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 inifile
                  -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

EXAMPLES

HISTORY

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 ⟨http://sf.net/p/emc/bugs/⟩.

COPYRIGHT

       Copyright © 2003 John Kasunich.
       This is free software; see the source for copying conditions.  There is NO  warranty;  not
       even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

SEE ALSO

       halcmd(1), haltcl(1)