halui.adoc

:lang: en
:toc:
:example-caption: Example

[[cha:hal-user-interface]]
= HAL User Interface

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:hal: {basebackend@docbook:'':hal}
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== Introduction

Halui is a HAL based user interface for LinuxCNC, it connects HAL pins to
NML commands. Most of the functionality (buttons, indicators etc.) that
is provided by a traditional GUI (AXIS, GMOCCAPY, QtDragon, etc.), is provided by HAL pins in Halui.

The easiest way to add halui is to add the following to the [HAL]
section of the INI file:

[source,{ini}]
----
[HAL]
HALUI = halui
----

An alternate way to invoke it (specially if you generate the configuration with StepConf) is to include the following in your `custom.hal` file. +
Make sure you use the correct path to your INI file.

[source,{hal}]
----
loadusr halui -ini /path/to/inifile.ini
----

== MDI

Sometimes the user wants to add more complicated tasks to be performed
by the activation of a HAL pin.
This is possible by adding MDI commands to the INI file in the [HALUI] section.
Example:

[source,{ini}]
----
[HALUI]
MDI_COMMAND = G0 X0
MDI_COMMAND = G0 G53 Z0
MDI_COMMAND = G28
MDI_COMMAND = o<mysub>call
...
----

When halui starts it will read the `MDI_COMMAND` fields in the INI and
export pins from 00 to the number of `MDI_COMMAND` 's found in the INI, up
to a maximum of 64 commands. These pins can be connected like any
HAL pins. A common method is to use buttons provided by virtual
control panels like shown in the example <<code:Example-HAL-file-connections, Example for MDI_COMMAND connections>>.


[[code:Example-HAL-file-connections]]
.Example for MDI_COMMAND connections
====
.HAL file
[source,{hal}]
----
net quill-up      halui.mdi-command-00 <= pyvcp.quillup
net reference-pos halui.mdi-command-01 <= pyvcp.referencepos
net call-mysub    halui.mdi-command-02 <= pyvcp.callmysub
----
.Nets connecting the `halui.mdi-command-NN` pins provided by halui.
[source,sh]
----
$ halcmd show pin halui.mdi
Component Pins:
Owner  Type  Dir Value  Name
   10  bit   IN  FALSE  halui.mdi-command-00 <== quill-up
   10  bit   IN  FALSE  halui.mdi-command-01 <== reference-pos
   10  bit   IN  FALSE  halui.mdi-command-02 <== call-mysub
    ...
----
====

When a halui MDI pin is set (pulsed) true, halui will send the MDI
command defined in the INI.
This will not always succeed depending on the current operating
mode (e.g., while in AUTO halui can't successfully send MDI commands).

== Example Configuration

An example sim config (`configs/sim/axis/halui_pyvcp/halui.ini`)
is included in the distribution.

== Halui Pin Reference

All halui pins are also documented in the halui man page:

[source,sh]
----
$ man halui
----
Or see http://linuxcnc.org/docs/stable/html/man/man1/halui.1.html

=== Abort

* 'halui.abort' (bit, in) - pin to send an abort message (clears out most errors)

=== E-Stop

* 'halui.estop.activate' (bit, in) - pin for requesting E-Stop
* 'halui.estop.is-activated' (bit, out) - indicates E-stop reset
* 'halui.estop.reset' (bit, in) - pin for requesting E-Stop reset

=== Feed Override

* 'halui.feed-override.count-enable' (bit, in) - must be true for 'counts' or 'direct-value' to work.
* 'halui.feed-override.counts' (s32, in) - counts * scale = FO percentage. Can be used with an encoder or 'direct-value'.
* 'halui.feed-override.decrease' (bit, in) - pin for decreasing the FO (-=scale)
* 'halui.feed-override.increase' (bit, in) - pin for increasing the FO (+=scale)
* 'halui.feed-override.reset' (bit, in) - pin for resetting the FO (scale=1.0)
* 'halui.feed-override.direct-value' (bit, in) - false when using encoder to change counts, true when setting counts directly.
* 'halui.feed-override.scale' (float, in) - pin for setting the scale for increase and decrease of 'feed-override'.
* 'halui.feed-override.value' (float, out) - current FO value

=== Mist

* 'halui.mist.is-on' (bit, out) - indicates mist is on
* 'halui.mist.off' (bit, in) - pin for requesting mist off
* 'halui.mist.on' (bit, in) - pin for requesting mist on

=== Flood

* 'halui.flood.is-on' (bit, out) - indicates flood is on
* 'halui.flood.off' (bit, in) - pin for requesting flood off
* 'halui.flood.on' (bit, in) - pin for requesting flood on

=== Homing

* 'halui.home-all' (bit, in) - pin for requesting all axis to home. This
  pin will only be there if HOME_SEQUENCE is set in the INI file.

