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title LinuxCNC gRPC Documentation
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API documentation and guides for the LinuxCNC gRPC interface.

Contents

Document Description
Server Setup Install and run the gRPC server on your LinuxCNC machine
Client Quickstart Install a client library and make your first API calls
Tutorial Step-by-step guide to connect from a remote machine
Server Configuration Advanced server options, auto-start, TLS, and tuning
API Reference Complete API documentation for both services
Examples Guide Walkthrough of example code in all languages

Overview

LinuxCNC gRPC provides a network interface to LinuxCNC, enabling:

  • Remote control - Monitor and control CNC machines from any device
  • Multi-language support - Python, Go, Node.js/TypeScript, Rust clients
  • Real-time streaming - Subscribe to status updates instead of polling
  • HAL introspection - Query HAL pins, signals, and parameters

Architecture

┌─────────────────┐     gRPC      ┌──────────────────┐
│  Client App     │◄────────────►│  gRPC Server     │
│  (any language) │   :50051     │  (Python)        │
└─────────────────┘               └────────┬─────────┘
                                           │
                                           ▼
                                  ┌──────────────────┐
                                  │  LinuxCNC        │
                                  │  (local machine) │
                                  └──────────────────┘

The gRPC server runs on the LinuxCNC machine and translates gRPC calls to LinuxCNC's native Python API. Clients can connect from anywhere on the network.

Services

LinuxCNCService

Main service for machine control:

  • GetStatus - Poll current machine status
  • SendCommand - Execute commands (jog, MDI, state changes, etc.)
  • WaitComplete - Wait for command completion
  • StreamStatus - Subscribe to real-time status updates
  • StreamErrors - Subscribe to error messages

HalService

HAL (Hardware Abstraction Layer) introspection:

  • GetSystemStatus - Get complete HAL system state
  • GetValue - Get a single pin/signal/parameter value
  • QueryPins/Signals/Params/Components - Query with glob patterns
  • StreamStatus - Subscribe to HAL status updates
  • WatchValues - Watch specific values for changes

Quick Links