The RuntimeMachine class. More...

#include <runtime_machine.h>

Public Member Functions
	RuntimeMachine ()

virtual	~RuntimeMachine ()

int	newTask (bool daemon=false)
	Returns the task_id

int	deleteTask (int tid)
	Delete a task, which will terminate any ongoing motion.

int	detachTask (int tid)
	Wait for the task to finish naturally

bool	isTaskAlive (int tid)
	Check if the task is alive

int	getTaskQueueSize (int tid)
	Get the number of cached instructions in the task

int	switchTask (int tid)
	Switch the current thread.

int	setLabel (int lineno, const std::string &comment)
	Mark the line number and comment of the recorded instruction

ARCS_DEPRECATED int	setPlanContext (int tid, int lineno, const std::string &comment)
	Add a comment to the aubo_control log Use setLabel instead

int	nop ()
	No operation

std::tuple< std::string, std::string >	getExecutionStatus ()
	Get the execution status of time-consuming interfaces (INST), such as setPersistentParameters

std::tuple< std::string, std::string, int >	getExecutionStatus1 ()

int	gotoLine (int lineno)
	Jump to the specified line number

std::tuple< int, int, std::string >	getPlanContext (int tid=-1)
	Get the current runtime context

std::tuple< int, int, std::string >	getAdvancePlanContext (int tid=-1)
	Get the context information of the advance planner

int	getAdvancePtr (int tid=-1)
	Get the program pointer of AdvanceRun

int	getMainPtr (int tid=-1)
	Get the program pointer of robot motion

int	getInterpPtr (int tid)
	Get the pointer of the most recently interpreted instruction

int	loadProgram (const std::string &program)
	Load a local project file.

int	preloadProgram (int index, const std::string &program)
	Preload project file

std::string	getPreloadProgram (int index)
	Get the name of the preloaded project file.

int	clearPreloadPrograms ()
	Clear all preloaded project files.

int	runProgram ()
	Run the already loaded project file

int	start ()
	Start the runtime

int	stop ()
	Stop the runtime, i.e., stop script execution.

int	abort ()
	Abort robot operation.

int	pause ()
	Pause the interpreter

int	step ()
	Execute a single step

int	resume ()
	Resume the interpreter

int	arbitraryResume ()
	Resume the interpreter

int	setResumeWait (bool wait)
	Wait for the previous sequence to complete before resuming the interpreter

ARCS_DEPRECATED RuntimeState	getStatus ()
	Get the status of the planner

RuntimeState	getRuntimeState ()

int	setBreakPoint (int lineno)
	Set a breakpoint

int	removeBreakPoint (int lineno)
	Remove a breakpoint

int	clearBreakPoints ()
	Clear all breakpoints

int	timerStart (const std::string &name)
	Start the timer

int	timerStop (const std::string &name)
	Stop the timer

int	timerReset (const std::string &name)
	Reset the timer

int	timerDelete (const std::string &name)
	Delete the timer

double	getTimer (const std::string &name)
	Get the timer value

int	triggBegin (double distance, double delay)
	Start configuring trigger

int	triggEnd ()
	End configuring trigger

int	triggInterrupt (double distance, double delay)
	Returns the automatically assigned interrupt number

std::vector< int >	getTriggInterrupts ()
	Get the list of all interrupt numbers

Protected Attributes
void *	d_

Detailed Description

The RuntimeMachine class.

Definition at line 18 of file runtime_machine.h.

Constructor & Destructor Documentation

◆ RuntimeMachine()

arcs::common_interface::RuntimeMachine::RuntimeMachine ( )

◆ ~RuntimeMachine()

virtual arcs::common_interface::RuntimeMachine::~RuntimeMachine ( )

virtual

Member Function Documentation

◆ abort()

int arcs::common_interface::RuntimeMachine::abort ( )

Abort robot operation.

If you only want to stop the runtime, you can call the RuntimeMachine::stop interface.

If the script runtime is in the Running state, aborts the runtime; if the runtime is Stopped and the robot is moving, stops the robot motion; if force control is enabled, stops force control.

Returns

Python function prototype: abort(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: abort() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ arbitraryResume()

int arcs::common_interface::RuntimeMachine::arbitraryResume ( )

Resume the interpreter

Returns

Python function prototype: arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: arbitraryResume() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ clearBreakPoints()

int arcs::common_interface::RuntimeMachine::clearBreakPoints ( )

Clear all breakpoints

Returns

Python function prototype: clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: clearBreakPoints() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ clearPreloadPrograms()

int arcs::common_interface::RuntimeMachine::clearPreloadPrograms ( )

Clear all preloaded project files.

Calling this method will release all project indices and their associated program names that were previously preloaded via preloadProgram.

Returns: Returns 0 on success;

◆ deleteTask()

int arcs::common_interface::RuntimeMachine::deleteTask ( int tid )

Delete a task, which will terminate any ongoing motion.

