.\" Copyright (c) 2006 Alex Joni.\"                (alex_joni AT users DOT sourceforge DOT net).\".\" This is free documentation; 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..\".\" The GNU General Public License's references to "object code".\" and "executables" are to be interpreted as the output of any.\" document formatting or typesetting system, including.\" intermediate and printed output..\".\" This manual 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 manual; if not, write to the Free.\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111,.\" USA..\".\".\".TH HALUI "1"  "2006-07-22" "EMC Documentation" "HAL User Interface".SH NAMEhalui \- observe HAL pins and command EMC through NML.SH SYNOPSIS.B halui[\fB-ini <path-to-ini>\fR].SH DESCRIPTION\fBhalui\fR is used to build a User Interface using hardware knobsand switches. It experts a big number of pins, and acts accordingly when these change..SH OPTIONS.TP\fB-ini name\fRuse the \fIname\fR as the configuration file. Note: halui must find the nml file specified in the ini, usually that file is in the same folder as the ini, so it makes sense to run halui from that folder..SH USAGEWhen run, \fBhalui\fR will export a large number of pins. A user can connectthose to his physical knobs & switches & leds, and when a change is noticedhalui triggers an appropriate event..TP\fBhalui\fR expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first..SH EXPORTED PINS\fBmachine\fR.TP \fIhalui.machine.on\fRpin for setting machine On.TP \fIhalui.machine.off\fRpin for setting machine Off.TP \fIhalui.machine.is-on\fRpin for machine is On/Off.TP\fBestop\fR.TP\fIhalui.estop.activate\fRpin for setting Estop (emc internal) On.TP\fIhalui.estop.reset\fRpin for resetting Estop (emc internal) Off.TP\fIhalui.estop.is-activated\fRpin for displaying Estop state (emc internal) On/Off.TP\fBmode\fR.TP\fIhalui.mode.manual\fRpin for requesting manual mode.TP\fIhalui.mode.is_manual\fRpin for manual mode is on.TP\fIhalui.mode.auto\fRpin for requesting auto mode.TP\fIhalui.mode.is_auto\fRpin for auto mode is on.TP\fIhalui.mode.mdi\fRpin for requesting mdi mode.TP\fIhalui.mode.is_mdi\fRpin for mdi mode is on.TP\fIhalui.mode.teleop\fRpin for requesting coordinated jog mode.TP\fIhalui.mode.is_teleop\fRpin showing coordinated jog mode is on.TP\fIhalui.mode.joint\fRpin for requesting joint by joint jog mode.TP\fIhalui.mode.is_joint\fRpin showing joint by joint jog mode is on.TP\fBmist, flood, lube\fR.TP\fIhalui.mist.on\fRpin for starting mist.TP\fIhalui.mist.off\fRpin for stoping mist.TP\fIhalui.mist.is-on\fRpin for mist is on.TP\fIhalui.flood.on\fRpin for starting flood.TP\fIhalui.flood.off\fRpin for stoping flood.TP\fIhalui.flood.is-on\fRpin for flood is on.TP\fIhalui.lube.on\fRpin for starting lube.TP\fIhalui.lube.off\fRpin for stoping lube.TP\fIhalui.lube.is-on\fRpin for lube is on.TP\fBspindle\fR.TP\fIhalui.spindle.start\fRpin for starting the spindle.TP\fIhalui.spindle.stop\fRpin for stopping the spindle.TP\fIhalui.spindle.forward\fRpin for making the spindle go forward.TP\fIhalui.spindle.reverse\fRpin for making the spindle go reverse.TP\fIhalui.spindle.increase\fRpin for making the spindle go faster.TP\fIhalui.spindle.decrease\fRpin for making the spindle go slower.TP\fIhalui.spindle.brake-on\fRpin for activating the spindle brake.TP\fIhalui.spindle.brake-off\fRpin for deactivating the spindle brake.TP\fIhalui.spindle.brake-is-on\fRstatus pin that tells us if brake is on.TP\fBjoint\fR.TP\fIhalui.joint.x.home\fRpin for homing the specific joint (x = 0..7).TP\fIhalui.joint.x.is-homed\fRstatus pin telling that the joint is homed (x = 0..7).TP\fIhalui.joint.selected.home\fRpin