.\" Copyright (c) 2020 andypugh .\" .\" 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, .\" USA. .\" .\" .\" .TH HALRMT "1" "2020-08-26" "LinuxCNC Documentation" "The Enhanced Machine Controller" .SH NAME halrmt \- remote-control interface for LinuxCNC .SH SYNOPSIS .B halrmt [--port ] [--name ] [--connectpw ] [--enablepw ] [--sessions ] [-ini ] .SH OPTIONS With -- --port Waits for socket connections (telnet) on specified socket, without port specification it uses default port 5006. (note: linuxcncrsh uses 5007 as default) With -- --name Sets the server name to specified name for Hello. With -- --connectpw Sets the connection password to 'password'. Default EMC With -- --enablepw Sets the enable password to 'password'. Default EMCTOO With -- --sessions Sets the maximum number of simultaneous connextions to max sessions. Default is no limit (-1). With -- -ini \fI\fR, uses the specified \fIINI file\fR instead of the default emc.ini. .SH DESCRIPTION \fBhalrmt\fR supports six commands of which the commands \fIset\fR and \fIget\fR contain HAL specific sub-commands based on the commands supported by \fIhalcmd\fR. Commands and most parameters are not case sensitive. The exceptions are passwords, file paths and text strings. The supported commands are as follows: .B HELLO Hello If a valid password was entered the server will respond with HELLO ACK Where server name and server version are looked up from the implementation. if an invalid password or any other syntax error occurs then the server responds with: HELLO NAK .B Get The get command includes one of the HAL sub-commands, described below and zero or more additional parameters. .B Set The set command inclides one of the HAL sub-commands, described below and one or more additional parameters. .B Quit The quit command disconnects the associated socket connection. .B Shutdown The shutdown command tells LinuxCNC to shut down before quitting the connection. This command may only be issued if the Hello has been successfully negotiated and the connection has control of the CNC (see enable sub-command below). This command has no parameters. .B Help The help command will return help information in text format over the telnet connection. If no parameters are specified, it will itemize the available commands. If a command is specified, it will provide usage information for the specified command. Help will respond regardless of whether a "Hello" has been successfully negotiated. .B HAL sub-commands: echo on | off With get will return the current echo state, with set, sets the echo state. When echo is on, all commands will be echoed upon receipt. This state is local to each connection. verbose on | off With get will return the current verbose state, with set, sets the verbose state. When in verbose mode is on, all set commands return positive acknowledgement in the form SET ACK. In addition, text error messages will be issued when in verbose mode. This state is local to each connection. enable | off With get will return On or Off to indicate whether the current connection is enabled to perform control functions. With set and a valid password, the current connection is enabled for control functions. "OFF" may not be used as a password and disables control functions for this connection. config [TBD] comm_mode ascii | binary With get, will return the current communications mode. With set, will set the communications mode to the specified mode. The binary protocol is TBD. comm_prot With get, returns the current protocol version used by the server, with set, sets the server to use the specified protocol version, provided it is lower than or equal to the highest version number supported by the server implementation. Comps [] Get only, returns all components beginning with the specified substring. If no substring is specified then it returns all components. Pins [] Get only, returns all information about all pins beginning with the specified substring. If no substring is specified then it returns all pins. PinVals [] Get only, returns only value information about all pins beginning with the specified substring. If no substring is specified then it returns all pins. Signals [] Get only, returns all information about all signals beginning with the specified substring. If no substring is specified then it returns all signals. SigVals [] Get only, returns only value information about all signals beginning with the specified substring. If no substring is specified then it returns all pins. Params [] Get only, returns all information about all parameters beginning with the specified substring. If no substring is specified then it returns all parameters. ParamVals [] Get only, returns only value information about all parameters beginning with the specified substring. If no substring is specified then it returns all pins parameters. Functs [] Get only, returns all information about all functions beginning with the specified substring. If no substring is specified then it returns all functions. Threads Get only, returns all information about all functions. Comp Get only, returns the component matching the specified name. Pin Get only, returns all information about the pin matching the specified name. PinVal Get only, returns the value of the pin matching the specified name. Sig Get only, returns all information about the pin matching the specified name. SigVal Get only, returns just the value of the signal matching the specified name. Param Get only, returns all information about the parameter matching the specified name. ParamVal Get only, returns just the value of the parameter matching the specified name. Funct Get only, returns all information about the parameter matching the specified name. Thread Get only, returns all information about the thread matching the specified name. LoadRt Set only, loads the real time executable specified by name. Unload Set only, unloads the executable specified by name. LoadUsr Set only, loads the user executable specified by name. Linkps Set only, links the specified pin to the specified signal. Linksp Set only, links the specified signal to the specified pin. Linkpp Set only, links the pin specified by pin 1 with the pin specified by pin 2. Net Set only, nets the specified net list. Unlinkp Set only, unlinks the specified pins. Lock Unlock NewSig Set only, creates the signal specified by name and of type specified by type. DelSig Set only, deletes the signal specified by name. SetP Set only, sets the parameter specified by name to the value specified by value. SetS Set only, sets the signal specified by name to the value specified by value. AddF [] Set only, adds the function specified by name, to the thread specified by thread, with the optional parameters specified by parameters. DelF Set only, deletes the function specified by name. Save Start Stop .SH "SEE ALSO" \fBLinuxCNC(1)\fR Much more information about LinuxCNC and HAL is available in the LinuxCNC and HAL User Manuals, found at /usr/share/doc/LinuxCNC/. .SH BUGS It is not known if this interface currently works. .PP .SH AUTHOR This man page written by andypugh, as part of the LinuxCNC project. .SH REPORTING BUGS Report bugs at https://github.com/LinuxCNC/linuxcnc/issues .SH COPYRIGHT Copyright \(co 2020 andypugh. .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.