From c25f7295c78bc9f6f82ad9ae309323478b1c18ab Mon Sep 17 00:00:00 2001 From: Bertho Stultiens Date: Mon, 14 Sep 2026 19:06:44 +0200 Subject: [PATCH] hal: Update use of floating point and boolean HAL type names. --- .../gladevcp/class-callback/class_callback.py | 2 +- .../waveshare-modbus-rtu-relay-d.mbccs | 8 +-- configs/by_machine/scorbot-er-3/pyvcp.xml | 8 +-- configs/sim/axis/gladevcp/meter_scale.py | 2 +- .../plasma/plasmac2/lib/conversational.py | 2 +- .../plasma/plasmac2/lib/custom/user_hal.py | 2 +- .../axis/plasma/plasmac2/lib/sim/sim_panel.py | 2 +- configs/sim/axis/plasma/user_hal.py | 4 +- .../python/gladevcp-handler.py | 2 +- .../vismach/3axis-tutorial/3axis-tutorial | 10 +-- .../axis/vismach/5axis/bridgemill/5axisgui.py | 16 ++--- .../sim/axis/vismach/5axis/max5/max5gui.py | 14 ++-- .../5axis/table-dual-rotary/xyzab-tdr-gui.py | 24 +++---- .../table-rotary-tilting/xyzac-trt-gui.py | 16 ++--- .../table-rotary-tilting/xyzbc-trt-gui.py | 16 ++--- .../python/twp-helper-comp.py | 56 +++++++-------- .../vismach/xyzacb-trsrn-gui.py | 70 +++++++++---------- .../vismach/xyzbca-trsrn-gui.py | 70 +++++++++---------- .../sim/axis/vismach/VMC_toolchange/vmcgui | 16 ++--- configs/sim/axis/vismach/delta/lineardelta.py | 12 ++-- configs/sim/axis/vismach/delta/rotarydelta.py | 14 ++-- configs/sim/axis/vismach/hbm/hbmgui.py | 12 ++-- .../sim/axis/vismach/hexapod-sim/hexagui.py | 24 +++---- .../sim/axis/vismach/melfa-sim/melfagui.py | 18 ++--- .../sim/axis/vismach/millturn/millturngui.py | 16 ++--- .../vismach/orphaned models/maho600gui.py | 14 ++-- configs/sim/axis/vismach/puma/puma560gui.py | 14 ++-- configs/sim/axis/vismach/puma/pumagui.py | 12 ++-- configs/sim/axis/vismach/scara/scaragui.py | 12 ++-- .../gmoccapy/lathe_configs/lathehandler.py | 2 +- .../non_trivial_kinematics/scara/scaragui.py | 12 ++-- .../table-rotary-tilting/xyzac-trt-gui.py | 16 ++--- configs/sim/gmoccapy/plasma_config/plasma.py | 12 ++-- configs/sim/pyvcp_demo.xml | 8 +-- .../qtvcp_experimental/lathehandler.py | 4 +- debian/tests/linuxcnc-test-ui.py | 8 +-- docs/src/gui/axis.adoc | 8 +-- docs/src/gui/gladevcp.adoc | 6 +- docs/src/gui/gstat.adoc | 4 +- docs/src/gui/qtvcp-code-snippets.adoc | 2 +- docs/src/gui/qtvcp.adoc | 6 +- docs/src/gui/vismach.adoc | 6 +- .../gtk_little_probe/gtk_little_probe.py | 30 ++++---- .../gtk_verser_probe/gtk_verser_probe.py | 30 ++++---- lib/python/gladevcp/core.py | 1 - lib/python/gladevcp/hal_bar.py | 2 +- lib/python/gladevcp/hal_graph.py | 2 +- lib/python/gladevcp/hal_lightbutton.py | 10 +-- lib/python/gladevcp/hal_meter.py | 2 +- lib/python/gladevcp/jogwheel.py | 2 +- lib/python/gladevcp/speedcontrol.py | 8 +-- lib/python/qtvcp/core.py | 1 - lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py | 16 ++--- .../qtvcp/lib/qt_vismach/gantry_5axis.py | 16 ++--- lib/python/qtvcp/lib/qt_vismach/millturn.py | 16 ++--- lib/python/qtvcp/widgets/axis_tool_button.py | 4 +- lib/python/qtvcp/widgets/basic_probe.py | 2 +- lib/python/qtvcp/widgets/camview_widget.py | 2 +- lib/python/qtvcp/widgets/indicatorMixIn.py | 4 +- lib/python/qtvcp/widgets/jog_increments.py | 2 +- lib/python/qtvcp/widgets/led_widget.py | 2 +- lib/python/qtvcp/widgets/round_gauge.py | 4 +- lib/python/qtvcp/widgets/state_led.py | 2 +- lib/python/qtvcp/widgets/status_slider.py | 2 +- lib/python/qtvcp/widgets/versa_probe.py | 12 ++-- lib/python/vismach.py | 2 +- .../silverdragon/silverdragon_handler.py | 16 ++--- .../gscreen/skins/spartan/spartan_handler.py | 14 ++-- .../vismach_router_atc_handler.py | 6 +- .../usr_intf/axis/scripts/tracking-test.py | 24 +++---- src/emc/usr_intf/mdro/mdro.py | 4 +- src/hal/user_comps/mitsub_vfd.py | 56 +++++++-------- src/hal/user_comps/pmx485.py | 28 ++++---- src/hal/user_comps/vismach/5axisgui.py | 16 ++--- src/hal/user_comps/vismach/hbmgui.py | 12 ++-- src/hal/user_comps/vismach/hexagui.py | 24 +++---- src/hal/user_comps/vismach/lineardelta.py | 12 ++-- src/hal/user_comps/vismach/maho600gui.py | 14 ++-- src/hal/user_comps/vismach/max5gui.py | 14 ++-- src/hal/user_comps/vismach/melfagui.py | 18 ++--- src/hal/user_comps/vismach/millturngui.py | 16 ++--- src/hal/user_comps/vismach/puma560gui.py | 14 ++-- src/hal/user_comps/vismach/pumagui.py | 12 ++-- src/hal/user_comps/vismach/rotarydelta.py | 14 ++-- src/hal/user_comps/vismach/scaragui.py | 12 ++-- src/hal/user_comps/vismach/xyzab-tdr-gui.py | 24 +++---- src/hal/user_comps/vismach/xyzac-trt-gui.py | 16 ++--- src/hal/user_comps/vismach/xyzbc-trt-gui.py | 16 ++--- .../on_abort_command-crazy-move/test-ui.py | 4 +- tests/abort/stop-button-crazy-move/test-ui.py | 4 +- .../estop/classicladder-estop-ui.py | 2 +- tests/halui/jogging/test-ui.py | 64 ++++++++--------- tests/halui/mdi/test-ui.py | 24 +++---- tests/hard-limits/test-ui.py | 2 +- tests/mdi-queue-length/test-ui.py | 4 +- tests/motion-logger/basic/test-ui.py | 2 +- tests/remap/remap-io/test-ui.py | 8 +-- tests/single-step/test-ui.py | 8 +-- 98 files changed, 629 insertions(+), 631 deletions(-) diff --git a/configs/apps/gladevcp/class-callback/class_callback.py b/configs/apps/gladevcp/class-callback/class_callback.py index b0b6c2156d5..1be1e711b9d 100644 --- a/configs/apps/gladevcp/class-callback/class_callback.py +++ b/configs/apps/gladevcp/class-callback/class_callback.py @@ -65,7 +65,7 @@ def __init__(self, halcomp,builder,useropts): self.halcomp = halcomp self.builder = builder - self.halcomp.newpin("value", hal.HAL_FLOAT, hal.HAL_OUT) + self.halcomp.newpin("value", hal.Type.REAL, hal.Dir.OUT) self.start = time.time() self.nhits = 0 self.ticks = 0 diff --git a/configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs b/configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs index e12e388402b..877180c15f0 100644 --- a/configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs +++ b/configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs @@ -41,9 +41,9 @@ diff --git a/configs/by_machine/scorbot-er-3/pyvcp.xml b/configs/by_machine/scorbot-er-3/pyvcp.xml index efc643fff0a..38af8ea7437 100644 --- a/configs/by_machine/scorbot-er-3/pyvcp.xml +++ b/configs/by_machine/scorbot-er-3/pyvcp.xml @@ -2,7 +2,7 @@ - + @@ -11,7 +11,7 @@ - + @@ -29,7 +29,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/configs/sim/axis/gladevcp/meter_scale.py b/configs/sim/axis/gladevcp/meter_scale.py index dddd8d95708..f586ba50695 100644 --- a/configs/sim/axis/gladevcp/meter_scale.py +++ b/configs/sim/axis/gladevcp/meter_scale.py @@ -14,7 +14,7 @@ def __init__(self, halcomp,builder,useropts): # hal pin with change callback. # When the pin's value changes the callback is executed. - self.max_value = hal_glib.GPin(halcomp.newpin('max-value', hal.HAL_FLOAT, hal.HAL_IN)) + self.max_value = hal_glib.GPin(halcomp.newpin('max-value', hal.Type.REAL, hal.Dir.IN)) self.max_value.connect('value-changed', self._on_max_value_change) inifile = linuxcnc.ini(os.getenv("INI_FILE_NAME")) diff --git a/configs/sim/axis/plasma/plasmac2/lib/conversational.py b/configs/sim/axis/plasma/plasmac2/lib/conversational.py index 5d340c0e60a..2814b3d774b 100644 --- a/configs/sim/axis/plasma/plasmac2/lib/conversational.py +++ b/configs/sim/axis/plasma/plasmac2/lib/conversational.py @@ -373,7 +373,7 @@ def send_pressed(self): def block_request(self): # may need to add this halpin for wcs rotation on abort etc. -# self.convBlockLoaded = self.h.newpin('conv_block_loaded', hal.HAL_BIT, hal.HAL_IN) +# self.convBlockLoaded = self.h.newpin('conv_block_loaded', hal.Type.BOOL, hal.Dir.IN) if not self.settingsExited: if self.previewActive and self.active_shape(): return True diff --git a/configs/sim/axis/plasma/plasmac2/lib/custom/user_hal.py b/configs/sim/axis/plasma/plasmac2/lib/custom/user_hal.py index 7798482d467..70e4c7d5c26 100644 --- a/configs/sim/axis/plasma/plasmac2/lib/custom/user_hal.py +++ b/configs/sim/axis/plasma/plasmac2/lib/custom/user_hal.py @@ -1,4 +1,4 @@ # CUSTOM HAL PINS, RUNS ONCE AT STARTUP # example hal pin named my-halpin -#comp.newpin('my-halpin', hal.HAL_FLOAT, hal.HAL_IN) +#comp.newpin('my-halpin', hal.Type.REAL, hal.Dir.IN) diff --git a/configs/sim/axis/plasma/plasmac2/lib/sim/sim_panel.py b/configs/sim/axis/plasma/plasmac2/lib/sim/sim_panel.py index e759a497fe9..a5ec946f9a7 100755 --- a/configs/sim/axis/plasma/plasmac2/lib/sim/sim_panel.py +++ b/configs/sim/axis/plasma/plasmac2/lib/sim/sim_panel.py @@ -133,7 +133,7 @@ def estop_pressed(event): I = linuxcnc.ini(S.ini_filename) # create new hal component H = hal.component('plasmac-sim') - H.newpin('z-position', hal.HAL_FLOAT, hal.HAL_IN) + H.newpin('z-position', hal.Type.REAL, hal.Dir.IN) H.ready() # disconnect any conflicting hal pins if hal.pin_has_writer('db_arc-ok.in'): diff --git a/configs/sim/axis/plasma/user_hal.py b/configs/sim/axis/plasma/user_hal.py index a4d708d39b8..8ce00e31a5d 100644 --- a/configs/sim/axis/plasma/user_hal.py +++ b/configs/sim/axis/plasma/user_hal.py @@ -2,5 +2,5 @@ # see the file customizing.html for some tips # example to create a HAL floating point input pin and a HAL bit input pin -#comp.newpin('my-halfloat', hal.HAL_FLOAT, hal.HAL_IN) -#comp.newpin('my-halbit', hal.HAL_BIT, hal.HAL_IN) +#comp.newpin('my-halfloat', hal.Type.REAL, hal.Dir.IN) +#comp.newpin('my-halbit', hal.Type.BOOL, hal.Dir.IN) diff --git a/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/python/gladevcp-handler.py b/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/python/gladevcp-handler.py index 29441e50478..6f006bced42 100644 --- a/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/python/gladevcp-handler.py +++ b/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/python/gladevcp-handler.py @@ -19,7 +19,7 @@ def on_led_change(self,hal_led,data=None): def __init__(self, halcomp,builder,useropts): self.halcomp = halcomp self.change_text = builder.get_object("change-text") - self.halcomp.newpin("number", hal.HAL_FLOAT, hal.HAL_IN) + self.halcomp.newpin("number", hal.Type.REAL, hal.Dir.IN) def get_handlers(halcomp,builder,useropts): return [HandlerClass(halcomp,builder,useropts)] diff --git a/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial b/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial index 2b374b9bd12..1e349eb2947 100755 --- a/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial +++ b/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial @@ -24,13 +24,13 @@ s.poll() # in this file, and uncomment last line in HAL file. # add joints. Mill has 3. c = hal.component("3axis-tutorial") -c.newpin("jointX", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointY", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointZ", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("jointX", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointY", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointZ", hal.Type.REAL, hal.Dir.IN) # tool length and diameter pins? -c.newpin("toollength", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tooldiameter", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("toollength", hal.Type.REAL, hal.Dir.IN) +c.newpin("tooldiameter", hal.Type.REAL, hal.Dir.IN) # tells loadusr pins is ready c.ready() diff --git a/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.py b/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.py index 40fc0475126..5c70b420ce2 100755 --- a/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.py +++ b/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.py @@ -45,14 +45,14 @@ def coords(self): return -self.comp.tool_length, r, 0, r c = hal.component("5axisgui") -c.newpin("jx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jb", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jc", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diam", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pivot_len", hal.HAL_FLOAT, hal.HAL_OUT) +c.newpin("jx", hal.Type.REAL, hal.Dir.IN) +c.newpin("jy", hal.Type.REAL, hal.Dir.IN) +c.newpin("jz", hal.Type.REAL, hal.Dir.IN) +c.newpin("jb", hal.Type.REAL, hal.Dir.IN) +c.newpin("jc", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diam", hal.Type.REAL, hal.Dir.IN) +c.newpin("pivot_len", hal.Type.REAL, hal.Dir.OUT) c["pivot_len"] = pivot_len c.ready() diff --git a/configs/sim/axis/vismach/5axis/max5/max5gui.py b/configs/sim/axis/vismach/5axis/max5/max5gui.py index 23c92cf2ef3..8200145565e 100755 --- a/configs/sim/axis/vismach/5axis/max5/max5gui.py +++ b/configs/sim/axis/vismach/5axis/max5/max5gui.py @@ -37,18 +37,18 @@ def coords(self): c = hal.component("max5gui") # table -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) # saddle -c.newpin("saddle", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) # head tilt -c.newpin("tilt", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt", hal.Type.REAL, hal.Dir.IN) # rotary table -c.newpin("rotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() pivot_len=100 diff --git a/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-gui.py b/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-gui.py index 21f55a2bdd6..2f27c07f8f2 100644 --- a/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-gui.py +++ b/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-gui.py @@ -33,26 +33,26 @@ c = hal.component("xyzab-tdr-gui") # axis-x -c.newpin("axis-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-x", hal.Type.REAL, hal.Dir.IN) # axis-y -c.newpin("axis-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-y", hal.Type.REAL, hal.Dir.IN) # axis-z -c.newpin("axis-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-z", hal.Type.REAL, hal.Dir.IN) # rotary_a -c.newpin("rotary-a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary-a", hal.Type.REAL, hal.Dir.IN) # rotary_b -c.newpin("rotary-b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary-b", hal.Type.REAL, hal.Dir.IN) # geometric offsets between A and B axes -c.newpin("x_offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z_offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("x_offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("z_offset", hal.Type.REAL, hal.Dir.IN) # rot-point offsets -c.newpin("x-rot-point", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("y-rot-point", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-rot-point", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("x-rot-point", hal.Type.REAL, hal.Dir.IN) +c.newpin("y-rot-point", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-rot-point", hal.Type.REAL, hal.Dir.IN) # tool-length offset # tool offsets -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diameter", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diameter", hal.Type.REAL, hal.Dir.IN) c.ready() # These values are arbitrary and are meant to simulate an absolute diff --git a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-gui.py b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-gui.py index 98f267355d1..2283299ea80 100755 --- a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-gui.py +++ b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-gui.py @@ -30,19 +30,19 @@ c = hal.component("xyzac-trt-gui") # table-x -c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table-x", hal.Type.REAL, hal.Dir.IN) # saddle-y -c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.Type.REAL, hal.Dir.IN) # table-x tilt-b -c.newpin("tilt-a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-a", hal.Type.REAL, hal.Dir.IN) # rotary table-x -c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.Type.REAL, hal.Dir.IN) # offsets -c.newpin("y-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("y-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-offset", hal.Type.REAL, hal.Dir.IN) c.ready() for setting in sys.argv[1:]: exec(setting) diff --git a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt-gui.py b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt-gui.py index 5a652511b38..725cdd29fbd 100755 --- a/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt-gui.py +++ b/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt-gui.py @@ -30,18 +30,18 @@ c = hal.component("xyzbc-trt-gui") # table-x -c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table-x", hal.Type.REAL, hal.Dir.IN) # saddle-y -c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.Type.REAL, hal.Dir.IN) # table-x tilt-b -c.newpin("tilt-b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-b", hal.Type.REAL, hal.Dir.IN) # rotary table-x -c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("x-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("x-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-offset", hal.Type.REAL, hal.Dir.IN) c.ready() for setting in sys.argv[1:]: exec(setting) diff --git a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py index e2139aab13a..44748312c4e 100755 --- a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py +++ b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py @@ -7,40 +7,40 @@ # this pin reflects the machine.analog pin used for the # twp-status -h.newpin("twp-status", hal.HAL_FLOAT, hal.HAL_IN) +h.newpin("twp-status", hal.Type.REAL, hal.Dir.IN) # these pins are created here from 'twp-status'' -h.newpin("twp-is-redefined", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("twp-is-defined", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("twp-is-active", hal.HAL_BIT, hal.HAL_OUT) +h.newpin("twp-is-redefined", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("twp-is-defined", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("twp-is-active", hal.Type.BOOL, hal.Dir.OUT) # twp origin vector -h.newpin("twp-ox-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-oy-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-oz-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-ox", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-oy", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-oz", hal.HAL_FLOAT, hal.HAL_OUT) +h.newpin("twp-ox-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-oy-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-oz-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-ox", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-oy", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-oz", hal.Type.REAL, hal.Dir.OUT) # twp x-orientation vector -h.newpin("twp-xx-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-xy-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-xz-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-xx", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-xy", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-xz", hal.HAL_FLOAT, hal.HAL_OUT) +h.newpin("twp-xx-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-xy-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-xz-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-xx", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-xy", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-xz", hal.Type.REAL, hal.Dir.OUT) # twp z-orientation vector -h.newpin("twp-zx-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-zy-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-zz-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-zx", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-zy", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-zz", hal.HAL_FLOAT, hal.HAL_OUT) +h.newpin("twp-zx-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-zy-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-zz-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-zx", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-zy", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-zz", hal.Type.REAL, hal.Dir.OUT) # twp origin vector in machine coordinate system -h.newpin("twp-ox-world-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-oy-world-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-oz-world-in", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("twp-ox-world", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-oy-world", hal.HAL_FLOAT, hal.HAL_OUT) -h.newpin("twp-oz-world", hal.HAL_FLOAT, hal.HAL_OUT) +h.newpin("twp-ox-world-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-oy-world-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-oz-world-in", hal.Type.REAL, hal.Dir.IN) +h.newpin("twp-ox-world", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-oy-world", hal.Type.REAL, hal.Dir.OUT) +h.newpin("twp-oz-world", hal.Type.REAL, hal.Dir.OUT) h.ready() diff --git a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzacb-trsrn-gui.py b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzacb-trsrn-gui.py index 89720d695da..1209d973693 100755 --- a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzacb-trsrn-gui.py +++ b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzacb-trsrn-gui.py @@ -43,61 +43,61 @@ c = hal.component("xyzacb-trsrn-gui") # axis_x -c.newpin("axis_x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_x", hal.Type.REAL, hal.Dir.IN) # axis_y -c.newpin("axis_y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("axis_z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_z", hal.Type.REAL, hal.Dir.IN) # rotary_a -c.newpin("rotary_a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_a", hal.Type.REAL, hal.Dir.IN) # rotary_b -c.newpin("rotary_b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_b", hal.Type.REAL, hal.Dir.IN) # rotary_c -c.newpin("rotary_c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_c", hal.Type.REAL, hal.Dir.IN) # nutation-angle -c.newpin("nutation_angle", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("nutation_angle", hal.Type.REAL, hal.Dir.IN) # tool offsets -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diameter", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diameter", hal.Type.REAL, hal.Dir.IN) # geometric offsets in the spindle-rotary-assembly -c.newpin("pivot_y", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pivot_z", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("offset_x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("offset_y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("pivot_y", hal.Type.REAL, hal.Dir.IN) +c.newpin("pivot_z", hal.Type.REAL, hal.Dir.IN) +c.newpin("offset_x", hal.Type.REAL, hal.Dir.IN) +c.newpin("offset_y", hal.Type.REAL, hal.Dir.IN) # rot-point offsets distances from pivot point ( spindle AB) # to rotation axis ( table C) -c.newpin("rot_axis_y", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("rot_axis_z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rot_axis_y", hal.Type.REAL, hal.Dir.IN) +c.newpin("rot_axis_z", hal.Type.REAL, hal.Dir.IN) # selected kinematics -c.newpin("kinstype_select", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("kinstype_select", hal.Type.REAL, hal.Dir.IN) # work piece show/hide -c.newpin("hide_work_piece_1", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_work_piece_1", hal.Type.BOOL, hal.Dir.IN) # spindle body show/hide -c.newpin("hide_spindle_body", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_spindle_body", hal.Type.BOOL, hal.Dir.IN) # work piece show/hide -c.newpin("hide_somethingelse", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_somethingelse", hal.Type.BOOL, hal.Dir.IN) # scale coordinate system indicators -c.newpin("scale_coords", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("scale_coords", hal.Type.REAL, hal.Dir.IN) # twp pins -c.newpin("twp_status", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_defined", hal.HAL_BIT, hal.HAL_IN) -c.newpin("twp_active", hal.HAL_BIT, hal.HAL_IN) +c.newpin("twp_status", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_defined", hal.Type.BOOL, hal.Dir.IN) +c.newpin("twp_active", hal.Type.BOOL, hal.Dir.IN) # the origin of the twp plane display needs to be independent of the work offsets # because those offsets change as the kinematic switches between world and tool -c.newpin("twp_ox_world", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oy_world", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oz_world", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_ox_world", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oy_world", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oz_world", hal.Type.REAL, hal.Dir.IN) # origin of the twp -c.newpin("twp_ox", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oz", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_ox", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oz", hal.Type.REAL, hal.Dir.IN) # normal vector defining the temporary work plane as set by user with G68.2 -c.newpin("twp_zx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_zy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_zz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xz", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_zx", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_zy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_zz", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xx", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xz", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzbca-trsrn-gui.py b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzbca-trsrn-gui.py index 1c54ddbd1b2..871c0aa6921 100755 --- a/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzbca-trsrn-gui.py +++ b/configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/vismach/xyzbca-trsrn-gui.py @@ -42,61 +42,61 @@ c = hal.component("xyzbca-trsrn-gui") # axis_x -c.newpin("axis_x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_x", hal.Type.REAL, hal.Dir.IN) # axis_y -c.newpin("axis_y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("axis_z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis_z", hal.Type.REAL, hal.Dir.IN) # rotary_a -c.newpin("rotary_a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_a", hal.Type.REAL, hal.Dir.IN) # rotary_b -c.newpin("rotary_b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_b", hal.Type.REAL, hal.Dir.IN) # rotary_c -c.newpin("rotary_c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary_c", hal.Type.REAL, hal.Dir.IN) # nutation-angle -c.newpin("nutation_angle", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("nutation_angle", hal.Type.REAL, hal.Dir.IN) # tool offsets -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diameter", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diameter", hal.Type.REAL, hal.Dir.IN) # geometric offsets in the spindle-rotary-assembly -c.newpin("pivot_x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pivot_z", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("offset_x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("offset_y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("pivot_x", hal.Type.REAL, hal.Dir.IN) +c.newpin("pivot_z", hal.Type.REAL, hal.Dir.IN) +c.newpin("offset_x", hal.Type.REAL, hal.Dir.IN) +c.newpin("offset_y", hal.Type.REAL, hal.Dir.IN) # rot-point offsets distances from pivot point ( spindle AB) # to rotation axis ( table C) -c.newpin("rot_axis_x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("rot_axis_z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rot_axis_x", hal.Type.REAL, hal.Dir.IN) +c.newpin("rot_axis_z", hal.Type.REAL, hal.Dir.IN) # selected kinematics -c.newpin("kinstype_select", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("kinstype_select", hal.Type.REAL, hal.Dir.IN) # work piece show/hide -c.newpin("hide_work_piece_1", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_work_piece_1", hal.Type.BOOL, hal.Dir.IN) # spindle body show/hide -c.newpin("hide_spindle_body", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_spindle_body", hal.Type.BOOL, hal.Dir.IN) # work piece show/hide -c.newpin("hide_somethingelse", hal.HAL_BIT, hal.HAL_IN) +c.newpin("hide_somethingelse", hal.Type.BOOL, hal.Dir.IN) # scale coordinate system indicators -c.newpin("scale_coords", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("scale_coords", hal.Type.REAL, hal.Dir.IN) # twp pins -c.newpin("twp_status", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_defined", hal.HAL_BIT, hal.HAL_IN) -c.newpin("twp_active", hal.HAL_BIT, hal.HAL_IN) +c.newpin("twp_status", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_defined", hal.Type.BOOL, hal.Dir.IN) +c.newpin("twp_active", hal.Type.BOOL, hal.Dir.IN) # the origin of the twp plane display needs to be independent of the work offsets # because those offsets change as the kinematic switches between world and tool -c.newpin("twp_ox_world", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oy_world", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oz_world", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_ox_world", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oy_world", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oz_world", hal.Type.REAL, hal.Dir.IN) # origin of the twp -c.newpin("twp_ox", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_oz", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_ox", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_oz", hal.Type.REAL, hal.Dir.IN) # normal vector defining the temporary work plane as set by user with G68.2 -c.newpin("twp_zx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_zy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_zz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("twp_xz", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("twp_zx", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_zy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_zz", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xx", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xy", hal.Type.REAL, hal.Dir.IN) +c.newpin("twp_xz", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/VMC_toolchange/vmcgui b/configs/sim/axis/vismach/VMC_toolchange/vmcgui index 1344cfc1ac1..a471d96e66c 100755 --- a/configs/sim/axis/vismach/VMC_toolchange/vmcgui +++ b/configs/sim/axis/vismach/VMC_toolchange/vmcgui @@ -19,14 +19,14 @@ from vismach import * import hal c = hal.component("vmcgui") -c.newpin("X", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("Y", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("Z", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("arm", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("carousel", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("spindle", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("drawbar", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("lock", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("X", hal.Type.REAL, hal.Dir.IN) +c.newpin("Y", hal.Type.REAL, hal.Dir.IN) +c.newpin("Z", hal.Type.REAL, hal.Dir.IN) +c.newpin("arm", hal.Type.REAL, hal.Dir.IN) +c.newpin("carousel", hal.Type.REAL, hal.Dir.IN) +c.newpin("spindle", hal.Type.REAL, hal.Dir.IN) +c.newpin("drawbar", hal.Type.REAL, hal.Dir.IN) +c.newpin("lock", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/delta/lineardelta.py b/configs/sim/axis/vismach/delta/lineardelta.py index d8116b1a895..82b27967400 100755 --- a/configs/sim/axis/vismach/delta/lineardelta.py +++ b/configs/sim/axis/vismach/delta/lineardelta.py @@ -26,12 +26,12 @@ for setting in sys.argv[1:]: exec(setting) c = hal.component("lineardelta") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("R", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("L", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("R", hal.Type.REAL, hal.Dir.IN) +c.newpin("L", hal.Type.REAL, hal.Dir.IN) c['R'], c['L'] = lineardeltakins.get_geometry() c.ready() diff --git a/configs/sim/axis/vismach/delta/rotarydelta.py b/configs/sim/axis/vismach/delta/rotarydelta.py index 36d5088f584..b6032be6613 100755 --- a/configs/sim/axis/vismach/delta/rotarydelta.py +++ b/configs/sim/axis/vismach/delta/rotarydelta.py @@ -25,13 +25,13 @@ for setting in sys.argv[1:]: exec(setting) c = hal.component("rotarydelta") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pfr", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tl", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("sl", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("fr", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("pfr", hal.Type.REAL, hal.Dir.IN) +c.newpin("tl", hal.Type.REAL, hal.Dir.IN) +c.newpin("sl", hal.Type.REAL, hal.Dir.IN) +c.newpin("fr", hal.Type.REAL, hal.Dir.IN) c['pfr'], c['tl'], c['sl'], c['fr'] = rotarydeltakins.get_geometry() c.ready() diff --git a/configs/sim/axis/vismach/hbm/hbmgui.py b/configs/sim/axis/vismach/hbm/hbmgui.py index f79862940fa..9d0592d9252 100755 --- a/configs/sim/axis/vismach/hbm/hbmgui.py +++ b/configs/sim/axis/vismach/hbm/hbmgui.py @@ -42,13 +42,13 @@ def coords(self): c = hal.component("hbmgui") # HAL pins -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("saddle", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("quill", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) +c.newpin("saddle", hal.Type.REAL, hal.Dir.IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) +c.newpin("quill", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() tool_radius=0.5 diff --git a/configs/sim/axis/vismach/hexapod-sim/hexagui.py b/configs/sim/axis/vismach/hexapod-sim/hexagui.py index 82ce7717fcd..3ab256bff5f 100755 --- a/configs/sim/axis/vismach/hexapod-sim/hexagui.py +++ b/configs/sim/axis/vismach/hexapod-sim/hexagui.py @@ -19,20 +19,20 @@ #if(randomize): compname += str(random.randrange(0,10000)) c = hal.component(compname) #declare hal pins here -c.newpin("joint.0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint.0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.5", hal.Type.REAL, hal.Dir.IN) #get the tool tip position in cartesian coordinates from emc #so we dont have to do kinematics -c.newpin("axis.x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.y", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.z", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.a", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.b", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis.x", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.y", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.z", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.a", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.b", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.c", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/melfa-sim/melfagui.py b/configs/sim/axis/vismach/melfa-sim/melfagui.py index 0471a87e287..5bfe568d3dd 100755 --- a/configs/sim/axis/vismach/melfa-sim/melfagui.py +++ b/configs/sim/axis/vismach/melfa-sim/melfagui.py @@ -9,15 +9,15 @@ import hal c = hal.component("melfagui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("lnkdx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("lnkdz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("grip", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) +c.newpin("lnkdx", hal.Type.REAL, hal.Dir.IN) +c.newpin("lnkdz", hal.Type.REAL, hal.Dir.IN) +c.newpin("grip", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/millturn/millturngui.py b/configs/sim/axis/vismach/millturn/millturngui.py index 865b99f18eb..bed3bd0dd23 100755 --- a/configs/sim/axis/vismach/millturn/millturngui.py +++ b/configs/sim/axis/vismach/millturn/millturngui.py @@ -24,18 +24,18 @@ # in this file, and uncomment last line in HAL file. # add joints. Mill has 3. c = hal.component("millturngui") -c.newpin("jointX", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointY", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointZ", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointA", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("jointX", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointY", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointZ", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointA", hal.Type.REAL, hal.Dir.IN) # kinematics pins -c.newpin("millkins", hal.HAL_BIT, hal.HAL_IN) +c.newpin("millkins", hal.Type.BOOL, hal.Dir.IN) # tool length and diameter pins? -c.newpin("toollength", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tooldiameter", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-x-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("toollength", hal.Type.REAL, hal.Dir.IN) +c.newpin("tooldiameter", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-x-offset", hal.Type.REAL, hal.Dir.IN) # tells loadusr pins is ready c.ready() diff --git a/configs/sim/axis/vismach/orphaned models/maho600gui.py b/configs/sim/axis/vismach/orphaned models/maho600gui.py index 285ee079d49..a94094bc024 100755 --- a/configs/sim/axis/vismach/orphaned models/maho600gui.py +++ b/configs/sim/axis/vismach/orphaned models/maho600gui.py @@ -37,19 +37,19 @@ def coords(self): c = hal.component("maho600gui") # table -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) # full width ways that table rides one # this assembly moves up and down for Y -c.newpin("tableway", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tableway", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) # head tilt -c.newpin("arotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("arotate", hal.Type.REAL, hal.Dir.IN) # rotary table -c.newpin("brotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("brotate", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() pivot_len=100 diff --git a/configs/sim/axis/vismach/puma/puma560gui.py b/configs/sim/axis/vismach/puma/puma560gui.py index d07848e914d..bccd2fadcac 100755 --- a/configs/sim/axis/vismach/puma/puma560gui.py +++ b/configs/sim/axis/vismach/puma/puma560gui.py @@ -23,13 +23,13 @@ import hal c = hal.component("puma560gui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("grip", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) +c.newpin("grip", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/configs/sim/axis/vismach/puma/pumagui.py b/configs/sim/axis/vismach/puma/pumagui.py index 7ae1d682b91..d43916f21e8 100755 --- a/configs/sim/axis/vismach/puma/pumagui.py +++ b/configs/sim/axis/vismach/puma/pumagui.py @@ -45,12 +45,12 @@ import hal c = hal.component("pumagui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) c.ready() ################### diff --git a/configs/sim/axis/vismach/scara/scaragui.py b/configs/sim/axis/vismach/scara/scaragui.py index d9998c4b56a..482bab168b5 100755 --- a/configs/sim/axis/vismach/scara/scaragui.py +++ b/configs/sim/axis/vismach/scara/scaragui.py @@ -22,12 +22,12 @@ import sys c = hal.component("scaragui") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) c.ready() # parameters that define the geometry see scarakins.c for definitions these diff --git a/configs/sim/gmoccapy/lathe_configs/lathehandler.py b/configs/sim/gmoccapy/lathe_configs/lathehandler.py index 6e3fcdadb9e..b8ae574d4b0 100755 --- a/configs/sim/gmoccapy/lathe_configs/lathehandler.py +++ b/configs/sim/gmoccapy/lathe_configs/lathehandler.py @@ -102,7 +102,7 @@ def __init__(self, halcomp,builder,useropts): self.ini.restore_state(self) # A pin to use a physical switch to start the cycle - self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN)) + self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.Type.BOOL, hal.Dir.IN)) self.cycle_start.connect('value-changed', self.cycle_pin) # This catches the signal from Touchy to say that the tab is exposed diff --git a/configs/sim/gmoccapy/non_trivial_kinematics/scara/scaragui.py b/configs/sim/gmoccapy/non_trivial_kinematics/scara/scaragui.py index d9998c4b56a..482bab168b5 100755 --- a/configs/sim/gmoccapy/non_trivial_kinematics/scara/scaragui.py +++ b/configs/sim/gmoccapy/non_trivial_kinematics/scara/scaragui.py @@ -22,12 +22,12 @@ import sys c = hal.component("scaragui") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) c.ready() # parameters that define the geometry see scarakins.c for definitions these diff --git a/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt-gui.py b/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt-gui.py index 98f267355d1..2283299ea80 100755 --- a/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt-gui.py +++ b/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt-gui.py @@ -30,19 +30,19 @@ c = hal.component("xyzac-trt-gui") # table-x -c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table-x", hal.Type.REAL, hal.Dir.IN) # saddle-y -c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.Type.REAL, hal.Dir.IN) # table-x tilt-b -c.newpin("tilt-a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-a", hal.Type.REAL, hal.Dir.IN) # rotary table-x -c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.Type.REAL, hal.Dir.IN) # offsets -c.newpin("y-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("y-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-offset", hal.Type.REAL, hal.Dir.IN) c.ready() for setting in sys.argv[1:]: exec(setting) diff --git a/configs/sim/gmoccapy/plasma_config/plasma.py b/configs/sim/gmoccapy/plasma_config/plasma.py index 1b798492367..a213d71388d 100644 --- a/configs/sim/gmoccapy/plasma_config/plasma.py +++ b/configs/sim/gmoccapy/plasma_config/plasma.py @@ -94,12 +94,12 @@ def __init__(self, halcomp, builder, useropts): self.ini.restore_state(self) # lets