
# Common Helper functions
#********************

    def tandem_check(self, letter):
        tandem_stepper = self.make_pinname(self.stepgen_sig("%s2"%letter))
        tandem_pwm = self.make_pinname(self.pwmgen_sig("%s2"%letter))
        print(letter, bool(tandem_stepper or tandem_pwm), tandem_stepper, tandem_pwm)
        return bool(tandem_stepper or tandem_pwm)

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

    # find the individual related oins to step gens
    # so that we can check if they were inverted
    def stepgen_invert_pins(self,pinnumber):
        # sample pinname = mesa0c0pin11
        signallist_a = []
        signallist_b = []
        pin = int(pinnumber[10:])
        connector = int(pinnumber[6:7])
        boardnum = int(pinnumber[4:5])
        channel = None
        pinlist = self.list_related_pins([_PD.STEPA,_PD.STEPB], boardnum, connector, channel, pin, 0)
        #print('step gen pinlist:',pinlist)
        for num,i in enumerate(pinlist):
            #print(i[0],self.d[i[0]], ' is inverted? ', self.d[i[0]+"inv"])
            if self.d[i[0]+"inv"]:
                gpioname = self.make_pinname(self.findsignal( self.d[i[0]] ),True)
                if self.d[i[0]+'type'] == _PD.STEPB:
                    signallist_b.append(gpioname)
                elif self.d[i[0]+'type'] == _PD.STEPA:
                    signallist_a.append(gpioname)
        return [signallist_a, signallist_b]

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

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

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

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

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

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

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

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

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

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

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

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

    def get_value(self,w):
        return get_value(w)

    def show_try_errors(self):
            exc_type, exc_value, exc_traceback = sys.exc_info()
            formatted_lines = traceback.format_exc().splitlines()
            print()
            print("****Pncconf verbose debugging:",formatted_lines[0])
            traceback.print_tb(exc_traceback, limit=1, file=sys.stdout)
            print(formatted_lines[-1])

    def hostmot2_command_string(self, substitution = False):
            def make_name(bname,bnum):
                if substitution:
                    return "[HMOT](CARD%d)"% (bnum)
                else:
                    return "hm2_%s.%d"% (bname,bnum)
            # mesa stuff
            load_cmnds = []
            board0 = self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME]
            board1 = self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME]
            driver0 = ' %s'% self.d.mesa0_currentfirmwaredata[_PD._HALDRIVER]
            driver1 = ' %s'% self.d.mesa1_currentfirmwaredata[_PD._HALDRIVER]
            directory0 = self.d.mesa0_currentfirmwaredata[_PD._DIRECTORY]
            directory1 = self.d.mesa1_currentfirmwaredata[_PD._DIRECTORY]
            firm0 = self.d.mesa0_currentfirmwaredata[_PD._FIRMWARE]
            firm1 = self.d.mesa1_currentfirmwaredata[_PD._FIRMWARE]
            firmstring0 = firmstring1 = board0_ip = board1_ip = ""
            mesa0_3pwm = mesa1_3pwm = ''
            mesa0_ioaddr = mesa1_ioaddr = ''
            load_cmnds.append("loadrt hostmot2")
            if '7i43' in board0 or '7i90' in board0:
                mesa0_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=0'% self.d.mesa0_parportaddrs
            if '7i43' in board1 or '7i90' in board1:
                if mesa0_ioaddr:
                    mesa0_ioaddr = ' ioaddr=%s,%s ioaddr_hi=0,0 epp_wide=0,0'% (self.d.mesa0_parportaddrs, self.d.mesa1_parportaddrs)
                else:
                    mesa1_ioaddr = ' ioaddr=%s ioaddr_hi=0 epp_wide=0'% self.d.mesa1_parportaddrs
            if 'eth' in driver0:
                firmstring0 =''
                if self.d.mesa0_card_addrs:
                    board0_ip = ''' board_ip="%s"''' % self.d.mesa0_card_addrs
            elif not "5i25" in board0 and not '7i90' in board0:
                firmstring0 = "firmware=hm2/%s/%s.BIT " % (directory0, firm0)
            if 'eth' in driver1:
                firmstring1 =''
                if self.d.mesa1_card_addrs:
                    if board0_ip:
                        board0_ip = board0_ip.rstrip('"') + ","
                        board1_ip = ' %s"'% self.d.mesa1_card_addrs
                    else:
                        board1_ip = ' board_ip="%s"' % self.d.mesa1_card_addrs
            elif not "5i25" in board1 and not '7i90' in board1:
                firmstring1 = "firmware=hm2/%s/%s.BIT " % (directory1, firm1)