for homing the selected joint .TP\fIhalui.joint.selected.is-homed\fRstatus pin telling that the selected joint is homed.TP\fIhalui.joint.x.on-soft-min-limit\fRstatus pin telling that the joint is on the negative software limit (x=0..7, selected).TP\fIhalui.joint.x.on-soft-max-limit\fRstatus pin telling that the joint is on the positive software limit (x=0..7, selected).TP\fIhalui.joint.x.on-hard-min-limit\fRstatus pin telling that the joint is on the negative hardware limit (x=0..7, selected).TP\fIhalui.joint.x.on-hard-max-limit\fRstatus pin telling that the joint is on the positive hardware limit (x=0..7, selected).TP\fIhalui.joint.x.has-fault\fRstatus pin telling that the joint has a fault (x = 0..7, selected).TP\fIhalui.joint.select\fRselect joint (value = 0..7).TP\fIhalui.joint.selected\fRselected joint (value = 0..7).TP\fIhalui.joint.x.select\fRpins for selecting a joint (x = 0..7).TP\fIhalui.joint.x.is-selected\fRstatus pin that a joint is selected (x = 0..7).TP\fBjogging\fR.TP\fIhalui.jog.speed\fRpin for setting jog speed. will be used for minus/plus jogging..TP\fIhalui.jog.deadband\fRpin for setting jog analog deadband (where not to move).TP\fIhalui.jog.N.minus\fRpin for jogging axis N in negative direction at the halui.jog.speed velocity.TP\fIhalui.jog.N.plus\fRpin for jogging axis N in positive direction at the halui.jog.speed velocity.TP\fIhalui.jog.N.analog\fRpin for jogging the axis X using an float value (e.g. joystick).TP\fIhalui.jog.selected.minus\fRpin for jogging the selected axis in negative direction at the halui.jog.speed velocity.TP\fIhalui.jog.selected.plus\fRpin for jogging the selected axis in positive direction at the halui.jog.speed velocity.TP\fBtool\fR.TP\fIhalui.tool.number\fRcurrent selected tool.TP\fIhalui.tool.length-offset\fRcurrent applied tool-length-offset.TP\fBprogram\fR.TP\fIhalui.program.is-idle\fRstatus pin telling that no program is running.TP\fIhalui.program.is-running\fRstatus pin telling that a program is running.TP\fIhalui.program.is-paused\fRstatus pin telling that a program is paused.TP\fIhalui.program.run\fRpin for running a program.TP\fIhalui.program.pause\fRpin for pausing a program.TP\fIhalui.program.resume\fRpin for resuming a program.TP\fIhalui.program.step\fRpin for stepping in a program.TP\fIhalui.program.stop\fRpin for stopping a program (note: this pin does the same thing as halui.abort).TP\fBgeneral\fR.TP\fIhalui.abort\fRpin to send an abort message (clears out most errors).TP\fBfeed-override\fR.TP\fIhalui.feed-override.value\fRcurrent Feed Override value.TP\fIhalui.feed-override.scale\fRpin for setting the scale on changing the FO.TP\fIhalui.feed-override.counts\fRcounts from an encoder to change FO.TP\fIhalui.feed-override.increase\fRpin for increasing the FO (+=scale).TP\fIhalui.feed-override.decrease\fRpin for decreasing the FO (-=scale).TP\fBspindle-override\fR.TP\fIhalui.spindle-override.value\fRcurrent FO value.TP\fIhalui.spindle-override.scale\fRpin for setting the scale on changing the SO.TP\fIhalui.spindle-override.counts\fRcounts from an encoder for example to change SO.TP\fIhalui.spindle-override.increase\fRpin for increasing the SO (+=scale).TP\fIhalui.spindle-override.decrease\fRpin for decreasing the SO (-=scale).SH "SEE ALSO".SH HISTORY.SH BUGSnone known at this time..SH AUTHORWritten by Alex Joni, as part of the Enhanced MachineController (EMC2) project..SH REPORTING BUGSReport bugs to alex_joni AT users DOT sourceforge DOT net.SH COPYRIGHTCopyright \(co 2006 Alex Joni..brThis is free software; see the source for copying conditions.  There is NOwarranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.