make our pins - self.THC_speed = hal_glib.GPin(halcomp.newpin("THC-Speed", hal.HAL_FLOAT, hal.HAL_OUT)) - self.cut_gap = hal_glib.GPin(halcomp.newpin("Cut-Gap", hal.HAL_FLOAT, hal.HAL_OUT)) - self.g0_gap = hal_glib.GPin(halcomp.newpin("G0-Gap", hal.HAL_FLOAT, hal.HAL_OUT)) - self.pierce_deley = hal_glib.GPin(halcomp.newpin("Pierce-Delay", hal.HAL_FLOAT, hal.HAL_OUT)) - self.pierce_gap = hal_glib.GPin(halcomp.newpin("Pierce-Gap", hal.HAL_FLOAT, hal.HAL_OUT)) - self.target_voltage = hal_glib.GPin(halcomp.newpin("Target-Voltage", hal.HAL_FLOAT, hal.HAL_OUT)) + self.THC_speed = hal_glib.GPin(halcomp.newpin("THC-Speed", hal.Type.REAL, hal.Dir.OUT)) + self.cut_gap = hal_glib.GPin(halcomp.newpin("Cut-Gap", hal.Type.REAL, hal.Dir.OUT)) + self.g0_gap = hal_glib.GPin(halcomp.newpin("G0-Gap", hal.Type.REAL, hal.Dir.OUT)) + self.pierce_deley = hal_glib.GPin(halcomp.newpin("Pierce-Delay", hal.Type.REAL, hal.Dir.OUT)) + self.pierce_gap = hal_glib.GPin(halcomp.newpin("Pierce-Gap", hal.Type.REAL, hal.Dir.OUT)) + self.target_voltage = hal_glib.GPin(halcomp.newpin("Target-Voltage", hal.Type.REAL, hal.Dir.OUT)) # get all widgets and connect them self.lbl_prog_volt = self.builder.get_object("lbl_prog_volt") diff --git a/configs/sim/pyvcp_demo.xml b/configs/sim/pyvcp_demo.xml index 4b986647a7a..561531e3707 100644 --- a/configs/sim/pyvcp_demo.xml +++ b/configs/sim/pyvcp_demo.xml @@ -6,7 +6,7 @@ - + @@ -15,7 +15,7 @@ - + @@ -33,7 +33,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/configs/sim/qtvcp_screens/qtvcp_experimental/lathehandler.py b/configs/sim/qtvcp_screens/qtvcp_experimental/lathehandler.py index 3533b4b167b..4997894099e 100644 --- a/configs/sim/qtvcp_screens/qtvcp_experimental/lathehandler.py +++ b/configs/sim/qtvcp_screens/qtvcp_experimental/lathehandler.py @@ -88,11 +88,11 @@ def __init__(self, halcomp,builder,useropts): self.ini.restore_state(self) # A pin to use a physical switch to start the cycle - self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN)) + self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.Type.BOOL, hal.Dir.IN)) self.cycle_start.connect('value-changed', self.cycle_pin) # A pin to mask cycle-start so that Touchy doesn't run auto. - self.visible = hal_glib.GPin(halcomp.newpin('visible', hal.HAL_BIT, hal.HAL_OUT)) + self.visible = hal_glib.GPin(halcomp.newpin('visible', hal.Type.BOOL, hal.Dir.OUT)) # This catches the signal from Touchy to say that the tab is exposed t = self.builder.get_object('eventbox1') diff --git a/debian/tests/linuxcnc-test-ui.py b/debian/tests/linuxcnc-test-ui.py index 57e3871c667..c08d729ffd4 100755 --- a/debian/tests/linuxcnc-test-ui.py +++ b/debian/tests/linuxcnc-test-ui.py @@ -21,10 +21,10 @@ # Create and connect test feedback comp # h = hal.component("test-ui") -h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Zpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("counter", hal.HAL_FLOAT, hal.HAL_IN) +h.newpin("Xpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Ypos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Zpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("counter", hal.Type.REAL, hal.Dir.IN) h.ready() os.system("halcmd source ./linuxcnc-test.hal") diff --git a/docs/src/gui/axis.adoc b/docs/src/gui/axis.adoc index 229f7cc1f27..8d1005594d5 100644 --- a/docs/src/gui/axis.adoc +++ b/docs/src/gui/axis.adoc @@ -1197,7 +1197,7 @@ commands.set_view_z() [source,python] ---- def user_hal_pins(): - comp.newpin('my-new-in-pin', hal.HAL_BIT, hal.HAL_IN) + comp.newpin('my-new-in-pin', hal.Type.BOOL, hal.Dir.IN) comp.ready() ---- @@ -1208,13 +1208,13 @@ def user_hal_pins(): # create a component mycomp = hal.component('my_component') -mycomp.newpin('idle-led',hal.HAL_BIT,hal.HAL_IN) -mycomp.newpin('pause-led',hal.HAL_BIT,hal.HAL_IN) +mycomp.newpin('idle-led', hal.Type.BOOL, hal.Dir.IN) +mycomp.newpin('pause-led', hal.Type.BOOL, hal.Dir.IN) mycomp.ready() # connect pins -hal.new_sig('idle-led',hal.HAL_BIT) +hal.new_sig('idle-led', hal.Type.BOOL) hal.connect('halui.program.is-idle','idle-led') hal.connect('my_component.idle-led','idle-led') diff --git a/docs/src/gui/gladevcp.adoc b/docs/src/gui/gladevcp.adoc index b6a085afd49..9ed0faf49d8 100644 --- a/docs/src/gui/gladevcp.adoc +++ b/docs/src/gui/gladevcp.adoc @@ -2618,7 +2618,7 @@ If you need HAL pins which are not associated with a specific HAL widget, add th import hal_glib ... # in your handler class __init__(): -self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.HAL_BIT, hal.HAL_IN)) +self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.Type.BOOL, hal.Dir.IN)) ---- To get a callback when this pin's value changes, associate a `value-change` callback with this pin, add: @@ -2681,7 +2681,7 @@ class HandlerClass: # HAL pin with change callback. # When the pin's value changes the callback is executed. - self.max_value = hal_glib.GPin(halcomp.newpin('max-value', hal.HAL_FLOAT, hal.HAL_IN)) + self.max_value = hal_glib.GPin(halcomp.newpin('max-value', hal.Type.REAL, hal.Dir.IN)) self.max_value.connect('value-changed', self._on_max_value_change) inifile = linuxcnc.ini(os.getenv("INI_FILE_NAME")) @@ -2713,7 +2713,7 @@ Then make a pin and connect a 'value-changed' (the watcher) signal to a function ---- class HandlerClass: def __init__(self, halcomp,builder,useropts): - self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.HAL_BIT, hal.HAL_IN)) + self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', hal.Type.BOOL, hal.Dir.IN)) self.example_trigger.connect('value-changed', self._on_example_trigger_change) ---- diff --git a/docs/src/gui/gstat.adoc b/docs/src/gui/gstat.adoc index 11b558d0193..c4455ec6aaa 100644 --- a/docs/src/gui/gstat.adoc +++ b/docs/src/gui/gstat.adoc @@ -68,8 +68,8 @@ def mode_changed(obj, data): # Make a component and pins h = hal.component("metric_status") -h.newpin("g20", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("g21", hal.HAL_BIT, hal.HAL_OUT) +h.newpin("g20", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("g21", hal.Type.BOOL, hal.Dir.OUT) h.ready() # connect a GSTAT message to a callback function diff --git a/docs/src/gui/qtvcp-code-snippets.adoc b/docs/src/gui/qtvcp-code-snippets.adoc index 814d71e0627..9ffd6ae9d9b 100644 --- a/docs/src/gui/qtvcp-code-snippets.adoc +++ b/docs/src/gui/qtvcp-code-snippets.adoc @@ -287,7 +287,7 @@ Under the `initialized__` function, make sure there is an entry similar to this: # the widgets are instantiated. # the HAL pins are built but HAL is not set ready def initialized__(self): - self.pin_cycle_start_in = QHAL.newPin('cycle-start-in',QHAL.HAL_BIT, QHAL.HAL_IN) + self.pin_cycle_start_in = QHAL.newPin('cycle-start-in',QHAL.HAL_BOOL, QHAL.HAL_IN) self.pin_cycle_start_in.pinValueChanged.connect(lambda o,s: self.cycleStart(s)) ---- diff --git a/docs/src/gui/qtvcp.adoc b/docs/src/gui/qtvcp.adoc index b1ce272a0f2..751745eeb4e 100644 --- a/docs/src/gui/qtvcp.adoc +++ b/docs/src/gui/qtvcp.adoc @@ -267,10 +267,10 @@ class UserHandlerClass(HandlerClass): super().init_pins() # add jog pins X axis - pin = QHAL.newpin("jog.axis.jog-x-plus", QHAL.HAL_BIT, QHAL.HAL_IN) + pin = QHAL.newpin("jog.axis.jog-x-plus", QHAL.HAL_BOOL, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 0, 1, fast = False, linear = True)) - pin = QHAL.newpin("jog.axis.jog-x-minus", QHAL.HAL_BIT, QHAL.HAL_IN) + pin = QHAL.newpin("jog.axis.jog-x-minus", QHAL.HAL_BOOL, QHAL.HAL_IN) pin.value_changed.connect(lambda s: self.kb_jog(s, 0, -1, fast = False, linear = True)) ---- @@ -379,7 +379,7 @@ def new_pin_changed(data): # Here we used the function to add a bit input pin with a callback. def after_override__(self): try: - pin = hdlr.QHAL.newpin("new_pin", hdlr.QHAL.HAL_BIT, hdlr.QHAL.HAL_IN) + pin = hdlr.QHAL.newpin("new_pin", hdlr.QHAL.HAL_BOOL, hdlr.QHAL.HAL_IN) pin.value_changed.connect(new_pin_changed) except Exception as e: print(e) diff --git a/docs/src/gui/vismach.adoc b/docs/src/gui/vismach.adoc index 559e59d16f0..f67066b08a7 100644 --- a/docs/src/gui/vismach.adoc +++ b/docs/src/gui/vismach.adoc @@ -58,8 +58,8 @@ the Vismach model. [source,python] ---- c = hal.component("samplegui") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) c.ready() ---- @@ -285,7 +285,7 @@ from vismach import * import hal #create the HAL component and pins comp = hal.component("compname") -comp.newpin("pin_name", hal.HAL_FLOAT, hal.HAL_IN) +comp.newpin("pin_name", hal.Type.REAL, hal.Dir.IN) ... #create the floor, tool and work floor = Box(-50, -50, -3, 50, 50, 0) diff --git a/lib/python/gladevcp/builtin-panels/gtk_little_probe/gtk_little_probe.py b/lib/python/gladevcp/builtin-panels/gtk_little_probe/gtk_little_probe.py index 918d63a08b2..7f790cf2d7b 100644 --- a/lib/python/gladevcp/builtin-panels/gtk_little_probe/gtk_little_probe.py +++ b/lib/python/gladevcp/builtin-panels/gtk_little_probe/gtk_little_probe.py @@ -149,27 +149,27 @@ def __init__(self, halcomp,builder,useropts): self.halcomp = hal.component("probe") - self.halcomp.newpin( "ps_searchvel", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probevel", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_z_clearance", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_max", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_latch", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_diam", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_xy_clearance", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_edge_lenght", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_x", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_y", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_z", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_angle", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "set_zero", hal.HAL_BIT, hal.HAL_OUT ) + self.halcomp.newpin( "ps_searchvel", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probevel", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_z_clearance", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_max", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_latch", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_diam", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_xy_clearance", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_edge_lenght", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_x", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_y", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_z", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_angle", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "set_zero", hal.Type.BOOL, hal.Dir.OUT ) if self.chk_set_zero.get_active(): self.halcomp["set_zero"] = True self.hal_led_set_zero.hal_pin.set(1) - self.halcomp.newpin( "auto_rott", hal.HAL_BIT, hal.HAL_OUT ) + self.halcomp.newpin( "auto_rott", hal.Type.BOOL, hal.Dir.OUT ) if self.chk_auto_rott.get_active(): self.halcomp["auto_rott"] = True self.hal_led_auto_rott.hal_pin.set(1) - self.halcomp.newpin( "ps_error", hal.HAL_FLOAT, hal.HAL_OUT ) + self.halcomp.newpin( "ps_error", hal.Type.REAL, hal.Dir.OUT ) self.spbtn1_search_vel.set_value( self.prefs.getpref( "ps_searchvel", 300.0, float ) ) self.spbtn1_probe_vel.set_value( self.prefs.getpref( "ps_probevel", 10.0, float ) ) self.spbtn1_z_clearance.set_value( self.prefs.getpref( "ps_z_clearance", 3.0, float ) ) diff --git a/lib/python/gladevcp/builtin-panels/gtk_verser_probe/gtk_verser_probe.py b/lib/python/gladevcp/builtin-panels/gtk_verser_probe/gtk_verser_probe.py index ff3bfdf9700..b538e0b26d2 100644 --- a/lib/python/gladevcp/builtin-panels/gtk_verser_probe/gtk_verser_probe.py +++ b/lib/python/gladevcp/builtin-panels/gtk_verser_probe/gtk_verser_probe.py @@ -151,27 +151,27 @@ def __init__(self, halcomp,builder,useropts): self.halcomp = hal.component("probe") - self.halcomp.newpin( "ps_searchvel", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probevel", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_z_clearance", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_max", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_latch", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_probe_diam", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_xy_clearance", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_edge_lenght", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_x", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_y", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_z", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "ps_offs_angle", hal.HAL_FLOAT, hal.HAL_OUT ) - self.halcomp.newpin( "set_zero", hal.HAL_BIT, hal.HAL_OUT ) + self.halcomp.newpin( "ps_searchvel", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probevel", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_z_clearance", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_max", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_latch", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_probe_diam", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_xy_clearance", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_edge_lenght", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_x", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_y", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_z", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "ps_offs_angle", hal.Type.REAL, hal.Dir.OUT ) + self.halcomp.newpin( "set_zero", hal.Type.BOOL, hal.Dir.OUT ) if self.chk_set_zero.get_active(): self.halcomp["set_zero"] = True self.hal_led_set_zero.hal_pin.set(1) - self.halcomp.newpin( "auto_rott", hal.HAL_BIT, hal.HAL_OUT ) + self.halcomp.newpin( "auto_rott", hal.Type.BOOL, hal.Dir.OUT ) if