            # TODO fix this hardcoded hack: only one serialport
            ssconfig0 = ssconfig1 = resolver0 = resolver1 = temp = ""
            if self.d.mesa0_numof_sserialports:
                for i in range(1,_PD._NUM_CHANNELS+1):
                    if i <= self.d.mesa0_numof_sserialchannels:
                        # m number in the name signifies the required sserial mode
                        for j in ("123456789"):
                            if ("m"+j) in self.d["mesa0sserial0_%dsubboard"% (i-1)]:
                                temp = temp + j
                                break
                        else: temp = temp + "0" # default case
                    else:
                        temp = temp + "x"
                ssconfig0 = " sserial_port_0=%s"% temp
            if self.d.number_mesa == 2 and self.d.mesa1_numof_sserialports:
                for i in range(1,_PD._NUM_CHANNELS+1):
                    if i <= self.d.mesa1_numof_sserialchannels:
                        # m number in the name signifies the required sserial mode
                        for j in ("123456789"):
                            if ("m"+j) in self.d["mesa1sserial0_%dsubboard"% (i-1)]:
                                temp = temp + j
                                break
                        else: temp = temp + "0" # default case
                    else:
                        temp = temp + "x"
                ssconfig1 = " sserial_port_0=%s"% temp
            if self.d.mesa0_numof_resolvers:
                resolver0 = " num_resolvers=%d"% self.d.mesa0_numof_resolvers
            if self.d.mesa1_numof_resolvers:
                resolver1 = " num_resolvers=%d"% self.d.mesa1_numof_resolvers
            if self.d.mesa0_numof_tppwmgens:
                mesa0_3pwm = ' num_3pwmgens=%d' %self.d.mesa0_numof_tppwmgens
            if self.d.mesa1_numof_tppwmgens:
                mesa1_3pwm = ' num_3pwmgens=%d' %self.d.mesa1_numof_tppwmgens

