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configs/sim/axis/external_offsets/eoffsets_monitor.tcl

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+#!/usr/bin/tclsh
+# script to ensure e:[xyz]counts are zero if machine off
+
+package require Hal
+set ::prog [file tail [info script]]
+set ::periodic_delay_ms 200
+
+proc monitor_ecounts {} {
+  catch {after cancel $::a_id}
+  if {   ![hal getp halui.machine.is-on]
+      && (   0 != [hal gets e:xcounts]
+          || 0 != [hal gets e:ycounts]
+          || 0 != [hal gets e:zcounts]) } {
+    # handle deferred connection to signal
+    if [catch { hal sets e:xcounts 0
+                hal sets e:ycounts 0
+                hal sets e:zcounts 0
+              } msg] {
+       puts stderr msg=$msg
+       puts stderr "$::prog exiting"
+       exit 1
+    }
+  }
+  set ::a_id [after $::periodic_delay_ms monitor_ecounts]
+}
+monitor_ecounts
+vwait ::forever