NAME

halrun - manipulate the LinuxCNC HAL from the command line

SYNOPSIS

halrun -h

halrun [-I] [halcmd_opts] [filename[.hal|.tcl]]

halrun -T [halcmd_opts] [filename[.hal|.tcl]]

halrun -U

DESCRIPTION

halrun is a convenience script used to manipulate the HAL (Hardware Abstraction Layer) from the command line. When invoked, halrun:

Sets up the realtime environment.
Executes a command interpreter (halcmd or haltcl).
(Optionally) runs an interactive session.
Tears down the realtime environment.

If no filename is specified, an interactive session is started.
The session will use halcmd(1) unless -T is specified in
which case haltcl(1) will be used.

If a filename is specified and neither the -I nor the -T option
is included, the filename will be processed by the command
interpreter corresponding to the filename extension (halcmd
or haltcl). After processing, the realtime environment
will be torn down.

If a filename is specified and the -I or -T option is included,
the file is processed by the appropriate command interpreter and
then an interactive session is started for halcmd or
haltcl according to the -I or -T option.

OPTIONS

halcmd_opts: When a .hal file is specified, the halcmd_opts are passed to halcmd. See the man page for halcmd(1). When a .tcl file is specified, the only valid options are:
-i <INI file>
-f <filename[.tcl|.hal]> (alternate means of specifying a file)
-I: Run an interactive halcmd session
-T: Run an interactive haltcl session.
-U: Forcibly cause the realtime environment to exit. It releases the HAL mutex, requests that all HAL components unload, and stops the realtime system. -U must be the only commandline argument.
-h: display a brief help screen and exit

BUGS

None known at this time.

AUTHOR

Original version by John Kasunich, as part of the LinuxCNC Enhanced Machine Controller project. Now includes major contributions by several members of the project.

REPORTING BUGS

Report bugs to the LinuxCNC bug tracker ⟨URL: http://sf.net/p/emc/bugs/ ⟩.