            if self.d.number_mesa == 1:
                load_cmnds.append( """loadrt%s%s%s config="%snum_encoders=%d num_pwmgens=%d%s num_stepgens=%d%s%s" """ % (
                    driver0, board0_ip, mesa0_ioaddr,
                    firmstring0, self.d.mesa0_numof_encodergens, self.d.mesa0_numof_pwmgens, mesa0_3pwm, self.d.mesa0_numof_stepgens,
                    ssconfig0, resolver0))
            elif self.d.number_mesa == 2 and (driver0 == driver1):
                loadstring  = """loadrt%s%s%s%s%s config="%snum_encoders=%d num_pwmgens=%d%s num_stepgens=%d%s%s,""" % (
                    driver0, board0_ip, board1_ip, mesa0_ioaddr, mesa1_ioaddr,
                    firmstring0, self.d.mesa0_numof_encodergens, self.d.mesa0_numof_pwmgens, mesa0_3pwm, self.d.mesa0_numof_stepgens,
                    ssconfig0, resolver0)
                loadstring += """ %snum_encoders=%d num_pwmgens=%d%s num_stepgens=%d%s%s" """ % (
                    firmstring1, self.d.mesa1_numof_encodergens, self.d.mesa1_numof_pwmgens, mesa1_3pwm, self.d.mesa1_numof_stepgens,
                    ssconfig1, resolver1)
                load_cmnds.append(loadstring)
            elif self.d.number_mesa == 2:
                load_cmnds.append( """loadrt%s%s%s config="%snum_encoders=%d num_pwmgens=%d%s num_stepgens=%d%s%s" """ % (
                    driver0, board0_ip, mesa0_ioaddr,
                    firmstring0, self.d.mesa0_numof_encodergens, self.d.mesa0_numof_pwmgens, mesa0_3pwm, self.d.mesa0_numof_stepgens,
                    ssconfig0, resolver0 ))
                load_cmnds.append( """loadrt%s%s%s config="%snum_encoders=%d num_pwmgens=%d%s num_stepgens=%d%s%s" """ % (
                    driver1, board1_ip, mesa1_ioaddr,
                    firmstring1, self.d.mesa1_numof_encodergens, self.d.mesa1_numof_pwmgens, mesa1_3pwm, self.d.mesa1_numof_stepgens,
                    ssconfig1, resolver1 ))
            for boardnum in range(0,int(self.d.number_mesa)):
                if boardnum == 1 and (board0 == board1):
                    halnum = 1
                else:
                    halnum = 0
                prefix = make_name(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._BOARDNAME],halnum)
                if self.d["mesa%d_numof_pwmgens"% boardnum] > 0:
                    load_cmnds.append( "setp    %s.pwmgen.pwm_frequency %d"% (prefix, self.d["mesa%d_pwm_frequency"% boardnum] ))
                    load_cmnds.append( "setp    %s.pwmgen.pdm_frequency %d"% (prefix, self.d["mesa%d_pdm_frequency"% boardnum] ))
                load_cmnds.append( "setp    %s.watchdog.timeout_ns %d"% (prefix, self.d["mesa%d_watchdog_timeout"% boardnum] ))
            # READ
            read_cmnds = []
            for boardnum in range(0,int(self.d.number_mesa)):
                if boardnum == 1 and (self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME] == self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0
                prefix = make_name(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._BOARDNAME],halnum)
                read_cmnds.append( "addf %s.read          servo-thread"% (prefix))
            # WRITE
            write_cmnds = []
            for boardnum in range(0,int(self.d.number_mesa)):
                if boardnum == 1 and (self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME] == self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME]):
                    halnum = 1
                else:
                    halnum = 0
                prefix = make_name(self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._BOARDNAME],halnum)
                write_cmnds.append( "addf %s.write         servo-thread"% (prefix))
                # if stepper system add DPLL to be more latency tolerant- this might not be right
                # I think some old firmware has steppers but not DPLL
                if self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._MAXSTEP] > 0:
                    write_cmnds.append( "setp %s.dpll.01.timer-us -50"% (prefix))
                    write_cmnds.append( "setp %s.stepgen.timer-number 1"% (prefix))
            return load_cmnds,read_cmnds,write_cmnds

    def pport_command_string(self):
        # LOAD
        load_cmnds = []
        # parport stuff
        port3name = port2name = port1name = port3dir = port2dir = port1dir = ""
        if self.d.number_pports>2:
             port3name = " " + self.d.ioaddr3
             if self.d.pp3_direction:
                port3dir =" out"
             else:
                port3dir =" in"
        if self.d.number_pports>1:
             port2name = " " + self.d.ioaddr2
             if self.d.pp2_direction:
                port2dir =" out"
             else:
                port2dir =" in"
        port1name = self.d.ioaddr1
        if self.d.pp1_direction:
            port1dir =" out"
        else:
           port1dir =" in"
        load_cmnds.append("loadrt hal_parport cfg=\"%s%s%s%s%s%s\"" % (port1name, port1dir, port2name, port2dir, port3name, port3dir))
        # READ
        read_cmnds = []
        read_cmnds.append(      "addf parport.0.read           servo-thread")
        if self.d.number_pports > 1:
            read_cmnds.append(  "addf parport.1.read           servo-thread")
        if self.d.number_pports > 2:
            read_cmnds.append(  "addf parport.2.read           servo-thread")
        # WRITE
        write_cmnds = []
        write_cmnds.append(     "addf parport.0.write          servo-thread")
        if self.d.number_pports > 1:
            write_cmnds.append( "addf parport.1.write          servo-thread")
        if self.d.number_pports > 2:
            write_cmnds.append( "addf parport.2.write          servo-thread")
        return load_cmnds,read_cmnds,write_cmnds