=== Machine

* 'halui.machine.units-per-mm' (float out) - pin  for  machine  units-per-mm
  (inch:1/25.4,  mm:1) according to inifile setting: [TRAJ]LINEAR_UNITS
* 'halui.machine.is-on' (bit, out) - indicates machine on
* 'halui.machine.off' (bit, in) - pin for requesting machine off
* 'halui.machine.on' (bit, in) - pin for requesting machine on

=== Max Velocity

The maximum linear velocity can be adjusted from 0 to the MAX_VELOCITY
that is set in the [TRAJ] section of the INI file.

* 'halui.max-velocity.count-enable' (bit, in) - must be true for 'counts' or 'direct-value' to work.
* 'halui.max-velocity.counts' (s32, in) - counts * scale = MV percentage. Can be used with an encoder or 'direct-value'.
* 'halui.max-velocity.direct-value' (bit, in) - false when using encoder to change counts, true when setting counts directly.
* 'halui.max-velocity.decrease' (bit, in) - pin for decreasing max velocity
* 'halui.max-velocity.increase' (bit, in) - pin for increasing max velocity
* 'halui.max-velocity.scale' (float, in) - the amount applied to the current maximum velocity with each transition from off to on of the increase or decrease pin in machine units per second.
* 'halui.max-velocity.value' (float, out) - is the maximum linear velocity in machine units per second.

=== MDI

* 'halui.mdi-command-_<nn>_' (bit, in) - halui will try to send the MDI
  command defined in the INI. _<nn>_ is a two  digit number  starting  at 00. +
  If the command succeeds then it will place LinuxCNC in the MDI mode and then back to Manual mode. +
  If no [HALUI]MDI_COMMAND variables are set in the  ini  file, no halui.mdi-command-<nn> pins will be
  exported by halui.

=== Joint

_N_ = joint number (0 ... num_joints-1) +
Example:

* 'halui.joint._N_.select' (bit in) - pin for selecting joint _N_
* 'halui.joint._N_.is-selected' (bit out) - status pin that joint _N_ is selected
* 'halui.joint._N_.has-fault' (bit out) - status pin telling that joint _N_ has a fault
* 'halui.joint._N_.home' (bit in) - pin for homing joint _N_
* 'halui.joint._N_.is-homed' (bit out) - status pin telling that joint _N_ is homed
* 'halui.joint._N_.on-hard-max-limit' (bit out) - status pin telling that joint _N_  is  on  the  positive  hardware limit
* 'halui.joint._N_.on-hard-min-limit' (bit out) - status  pin  telling  that  joint  _N_ is on the negative hardware limit
* 'halui.joint._N_.on-soft-max-limit' (bit out) - status pin telling that joint _N_  is  on  the  positive  software limit
* 'halui.joint._N_.on-soft-min-limit' (bit out) - status  pin  telling  that  joint  _N_ is on the negative software limit
* 'halui.joint._N_.override-limits' (bit out) - status pin telling that joint _N_'s limits are  temporarily  overridden
* 'halui.joint._N_.unhome' (bit in) - pin for unhoming joint _N_
* 'halui.joint.selected' (u32 out) - selected joint number (0 ... num_joints-1)
* 'halui.joint.selected.has-fault' (bit out) - status pin selected joint is faulted
* 'halui.joint.selected.home' (bit in) - pin for homing the selected joint
* 'halui.joint.selected.is-homed' (bit out) - status pin telling that the selected joint is homed
* 'halui.joint.selected.on-hard-max-limit' (bit out) - status  pin  telling  that the selected joint is on the positive hardware limit
* 'halui.joint.selected.on-hard-min-limit' (bit out) - status pin telling that the selected joint is  on  the  negative hardware limit
* 'halui.joint.selected.on-soft-max-limit' (bit out) - status  pin  telling  that the selected joint is on the positive software limit
* 'halui.joint.selected.on-soft-min-limit' (bit out) - status pin telling that the selected joint is  on  the  negative software limit
* 'halui.joint.selected.override-limits' (bit out) - status  pin  telling that the selected joint's limits are temporarily overridden
* 'halui.joint.selected.unhome' (bit in) - pin for unhoming the selected joint

=== Joint Jogging

_N_ = joint number (0 ... num_joints-1)

