1. 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.

[HAL]
HALUI = halui

An alternate way to invoke it is to include the following in your .hal file. Make sure you use the correct path to your ini file.

loadusr halui -ini /path/to/inifile.ini

2. 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:

[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. Example halfile connections:

net quill-up       <= pyvcp.quillup
net quill-up       => halui.mdi-command-00
net reference-pos  <= pyvcp.referencepos
net reference-pos  => halui.mdi-command-01
net call-mysub     <= pyvcp.callmysub
net call-mysub     => halui.mdi-command-02

These nets connect the halui.mdi-command-NN pins provided by halui:

$ 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).

3. Example Configuration

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

4. Halui Pin Reference

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

$ man halui

4.1. Abort

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

4.2. 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

4.3. 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.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

4.4. 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

4.5. 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

4.6. 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.

4.7. Lube

  • halui.lube.is-on (bit, out) - indicates lube is on

  • halui.lube.off (bit, in) - pin for requesting lube off

  • halui.lube.on (bit, in) - pin for requesting lube on

4.8. 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

4.9. 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.

4.10. 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.

4.11. 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

4.12. 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 an 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

4.13. 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) - Commanded axis position in relative coordinates

4.14. 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

4.15. 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

4.16. 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

4.17. 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

4.18. 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

4.19. 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

4.20. 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