diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d412317f24f..12bcaf82254 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -108,7 +108,7 @@ jobs: fi done for f in scripts/linuxcnc scripts/halrun bin/linuxcncrsh bin/linuxcncsvr \ - bin/halcmd bin/halui bin/mdi bin/linuxcnctop; do + bin/halcmd bin/mdi bin/linuxcnctop; do if test ! -x "$f"; then echo "error: missing headless artifact: $f" exit 1 diff --git a/configs/attic/dallur-thc/dallur-advanced.ini b/configs/attic/dallur-thc/dallur-advanced.ini index 29c669589d4..17391f89e8a 100644 --- a/configs/attic/dallur-thc/dallur-advanced.ini +++ b/configs/attic/dallur-thc/dallur-advanced.ini @@ -79,9 +79,6 @@ CYCLE_TIME = 0.010 # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # -# HALUI to interact with NML -# Run before any other HALFILE -HALUI=halui # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = dallur-core_stepper.hal diff --git a/configs/by_interface/mesa/plasma-5i20/plasma-5i20.ini b/configs/by_interface/mesa/plasma-5i20/plasma-5i20.ini index 665749f493d..05893701472 100644 --- a/configs/by_interface/mesa/plasma-5i20/plasma-5i20.ini +++ b/configs/by_interface/mesa/plasma-5i20/plasma-5i20.ini @@ -52,7 +52,6 @@ CYCLE_TIME = 0.010 # files are executed in the order in which they appear HALFILE = plasma-5i20.hal POSTGUI_HALFILE = postgui.hal -HALUI = halui # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta diff --git a/configs/by_interface/mesa/plasma-5i20/plasma-demo.ini b/configs/by_interface/mesa/plasma-5i20/plasma-demo.ini index 227b53a8c42..50ce08897fc 100644 --- a/configs/by_interface/mesa/plasma-5i20/plasma-demo.ini +++ b/configs/by_interface/mesa/plasma-5i20/plasma-demo.ini @@ -43,7 +43,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = plasma-demo.hal POSTGUI_HALFILE = postgui.hal diff --git a/configs/by_interface/parport/gantry/gantry.ini b/configs/by_interface/parport/gantry/gantry.ini index efef5faf1f6..9940e23fc40 100644 --- a/configs/by_interface/parport/gantry/gantry.ini +++ b/configs/by_interface/parport/gantry/gantry.ini @@ -51,7 +51,6 @@ BASE_PERIOD = 30000 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = gantry.hal #HALFILE = custom.hal #POSTGUI_HALFILE = postgui_call_list.hal diff --git a/configs/by_interface/parport/gantry/gantry_joints.ini b/configs/by_interface/parport/gantry/gantry_joints.ini index 6e8d83daa12..f249d65e20b 100644 --- a/configs/by_interface/parport/gantry/gantry_joints.ini +++ b/configs/by_interface/parport/gantry/gantry_joints.ini @@ -51,7 +51,6 @@ BASE_PERIOD = 30000 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = gantry.hal [HALUI] diff --git a/configs/by_interface/parport/plasma-thc-sim/plasma_mm.ini b/configs/by_interface/parport/plasma-thc-sim/plasma_mm.ini index db1c400a957..56884b5fc77 100644 --- a/configs/by_interface/parport/plasma-thc-sim/plasma_mm.ini +++ b/configs/by_interface/parport/plasma-thc-sim/plasma_mm.ini @@ -104,9 +104,6 @@ CYCLE_TIME = 0.100 # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # -# HALUI to interact with NML -# Run before any other HALFILE -HALUI = halui # list of hal config files to run through halcmd #+ files are executed in the order in which they appear HALFILE = kinematics.hal diff --git a/configs/by_interface/parport/stepper-gantry/stepper_mm.ini b/configs/by_interface/parport/stepper-gantry/stepper_mm.ini index d8fc9c20233..801ef71b72b 100644 --- a/configs/by_interface/parport/stepper-gantry/stepper_mm.ini +++ b/configs/by_interface/parport/stepper-gantry/stepper_mm.ini @@ -96,9 +96,6 @@ CYCLE_TIME = 0.100 # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # -# HALUI to interact with NML -# Run before any other HALFILE -HALUI = halui # list of hal config files to run through halcmd #+ files are executed in the order in which they appear HALFILE = kinematics.hal diff --git a/configs/by_machine/scorbot-er-3/scorbot-er-3.ini b/configs/by_machine/scorbot-er-3/scorbot-er-3.ini index 3ba8fea37ae..71911f9215a 100644 --- a/configs/by_machine/scorbot-er-3/scorbot-er-3.ini +++ b/configs/by_machine/scorbot-er-3/scorbot-er-3.ini @@ -73,8 +73,6 @@ HALFILE = scorbot-er-3.hal #HALFILE = shuttlexpress-customization.hal POSTGUI_HALFILE = pyvcp.hal -HALUI = halui - [HALUI] #No Content diff --git a/configs/by_machine/smithy/1034gecko.ini b/configs/by_machine/smithy/1034gecko.ini index 71ac255c449..56468417b47 100644 --- a/configs/by_machine/smithy/1034gecko.ini +++ b/configs/by_machine/smithy/1034gecko.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 1240gecko.hal EZTROL_HALFILE = eztrol.hal HALFILE = axis_manualtoolchange.hal diff --git a/configs/by_machine/smithy/1240.ini b/configs/by_machine/smithy/1240.ini index a5301550bd5..3763cc7282a 100644 --- a/configs/by_machine/smithy/1240.ini +++ b/configs/by_machine/smithy/1240.ini @@ -88,7 +88,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 1240.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/1240_4axis.ini b/configs/by_machine/smithy/1240_4axis.ini index 07f326a7977..a9a53f169f5 100644 --- a/configs/by_machine/smithy/1240_4axis.ini +++ b/configs/by_machine/smithy/1240_4axis.ini @@ -88,7 +88,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 1240_4axis.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/1240combined.ini b/configs/by_machine/smithy/1240combined.ini index fe808dd5564..10241ccea9b 100644 --- a/configs/by_machine/smithy/1240combined.ini +++ b/configs/by_machine/smithy/1240combined.ini @@ -91,7 +91,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 1240combined.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/1240combined_4axis.ini b/configs/by_machine/smithy/1240combined_4axis.ini index a9600f508ab..b26588e6ed2 100644 --- a/configs/by_machine/smithy/1240combined_4axis.ini +++ b/configs/by_machine/smithy/1240combined_4axis.ini @@ -91,7 +91,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 1240combined_4axis.hal #HALFILE = naiky_4axis.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/1240combined_mm.ini b/configs/by_machine/smithy/1240combined_mm.ini index e04e4edfee5..a497764d694 100644 --- a/configs/by_machine/smithy/1240combined_mm.ini +++ b/configs/by_machine/smithy/1240combined_mm.ini @@ -89,7 +89,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 1240combined.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/1240gecko.ini b/configs/by_machine/smithy/1240gecko.ini index 05d87c39a63..34cca4694b6 100644 --- a/configs/by_machine/smithy/1240gecko.ini +++ b/configs/by_machine/smithy/1240gecko.ini @@ -88,7 +88,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 1240gecko.hal EZTROL_HALFILE = eztrol.hal POSTGUI_HALFILE = gecko_postgui.hal diff --git a/configs/by_machine/smithy/1240rutex.ini b/configs/by_machine/smithy/1240rutex.ini index ab8906feb24..c5af47baf79 100644 --- a/configs/by_machine/smithy/1240rutex.ini +++ b/configs/by_machine/smithy/1240rutex.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 1240rutex.hal EZTROL_HALFILE = eztrol.hal HALFILE = axis_manualtoolchange.hal diff --git a/configs/by_machine/smithy/1240rutex_4axis.ini b/configs/by_machine/smithy/1240rutex_4axis.ini index a92967300e0..e4c04bc0001 100644 --- a/configs/by_machine/smithy/1240rutex_4axis.ini +++ b/configs/by_machine/smithy/1240rutex_4axis.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 1240rutex_4axis.hal EZTROL_HALFILE = eztrol.hal HALFILE = axis_manualtoolchange.hal diff --git a/configs/by_machine/smithy/1315.ini b/configs/by_machine/smithy/1315.ini index 695a2a71d84..992758019ad 100644 --- a/configs/by_machine/smithy/1315.ini +++ b/configs/by_machine/smithy/1315.ini @@ -67,7 +67,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 1315.hal #HALFILE = naiky.hal POSTGUI_HALFILE = 1315postgui.hal diff --git a/configs/by_machine/smithy/516gecko.ini b/configs/by_machine/smithy/516gecko.ini index 09e46aef400..f3c8d942464 100644 --- a/configs/by_machine/smithy/516gecko.ini +++ b/configs/by_machine/smithy/516gecko.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 622gecko.hal EZTROL_HALFILE = eztrol.hal HALFILE = axis_manualtoolchange.hal diff --git a/configs/by_machine/smithy/622.ini b/configs/by_machine/smithy/622.ini index eea966b8284..b390d6b0f5d 100644 --- a/configs/by_machine/smithy/622.ini +++ b/configs/by_machine/smithy/622.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 622.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/622_4axis.ini b/configs/by_machine/smithy/622_4axis.ini index 88b085909d8..2bb26ee3bc6 100644 --- a/configs/by_machine/smithy/622_4axis.ini +++ b/configs/by_machine/smithy/622_4axis.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 622_4axis.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/622gecko.ini b/configs/by_machine/smithy/622gecko.ini index edd1a34409a..fdc8a35727e 100644 --- a/configs/by_machine/smithy/622gecko.ini +++ b/configs/by_machine/smithy/622gecko.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = 622gecko.hal EZTROL_HALFILE = eztrol.hal HALFILE = axis_manualtoolchange.hal diff --git a/configs/by_machine/smithy/622keyence.ini b/configs/by_machine/smithy/622keyence.ini index b3a955910bf..7c16c57da94 100644 --- a/configs/by_machine/smithy/622keyence.ini +++ b/configs/by_machine/smithy/622keyence.ini @@ -88,7 +88,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 622keyence.hal #HALFILE = naiky.hal EZTROL_HALFILE = 622eztrol-leadshine.hal diff --git a/configs/by_machine/smithy/622leadshine.ini b/configs/by_machine/smithy/622leadshine.ini index a23e2a29735..e5b0449c486 100644 --- a/configs/by_machine/smithy/622leadshine.ini +++ b/configs/by_machine/smithy/622leadshine.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 622leadshine.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/622leadshine_4axis.ini b/configs/by_machine/smithy/622leadshine_4axis.ini index 21c1c44340b..7b56be52200 100644 --- a/configs/by_machine/smithy/622leadshine_4axis.ini +++ b/configs/by_machine/smithy/622leadshine_4axis.ini @@ -87,7 +87,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 622leadshine_4axis.hal #HALFILE = naiky.hal EZTROL_HALFILE = 5i20eztrol.hal diff --git a/configs/by_machine/smithy/924.ini b/configs/by_machine/smithy/924.ini index c4092c0a83e..684ddc663db 100644 --- a/configs/by_machine/smithy/924.ini +++ b/configs/by_machine/smithy/924.ini @@ -72,7 +72,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = 924.hal #HALFILE = naiky.hal diff --git a/configs/sim/axis/anglejog/anglejog.ini b/configs/sim/axis/anglejog/anglejog.ini index 696f6188bb2..17196bfe235 100644 --- a/configs/sim/axis/anglejog/anglejog.ini +++ b/configs/sim/axis/anglejog/anglejog.ini @@ -30,7 +30,6 @@ SERVO_PERIOD = 1000000 CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl -no_sim_spindle -no_use_hal_manualtoolchange # all provisions for anglejog: POSTGUI_HALFILE = anglejog_postgui.hal diff --git a/configs/sim/axis/axis.ini b/configs/sim/axis/axis.ini index 534604ef150..4945eafc986 100644 --- a/configs/sim/axis/axis.ini +++ b/configs/sim/axis/axis.ini @@ -124,8 +124,6 @@ HALFILE = cooling.hal # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] COORDINATES = X Y Z diff --git a/configs/sim/axis/axis_9axis.ini b/configs/sim/axis/axis_9axis.ini index ff220c27567..103baf9c510 100644 --- a/configs/sim/axis/axis_9axis.ini +++ b/configs/sim/axis/axis_9axis.ini @@ -45,7 +45,6 @@ SERVO_PERIOD = 1000000 TOOL_CHANGE_POSITION = 0 0 2 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = locking_indexer.hal diff --git a/configs/sim/axis/axis_9axis_scurve.ini b/configs/sim/axis/axis_9axis_scurve.ini index 39c082a442b..24bc30f8012 100644 --- a/configs/sim/axis/axis_9axis_scurve.ini +++ b/configs/sim/axis/axis_9axis_scurve.ini @@ -47,7 +47,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = axis_9axis_scurve.hal [TRAJ] diff --git a/configs/sim/axis/axis_mm.ini b/configs/sim/axis/axis_mm.ini index df209baf313..1efb1d7dee4 100644 --- a/configs/sim/axis/axis_mm.ini +++ b/configs/sim/axis/axis_mm.ini @@ -115,8 +115,6 @@ HALFILE = cooling.hal # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] COORDINATES = X Y Z diff --git a/configs/sim/axis/axis_mm_scurve.ini b/configs/sim/axis/axis_mm_scurve.ini index 13a3e803bbd..0f69e88d20c 100644 --- a/configs/sim/axis/axis_mm_scurve.ini +++ b/configs/sim/axis/axis_mm_scurve.ini @@ -47,7 +47,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = axis_mm_scurve.hal [TRAJ] diff --git a/configs/sim/axis/canterp.ini b/configs/sim/axis/canterp.ini index 1fc4c1ab779..c34f3c67fa1 100644 --- a/configs/sim/axis/canterp.ini +++ b/configs/sim/axis/canterp.ini @@ -32,7 +32,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/db_demo/base.inc b/configs/sim/axis/db_demo/base.inc index 8330fee7eb5..142df4c93e4 100644 --- a/configs/sim/axis/db_demo/base.inc +++ b/configs/sim/axis/db_demo/base.inc @@ -20,7 +20,6 @@ EMCMOT = motmod SERVO_PERIOD = 1000000 [HAL] -HALUI=halui HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange POSTGUI_HALFILE = db_postgui.hal diff --git a/configs/sim/axis/external_offsets/dynamic_offsets.ini b/configs/sim/axis/external_offsets/dynamic_offsets.ini index b07b103c737..6b0fd9969fd 100644 --- a/configs/sim/axis/external_offsets/dynamic_offsets.ini +++ b/configs/sim/axis/external_offsets/dynamic_offsets.ini @@ -4,7 +4,6 @@ DELAY = 5 APP = halscope -i dynamic_offsets.halscope [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl -no_sim_spindle POSTGUI_HALFILE = dynamic_offsets_panel.hal diff --git a/configs/sim/axis/external_offsets/eoffsets.ini b/configs/sim/axis/external_offsets/eoffsets.ini index 0542f67c902..6559b3364f8 100644 --- a/configs/sim/axis/external_offsets/eoffsets.ini +++ b/configs/sim/axis/external_offsets/eoffsets.ini @@ -18,7 +18,6 @@ APP = sim_pin --title "MPG Simulator" \ APP = eoffsets_monitor.tcl [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange HALFILE = eoffsets.hal POSTGUI_HALFILE = eoffsets_panel.hal diff --git a/configs/sim/axis/external_offsets/jwp_z.ini b/configs/sim/axis/external_offsets/jwp_z.ini index d99db80c758..0c6853d4965 100644 --- a/configs/sim/axis/external_offsets/jwp_z.ini +++ b/configs/sim/axis/external_offsets/jwp_z.ini @@ -10,7 +10,6 @@ [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = jwp_z_panel.hal diff --git a/configs/sim/axis/external_offsets/opa.ini b/configs/sim/axis/external_offsets/opa.ini index 2301b15c977..87b68605f48 100644 --- a/configs/sim/axis/external_offsets/opa.ini +++ b/configs/sim/axis/external_offsets/opa.ini @@ -5,7 +5,6 @@ DELAY = 3 APP = sim_pin ini.x.max_acceleration ini.x.max_velocity [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = opa.hal POSTGUI_HALFILE = opa_panel.hal diff --git a/configs/sim/axis/extrajoints/12extrajoints.ini b/configs/sim/axis/extrajoints/12extrajoints.ini index ff8f8f02c39..96ec281db6f 100644 --- a/configs/sim/axis/extrajoints/12extrajoints.ini +++ b/configs/sim/axis/extrajoints/12extrajoints.ini @@ -26,7 +26,6 @@ SERVO_PERIOD = 1000000 TWOPASS = on HALFILE = LIB:basic_sim.tcl HALFILE = ./extrajoints.tcl -HALUI = halui [DISPLAY] DISPLAY = axis diff --git a/configs/sim/axis/extrajoints/1extrajoint.ini b/configs/sim/axis/extrajoints/1extrajoint.ini index 38c17ad9da2..bdbb4358c2d 100644 --- a/configs/sim/axis/extrajoints/1extrajoint.ini +++ b/configs/sim/axis/extrajoints/1extrajoint.ini @@ -27,7 +27,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = 1extrajoint.hal -HALUI = halui [DISPLAY] diff --git a/configs/sim/axis/extrajoints/2extrajoints.ini b/configs/sim/axis/extrajoints/2extrajoints.ini index fee8ff15c41..21a7b8b7f10 100644 --- a/configs/sim/axis/extrajoints/2extrajoints.ini +++ b/configs/sim/axis/extrajoints/2extrajoints.ini @@ -31,7 +31,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = LIB:basic_sim.tcl HALFILE = ./2extrajoints.hal -HALUI = halui [DISPLAY] DISPLAY = axis diff --git a/configs/sim/axis/foam/axis_foam.ini b/configs/sim/axis/foam/axis_foam.ini index db93a5f2849..96961c0b731 100644 --- a/configs/sim/axis/foam/axis_foam.ini +++ b/configs/sim/axis/foam/axis_foam.ini @@ -41,7 +41,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/gantry/gantry_mm.ini b/configs/sim/axis/gantry/gantry_mm.ini index 52e01d21bfb..51b029ffb28 100644 --- a/configs/sim/axis/gantry/gantry_mm.ini +++ b/configs/sim/axis/gantry/gantry_mm.ini @@ -39,7 +39,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = gantry_mm.hal -HALUI = halui [KINS] KINEMATICS = trivkins coordinates=xyyz kinstype=BOTH diff --git a/configs/sim/axis/gladevcp/gladevcp_panel.ini b/configs/sim/axis/gladevcp/gladevcp_panel.ini index a8f477b8ade..64b95bad2e4 100644 --- a/configs/sim/axis/gladevcp/gladevcp_panel.ini +++ b/configs/sim/axis/gladevcp/gladevcp_panel.ini @@ -44,7 +44,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE= manual-example.hal diff --git a/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini b/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini index 26b292677c7..caedbd799c8 100644 --- a/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini +++ b/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini @@ -44,7 +44,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl #POSTGUI_HALFILE= manual-example.hal diff --git a/configs/sim/axis/gladevcp/gladevcp_tab.ini b/configs/sim/axis/gladevcp/gladevcp_tab.ini index 4395c542d52..4b16152efd2 100644 --- a/configs/sim/axis/gladevcp/gladevcp_tab.ini +++ b/configs/sim/axis/gladevcp/gladevcp_tab.ini @@ -48,7 +48,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = manual-example.hal diff --git a/configs/sim/axis/gladevcp/probe.ini b/configs/sim/axis/gladevcp/probe.ini index 635f6424b62..e0d878d0e66 100644 --- a/configs/sim/axis/gladevcp/probe.ini +++ b/configs/sim/axis/gladevcp/probe.ini @@ -46,7 +46,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/gladevcp/set-param-from-ini.ini b/configs/sim/axis/gladevcp/set-param-from-ini.ini index 43da20df92f..998a660657e 100644 --- a/configs/sim/axis/gladevcp/set-param-from-ini.ini +++ b/configs/sim/axis/gladevcp/set-param-from-ini.ini @@ -44,7 +44,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/halui_pyvcp/halui.ini b/configs/sim/axis/halui_pyvcp/halui.ini index 4eaef32e8da..7e62a514a6a 100644 --- a/configs/sim/axis/halui_pyvcp/halui.ini +++ b/configs/sim/axis/halui_pyvcp/halui.ini @@ -33,7 +33,6 @@ CYCLE_TIME = 0.010 HALFILE = core_sim.hal HALFILE = pyvcp.hal HALFILE = simulated_home.hal -HALUI = halui [HALUI] MDI_COMMAND = G0 G53 Z0 diff --git a/configs/sim/axis/histogram_demo.ini b/configs/sim/axis/histogram_demo.ini index 615f01859fe..c6221ef9b75 100644 --- a/configs/sim/axis/histogram_demo.ini +++ b/configs/sim/axis/histogram_demo.ini @@ -45,7 +45,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/home_is_shared/home_is_shared.ini b/configs/sim/axis/home_is_shared/home_is_shared.ini index e80bf812c76..5503aa51163 100644 --- a/configs/sim/axis/home_is_shared/home_is_shared.ini +++ b/configs/sim/axis/home_is_shared/home_is_shared.ini @@ -99,7 +99,6 @@ TOOL_CHANGE_QUILL_UP = 1 [HAL] HALFILE = core_sim.hal HALFILE = simulated_home_is_shared.hal -HALUI = halui # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/configs/sim/axis/ini_hal_demo.ini b/configs/sim/axis/ini_hal_demo.ini index 75c5992b7f9..486d3f939d5 100644 --- a/configs/sim/axis/ini_hal_demo.ini +++ b/configs/sim/axis/ini_hal_demo.ini @@ -47,7 +47,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = postgui_calib_helper.hal diff --git a/configs/sim/axis/ini_with_includes/hal.inc b/configs/sim/axis/ini_with_includes/hal.inc index f627913c476..25843406070 100644 --- a/configs/sim/axis/ini_with_includes/hal.inc +++ b/configs/sim/axis/ini_with_includes/hal.inc @@ -5,4 +5,3 @@ # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = LIB:basic_sim.tcl -HALUI = halui diff --git a/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini b/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini index bce8ab912bc..c3ef01710a6 100644 --- a/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini +++ b/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini @@ -20,7 +20,6 @@ JOINTS = 5 KINEMATICS = trivkins coordinates=xyyzb kinstype=both [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:wheeljogpins.tcl 0.1 diff --git a/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini b/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini index 8cc06b086f2..6e9838b1985 100644 --- a/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini +++ b/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini @@ -13,7 +13,6 @@ JOINTS = 4 KINEMATICS = trivkins coordinates=xyzb [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:wheeljogpins.tcl 0.1 diff --git a/configs/sim/axis/ja_tests/xyzx_mpg/xyzx-xhc-hb04.ini b/configs/sim/axis/ja_tests/xyzx_mpg/xyzx-xhc-hb04.ini index 8918f2f36ae..548ba7b8b15 100644 --- a/configs/sim/axis/ja_tests/xyzx_mpg/xyzx-xhc-hb04.ini +++ b/configs/sim/axis/ja_tests/xyzx_mpg/xyzx-xhc-hb04.ini @@ -5,7 +5,6 @@ APP = halshow xyzx.halshow [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:xhc-hb04.tcl diff --git a/configs/sim/axis/ja_tests/xyzx_mpg/xyzx.ini b/configs/sim/axis/ja_tests/xyzx_mpg/xyzx.ini index 997ab73cc95..ec873a69d30 100644 --- a/configs/sim/axis/ja_tests/xyzx_mpg/xyzx.ini +++ b/configs/sim/axis/ja_tests/xyzx_mpg/xyzx.ini @@ -11,7 +11,6 @@ APP = sim_pin \ APP = halshow xyzx.halshow [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = ./xyzx_jog.hal diff --git a/configs/sim/axis/ja_tests/xz/xzbase.inc b/configs/sim/axis/ja_tests/xz/xzbase.inc index 0ed6ec2841a..bf35154d4a3 100644 --- a/configs/sim/axis/ja_tests/xz/xzbase.inc +++ b/configs/sim/axis/ja_tests/xz/xzbase.inc @@ -1,6 +1,5 @@ [HAL] HALFILE = LIB:basic_sim.tcl - HALUI = halui [TRAJ] COORDINATES = XZ diff --git a/configs/sim/axis/laser/laser.ini b/configs/sim/axis/laser/laser.ini index 9ca8259791b..cb43697088a 100644 --- a/configs/sim/axis/laser/laser.ini +++ b/configs/sim/axis/laser/laser.ini @@ -13,7 +13,6 @@ LINEAR_UNITS = mm ANGULAR_UNITS = degree [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = laser.hal POSTGUI_HALFILE = postgui.hal diff --git a/configs/sim/axis/lathe.ini b/configs/sim/axis/lathe.ini index dcbfba03341..47cb37b0514 100644 --- a/configs/sim/axis/lathe.ini +++ b/configs/sim/axis/lathe.ini @@ -40,7 +40,6 @@ SERVO_PERIOD = 1000000 CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = lathe_postgui.hal diff --git a/configs/sim/axis/moveoff/1_onpause_local.ini b/configs/sim/axis/moveoff/1_onpause_local.ini index b6cf30a605a..4892c9bdeba 100644 --- a/configs/sim/axis/moveoff/1_onpause_local.ini +++ b/configs/sim/axis/moveoff/1_onpause_local.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,onpause,local [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/2_onpause_external.ini b/configs/sim/axis/moveoff/2_onpause_external.ini index 46c594a7d8d..6bf8dfe081c 100644 --- a/configs/sim/axis/moveoff/2_onpause_external.ini +++ b/configs/sim/axis/moveoff/2_onpause_external.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,onpause,external [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/3_always_local.ini b/configs/sim/axis/moveoff/3_always_local.ini index eedd656d649..bf8b53e8698 100644 --- a/configs/sim/axis/moveoff/3_always_local.ini +++ b/configs/sim/axis/moveoff/3_always_local.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,always,local [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/4_always_external.ini b/configs/sim/axis/moveoff/4_always_external.ini index 635bc49ce4f..2cf8283178e 100644 --- a/configs/sim/axis/moveoff/4_always_external.ini +++ b/configs/sim/axis/moveoff/4_always_external.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,always,external [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/5_no_gui.ini b/configs/sim/axis/moveoff/5_no_gui.ini index 45c1ba29823..1d6aa1f06e1 100644 --- a/configs/sim/axis/moveoff/5_no_gui.ini +++ b/configs/sim/axis/moveoff/5_no_gui.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,no_gui [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:hookup_moveoff.tcl diff --git a/configs/sim/axis/moveoff/6_zretract.ini b/configs/sim/axis/moveoff/6_zretract.ini index a26f98bb48b..dd8996cb2b0 100644 --- a/configs/sim/axis/moveoff/6_zretract.ini +++ b/configs/sim/axis/moveoff/6_zretract.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff zretract demo [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/7_pyvcp.ini b/configs/sim/axis/moveoff/7_pyvcp.ini index 191a2b7fe17..852895b3621 100644 --- a/configs/sim/axis/moveoff/7_pyvcp.ini +++ b/configs/sim/axis/moveoff/7_pyvcp.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,onpause,external [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/moveoff/8_gladevcp.ini b/configs/sim/axis/moveoff/8_gladevcp.ini index 1c61c46b552..787c807baf4 100644 --- a/configs/sim/axis/moveoff/8_gladevcp.ini +++ b/configs/sim/axis/moveoff/8_gladevcp.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = moveoff,onpause,external [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl # hookup a moveoff component: diff --git a/configs/sim/axis/mtconnect/example.ini b/configs/sim/axis/mtconnect/example.ini index 0ee7838cf6b..b39ad50015a 100644 --- a/configs/sim/axis/mtconnect/example.ini +++ b/configs/sim/axis/mtconnect/example.ini @@ -97,7 +97,6 @@ HALFILE = check_xyz_constraints.hal HALFILE = ../cooling.hal # Load the MTConnect agent as a userspace HAL component (see mtconnect.hal). HALFILE = mtconnect.hal -HALUI = halui [TRAJ] COORDINATES = X Y Z diff --git a/configs/sim/axis/ngcgui/ngcgui.ini b/configs/sim/axis/ngcgui/ngcgui.ini index 538017966e6..ac3e15f5f43 100644 --- a/configs/sim/axis/ngcgui/ngcgui.ini +++ b/configs/sim/axis/ngcgui/ngcgui.ini @@ -81,7 +81,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/ngcgui/ngcgui_gcmc.ini b/configs/sim/axis/ngcgui/ngcgui_gcmc.ini index 9139f793ee4..6625d08060e 100644 --- a/configs/sim/axis/ngcgui/ngcgui_gcmc.ini +++ b/configs/sim/axis/ngcgui/ngcgui_gcmc.ini @@ -85,7 +85,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/ngcgui/ngcgui_lathe.ini b/configs/sim/axis/ngcgui/ngcgui_lathe.ini index dff7147df02..7655af01c3e 100644 --- a/configs/sim/axis/ngcgui/ngcgui_lathe.ini +++ b/configs/sim/axis/ngcgui/ngcgui_lathe.ini @@ -67,7 +67,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/ngcgui/ngcgui_simple.ini b/configs/sim/axis/ngcgui/ngcgui_simple.ini index ccb896d7e1f..95a47a195f3 100644 --- a/configs/sim/axis/ngcgui/ngcgui_simple.ini +++ b/configs/sim/axis/ngcgui/ngcgui_simple.ini @@ -68,7 +68,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/ngcgui/pyngcgui_axis.ini b/configs/sim/axis/ngcgui/pyngcgui_axis.ini index 8cab0e77f10..3388435615d 100644 --- a/configs/sim/axis/ngcgui/pyngcgui_axis.ini +++ b/configs/sim/axis/ngcgui/pyngcgui_axis.ini @@ -82,7 +82,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/pentapod/pentapod.ini b/configs/sim/axis/pentapod/pentapod.ini index 943a62c0c2d..0f91e195476 100644 --- a/configs/sim/axis/pentapod/pentapod.ini +++ b/configs/sim/axis/pentapod/pentapod.ini @@ -42,7 +42,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = kinematics.hal POSTGUI_HALFILE = pentapod_postgui.hal diff --git a/configs/sim/axis/plasma/imperial.ini b/configs/sim/axis/plasma/imperial.ini index a86417ab27d..3b2d1092fdb 100644 --- a/configs/sim/axis/plasma/imperial.ini +++ b/configs/sim/axis/plasma/imperial.ini @@ -20,7 +20,6 @@ TWOPASS = ON HALFILE = plasmac2/lib/sim/sim_stepgen.tcl HALFILE = qtplasmac_comp.hal HALFILE = custom.hal -HALUI = halui [DISPLAY] DISPLAY = axis diff --git a/configs/sim/axis/plasma/metric.ini b/configs/sim/axis/plasma/metric.ini index d9d7d8ad745..a3b1d0e91eb 100644 --- a/configs/sim/axis/plasma/metric.ini +++ b/configs/sim/axis/plasma/metric.ini @@ -20,7 +20,6 @@ TWOPASS = ON HALFILE = plasmac2/lib/sim/sim_stepgen.tcl HALFILE = qtplasmac_comp.hal HALFILE = custom.hal -HALUI = halui [DISPLAY] DISPLAY = axis diff --git a/configs/sim/axis/profile_axis.ini b/configs/sim/axis/profile_axis.ini index e43ef4f7946..03cea494693 100644 --- a/configs/sim/axis/profile_axis.ini +++ b/configs/sim/axis/profile_axis.ini @@ -42,7 +42,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/qtvcp/qtvcp_tab.ini b/configs/sim/axis/qtvcp/qtvcp_tab.ini index 7822089cb27..edf508783a0 100644 --- a/configs/sim/axis/qtvcp/qtvcp_tab.ini +++ b/configs/sim/axis/qtvcp/qtvcp_tab.ini @@ -51,7 +51,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/qtvcp/qtvismach_tab.ini b/configs/sim/axis/qtvcp/qtvismach_tab.ini index 561c9b4c2a2..f00dc83969f 100644 --- a/configs/sim/axis/qtvcp/qtvismach_tab.ini +++ b/configs/sim/axis/qtvcp/qtvismach_tab.ini @@ -45,7 +45,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/random_tc.ini b/configs/sim/axis/random_tc.ini index 442449ee371..2c1bd8f1b55 100644 --- a/configs/sim/axis/random_tc.ini +++ b/configs/sim/axis/random_tc.ini @@ -42,7 +42,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/remap/cycle/cycle.ini b/configs/sim/axis/remap/cycle/cycle.ini index 6f3ebe6e5de..dcfe73aba97 100644 --- a/configs/sim/axis/remap/cycle/cycle.ini +++ b/configs/sim/axis/remap/cycle/cycle.ini @@ -50,7 +50,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = locking_indexer.hal diff --git a/configs/sim/axis/remap/extend-builtins/extend-builtins.ini b/configs/sim/axis/remap/extend-builtins/extend-builtins.ini index 67634a009a1..3e2ff851f2a 100644 --- a/configs/sim/axis/remap/extend-builtins/extend-builtins.ini +++ b/configs/sim/axis/remap/extend-builtins/extend-builtins.ini @@ -83,7 +83,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = gladevcp.hal diff --git a/configs/sim/axis/remap/getting-started/demo.ini b/configs/sim/axis/remap/getting-started/demo.ini index e2e7ac32dc0..baf1cf305e9 100644 --- a/configs/sim/axis/remap/getting-started/demo.ini +++ b/configs/sim/axis/remap/getting-started/demo.ini @@ -132,7 +132,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini b/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini index 20fc4388e68..483ac90d5e1 100644 --- a/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini +++ b/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini @@ -56,7 +56,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE= gladevcp.hal diff --git a/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini b/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini index 659bda067c3..dd1b7c86721 100644 --- a/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini +++ b/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini @@ -54,7 +54,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = racktoolchange.hal POSTGUI_HALFILE= gladevcp.hal diff --git a/configs/sim/axis/remap/stop-lookahead/demo.ini b/configs/sim/axis/remap/stop-lookahead/demo.ini index 43aade97169..91d1c790b46 100644 --- a/configs/sim/axis/remap/stop-lookahead/demo.ini +++ b/configs/sim/axis/remap/stop-lookahead/demo.ini @@ -50,7 +50,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/rose_engine/rose_engine.ini b/configs/sim/axis/rose_engine/rose_engine.ini index 7ad0172a7bd..1fbddfe4df9 100644 --- a/configs/sim/axis/rose_engine/rose_engine.ini +++ b/configs/sim/axis/rose_engine/rose_engine.ini @@ -1,7 +1,6 @@ [APPLICATIONS] APP = halshow rose_engine.halshow [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/axis/spindle_orient/orient.ini b/configs/sim/axis/spindle_orient/orient.ini index 148bf9935e5..7c281375fbb 100644 --- a/configs/sim/axis/spindle_orient/orient.ini +++ b/configs/sim/axis/spindle_orient/orient.ini @@ -46,7 +46,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = axis_manualtoolchange.hal HALFILE = simulated_home.hal diff --git a/configs/sim/axis/twopass/twopass.ini b/configs/sim/axis/twopass/twopass.ini index b944fe09c1e..fa136a0fa74 100644 --- a/configs/sim/axis/twopass/twopass.ini +++ b/configs/sim/axis/twopass/twopass.ini @@ -43,7 +43,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui # options available are: on,verbose,nodelete TWOPASS = on HALFILE = core_sim.hal diff --git a/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini b/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini index 7e2dfcc4d1f..ead951a340c 100644 --- a/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini +++ b/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini @@ -112,8 +112,6 @@ HALFILE = 3axis-tutorial.hal # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini b/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini index 38e706fac22..2707f631b70 100644 --- a/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini +++ b/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini @@ -38,7 +38,6 @@ SERVO_PERIOD = 1000000 CYCLE_TIME = 0.010 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = 5axisgui.hal POSTGUI_HALFILE = 5axis_postgui.hal diff --git a/configs/sim/axis/vismach/5axis/max5/max5kins.ini b/configs/sim/axis/vismach/5axis/max5/max5kins.ini index b2d77aaf046..957798018a6 100644 --- a/configs/sim/axis/vismach/5axis/max5/max5kins.ini +++ b/configs/sim/axis/vismach/5axis/max5/max5kins.ini @@ -6,7 +6,6 @@ JOINTS = 6 [HAL] HALFILE = max5kins.hal -HALUI = halui [EMC] VERSION = 1.1 diff --git a/configs/sim/axis/vismach/5axis/max5/max5triv.ini b/configs/sim/axis/vismach/5axis/max5/max5triv.ini index 005c3627ad2..9c466209942 100644 --- a/configs/sim/axis/vismach/5axis/max5/max5triv.ini +++ b/configs/sim/axis/vismach/5axis/max5/max5triv.ini @@ -6,7 +6,6 @@ JOINTS = 6 [HAL] HALFILE = max5triv.hal -HALUI = halui [EMC] VERSION = 1.1 diff --git a/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini b/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini index bd6dc79e82a..d526e341f63 100644 --- a/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini +++ b/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini @@ -32,7 +32,6 @@ KINEMATICS = xyzab_tdr_kins JOINTS = 5 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = xyzab-tdr-postgui.hal diff --git a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini index 9c2bc00e33e..1436f780f3f 100644 --- a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +++ b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini @@ -44,7 +44,6 @@ KINEMATICS = xyzac-trt-kins sparm=identityfirst JOINTS = 5 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = switchkins_postgui.hal diff --git a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini index 45d780a251c..278b8aa1262 100644 --- a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +++ b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini @@ -44,7 +44,6 @@ KINEMATICS = xyzbc-trt-kins sparm=identityfirst JOINTS = 5 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = switchkins_postgui.hal diff --git a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini index 2be585e6ef8..c9bcb54ce49 100644 --- a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini +++ b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini @@ -70,7 +70,6 @@ PRIMARY = C SECONDARY = B [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = xyzacb-trsrn_postgui.hal diff --git a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini index d3032855aee..ef3e476225d 100644 --- a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini +++ b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini @@ -70,7 +70,6 @@ PRIMARY = C SECONDARY = A [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = xyzbca-trsrn_postgui.hal diff --git a/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini b/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini index 35ee95f4ab3..da6425d924c 100644 --- a/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini +++ b/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini @@ -30,7 +30,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = vmc.hal HALFILE = sim_vmc.hal HALFILE = spindle.hal diff --git a/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini b/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini