.\" 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.
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.\" 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,
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.\"
.\"
.TH HALUI "1"  "2006-07-22" "LinuxCNC Documentation" "HAL User Interface"
.SH NAME
halui \- observe HAL pins and command LinuxCNC 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 knobs
and switches. It exports a big number of pins, and acts accordingly 
when these change.
.SH OPTIONS
.TP
\fB-ini name\fR
use 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 USAGE
When run, \fBhalui\fR will export a large number of pins. A user can connect
those to his physical knobs & switches & leds, and when a change is noticed
halui triggers an appropriate event.

\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 PINS

.SS abort
.TP 
.B halui.abort\fR bit in \fR
pin for clearing most errors

.SS tool
.TP
.B halui.tool.length-offset.a\fR float out \fR
current applied tool length offset for the A axis
.TP
.B halui.tool.length-offset.b\fR float out \fR
current applied tool length offset for the B axis
.TP
.B halui.tool.length-offset.c\fR float out \fR
current applied tool length offset for the C axis
.TP
.B halui.tool.length-offset.u\fR float out \fR
current applied tool length offset for the U axis
.TP
.B halui.tool.length-offset.v\fR float out \fR
current applied tool length offset for the V axis
.TP
.B halui.tool.length-offset.w\fR float out \fR
current applied tool length offset for the W axis
.TP
.B halui.tool.length-offset.x\fR float out \fR
current applied tool length offset for the X axis
.TP
.B halui.tool.length-offset.y\fR float out \fR
current applied tool length offset for the Y axis
.TP
.B halui.tool.length-offset.z\fR float out \fR
current applied tool length offset for the Z axis
.TP
.B halui.tool.number\fR u32 out \fR
current selected tool

.SS spindle
.TP
.B halui.spindle.brake-is-on\fR bit out \fR
status pin that tells us if brake is on
.TP
.B halui.spindle.brake-off\fR bit in \fR
pin for deactivating the spindle brake
.TP
.B halui.spindle.brake-on\fR bit in \fR
pin for activating the spindle brake
.TP
.B halui.spindle.decrease\fR bit in \fR
a rising edge on this pin decreases the current spindle speed by 100
.TP
.B halui.spindle.forward\fR bit in \fR
a rising edge on this pin makes the spindle go forward
.TP
.B halui.spindle.increase\fR bit in \fR
a rising edge on this pin increases the current spindle speed by 100
.TP
.B halui.spindle.is-on\fR bit out \fR
status pin telling if the spindle is on
.TP
.B halui.spindle.reverse\fR bit in \fR
a rising edge on this pin makes the spindle go reverse
.TP
.B halui.spindle.runs-backward\fR bit out \fR
status pin telling if the spindle is running backward
.TP
.B halui.spindle.runs-forward\fR bit out \fR
status pin telling if the spindle is running forward
.TP
.B halui.spindle.start\fR bit in \fR
a rising edge on this pin starts the spindle
.TP
.B halui.spindle.stop\fR bit in \fR
a rising edge on this pin stops the spindle

.SS spindle override
.TP
.B halui.spindle-override.count-enable\fR bit in \fR (default: \fBTRUE\fR)
When TRUE, modify spindle override when counts changes.
.TP
.B halui.spindle-override.counts\fR s32 in \fR
counts X scale = spindle override percentage
.TP
.B halui.spindle-override.decrease\fR bit in \fR
pin for decreasing the SO (-=scale)
.TP
.B halui.spindle-override.direct-value\fR bit in \fR
pin to enable direct spindle override value input
.TP
.B halui.spindle-override.increase\fR bit in \fR
pin for increasing the SO (+=scale)
.TP
.B halui.spindle-override.scale\fR float in \fR
pin for setting the scale of counts for SO
.TP
.B halui.spindle-override.value\fR float out \fR
current FO value

.SS program
.TP
.B halui.program.block-delete.is-on\fR bit out \fR
status pin telling that block delete is on
.TP
.B halui.program.block-delete.off\fR bit in \fR
pin for requesting that block delete is off
.TP
.B halui.program.block-delete.on\fR bit in \fR
pin for requesting that block delete is on
.TP
.B halui.program.is-idle\fR bit out \fR
status pin telling that no program is running
.TP
.B halui.program.is-paused\fR bit out \fR
status pin telling that a program is paused
.TP
.B halui.program.is-running\fR bit out \fR
status pin telling that a program is running
.TP
.B halui.program.optional-stop.is-on\fR bit out \fR
status pin telling that the optional stop is on
.TP
.B halui.program.optional-stop.off\fR bit in \fR
pin requesting that the optional stop is off
.TP
.B halui.program.optional-stop.on\fR bit in \fR
pin requesting that the optional stop is on
.TP
.B halui.program.pause\fR bit in \fR
pin for pausing a program
.TP
.B halui.program.resume\fR bit in \fR
pin for resuming a program
.TP
.B halui.program.run\fR bit in \fR
pin for running a program
.TP
.B halui.program.step\fR bit in \fR
pin for stepping in a program
.TP
.B halui.program.stop\fR bit in \fR
pin for stopping a program 
(note: this pin does the same thing as halui.abort)

