Looks like the machinekit folks did some work on this. https://groups.google.com/forum/#!topic/machinekit/8LHvtyol2PQ
Haltalk stuff using Zero-MQ messaging. It was specifically written to enable connecting various HAL "islands" which may or may not have a shared memory space. The messaging protocol is transport agnostic, so you can setup HAL nodes that communicate via shared memory, Ethernet, serial, or whatever. The existing haltalk may not do everything you want, but it's probably the best place to start: https://machinekoder.com/machinetalk-explained-part-4-hal-remote/ An example of what I might want to do is control two pick and place gantry robots that share the same gantry. They can't occupy the same space at the same time (well not without some fancy physics yet to be invented) but they pass parts to each other and from place to place synchronized to conveyors that bring material in and unload processed parts. This is getting more into process control or SCADA. _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