index 323b7eab813..b4783e494e2 100644 --- a/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini +++ b/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini @@ -30,7 +30,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = vmc.hal HALFILE = sim_vmc.hal HALFILE = spindle.hal diff --git a/configs/sim/axis/vismach/delta/ldelta.ini b/configs/sim/axis/vismach/delta/ldelta.ini index a6c95c302fa..fb1393a589f 100644 --- a/configs/sim/axis/vismach/delta/ldelta.ini +++ b/configs/sim/axis/vismach/delta/ldelta.ini @@ -46,7 +46,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = sim_ldelta.hal HALFILE = axis_manualtoolchange.hal -HALUI = halui [TRAJ] COORDINATES = X Y Z A diff --git a/configs/sim/axis/vismach/delta/ldelta_demo.ini b/configs/sim/axis/vismach/delta/ldelta_demo.ini index 8c72659967b..e45ac7d05d6 100644 --- a/configs/sim/axis/vismach/delta/ldelta_demo.ini +++ b/configs/sim/axis/vismach/delta/ldelta_demo.ini @@ -46,7 +46,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = sim_ldelta.hal HALFILE = axis_manualtoolchange.hal -HALUI = halui HALCMD = setp joint.0.jog-enable 1 HALCMD = setp joint.1.jog-enable 1 diff --git a/configs/sim/axis/vismach/delta/rdelta.ini b/configs/sim/axis/vismach/delta/rdelta.ini index e40defb1c41..17d83eaafc1 100644 --- a/configs/sim/axis/vismach/delta/rdelta.ini +++ b/configs/sim/axis/vismach/delta/rdelta.ini @@ -46,7 +46,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = sim_rdelta.hal HALFILE = axis_manualtoolchange.hal -HALUI = halui [TRAJ] COORDINATES = X Y Z A B C U V W diff --git a/configs/sim/axis/vismach/hbm/hbm.ini b/configs/sim/axis/vismach/hbm/hbm.ini index 231778a5009..ae108d96559 100644 --- a/configs/sim/axis/vismach/hbm/hbm.ini +++ b/configs/sim/axis/vismach/hbm/hbm.ini @@ -28,7 +28,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = hbm.hal [TRAJ] diff --git a/configs/sim/axis/vismach/hexapod-sim/hexapod.ini b/configs/sim/axis/vismach/hexapod-sim/hexapod.ini index f42a14799a0..65543c7a8bd 100644 --- a/configs/sim/axis/vismach/hexapod-sim/hexapod.ini +++ b/configs/sim/axis/vismach/hexapod-sim/hexapod.ini @@ -36,7 +36,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = kinematics.hal HALCMD = loadusr -W ./hexagui.py diff --git a/configs/sim/axis/vismach/melfa-sim/melfa-sim-genser/melfa-sim-genser.ini b/configs/sim/axis/vismach/melfa-sim/melfa-sim-genser/melfa-sim-genser.ini index cfea9e01701..59221f236fb 100644 --- a/configs/sim/axis/vismach/melfa-sim/melfa-sim-genser/melfa-sim-genser.ini +++ b/configs/sim/axis/vismach/melfa-sim/melfa-sim-genser/melfa-sim-genser.ini @@ -8,7 +8,6 @@ KINEMATICS= genserkins JOINTS= 6 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = melfa_mdh.hal HALCMD = loadusr -W ../melfagui.py diff --git a/configs/sim/axis/vismach/melfa-sim/melfa-sim-three21/melfa_321.ini b/configs/sim/axis/vismach/melfa-sim/melfa-sim-three21/melfa_321.ini index 5a8ba9d4787..495a214a855 100644 --- a/configs/sim/axis/vismach/melfa-sim/melfa-sim-three21/melfa_321.ini +++ b/configs/sim/axis/vismach/melfa-sim/melfa-sim-three21/melfa_321.ini @@ -8,7 +8,6 @@ KINEMATICS= three21kins JOINTS= 6 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = melfa_dh.hal HALCMD = loadusr -W ../melfagui.py diff --git a/configs/sim/axis/vismach/millturn/millturn.ini b/configs/sim/axis/vismach/millturn/millturn.ini index 575947d9dce..9d5ea62d3eb 100644 --- a/configs/sim/axis/vismach/millturn/millturn.ini +++ b/configs/sim/axis/vismach/millturn/millturn.ini @@ -11,7 +11,6 @@ KINEMATICS = millturn JOINTS= 4 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = millturn.hal POSTGUI_HALFILE = millturn-postgui.hal diff --git a/configs/sim/axis/vismach/puma/puma.ini b/configs/sim/axis/vismach/puma/puma.ini index 99c0fa33112..c9eee69634a 100644 --- a/configs/sim/axis/vismach/puma/puma.ini +++ b/configs/sim/axis/vismach/puma/puma.ini @@ -8,7 +8,6 @@ KINEMATICS = pumakins JOINTS = 6 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = puma_dh.hal HALCMD = loadusr -W ./pumagui.py diff --git a/configs/sim/axis/vismach/puma/puma560.ini b/configs/sim/axis/vismach/puma/puma560.ini index 046f5d118d5..31ca764725d 100644 --- a/configs/sim/axis/vismach/puma/puma560.ini +++ b/configs/sim/axis/vismach/puma/puma560.ini @@ -12,7 +12,6 @@ JOINTS= 6 KINEMATICS= genserkins [HAL] -HALUI = halui HALCMD = loadusr -W ./puma560gui.py HALFILE = LIB:basic_sim.tcl HALFILE = puma560_dh.hal diff --git a/configs/sim/axis/vismach/puma/puma560_uvw.ini b/configs/sim/axis/vismach/puma/puma560_uvw.ini index a6b9f8544e9..df96788061d 100644 --- a/configs/sim/axis/vismach/puma/puma560_uvw.ini +++ b/configs/sim/axis/vismach/puma/puma560_uvw.ini @@ -12,7 +12,6 @@ JOINTS= 9 KINEMATICS= genserkins [HAL] -HALUI = halui HALCMD = loadusr -W ./puma560gui.py HALFILE = LIB:basic_sim.tcl HALFILE = puma560_dh.hal diff --git a/configs/sim/axis/vismach/puma/puma_cube.ini b/configs/sim/axis/vismach/puma/puma_cube.ini index 8397ce3ea7a..d40a54428fc 100644 --- a/configs/sim/axis/vismach/puma/puma_cube.ini +++ b/configs/sim/axis/vismach/puma/puma_cube.ini @@ -99,7 +99,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = puma_dh.hal HALCMD = loadusr -W ./pumagui.py diff --git a/configs/sim/axis/vismach/scara/scara.ini b/configs/sim/axis/vismach/scara/scara.ini index 23323fdc8bf..9daec89d7d5 100644 --- a/configs/sim/axis/vismach/scara/scara.ini +++ b/configs/sim/axis/vismach/scara/scara.ini @@ -55,7 +55,6 @@ JOINTS = 6 KINEMATICS = scarakins coordinates=xyzcab [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALCMD = loadusr -W ./scaragui.py POSTGUI_HALFILE = scara_postgui.hal diff --git a/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini b/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini index 4d2bc2673ec..0c5d7c296c0 100644 --- a/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini +++ b/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini @@ -39,7 +39,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = wrapped_rotary.hal -HALUI = halui [KINS] KINEMATICS = trivkins coordinates=xyza kinstype=BOTH diff --git a/configs/sim/axis/xhc-hb04/README b/configs/sim/axis/xhc-hb04/README index 6b7aba395c3..8468387af72 100644 --- a/configs/sim/axis/xhc-hb04/README +++ b/configs/sim/axis/xhc-hb04/README @@ -162,7 +162,6 @@ For example, the organization for the xhc-hb04-layout2.ini file is: ... | HALFILE = | HALFILE = LIB:xhc-hb04.tcl | xhc-hb04 configuration script - HALUI = halui | Halui specifier [XHC_HB04_CONFIG] | All config items used by LIB:xhc-hb04.tcl layout = | diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini index f57619ca97a..65147e531cd 100644 --- a/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini +++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini @@ -9,7 +9,6 @@ MACHINE = xhc-hb04 layout1 demo [HAL] HALFILE = LIB:basic_sim.tcl HALFILE = LIB:xhc-hb04.tcl -HALUI = halui [XHC_HB04_CONFIG] # specify layout = n for LIB:xhc-hb04-layout{n}.cfg files diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini index eba145fc3fb..f64e9ce1441 100644 --- a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini +++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini @@ -9,7 +9,6 @@ MACHINE = xhc-hb04 layout2 demo [HAL] HALFILE = LIB:basic_sim.tcl HALFILE = LIB:xhc-hb04.tcl -HALUI = halui [XHC_HB04_CONFIG] # specify layout = n for LIB:xhc-hb04-layout{n}.cfg files diff --git a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.ini b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.ini index 820f965f002..3bf3077f039 100644 --- a/configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.ini +++ b/configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.ini @@ -7,7 +7,6 @@ VERSION = 1.1 MACHINE = xhc-hb04 layout2 mm demo [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:xhc-hb04.tcl diff --git a/configs/sim/gmoccapy/6_axis.ini b/configs/sim/gmoccapy/6_axis.ini index 4a1a0179f8c..7431a17fc2e 100644 --- a/configs/sim/gmoccapy/6_axis.ini +++ b/configs/sim/gmoccapy/6_axis.ini @@ -59,7 +59,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = core_sim_6.hal #HALFILE = simulated_home_9.hal diff --git a/configs/sim/gmoccapy/7_axis.ini b/configs/sim/gmoccapy/7_axis.ini index e5d25e7fddb..2f0186f8c1a 100644 --- a/configs/sim/gmoccapy/7_axis.ini +++ b/configs/sim/gmoccapy/7_axis.ini @@ -59,7 +59,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = core_sim_7.hal #HALFILE = simulated_home_9.hal diff --git a/configs/sim/gmoccapy/7_axis_tool.ini b/configs/sim/gmoccapy/7_axis_tool.ini index 62c9b2578a3..71aa1abba3b 100644 --- a/configs/sim/gmoccapy/7_axis_tool.ini +++ b/configs/sim/gmoccapy/7_axis_tool.ini @@ -59,7 +59,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = core_sim_7.hal #HALFILE = simulated_home_9.hal diff --git a/configs/sim/gmoccapy/8_axis.ini b/configs/sim/gmoccapy/8_axis.ini index bbfd5b65dde..19410a0c3b9 100644 --- a/configs/sim/gmoccapy/8_axis.ini +++ b/configs/sim/gmoccapy/8_axis.ini @@ -62,7 +62,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = core_sim_8.hal # Single file that is executed after the GUI has started. diff --git a/configs/sim/gmoccapy/9_axis.ini b/configs/sim/gmoccapy/9_axis.ini index 33fac9bce8d..61791bbb4a1 100644 --- a/configs/sim/gmoccapy/9_axis.ini +++ b/configs/sim/gmoccapy/9_axis.ini @@ -59,7 +59,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = core_sim_9.hal #HALFILE = simulated_home_9.hal diff --git a/configs/sim/gmoccapy/gmoccapy.ini b/configs/sim/gmoccapy/gmoccapy.ini index 217ae378d61..6b64f9bc4a4 100644 --- a/configs/sim/gmoccapy/gmoccapy.ini +++ b/configs/sim/gmoccapy/gmoccapy.ini @@ -96,8 +96,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_4_axis.ini b/configs/sim/gmoccapy/gmoccapy_4_axis.ini index 34e0bd18085..0d34ad8171e 100644 --- a/configs/sim/gmoccapy/gmoccapy_4_axis.ini +++ b/configs/sim/gmoccapy/gmoccapy_4_axis.ini @@ -69,8 +69,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_800x600.ini b/configs/sim/gmoccapy/gmoccapy_800x600.ini index 8c2f29bdca9..95be38c3068 100644 --- a/configs/sim/gmoccapy/gmoccapy_800x600.ini +++ b/configs/sim/gmoccapy/gmoccapy_800x600.ini @@ -87,8 +87,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_XYZAB.ini b/configs/sim/gmoccapy/gmoccapy_XYZAB.ini index 75c0997fcd4..d69347ad008 100644 --- a/configs/sim/gmoccapy/gmoccapy_XYZAB.ini +++ b/configs/sim/gmoccapy/gmoccapy_XYZAB.ini @@ -99,8 +99,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_XYZAC.ini b/configs/sim/gmoccapy/gmoccapy_XYZAC.ini index 1b9348e4742..c67346b2dc6 100644 --- a/configs/sim/gmoccapy/gmoccapy_XYZAC.ini +++ b/configs/sim/gmoccapy/gmoccapy_XYZAC.ini @@ -88,8 +88,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_XYZCW.ini b/configs/sim/gmoccapy/gmoccapy_XYZCW.ini index 9fbb984d4f7..74c66acb95c 100644 --- a/configs/sim/gmoccapy/gmoccapy_XYZCW.ini +++ b/configs/sim/gmoccapy/gmoccapy_XYZCW.ini @@ -84,8 +84,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_blockdelete.ini b/configs/sim/gmoccapy/gmoccapy_blockdelete.ini index 4043aa966d9..bfb3dbd7e86 100644 --- a/configs/sim/gmoccapy/gmoccapy_blockdelete.ini +++ b/configs/sim/gmoccapy/gmoccapy_blockdelete.ini @@ -85,8 +85,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_left_panel.ini b/configs/sim/gmoccapy/gmoccapy_left_panel.ini index 52c9d8b3a30..47e096e3f5e 100644 --- a/configs/sim/gmoccapy/gmoccapy_left_panel.ini +++ b/configs/sim/gmoccapy/gmoccapy_left_panel.ini @@ -78,8 +78,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_messages.ini b/configs/sim/gmoccapy/gmoccapy_messages.ini index 705f051028f..1cf69d4c015 100644 --- a/configs/sim/gmoccapy/gmoccapy_messages.ini +++ b/configs/sim/gmoccapy/gmoccapy_messages.ini @@ -111,8 +111,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_pedant.ini b/configs/sim/gmoccapy/gmoccapy_pedant.ini index 8ca75a3fd8c..2f13186e4f1 100644 --- a/configs/sim/gmoccapy/gmoccapy_pedant.ini +++ b/configs/sim/gmoccapy/gmoccapy_pedant.ini @@ -79,8 +79,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini b/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini index 6bfc5c446a9..dffaee23f46 100644 --- a/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini +++ b/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini @@ -114,8 +114,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.ini b/configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.ini index de4a5e50836..303fe9156ea 100644 --- a/configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.ini +++ b/configs/sim/gmoccapy/gmoccapy_pyngcgui_gcmc.ini @@ -115,8 +115,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_qt_messages.ini b/configs/sim/gmoccapy/gmoccapy_qt_messages.ini index d15480633da..e77de499b01 100644 --- a/configs/sim/gmoccapy/gmoccapy_qt_messages.ini +++ b/configs/sim/gmoccapy/gmoccapy_qt_messages.ini @@ -109,8 +109,6 @@ POSTGUI_HALFILE = gmoccapy_postgui.hal POSTGUI_HALCMD = loadusr -Wn ini_dialogs qtvcp --ini gmoccapy_qt_messages.ini -q ini_dialogs POSTGUI_HALCMD = setp ini_dialogs.VFD 1 -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_right_panel.ini b/configs/sim/gmoccapy/gmoccapy_right_panel.ini index 62213d687d5..35130499f47 100644 --- a/configs/sim/gmoccapy/gmoccapy_right_panel.ini +++ b/configs/sim/gmoccapy/gmoccapy_right_panel.ini @@ -74,8 +74,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini b/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini index 704e64d796d..6f5f225cd5b 100644 --- a/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini +++ b/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini @@ -82,8 +82,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini b/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini index 37daf107549..6f607735a8d 100644 --- a/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini +++ b/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini @@ -104,8 +104,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini b/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini index 9ac53efa54b..2a186a7145d 100644 --- a/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini +++ b/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini @@ -99,8 +99,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe.ini b/configs/sim/gmoccapy/lathe_configs/lathe.ini index 71da9ff283d..4df6ba4e8d6 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe.ini @@ -76,8 +76,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe_C.ini b/configs/sim/gmoccapy/lathe_configs/lathe_C.ini index b47ec8d569d..96c75824987 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe_C.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe_C.ini @@ -77,8 +77,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini b/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini index e5bd6640c33..05a775972f8 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini @@ -77,8 +77,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini b/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini index b49ae755431..6859eb479e8 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini @@ -77,8 +77,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini b/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini index e95ffdd29ac..1b600a31078 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini @@ -77,8 +77,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini b/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini index c3a49f61433..198ccbb5995 100644 --- a/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini +++ b/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini @@ -82,8 +82,6 @@ HALFILE = simulated_home_lathe.