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

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

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

    # This method takes a signalname data pin (eg mesa0c3pin1)
    # and converts it to a HAL pin names (eg hm2_5i20.0.gpio.01)
    # component number conversion is for adjustment of position of pins related to the
    # 'controlling pin' eg encoder-a (controlling pin) encoder-b encoder -I
    # (a,b,i are related pins for encoder component)
    # gpionumber is a flag to return a gpio piname instead of the component pinname
    # this is used when we want to invert the pins of a component output (such as a stepper)
    # because you actually must invert the GPIO that would be in that position
    # prefixonly flag is used when we want the pin name without the component name.
    # used with sserial when we want the sserial port and channel so we can add out own name (eg enable pins)
    def make_pinname(self, pin, gpionumber = False, prefixonly = False, substitution = False):
        def make_name(bname,bnum):
            if substitution:
                return "[HMOT](CARD%d)"% (bnum)
            else:
                return "hm2_%s.%d"% (bname, bnum)
        test = str(pin)
        halboardnum = 0
        if test == "None": return None
        elif 'mesa' in test:
            type_name = { _PD.GPIOI:"gpio",_PD.GPIOO:"gpio",_PD.GPIOD:"gpio",_PD.SSR0:"ssr",_PD.OUTM0:"outm",_PD.INM0:"inm",
                _PD.ENCA:"encoder", _PD.ENCB:"encoder",_PD.ENCI:"encoder",_PD.ENCM:"encoder",
                _PD.RES0:"resolver",_PD.RES1:"resolver",_PD.RES2:"resolver",_PD.RES3:"resolver",_PD.RES4:"resolver",_PD.RES5:"resolver",
                _PD.MXE0:"encoder", _PD.MXE1:"encoder",
                _PD.PWMP:"pwmgen",_PD.PWMD:"pwmgen", _PD.PWME:"pwmgen", _PD.PDMP:"pwmgen", _PD.PDMD:"pwmgen", _PD.PDME:"pwmgen",
                _PD.UDMU:"pwmgen",_PD.UDMD:"pwmgen", _PD.UDME:"pwmgen",_PD.STEPA:"stepgen", _PD.STEPB:"stepgen",
                _PD.TPPWMA:"tppwmgen",_PD.TPPWMB:"tppwmgen",_PD.TPPWMC:"tppwmgen",
                _PD.TPPWMAN:"tppwmgen",_PD.TPPWMBN:"tppwmgen",_PD.TPPWMCN:"tppwmgen",
                _PD.TPPWME:"tppwmgen",_PD.TPPWMF:"tppwmgen",_PD.AMP8I20:"8i20",_PD.POTO:"spinout",
                _PD.POTE:"spinena",_PD.POTD:"spindir",_PD.ANALOGIN:"analog","Error":"None" }
            boardnum = int(test[4:5])
            boardname = self.d["mesa%d_currentfirmwaredata"% boardnum][_PD._BOARDNAME]
            meta = self.get_board_meta(boardname, boardnum)
            num_of_pins = meta.get('PINS_PER_CONNECTOR')

