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Implemented Gcodes:

- 'G67 B': Moves the B-axis to the 'B'-word position and activates 'HALF TCP Lathe' mode.
- 'G68 B (X Y Z)': Moves the B-axis to the 'B'-word position then defines and activates a work plane perpendicular the this current tool orientation with the origin at the current WCS (optionally offset by any [X,Y,Z]-Words). This will change WCS to 'G59' where the transformed work offset values have been written to (ie the prior values stored in G59 will be lost!).
- 'G68.1 (X Y Z)': Defines and activates a work plane perpendicular the the current tool orientation with the origin at the current WCS (optionally offset by any [X,Y,Z]-Words). For change to WCS see 'G68'
- 'G69': Cancels the work plane set by 'G68' and (currently) switches back to 'G54'.



NOTES:

- Tool offsets must only be changed in 'Identity' mode as it may cause sudden joint movements otherwise. (This can be handled in the M6 remap)
- Lathe tools must only be used in 'Identity' or 'HALF TCP Lathe' mode.
- 'HALF TCP Lathe/Mill' modes do not track the C rotation, this is intended behavior.
- Mill tools must only be used in 'HALF/FULL TCP Mill' or 'TWP' mode.
- Due to easier abort handling we currently restrict the use of twp to G54 as LinuxCNC seems to revert to G54 as the default system.
Abort behavior can be handled by using a subroutine defined in the ini file under [RS274NGC]ON_ABORT_COMMAND'.
- The TWP remap code in this config does not implement virtual rotations (ie no optional 'R' word).

        if "G43" in self.active_gcodes:
            self.command.wait_complete()
            self.command.mode(linuxcnc.MODE_MDI)
            self.command.wait_complete()
            self.command.mdi("G43")
            self.command.wait_complete()
            self.command.mode(linuxcnc.MODE_MANUAL)
            self.command.wait_complete()
        
        self.stat.poll()    
        toolinfo = self.widgets.tooledit1.get_toolinfo(self.stat.tool_in_spindle)
        if toolinfo:
            self.widgets.lbl_tool_no.set_text(str(toolinfo[1]))
            self.widgets.lbl_tool_dia.set_text(toolinfo[12])
            self.halcomp["tool-diameter"] = float(locale.atof(toolinfo[12]))
            self.widgets.lbl_tool_name.set_text(toolinfo[16])  

libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))