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = ./gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini b/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini index 979e8775798..f5a577d52e8 100644 --- a/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini +++ b/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini @@ -54,7 +54,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = gantry_mm.hal -HALUI = halui # Single file that is executed after the GUI has started. #POSTGUI_HALFILE = gmoccapy_postgui.hal diff --git a/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini b/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini index 37b2ad9a241..9120639155a 100644 --- a/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini +++ b/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini @@ -44,7 +44,6 @@ SERVO_PERIOD = 1000000 TRAJ_PERIOD = 10000000 [HAL] -HALUI = halui HALFILE = scara_sim_4.hal POSTGUI_HALFILE = postgui.hal diff --git a/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini b/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini index ad1ea4a3877..50f5888fc8a 100644 --- a/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini +++ b/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini @@ -31,7 +31,6 @@ TOPLEVEL = ../../python/toplevel.py LOG_LEVEL = 0 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange # vismach xyzac-trt-gui items diff --git a/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini b/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini index 5e0dffb5895..6037033e80b 100644 --- a/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini +++ b/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini @@ -79,8 +79,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gmoccapy_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen.ini b/configs/sim/gscreen/gscreen.ini index 42b90a1c5f5..b1232f673dc 100644 --- a/configs/sim/gscreen/gscreen.ini +++ b/configs/sim/gscreen/gscreen.ini @@ -132,8 +132,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) # POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/9axis.ini b/configs/sim/gscreen/gscreen_custom/9axis.ini index 89ff1072083..7f88fa8c9d3 100644 --- a/configs/sim/gscreen/gscreen_custom/9axis.ini +++ b/configs/sim/gscreen/gscreen_custom/9axis.ini @@ -102,8 +102,6 @@ HALFILE = locking_indexer.hal # Single file that is executed after the GUI has started. #POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini b/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini index e91dd76845b..b7f485284c9 100644 --- a/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini +++ b/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini @@ -99,8 +99,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gaxis_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini b/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini index d27ba0bd229..c2abe2d8f28 100644 --- a/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini +++ b/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini @@ -99,8 +99,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = gaxis_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/industrial.ini b/configs/sim/gscreen/gscreen_custom/industrial.ini index 0aa100bbfd8..ca2d99900a0 100644 --- a/configs/sim/gscreen/gscreen_custom/industrial.ini +++ b/configs/sim/gscreen/gscreen_custom/industrial.ini @@ -101,8 +101,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = industrial_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/tester.ini b/configs/sim/gscreen/gscreen_custom/tester.ini index 3b6f6145815..6924beacf6e 100644 --- a/configs/sim/gscreen/gscreen_custom/tester.ini +++ b/configs/sim/gscreen/gscreen_custom/tester.ini @@ -90,8 +90,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = tester_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_custom/tester_metric.ini b/configs/sim/gscreen/gscreen_custom/tester_metric.ini index e9d51848396..f313e40a46e 100644 --- a/configs/sim/gscreen/gscreen_custom/tester_metric.ini +++ b/configs/sim/gscreen/gscreen_custom/tester_metric.ini @@ -102,8 +102,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = tester_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/gscreen_lathe.ini b/configs/sim/gscreen/gscreen_lathe.ini index b219e1e5931..23b5e756339 100644 --- a/configs/sim/gscreen/gscreen_lathe.ini +++ b/configs/sim/gscreen/gscreen_lathe.ini @@ -42,7 +42,6 @@ SERVO_PERIOD = 1000000 CYCLE_TIME = 0.001 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = lathe_postgui.hal diff --git a/configs/sim/gscreen/gscreen_mm.ini b/configs/sim/gscreen/gscreen_mm.ini index fb27c3da7c8..af7a205c95f 100644 --- a/configs/sim/gscreen/gscreen_mm.ini +++ b/configs/sim/gscreen/gscreen_mm.ini @@ -103,8 +103,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] #No Content diff --git a/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini b/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini index a18d281d567..9032cffcfe2 100644 --- a/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini +++ b/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini @@ -44,7 +44,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl POSTGUI_HALFILE = lathe_postgui.hal diff --git a/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini b/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini index bbc2903e276..5ad0a976566 100644 --- a/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini +++ b/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini @@ -91,7 +91,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini b/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini index cba1b603180..d4c922f9b96 100644 --- a/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini +++ b/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini @@ -88,7 +88,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/gscreen/silverdragon/silverdragon.ini b/configs/sim/gscreen/silverdragon/silverdragon.ini index fe2e27123d9..c7932c2b49e 100644 --- a/configs/sim/gscreen/silverdragon/silverdragon.ini +++ b/configs/sim/gscreen/silverdragon/silverdragon.ini @@ -77,7 +77,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. #POSTGUI_HALFILE = silverdragon_postgui.hal -HALUI = halui # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/gscreen/spartan/spartan.ini b/configs/sim/gscreen/spartan/spartan.ini index dbdc9baa8b8..1de14983b2e 100644 --- a/configs/sim/gscreen/spartan/spartan.ini +++ b/configs/sim/gscreen/spartan/spartan.ini @@ -43,7 +43,6 @@ TASK = milltask CYCLE_TIME = 0.010 [HAL] -HALUI = halui HALFILE = spartan.hal HALFILE = simulated_home.hal HALFILE = custom.hal diff --git a/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini b/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini index ea8520ed706..07d9fb0e31b 100644 --- a/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini +++ b/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini @@ -117,8 +117,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = pyvcp_bottom_panel.hal -HALUI = halui - [HALUI] # add halui MDI commands here (max 64) diff --git a/configs/sim/pyvcp_demo/pyvcp_demo1.ini b/configs/sim/pyvcp_demo/pyvcp_demo1.ini index 57be35b0ef0..076710de532 100644 --- a/configs/sim/pyvcp_demo/pyvcp_demo1.ini +++ b/configs/sim/pyvcp_demo/pyvcp_demo1.ini @@ -114,8 +114,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = custom.hal -HALUI = halui - [HALUI] # add halui MDI commands here (max 64) diff --git a/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini b/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini index 1895448e577..80574f49fd3 100644 --- a/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini +++ b/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini @@ -118,8 +118,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = pyvcp_embed_tab.hal -HALUI = halui - [HALUI] # add halui MDI commands here (max 64) diff --git a/configs/sim/qtaxis/non-trivial/scara/scara.ini b/configs/sim/qtaxis/non-trivial/scara/scara.ini index 00ea3d2a1ca..041ae255c34 100644 --- a/configs/sim/qtaxis/non-trivial/scara/scara.ini +++ b/configs/sim/qtaxis/non-trivial/scara/scara.ini @@ -119,7 +119,6 @@ JOINTS = 6 KINEMATICS = scarakins coordinates=xyzcab [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [HALUI] diff --git a/configs/sim/qtaxis/xyz/qtaxis.ini b/configs/sim/qtaxis/xyz/qtaxis.ini index 12cf1911843..2f9dcb2afa7 100644 --- a/configs/sim/qtaxis/xyz/qtaxis.ini +++ b/configs/sim/qtaxis/xyz/qtaxis.ini @@ -177,8 +177,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini index 8c16d5e1d20..d84babffac8 100644 --- a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini +++ b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini @@ -120,7 +120,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyzw.ini b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyzw.ini index b3614ef512a..791aefecd93 100644 --- a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyzw.ini +++ b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyzw.ini @@ -122,7 +122,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini index 1430466c4dc..f76d1d3d9a4 100644 --- a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini +++ b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini @@ -120,7 +120,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini index e37a803deae..10bb8a88291 100644 --- a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini +++ b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini @@ -124,7 +124,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_yyxz.ini b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_yyxz.ini index 54631bbbfd8..cc39f30a238 100644 --- a/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_yyxz.ini +++ b/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_yyxz.ini @@ -120,7 +120,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini b/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini index cd8c1cd4ae7..109740b4e3d 100644 --- a/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini +++ b/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini @@ -144,7 +144,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge HALFILE = core_sim.hal diff --git a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini index 4be20c9b004..f4a3cf65d14 100644 --- a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini +++ b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini @@ -153,7 +153,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini index c246e1d6845..561179e06ac 100644 --- a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini +++ b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini @@ -150,7 +150,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric_debug.ini b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric_debug.ini index b2bb0b8ddd2..347ebd1ff4d 100644 --- a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric_debug.ini +++ b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric_debug.ini @@ -158,7 +158,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini index 466f0e98085..8eabb84c516 100644 --- a/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini +++ b/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini @@ -129,7 +129,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui # loads the HAL machine simulation HALFILE = gantrysim.hal HALFILE = simulated-gantry-home.hal diff --git a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini index 59e43f1cb63..0477fec4d1c 100644 --- a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini +++ b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini @@ -125,7 +125,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini index 41dbf6364b5..59ac96fee1e 100644 --- a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini +++ b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini @@ -125,7 +125,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini index 01fc99beefe..70857afcdf4 100644 --- a/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini +++ b/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini @@ -125,7 +125,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical.ini index 605f9700ce1..22d30d42e14 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical.ini @@ -128,7 +128,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge HALFILE = core_sim.hal diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical_xyza.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical_xyza.ini index d8e88f3b704..e412ddcec3b 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical_xyza.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical_xyza.ini @@ -131,7 +131,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini index 25283374243..c3d249406bd 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini @@ -126,7 +126,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge HALFILE = core_sim.hal diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini index b206ed1a7db..20e593a5275 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini @@ -128,7 +128,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini index a489db176c6..660227adaa2 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini @@ -125,7 +125,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini index 2d2c97b1e17..70e904de811 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini @@ -125,7 +125,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge # loads the HAL machine simulation diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_next_xyz.ini b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_next_xyz.ini index aaf67603a23..b99a925b8d9 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_next_xyz.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_next_xyz.ini @@ -120,7 +120,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = simulated_home.hal # this file is loaded after qtdragon has made it's HAl pins diff --git a/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini b/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini index 274443940af..1e25dd5e056 100644 --- a/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini +++ b/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini @@ -120,7 +120,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALBRIDGE = hal_bridge HALFILE = core_sim.hal diff --git a/configs/sim/qtdragon_lathe/basic_xz_lathe/lathe.ini b/configs/sim/qtdragon_lathe/basic_xz_lathe/lathe.ini index 6d5a04b2c14..1c810b286ee 100644 --- a/configs/sim/qtdragon_lathe/basic_xz_lathe/lathe.ini +++ b/configs/sim/qtdragon_lathe/basic_xz_lathe/lathe.ini @@ -56,7 +56,6 @@ SERVO_PERIOD = 1000000 CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALBRIDGE = hal_bridge HALFILE = LIB:basic_sim.tcl diff --git a/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc b/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc index 23f990a8d0e..881a6872d59 100644 --- a/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc +++ b/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc @@ -19,7 +19,6 @@ HALFILE = qtplasmac_comp.hal HALFILE = custom.hal POSTGUI_HALFILE = custom_postgui.hal POSTGUI_HALFILE = sim_postgui.hal -HALUI = halui [EMC] VERSION = 1.1 diff --git a/configs/sim/qtplasmac/qtplasmac_metric_ini.inc b/configs/sim/qtplasmac/qtplasmac_metric_ini.inc index 12e6c3fb39e..82f0df7c161 100644 --- a/configs/sim/qtplasmac/qtplasmac_metric_ini.inc +++ b/configs/sim/qtplasmac/qtplasmac_metric_ini.inc @@ -19,7 +19,6 @@ HALFILE = qtplasmac_comp.hal HALFILE = custom.hal POSTGUI_HALFILE = custom_postgui.hal POSTGUI_HALFILE = sim_postgui.hal -HALUI = halui [EMC] VERSION = 1.1 diff --git a/configs/sim/qttouchy/qttouchy.ini b/configs/sim/qttouchy/qttouchy.ini index ef616ba42fd..5690b1cae85 100644 --- a/configs/sim/qttouchy/qttouchy.ini +++ b/configs/sim/qttouchy/qttouchy.ini @@ -158,8 +158,6 @@ HALFILE = simulated_home.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/blender.ini b/configs/sim/qtvcp_screens/blender.ini index 6e091cd644b..4ebdd924f49 100644 --- a/configs/sim/qtvcp_screens/blender.ini +++ b/configs/sim/qtvcp_screens/blender.ini @@ -167,8 +167,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini b/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini index 12effa9efe5..992f211af75 100644 --- a/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini +++ b/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini @@ -64,7 +64,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange POSTGUI_HALFILE = qtvcp_postgui.hal diff --git a/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini b/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini index 97f588c2e34..d786c83435c 100644 --- a/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini +++ b/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini @@ -120,7 +120,6 @@ JOINTS = 6 KINEMATICS = scarakins coordinates=xyzcab [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [HALUI] diff --git a/configs/sim/qtvcp_screens/qt_800x600.ini b/configs/sim/qtvcp_screens/qt_800x600.ini index ff78136c0b7..2def79cb40b 100644 --- a/configs/sim/qtvcp_screens/qt_800x600.ini +++ b/configs/sim/qtvcp_screens/qt_800x600.ini @@ -124,8 +124,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtaxis.ini b/configs/sim/qtvcp_screens/qtaxis.ini index c023a0607a8..bc4fe148af4 100644 --- a/configs/sim/qtvcp_screens/qtaxis.ini +++ b/configs/sim/qtvcp_screens/qtaxis.ini @@ -180,8 +180,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini b/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini index 0876cac83cc..54ce1466385 100644 --- a/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini +++ b/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini @@ -154,8 +154,6 @@ POSTGUI_HALFILE = qtvcp_postgui.