self.chk_auto_rott.get_active(): self.halcomp["auto_rott"] = True self.hal_led_auto_rott.hal_pin.set(1) - self.halcomp.newpin( "ps_error", hal.HAL_FLOAT, hal.HAL_OUT ) + self.halcomp.newpin( "ps_error", hal.Type.REAL, hal.Dir.OUT ) self.spbtn1_search_vel.set_value( self.prefs.getpref( "ps_searchvel", 300.0, float ) ) self.spbtn1_probe_vel.set_value( self.prefs.getpref( "ps_probevel", 10.0, float ) ) self.spbtn1_z_clearance.set_value( self.prefs.getpref( "ps_z_clearance", 3.0, float ) ) diff --git a/lib/python/gladevcp/core.py b/lib/python/gladevcp/core.py index fd34bda79c4..260112051a0 100644 --- a/lib/python/gladevcp/core.py +++ b/lib/python/gladevcp/core.py @@ -5,7 +5,6 @@ from gi.repository import GObject import inspect -import _hal import hal import traceback diff --git a/lib/python/gladevcp/hal_bar.py b/lib/python/gladevcp/hal_bar.py index db83c789f15..2040e4efc89 100644 --- a/lib/python/gladevcp/hal_bar.py +++ b/lib/python/gladevcp/hal_bar.py @@ -221,7 +221,7 @@ def get_value_diff(self, value): def _hal_init(self): _HalWidgetBase._hal_init(self) - self.hal_pin = self.hal.newpin(self.hal_name, hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin = self.hal.newpin(self.hal_name, hal.Type.REAL, hal.Dir.IN) self.hal_pin.connect('value-changed', lambda p: self.set_value(p.value)) self.hal_pin.connect('value-changed', lambda s: self.emit('hal-pin-changed', s)) diff --git a/lib/python/gladevcp/hal_graph.py b/lib/python/gladevcp/hal_graph.py index 70eab5f2812..661f4afacc4 100644 --- a/lib/python/gladevcp/hal_graph.py +++ b/lib/python/gladevcp/hal_graph.py @@ -111,7 +111,7 @@ def __init__(self): def _hal_init(self): _HalWidgetBase._hal_init(self) - self.hal_pin = self.hal.newpin(self.hal_name, hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin = self.hal.newpin(self.hal_name, hal.Type.REAL, hal.Dir.IN) def tick_poll(self, idx): if self.tick_idx != idx: diff --git a/lib/python/gladevcp/hal_lightbutton.py b/lib/python/gladevcp/hal_lightbutton.py index b83ddff4087..f9ede93e68d 100644 --- a/lib/python/gladevcp/hal_lightbutton.py +++ b/lib/python/gladevcp/hal_lightbutton.py @@ -375,16 +375,16 @@ def _hal_init(self): self.set_active(False) if (self.button_halio_pin): - self.button_pin = self.hal.newpin(self.hal_name+'-button', hal.HAL_BIT, hal.HAL_IO) + self.button_pin = self.hal.newpin(self.hal_name+'-button', hal.Type.BOOL, hal.Dir.IO) self.button_pin.connect('value-changed', self.button_pin_update) else: - self.button_pin = self.hal.newpin(self.hal_name+'-button', hal.HAL_BIT, hal.HAL_OUT) - self.button_pin_not = self.hal.newpin(self.hal_name+'-button-not', hal.HAL_BIT, hal.HAL_OUT) + self.button_pin = self.hal.newpin(self.hal_name+'-button', hal.Type.BOOL, hal.Dir.OUT) + self.button_pin_not = self.hal.newpin(self.hal_name+'-button-not', hal.Type.BOOL, hal.Dir.OUT) if (self.create_enable_pin): - self.enable_pin = self.hal.newpin(self.hal_name+'-enable', hal.HAL_BIT, hal.HAL_IN) + self.enable_pin = self.hal.newpin(self.hal_name+'-enable', hal.Type.BOOL, hal.Dir.IN) self.enable_pin.connect('value-changed', self.enable_pin_update) - self.light_pin = self.hal.newpin(self.hal_name+'-light', hal.HAL_BIT, hal.HAL_IN) + self.light_pin = self.hal.newpin(self.hal_name+'-light', hal.Type.BOOL, hal.Dir.IN) self.light_pin.connect('value-changed', self.light_pin_update) def button_pin_update(self, hal_pin, data=None): diff --git a/lib/python/gladevcp/hal_meter.py b/lib/python/gladevcp/hal_meter.py index 017743fc163..8744058a6c6 100644 --- a/lib/python/gladevcp/hal_meter.py +++ b/lib/python/gladevcp/hal_meter.py @@ -87,7 +87,7 @@ def __init__(self): def _hal_init(self): _HalWidgetBase._hal_init(self) - self.hal_pin = self.hal.newpin(self.hal_name, hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin = self.hal.newpin(self.hal_name, hal.Type.REAL, hal.Dir.IN) self.hal_pin.connect('value-changed', lambda p: self.set_value(p.value)) self.hal_pin.connect('value-changed', lambda s: self.emit('hal-pin-changed', s)) diff --git a/lib/python/gladevcp/jogwheel.py b/lib/python/gladevcp/jogwheel.py index 1b762226bb3..e1ccebc5679 100644 --- a/lib/python/gladevcp/jogwheel.py +++ b/lib/python/gladevcp/jogwheel.py @@ -96,7 +96,7 @@ def __init__(self, size = 200, cpr = 40): # init the hal pin management def _hal_init(self): _HalJogWheelBase._hal_init(self) - self.hal_pin_scale = self.hal.newpin(self.hal_name+".scale", hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin_scale = self.hal.newpin(self.hal_name+".scale", hal.Type.REAL, hal.Dir.IN) self.hal_pin_scale.set(1.0) # This function is called from hal_widgets.py diff --git a/lib/python/gladevcp/speedcontrol.py b/lib/python/gladevcp/speedcontrol.py index 332f025ab0d..61db15711db 100755 --- a/lib/python/gladevcp/speedcontrol.py +++ b/lib/python/gladevcp/speedcontrol.py @@ -162,17 +162,17 @@ def _update_widget(self): def _hal_init(self): _HalSpeedControlBase._hal_init(self) # the scale, as the widget may show units per minute, but linuxcnc expects units per second - self.hal_pin_scale = self.hal.newpin(self.hal_name+".scale", hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin_scale = self.hal.newpin(self.hal_name+".scale", hal.Type.REAL, hal.Dir.IN) self.hal_pin_scale.connect("value-changed", self._on_scale_changed) self.hal_pin_scale.set(60.0) # the scaled value to be handled in hal - self.hal_pin_scaled_value = self.hal.newpin(self.hal_name+".scaled-value", hal.HAL_FLOAT, hal.HAL_OUT) + self.hal_pin_scaled_value = self.hal.newpin(self.hal_name+".scaled-value", hal.Type.REAL, hal.Dir.OUT) # pins to allow hardware button to be connected to the software button - self.hal_pin_increase = self.hal.newpin(self.hal_name+".increase", hal.HAL_BIT, hal.HAL_IN) + self.hal_pin_increase = self.hal.newpin(self.hal_name+".increase", hal.Type.BOOL, hal.Dir.IN) self.hal_pin_increase.connect("value-changed", self._on_plus_changed) - self.hal_pin_decrease = self.hal.newpin(self.hal_name+".decrease", hal.HAL_BIT, hal.HAL_IN) + self.hal_pin_decrease = self.hal.newpin(self.hal_name+".decrease", hal.Type.BOOL, hal.Dir.IN) self.hal_pin_decrease.connect("value-changed", self._on_minus_changed) # this draws our widget on the screen diff --git a/lib/python/qtvcp/core.py b/lib/python/qtvcp/core.py index d893f645c9c..f293484d731 100644 --- a/lib/python/qtvcp/core.py +++ b/lib/python/qtvcp/core.py @@ -5,7 +5,6 @@ from gi.repository import GObject import inspect -import _hal import hal import traceback from qtpy.QtCore import QObject, QTimer, Signal diff --git a/lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py b/lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py index bc540a84763..ae22fdb0bc7 100755 --- a/lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py +++ b/lib/python/qtvcp/lib/qt_vismach/fanuc_200f.py @@ -27,14 +27,14 @@ BASEPATH = os.path.join(os.path.dirname(__file__), 'fanuc_200f_obj') c = hal.component("fanuc_200f") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("grip", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("plotclear", hal.HAL_BIT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) +c.newpin("grip", hal.Type.REAL, hal.Dir.IN) +c.newpin("plotclear", hal.Type.BOOL, hal.Dir.IN) c.ready() diff --git a/lib/python/qtvcp/lib/qt_vismach/gantry_5axis.py b/lib/python/qtvcp/lib/qt_vismach/gantry_5axis.py index dd290e695c1..aee2fad223b 100755 --- a/lib/python/qtvcp/lib/qt_vismach/gantry_5axis.py +++ b/lib/python/qtvcp/lib/qt_vismach/gantry_5axis.py @@ -41,14 +41,14 @@ def coords(self): return -self.comp.tool_length, r, 0, r c = hal.component("5axisgui") -c.newpin("jx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jb", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jc", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diam", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pivot_len", hal.HAL_FLOAT, hal.HAL_OUT) +c.newpin("jx", hal.Type.REAL, hal.Dir.IN) +c.newpin("jy", hal.Type.REAL, hal.Dir.IN) +c.newpin("jz", hal.Type.REAL, hal.Dir.IN) +c.newpin("jb", hal.Type.REAL, hal.Dir.IN) +c.newpin("jc", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diam", hal.Type.REAL, hal.Dir.IN) +c.newpin("pivot_len", hal.Type.REAL, hal.Dir.OUT) c["pivot_len"] = pivot_len c.ready() diff --git a/lib/python/qtvcp/lib/qt_vismach/millturn.py b/lib/python/qtvcp/lib/qt_vismach/millturn.py index 438755e61d4..b5211ed749f 100755 --- a/lib/python/qtvcp/lib/qt_vismach/millturn.py +++ b/lib/python/qtvcp/lib/qt_vismach/millturn.py @@ -19,18 +19,18 @@ # add joints. Mill has 3. c = hal.component("millturngui") # follow ZYX directly -#c.newpin("jointX", hal.HAL_FLOAT, hal.HAL_IN) -#c.newpin("jointY", hal.HAL_FLOAT, hal.HAL_IN) -#c.newpin("jointZ", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointA", hal.HAL_FLOAT, hal.HAL_IN) +#c.newpin("jointX", hal.Type.REAL, hal.Dir.IN) +#c.newpin("jointY", hal.Type.REAL, hal.Dir.IN) +#c.newpin("jointZ", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointA", hal.Type.REAL, hal.Dir.IN) # kinematics pins -c.newpin("millkins", hal.HAL_BIT, hal.HAL_IN) +c.newpin("millkins", hal.Type.BOOL, hal.Dir.IN) # tool length and diameter pins? -c.newpin("toollength", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tooldiameter", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-x-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("toollength", hal.Type.REAL, hal.Dir.IN) +c.newpin("tooldiameter", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-x-offset", hal.Type.REAL, hal.Dir.IN) # tells loadusr pins is ready c.ready() diff --git a/lib/python/qtvcp/widgets/axis_tool_button.py b/lib/python/qtvcp/widgets/axis_tool_button.py index d2c58f7a55b..20411a62bdc 100644 --- a/lib/python/qtvcp/widgets/axis_tool_button.py +++ b/lib/python/qtvcp/widgets/axis_tool_button.py @@ -131,8 +131,8 @@ def homed_on_test(): else: pname = self._pin_name_ - self.hal_pin_joint = self.HAL_GCOMP_.newpin(str(pname + '-joint'), hal.HAL_BIT, hal.HAL_OUT) - self.hal_pin_axis = self.HAL_GCOMP_.newpin(str(pname + '-axis'), hal.HAL_BIT, hal.HAL_OUT) + self.hal_pin_joint = self.HAL_GCOMP_.newpin(str(pname + '-joint'), hal.Type.BOOL, hal.Dir.OUT) + self.hal_pin_axis = self.HAL_GCOMP_.newpin(str(pname + '-axis'), hal.Type.BOOL, hal.Dir.OUT) STATUS.connect('general',self.return_value) def _enableGroup(self, state,bstate): diff --git a/lib/python/qtvcp/widgets/basic_probe.py b/lib/python/qtvcp/widgets/basic_probe.py index 74f93959ad6..1e9a2bddce9 100644 --- a/lib/python/qtvcp/widgets/basic_probe.py +++ b/lib/python/qtvcp/widgets/basic_probe.py @@ -198,7 +198,7 @@ def homed_on_status(): # make pins available for tool measure remaps oldname = self.HAL_GCOMP_.comp.getprefix() self.HAL_GCOMP_.comp.setprefix('qtbasicprobe') - self.probe_loaded = self.HAL_GCOMP_.newpin("probe-loaded", hal.HAL_BIT, hal.HAL_OUT) + self.probe_loaded = self.HAL_GCOMP_.newpin("probe-loaded", hal.Type.BOOL, hal.Dir.OUT) self.HAL_GCOMP_.comp.setprefix(oldname) # get current style of the line input diff --git a/lib/python/qtvcp/widgets/camview_widget.py b/lib/python/qtvcp/widgets/camview_widget.py index 5e11ef65437..0e0fe25e539 100644 --- a/lib/python/qtvcp/widgets/camview_widget.py +++ b/lib/python/qtvcp/widgets/camview_widget.py @@ -98,7 +98,7 @@ def __init__(self, parent=None): def _hal_init(self): try: - self.pin_ = self.HAL_GCOMP_.newpin('cam-rotation',hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_ = self.HAL_GCOMP_.newpin('cam-rotation',hal.Type.REAL, hal.Dir.OUT) except: pass if LIB_GOOD: diff --git a/lib/python/qtvcp/widgets/indicatorMixIn.py b/lib/python/qtvcp/widgets/indicatorMixIn.py index bda4fd8172e..89db9755b97 100644 --- a/lib/python/qtvcp/widgets/indicatorMixIn.py +++ b/lib/python/qtvcp/widgets/indicatorMixIn.py @@ -116,10 +116,10 @@ def _hal_init(self): pname = self.HAL_NAME_ else: pname = self._pin_name_ - self.hal_pin_led = self.HAL_GCOMP_.newpin(pname + '-led', hal.HAL_BIT, hal.HAL_IN) + self.hal_pin_led = self.HAL_GCOMP_.newpin(pname + '-led', hal.Type.BOOL, hal.Dir.IN) self.hal_pin_led.value_changed.connect(lambda data: self.indicator_update(data)) if self._doubleIndicator: - self.hal_pin_led2 = self.HAL_GCOMP_.newpin(pname + '-led2', hal.HAL_BIT, hal.HAL_IN) + self.hal_pin_led2 = self.HAL_GCOMP_.newpin(pname + '-led2', hal.Type.BOOL, hal.Dir.IN) self.hal_pin_led2.value_changed.connect(lambda data: self.indicator2_update(data)) elif self._ind_status: diff --git a/lib/python/qtvcp/widgets/jog_increments.py b/lib/python/qtvcp/widgets/jog_increments.py index c54caa3ba93..05a079d6a56 100644 --- a/lib/python/qtvcp/widgets/jog_increments.py +++ b/lib/python/qtvcp/widgets/jog_increments.py @@ -51,7 +51,7 @@ def _hal_init(self): pname = self.HAL_NAME_ else: pname = self._pin_name - self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.HAL_FLOAT, hal.HAL_OUT) + self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.Type.REAL, hal.Dir.OUT) if self.linear: for item in (INFO.JOG_INCREMENTS): self.addItem(item) diff --git a/lib/python/qtvcp/widgets/led_widget.py b/lib/python/qtvcp/widgets/led_widget.py index 6c55ee8b1aa..bc4409f7074 100644 --- a/lib/python/qtvcp/widgets/led_widget.py +++ b/lib/python/qtvcp/widgets/led_widget.py @@ -64,7 +64,7 @@ def _hal_init(self): else: pname = self._pin_name_ - self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.HAL_BIT, hal.HAL_IN) + self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.Type.BOOL, hal.Dir.IN) self.hal_pin.value_changed.connect(lambda s: self.change_state(s)) @Slot(bool) diff --git a/lib/python/qtvcp/widgets/round_gauge.py b/lib/python/qtvcp/widgets/round_gauge.py index 04f3ed64187..f0268f083f2 100644 --- a/lib/python/qtvcp/widgets/round_gauge.py +++ b/lib/python/qtvcp/widgets/round_gauge.py @@ -37,9 +37,9 @@ def __init__(self, parent=None): def _hal_init(self): if (self._halpin_option): - self.hal_pin = self.HAL_GCOMP_.newpin(self.HAL_NAME_ + "_value", hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin = self.HAL_GCOMP_.newpin(self.HAL_NAME_ + "_value", hal.Type.REAL, hal.Dir.IN) self.hal_pin.value_changed.connect(lambda value: self.update_value(value)) - self.hal_pin = self.HAL_GCOMP_.newpin(self.HAL_NAME_ + "_setpoint", hal.HAL_FLOAT, hal.HAL_IN) + self.hal_pin = self.HAL_GCOMP_.newpin(self.HAL_NAME_ + "_setpoint", hal.Type.REAL, hal.Dir.IN) self.hal_pin.value_changed.connect(lambda value: self.set_setpoint(value)) def create_unit_array(self): diff --git a/lib/python/qtvcp/widgets/state_led.py b/lib/python/qtvcp/widgets/state_led.py index ab6b9c2668a..6a1bddd24fd 100644 --- a/lib/python/qtvcp/widgets/state_led.py +++ b/lib/python/qtvcp/widgets/state_led.py @@ -83,7 +83,7 @@ def only_false(data): pname = self.HAL_NAME_ else: pname = self._halpin_name - self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.HAL_BIT, hal.HAL_OUT) + self.hal_pin = self.HAL_GCOMP_.newpin(pname, hal.Type.BOOL, hal.Dir.OUT) if self.is_estopped: STATUS.connect('state-estop', lambda w: self._flip_state(True)) STATUS.connect('state-estop-reset', lambda w: self._flip_state(False)) diff --git a/lib/python/qtvcp/widgets/status_slider.py b/lib/python/qtvcp/widgets/status_slider.py index fa1b93571e8..6daa2fad754 100644 --- a/lib/python/qtvcp/widgets/status_slider.py +++ b/lib/python/qtvcp/widgets/status_slider.py @@ -121,7 +121,7 @@ def _hal_init(self): pname = self.HAL_NAME_ else: pname = self._pin_name_ - self.hal_pin = self.HAL_GCOMP_.newpin(str(pname), hal.HAL_FLOAT, hal.HAL_OUT) + self.hal_pin = self.HAL_GCOMP_.newpin(str(pname), hal.Type.REAL, hal.Dir.OUT) # connect a signal and callback function to the button self.doubleValueChanged.connect(self._action) diff --git a/lib/python/qtvcp/widgets/versa_probe.py b/lib/python/qtvcp/widgets/versa_probe.py index efa18563d06..8528226a3a3 100644 --- a/lib/python/qtvcp/widgets/versa_probe.py +++ b/lib/python/qtvcp/widgets/versa_probe.py @@ -234,17 +234,17 @@ def homed_on_test(): # make pins available for tool measure remaps oldname = self.HAL_GCOMP_.comp.getprefix() self.HAL_GCOMP_.comp.setprefix('qtversaprobe') - self.pin_svel = self.HAL_GCOMP_.newpin("searchvel", hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_svel = self.HAL_GCOMP_.newpin("searchvel", hal.Type.REAL, hal.Dir.OUT) self.pin_svel.set(float(self.input_search_vel.text())) - self.pin_pvel = self.HAL_GCOMP_.newpin("probevel", hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_pvel = self.HAL_GCOMP_.newpin("probevel", hal.Type.REAL, hal.Dir.OUT) self.pin_pvel.set(float(self.input_probe_vel.text())) - self.pin_pheight = self.HAL_GCOMP_.newpin("probeheight", hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_pheight = self.HAL_GCOMP_.newpin("probeheight", hal.Type.REAL, hal.Dir.OUT) self.pin_pheight.set(float(self.input_tool_probe_height.text())) - self.pin_bheight = self.HAL_GCOMP_.newpin("blockheight", hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_bheight = self.HAL_GCOMP_.newpin("blockheight", hal.Type.REAL, hal.Dir.OUT) self.pin_bheight.set(float(self.input_tool_block_height.text())) - self.pin_latch_rtn = self.HAL_GCOMP_.newpin("backoffdist", hal.HAL_FLOAT, hal.HAL_OUT) + self.pin_latch_rtn = self.HAL_GCOMP_.newpin("backoffdist", hal.Type.REAL, hal.Dir.OUT) self.pin_latch_rtn.set(float(self.input_latch_return_dist.text())) - self.probe_loaded = self.HAL_GCOMP_.newpin("probe-loaded", hal.HAL_BIT, hal.HAL_OUT) + self.probe_loaded = self.HAL_GCOMP_.newpin("probe-loaded", hal.Type.BOOL, hal.Dir.OUT) self.HAL_GCOMP_.comp.setprefix(oldname) # install callbacks to update HAL pins diff --git a/lib/python/vismach.py b/lib/python/vismach.py index 62f02aea446..7fd37958fcf 100644 --- a/lib/python/vismach.py +++ b/lib/python/vismach.py @@ -1550,7 +1550,7 @@ def main(model, tool, work, size=10, hud=0, rotation_vectors=None, lat=0, lon=0) t.after(100, lambda: t.set_viewangle(lat, lon, forcerotate=1)) vcomp = hal.component("vismach") - vcomp.newpin("plotclear",hal.HAL_BIT,hal.HAL_IN) + vcomp.newpin("plotclear",hal.Type.BOOL,hal.Dir.IN) vcomp.ready() #there's probably a better way of doing this diff --git a/share/gscreen/skins/silverdragon/silverdragon_handler.py b/share/gscreen/skins/silverdragon/silverdragon_handler.py index 3d08239aee7..e78c1a1db8c 100644 --- a/share/gscreen/skins/silverdragon/silverdragon_handler.py +++ b/share/gscreen/skins/silverdragon/silverdragon_handler.py @@ -326,18 +326,18 @@ def init_sensitive_all_homed(self): def initialize_pins(self): # pins for block height - self.halcomp.newpin("sensor_height", hal.HAL_FLOAT, hal.HAL_OUT) - pin = self.halcomp.newpin("block_height", hal.HAL_FLOAT, hal.HAL_OUT) + self.halcomp.newpin("sensor_height", hal.Type.REAL, hal.Dir.OUT) + pin = self.halcomp.newpin("block_height", hal.Type.REAL, hal.Dir.OUT) hal_glib.GPin(pin).connect("value_changed", self.on_blockheight_changed) self.halcomp["block_height"] = self.gscreen.prefs.getpref("blockheight", 0.0, float) # pins for probing - self.halcomp.newpin("search_vel", hal.HAL_FLOAT, hal.HAL_OUT) - self.halcomp.newpin("probe_vel", hal.HAL_FLOAT, hal.HAL_OUT) - self.halcomp.newpin("maxprobe", hal.HAL_FLOAT, hal.HAL_OUT) + self.halcomp.newpin("search_vel", hal.Type.REAL, hal.Dir.OUT) + self.halcomp.newpin("probe_vel", hal.Type.REAL, hal.Dir.OUT) + self.halcomp.newpin("maxprobe", hal.Type.REAL, hal.Dir.OUT) # pins for clear_mdi button - self.halcomp.newpin("clear_mdi", hal.HAL_BIT, hal.HAL_OUT) - pin = self.halcomp.newpin("clear_mdi-waiting", hal.HAL_BIT, hal.HAL_OUT) - pin = self.halcomp.newpin("clear_mdi-response", hal.HAL_BIT, hal.HAL_OUT) + self.halcomp.newpin("clear_mdi", hal.Type.BOOL, hal.Dir.OUT) + pin = self.halcomp.newpin("clear_mdi-waiting", hal.Type.BOOL, hal.Dir.OUT) + pin = self.halcomp.newpin("clear_mdi-response", hal.Type.BOOL, hal.Dir.OUT) hal_glib.GPin(pin).connect("value_changed", self.on_clear_mdi_changed) # every 100 milli seconds this gets called diff --git a/share/gscreen/skins/spartan/spartan_handler.py b/share/gscreen/skins/spartan/spartan_handler.py index a681cbf108f..258f986308d 100644 --- a/share/gscreen/skins/spartan/spartan_handler.py +++ b/share/gscreen/skins/spartan/spartan_handler.py @@ -110,16 +110,16 @@ def initialize_pins(self): self.gscreen.init_jog_pins() self.gscreen.init_override_pins() self.gscreen.init_control_pins() - self.gscreen.halcomp.newpin("spindle-spd-disp", hal.HAL_FLOAT, hal.HAL_IN) - self.gscreen.halcomp.newpin("jog-spd-out", hal.HAL_FLOAT, hal.HAL_OUT) - self.gscreen.halcomp.newpin("jog-inc-out", hal.HAL_FLOAT, hal.HAL_OUT) - self.data['ext-estop'] = hal_glib.GPin(self.gscreen.halcomp.newpin('ext-estop', hal.HAL_BIT, hal.HAL_IN)) + self.gscreen.halcomp.newpin("spindle-spd-disp", hal.Type.REAL, hal.Dir.IN) + self.gscreen.halcomp.newpin("jog-spd-out", hal.Type.REAL, hal.Dir.OUT) + self.gscreen.halcomp.newpin("jog-inc-out", hal.Type.REAL, hal.Dir.OUT) + self.data['ext-estop'] = hal_glib.GPin(self.gscreen.halcomp.newpin('ext-estop', hal.Type.BOOL, hal.Dir.IN)) self.data['ext-estop'].connect('value-changed', self.on_estop_in) - self.data['enc-fault-x'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-x', hal.HAL_BIT, hal.HAL_IN)) + self.data['enc-fault-x'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-x', hal.Type.BOOL, hal.Dir.IN)) self.data['enc-fault-x'].connect('value-changed', self.on_x_enc_fault) - self.data['enc-fault-y'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-y', hal.HAL_BIT, hal.HAL_IN)) + self.data['enc-fault-y'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-y', hal.Type.BOOL, hal.Dir.IN)) self.data['enc-fault-y'].connect('value-changed', self.on_y_enc_fault) - self.data['enc-fault-x'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-z', hal.HAL_BIT, hal.HAL_IN)) + self.data['enc-fault-x'] = hal_glib.GPin(self.gscreen.halcomp.newpin('enc-fault-z', hal.Type.BOOL, hal.Dir.IN)) self.data['enc-fault-x'].connect('value-changed', self.on_z_enc_fault) def on_emc_off(self,*args): diff --git a/share/qtvcp/panels/vismach_router_atc/vismach_router_atc_handler.py b/share/qtvcp/panels/vismach_router_atc/vismach_router_atc_handler.py index 20f62320160..9f5d3821b58 100644 --- a/share/qtvcp/panels/vismach_router_atc/vismach_router_atc_handler.py +++ b/share/qtvcp/panels/vismach_router_atc/vismach_router_atc_handler.py @@ -23,9 +23,9 @@ #import hal #c = hal.component("router_atc") -#c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -#c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -#c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) +#c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +#c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +#c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) #c.ready() diff --git a/src/emc/usr_intf/axis/scripts/tracking-test.py b/src/emc/usr_intf/axis/scripts/tracking-test.py index 0fbc7695a80..d7e0d2244a5 100755 --- a/src/emc/usr_intf/axis/scripts/tracking-test.py +++ b/src/emc/usr_intf/axis/scripts/tracking-test.py @@ -15,18 +15,18 @@ compname = "tracking-test" c = hal.component(compname) #declare hal pins here -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis0", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis1", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis2", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis3", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis4", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis5", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/src/emc/usr_intf/mdro/mdro.py b/src/emc/usr_intf/mdro/mdro.py index e1ac9c3a635..f0848ca4136 100755 --- a/src/emc/usr_intf/mdro/mdro.py +++ b/src/emc/usr_intf/mdro/mdro.py @@ -34,10 +34,10 @@ def __init__(self): self.h = hal.component("mdro") self.pins = ["axis."+str(p) for p in range(params["naxes"])] for pin in self.pins: - self.h.newpin(pin, hal.HAL_FLOAT, hal.HAL_IN) + self.h.newpin(pin, hal.Type.REAL, hal.Dir.IN) self.indexes = ["index-enable."+str(p) for p in range(params["naxes"])] for pin in self.indexes: - self.h.newpin(pin, hal.HAL_BIT, hal.HAL_IO) + self.h.newpin(pin, hal.Type.BOOL, hal.Dir.IO) self.h.ready() if params["verbose"]: print("Linuxcnc interface up") diff --git a/src/hal/user_comps/mitsub_vfd.py b/src/hal/user_comps/mitsub_vfd.py index 8d0d6914686..dff04f6718d 100644 --- a/src/hal/user_comps/mitsub_vfd.py +++ b/src/hal/user_comps/mitsub_vfd.py @@ -69,34 +69,34 @@ def __init__(self,vfd_names=[['mitsub_vfd','00']],baudrate=9600,port='/dev/ttyUS for index,name in enumerate(self.comp_names): #print index,' NAME:',name[0],' SLAVE:',name[1] c = hal.component(name[0]) - c.newpin("fwd", hal.HAL_BIT, hal.HAL_IN) - c.newpin("run", hal.HAL_BIT, hal.HAL_IN) - c.newpin("up-to-speed", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("alarm", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("debug", hal.HAL_BIT, hal.HAL_IN) - c.newpin("monitor", hal.HAL_BIT, hal.HAL_IN) - c.newpin("motor-cmd", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("motor-fb", hal.HAL_FLOAT, hal.HAL_OUT) - c.newpin("motor-amps", hal.HAL_FLOAT, hal.HAL_OUT) - c.newpin("motor-volts", hal.HAL_FLOAT, hal.HAL_OUT) - c.newpin("motor-power", hal.HAL_FLOAT, hal.HAL_OUT) - c.newpin("motor-user", hal.HAL_FLOAT, hal.HAL_OUT) - c.newpin("scale-cmd", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("scale-fb", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("scale-amps", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("scale-volts", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("scale-power", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("scale-user", hal.HAL_FLOAT, hal.HAL_IN) - c.newpin("estop", hal.HAL_BIT, hal.HAL_IN) - c.newpin("reset-on-estop", hal.HAL_BIT, hal.HAL_IN) - c.newpin("stat-bit-0", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-1", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-2", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-3", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-4", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-5", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-6", hal.HAL_BIT, hal.HAL_OUT) - c.newpin("stat-bit-7", hal.HAL_BIT, hal.HAL_OUT) + c.newpin("fwd", hal.Type.BOOL, hal.Dir.IN) + c.newpin("run", hal.Type.BOOL, hal.Dir.IN) + c.newpin("up-to-speed", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("alarm", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("debug", hal.Type.BOOL, hal.Dir.IN) + c.newpin("monitor", hal.Type.BOOL, hal.Dir.IN) + c.newpin("motor-cmd", hal.Type.REAL, hal.Dir.IN) + c.newpin("motor-fb", hal.Type.REAL, hal.Dir.OUT) + c.newpin("motor-amps", hal.Type.REAL, hal.Dir.OUT) + c.newpin("motor-volts", hal.Type.REAL, hal.Dir.OUT) + c.newpin("motor-power", hal.Type.REAL, hal.Dir.OUT) + c.newpin("motor-user", hal.Type.REAL, hal.Dir.OUT) + c.newpin("scale-cmd", hal.Type.REAL, hal.Dir.IN) + c.newpin("scale-fb", hal.Type.REAL, hal.Dir.IN) + c.newpin("scale-amps", hal.Type.REAL, hal.Dir.IN) + c.newpin("scale-volts", hal.Type.REAL, hal.Dir.IN) + c.newpin("scale-power", hal.Type.REAL, hal.Dir.IN) + c.newpin("scale-user", hal.Type.REAL, hal.Dir.IN) + c.newpin("estop", hal.Type.BOOL, hal.Dir.IN) + c.newpin("reset-on-estop", hal.Type.BOOL, hal.Dir.IN) + c.newpin("stat-bit-0", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-1", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-2", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-3", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-4", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-5", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-6", hal.Type.BOOL, hal.Dir.OUT) + c.newpin("stat-bit-7", hal.Type.BOOL, hal.Dir.OUT) # set