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#!/usr/bin/tclsh
#-----------------------------------------------------------------------
# Copyright: 2013,2014
# Author: Dewey Garrett <dgarrett@panix.com>
#
# This program is free software; 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.
#
# This program 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 program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#-----------------------------------------------------------------------
# pass 1: set environmental variable as flag
# then restart this script in background
# exit
# pass 2: delay then start sim_pin
set delay_ms 3000
set pins [list \
ini.traj_default_velocity \
ini.traj_default_acceleration \
ini.traj_max_velocity \
ini.traj_max_acceleration \
ini.0.max_velocity \
ini.0.max_acceleration \
ini.0.min_limit \
ini.0.max_limit \
ini.0.backlash \
ini.0.ferror \
ini.0.min_ferror \
]
proc show_all {} {
package require Hal
puts "ini hal pins:"
puts [hal show pin ini]
} ;# show_all
if ![info exists ::env(ini_hal_pins)] {
set ::env(ini_hal_pins) $::argv
exec ./ini_hal_pins.tcl & ;# restart this script with env(ini_hal_pins) set
exit 0
} else {
after $delay_ms
show_all
if [catch {
eval exec sim_pin $pins &
} msg ] {
puts "$::argv0: sim_pin failed:"
puts " $msg"
}
exit 0
}
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