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - [TRAJ] diff --git a/configs/sim/qtvcp_screens/qtaxis_mpg.ini b/configs/sim/qtvcp_screens/qtaxis_mpg.ini index e5bb171e719..bbcc52ad9c1 100644 --- a/configs/sim/qtvcp_screens/qtaxis_mpg.ini +++ b/configs/sim/qtvcp_screens/qtaxis_mpg.ini @@ -207,8 +207,6 @@ POSTGUI_HALCMD = setp qtaxis.mpg-enable 1 #POSTGUI_HALCMD = net mpg-enable qtaxis.mpg-enable sim_panel.selectscroll POSTGUI_HALCMD = net mpg qtaxis.mpg-in sim_panel.MPG-s -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtdefault.ini b/configs/sim/qtvcp_screens/qtdefault.ini index 78061f39987..cb378c86c02 100644 --- a/configs/sim/qtvcp_screens/qtdefault.ini +++ b/configs/sim/qtvcp_screens/qtdefault.ini @@ -170,8 +170,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtdefault_9axis.ini b/configs/sim/qtvcp_screens/qtdefault_9axis.ini index dad0c31c2e6..419615a9615 100644 --- a/configs/sim/qtvcp_screens/qtdefault_9axis.ini +++ b/configs/sim/qtvcp_screens/qtdefault_9axis.ini @@ -56,7 +56,6 @@ SERVO_PERIOD = 1000000 TOOL_CHANGE_POSITION = 0 0 2 [HAL] - HALUI = halui HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange HALFILE = locking_indexer.hal diff --git a/configs/sim/qtvcp_screens/qtdefault_mm.ini b/configs/sim/qtvcp_screens/qtdefault_mm.ini index a696d4597e4..de74d574c11 100644 --- a/configs/sim/qtvcp_screens/qtdefault_mm.ini +++ b/configs/sim/qtvcp_screens/qtdefault_mm.ini @@ -110,8 +110,6 @@ HALFILE = simulated_home.hal # Single file that is executed after the GUI has started. POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] COORDINATES = X Y Z diff --git a/configs/sim/qtvcp_screens/qtdragon/qtdragon_mpg.ini b/configs/sim/qtvcp_screens/qtdragon/qtdragon_mpg.ini index a28b0a1e885..534757ff6bc 100644 --- a/configs/sim/qtvcp_screens/qtdragon/qtdragon_mpg.ini +++ b/configs/sim/qtvcp_screens/qtdragon/qtdragon_mpg.ini @@ -110,7 +110,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = simulated_home.hal #HALFILE = custom.hal diff --git a/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini b/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini index 0372ad865c1..0aa0ece3706 100644 --- a/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini +++ b/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini @@ -189,8 +189,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini b/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini index 0270b000131..39961324f7d 100644 --- a/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini +++ b/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini @@ -192,8 +192,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini b/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini index 14820649397..dbcab0b5d15 100644 --- a/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini +++ b/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini @@ -192,8 +192,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini b/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini index 0372ad865c1..0aa0ece3706 100644 --- a/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini +++ b/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini @@ -189,8 +189,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/qtx1mill.ini b/configs/sim/qtvcp_screens/qtx1mill.ini index 0e3a2d3c334..b9aa6c59dec 100644 --- a/configs/sim/qtvcp_screens/qtx1mill.ini +++ b/configs/sim/qtvcp_screens/qtx1mill.ini @@ -174,8 +174,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/qtvcp_screens/tester.ini b/configs/sim/qtvcp_screens/tester.ini index 4cec31b24f5..4b3b493e67b 100644 --- a/configs/sim/qtvcp_screens/tester.ini +++ b/configs/sim/qtvcp_screens/tester.ini @@ -144,8 +144,6 @@ HALFILE = check_constraints.hal # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = qtvcp_postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [HALUI] diff --git a/configs/sim/tklinuxcnc/ldelta.ini b/configs/sim/tklinuxcnc/ldelta.ini index c2222ff791e..b2ca19f0afd 100644 --- a/configs/sim/tklinuxcnc/ldelta.ini +++ b/configs/sim/tklinuxcnc/ldelta.ini @@ -46,7 +46,6 @@ SERVO_PERIOD = 1000000 [HAL] HALFILE = sim_ldelta.hal HALFILE = axis_manualtoolchange.hal -HALUI = halui [TRAJ] COORDINATES = X Y Z A diff --git a/configs/sim/tklinuxcnc/trivkins/xzbase.inc b/configs/sim/tklinuxcnc/trivkins/xzbase.inc index b78b08f35f5..6bb1b111101 100644 --- a/configs/sim/tklinuxcnc/trivkins/xzbase.inc +++ b/configs/sim/tklinuxcnc/trivkins/xzbase.inc @@ -1,6 +1,5 @@ [HAL] HALFILE = LIB:basic_sim.tcl - HALUI = halui [TRAJ] COORDINATES = XZ diff --git a/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini b/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini index 1297e290e42..858c181fa9c 100644 --- a/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini +++ b/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini @@ -54,7 +54,6 @@ CYCLE_TIME = 0.001 [HAL] HALFILE = LIB:basic_sim.tcl -HALUI = halui [TRAJ] COORDINATES = X Y Z diff --git a/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini b/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini index 90918ec728c..3eba2ab765e 100644 --- a/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini +++ b/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini @@ -64,7 +64,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl [TRAJ] diff --git a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini index 500bf37ed1c..15b52e9c096 100644 --- a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini +++ b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini @@ -54,7 +54,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = LIB:hookup_moveoff.tcl diff --git a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.txt b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.txt index df58dc90c87..8154e407807 100644 --- a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.txt +++ b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.txt @@ -5,7 +5,6 @@ modifies pyngcgui_touchy.ini to use: [HAL] ... HALFILE = hookup_move.tcl -HALUI = halui APP = moveoff_gui \ -size 20 -loc center \ diff --git a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff_es.txt b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff_es.txt index 4c920b3708e..84b30d69da0 100644 --- a/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff_es.txt +++ b/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff_es.txt @@ -5,7 +5,6 @@ modifica pyngcgui_touchy.ini para usar: [HAL] ... HALFILE = hookup_move.tcl -HALUI = halui APP = moveoff_gui \ -size 20 -loc center \ diff --git a/configs/sim/woodpecker/woodpecker.ini b/configs/sim/woodpecker/woodpecker.ini index fc6b389dc99..fd46471f057 100644 --- a/configs/sim/woodpecker/woodpecker.ini +++ b/configs/sim/woodpecker/woodpecker.ini @@ -78,7 +78,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = simulated_home.hal #HALFILE = custom.hal diff --git a/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini b/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini index e8fe3935119..07748d5ace9 100644 --- a/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini +++ b/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini @@ -100,7 +100,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = simulated_home.hal POSTGUI_HALFILE = woodpecker_postgui.hal diff --git a/configs/sim/woodpecker/woodpecker_xyz.ini b/configs/sim/woodpecker/woodpecker_xyz.ini index 911f2c576b0..1631c202240 100644 --- a/configs/sim/woodpecker/woodpecker_xyz.ini +++ b/configs/sim/woodpecker/woodpecker_xyz.ini @@ -87,7 +87,6 @@ SPINDLES = 1 NO_FORCE_HOMING = 1 [HAL] -HALUI = halui HALFILE = core_sim.hal HALFILE = simulated_home.hal #HALFILE = custom.hal diff --git a/configs/sim/woodpecker/woodpecker_xyza.ini b/configs/sim/woodpecker/woodpecker_xyza.ini index 1226c5e7e00..6d2fb66c3b3 100644 --- a/configs/sim/woodpecker/woodpecker_xyza.ini +++ b/configs/sim/woodpecker/woodpecker_xyza.ini @@ -116,7 +116,6 @@ POSITION_FILE = position.txt #NO_FORCE_HOMING = 1 [HAL] -HALUI = halui #HALFILE = core_sim.hal HALFILE = gantrysim.hal HALFILE = simulated-gantry-home.hal diff --git a/configs/sim/woodpecker/woodpecker_xyzab.ini b/configs/sim/woodpecker/woodpecker_xyzab.ini index d6229b133c6..67f1e0f788d 100644 --- a/configs/sim/woodpecker/woodpecker_xyzab.ini +++ b/configs/sim/woodpecker/woodpecker_xyzab.ini @@ -102,7 +102,6 @@ POSITION_FILE = position.txt SPINDLES = 1 [HAL] -HALUI = halui HALFILE = gantrysim-xyzab.hal HALFILE = simulated-gantry-xyzab-home.hal #HALFILE = mpg.hal diff --git a/configs/sim/woodpecker/woodpecker_xyzy.ini b/configs/sim/woodpecker/woodpecker_xyzy.ini index 18f793993f4..bbd8f63a620 100644 --- a/configs/sim/woodpecker/woodpecker_xyzy.ini +++ b/configs/sim/woodpecker/woodpecker_xyzy.ini @@ -84,7 +84,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui #HALFILE = core_sim.hal HALFILE = gantrysim.hal HALFILE = simulated-gantry-home.hal diff --git a/configs/sim/woodpecker/woodpecker_xyzya.ini b/configs/sim/woodpecker/woodpecker_xyzya.ini index 3f0ba0c3b57..87ea1220a07 100644 --- a/configs/sim/woodpecker/woodpecker_xyzya.ini +++ b/configs/sim/woodpecker/woodpecker_xyzya.ini @@ -87,7 +87,6 @@ DEFAULT_LINEAR_VELOCITY = 50.00 SPINDLES = 1 [HAL] -HALUI = halui #HALFILE = core_sim.hal HALFILE = gantrysim.hal HALFILE = simulated-gantry-home.hal diff --git a/docs/src/config/ini-config.adoc b/docs/src/config/ini-config.adoc index 4980de30b1d..c019009d7de 100644 --- a/docs/src/config/ini-config.adoc +++ b/docs/src/config/ini-config.adoc @@ -778,8 +778,6 @@ For more information see the <> chapter. Some GUIs create HAL pins and support the use of a postgui halfile to use them. GUIs that support postgui HAL files include Touchy, AXIS, Gscreen, and GMOCCAPY. + See section <> for more information. -* `HALUI = halui` - adds the HAL user interface pins. + - For more information see the <> chapter. [[sub:ini:sec:halui]] === [HALUI] section(((INI File,Sections,[HALUI] Section))) diff --git a/docs/src/config/moveoff.adoc b/docs/src/config/moveoff.adoc index 81e1bb7d605..ed57ccc3079 100644 --- a/docs/src/config/moveoff.adoc +++ b/docs/src/config/moveoff.adoc @@ -114,8 +114,7 @@ to the corresponding joint. Modify an existing configuration as follows: -Make sure there is an INI file entry for `[HAL]HALUI` and create a new -`[HAL]HALFILE` entry for LIB:hookup_moveoff.tcl. +Create a new `[HAL]HALFILE` entry for LIB:hookup_moveoff.tcl. The entry for LIB:hookup_moveoff.tcl should follow all `HALFILE=` entries for HAL files that connect the pins for `joint.N.motor-pos-cmd`, `joint.N.motor-pos-fb`, and any components connected to these pins @@ -124,7 +123,6 @@ for HAL files that connect the pins for `joint.N.motor-pos-cmd`, [source,ini] ---- [HAL] -HALUI = halui HALFILE = existing_configuration_halfile_1 # ... HALFILE = existing_configuration_halfile_n @@ -216,7 +214,6 @@ and mv.bactrack-enable pins to signals: [source,ini] ---- [HAL] -HALUI = halui # ... HALFILE = LIB:hookup_moveoff.tcl HALFILE = LIB:moveoff_external.hal diff --git a/docs/src/getting-started/updating-linuxcnc.adoc b/docs/src/getting-started/updating-linuxcnc.adoc index 63decc6e5e2..2f9e5960909 100644 --- a/docs/src/getting-started/updating-linuxcnc.adoc +++ b/docs/src/getting-started/updating-linuxcnc.adoc @@ -232,6 +232,21 @@ link:../man/man1/mesambccc.1.html[mesambccc(1)]. The 2.9 release retains the framework, so its documentation remains available in the http://linuxcnc.org/docs/2.9/html/drivers/mesa_modbus.html[2.9 docs]. +=== halui is part of the task controller + +halui is no longer a separate program. Its pins are created by the task +controller in every configuration, before the HAL files are read, so +there is nothing to start. Remove these from existing configurations: + +* `HALUI = halui` in the `[HAL]` section of the INI file. It is no longer + read; LinuxCNC prints a warning at startup while it is still there. +* `loadusr halui` (with or without `-W`/`-Wn halui` and `-ini ...`) in a + HAL file. A compatibility `halui` stub still accepts this and prints a + warning; it will be removed in a later release. + +The pins, `[HALUI]MDI_COMMAND` and the `[DISPLAY]` override limits work +as before, see link:../gui/halui.html[HAL User Interface]. + == Preview renderer now requires OpenGL 3.3 core diff --git a/docs/src/gui/halui.adoc b/docs/src/gui/halui.adoc index e9c87f8c1ae..18d287ac60b 100644 --- a/docs/src/gui/halui.adoc +++ b/docs/src/gui/halui.adoc @@ -9,25 +9,17 @@ == 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 +machine 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: +There is nothing to load: the pins exist in every configuration, created +by the task controller before the HAL files are read, so a HAL file can +connect them straight away. A configuration that connects none of them +pays only for a pin scan every 20 ms. -[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 ----- +Earlier versions ran halui as a separate program, started with +`[HAL]HALUI = halui` in the INI file or `loadusr halui` in a HAL file. +Neither is needed any more; remove them from existing configurations. == MDI diff --git a/docs/src/hal/basic-hal.adoc b/docs/src/hal/basic-hal.adoc index 0c800c56c9a..73166bd7c55 100644 --- a/docs/src/hal/basic-hal.adoc +++ b/docs/src/hal/basic-hal.adoc @@ -137,7 +137,7 @@ Flags may be one or more of the following: [source,hal] ---- loadusr -loadusr halui +loadusr hal_input loadusr -Wn spindle gs2_vfd -n spindle ---- diff --git a/docs/src/hal/halui-examples.adoc b/docs/src/hal/halui-examples.adoc index 2f237cc14cb..f0f7daab4ad 100644 --- a/docs/src/hal/halui-examples.adoc +++ b/docs/src/hal/halui-examples.adoc @@ -5,12 +5,7 @@ = Halui Examples (((Halui Examples))) -For any Halui examples to work you need to add the following line to the [HAL] section of the INI file. - -[source,ini] ----- -HALUI = halui ----- +The Halui pins are always available, so these examples work as they stand. [[sec:halui-remote-start]] == Remote Start diff --git a/docs/src/hal/twopass.adoc b/docs/src/hal/twopass.adoc index 7fdc48fae2c..fd50a15d5da 100644 --- a/docs/src/hal/twopass.adoc +++ b/docs/src/hal/twopass.adoc @@ -120,7 +120,6 @@ HALFILE = simulated_home.hal HALFILE = load_for_postgui.hal <- loadrt lines for components in postgui.hal POSTGUI_HALFILE = postgui.hal -HALUI = halui ---- == Post GUI diff --git a/docs/src/man/man1/halui.1.adoc b/docs/src/man/man1/halui.1.adoc index 861abcd04c0..8f3fdc853c6 100644 --- a/docs/src/man/man1/halui.1.adoc +++ b/docs/src/man/man1/halui.1.adoc @@ -2,29 +2,38 @@ == NAME -halui - observe HAL pins and command LinuxCNC through NML +halui - HAL pins to observe and command LinuxCNC -== SYNOPSIS +== DESCRIPTION -*halui* [*-ini* __] +*halui* is used to build a User Interface using hardware knobs and switches. +It provides a large number of HAL pins, and acts accordingly when these +change. -== DESCRIPTION +The pins are part of the LinuxCNC task controller and exist in every +configuration. There is nothing to load: connect the pins you want in a +HAL file. Earlier versions ran halui as a separate program, selected with +*[HAL]HALUI* in the INI file or started with *loadusr halui*; neither is +needed any more. -The program *halui* is used to build a User Interface using hardware knobs and switches. -It exports a big number of pins, and acts accordingly when these change. +== INI FILE -== OPTIONS +halui still reads these INI settings: -*-ini* _filename_:: - Use the _filename_ as the configuration file. Note: halui must find - the nml file specified in the INI, usually that file is in the same - folder as the INI, so it makes sense to run halui from that folder. +*[HALUI]MDI_COMMAND*:: + An MDI command to run when the matching *halui.mdi-command-NN* pin goes + true. May be given up to 64 times. +*[DISPLAY]MAX_FEED_OVERRIDE*:: + Upper limit for the feed override set through halui. +*[DISPLAY]MIN_SPINDLE_OVERRIDE*, *[DISPLAY]MAX_SPINDLE_OVERRIDE*:: + Limits for the spindle override set through halui. +*[TRAJ]COORDINATES*:: + Which *halui.axis.L.\** pins are created. == USAGE -When run, *halui* will export a large number of pins. A user can connect -those to his physical knobs & switches & leds, and when a change is -noticed halui triggers an appropriate event. +A user can connect the pins to his physical knobs & switches & leds, and +when a change is noticed halui triggers an appropriate event. Caveat, *halui* expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first. diff --git a/docs/src/man/man1/moveoff_gui.1.adoc b/docs/src/man/man1/moveoff_gui.1.adoc index 042b2aead0f..dd82617a6b9 100644 --- a/docs/src/man/man1/moveoff_gui.1.adoc +++ b/docs/src/man/man1/moveoff_gui.1.adoc @@ -73,12 +73,6 @@ These options are available for special cases: LinuxCNC must be running. -Halui must be loaded, typical INI file setting: ----- -[HAL] -HALUI = halui ----- - The moveoff component must be loaded with the name 'mv' as: + **loadrt moveoff names=**_mv **personality=**_number_of_axes_ @@ -107,7 +101,6 @@ HALFILE *hookup_moveoff.tcl* as illustrated below: ---- [HAL] -HALUI = halui HALFILE = user_halfile_1 etc ... HALFILE = user_halfile_n diff --git a/docs/src/plasma/qtplasmac.adoc b/docs/src/plasma/qtplasmac.adoc index bc68a12556c..7a852b00098 100644 --- a/docs/src/plasma/qtplasmac.adoc +++ b/docs/src/plasma/qtplasmac.adoc @@ -570,7 +570,6 @@ These variables are mandatory. [source,ini] ---- -HALUI = halui (required) HALFILE = __.hal (the machine HAL file) HALFILE = plasmac.tcl (the standard QtPlasmaC HAL file) HALFILE = custom.hal (Users custom HAL commands) diff --git a/scripts/halui b/scripts/halui new file mode 100755 index 00000000000..15921048e43 --- /dev/null +++ b/scripts/halui @@ -0,0 +1,9 @@ +#!