* 'halui.joint.jog-deadband' (float in) - pin for setting jog analog deadband (jog analog inputs smaller/slower than this - in absolute value - are ignored)
* 'halui.joint.jog-speed' (float in) - pin for setting jog speed for plus/minus jogging.
* 'halui.joint._N_.analog' (float in) - pin for jogging the joint _N_ using a float  value  (e.g.  joy-stick).  The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
* 'halui.joint._N_.increment' (float in) - pin for setting the jog increment for joint _N_ when using increment-plus/minus
* 'halui.joint._N_.increment-minus' (bit in) - a  rising edge will will make joint _N_ jog in the negative direction by the increment amount
* 'halui.joint._N_.increment-plus' (bit in) - a rising edge will will make joint _N_ jog in the positive direction by the increment amount
* 'halui.joint._N_.minus' (bit in) - pin for jogging  joint _N_ in negative direction at the halui.joint.jog-speed velocity
* 'halui.joint._N_.plus' (bit in) - pin for jogging joint _N_ in positive direction at the halui.joint.jog-speed velocity
* 'halui.joint.selected.increment' (float in) - pin for setting the jog increment for the selected joint when using increment-plus/minus
* 'halui.joint.selected.increment-minus' (bit in) - a rising edge will will make the selected joint jog in the negative direction by the increment amount
* 'halui.joint.selected.increment-plus' (bit in) - a rising edge will will make the selected joint jog in the positive direction by the increment amount
* 'halui.joint.selected.minus' (bit in) - pin for jogging the selected joint in negative direction at the halui.joint.jog-speed velocity
* 'halui.joint.selected.plus' (bit in) - pin for jogging the selected joint in positive direction at the halui.joint.jog-speed velocity

=== Axis

_L_ = axis letter (xyzabcuvw)

* 'halui.axis._L_.select' (bit) - pin for selecting axis by letter
* 'halui.axis._L_.is-selected' (bit out) - status pin that axis _L_ is selected
* 'halui.axis._L_.pos-commanded' (float out) - Commanded axis position in machine coordinates
* 'halui.axis._L_.pos-feedback' float out) - Feedback axis position in machine coordinates
* 'halui.axis._L_.pos-relative' (float out) - Feedback axis position in relative coordinates

=== Axis Jogging

_L_ = axis letter (xyzabcuvw)

* 'halui.axis.jog-deadband' (float in) - pin  for  setting  jog  analog  deadband  (jog   analog   inputs smaller/slower than this (in absolute value) are ignored)
* 'halui.axis.jog-speed' (float in) - pin for setting jog speed for plus/minus jogging.
* 'halui.axis._L_.analog' (float in) - pin for jogging the axis _L_ using an float value (e.g. joystick). The value, typically set between 0.0 and  ±1.0,  is  used as a jog-speed multiplier.
* 'halui.axis._L_.increment' (float in) - pin  for  setting the jog increment for axis _L_ when using increment-plus/minus
* 'halui.axis._L_.increment-minus' (bit in) - a rising edge will will make axis _L_ jog in the  negative  direction by the increment amount
* 'halui.axis._L_.increment-plus' (bit in) - a  rising  edge will will make axis _L_ jog in the positive direction by the increment amount
* 'halui.axis._L_.minus' (bit in) - pin  for  jogging  axis  _L_  in   negative   direction   at   the halui.axis.jog-speed velocity
* 'halui.axis._L_.plus' (bit in) - pin   for   jogging   axis   _L_  in  positive  direction  at  the halui.axis.jog-speed velocity
* 'halui.axis.selected' (u32 out) - selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w)
* 'halui.axis.selected.increment' (float in) - pin for setting the jog increment for  the  selected  axis  when using increment-plus/minus
* 'halui.axis.selected.increment-minus' (bit in) - a  rising edge will will make the selected axis jog in the negative direction by the increment amount
* 'halui.axis.selected.increment-plus' (bit in) - a rising edge will will make the selected axis jog in the  positive direction by the increment amount
* 'halui.axis.selected.minus' (bit in) - pin  for  jogging the selected axis in negative direction at the halui.axis.jog-speed velocity
* 'halui.axis.selected.plus' (pin in) - for jogging the selected axis bit in in positive  direction at the halui.axis.jog-speed velocity

=== Mode

* 'halui.mode.auto' (bit, in) - pin for requesting auto mode
* 'halui.mode.is-auto' (bit, out) - indicates auto mode is on
* 'halui.mode.is-joint' (bit, out) - indicates joint by joint jog mode is on
* 'halui.mode.is-manual' (bit, out) - indicates manual mode is on
* 'halui.mode.is-mdi' (bit, out) - indicates MDI mode is on
* 'halui.mode.is-teleop' (bit, out) - indicates coordinated jog mode is on
* 'halui.mode.joint' (bit, in) - pin for requesting joint by joint jog mode
* 'halui.mode.manual' (bit, in) - pin for requesting manual mode
* 'halui.mode.mdi' (bit, in) - pin for requesting MDI mode
* 'halui.mode.teleop' (bit, in) - pin for requesting coordinated jog mode