.SS mode
.TP
.B halui.mode.auto\fR bit in \fR
pin for requesting auto mode
.TP
.B halui.mode.is-auto\fR bit out \fR
pin for auto mode is on
.TP
.B halui.mode.is-joint\fR bit out \fR
pin showing joint by joint jog mode is on
.TP
.B halui.mode.is-manual\fR bit out \fR
pin for manual mode is on
.TP
.B halui.mode.is-mdi\fR bit out \fR
pin for mdi mode is on
.TP
.B halui.mode.is-teleop\fR bit out \fR
pin showing coordinated jog mode is on
.TP
.B halui.mode.joint\fR bit in \fR
pin for requesting joint by joint jog mode
.TP
.B halui.mode.manual\fR bit in \fR
pin for requesting manual mode
.TP
.B halui.mode.mdi\fR bit in \fR
pin for requesting mdi mode
.TP
.B halui.mode.teleop\fR bit in \fR
pin for requesting coordinated jog mode

.SS mdi \fR(optional)
.TP
.B halui.mdi-command-XX\fR bit in
\fBhalui\fR looks for ini variables named [HALUI]MDI_COMMAND, and
exports a pin for each command it finds.  When the pin is driven TRUE,
\fBhalui\fR runs the specified MDI command.  XX is a two digit number
starting at 00.  If no [HALUI]MDI_COMMAND variables are set in the ini
file, no halui.mdi-command-XX pins will be exported by halui.

.SS mist
.TP
.B halui.mist.is-on\fR bit out \fR
pin for mist is on
.TP
.B halui.mist.off\fR bit in \fR
pin for stopping mist
.TP
.B halui.mist.on\fR bit in \fR
pin for starting mist

.SS max-velocity
.TP
.B halui.max-velocity.count-enable\fR bit in \fR (default: \fBTRUE\fR)
When TRUE, modify max velocity when counts changes.
.TP
.B halui.max-velocity.counts\fR s32 in \fR
counts from an encoder for example to change maximum velocity
.TP
.B halui.max-velocity.decrease\fR bit in \fR
pin for decreasing the maximum velocity (-=scale)
.TP
.B halui.max-velocity.direct-value\fR bit in \fR
pin for using a direct value for max velocity
.TP
.B halui.max-velocity.increase\fR bit in \fR
pin for increasing the maximum velocity (+=scale)
.TP
.B halui.max-velocity.scale\fR float in \fR
pin for setting the scale on changing the maximum velocity
.TP
.B halui.max-velocity.value\fR float out \fR
Current value for maximum velocity

.SS machine
.TP 
.B halui.machine.is-on\fR bit out \fR
pin for machine is On/Off
.TP 
.B halui.machine.off\fR bit in \fR
pin for setting machine Off
.TP 
.B halui.machine.on\fR bit in \fR
pin for setting machine On

.SS lube
.TP
.B halui.lube.is-on\fR bit out \fR
pin for lube is on
.TP
.B halui.lube.off\fR bit in \fR
pin for stopping lube
.TP
.B halui.lube.on\fR bit in \fR
pin for starting lube

.SS joint
.TP
.B halui.joint.N.has-fault\fR bit out \fR
status pin telling that joint N has a fault
.TP
.B halui.joint.N.home\fR bit in \fR
pin for homing joint N
.TP
.B halui.joint.N.is-homed\fR bit out \fR
status pin telling that joint N is homed
.TP
.B halui.joint.N.is-selected\fR bit out \fR
status pin that joint N is selected
.TP
.B halui.joint.N.on-hard-max-limit\fR bit out \fR
status pin telling that joint N is on the positive hardware limit
.TP
.B halui.joint.N.on-hard-min-limit\fR bit out \fR
status pin telling that joint N is on the negative hardware limit
.TP
.B halui.joint.N.on-soft-max-limit\fR bit out \fR
status pin telling that joint N is on the positive software limit
.TP
.B halui.joint.N.on-soft-min-limit\fR bit out \fR
status pin telling that joint N is on the negative software limit
.TP
.B halui.joint.N.select\fR bit in \fR
pin for selecting joint N
.TP
.B halui.joint.N.unhome\fR bit in \fR
pin for unhoming joint N
.TP
.B halui.joint.selected\fR u32 out \fR
selected joint
.TP
.B halui.joint.selected.has-fault\fR bit out \fR
status pin selected joint is faulted
.TP
.B halui.joint.selected.home\fR bit in \fR
pin for homing the selected joint 
.TP
.B halui.joint.selected.is-homed\fR bit out \fR
status pin telling that the selected joint is homed
.TP
.B halui.joint.selected.on-hard-max-limit\fR bit out \fR
status pin telling that the selected joint is on the positive hardware limit
.TP
.B halui.joint.selected.on-hard-min-limit\fR bit out \fR
status pin telling that the selected joint is on the negative hardware limit
.TP
.B halui.joint.selected.on-soft-max-limit\fR bit out \fR
status pin telling that the selected joint is on the positive software limit
.TP
.B halui.joint.selected.on-soft-min-limit\fR bit out \fR
status pin telling that the selected joint is on the negative software limit
.TP
.B halui.joint.selected.unhome\fR bit in \fR
pin for unhoming the selected joint

