NAME

       halrmt - remote-control interface for LinuxCNC

SYNOPSIS

       halrmt  [--port <port number>] [--name <server name>] [--connectpw <password>] [--enablepw
       <password>] [--sessions <max sessions>] [-ini <INI file>]

OPTIONS

         With -- --port Waits for socket connections (telnet) on specified socket, without port
                   specification it uses default port  5006.  (note:  linuxcncrsh  uses  5007  as
       default)
         With -- --name <server name> Sets the server name to specified name for Hello.
         With -- --connectpw <password> Sets the connection password to 'password'. Default EMC
         With -- --enablepw <password> Sets the enable password to 'password'. Default EMCTOO
         With -- --sessions <max sessions> Sets the maximum number of simultaneous connextions
                   to max sessions. Default is no limit (-1).
         With -- -ini <INI file>, uses the specified INI file instead of the default emc.ini.

DESCRIPTION

       halrmt  supports  six commands of which the commands set and get contain HAL specific sub-
       commands based on the commands supported by halcmd. Commands and most parameters  are  not
       case sensitive. The exceptions are passwords, file paths and text strings.

       The supported commands are as follows:

       HELLO

       Hello <password> <client> <version>

       If a valid password was entered the server will respond with

         HELLO ACK <Server Name> <Server Version>

       Where server name and server version are looked up from the implementation.  if an invalid
       password or any other syntax error occurs then the server responds with:

         HELLO NAK

       Get

       The get command includes one of the HAL sub-commands, described below  and  zero  or  more
       additional parameters.

       Set

       The  set  command  inclides  one  of the HAL sub-commands, described below and one or more
       additional parameters.

       Quit

       The quit command disconnects the associated socket connection.

       Shutdown

       The shutdown command tells LinuxCNC to shut down  before  quitting  the  connection.  This
       command  may  only  be  issued  if  the  Hello  has  been  successfully negotiated and the
       connection has control of the CNC (see enable sub-command  below).  This  command  has  no
       parameters.

       Help

       The  help  command will return help information in text format over the telnet connection.
       If no parameters are specified, it will itemize the available commands.  If a  command  is
       specified,  it will provide usage information for the specified command. Help will respond
       regardless of whether a "Hello" has been successfully negotiated.

       HAL sub-commands:

         echo on | off With get will return the current echo  state,  with  set,  sets  the  echo
       state.  When echo is on, all commands will be echoed upon receipt.  This state is local to
       each connection.

         verbose on | off With get will return the current verbose  state,  with  set,  sets  the
       verbose   state.    When  in  verbose  mode  is  on,  all  set  commands  return  positive
       acknowledgement in the form SET <COMMAND> ACK.  In addition, text error messages  will  be
       issued when in verbose mode.  This state is local to each connection.

         enable  <pwd>  |  off  With  get  will  return On or Off to indicate whether the current
       connection is enabled to perform control functions.  With set and a  valid  password,  the
       current  connection is enabled for control functions.  "OFF" may not be used as a password
       and disables control functions for this connection.

         config [TBD]

         comm_mode ascii | binary With get, will return the current  communications  mode.   With
       set, will set the communications mode to the specified mode.  The binary protocol is TBD.

         comm_prot  <version  no>  With  get,  returns  the  current protocol version used by the
       server, with set, sets the server to use the specified protocol version,  provided  it  is
       lower than or equal to the highest version number supported by the server implementation.

         Comps [<substring>]

       Get  only, returns all components beginning with the specified substring.  If no substring
       is specified then it returns all components.

         Pins [<substring>]

       Get only, returns all information about all pins beginning with the  specified  substring.
       If no substring is specified then it returns all pins.

         PinVals [<substring>]

       Get  only,  returns  only  value  information  about all pins beginning with the specified
       substring.  If no substring is specified then it returns all pins.

         Signals [<substring>]

       Get only,  returns  all  information  about  all  signals  beginning  with  the  specified
       substring.  If no substring is specified then it returns all signals.

         SigVals [<substring>]

       Get  only,  returns  only value information about all signals beginning with the specified
       substring.  If no substring is specified then it returns all pins.

         Params [<substring>]

       Get only, returns all information  about  all  parameters  beginning  with  the  specified
       substring.  If no substring is specified then it returns all parameters.

         ParamVals [<substring>]

       Get only, returns only value information about all parameters beginning with the specified
       substring.  If no substring is specified then it returns all pins parameters.

         Functs [<substring>]

       Get only, returns all  information  about  all  functions  beginning  with  the  specified
       substring.  If no substring is specified then it returns all functions.

         Threads

       Get only, returns all information about all functions.

         Comp <name>

       Get only, returns the component matching the specified name.

         Pin <name>

       Get only, returns all information about the pin matching the specified name.

         PinVal <name>

       Get only, returns the value of the pin matching the specified name.

         Sig <name>

       Get only, returns all information about the pin matching the specified name.

         SigVal <name>

       Get only, returns just the value of the signal matching the specified name.

         Param <name>

       Get only, returns all information about the parameter matching the specified name.

         ParamVal <name>

       Get only, returns just the value of the parameter matching the specified name.

         Funct <name>

       Get only, returns all information about the parameter matching the specified name.

         Thread <name>

       Get only, returns all information about the thread matching the specified name.

         LoadRt <name>

       Set only, loads the real time executable specified by name.

         Unload <name>

       Set only, unloads the executable specified by name.

         LoadUsr <name>

       Set only, loads the user executable specified by name.

         Linkps <pin name> <signal name>

       Set only, links the specified pin to the specified signal.

         Linksp <signal name> <pin name>

       Set only, links the specified signal to the specified pin.

         Linkpp <pin name 1> <pin name 2>

       Set only, links the pin specified by pin 1 with the pin specified by pin 2.

         Net <net list>

       Set only, nets the specified net list.

         Unlinkp <pin name 1> <pin name 2>

       Set only, unlinks the specified pins.

         Lock

         Unlock

         NewSig <name> <type>

       Set only, creates the signal specified by name and of type specified by type.

         DelSig <name>

       Set only, deletes the signal specified by name.

         SetP <name> <value>

       Set only, sets the parameter specified by name to the value specified by value.

         SetS <name> <value>

       Set only, sets the signal specified by name to the value specified by value.

         AddF <name> <thread> [<parameters>]

       Set only, adds the function specified by name, to the thread specified by thread, with the
       optional parameters specified by parameters.

         DelF <name>

       Set only, deletes the function specified by name.

         Save

         Start

         Stop

SEE ALSO

       LinuxCNC(1)

       Much more information about LinuxCNC and HAL is available in the  LinuxCNC  and  HAL  User
       Manuals, found at /usr/share/doc/LinuxCNC/.

BUGS

       It is not known if this interface currently works.

AUTHOR

       This man page written by andypugh, as part of the LinuxCNC project.

REPORTING BUGS

       Report bugs at https://github.com/LinuxCNC/linuxcnc/issues

COPYRIGHT

       Copyright © 2020 andypugh.
       This  is  free software; see the source for copying conditions.  There is NO warranty; not
       even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.