/bin/sh +# halui used to be a separate program. Its pins are now created by the task +# controller in every configuration, so there is nothing left to start. +# This stub keeps configurations that still run "loadusr halui" working, +# and tells their owners to remove that line. +echo "halui: the halui pins are built into the task controller now;" \ + "remove 'loadusr halui' from your HAL file (and [HAL]HALUI from" \ + "your INI file). This compatibility stub will be removed." >&2 +exit 0 diff --git a/scripts/linuxcnc.in b/scripts/linuxcnc.in index 3ab645da498..5edb0990ba4 100644 --- a/scripts/linuxcnc.in +++ b/scripts/linuxcnc.in @@ -528,9 +528,12 @@ if [ "$EMCTASK" = emctask ]; then EMCTASK=linuxcnctask; fi # so it needs to start by default, as the first process EMCSERVER=linuxcncsvr -# 2.7. get halui information +# 2.7. halui is part of task now; [HAL]HALUI is no longer read GetFromIniQuiet HALUI HAL -HALUI=$retval +if [ -n "$retval" ] ; then + echo "Warning: [HAL]HALUI is no longer needed, the halui pins are built" \ + "into the task controller. Remove it from $INIFILE." >&2 +fi # 2.7.1 get halbridge info from INI GetFromIniQuiet HALBRIDGE HAL @@ -830,17 +833,6 @@ fi halcmd loadusr -Wn inihal "$EMCTASK" -ini "$INIFILE" -# 4.3.5. Run halui in background, if necessary -if [ -n "$HALUI" ] ; then - echo "Starting HAL User Interface program: $HALUI" >> "$PRINT_FILE" - if ! program_available "$HALUI" ; then - echo "Can't execute halui program $HALUI" - Cleanup - exit 1 - fi - $HALCMD loadusr -Wn halui "$HALUI" -ini "$INIFILE" -fi - # run hal bridge program IF requested if [ -n "$HALBRIDGE" ] ; then echo "Starting HAL User Interface program: $HALBRIDGE" >> "$PRINT_FILE" diff --git a/src/Makefile b/src/Makefile index df19b0c3dc7..3bd45ec6775 100644 --- a/src/Makefile +++ b/src/Makefile @@ -664,6 +664,7 @@ endif $(EXE) ../scripts/latency-plot $(DESTDIR)$(bindir) $(EXE) ../scripts/latency-histogram $(DESTDIR)$(bindir) $(EXE) ../scripts/moveoff_gui $(DESTDIR)$(bindir) + $(EXE) ../scripts/halui $(DESTDIR)$(bindir) $(EXE) ../scripts/hal-histogram $(DESTDIR)$(bindir) $(EXE) ../scripts/xhc-hb04-accels $(DESTDIR)$(bindir) $(EXE) ../scripts/pyvcp_demo $(DESTDIR)$(bindir) diff --git a/src/emc/task/Submakefile b/src/emc/task/Submakefile index 9fdab7004d6..3892cdeb7eb 100644 --- a/src/emc/task/Submakefile +++ b/src/emc/task/Submakefile @@ -23,6 +23,8 @@ MILLTASKSRCS := \ emc/motion/stashf.c \ emc/task/taskclass.cc \ emc/task/backtrace.cc \ + emc/task/cmd_queue.cc \ + emc/task/halui.cc \ emc/usr_intf/mapini.cc USERSRCS += $(MILLTASKSRCS) diff --git a/src/emc/task/cmd_queue.cc b/src/emc/task/cmd_queue.cc new file mode 100644 index 00000000000..2ba477d4c1a --- /dev/null +++ b/src/emc/task/cmd_queue.cc @@ -0,0 +1,109 @@ +/******************************************************************** +* Description: cmd_queue.cc +* Command injection point for task-internal command producers. +* See cmd_queue.hh for what it is for. +* +* License: GPL Version 2 +********************************************************************/ + +#include "cmd_queue.hh" + +#include "nml_intf/emc.hh" +#include "nml_intf/emc_nml.hh" + +#include +#include +#include +#include + +namespace { + +struct Entry { + std::vector data; /* the message, byte for byte */ + taskcmd::Ticket ticket = 0; + unsigned long key = 0; /* 0: never superseded */ +}; + +std::mutex g_mu; /* guards everything below */ +std::deque g_queue; +Entry g_current; /* keeps the popped message alive */ +taskcmd::Ticket g_next_ticket = 1; + +/* A backlog this long means the producer is far ahead of task and the + commands are stale anyway; dropping is better than growing without + bound. Jogs coalesce, so reaching this takes a genuine flood. */ +const size_t MAX_QUEUED = 64; + +} // namespace + +taskcmd::Ticket taskcmd::pushRaw(const void *cmd, size_t size, + unsigned long coalesce_key) +{ + if (cmd == NULL || size == 0 || size > MAX_CMD_SIZE) { + return 0; + } + + std::lock_guard lk(g_mu); + + const Ticket ticket = g_next_ticket++; + + if (coalesce_key != 0) { + for (Entry &e : g_queue) { + if (e.key != coalesce_key) { + continue; + } + /* Supersede in place: the newer command takes the older one's + turn, so ordering against other commands is unchanged. */ + e.data.assign(static_cast(cmd), + static_cast(cmd) + size); + e.ticket = ticket; + return ticket; + } + } + + if (g_queue.size() >= MAX_QUEUED) { + return 0; + } + + Entry e; + e.data.assign(static_cast(cmd), + static_cast(cmd) + size); + e.ticket = ticket; + e.key = coalesce_key; + g_queue.push_back(std::move(e)); + + return ticket; +} + +bool taskcmd::pending(Ticket ticket) +{ + if (ticket == 0) { + return false; + } + + std::lock_guard lk(g_mu); + for (const Entry &e : g_queue) { + if (e.ticket == ticket) { + return true; + } + } + return false; +} + +RCS_CMD_MSG *taskcmd::next(int echo_serial_number) +{ + std::lock_guard lk(g_mu); + + if (g_queue.empty()) { + return NULL; + } + + g_current = std::move(g_queue.front()); + g_queue.pop_front(); + + /* Task treats a command as new when its serial differs from the one it + last echoed, so hand it the next serial along. */ + RCS_CMD_MSG *msg = reinterpret_cast(g_current.data.data()); + msg->serial_number = echo_serial_number + 1; + return msg; +} diff --git a/src/emc/task/cmd_queue.hh b/src/emc/task/cmd_queue.hh new file mode 100644 index 00000000000..d05f6f6f493 --- /dev/null +++ b/src/emc/task/cmd_queue.hh @@ -0,0 +1,74 @@ +/******************************************************************** +* Description: cmd_queue.hh +* Command injection point for everything inside task that issues NML +* commands without going through the NML command channel. +* +* Task executes one command per cycle, taken either from the NML command +* buffer or from this queue. A command placed here is therefore judged by +* emcTaskPlan() exactly like one that arrived over NML: same mode and +* state gating, same serial-number echo, same error reporting. +* +* halui.cc, running in the task thread, is the only producer today. +* push() is thread safe, so a transport running in its own thread can +* use it too. +* +* License: GPL Version 2 +********************************************************************/ +#ifndef TASK_CMD_QUEUE_HH +#define TASK_CMD_QUEUE_HH + +#include + +class RCS_CMD_MSG; + +namespace taskcmd { + +/* Biggest NML command that can be queued. EMC_TASK_PLAN_OPEN is the large + one (a LINELEN path plus a 4k remote transfer buffer). */ +const size_t MAX_CMD_SIZE = 8192; + +/* Identifies one queued command, so a producer can tell whether task has + taken it yet. Zero is never a valid ticket: push() returns 0 when the + queue is full, and pending(0) is false. */ +typedef unsigned long Ticket; + +/* Queue a copy of a command message. Thread safe. + + coalesce_key, when non-zero, means "this command supersedes any command + still queued under the same key": the pending one is overwritten in + place, keeping its position in the queue. It is for commands that carry + a state rather than an action -- a continuous jog is the case that + matters, where a producer running faster than task drains the queue + would otherwise build a backlog of stale velocities. Never use it for a + command that must happen exactly once, such as an incremental jog. + + The superseded command's ticket stops being pending without ever having + been executed, so a producer that watches a ticket must pass key 0. */ +Ticket pushRaw(const void *cmd, size_t size, unsigned long coalesce_key); + +template +Ticket push(const T &cmd, unsigned long coalesce_key = 0) +{ + static_assert(sizeof(T) <= MAX_CMD_SIZE, "NML command too large to queue"); + return pushRaw(&cmd, sizeof(T), coalesce_key); +} + +/* True while the command is still waiting. False once task has taken it -- + which, for a caller running in the task loop after the status update, + means the command has been issued and the status reflects it. */ +bool pending(Ticket ticket); + +/* Pop the next command, or NULL if none is waiting. Task loop only. + + The returned message stays valid until the next call and is meant to be + consumed exactly like one freshly read from NML. echo_serial_number is + the serial task last echoed; the message gets echo_serial_number + 1 so + that task's "is this a new command?" test fires. Task puts the serial + back afterwards without echoing it: an NML serial is the command + buffer's write id, and echoing one of those here would make task drop + the next command an NML client writes. */ +RCS_CMD_MSG *next(int echo_serial_number); + +} // namespace taskcmd + +#endif /* TASK_CMD_QUEUE_HH */ diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc index 96fa4951eab..655b70a81de 100644 --- a/src/emc/task/emctaskmain.cc +++ b/src/emc/task/emctaskmain.cc @@ -86,6 +86,8 @@ fpu_control_t __fpu_control = _FPU_IEEE & ~(_FPU_MASK_IM | _FPU_MASK_ZM | _FPU_M #include "taskclass.hh" #include "motion/motion.h" // EMCMOT_ORIENT_* #include "ini/inihal.hh" +#include "halui.hh" // the HAL user interface, in task +#include "cmd_queue.hh" // commands from inside task (halui) using namespace linuxcnc; using namespace std::chrono_literals; @@ -108,6 +110,9 @@ static RCS_CMD_MSG *emcCommand = NULL; // global EMC status EMC_STAT *emcStatus = NULL; +// set while emcCommand points at a command from inside task (halui) +// rather than at the NML command buffer +static bool emcCommandInternal = false; // timer stuff static linuxcnc::CyclicTimer *timer = NULL; @@ -3352,6 +3357,9 @@ static int emctask_shutdown(void) delete timer; timer = NULL; } + // release the halui HAL component + haluiExit(); + // delete the NML channels if (NULL != emcErrorBuffer) { @@ -3523,6 +3531,15 @@ int main(int argc, char *argv[]) exit(1); } + // Create the halui pins before emctask_startup() readies the inihal + // component: halcmd is waiting on that and runs the HAL files next, + // and those may connect halui pins. + if (0 != haluiInit(emc_inifile)) { + log_error("can't initialize halui\n"); + emctask_shutdown(); + exit(1); + } + // initialize everything if (0 != emctask_startup()) { emctask_shutdown(); @@ -3558,13 +3575,27 @@ int main(int argc, char *argv[]) check_ini_hal_items(emcStatus->motion.traj.joints); // read command + bool internalDispatch = false; if (0 != emcCommandBuffer->read()) { // got a new command, so clear out errors + emcCommand = emcCommandBuffer->get_address(); + emcCommandInternal = false; taskPlanError = 0; taskExecuteError = 0; - } - // run control cycle - if (0 != emcTaskPlan()) { + } else if (RCS_CMD_MSG *queued = + taskcmd::next(emcStatus->echo_serial_number)) { + // A command came from inside task (halui). Point emcCommand at + // it and the rest of the loop treats it exactly like one read + // from NML, except for the error flags: they belong to the last + // NML command, the one whose serial a client waits on. + emcCommand = queued; + emcCommandInternal = true; + internalDispatch = true; + } + // run control cycle. A command from inside task that fails is + // reported on the error channel by the planner; it must not turn + // the status of an NML client's command into ERROR. + if (0 != emcTaskPlan() && !internalDispatch) { taskPlanError = 1; } if (0 != emcTaskExecute()) { @@ -3703,6 +3734,16 @@ int main(int argc, char *argv[]) // handle RCS_STAT_MSG base class members explicitly, since this // is not an NML_MODULE and they won't be set automatically + // A command from inside task must not consume a serial number. An + // NML serial is the command buffer's write id, so echoing "one past + // the last NML command" is echoing the id the next NML client write + // will get, and task would then drop that command as one it has + // already seen. Leave the echo where the last NML command put it, + // and mark the internal message as seen so that emcTaskPlan() does + // not dispatch it again next cycle. + if (emcCommandInternal) { + emcCommand->serial_number = emcStatus->echo_serial_number; + } else { // do task emcStatus->task.command_type = emcCommand->_type; emcStatus->task.echo_serial_number = emcCommand->serial_number; @@ -3710,6 +3751,7 @@ int main(int argc, char *argv[]) // do top level emcStatus->command_type = emcCommand->_type; emcStatus->echo_serial_number = emcCommand->serial_number; + } if (taskPlanError || taskExecuteError || emcStatus->task.execState == EMC_TASK_EXEC::ERROR || @@ -3737,6 +3779,7 @@ int main(int argc, char *argv[]) // will be updated in the _update() functions above. There's // no need to call the individual functions on all WM items. emcStatusBuffer->write(emcStatus); + haluiUpdate(); // wait on timer cycle, if specified, or calculate actual // interval if INI file says to run full out via diff --git a/src/emc/usr_intf/halui.cc b/src/emc/task/halui.cc similarity index 89% rename from src/emc/usr_intf/halui.cc rename to src/emc/task/halui.cc index c40e2831e73..c3c0697784a 100644 --- a/src/emc/usr_intf/halui.cc +++ b/src/emc/task/halui.cc @@ -1,19 +1,38 @@ /******************************************************************** -* Description: halui.cc -* HAL User-Interface component. -* This file exports various UI related hal pins, and communicates -* with EMC through NML messages +* Description: halui.cc (task) +* The HAL user interface, running inside task. * -* Derived from a work by Fred Proctor & Will Shackleford (emcsh.cc) -* some of the functions (sendFooBar() are adapted from there) +* This was the standalone halui program (src/emc/usr_intf/halui.cc, now +* deleted) with its NML transport taken out. The pin table, the edge +* detection in check_hal_changes() and the status mirroring in +* modify_hal_pins() are the same code, so that behaviour -- including the +* quirks the tests in tests/halui pin down -- is unchanged. * -* Author: Alex Joni -* License: GPL Version 2 -* System: Linux +* What is different, and why: +* +* - No NML. Commands go into the task-internal queue (cmd_queue.hh), so +* they pass through emcTaskPlan() exactly like a command from a UI. +* Nothing waits for an echo: inside task, waiting for task to answer +* is a deadlock, since it is this thread that would have to answer. +* +* - MDI commands become a state machine, see sendMdiCommand() below. +* +* - Status is read straight out of the live EMC_STAT. halui sees it after +* task has finished the cycle's status update, which is the same +* picture an NML client gets, one cycle earlier. +* +* - The pin scan still runs at 20 ms, the standalone halui's loop period. +* The task cycle is typically 1 ms, and jog pins send a command per +* change, so running the whole scan every cycle would put up to a +* thousand commands a second through task's single command slot. +* estop-activate, machine-off, abort and program-stop are checked every +* cycle regardless. * -* Copyright (c) 2006 All rights reserved. +* halui is always there: there is nothing to switch on, and a machine +* that connects none of the pins pays for a pin scan every 20 ms. * -* Last change: +* Derived from the standalone halui.cc by Alex Joni, which this replaces. +* License: GPL Version 2 ********************************************************************/ #include "logutil.hh" @@ -22,9 +41,10 @@ #include #include #include -#include #include +#include + #include /* access to HAL functions/definitions */ #include /* rtapi_print_msg */ #include "rcs_status.hh" @@ -34,15 +54,16 @@ #include "nml_intf/emcglb.h" // EMC_NMLFILE, TRAJ_MAX_VELOCITY, etc. #include "nml_intf/emccfg.h" // DEFAULT_TRAJ_MAX_VELOCITY #include -#include "libnml/nml/nml_oi.hh" #include "timeutil.hh" #include #include "tooldata/tooldata.hh" -#include "mapini.hh" -#include "unitenum.hh" +#include "usr_intf/mapini.hh" +#include "usr_intf/unitenum.hh" + +#include "halui.hh" +#include "cmd_queue.hh" using namespace linuxcnc; -using namespace std::chrono_literals; /* Using halui: see the man page */ @@ -236,7 +257,7 @@ static char *mdi_commands[MDI_MAX]; static int num_mdi_commands=0; static int have_home_all = 0; -static int comp_id, done; /* component ID, main while loop */ +static int comp_id = -1; /* HAL component ID */ static int num_axes = 0; //number of axes, taken from the INI [TRAJ] section static int num_joints = 3; //number of joints, taken from the INI [KINS] section @@ -249,220 +270,38 @@ static double maxSpindleOverride=1.0; static EMC_TASK_MODE halui_old_mode = EMC_TASK_MODE::MANUAL; static int halui_sent_mdi = 0; -// the NML channels to the EMC task -static RCS_CMD_CHANNEL *emcCommandBuffer = NULL; -static RCS_STAT_CHANNEL *emcStatusBuffer = NULL; -EMC_STAT *emcStatus = NULL; - -// the NML channel for errors -static NML *emcErrorBuffer = NULL; - -// the serial number to use. -static int emcCommandSerialNumber = 0; - -// how long to wait for Task to report that it has received our command -static double receiveTimeout = 10.0; - -// how long to wait for Task to finish running our command -static double doneTimeout = 60.; - -static void quit(int /*sig*/) -{ - done = 1; -} - -static int emcTaskNmlGet() -{ - int retval = 0; - - // try to connect to EMC cmd - if (emcCommandBuffer == NULL) { - emcCommandBuffer = - new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc", - emc_nmlfile); - if (!emcCommandBuffer->valid()) { - delete emcCommandBuffer; - emcCommandBuffer = NULL; - retval = -1; - } - } - // try to connect to EMC status - if (emcStatusBuffer == NULL) { - emcStatusBuffer = - new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc", - emc_nmlfile); - if (!emcStatusBuffer->valid()) { - delete emcStatusBuffer; - emcStatusBuffer = NULL; - emcStatus = NULL; - retval = -1; - } else { - emcStatus = reinterpret_cast(emcStatusBuffer->get_address()); - } - } - - return retval; -} - -static int emcErrorNmlGet() -{ - int retval = 0; - - if (emcErrorBuffer == NULL) { - emcErrorBuffer = - new NML(nmlErrorFormat, "emcError", "xemc", emc_nmlfile); - if (!emcErrorBuffer->valid()) { - delete emcErrorBuffer; - emcErrorBuffer = NULL; - retval = -1; - } - } - - return retval; -} - -static int tryNml() -{ - std::chrono::seconds end; - int good; -constexpr auto RETRY_TIME = 10s; // wait for subsystems to come up -constexpr auto RETRY_INTERVAL = 1s; // between wait tries for a subsystem - - end = RETRY_TIME; - good = 0; - do { - if (0 == emcTaskNmlGet()) { - good = 1; - break; - } - esleep(RETRY_INTERVAL); - end -= RETRY_INTERVAL; - } while (end > 0s); - - if (!good) { - return -1; - } - end = RETRY_TIME; - good = 0; - do { - if (0 == emcErrorNmlGet()) { - good = 1; - break; - } - esleep(RETRY_INTERVAL); - end -= RETRY_INTERVAL; - } while (end > 0s); +// How often the pin scan runs, the standalone halui's loop period. +static const double HALUI_PERIOD = 0.020; - if (!good) { - return -1; - } - - return 0; +static double last_pass = 0.0; -} +// MDI state machine, see sendMdiCommand() +static std::deque mdi_pending; +static taskcmd::Ticket mdi_mode_ticket = 0; +static taskcmd::Ticket mdi_exec_ticket = 0; -static int updateStatus() +// Queue a command for task to execute on one of the next cycles. This is +// where the standalone halui wrote to the NML command channel and then +// waited for task to echo the serial number back. +// +// coalesce_key is passed for jogs only: see cmd_queue.hh. Returns 0 like +// the NML send it replaces, -1 if the queue is full. +template +static int emcCommandSend(const T &cmd, unsigned long coalesce_key = 0) { - NMLTYPE type; - - if (NULL == emcStatus || NULL == emcStatusBuffer) { - rtapi_print("halui: %s: no status buffer\n", __func__); + if (taskcmd::push(cmd, coalesce_key) == 0) { + rtapi_print("halui: %s: command queue full, dropping a command\n", __func__); return -1; } - - if (!emcStatusBuffer->valid()) { - rtapi_print("halui: %s: status buffer is not valid\n", __func__); - return -1; - } - - switch (type = emcStatusBuffer->peek()) { - case -1: - // error on CMS channel - rtapi_print("halui: %s: error peeking status buffer\n", __func__); - return -1; - break; - - case 0: // no new data - case EMC_STAT_TYPE: // new data - break; - - default: - rtapi_print("halui: %s: unknown error peeking status buffer\n", __func__); - return -1; - break; - } - return 0; } - -constexpr auto EMC_COMMAND_DELAY = 100ms; // how long to sleep between checks - -static int emcCommandWaitDone() -{ - for (auto end = 0ms; end < std::chrono::duration(doneTimeout); - end += EMC_COMMAND_DELAY) { - updateStatus(); - int serial_diff = emcStatus->echo_serial_number - emcCommandSerialNumber; - - if (serial_diff < 0) { - continue; - } - - if (serial_diff > 0) { - return 0; - } - - if (emcStatus->status == RCS_STATUS::DONE) { - return 0; - } - - if (emcStatus->status == RCS_STATUS::ERROR) { - return -1; - } - - esleep(EMC_COMMAND_DELAY); - } - - return -1; -} - -static int emcCommandSend(RCS_CMD_MSG & cmd) -{ - // write command - if (emcCommandBuffer->write(&cmd)) { - rtapi_print("halui: %s: error writing to Task\n", __func__); - return -1; - } - emcCommandSerialNumber = cmd.serial_number; - - // wait for receive - for (auto end = 0ms; end < std::chrono::duration(receiveTimeout); - end += EMC_COMMAND_DELAY) { - updateStatus(); - int serial_diff = emcStatus->echo_serial_number - emcCommandSerialNumber; - - if (serial_diff >= 0) { - return 0; - } - - esleep(EMC_COMMAND_DELAY); - } - - rtapi_print("halui: %s: no echo from Task after %.3f seconds\n", __func__, receiveTimeout); - return -1; -} - -static void thisQuit() +// One key per jog target, so that a new jog for a joint or axis replaces +// the one still waiting for it rather than queueing behind it. +static unsigned long jog_key(int ja, int jjogmode) { - //don't forget the big HAL sin ;) - hal_exit(comp_id); - - if(emcCommandBuffer) { delete emcCommandBuffer; emcCommandBuffer = NULL; } - if(emcStatusBuffer) { delete emcStatusBuffer; emcStatusBuffer = NULL; } - if(emcErrorBuffer) { delete emcErrorBuffer; emcErrorBuffer = NULL; } - exit(0); + return 1 + (unsigned long)(jjogmode ? 