halrmt - short description
halrmt
halrmt is a remote-control interface for LinuxCNC.
halrmt {--
--port <port number> --name <server name>
--connectpw <password>
--enablepw <password> --sessions <max sessions>
-ini<inifile>}
With -- --port
Waits for socket connections (Telnet) on specified socket,
without port
uses default port 5006. (note: linuxcncrsh uses 5007 as
default)
With -- --name <server name> Sets the server name to
specified name for Hello.
With -- --connectpw <password> Sets the connection
password to ’password’. Default EMC
With -- --enablepw <password> Sets the enable password
to ’password’. Default EMCTOO
With -- --sessions <max sessions> Sets the maximum
number of simultaneous connextions
to max sessions. Default is no limit (-1).
With -- -ini <inifile>, uses inifile instead of
emc.ini.
There are six
commands supported, Where the commands set and get contain
HAL
specific sub-commands based on the commands supported by
halcmd. Commands and
most parameters are not case sensitive. The exceptions are
passwords,
file paths and text strings.
The supported commands are as follows:
==> HELLO <==
Hello
<password> <client> <version>
If a valid password was entered the server will respond
with
HELLO ACK <Server Name> <Server Version>
Where server
name and server version are looked up from the
implementation.
if an invalid password or any other syntax error occurs then
the server
responds with:
HELLO NAK
==> Get <==
The get command
includes one of the hal sub-commands, described below and
zero or more additional parameters.
==> Set <==
The set command
inclides one of the hal sub-commands, described below and
one or more additional parameters.
==> Quit <==
The quit command disconnects the associated socket connection.
==> Shutdown <==
The shutdown
command tells EMC to shutdown before quitting the
connection. This
command may only be issued if the Hello has been
successfully negotiated and the
connection has control of the CNC (see enable sub-command
below). This command
has no parameters.
==> Help <==
The help
command will return help information in text format over the
telnet
connection. If no parameters are specified, it will itemize
the available commands.
If a command is specified, it will provide usage information
for the specified
command. Help will respond regardless of whether a
"Hello" has been
successsfully negotiated.
HAL sub-commands:
echo on | off
With get will return the current echo state, with set, sets
the echo
state. When echo is on, all commands will be echoed upon
receipt. This
state is local to each connection.
verbose on |
off
With get will return the current verbose state, with set,
sets the
verbose state. When in verbose mode is on, all set commands
return
positive acknowledgement in the form SET <COMMAND>
ACK. In addition,
text error messages will be issued when in verbose mode.
This state
is local to each connection.
enable
<pwd> | off
With get will return On or Off to indicate whether the
current connection
is enabled to perform control functions. With set and a
valid password,
the current connection is enabled for control functions.
"OFF" may not
be used as a password and disables control functions for
this connection.
config [TBD]
comm_mode ascii
| binary
With get, will return the current communications mode. With
set, will
set the communications mode to the specified mode. The
binary protocol
is TBD.
comm_prot
<version no>
With get, returns the current protocol version used by the
server,
with set, sets the server to use the specified protocol
version,
provided it is lower than or equal to the highest version
number
supported by the server implementation.
Comps [<substring>]
Get only,
returns all components beginning with the specified
substring.
If no substring is specified then it returns all
components.
Pins [<substring>]
Get only,
returns all information about all pins beginning with the
specified substring. If no substring is specified then it
returns all pins.
PinVals [<substring>]
Get only,
returns only value information about all pins beginning with
the
specified substring. If no substring is specified then it
returns all pins.
Signals [<substring>]
Get only,
returns all information about all signals beginning with the
specified substring. If no substring is specified then it
returns all signals.
SigVals [<substring>]
Get only,
returns only value information about all signals beginning
with the
specified substring. If no substring is specified then it
returns all pins.
Params [<substring>]
Get only,
returns all information about all parameters beginning with
the
specified substring. If no substring is specified then it
returns all
parameters.
ParamVals [<substring>]
Get only,
returns only value information about all parameters
beginning with the
specified substring. If no substring is specified then it
returns all pins
parameters.
Functs [<substring>]
Get only,
returns all information about all functions beginning with
the
specified substring. If no substring is specified then it
returns all
functions.
Threads
Get only, returns all information about all functions.
Comp <name>
Get only, returns the component matching the specified name.
Pin <name>
Get only,
returns all information about the pin matching the specified
name.
PinVal <name>
Get only, returns the value of the pin matching the specified name.
Sig <name>
Get only,
returns all information about the pin matching the specified
name.
SigVal <name>
Get only,
returns just the value of the signal matching the specified
name.
Param <name>
Get only,
returns all information about the parameter matching the
specified name.
ParamVal <name>
Get only,
returns just the value of the parameter matching the
specified
name.
Funct <name>
Get only,
returns all information about the parameter matching the
specified name.
Thread <name>
Get only,
returns all information about the thread matching the
specified name.
LoadRt <name>
Set only, loads the real time executable specified by name.
Unload <name>
Set only, unloads the executable specified by name.
LoadUsr <name>
Set only, loads the user executable specified by name.
Linkps <pin name> <signal name>
Set only, links the specified pin to the specified signal.
Linksp <signal name> <pin name>
Set only, links the specified signal to the specified pin.
Linkpp <pin name 1> <pin name 2>
Set only, links the pin specified by pin 1 with the pin specified by pin 2.
Net <net list>
Set only, nets the specified net list.
Unlinkp <pin name 1> <pin name 2>
Set only, unlinks the specified pins
Lock
Unlock
NewSig <name> <type>
Set only, creates the signal specified by name and of type specified by type.
DelSig <name>
Set only, deletes the signal specified by name.
SetP <name> <value>
Set only, sets the parameter specified by name to the value specified by value.
SetS <name> <value>
Set only, sets the signal specified by name to the value specified by value.
AddF <name> <thread> [<parameters>]
Set only, adds
the function specified by name, to the thread specified by
thread, with the optional parameters specified by
parameters.
DelF <name>
Set only, deletes the function specified by name.
Save
Start
Stop
LinuxCNC(1)
Much more information about LinuxCNC and HAL is available in the LinuxCNC and HAL User Manuals, found at /usr/share/doc/LinuxCNC/.
It is not know if this interface currently works.
This man page written by andypugh, as part of the LinuxCNC project.
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
Copyright
© 2020 andypugh.
This is free software; see the source for copying
conditions. There is NO warranty; not even for
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.