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ detachTask()

int arcs::common_interface::RuntimeMachine::detachTask ( int tid )

Wait for the task to finish naturally

Parameters

tid

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getAdvancePlanContext()

std::tuple< int, int, std::string > arcs::common_interface::RuntimeMachine::getAdvancePlanContext ( int tid = -1 )

Get the context information of the advance planner

Parameters

tid	Task ID If specified (not -1), returns the context information of the advance planner for the corresponding task; if not specified (is -1), returns the context information of the advance planner for the currently running thread

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]}

◆ getAdvancePtr()

int arcs::common_interface::RuntimeMachine::getAdvancePtr ( int tid = -1 )

Get the program pointer of AdvanceRun

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getExecutionStatus()

std::tuple< std::string, std::string > arcs::common_interface::RuntimeMachine::getExecutionStatus ( )

Get the execution status of time-consuming interfaces (INST), such as setPersistentParameters

Returns: Instruction name, execution status Execution status: EXECUTING/FINISHED

Python function prototype: getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str, int]

Lua function prototype: getExecutionStatus() -> string, string, number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]}

◆ getExecutionStatus1()

std::tuple< std::string, std::string, int > arcs::common_interface::RuntimeMachine::getExecutionStatus1 ( )

◆ getInterpPtr()

int arcs::common_interface::RuntimeMachine::getInterpPtr ( int tid )

Get the pointer of the most recently interpreted instruction

Parameters

tid

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getMainPtr()

int arcs::common_interface::RuntimeMachine::getMainPtr ( int tid = -1 )

Get the program pointer of robot motion

Parameters

tid	Task ID If specified (not -1), returns the program pointer of the corresponding task; if not specified (is -1), returns the program pointer of the currently running thread

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getPlanContext()

std::tuple< int, int, std::string > arcs::common_interface::RuntimeMachine::getPlanContext ( int tid = -1 )

Get the current runtime context

Parameters

tid	Task ID If specified (not -1), returns the runtime context of the corresponding task; if not specified (is -1), returns the runtime context of the currently running thread

Returns

Python function prototype: getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str]

Lua function prototype: getPlanContext() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":[-1,0,""]}

◆ getPreloadProgram()

std::string arcs::common_interface::RuntimeMachine::getPreloadProgram ( int index )

Get the name of the preloaded project file.

Returns an empty string if not loaded or index is out of range.

Parameters

index Project index number (0~99)

Returns: Project file name

◆ getRuntimeState()

RuntimeState arcs::common_interface::RuntimeMachine::getRuntimeState ( )

◆ getStatus()

ARCS_DEPRECATED RuntimeState arcs::common_interface::RuntimeMachine::getStatus ( )

Get the status of the planner

Returns

Python function prototype: getStatus(self: pyaubo_sdk.RuntimeMachine) -> arcs::common_interface::RuntimeState

Lua function prototype: getStatus() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":"Running"}

◆ getTaskQueueSize()

int arcs::common_interface::RuntimeMachine::getTaskQueueSize ( int tid )

Get the number of cached instructions in the task

Parameters

tid

Returns

◆ getTimer()

double arcs::common_interface::RuntimeMachine::getTimer ( const std::string & name )

Get the timer value

Parameters

name

Returns

Python function prototype: getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float

Lua function prototype: getTimer(name: string) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":25.409769612}

◆ getTriggInterrupts()

std::vector< int > arcs::common_interface::RuntimeMachine::getTriggInterrupts ( )

Get the list of all interrupt numbers

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":[]}

◆ gotoLine()

int arcs::common_interface::RuntimeMachine::gotoLine ( int lineno )

Jump to the specified line number

Parameters

lineno

Returns

Python function prototype: gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua function prototype: gotoLine(lineno: number) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ isTaskAlive()

bool arcs::common_interface::RuntimeMachine::isTaskAlive ( int tid )

Check if the task is alive

Parameters

tid

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":true}

◆ loadProgram()

int arcs::common_interface::RuntimeMachine::loadProgram ( const std::string & program )

Load a local project file.

For Lua scripts, only the file name is required (no extension), and it will be searched in the ${ARCS_WS}/program directory.

Parameters

program

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ newTask()

int arcs::common_interface::RuntimeMachine::newTask ( bool daemon = false )

Returns the task_id

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.newTask","params":[false],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":26}

◆ nop()

int arcs::common_interface::RuntimeMachine::nop ( )

No operation

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ pause()

int arcs::common_interface::RuntimeMachine::pause ( )

Pause the interpreter

Returns

Python function prototype: pause(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: pause() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ preloadProgram()

int arcs::common_interface::RuntimeMachine::preloadProgram	(	int	index,
		const std::string &	program
	)

Preload project file

Parameters

index	Project index number (0~99)
program	Project name

Returns

◆ removeBreakPoint()

int arcs::common_interface::RuntimeMachine::removeBreakPoint ( int lineno )

Remove a breakpoint

Parameters

lineno

Returns

Python function prototype: removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua function prototype: removeBreakPoint(lineno: number) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ resume()

int arcs::common_interface::RuntimeMachine::resume ( )

Resume the interpreter

Returns

Python function prototype: resume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: resume() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ runProgram()

int arcs::common_interface::RuntimeMachine::runProgram ( )