1 : 0) * 1024 + (unsigned long)ja; } static LINEAR_UNIT_CONVERSION linearUnitConversion = LINEAR_UNITS_AUTO; @@ -831,61 +670,95 @@ static int sendMdi() return emcCommandSend(mode_msg); } -static int sendMdiCommand(int n) +// Start an [HALUI]MDI_COMMAND. The standalone halui could block here: it +// sent the switch to MDI, waited for task to echo it, checked the mode and +// only then sent the command itself. Inside task nothing may block, so the +// sequence becomes a state machine, driven by service_mdi() below: +// +// press -> queue SET_MODE(MDI) -> task reaches MDI -> queue EXECUTE +// +// What the pins do is unchanged, including the two known quirks the tests +// pin down: halui-mdi-is-running goes true at the press, before task has +// accepted anything, and a command task refuses leaves it stuck until the +// next command finishes DONE. +static void sendMdiCommand(int n) { - EMC_TASK_PLAN_EXECUTE emc_task_plan_execute_msg; - - if (updateStatus()) { - return -1; - } - if (!halui_sent_mdi) { // There is currently no MDI command from halui executing, we're // currently starting the first one. Record what the Task mode is, // so we can restore it when all the MDI commands finish. halui_old_mode = emcStatus->task.mode; } - + halui_sent_mdi = 1; - if (num_mdi_commands>0){ - hal_set_bool(halui_data->halui_mdi_is_running, halui_sent_mdi); - updateStatus(); + if (num_mdi_commands > 0) { + hal_set_bool(halui_data->halui_mdi_is_running, halui_sent_mdi); } - + + mdi_pending.push_back(n); + // switch to MDI mode if needed - if (emcStatus->task.mode != EMC_TASK_MODE::MDI) { - if (sendMdi() != 0) { - rtapi_print("halui: %s: failed to Set Mode MDI\n", __func__); - return -1; - } - if (updateStatus() != 0) { - rtapi_print("halui: %s: failed to update status\n", __func__); - return -1; - } - if (emcStatus->task.mode != EMC_TASK_MODE::MDI) { - rtapi_print("halui: %s: switched mode, but got %d instead of mdi\n", __func__, (int)emcStatus->task.mode); - return -1; - } + if (emcStatus->task.mode != EMC_TASK_MODE::MDI && mdi_mode_ticket == 0) { + EMC_TASK_SET_MODE mode_msg; + mode_msg.mode = EMC_TASK_MODE::MDI; + mdi_mode_ticket = taskcmd::push(mode_msg); } - rtapi_strxcpy(emc_task_plan_execute_msg.command, mdi_commands[n]); - if (emcCommandSend(emc_task_plan_execute_msg)) { - rtapi_print("halui: %s: failed to send mdi command %d\n", __func__, n); - return -1; +} + +// Issue the MDI commands waiting for task to be in MDI mode, or give up on +// them if task did not go there. Runs every task cycle. +static void service_mdi() +{ + if (mdi_pending.empty()) { + return; } - return 0; + if (emcStatus->task.mode == EMC_TASK_MODE::MDI) { + mdi_mode_ticket = 0; + while (!mdi_pending.empty()) { + EMC_TASK_PLAN_EXECUTE emc_task_plan_execute_msg; + rtapi_strxcpy(emc_task_plan_execute_msg.command, + mdi_commands[mdi_pending.front()]); + mdi_exec_ticket = taskcmd::push(emc_task_plan_execute_msg); + mdi_pending.pop_front(); + } + return; + } + + if (!taskcmd::pending(mdi_mode_ticket)) { + // Task has been through the mode change and is not in MDI, so it + // refused it -- while a program runs, for instance. Drop the + // commands, exactly as the standalone halui did when its mode + // check failed. halui_sent_mdi deliberately stays set: the pins + // recover on the next command that ends DONE. + rtapi_print("halui: %s: could not switch task to mdi, dropping %d command(s)\n", + __func__, (int)mdi_pending.size()); + mdi_pending.clear(); + mdi_mode_ticket = 0; + } } +// True once the MDI command halui started has actually been issued by task +// (not merely queued), which is what the standalone halui knew by waiting +// for the echo before it returned from sendMdiCommand(). +static bool mdi_settled() +{ + return halui_sent_mdi + && mdi_pending.empty() + && !taskcmd::pending(mdi_mode_ticket) + && !taskcmd::pending(mdi_exec_ticket); +} + +// The standalone halui waited here for task to finish the mode change, +// up to 60 seconds. Inside task that wait is the deadlock it sounds like: +// task cannot finish anything while halui holds the loop. static int sendTeleop() { EMC_TRAJ_SET_TELEOP_ENABLE emc_set_teleop_enable_msg; emc_set_teleop_enable_msg.enable = 1; - if (emcCommandSend(emc_set_teleop_enable_msg)) { - return -1; - } - return emcCommandWaitDone(); + return emcCommandSend(emc_set_teleop_enable_msg); } static int sendJoint() @@ -893,10 +766,7 @@ static int sendJoint() EMC_TRAJ_SET_TELEOP_ENABLE emc_set_teleop_enable_msg; emc_set_teleop_enable_msg.enable = 0; - if (emcCommandSend(emc_set_teleop_enable_msg)) { - return -1; - } - return emcCommandWaitDone(); + return emcCommandSend(emc_set_teleop_enable_msg); } static int sendMistOn() @@ -935,8 +805,6 @@ static int sendProgramRun(int line) { EMC_TASK_PLAN_RUN emc_task_plan_run_msg; - updateStatus(); - if (0 == emcStatus->task.file[0]) { return -1; // no program open } @@ -1093,7 +961,7 @@ static void sendJogStop(int ja, int jjogmode) emc_jog_stop_msg.jjogmode = jjogmode; emc_jog_stop_msg.joint_or_axis = ja; - emcCommandSend(emc_jog_stop_msg); + emcCommandSend(emc_jog_stop_msg, jog_key(ja, jjogmode)); } @@ -1116,7 +984,7 @@ static void sendJogCont(int ja, double speed, int jjogmode) emc_jog_cont_msg.joint_or_axis = ja; emc_jog_cont_msg.vel = speed / 60.0; - emcCommandSend(emc_jog_cont_msg); + emcCommandSend(emc_jog_cont_msg, jog_key(ja, jjogmode)); } static void sendJogIncr(int ja, double speed, double incr, int jjogmode) @@ -1207,7 +1075,7 @@ static int sendSpindleOverride(int spindle, double override) return emcCommandSend(emc_traj_set_spindle_scale_msg); } -static int iniLoad(const char *filename) +static int haluiIniLoad(const char *filename) { IniFile inifile(filename); @@ -1215,32 +1083,14 @@ static int iniLoad(const char *filename) return -1; } - // EMC debugging flags - emc_debug = (unsigned)inifile.findUIntV("DEBUG", "EMC", 0); - - if (emc_debug & EMC_DEBUG_CONFIG) { - std::string version = inifile.findStringV("VERSION", "EMC", ""); - std::string machine = inifile.findStringV("MACHINE", "EMC", ""); - extern char *program_invocation_short_name; - log_info( - "{} ({}) halui: machine '{}' version '{}'\n", - program_invocation_short_name, getpid(), machine, version - ); - } - - if (auto inistring = inifile.findString("NML_FILE", "EMC")) { - // copy to global - rtapi_strxcpy(emc_nmlfile, inistring->c_str()); - } // else not found, use default - if (auto inival = inifile.findReal("MAX_FEED_OVERRIDE", "DISPLAY")) { if (*inival > 0.0) { maxFeedOverride = *inival; } } - if(!inifile.isSet("MAX_LINEAR_VELOCITY", "TRAJ") && !inifile.isSet("MAX_VELOCITY", "AXIS_X")) - maxMaxVelocity = 1.0; + maxMaxVelocity = inifile.findRealV("MAX_LINEAR_VELOCITY", "TRAJ", + inifile.findRealV("MAX_VELOCITY", "AXIS_X", 1.0)); if (auto inival = inifile.findReal("MIN_SPINDLE_OVERRIDE", "DISPLAY")) { if (*inival > 0.0) { @@ -1423,6 +1273,28 @@ static bool jogging_selected_axis(local_halui_str &hal) { } +// The pins where a 20 ms sampling period is the wrong answer. They are +// checked every task cycle; check_bit_changed() updates old_halui_data, so +// the full pass below does not see the same edge a second time. +static void check_safety_pins() +{ + if (check_bit_changed(hal_get_bool(halui_data->estop_activate), + old_halui_data.estop_activate) != 0) + sendEstop(); + + if (check_bit_changed(hal_get_bool(halui_data->machine_off), + old_halui_data.machine_off) != 0) + sendMachineOff(); + + if (check_bit_changed(hal_get_bool(halui_data->abort), + old_halui_data.abort) != 0) + sendAbort(); + + if (check_bit_changed(hal_get_bool(halui_data->program_stop), + old_halui_data.program_stop) != 0) + sendAbort(); +} + // this function looks if any of the hal pins has changed // and sends appropriate messages if so static void check_hal_changes() @@ -1907,10 +1779,10 @@ static void modify_hal_pins() hal_set_bool(halui_data->estop_is_activated, emcStatus->task.state == EMC_TASK_STATE::ESTOP); // Decide once whether an ongoing halui MDI command has finished: the mode - // restore below refreshes emcStatus, and Task may echo it while still EXEC. - bool mdi_finished = halui_sent_mdi && emcStatus->status == RCS_STATUS::DONE; + // restore below may refresh emcStatus, and Task may echo it while still EXEC. + bool mdi_finished = mdi_settled() && emcStatus->status == RCS_STATUS::DONE; - if (halui_sent_mdi) { // we have an ongoing MDI command + if (mdi_settled()) { // we have an ongoing MDI command if (mdi_finished) { //which seems to have finished switch (halui_old_mode) { case EMC_TASK_MODE::MANUAL: sendManual();break; @@ -1935,12 +1807,12 @@ static void modify_hal_pins() if (num_mdi_commands>0){ // we wants initialize program_is_idle and mode_is_mdi before halui_sent_mdi - if (halui_sent_mdi) { // we have an ongoing MDI command + if (mdi_settled()) { // we have an ongoing MDI command if (mdi_finished) { //which seems to have finished halui_sent_mdi = 0; - esleep(20ms); //sleep for a while - updateStatus(); - esleep(20ms); //sleep for a while + mdi_exec_ticket = 0; + // the standalone halui slept 2x20ms around a status + // re-read here; in task the status is already current } } hal_set_bool(halui_data->halui_mdi_is_running, halui_sent_mdi); @@ -2097,68 +1969,74 @@ static void modify_hal_pins() -int main(int argc, char *argv[]) -{ - // process command line args - if (0 != emcGetArgs(argc, argv)) { - log_error("error in argument list\n"); - exit(1); - } - // get configuration information - if (0 != iniLoad(emc_inifile)) { - log_error("iniLoad error\n"); - exit(2); +/******************************************************************** +* +* The three entry points task uses. See halui.hh. +* +********************************************************************/ + +int haluiInit(const char *filename) +{ + if (0 != haluiIniLoad(filename)) { + log_error("halui: iniLoad error\n"); + return -1; } - //init HAL and export pins if (0 != halui_hal_init()) { - log_error("hal_init error\n"); - exit(1); + log_error("halui: hal_init error\n"); + // the export helpers hal_exit() the component themselves + comp_id = -1; + return -1; } - //initialize safe values hal_init_pins(); + return 0; +} - // init NML - if (0 != tryNml()) { - log_error("can't connect to emc\n"); - thisQuit(); - exit(1); - } - -#ifdef TOOL_NML //{ - //fprintf(stderr,"%8d HALUI REGISTER %p\n",getpid(), - tool_nml_register((CANON_TOOL_TABLE*)&emcStatus->io.tool.toolTable); -#else //}{ - tool_mmap_user(); -#endif //} - - // get current serial number, and save it for restoring when we quit - // so as not to interfere with real operator interface - updateStatus(); - - done = 0; - /* Register the routine that catches the SIGINT signal */ - signal(SIGINT, quit); - /* catch SIGTERM too - the run script uses it to shut things down */ - signal(SIGTERM, quit); - - while (!done) { - static bool task_start_synced = 0; - if (!task_start_synced) { - // wait for task to establish nonzero linearUnits - if (emcStatus->motion.traj.linearUnits != 0) { - // set once at startup, no changes are expected: - hal_set_real(halui_data->units_per_mm, emcStatus->motion.traj.linearUnits); - task_start_synced = 1; - } +void haluiUpdate(void) +{ + if (comp_id < 0) { + return; + } + + static bool task_start_synced = false; + if (!task_start_synced) { + // wait for task to establish nonzero linearUnits + if (emcStatus->motion.traj.linearUnits != 0) { + // set once at startup, no changes are expected: + hal_set_real(halui_data->units_per_mm, emcStatus->motion.traj.linearUnits); + task_start_synced = true; } - check_hal_changes(); //if anything changed send NML messages + } + + // every cycle: the pins that should not wait for the next pass + check_safety_pins(); + + const double now = etime(); + const bool due = (now - last_pass) >= HALUI_PERIOD; + + if (due) { + last_pass = now; + check_hal_changes(); //if anything changed send commands + } + + // every cycle, and after check_hal_changes() so that a button pressed + // in this pass is acted on in it + service_mdi(); + + if (due) { modify_hal_pins(); //if status changed modify HAL too - esleep(20ms); //sleep for a while - updateStatus(); } - thisQuit(); - return 0; +} + +void haluiExit(void) +{ + if (comp_id < 0) { + return; + } + + //don't forget the big HAL sin ;) + hal_exit(comp_id); + comp_id = -1; } diff --git a/src/emc/task/halui.hh b/src/emc/task/halui.hh new file mode 100644 index 00000000000..7a64e5d1f55 --- /dev/null +++ b/src/emc/task/halui.hh @@ -0,0 +1,31 @@ +/******************************************************************** +* Description: halui.hh +* The HAL user interface, running inside task. +* +* This is the whole interface task sees; everything else lives in +* halui.cc. +* +* License: GPL Version 2 +********************************************************************/ +#ifndef TASK_HALUI_HH +#define TASK_HALUI_HH + +/* Create the halui HAL component and its pins. Returns 0, or -1 on + failure. There is nothing to load: the pins are always there, and a + machine that connects none of them pays only for a pin scan every + 20 ms. + + Call this before ini_hal_init(): halcmd's "loadusr -Wn inihal" returns as + soon as the inihal component is ready, and the HAL files -- which may + well "net" halui pins -- run immediately afterwards. */ +int haluiInit(const char *inifile); + +/* Read the input pins, write the status pins. Called once per task cycle. + Most of the work is internally rate limited to 20 ms, which was the + standalone halui's loop period. */ +void haluiUpdate(void); + +/* Release the HAL component. Safe to call if haluiInit() never ran. */ +void haluiExit(void); + +#endif /* TASK_HALUI_HH */ diff --git a/src/emc/usr_intf/Submakefile b/src/emc/usr_intf/Submakefile index 33c030bea38..121bcfe3b0a 100644 --- a/src/emc/usr_intf/Submakefile +++ b/src/emc/usr_intf/Submakefile @@ -13,10 +13,7 @@ EMCLCDSRCS := emc/usr_intf/emclcd.cc \ emc/usr_intf/shcom.cc \ emc/usr_intf/sockets.cc -HALUISRCS := emc/usr_intf/halui.cc \ - emc/usr_intf/mapini.cc - -USERSRCS += $(EMCSHSRCS) $(EMCRSHSRCS) $(EMCSCHEDSRCS) $(EMCLCDSRCS) $(USRMOTSRCS) $(HALUISRCS) +USERSRCS += $(EMCSHSRCS) $(EMCRSHSRCS) $(EMCSCHEDSRCS) $(EMCLCDSRCS) $(USRMOTSRCS) $(call TOOBJSDEPS, $(EMCSHSRCS)) : EXTRAFLAGS = $(ULFLAGS) $(TCL_CFLAGS) -fPIC @@ -41,8 +38,3 @@ TARGETS += ../bin/schedrmt $(ECHO) Linking $(notdir $@) $(Q)$(CXX) -o $@ $(ULFLAGS) $^ -lfmt $(LDFLAGS) TARGETS += ../bin/linuxcnclcd - -../bin/halui: $(call TOOBJS, $(HALUISRCS)) ../lib/liblinuxcnc.a ../lib/liblinuxcncini.so.1 ../lib/libnml.so.0 ../lib/liblinuxcnchal.so.0 ../lib/libtooldata.so.0 - $(ECHO) Linking $(notdir $@) - $(Q)$(CXX) $(CXXFLAGS) -o $@ $(ULFLAGS) $^ -lfmt $(LDFLAGS) -TARGETS += ../bin/halui diff --git a/src/emc/usr_intf/pncconf/build_INI.py b/src/emc/usr_intf/pncconf/build_INI.py index 379978a4cff..b2529e683c6 100644 --- a/src/emc/usr_intf/pncconf/build_INI.py +++ b/src/emc/usr_intf/pncconf/build_INI.py @@ -267,7 +267,6 @@ def write_inifile(self, base): print("%s=%s"%(a,b), file=file) print(file=file) print("[HAL]", file=file) - print("HALUI = halui", file=file) print("HALFILE = %s.hal" % self.d.machinename, file=file) # qtplasmac requires the qtplasmac_comp file to connect the plasmac component if self.d.frontend == _PD._QTPLASMAC: diff --git a/src/emc/usr_intf/stepconf/build_INI.py b/src/emc/usr_intf/stepconf/build_INI.py index 6bf173b3ce8..0bfb550a1cc 100644 --- a/src/emc/usr_intf/stepconf/build_INI.py +++ b/src/emc/usr_intf/stepconf/build_INI.py @@ -212,8 +212,6 @@ def write_inifile(self, base): print(file=file) print("[HAL]", file=file) - if self.d.halui or self.d.select_qtplasmac: - print("HALUI = halui", file=file) print("HALFILE = %s.hal" % self.d.machinename, file=file) # qtplasmac requires custom, custom_postgui and shutdown hal files if self.d.select_qtplasmac: diff --git a/tests/abort/feed-rate/test.ini b/tests/abort/feed-rate/test.ini index d8acfe5dff9..36b3c1ca150 100644 --- a/tests/abort/feed-rate/test.ini +++ b/tests/abort/feed-rate/test.ini @@ -30,7 +30,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/abort/g64/test.ini b/tests/abort/g64/test.ini index f8dee4fe1ad..051ba44990f 100644 --- a/tests/abort/g64/test.ini +++ b/tests/abort/g64/test.ini @@ -28,7 +28,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = motion-test.hal diff --git a/tests/ccomp/early-exit/test.ini b/tests/ccomp/early-exit/test.ini index 44e664dc5a0..db7340ab5a7 100644 --- a/tests/ccomp/early-exit/test.ini +++ b/tests/ccomp/early-exit/test.ini @@ -28,7 +28,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/halui/client-status/checkresult b/tests/halui/client-status/checkresult new file mode 100755 index 00000000000..73e90a43dfc --- /dev/null +++ b/tests/halui/client-status/checkresult @@ -0,0 +1,2 @@ +#!