NAME
halrun - manipulate the LinuxCNC HAL from the command line
SYNOPSIS
halrun -h
halrun [-I] [halcmd_opts] [filename[.hal|.tcl]]
halrun -T [halcmd_opts] [filename[.hal|.tcl]]
halrun -U
DESCRIPTION
halrun is a convenience script used to manipulate the HAL (Hardware Abstraction Layer) from the command line. When invoked, halrun:
Sets up the
realtime environment.
Executes a command interpreter (halcmd or
haltcl).
(Optionally) runs an interactive session.
Tears down the realtime environment.
If no filename
is specified, an interactive session is started.
The session will use halcmd(1) unless -T is specified
in
which case haltcl(1) will be used.
If a filename
is specified and neither the -I nor the -T option
is included, the filename will be processed by the command
interpreter corresponding to the filename extension
(halcmd
or haltcl). After processing, the realtime
environment
will be torn down.
If a filename
is specified and the -I or -T option is included,
the file is processed by the appropriate command interpreter
and
then an interactive session is started for halcmd or
haltcl according to the -I or -T option.
OPTIONS
halcmd_opts
When a .hal file is specified,
the halcmd_opts are passed to halcmd. See the
man page for halcmd(1). When a .tcl file is
specified, the only valid options are:
-i <INI file>
-f <filename[.tcl|.hal]> (alternate means of
specifying a file)
|
-I |
Run an interactive halcmd session | ||
|
-T |
Run an interactive haltcl session. | ||
|
-U |
Forcibly cause the realtime environment to exit. It releases the HAL mutex, requests that all HAL components unload, and stops the realtime system. -U must be the only commandline argument. | ||
|
-h |
display a brief help screen and exit |
BUGS
None known at this time.
AUTHOR
Original version by John Kasunich, as part of the LinuxCNC Enhanced Machine Controller project. Now includes major contributions by several members of the project.
REPORTING BUGS
Report bugs to the LinuxCNC bug tracker ⟨ URL: https://github.com/LinuxCNC/linuxcnc/issues ⟩ .
COPYRIGHT
Copyright
© 2003 John Kasunich.
This is free software; see the source for copying
conditions. There is NO warranty; not even for
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.