            ptype = self.d[pin+"type"]
            if boardnum == 1 and self.d.mesa1_currentfirmwaredata[_PD._BOARDNAME] == self.d.mesa0_currentfirmwaredata[_PD._BOARDNAME]:
                halboardnum = 1
            if 'serial' in test:
                # sample pin name = mesa0sserial0_0pin24
                pinnum = int(test[18:])
                portnum = int(test[12:13])
                channel = int(test[14:15])
                subfirmname = self.d["mesa%dsserial%d_%dsubboard"% (boardnum, portnum, channel)]
                for subnum,temp in enumerate(_PD.MESA_DAUGHTERDATA):
                    #print("pinname search -",_PD.MESA_DAUGHTERDATA[subnum][_PD._SUBFIRMNAME],subfirmname)
                    if _PD.MESA_DAUGHTERDATA[subnum][_PD._SUBFIRMNAME] == subfirmname: break
                #print("pinname -found subboard name:",_PD.MESA_DAUGHTERDATA[subnum][_PD._SUBFIRMNAME],subfirmname,subnum,"channel:",channel)
                subboardname = _PD.MESA_DAUGHTERDATA[subnum][_PD._SUBBOARDNAME]
                firmptype,compnum = _PD.MESA_DAUGHTERDATA[subnum][_PD._SUBSTARTOFDATA+pinnum]
                # we iter over this dic because of locale translation problems when using
                # comptype = type_name[ptype]
                comptype = "ERROR FINDING COMPONENT TYPE"
                for key,value in type_name.items():
                    if key == ptype:
                        comptype = value
                        break
                if value == "Error":
                    print("**** ERROR PNCCONF: pintype error in make_pinname: (sserial) ptype = ",ptype)
                    return None
                # if gpionumber flag is true - convert to gpio pin name
                if gpionumber or ptype in(_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0):
                    if "7i77" in (subboardname) or "7i76" in(subboardname)or "7i84" in(subboardname):
                        if ptype in(_PD.GPIOO,_PD.GPIOD):
                            comptype = "output"
                            if pinnum >15 and pinnum <24:
                                pinnum = pinnum-16
                            elif pinnum >39:
                                pinnum = pinnum -32
                        elif ptype == _PD.GPIOI:
                            comptype = "input"
                            if pinnum >23 and pinnum < 40:
                                pinnum = pinnum-8
                        return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    elif "7i69" in (subboardname) or "7i73" in (subboardname) or "7i64" in(subboardname):
                        if ptype in(_PD.GPIOO,_PD.GPIOD):
                            comptype = "output"
                            pinnum -= 24
                        elif ptype == _PD.GPIOI:
                            comptype = "input"
                        return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    elif "7i70" in (subboardname) or "7i71" in (subboardname):
                        if ptype in(_PD.GPIOO,_PD.GPIOD):
                            comptype = "output"
                        elif ptype == _PD.GPIOI:
                            comptype = "input"
                        return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"-%02d"% (pinnum)
                    else:
                        print("**** ERROR PNCCONF: subboard name ",subboardname," in make_pinname: (sserial) ptype = ",ptype,pin)
                        return None
                elif ptype in (_PD.AMP8I20,_PD.POTO,_PD.POTE,_PD.POTD) or prefixonly:
                    return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel)
                elif ptype in(_PD.PWMP,_PD.PDMP,_PD.UDMU):
                    comptype = "analogout"
                    return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"%d"% (compnum)
                elif ptype == (_PD.ANALOGIN):
                    if "7i64" in(subboardname):
                        comptype = "analog"
                    else:
                        comptype = "analogin"
                    return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"%d"% (compnum)
                elif ptype == (_PD.ENCA):
                    comptype = "enc"
                    return "%s.%s.%d.%d."% (make_name(boardname,halboardnum),subboardname,portnum,channel) + comptype+"%d"% (compnum)
                else:
                    print("**** ERROR PNCCONF: pintype error in make_pinname: (sserial) ptype = ",ptype,pin)