/bin/sh +exit 0 # test failure is indicated by test.sh exit value diff --git a/tests/halui/client-status/halui.ini b/tests/halui/client-status/halui.ini new file mode 100644 index 00000000000..26f32e13f82 --- /dev/null +++ b/tests/halui/client-status/halui.ini @@ -0,0 +1,96 @@ +[EMC] +VERSION = 1.1 +DEBUG = 0x7fffffff +RCS_DEBUG = 0x05400f01 + +[DISPLAY] +DISPLAY = ./test-ui.py + +[RS274NGC] +PARAMETER_FILE = sim.var +USER_M_PATH = ./subs + +[EMCMOT] +EMCMOT = motmod +COMM_TIMEOUT = 4.0 +BASE_PERIOD = 0 +SERVO_PERIOD = 1000000 + +[TASK] +TASK = milltask +CYCLE_TIME = 0.001 +MDI_QUEUED_COMMANDS=10000 + +[HAL] +HALFILE = LIB:core_sim.hal + +[TRAJ] +NO_FORCE_HOMING=1 +AXES = 3 +COORDINATES = X Y Z +HOME = 0 0 0 +LINEAR_UNITS = inch +ANGULAR_UNITS = degree +DEFAULT_LINEAR_VELOCITY = 1.2 +MAX_LINEAR_VELOCITY = 4 + +[KINS] +KINEMATICS = trivkins +JOINTS = 3 + +[AXIS_X] +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 + +[JOINT_0] +TYPE = LINEAR +HOME = 0.000 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +FERROR = 0.050 +MIN_FERROR = 0.010 + +[AXIS_Y] +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 + +[JOINT_1] +TYPE = LINEAR +HOME = 0.000 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -40.0 +MAX_LIMIT = 40.0 +FERROR = 0.050 +MIN_FERROR = 0.010 + +[AXIS_Z] +MIN_LIMIT = -4.0 +MAX_LIMIT = 4.0 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 + +[JOINT_2] +TYPE = LINEAR +HOME = 0.0 +MAX_VELOCITY = 4 +MAX_ACCELERATION = 1000.0 +BACKLASH = 0.000 +INPUT_SCALE = 4000 +OUTPUT_SCALE = 1.000 +MIN_LIMIT = -4.0 +MAX_LIMIT = 4.0 +FERROR = 0.050 +MIN_FERROR = 0.010 diff --git a/tests/halui/client-status/test-ui.py b/tests/halui/client-status/test-ui.py new file mode 100755 index 00000000000..fdecbf8cae2 --- /dev/null +++ b/tests/halui/client-status/test-ui.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python3 +# halui inside task and an NML client side by side: +# - halui.max-velocity is limited by [TRAJ]MAX_LINEAR_VELOCITY, not 1; +# - a halui command that task refuses does not turn the status of the +# client's own command into ERROR, and a halui command does not clear +# the ERROR of a client command that failed. + +import os +import sys +import time + +import hal +import linuxcnc + +c = linuxcnc.command() +s = linuxcnc.stat() +e = linuxcnc.error_channel() +h = hal.component("test-ui") +h.newpin("home", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("mv-counts", hal.Type.SINT, hal.Dir.OUT) +h.ready() +os.system("halcmd net home test-ui.home halui.joint.0.home") +os.system("halcmd net mv-counts test-ui.mv-counts halui.max-velocity.counts") +os.system("halcmd setp halui.max-velocity.count-enable 1") +os.system("halcmd setp halui.max-velocity.scale 0.01") +os.system("halcmd setp halui.max-velocity.direct-value 1") + +fails = 0 + + +def check(name, ok, detail=''): + global fails + print('%s: %s %s' % ('ok' if ok else 'FAIL', name, detail), flush=True) + if not ok: + fails += 1 + + +def wait(fn, timeout=5.0): + end = time.time() + timeout + while time.time() < end: + s.poll() + if fn(): + return True + time.sleep(0.01) + s.poll() + return fn() + + +def errors(): + msgs = [] + while True: + m = e.poll() + if not m: + return msgs + msgs.append(m[1]) + + +def settle(): + # give task a few cycles to dispatch a halui command + time.sleep(0.2) + + +wait(lambda: s.task_state != 0, 10) +c.state(linuxcnc.STATE_ESTOP_RESET) +c.state(linuxcnc.STATE_ON) +check('machine on', c.wait_complete() == linuxcnc.RCS_DONE) + +# --- max velocity above 1 unit/s through the counts pins +h['mv-counts'] = 250 +check('max-velocity counts 250 gives 2.5', wait(lambda: abs(s.max_velocity - 2.5) < 1e-9), s.max_velocity) +h['mv-counts'] = 1000 +check('max-velocity capped at MAX_LINEAR_VELOCITY', wait(lambda: abs(s.max_velocity - 4) < 1e-9), s.max_velocity) +errors() + +# --- a refused halui command leaves the client's DONE alone +c.state(linuxcnc.STATE_OFF) +check('machine off', c.wait_complete() == linuxcnc.RCS_DONE) +h['home'] = 1 +settle() +h['home'] = 0 +msgs = errors() +check('halui home refused while off', msgs != [], msgs) +check('client command still DONE after the refused halui command', + c.wait_complete() == linuxcnc.RCS_DONE) +s.poll() +check('status not ERROR', s.state != linuxcnc.RCS_ERROR, s.state) + +# --- a halui command leaves the client's ERROR alone +c.home(0) +check('client home refused while off', c.wait_complete() == linuxcnc.RCS_ERROR) +errors() +h['mv-counts'] = 150 +check('halui max-velocity applied', wait(lambda: abs(s.max_velocity - 1.5) < 1e-9), s.max_velocity) +check('client command still ERROR after a halui command', + c.wait_complete() == linuxcnc.RCS_ERROR) + +errors() +print('%d failures' % fails, flush=True) +os._exit(1 if fails else 0) diff --git a/tests/halui/client-status/test.sh b/tests/halui/client-status/test.sh new file mode 100755 index 00000000000..2d0bb0375f1 --- /dev/null +++ b/tests/halui/client-status/test.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +exec linuxcnc -r halui.ini + diff --git a/tests/halui/jogging/halui.ini b/tests/halui/jogging/halui.ini index 4fcd2b2b88f..acc1e1a6f94 100644 --- a/tests/halui/jogging/halui.ini +++ b/tests/halui/jogging/halui.ini @@ -22,7 +22,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/halui/mdi/halui.ini b/tests/halui/mdi/halui.ini index 052cd84a331..b55b8215f1b 100644 --- a/tests/halui/mdi/halui.ini +++ b/tests/halui/mdi/halui.ini @@ -22,7 +22,6 @@ CYCLE_TIME = 0.001 MDI_QUEUED_COMMANDS=10000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/interp/g28.2/flush-order/test.ini b/tests/interp/g28.2/flush-order/test.ini index 38b6a739acb..8edb313dd14 100644 --- a/tests/interp/g28.2/flush-order/test.ini +++ b/tests/interp/g28.2/flush-order/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal [TRAJ] diff --git a/tests/interp/g28.2/home-all-sequence/test.ini b/tests/interp/g28.2/home-all-sequence/test.ini index b55ba992d9b..2cb34a6e528 100644 --- a/tests/interp/g28.2/home-all-sequence/test.ini +++ b/tests/interp/g28.2/home-all-sequence/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal [TRAJ] diff --git a/tests/interp/g28.2/immediate-mode-guard/test.ini b/tests/interp/g28.2/immediate-mode-guard/test.ini index eb1ecd04ca9..95e2516ac87 100644 --- a/tests/interp/g28.2/immediate-mode-guard/test.ini +++ b/tests/interp/g28.2/immediate-mode-guard/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal [TRAJ] diff --git a/tests/interp/g28.2/invalid-pword/test.ini b/tests/interp/g28.2/invalid-pword/test.ini index c0b3db5b31a..d3b47c68490 100644 --- a/tests/interp/g28.2/invalid-pword/test.ini +++ b/tests/interp/g28.2/invalid-pword/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal [TRAJ] diff --git a/tests/interp/g28.2/position-model/test.ini b/tests/interp/g28.2/position-model/test.ini index c725f5bf718..1f63941b0ab 100644 --- a/tests/interp/g28.2/position-model/test.ini +++ b/tests/interp/g28.2/position-model/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = sim_extra.hal diff --git a/tests/interp/g28.2/sequencing/test.ini b/tests/interp/g28.2/sequencing/test.ini index eb1ecd04ca9..95e2516ac87 100644 --- a/tests/interp/g28.2/sequencing/test.ini +++ b/tests/interp/g28.2/sequencing/test.ini @@ -19,7 +19,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal [TRAJ] diff --git a/tests/interp/mdi-oword-m66/interp.ini b/tests/interp/mdi-oword-m66/interp.ini index f6eaa099929..ff1128df8d5 100644 --- a/tests/interp/mdi-oword-m66/interp.ini +++ b/tests/interp/mdi-oword-m66/interp.ini @@ -23,7 +23,6 @@ CYCLE_TIME = 0.001 MDI_QUEUED_COMMANDS=10000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/interp/oword-mdi-sub-update/interp.ini b/tests/interp/oword-mdi-sub-update/interp.ini index 0774aa13db5..50f99de9258 100644 --- a/tests/interp/oword-mdi-sub-update/interp.ini +++ b/tests/interp/oword-mdi-sub-update/interp.ini @@ -22,7 +22,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/interp/subroutine-return/interp.ini b/tests/interp/subroutine-return/interp.ini index 18c4e6cb673..3ad89829196 100644 --- a/tests/interp/subroutine-return/interp.ini +++ b/tests/interp/subroutine-return/interp.ini @@ -23,7 +23,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/interp_initcode/test.ini b/tests/interp_initcode/test.ini index d183d9276b9..7e37f25610b 100644 --- a/tests/interp_initcode/test.ini +++ b/tests/interp_initcode/test.ini @@ -29,7 +29,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = LIB:simulated_home.hal HALFILE = LIB:lathe.hal diff --git a/tests/matrixkins/test.ini b/tests/matrixkins/test.ini index 662138a46a7..98be460a21b 100644 --- a/tests/matrixkins/test.ini +++ b/tests/matrixkins/test.ini @@ -27,7 +27,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/maxkins/test.ini b/tests/maxkins/test.ini index 7cf23c05738..8b28d176c3c 100644 --- a/tests/maxkins/test.ini +++ b/tests/maxkins/test.ini @@ -30,7 +30,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/mdi-queue-length/test.ini b/tests/mdi-queue-length/test.ini index c3c867680f3..fbda0260e13 100644 --- a/tests/mdi-queue-length/test.ini +++ b/tests/mdi-queue-length/test.ini @@ -21,7 +21,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [TRAJ] diff --git a/tests/mdi-while-queuebuster-waitflag/test.ini b/tests/mdi-while-queuebuster-waitflag/test.ini index 574763d8bee..32816c58090 100644 --- a/tests/mdi-while-queuebuster-waitflag/test.ini +++ b/tests/mdi-while-queuebuster-waitflag/test.ini @@ -22,7 +22,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [TRAJ] diff --git a/tests/mqtt/simulator.ini b/tests/mqtt/simulator.ini index ba7f9fc0232..aa8d6494263 100644 --- a/tests/mqtt/simulator.ini +++ b/tests/mqtt/simulator.ini @@ -25,7 +25,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = simulator.hal [HALUI] diff --git a/tests/remap/remap-io/test-ngc.ini b/tests/remap/remap-io/test-ngc.ini index 4ece72c8ff0..5d5250015dd 100644 --- a/tests/remap/remap-io/test-ngc.ini +++ b/tests/remap/remap-io/test-ngc.ini @@ -35,7 +35,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/remap/remap-io/test-py.ini b/tests/remap/remap-io/test-py.ini index d4d110f9948..fe94ace845d 100644 --- a/tests/remap/remap-io/test-py.ini +++ b/tests/remap/remap-io/test-py.ini @@ -35,7 +35,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/remap/remap-reentry/test.ini b/tests/remap/remap-reentry/test.ini index 1dc3cbe953a..46f82e8d21a 100644 --- a/tests/remap/remap-reentry/test.ini +++ b/tests/remap/remap-reentry/test.ini @@ -21,7 +21,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [TRAJ] diff --git a/tests/rs274ngc-startup/test.ini b/tests/rs274ngc-startup/test.ini index 93bb8db533a..fbb0442d7dc 100644 --- a/tests/rs274ngc-startup/test.ini +++ b/tests/rs274ngc-startup/test.ini @@ -29,7 +29,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/startup-state/test.ini b/tests/startup-state/test.ini index eb6773fbb25..303de104ca4 100644 --- a/tests/startup-state/test.ini +++ b/tests/startup-state/test.ini @@ -28,7 +28,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/statbuffer-g5x-abort/test.ini b/tests/statbuffer-g5x-abort/test.ini index ef2be910f43..80768c3a642 100644 --- a/tests/statbuffer-g5x-abort/test.ini +++ b/tests/statbuffer-g5x-abort/test.ini @@ -28,7 +28,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/tlo/g43-test.ini b/tests/tlo/g43-test.ini index 0b6d9beaa80..b56bb9923d2 100644 --- a/tests/tlo/g43-test.ini +++ b/tests/tlo/g43-test.ini @@ -21,7 +21,6 @@ CYCLE_TIME = 0.001 MDI_QUEUED_COMMANDS=10000 [HAL] -HALUI = halui HALFILE = mod_core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/tool-info/non-random/test.ini b/tests/tool-info/non-random/test.ini index 654191fb3f1..a0d34221906 100644 --- a/tests/tool-info/non-random/test.ini +++ b/tests/tool-info/non-random/test.ini @@ -24,7 +24,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/tool-info/random-no-startup-tool/test.ini b/tests/tool-info/random-no-startup-tool/test.ini index c002e1f8b36..a55d6fc7c02 100644 --- a/tests/tool-info/random-no-startup-tool/test.ini +++ b/tests/tool-info/random-no-startup-tool/test.ini @@ -24,7 +24,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/tool-info/random-with-startup-tool/test.ini b/tests/tool-info/random-with-startup-tool/test.ini index c002e1f8b36..a55d6fc7c02 100644 --- a/tests/tool-info/random-with-startup-tool/test.ini +++ b/tests/tool-info/random-with-startup-tool/test.ini @@ -24,7 +24,6 @@ TASK = milltask CYCLE_TIME = 0.001 [HAL] -HALUI = halui HALFILE = core_sim.hal [HALUI] diff --git a/tests/toolchanger/abort-during-change/abort-test.ini b/tests/toolchanger/abort-during-change/abort-test.ini index 3d7fc19cd75..0ee237cc8e6 100644 --- a/tests/toolchanger/abort-during-change/abort-test.ini +++ b/tests/toolchanger/abort-during-change/abort-test.ini @@ -20,7 +20,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = mod_core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/toolchanger/m61/m61-test.ini b/tests/toolchanger/m61/m61-test.ini index e3ad9deae49..68e1303ff48 100644 --- a/tests/toolchanger/m61/m61-test.ini +++ b/tests/toolchanger/m61/m61-test.ini @@ -21,7 +21,6 @@ BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] -HALUI = halui HALFILE = mod_core_sim.hal POSTGUI_HALFILE = postgui.hal diff --git a/tests/trajectory-planner/circular-arcs/configs/9axis.ini b/tests/trajectory-planner/circular-arcs/configs/9axis.ini index 13aa2b2fcd6..c3d93cb363f 100644 --- a/tests/trajectory-planner/circular-arcs/configs/9axis.ini +++ b/tests/trajectory-planner/circular-arcs/configs/9axis.ini @@ -104,8 +104,6 @@ HALFILE = constraint_check_9axis.tcl # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui_9axis.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XY.ini b/tests/trajectory-planner/circular-arcs/configs/XY.ini index bd8095ee093..b0b89ef41df 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XY.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XY.ini @@ -112,8 +112,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XYZ.ini b/tests/trajectory-planner/circular-arcs/configs/XYZ.ini index 9af90c0fc52..06ae2217483 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XYZ.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XYZ.ini @@ -111,8 +111,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XYZ_fast.ini b/tests/trajectory-planner/circular-arcs/configs/XYZ_fast.ini index 6927d4f0381..c65bae120fd 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XYZ_fast.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XYZ_fast.ini @@ -111,8 +111,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XYZ_medium.ini b/tests/trajectory-planner/circular-arcs/configs/XYZ_medium.ini index 6996743b6c7..072755a022b 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XYZ_medium.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XYZ_medium.ini @@ -112,8 +112,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XYZ_nospindle.ini b/tests/trajectory-planner/circular-arcs/configs/XYZ_nospindle.ini index fb102d8b355..59728db01bd 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XYZ_nospindle.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XYZ_nospindle.ini @@ -97,8 +97,6 @@ HALFILE = test_status.tcl # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XYZ_uneven.ini b/tests/trajectory-planner/circular-arcs/configs/XYZ_uneven.ini index 9969e362ffd..0b2e550e3cd 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XYZ_uneven.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XYZ_uneven.ini @@ -111,8 +111,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XY_slowZ.ini b/tests/trajectory-planner/circular-arcs/configs/XY_slowZ.ini index 7970522cceb..6e3beb171a8 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XY_slowZ.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XY_slowZ.ini @@ -111,8 +111,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/XZ.ini b/tests/trajectory-planner/circular-arcs/configs/XZ.ini index 376a5f786f1..866a1245b20 100644 --- a/tests/trajectory-planner/circular-arcs/configs/XZ.ini +++ b/tests/trajectory-planner/circular-arcs/configs/XZ.ini @@ -112,8 +112,6 @@ HALFILE = sim_spindle_encoder.hal # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/trajectory-planner/circular-arcs/configs/axis_mm.ini b/tests/trajectory-planner/circular-arcs/configs/axis_mm.ini index a87b6f8f398..7c8d8f6a644 100644 --- a/tests/trajectory-planner/circular-arcs/configs/axis_mm.ini +++ b/tests/trajectory-planner/circular-arcs/configs/axis_mm.ini @@ -107,8 +107,6 @@ HALFILE = test_status.tcl # AXIS at this time (only AXIS creates a HAL component of its own) POSTGUI_HALFILE = postgui.hal -HALUI = halui - # Trajectory planner section -------------------------------------------------- [TRAJ] diff --git a/tests/workplane-preview/test.ini b/tests/workplane-preview/test.ini index 51a235f0cff..1f8daf8cb04 100644 --- a/tests/workplane-preview/test.ini +++ b/tests/workplane-preview/test.ini @@ -29,7 +29,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = LIB:simulated_home.hal HALFILE = LIB:lathe.hal diff --git a/tests/workplane-retain/clear.ini b/tests/workplane-retain/clear.ini index 891b931cef0..cd41d92f2c4 100644 --- a/tests/workplane-retain/clear.ini +++ b/tests/workplane-retain/clear.ini @@ -29,7 +29,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = LIB:simulated_home.hal HALFILE = LIB:lathe.hal diff --git a/tests/workplane-retain/test.ini b/tests/workplane-retain/test.ini index 2fd2850e903..e58fa29def4 100644 --- a/tests/workplane-retain/test.ini +++ b/tests/workplane-retain/test.ini @@ -30,7 +30,6 @@ TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 2 [HAL] -HALUI = halui HALFILE = LIB:core_sim.hal HALFILE = LIB:simulated_home.hal HALFILE = LIB:lathe.hal