.SS jog
.TP
.B halui.jog.deadband\fR float in \fR
pin for setting jog analog deadband (jog analog inputs smaller/slower than this are ignored)
.TP
.B halui.jog-speed\fR float in \fR
pin for setting jog speed for plus/minus jogging.
.TP
.B halui.jog.N.analog\fR float in \fR
pin for jogging the axis N using an float value (e.g. joystick)
.TP
.B halui.jog.N.increment\fR float in \fR
pin for setting the jog increment for axis N when using increment-plus/minus
.TP
.B halui.jog.N.increment-minus\fR bit in \fR
a rising edge will will make axis N jog in the negative direction by the increment amount
.TP
.B halui.jog.N.increment-plus\fR bit in \fR
a rising edge will will make axis N jog in the positive direction by the increment amount
.TP
.B halui.jog.N.minus\fR bit in \fR
pin for jogging axis N in negative direction at the halui.jog-speed velocity
.TP
.B halui.jog.N.plus\fR bit in \fR
pin for jogging axis N in positive direction at the halui.jog-speed velocity
.TP
.B halui.jog.selected.increment\fR float in \fR
pin for setting the jog increment for the selected axis when using increment-plus/minus
.TP
.B halui.jog.selected.increment-minus\fR bit in \fR
a rising edge will will make the selected axis jog in the negative direction by the increment amount
.TP
.B halui.jog.selected.increment-plus\fR bit in \fR
a rising edge will will make the selected axis jog in the positive direction by the increment amount
.TP
.B halui.jog.selected.minus\fR bit in \fR
pin for jogging the selected axis in negative direction at the halui.jog-speed velocity
.TP
.B halui.jog.selected.plus\fR
pin for jogging the selected axis  bit in \fRin positive direction at the halui.jog-speed velocity

.SS flood
.TP
.B halui.flood.is-on\fR bit out \fR
pin for flood is on
.TP
.B halui.flood.off\fR bit in \fR
pin for stopping flood
.TP
.B halui.flood.on\fR bit in \fR
pin for starting flood

.SS feed override
.TP
.B halui.feed-override.count-enable\fR bit in \fR (default: \fBTRUE\fR)
When TRUE, modify feed override when counts changes.
.TP
.B halui.feed-override.counts\fR s32 in \fR
counts X scale = feed override percentage
.TP
.B halui.feed-override.decrease\fR bit in \fR
pin for decreasing the FO (-=scale)
.TP
.B halui.feed-override.direct-value\fR bit in \fR
pin to enable direct value feed override input
.TP
.B halui.feed-override.increase\fR bit in \fR
pin for increasing the FO (+=scale)
.TP
.B halui.feed-override.scale\fR float in \fR
pin for setting the scale on changing the FO
.TP
.B halui.feed-override.value\fR float out \fR
current Feed Override value

.SS rapid override
.TP
.B halui.rapid-override.count-enable\fR bit in \fR (default: \fBTRUE\fR)
When TRUE, modify Rapid Override when counts changes.
.TP
.B halui.rapid-override.counts\fR s32 in \fR
counts X scale = Rapid Override percentage
.TP
.B halui.rapid-override.decrease\fR bit in \fR
pin for decreasing the Rapid Override (-=scale)
.TP
.B halui.rapid-override.direct-value\fR bit in \fR
pin to enable direct value Rapid Override input
.TP
.B halui.rapid-override.increase\fR bit in \fR
pin for increasing the Rapid Override (+=scale)
.TP
.B halui.rapid-override.scale\fR float in \fR
pin for setting the scale on changing the Rapid Override
.TP
.B halui.rapid-override.value\fR float out \fR
current Rapid Override value

.SS estop
.TP
.B halui.estop.activate\fR bit in \fR
pin for setting Estop (LinuxCNC internal) On
.TP
.B halui.estop.is-activated\fR bit out \fR
pin for displaying Estop state (LinuxCNC internal) On/Off
.TP
.B halui.estop.reset\fR bit in \fR
pin for resetting Estop (LinuxCNC internal) Off

.SS axis
.TP
.B halui.axis.N.pos-commanded\fR float out \fR float out \fR
Commanded axis position in machine coordinates
.TP
.B halui.axis.N.pos-feedback\fR float out \fR float out \fR
Feedback axis position in machine coordinates
.TP
.B halui.axis.N.pos-relative\fR float out \fR float out \fR
Commanded axis position in relative coordinates

.SS home
.TP 
.B halui.home-all\fR bit in \fR
pin for requesting home-all 
(only available when a valid homing sequence is specified)

.SH "SEE ALSO"

.SH HISTORY

.SH BUGS
none known at this time.
.SH AUTHOR
Written by Alex Joni, as part of the LinuxCNC project. Updated by John
Thornton
.SH REPORTING BUGS
Report bugs to alex_joni AT users DOT sourceforge DOT net
.SH COPYRIGHT
Copyright \(co 2006 Alex Joni.
.br
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.