=== Program

* 'halui.program.block-delete.is-on' (bit, out) - status pin telling that block delete is on
* 'halui.program.block-delete.off' (bit, in) - pin for requesting that block delete is off
* 'halui.program.block-delete.on' (bit, in) - pin for requesting that block delete is on
* 'halui.program.is-idle' (bit, out) - status pin telling that no program is running
* 'halui.program.is-paused' (bit, out) - status pin telling that a program is paused
* 'halui.program.is-running' (bit, out) - status pin telling that a program is running
* 'halui.program.optional-stop.is-on' (bit, out) - status pin telling that the optional stop is on
* 'halui.program.optional-stop.off' (bit, in) - pin requesting that the optional stop is off
* 'halui.program.optional-stop.on' (bit, in) - pin requesting that the optional stop is on
* 'halui.program.pause' (bit, in) - pin for pausing a program
* 'halui.program.resume' (bit, in) - pin for resuming a paused program
* 'halui.program.run' (bit, in) - pin for running a program
* 'halui.program.step' (bit, in) - pin for stepping in a program
* 'halui.program.stop' (bit, in) - pin for stopping a program

=== Rapid Override

* 'halui.rapid-override.count-enable' (bit in  (default: TRUE)) - When TRUE, modify Rapid Override when counts changes.
* 'halui.rapid-override.counts' (s32 in) - counts X scale = Rapid Override percentage. Can be used with an encoder or 'direct-value'.
* 'halui.rapid-override.decrease' (bit in) - pin for decreasing the Rapid Override (-=scale)
* 'halui.rapid-override.direct-value' (bit in) - pin to enable direct value Rapid Override input
* 'halui.rapid-override.increase' (bit in) - pin for increasing the Rapid Override (+=scale)
* 'halui.rapid-override.scale' (float in) - pin for setting the scale on changing the Rapid Override
* 'halui.rapid-override.value' (float out) - current Rapid Override value
* 'halui.rapid-override.reset' (bit, in) - pin for resetting the Rapid Override value (scale=1.0)

=== Spindle Override

* 'halui.spindle._N_.override.count-enable' (bit, in) - must be true for 'counts' or 'direct-value' to work.
* 'halui.spindle._N_.override.counts' (s32, in) - counts * scale = SO percentage.  Can be used with an encoder or 'direct-value'.
* 'halui.spindle._N_.override.decrease' (bit, in) - pin for decreasing the SO (-=scale)
* 'halui.spindle._N_.override.direct-value' (bit, in) - false when using encoder to change counts, true when setting counts directly.
* 'halui.spindle._N_.override.increase' (bit, in) - pin for increasing the SO (+=scale)
* 'halui.spindle._N_.override.scale' (float, in) - pin for setting the scale on changing the SO
* 'halui.spindle._N_.override.value' (float, out) - current SO value
* 'halui.spindle._N_.override.reset' (bit, in) - pin for resetting the SO value (scale=1.0)

=== Spindle

* 'halui.spindle._N_.brake-is-on' (bit, out) - indicates brake is on
* 'halui.spindle._N_.brake-off' (bit, in) - pin for deactivating spindle/brake
* 'halui.spindle._N_.brake-on' (bit, in) - pin for activating spindle-brake
* 'halui.spindle._N_.decrease' (bit, in) - decreases spindle speed
* 'halui.spindle._N_.forward' (bit, in) - starts the spindle with CW motion
* 'halui.spindle._N_.increase' (bit, in)- increases spindle speed
* 'halui.spindle._N_.is-on' (bit, out) - indicates spindle is on (either direction)
* 'halui.spindle._N_.reverse' (bit, in)- starts the spindle with a CCW motion
* 'halui.spindle._N_.runs-backward' (bit, out) - indicates spindle is on, and in reverse
* 'halui.spindle._N_.runs-forward' (bit, out) - indicates spindle is on, and in forward
* 'halui.spindle._N_.start' (bit, in) - starts the spindle
* 'halui.spindle._N_.stop' (bit, in) - stops the spindle

=== Tool

* 'halui.tool.length-offset.a' (float out) - current applied tool length offset for the A axis
* 'halui.tool.length-offset.b' (float out) - current applied tool length offset for the B axis
* 'halui.tool.length-offset.c' (float out) - current applied tool length offset for the C axis
* 'halui.tool.length-offset.u' (float out) - current applied tool length offset for the U axis
* 'halui.tool.length-offset.v' (float out) - current applied tool length offset for the V axis
* 'halui.tool.length-offset.w' (float out) - current applied tool length offset for the W axis
* 'halui.tool.length-offset.x' (float out) - current applied tool length offset for the X axis
* 'halui.tool.length-offset.y' (float out) - current applied tool length offset for the Y axis
* 'halui.tool.length-offset.z' (float out) - current applied tool length offset for the Z axis
* 'halui.tool.diameter' (float out) - Current tool diameter, or 0 if no tool is loaded.
* 'halui.tool.number' (u32, out) - indicates current selected tool

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