Run the already loaded project file

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setBreakPoint()

int arcs::common_interface::RuntimeMachine::setBreakPoint ( int lineno )

Set a breakpoint

Parameters

lineno

Returns

Python function prototype: setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua function prototype: setBreakPoint(lineno: number) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setLabel()

int arcs::common_interface::RuntimeMachine::setLabel	(	int	lineno,
		const std::string &	comment
	)

Mark the line number and comment of the recorded instruction

Parameters

lineno
comment

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setPlanContext()

ARCS_DEPRECATED int arcs::common_interface::RuntimeMachine::setPlanContext	(	int	tid,
		int	lineno,
		const std::string &	comment
	)

Add a comment to the aubo_control log Use setLabel instead

Parameters

tid	Thread ID of the instruction
lineno	Line number
comment	Comment

Returns

Python function prototype: setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int, arg2: str) -> int

Lua function prototype: setPlanContext(tid: number, lineno: number, comment: string) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setResumeWait()

int arcs::common_interface::RuntimeMachine::setResumeWait ( bool wait )

Wait for the previous sequence to complete before resuming the interpreter

Parameters

wait

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.setResumeWait","params":[true],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ start()

int arcs::common_interface::RuntimeMachine::start ( )

Start the runtime

Returns

Python function prototype: start(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: start() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ step()

int arcs::common_interface::RuntimeMachine::step ( )

Execute a single step

Returns

Python function prototype: step(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: step() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ stop()

int arcs::common_interface::RuntimeMachine::stop ( )

Stop the runtime, i.e., stop script execution.

Cannot stop robot motion when the runtime state is Stopped.

If you want to stop all robot motion, use the RuntimeMachine::abort interface.

Returns

Python function prototype: stop(self: pyaubo_sdk.RuntimeMachine) -> int

Lua function prototype: stop() -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ switchTask()

int arcs::common_interface::RuntimeMachine::switchTask ( int tid )

Switch the current thread.

After switching, subsequent instructions will be inserted into the switched thread.

Parameters

tid

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerDelete()

int arcs::common_interface::RuntimeMachine::timerDelete ( const std::string & name )

Delete the timer

Parameters

name

Returns

Python function prototype: timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua function prototype: timerDelete(name: string) -> nil

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerReset()

int arcs::common_interface::RuntimeMachine::timerReset ( const std::string & name )

Reset the timer

Parameters

name

Returns

Python function prototype: timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua function prototype: timerReset(name: string) -> nil

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerStart()

int arcs::common_interface::RuntimeMachine::timerStart ( const std::string & name )

Start the timer

Parameters

name

Returns

Python function prototype: timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua function prototype: timerStart(name: string) -> nil

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerStop()

int arcs::common_interface::RuntimeMachine::timerStop ( const std::string & name )

Stop the timer

Parameters

name

Returns

Python function prototype: timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua function prototype: timerStop(name: string) -> nil

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggBegin()

int arcs::common_interface::RuntimeMachine::triggBegin	(	double	distance,
		double	delay
	)

Start configuring trigger

Parameters

distance
delay

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggEnd()

int arcs::common_interface::RuntimeMachine::triggEnd ( )

End configuring trigger

Returns

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1}

JSON-RPC Response Example: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggInterrupt()

int arcs::common_interface::RuntimeMachine::triggInterrupt	(	double	distance,
		double	delay
	)

Returns the automatically assigned interrupt number

Parameters

distance
delay
intnum

Returns

Member Data Documentation

◆ d_

void* arcs::common_interface::RuntimeMachine::d_

protected

Definition at line 1485 of file runtime_machine.h.

The documentation for this class was generated from the following file:

include/aubo/runtime_machine.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RuntimeMachine()

◆ ~RuntimeMachine()

Member Function Documentation

◆ abort()

◆ arbitraryResume()

◆ clearBreakPoints()

◆ clearPreloadPrograms()

◆ deleteTask()

◆ detachTask()

◆ getAdvancePlanContext()

◆ getAdvancePtr()

◆ getExecutionStatus()

◆ getExecutionStatus1()

◆ getInterpPtr()

◆ getMainPtr()

◆ getPlanContext()

◆ getPreloadProgram()

◆ getRuntimeState()

◆ getStatus()

◆ getTaskQueueSize()

◆ getTimer()

◆ getTriggInterrupts()

◆ gotoLine()

◆ isTaskAlive()

◆ loadProgram()

◆ newTask()

◆ nop()

◆ pause()

◆ preloadProgram()

◆ removeBreakPoint()

◆ resume()

◆ runProgram()

◆ setBreakPoint()

◆ setLabel()

◆ setPlanContext()

◆ setResumeWait()

◆ start()

◆ step()

◆ stop()

◆ switchTask()

◆ timerDelete()

◆ timerReset()

◆ timerStart()

◆ timerStop()

◆ triggBegin()

◆ triggEnd()

◆ triggInterrupt()

Member Data Documentation

◆ d_