Sim config vismach/hexapod-sim exception(s)

[BsAtHome]

Current master: Running the sim in configs/sim/axis/vismach/hexapod-sim will give a lot of errors as shown below. The exception is repeats 5 times.

@Sigma1912 you have been over these vismach sims lately
@alex-pres you have been updating the 3d/GL code

vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib64/python3.14/tkinter/__init__.py", line 2114, in __call__
    return self.func(*args)
           ~~~~~~~~~^^^^^^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/rs274/OpenGLTk.py", line 385, in tkMap
    self.tkExpose()
    ~~~~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/rs274/OpenGLTk.py", line 398, in tkExpose
    self.tkRedraw()
    ~~~~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/rs274/OpenGLTk.py", line 375, in tkRedraw
    self.redraw()
    ~~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/vismach.py", line 1341, in redraw
    self.model.traverse()
    ~~~~~~~~~~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/vismach.py", line 41, in traverse
    p.traverse()
    ~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/vismach.py", line 41, in traverse
    p.traverse()
    ~~~~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/vismach.py", line 35, in traverse
    p.apply()
    ~~~~~~~^^
  File "/home/bertho/tarapps/linuxcnc.git-bsathome/lib/python/vismach.py", line 243, in apply
    if (self.world2view.t == []):
        ^^^^^^^^^^^^^^^^^^^^^^^

ValueError: operands could not be broadcast together with shapes (4,4) (0,) 

[Sigma1912]

Just checked, looks like it was already broken in 2.9.

[Sigma1912]

@alex-pres
I assume you are not planning on updating vismach.py to modern gl?

[Sigma1912]

Looks like a race, I would suggest to simply comment out the message:

linuxcnc/lib/python/vismach.py

Line 158 in ac66fe3

print("vismach.py: Track: why am i here? world is not in the scene yet")

[BsAtHome]

It is not only the message. If it is a race, then it must be fixed. Just silencing it would not make it go away.
The message indicates an unmet assumption. If it also failed before (2.9) then we have the choice of fixing it or removing the sim.

Besides, there also is the question of the exception that follows with a value that is probably missing a coordinate.

[Sigma1912]

Seems to depend on the installation,

on my Debian 12 Rip installation it work fine besides these 6 messages (hence why I suggested to just silence those):

vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet
vismach.py: Track: why am i here? world is not in the scene yet

While on my Rip installation on LinuxMint 22.2 I get all kinds of errors.

[Sigma1912]

The 'Track()' feature in vismach that's responsible for this issue is used in two places in-tree:

./hal/user_comps/vismach/hexagui.py:181:  strut = Track([strut],base_joint_coords, plat_joint_coords, world_coords)
./emc/usr_intf/axis/scripts/tracking-test.py:52:tracker = Track([tracker], world_coords, tool_coords, world_coords)

Edit:
Found a fix, will file a PR.