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configs/sim/axis/twopass/README

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+TWOPASS demo
+
+Twopass processing of hal files allows multiple specifications for component loadrt lines.
+
+To enable twopass processing:
+
+[HAL]
+TWOPASS = on,verbose
+
+
+For debugging, use:
+TWOPASS = on,verbose,nodelete
+
+
+The verbose option increases output to stdout.
+The nodelete option prevents removal of temporary files.

configs/sim/axis/twopass/load_for_postgui.hal

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+# Example for twopass processing when using a postgui halfile
+# loadrt components needed in postgui halfile here
+
+loadrt hypot names=vel_xz,vel_yz

configs/sim/axis/twopass/postgui.hal

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+# Example of postgui commands with twopass processing
+
+# Note: the loadrt for the components are done
+# in the load_for_postgui.hal before the gui is loaded.
+
+addf vel_xz servo-thread
+addf vel_yz servo-thread
+
+net  Xvel => vel_xz.in0
+net  Yvel => vel_yz.in0
+net  Zvel => vel_xz.in1 vel_yz.in1
+
+net XZvel <= vel_xz.out
+net YZvel <= vel_yz.out
+
+show signal Zvel

configs/sim/axis/twopass/sim.tbl

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+../../sim.tbl

configs/sim/axis/twopass/twopass.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = SIM-AXIS-TWOPASS
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+TOOL_EDITOR = tooledit
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD  = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+# options available are: on,verbose,nodelete
+TWOPASS = on
+HALFILE = core_sim.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = load_for_postgui.hal
+# demonstrate excluding a file from twopass processing:
+HALFILE = twopass_excluded.hal
+POSTGUI_HALFILE = postgui.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 10
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.0001
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 20.0
+HOME_LATCH_VEL = 20.0
+HOME_SEQUENCE = 0

configs/sim/axis/twopass/twopass.txt

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+twopass.ini
+
+This sim configuration demonstrates the use of TWOPASS processing for halfiles.
+
+Twopass processing supports multiple loadrt specifications for any component.
+So, for example:
+
+file1.hal: loadrt or2 names=or2_a,or2_b
+file2.hal: loadrt or2 names=or2_c,or2_d
+
+Halfiles are read in two passes.  In the first pass, loadrt lines are accumulated but not executed.  In the second pass, all loadrt lines are executed in order.
+
+Twopass processing occurs before gui loading.  When using a [HAL]POSTGUI_HALFILE, it is convenient to loadrt all components prior to loading the gui.  In this example, this is done with the file:
+
+   load_for_postgui.hal
+
+--------------------------------------
+Notes:
+
+Twopass processing for a component can use either names= or count= specifications.
+
+Combinations of names=  and count= are not supported.
+
+Using names= is recommended for both readability and portability.
+

configs/sim/axis/twopass/twopass_excluded.hal

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+# The following magic comment causes this file to
+# be excluded from twopass processing:
+# NOTWOPASS
+
+loadrt flipflop names=notwopass_ff
+show pin notwopass_ff