105 lines
3.7 KiB
Groff
105 lines
3.7 KiB
Groff
.\" Copyright (c) 2003 John Kasunich
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.\" (jmkasunich AT users DOT sourceforge DOT net)
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.\"
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.\" This is free documentation; you can redistribute it and/or
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.\" modify it under the terms of the GNU General Public License as
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.\" published by the Free Software Foundation; either version 2 of
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.\" the License, or (at your option) any later version.
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.\"
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.\" The GNU General Public License's references to "object code"
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.\" and "executables" are to be interpreted as the output of any
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.\" document formatting or typesetting system, including
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.\" intermediate and printed output.
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.\"
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.\" This manual is distributed in the hope that it will be useful,
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.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
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.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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.\" GNU General Public License for more details.
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.\"
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.\" You should have received a copy of the GNU General Public
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.\" License along with this manual; if not, write to the Free
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.\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111,
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.\" USA.
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.\"
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.\"
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.\"
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.de URL
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\\$2 \(laURL: \\$1 \(ra\\$3
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..
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.if \n[.g] .mso www.tmac
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.TH HALRUN "1" "2012-01-31" "LinuxCNC Documentation" "HAL User's Manual"
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.SH NAME
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halrun \- manipulate the LinuxCNC HAL from the command line
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.SH SYNOPSIS
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.B halrun \fI\-h\fR
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.PP
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.B halrun [\fI\-I\fR] [\fIhalcmd_opts\fR] [\fIfilename[.hal|.tcl]\fR]
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.PP
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.B halrun \fI\-T\fR [\fIhalcmd_opts\fR] [\fIfilename[.hal|.tcl]\fR]
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.PP
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.B halrun \fI\-U\fR
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.SH DESCRIPTION
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\fBhalrun\fR is a convenience script used to manipulate the HAL (Hardware
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Abstraction Layer) from the command line. When invoked, \fBhalrun\fR:
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Sets up the realtime environment.
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Executes a command interpreter (\fBhalcmd\fR or \fBhaltcl\fR).
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(Optionally) runs an interactive session.
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Tears down the realtime environment.
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If no filename is specified, an interactive session is started.
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The session will use \fBhalcmd\fR(1) unless \-T is specified in
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which case \fBhaltcl\fR(1) will be used.
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If a filename is specified and neither the \-I nor the \-T option
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is included, the filename will be processed by the command
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interpreter corresponding to the filename extension (\fBhalcmd\fR
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or \fBhaltcl\fR). After processing, the realtime environment
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will be torn down.
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If a filename is specified and the \-I or \-T option is included,
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the file is processed by the appropriate command interpreter and
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then an interactive session is started for \fBhalcmd\fR or
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\fBhaltcl\fR according to the \-I or \-T option.
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.SH OPTIONS
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.TP
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\fBhalcmd_opts\fR
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When a .hal file is specified, the \fBhalcmd_opts\fR are
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passed to \fBhalcmd\fR. See the man page for \fBhalcmd\fR(1).
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When a .tcl file is specified, the only valid options are:
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\-i inifile
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\-f filename[.tcl|.hal] (alternate means of specifying a file)
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.TP
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\fB\-I\fR
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Run an interactive \fBhalcmd\fR session
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.TP
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\fB\-T\fR
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Run an interactive \fBhaltcl\fR session.
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.TP
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\fB\-U\fR
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Forcibly cause the realtime environment to exit. It releases the HAL mutex,
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requests that all HAL components unload, and stops the realtime system.
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\fB\-U\fR must be the only commandline argument.
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.TP
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\fB\\-h\fR
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display a brief help screen and exit
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.SH EXAMPLES
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.SH HISTORY
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.SH BUGS
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None known at this time.
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.SH AUTHOR
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Original version by John Kasunich, as part of the LinuxCNC Enhanced Machine
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Controller project. Now includes major contributions by several
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members of the project.
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.SH REPORTING BUGS
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Report bugs to the
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.URL http://sf.net/p/emc/bugs/ "LinuxCNC bug tracker" .
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.SH COPYRIGHT
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Copyright \(co 2003 John Kasunich.
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.br
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This is free software; see the source for copying conditions. There is NO
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warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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.SH "SEE ALSO"
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\fBhalcmd\fR(1), \fBhaltcl\fR(1)
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