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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/mqtt/simulator.hal Normal file
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loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# Set up MQTT publisher
loadusr -W mqtt-publisher [MQTT]DRYRUN --mqtt-broker=[MQTT]BROKER --mqtt-user=[MQTT]USERNAME --mqtt-password=[MQTT]PASSWORD keys=Xpos,Ypos,Zpos,halui.axis.a.pos-feedback,halui.axis.b.pos-feedback,halui.axis.c.pos-feedback,halui.axis.u.pos-feedback,halui.axis.v.pos-feedback,halui.axis.w.pos-feedback,halui.axis.x.pos-feedback,halui.axis.y.pos-feedback,halui.axis.z.pos-feedback,halui.estop.is-activated,halui.joint.0.is-homed,halui.joint.1.is-homed,halui.joint.2.is-homed,halui.joint.3.is-homed,halui.joint.4.is-homed,halui.joint.5.is-homed,halui.joint.6.is-homed,halui.joint.7.is-homed,halui.joint.8.is-homed,halui.machine.is-on,halui.max-velocity.value,halui.mode.is-auto,halui.mode.is-manual,halui.mode.is-mdi,halui.mode.is-teleop,halui.program.is-running