                    return None
            else:
                # sample pin name = mesa0c3pin1
                pinnum = int(test[10:])
                connum = int(test[6:7])
                # we iter over this dic because of locale translation problems when using
                # comptype = type_name[ptype]
                comptype = "ERROR FINDING COMPONENT TYPE"
                # we need concount (connector designations are not in numerical order, pin names are) and comnum from this
                for concount,i in enumerate(self.d["mesa%d_currentfirmwaredata"% (boardnum)][_PD._NUMOFCNCTRS]):
                        if i == connum:
                            dummy,compnum = self.d["mesa%d_currentfirmwaredata"% (boardnum)][_PD._STARTOFDATA+pinnum+(concount*24)]
                            break
                for key,value in type_name.items():
                    if key == ptype: comptype = value
                if value == "Error":
                    print("**** ERROR PNCCONF: pintype error in make_pinname: (mesa) ptype = ",ptype)
                    return None
                # if gpionumber flag is true - convert to gpio pin name
                if gpionumber or ptype in(_PD.GPIOI,_PD.GPIOO,_PD.GPIOD,_PD.SSR0,_PD.OUTM0,_PD.INM0):
                    #print('->',ptype,dummy,compnum,pin)
                    if ptype == _PD.SSR0:
                        compnum -= 100
                        return "%s."% (make_name(boardname,halboardnum)) + "ssr.00.out-%02d"% (compnum)
                    elif ptype == _PD.OUTM0:
                        compnum -= 100
                        return "%s."% (make_name(boardname,halboardnum)) + "outm.00.out-%02d"% (compnum)
                    elif ptype == _PD.INM0:
                        compnum -= 100
                        return "%s."% (make_name(boardname,halboardnum)) + "inm.00.input-%02d"% (compnum)
                    else:
                        compnum = int(pinnum)+(concount* num_of_pins )
                        return "%s."% (make_name(boardname,halboardnum)) + "gpio.%03d"% (compnum)
                elif ptype in (_PD.ENCA,_PD.ENCB,_PD.ENCI,_PD.ENCM,_PD.PWMP,_PD.PWMD,_PD.PWME,_PD.PDMP,_PD.PDMD,_PD.PDME,_PD.UDMU,_PD.UDMD,_PD.UDME,
                    _PD.STEPA,_PD.STEPB,_PD.STEPC,_PD.STEPD,_PD.STEPE,_PD.STEPF,
                    _PD.TPPWMA,_PD.TPPWMB,_PD.TPPWMC,_PD.TPPWMAN,_PD.TPPWMBN,_PD.TPPWMCN,_PD.TPPWME,_PD.TPPWMF):
                    return "%s."% (make_name(boardname,halboardnum)) + comptype+".%02d"% (compnum)
                elif ptype in (_PD.RES0,_PD.RES1,_PD.RES2,_PD.RES3,_PD.RES4,_PD.RES5):
                    temp = (_PD.RES0,_PD.RES1,_PD.RES2,_PD.RES3,_PD.RES4,_PD.RES5)
                    for num,dummy in enumerate(temp):
                        if ptype == dummy:break
                    return "%s."% (make_name(boardname,halboardnum)) + comptype+".%02d"% (compnum*6+num)
                elif ptype in (_PD.MXE0,_PD.MXE1):
                    num = 0
                    if ptype == _PD.MXE1: num = 1
                    return "%s."% (make_name(boardname,halboardnum)) + comptype+".%02d"% ((compnum * 2 + num))

        elif 'pp' in test:
            print(test)
            ending = "-out"
            test = str(pin)
            print(self.d[pin])
            pintype = str(test[4:5])
            print(pintype)
            pinnum = int(test[8:])
            print(pinnum)
            connum = int(test[2:3])-1
            print(connum)
            if pintype == 'I': ending = "-in"
            return "parport."+str(connum)+".pin-%02d"%(pinnum)+ending
        else:
            print("pintype error in make_pinname: pinname = ",test)
            return None





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

# starting with 'pncconf -d' gives debug messages
if __name__ == "__main__":
    usage = "usage: pncconf -h for options"
    parser = OptionParser(usage=usage)
    parser.add_option("-d", action="store", metavar='all', dest="debug",
                        help="Print debug info and ignore realtime/kernel tests.\nUse 'alldev' to show all the page tabs. 'step' to stop at each debug print,'excl','5i25','rawfirm','curfirm'")
    (options, args) = parser.parse_args()
    if options.debug:
        app = App(dbgstate=options.debug)
    else:
        app = App('')
    # catch control c
    signal.signal(signal.SIGINT, lambda *args: Gtk.main_quit())
    Gtk.main()
