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Merged
grandixximo merged 1 commit into from
Sep 15, 2026
Merged

hal: Update use of floating point and boolean HAL type names #4541

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2 changes: 1 addition & 1 deletion configs/apps/gladevcp/class-callback/class_callback.py
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Expand Up @@ -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
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8 changes: 4 additions & 4 deletions configs/by_interface/mesa/hm2-modbus/waveshare-modbus-rtu-relay-d.mbccs
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Expand Up @@ -41,9 +41,9 @@
<command device="wavebox" function="R_INPUTS" address="0x0000" count="8" name="switch" />
<!-- Gives us the following pins:
- Eight switch inputs on the box are HAL output pins
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BIT)
* hm2_modbus.0.wavebox.switch-00 (out, HAL_BOOL)
* ...
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BIT)
* hm2_modbus.0.wavebox.switch-07 (out, HAL_BOOL)
-->

<!--
Expand All @@ -56,9 +56,9 @@
<command device="wavebox" function="W_COILS" address="0x0000" count="8" name="relay" />
<!-- Gives us the following pins:
- Eight relay outputs on the box are HAL input pins
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BIT)
* hm2_modbus.0.wavebox.relay-00 (in, HAL_BOOL)
* ...
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BIT)
* hm2_modbus.0.wavebox.relay-07 (in, HAL_BOOL)
-->
</commands>
</mesamodbus>
8 changes: 4 additions & 4 deletions configs/by_machine/scorbot-er-3/pyvcp.xml
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Expand Up @@ -2,7 +2,7 @@
<pyvcp>
<vbox>

<label><text>"These widgets indicate a HAL_BIT"</text></label>
<label><text>"These widgets indicate a HAL_BOOL"</text></label>
<hbox>
<label><text>"LED:"</text></label>
<led>
Expand All @@ -11,7 +11,7 @@
</led>
</hbox>

<label><text>"These widgets control a HAL_BIT"</text></label>
<label><text>"These widgets control a HAL_BOOL"</text></label>
<vbox>
<hbox>
<label><text>"Button"</text></label>
Expand All @@ -29,7 +29,7 @@
</hbox>
</vbox>

<label><text>"These widgets indicate a HAL_FLOAT"</text></label>
<label><text>"These widgets indicate a HAL_REAL"</text></label>
<vbox>

<hbox>
Expand All @@ -48,7 +48,7 @@
</hbox>
</vbox>

<label><text>"These widgets control a HAL_FLOAT"</text></label>
<label><text>"These widgets control a HAL_REAL"</text></label>
<vbox>
<hbox>
<label><text>"Scale:"</text></label>
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2 changes: 1 addition & 1 deletion configs/sim/axis/gladevcp/meter_scale.py
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Expand Up @@ -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"))
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2 changes: 1 addition & 1 deletion configs/sim/axis/plasma/plasmac2/lib/conversational.py
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion configs/sim/axis/plasma/plasmac2/lib/custom/user_hal.py
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@@ -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)
2 changes: 1 addition & 1 deletion configs/sim/axis/plasma/plasmac2/lib/sim/sim_panel.py
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Expand Up @@ -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'):
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4 changes: 2 additions & 2 deletions configs/sim/axis/plasma/user_hal.py
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Expand Up @@ -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)
2 changes: 1 addition & 1 deletion configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/python/gladevcp-handler.py
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Expand Up @@ -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)]
10 changes: 5 additions & 5 deletions configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial
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Expand Up @@ -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()
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16 changes: 8 additions & 8 deletions configs/sim/axis/vismach/5axis/bridgemill/5axisgui.py
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Expand Up @@ -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()

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14 changes: 7 additions & 7 deletions configs/sim/axis/vismach/5axis/max5/max5gui.py
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Expand Up @@ -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
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24 changes: 12 additions & 12 deletions configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-gui.py
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Expand Up @@ -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
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16 changes: 8 additions & 8 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-gui.py
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Expand Up @@ -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)
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16 changes: 8 additions & 8 deletions configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt-gui.py
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Expand Up @@ -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)
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56 changes: 28 additions & 28 deletions ...igs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/python/twp-helper-comp.py
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Expand Up @@ -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()

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