reasonable defaults c['scale-cmd'] = 1 c['scale-fb'] = 1 diff --git a/src/hal/user_comps/pmx485.py b/src/hal/user_comps/pmx485.py index 6c7796f0be7..15e1d2a512d 100644 --- a/src/hal/user_comps/pmx485.py +++ b/src/hal/user_comps/pmx485.py @@ -46,20 +46,20 @@ # create pmx485 component try: pmx485 = hal.component('pmx485') - pmx485.newpin('mode_set', hal.HAL_FLOAT, hal.HAL_IN) #set cutting mode - pmx485.newpin('current_set', hal.HAL_FLOAT, hal.HAL_IN) #set cutting current - pmx485.newpin('pressure_set', hal.HAL_FLOAT, hal.HAL_IN) #set gas pressure - pmx485.newpin('enable', hal.HAL_BIT, hal.HAL_IN) #enabler - pmx485.newpin('mode', hal.HAL_FLOAT, hal.HAL_OUT) #cut mode feedback - pmx485.newpin('current', hal.HAL_FLOAT, hal.HAL_OUT) #cutting current feedback - pmx485.newpin('pressure', hal.HAL_FLOAT, hal.HAL_OUT) #gas pressure feedback - pmx485.newpin('fault', hal.HAL_FLOAT, hal.HAL_OUT) #fault code - pmx485.newpin('status', hal.HAL_BIT, hal.HAL_OUT) #connection status out - pmx485.newpin('current_min', hal.HAL_FLOAT, hal.HAL_OUT) #minimum allowed current - pmx485.newpin('current_max', hal.HAL_FLOAT, hal.HAL_OUT) #maximum allowed current - pmx485.newpin('pressure_min', hal.HAL_FLOAT, hal.HAL_OUT) #minimum allowed gas pressure - pmx485.newpin('pressure_max', hal.HAL_FLOAT, hal.HAL_OUT) #maximum allowed gas pressure - pmx485.newpin('arcTime', hal.HAL_FLOAT, hal.HAL_OUT) #arc on time feedback + pmx485.newpin('mode_set', hal.Type.REAL, hal.Dir.IN) #set cutting mode + pmx485.newpin('current_set', hal.Type.REAL, hal.Dir.IN) #set cutting current + pmx485.newpin('pressure_set', hal.Type.REAL, hal.Dir.IN) #set gas pressure + pmx485.newpin('enable', hal.Type.BOOL, hal.Dir.IN) #enabler + pmx485.newpin('mode', hal.Type.REAL, hal.Dir.OUT) #cut mode feedback + pmx485.newpin('current', hal.Type.REAL, hal.Dir.OUT) #cutting current feedback + pmx485.newpin('pressure', hal.Type.REAL, hal.Dir.OUT) #gas pressure feedback + pmx485.newpin('fault', hal.Type.REAL, hal.Dir.OUT) #fault code + pmx485.newpin('status', hal.Type.BOOL, hal.Dir.OUT) #connection status out + pmx485.newpin('current_min', hal.Type.REAL, hal.Dir.OUT) #minimum allowed current + pmx485.newpin('current_max', hal.Type.REAL, hal.Dir.OUT) #maximum allowed current + pmx485.newpin('pressure_min', hal.Type.REAL, hal.Dir.OUT) #minimum allowed gas pressure + pmx485.newpin('pressure_max', hal.Type.REAL, hal.Dir.OUT) #maximum allowed gas pressure + pmx485.newpin('arcTime', hal.Type.REAL, hal.Dir.OUT) #arc on time feedback pmx485.ready() except: print('\nERROR: pmx485 component could not be initialized\n') diff --git a/src/hal/user_comps/vismach/5axisgui.py b/src/hal/user_comps/vismach/5axisgui.py index 0366112c4f7..d5fe64fef4e 100755 --- a/src/hal/user_comps/vismach/5axisgui.py +++ b/src/hal/user_comps/vismach/5axisgui.py @@ -79,14 +79,14 @@ def coords(self): return -self.comp.tool_length, r, 0, r c = hal.component("5axisgui") -c.newpin("jx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jy", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jb", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jc", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diam", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pivot_len", hal.HAL_FLOAT, hal.HAL_OUT) +c.newpin("jx", hal.Type.REAL, hal.Dir.IN) +c.newpin("jy", hal.Type.REAL, hal.Dir.IN) +c.newpin("jz", hal.Type.REAL, hal.Dir.IN) +c.newpin("jb", hal.Type.REAL, hal.Dir.IN) +c.newpin("jc", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diam", hal.Type.REAL, hal.Dir.IN) +c.newpin("pivot_len", hal.Type.REAL, hal.Dir.OUT) c["pivot_len"] = pivot_len c.ready() diff --git a/src/hal/user_comps/vismach/hbmgui.py b/src/hal/user_comps/vismach/hbmgui.py index 55f423c1136..0a3dcaf580f 100755 --- a/src/hal/user_comps/vismach/hbmgui.py +++ b/src/hal/user_comps/vismach/hbmgui.py @@ -74,13 +74,13 @@ def coords(self): c = hal.component("hbmgui") # HAL pins -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("saddle", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("quill", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) +c.newpin("saddle", hal.Type.REAL, hal.Dir.IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) +c.newpin("quill", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() tool_radius=0.5 diff --git a/src/hal/user_comps/vismach/hexagui.py b/src/hal/user_comps/vismach/hexagui.py index 36429fa899a..cba5d8b015a 100755 --- a/src/hal/user_comps/vismach/hexagui.py +++ b/src/hal/user_comps/vismach/hexagui.py @@ -52,20 +52,20 @@ def popupmsg(): #if(randomize): compname += str(random.randrange(0,10000)) c = hal.component(compname) #declare hal pins here -c.newpin("joint.0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint.5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint.0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint.5", hal.Type.REAL, hal.Dir.IN) #get the tool tip position in cartesian coordinates from emc #so we dont have to do kinematics -c.newpin("axis.x", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.y", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.z", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.a", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.b", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("axis.c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis.x", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.y", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.z", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.a", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.b", hal.Type.REAL, hal.Dir.IN) +c.newpin("axis.c", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/src/hal/user_comps/vismach/lineardelta.py b/src/hal/user_comps/vismach/lineardelta.py index b1b7377903c..2b0638258f0 100644 --- a/src/hal/user_comps/vismach/lineardelta.py +++ b/src/hal/user_comps/vismach/lineardelta.py @@ -59,12 +59,12 @@ def popupmsg(): for setting in sys.argv[1:]: exec(setting) c = hal.component("lineardelta") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("R", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("L", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("R", hal.Type.REAL, hal.Dir.IN) +c.newpin("L", hal.Type.REAL, hal.Dir.IN) c['R'], c['L'] = lineardeltakins.get_geometry() c.ready() diff --git a/src/hal/user_comps/vismach/maho600gui.py b/src/hal/user_comps/vismach/maho600gui.py index 14bc2ab1842..62835735e7a 100755 --- a/src/hal/user_comps/vismach/maho600gui.py +++ b/src/hal/user_comps/vismach/maho600gui.py @@ -69,19 +69,19 @@ def coords(self): c = hal.component("maho600gui") # table -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) # full width ways that table rides one # this assembly moves up and down for Y -c.newpin("tableway", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tableway", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) # head tilt -c.newpin("arotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("arotate", hal.Type.REAL, hal.Dir.IN) # rotary table -c.newpin("brotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("brotate", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() pivot_len=100 diff --git a/src/hal/user_comps/vismach/max5gui.py b/src/hal/user_comps/vismach/max5gui.py index f020299cc66..46e6d4c7a35 100755 --- a/src/hal/user_comps/vismach/max5gui.py +++ b/src/hal/user_comps/vismach/max5gui.py @@ -69,18 +69,18 @@ def coords(self): c = hal.component("max5gui") # table -c.newpin("table", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table", hal.Type.REAL, hal.Dir.IN) # saddle -c.newpin("saddle", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("head", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("head", hal.Type.REAL, hal.Dir.IN) # head tilt -c.newpin("tilt", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt", hal.Type.REAL, hal.Dir.IN) # rotary table -c.newpin("rotate", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate", hal.Type.REAL, hal.Dir.IN) -c.newpin("tool-length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-radius", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-radius", hal.Type.REAL, hal.Dir.IN) c.ready() pivot_len=100 diff --git a/src/hal/user_comps/vismach/melfagui.py b/src/hal/user_comps/vismach/melfagui.py index 479f1c6cdc2..058bd545fa0 100755 --- a/src/hal/user_comps/vismach/melfagui.py +++ b/src/hal/user_comps/vismach/melfagui.py @@ -41,15 +41,15 @@ def popupmsg(): import hal c = hal.component("melfagui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("lnkdx", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("lnkdz", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("grip", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) +c.newpin("lnkdx", hal.Type.REAL, hal.Dir.IN) +c.newpin("lnkdz", hal.Type.REAL, hal.Dir.IN) +c.newpin("grip", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/src/hal/user_comps/vismach/millturngui.py b/src/hal/user_comps/vismach/millturngui.py index fa822699cde..a376035a1f6 100755 --- a/src/hal/user_comps/vismach/millturngui.py +++ b/src/hal/user_comps/vismach/millturngui.py @@ -57,18 +57,18 @@ def popupmsg(): # in this file, and uncomment last line in HAL file. # add joints. Mill has 3. c = hal.component("millturngui") -c.newpin("jointX", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointY", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointZ", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("jointA", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("jointX", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointY", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointZ", hal.Type.REAL, hal.Dir.IN) +c.newpin("jointA", hal.Type.REAL, hal.Dir.IN) # kinematics pins -c.newpin("millkins", hal.HAL_BIT, hal.HAL_IN) +c.newpin("millkins", hal.Type.BOOL, hal.Dir.IN) # tool length and diameter pins? -c.newpin("toollength", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tooldiameter", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-x-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("toollength", hal.Type.REAL, hal.Dir.IN) +c.newpin("tooldiameter", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-x-offset", hal.Type.REAL, hal.Dir.IN) # tells loadusr pins is ready c.ready() diff --git a/src/hal/user_comps/vismach/puma560gui.py b/src/hal/user_comps/vismach/puma560gui.py index bdd9affb243..87b265bf2fa 100755 --- a/src/hal/user_comps/vismach/puma560gui.py +++ b/src/hal/user_comps/vismach/puma560gui.py @@ -57,13 +57,13 @@ def popupmsg(): import hal c = hal.component("puma560gui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("grip", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) +c.newpin("grip", hal.Type.REAL, hal.Dir.IN) c.ready() diff --git a/src/hal/user_comps/vismach/pumagui.py b/src/hal/user_comps/vismach/pumagui.py index 05399be4fac..40cf0b15273 100755 --- a/src/hal/user_comps/vismach/pumagui.py +++ b/src/hal/user_comps/vismach/pumagui.py @@ -79,12 +79,12 @@ def popupmsg(): import hal c = hal.component("pumagui") -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint6", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint6", hal.Type.REAL, hal.Dir.IN) c.ready() ################### diff --git a/src/hal/user_comps/vismach/rotarydelta.py b/src/hal/user_comps/vismach/rotarydelta.py index da1beee2f31..d27e5d9c14a 100755 --- a/src/hal/user_comps/vismach/rotarydelta.py +++ b/src/hal/user_comps/vismach/rotarydelta.py @@ -59,13 +59,13 @@ def popupmsg(): for setting in sys.argv[1:]: exec(setting) c = hal.component("rotarydelta") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("pfr", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tl", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("sl", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("fr", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("pfr", hal.Type.REAL, hal.Dir.IN) +c.newpin("tl", hal.Type.REAL, hal.Dir.IN) +c.newpin("sl", hal.Type.REAL, hal.Dir.IN) +c.newpin("fr", hal.Type.REAL, hal.Dir.IN) c['pfr'], c['tl'], c['sl'], c['fr'] = rotarydeltakins.get_geometry() c.ready() diff --git a/src/hal/user_comps/vismach/scaragui.py b/src/hal/user_comps/vismach/scaragui.py index 5a0082ea5c4..4a38f2c8cb2 100755 --- a/src/hal/user_comps/vismach/scaragui.py +++ b/src/hal/user_comps/vismach/scaragui.py @@ -56,12 +56,12 @@ def popupmsg(): import sys c = hal.component("scaragui") -c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint3", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint4", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("joint5", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("joint0", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint1", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint2", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint3", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint4", hal.Type.REAL, hal.Dir.IN) +c.newpin("joint5", hal.Type.REAL, hal.Dir.IN) c.ready() # parameters that define the geometry see scarakins.c for definitions these diff --git a/src/hal/user_comps/vismach/xyzab-tdr-gui.py b/src/hal/user_comps/vismach/xyzab-tdr-gui.py index c70ca7c477b..1f62874dd9f 100644 --- a/src/hal/user_comps/vismach/xyzab-tdr-gui.py +++ b/src/hal/user_comps/vismach/xyzab-tdr-gui.py @@ -66,26 +66,26 @@ def popupmsg(): c = hal.component("xyzab-tdr-gui") # axis-x -c.newpin("axis-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-x", hal.Type.REAL, hal.Dir.IN) # axis-y -c.newpin("axis-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-y", hal.Type.REAL, hal.Dir.IN) # axis-z -c.newpin("axis-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("axis-z", hal.Type.REAL, hal.Dir.IN) # rotary_a -c.newpin("rotary-a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary-a", hal.Type.REAL, hal.Dir.IN) # rotary_b -c.newpin("rotary-b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotary-b", hal.Type.REAL, hal.Dir.IN) # geometric offsets between A and B axes -c.newpin("x_offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z_offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("x_offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("z_offset", hal.Type.REAL, hal.Dir.IN) # rot-point offsets -c.newpin("x-rot-point", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("y-rot-point", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-rot-point", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("x-rot-point", hal.Type.REAL, hal.Dir.IN) +c.newpin("y-rot-point", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-rot-point", hal.Type.REAL, hal.Dir.IN) # tool-length offset # tool offsets -c.newpin("tool_length", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool_diameter", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool_length", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool_diameter", hal.Type.REAL, hal.Dir.IN) c.ready() # These values are arbitrary and are meant to simulate an absolute diff --git a/src/hal/user_comps/vismach/xyzac-trt-gui.py b/src/hal/user_comps/vismach/xyzac-trt-gui.py index 3e7c5fcb879..021dd2e2a1c 100755 --- a/src/hal/user_comps/vismach/xyzac-trt-gui.py +++ b/src/hal/user_comps/vismach/xyzac-trt-gui.py @@ -63,19 +63,19 @@ def popupmsg(): c = hal.component("xyzac-trt-gui") # table-x -c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table-x", hal.Type.REAL, hal.Dir.IN) # saddle-y -c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.Type.REAL, hal.Dir.IN) # table-x tilt-b -c.newpin("tilt-a", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-a", hal.Type.REAL, hal.Dir.IN) # rotary table-x -c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.Type.REAL, hal.Dir.IN) # offsets -c.newpin("y-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("y-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-offset", hal.Type.REAL, hal.Dir.IN) c.ready() for setting in sys.argv[1:]: exec(setting) diff --git a/src/hal/user_comps/vismach/xyzbc-trt-gui.py b/src/hal/user_comps/vismach/xyzbc-trt-gui.py index 0804a29ed2b..a6185242331 100755 --- a/src/hal/user_comps/vismach/xyzbc-trt-gui.py +++ b/src/hal/user_comps/vismach/xyzbc-trt-gui.py @@ -62,18 +62,18 @@ def popupmsg(): c = hal.component("xyzbc-trt-gui") # table-x -c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("table-x", hal.Type.REAL, hal.Dir.IN) # saddle-y -c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.Type.REAL, hal.Dir.IN) # head vertical slide -c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.Type.REAL, hal.Dir.IN) # table-x tilt-b -c.newpin("tilt-b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-b", hal.Type.REAL, hal.Dir.IN) # rotary table-x -c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("x-offset", hal.HAL_FLOAT, hal.HAL_IN) -c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.Type.REAL, hal.Dir.IN) +c.newpin("z-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("x-offset", hal.Type.REAL, hal.Dir.IN) +c.newpin("tool-offset", hal.Type.REAL, hal.Dir.IN) c.ready() for setting in sys.argv[1:]: exec(setting) diff --git a/tests/abort/on_abort_command-crazy-move/test-ui.py b/tests/abort/on_abort_command-crazy-move/test-ui.py index 85a5e32255d..0fd8c1dc559 100755 --- a/tests/abort/on_abort_command-crazy-move/test-ui.py +++ b/tests/abort/on_abort_command-crazy-move/test-ui.py @@ -27,8 +27,8 @@ # Create and connect test feedback comp # h = hal.component("test-ui") -h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN) +h.newpin("Xpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Ypos", hal.Type.REAL, hal.Dir.IN) h.ready() os.system("halcmd source ./postgui.hal") diff --git a/tests/abort/stop-button-crazy-move/test-ui.py b/tests/abort/stop-button-crazy-move/test-ui.py index 897c56e4926..839940e1e26 100755 --- a/tests/abort/stop-button-crazy-move/test-ui.py +++ b/tests/abort/stop-button-crazy-move/test-ui.py @@ -26,8 +26,8 @@ # Create and connect test feedback comp # h = hal.component("test-ui") -h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN) +h.newpin("Xpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Ypos", hal.Type.REAL, hal.Dir.IN) h.ready() os.system("halcmd source ./postgui.hal") diff --git a/tests/classicladder/estop/classicladder-estop-ui.py b/tests/classicladder/estop/classicladder-estop-ui.py index 3f0f0ee859e..a579bb3b5d0 100755 --- a/tests/classicladder/estop/classicladder-estop-ui.py +++ b/tests/classicladder/estop/classicladder-estop-ui.py @@ -23,7 +23,7 @@ def wait_for_hal_pin(name, value, timeout=10): retval = 0 h = hal.component("python-ui") -h.newpin("ext-estop-button", hal.HAL_BIT, hal.HAL_OUT) +h.newpin("ext-estop-button", hal.Type.BOOL, hal.Dir.OUT) h.ready() # mark the component as 'ready' hal.connect('python-ui.ext-estop-button', 'ext-estop') diff --git a/tests/halui/jogging/test-ui.py b/tests/halui/jogging/test-ui.py index 858f38df542..53a61b25606 100755 --- a/tests/halui/jogging/test-ui.py +++ b/tests/halui/jogging/test-ui.py @@ -174,38 +174,38 @@ def jog_joint(joint_number, target): h = hal.component("python-ui") -h.newpin("joint-0-home", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-0-homed", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-0-select", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-0-selected", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-0-position", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-0-velocity", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-0-jog-plus", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-0-jog-minus", hal.HAL_BIT, hal.HAL_OUT) - -h.newpin("joint-1-home", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-1-homed", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-1-select", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-1-selected", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-1-position", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-1-velocity", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-1-jog-plus", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-1-jog-minus", hal.HAL_BIT, hal.HAL_OUT) - -h.newpin("joint-2-home", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-2-homed", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-2-select", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-2-selected", hal.HAL_BIT, hal.HAL_IN) -h.newpin("joint-2-position", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-2-velocity", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-2-jog-plus", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("joint-2-jog-minus", hal.HAL_BIT, hal.HAL_OUT) - -h.newpin("jog-selected-minus", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("jog-selected-plus", hal.HAL_BIT, hal.HAL_OUT) - -h.newpin("motion-mode-joint", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("motion-mode-is-joint", hal.HAL_BIT, hal.HAL_IN) +h.newpin("joint-0-home", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-0-homed", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-0-select", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-0-selected", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-0-position", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-0-velocity", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-0-jog-plus", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-0-jog-minus", hal.Type.BOOL, hal.Dir.OUT) + +h.newpin("joint-1-home", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-1-homed", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-1-select", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-1-selected", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-1-position", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-1-velocity", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-1-jog-plus", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-1-jog-minus", hal.Type.BOOL, hal.Dir.OUT) + +h.newpin("joint-2-home", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-2-homed", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-2-select", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-2-selected", hal.Type.BOOL, hal.Dir.IN) +h.newpin("joint-2-position", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-2-velocity", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-2-jog-plus", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("joint-2-jog-minus", hal.Type.BOOL, hal.Dir.OUT) + +h.newpin("jog-selected-minus", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("jog-selected-plus", hal.Type.BOOL, hal.Dir.OUT) + +h.newpin("motion-mode-joint", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("motion-mode-is-joint", hal.Type.BOOL, hal.Dir.IN) h.ready() # mark the component as 'ready' diff --git a/tests/halui/mdi/test-ui.py b/tests/halui/mdi/test-ui.py index 81afb4fd342..296db4b1d62 100755 --- a/tests/halui/mdi/test-ui.py +++ b/tests/halui/mdi/test-ui.py @@ -77,18 +77,18 @@ def wait_for_halui_mode(pin_name): h = hal.component("python-ui") -h.newpin("mdi-0", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("mdi-1", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("mdi-2", hal.HAL_BIT, hal.HAL_OUT) -h.newpin("mdi-3", hal.HAL_BIT, hal.HAL_OUT) - -h.newpin("joint-0-position", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-1-position", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("joint-2-position", hal.HAL_FLOAT, hal.HAL_IN) - -h.newpin("is-manual", hal.HAL_BIT, hal.HAL_IN) -h.newpin("is-auto", hal.HAL_BIT, hal.HAL_IN) -h.newpin("is-mdi", hal.HAL_BIT, hal.HAL_IN) +h.newpin("mdi-0", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("mdi-1", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("mdi-2", hal.Type.BOOL, hal.Dir.OUT) +h.newpin("mdi-3", hal.Type.BOOL, hal.Dir.OUT) + +h.newpin("joint-0-position", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-1-position", hal.Type.REAL, hal.Dir.IN) +h.newpin("joint-2-position", hal.Type.REAL, hal.Dir.IN) + +h.newpin("is-manual", hal.Type.BOOL, hal.Dir.IN) +h.newpin("is-auto", hal.Type.BOOL, hal.Dir.IN) +h.newpin("is-mdi", hal.Type.BOOL, hal.Dir.IN) h.ready() # mark the component as 'ready' diff --git a/tests/hard-limits/test-ui.py b/tests/hard-limits/test-ui.py index 61b1ffab036..a43181ed4c4 100755 --- a/tests/hard-limits/test-ui.py +++ b/tests/hard-limits/test-ui.py @@ -48,7 +48,7 @@ def assert_wait_complete(command): # comp = hal.component("test-ui") -comp.newpin("x-neg-lim-sw", hal.HAL_BIT, hal.HAL_OUT) +comp.newpin("x-neg-lim-sw", hal.Type.BOOL, hal.Dir.OUT) comp.ready() hal.connect('test-ui.x-neg-lim-sw', 'x-neg-lim-sw') diff --git a/tests/mdi-queue-length/test-ui.py b/tests/mdi-queue-length/test-ui.py index 44ddaeef741..5d966f4eeac 100755 --- a/tests/mdi-queue-length/test-ui.py +++ b/tests/mdi-queue-length/test-ui.py @@ -61,11 +61,11 @@ def wait_for_mdi_queue(queue_len, timeout=10): h = hal.component("test-ui") -h.newpin("digital-poker", hal.HAL_BIT, hal.HAL_OUT) +h.newpin("digital-poker", hal.Type.BOOL, hal.Dir.OUT) h['digital-poker'] = False h.ready() -hal.new_sig('poke', hal.HAL_BIT) +hal.new_sig('poke', hal.Type.BOOL) hal.connect('motion.digital-in-00', 'poke') hal.connect('test-ui.digital-poker', 'poke') diff --git a/tests/motion-logger/basic/test-ui.py b/tests/motion-logger/basic/test-ui.py index d1135170f67..21da4c2bd47 100755 --- a/tests/motion-logger/basic/test-ui.py +++ b/tests/motion-logger/basic/test-ui.py @@ -12,7 +12,7 @@ import re comp = hal.component("test-ui") -comp.newpin("reopen-log", hal.HAL_BIT, hal.HAL_IO) +comp.newpin("reopen-log", hal.Type.BOOL, hal.Dir.IO) comp.ready() os.system("halcmd net reopen-log test-ui.reopen-log motion-logger.reopen-log") diff --git a/tests/remap/remap-io/test-ui.py b/tests/remap/remap-io/test-ui.py index 65640490d6f..c96923b1124 100755 --- a/tests/remap/remap-io/test-ui.py +++ b/tests/remap/remap-io/test-ui.py @@ -5,10 +5,10 @@ # Set up pins h = hal.component("test-ui") -h.newpin('d_out', hal.HAL_BIT, hal.HAL_IN) # pin for reading digital out -h.newpin('a_out', hal.HAL_FLOAT, hal.HAL_IN) # pin for reading analog out -h.newpin('d_in', hal.HAL_BIT, hal.HAL_OUT) # pin for setting digital in -h.newpin('a_in', hal.HAL_FLOAT, hal.HAL_OUT) # pin for setting analog in +h.newpin('d_out', hal.Type.BOOL, hal.Dir.IN) # pin for reading digital out +h.newpin('a_out', hal.Type.REAL, hal.Dir.IN) # pin for reading analog out +h.newpin('d_in', hal.Type.BOOL, hal.Dir.OUT) # pin for setting digital in +h.newpin('a_in', hal.Type.REAL, hal.Dir.OUT) # pin for setting analog in h.ready() # mark the component as 'ready' os.system('halcmd source postgui.hal') # Net above pins to motion I/O pins diff --git a/tests/single-step/test-ui.py b/tests/single-step/test-ui.py index aaac15a8f93..00855f3ff7b 100755 --- a/tests/single-step/test-ui.py +++ b/tests/single-step/test-ui.py @@ -21,10 +21,10 @@ # Create and connect test feedback comp # h = hal.component("test-ui") -h.newpin("Xpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Ypos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("Zpos", hal.HAL_FLOAT, hal.HAL_IN) -h.newpin("counter", hal.HAL_FLOAT, hal.HAL_IN) +h.newpin("Xpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Ypos", hal.Type.REAL, hal.Dir.IN) +h.newpin("Zpos", hal.Type.REAL, hal.Dir.IN) +h.newpin("counter", hal.Type.REAL, hal.Dir.IN) h.ready() os.system("halcmd source ./postgui.hal")