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\layout Chapter

Tools and Utilities
\layout Section


\begin_inset LatexCommand \label{sec:Halcmd}

\end_inset 

Halcmd
\layout Standard

Halcmd is a command line tool for manipulating the HAL.
 There is a rather complete man page for halcmd, which will be installed
 if you have installed EMC2 from either source or a package.
 If you have compiled EMC2 for 
\begin_inset Quotes eld
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run-in-place
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\end_inset 

, the man page is not installed, but it is accessible.
 From the main EMC2 directory, do:
\layout LyX-Code

$ 
\series bold 
man -M docs/man halcmd
\layout Standard

Chapter 
\begin_inset LatexCommand \ref{cha:HAL-Tutorial}

\end_inset 

 has a number of examples of halcmd usage, and is a good tutorial for halcmd.
\layout Section


\begin_inset LatexCommand \label{sec:Halmeter}

\end_inset 

Halmeter
\layout Standard

Halmeter is a 
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voltmeter
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\end_inset 

 for the HAL.
 It lets you look at a pin, signal, or parameter, and displays the current
 value of that item.
 It is pretty simple to use.
 Start it by typing 
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\end_inset 


\family typewriter 
halmeter
\family default 

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 in a X windows shell.
 Halmeter is a GUI application.
 It will pop up a small window, with two buttons labeled 
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Select
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 and 
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Exit
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.
 Exit is easy - it shuts down the program.
 Select pops up a larger window, with three tabs.
 One tab lists all the pins currently defined in the HAL.
 The next lists all the signals, and the last tab lists all the parameters.
 Click on a tab, then click on a pin/signal/parameter.
 Then click on 
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OK
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.
 The lists will disappear, and the small window will display the name and
 value of the selected item.
 The display is updated approximately 10 times per second.
 If you click 
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Accept
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 instead of 
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OK
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, the small window will display the name and value of the selected item,
 but the large window will remain on the screen.
 This is convenient if you want to look at a number of different items quickly.
 
\layout Standard

You can have many halmeters running at the same time, if you want to monitor
 several items.
 If you want to launch a halmeter without tying up a shell window, type
 
\begin_inset Quotes eld
\end_inset 


\family typewriter 
halmeter &
\family default 

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 to run it in the background.
 You can also make halmeter start displaying a specific item immediately,
 by adding 
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\end_inset 


\family typewriter 
pin|sig|par[am] <name>
\family default 

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 to the command line.
 It will display the pin, signal, or parameter <name> as soon as it starts.
 (If there is no such item, it will simply start normally.) And finally,
 if you specify an item to display, you can add 
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-s
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 before the pin|sig|param to tell halmeter to use a small window.
 The item name will be displayed in the title bar instead of under the value,
 and there will be no buttons.
 Usefull when you want a lot of meters in a small amount of screen space.
\layout Section


\begin_inset LatexCommand \label{sec:Halscope}

\end_inset 

Halscope
\layout Standard

Halscope is an 
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\end_inset 

oscilloscope
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 for the HAL.
 It lets you capture the value of pins, signals, and parameters as a function
 of time.
 Complete operating instructions should be located here eventually.
 For now, refer to section 
\begin_inset LatexCommand \ref{sec:Tutorial - Halscope}

\end_inset 

 in the tutorial chapter, which explains the basics.
\the_end