The RuntimeMachine class. More...

Functions
int	arcs::common_interface::RuntimeMachine::newTask (bool daemon=false)
	Returns the task_id
int	arcs::common_interface::RuntimeMachine::deleteTask (int tid)
	Delete a task, which will terminate any ongoing motion.
int	arcs::common_interface::RuntimeMachine::detachTask (int tid)
	Wait for the task to finish naturally
bool	arcs::common_interface::RuntimeMachine::isTaskAlive (int tid)
	Check if the task is alive
int	arcs::common_interface::RuntimeMachine::getTaskQueueSize (int tid)
	Get the number of cached instructions in the task
int	arcs::common_interface::RuntimeMachine::switchTask (int tid)
	Switch the current thread.
int	arcs::common_interface::RuntimeMachine::setLabel (int lineno, const std::string &comment)
	Mark the line number and comment of the recorded instruction
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
int	arcs::common_interface::RuntimeMachine::nop ()
	No operation
std::tuple< std::string, std::string >	arcs::common_interface::RuntimeMachine::getExecutionStatus ()
	Get the execution status of time-consuming interfaces (INST), such as setPersistentParameters
int	arcs::common_interface::RuntimeMachine::gotoLine (int lineno)
	Jump to the specified line number
std::tuple< int, int, std::string >	arcs::common_interface::RuntimeMachine::getPlanContext (int tid=-1)
	Get the current runtime context
std::tuple< int, int, std::string >	arcs::common_interface::RuntimeMachine::getAdvancePlanContext (int tid=-1)
	Get the context information of the advance planner
int	arcs::common_interface::RuntimeMachine::getAdvancePtr (int tid=-1)
	Get the program pointer of AdvanceRun
int	arcs::common_interface::RuntimeMachine::getMainPtr (int tid=-1)
	Get the program pointer of robot motion
int	arcs::common_interface::RuntimeMachine::getInterpPtr (int tid)
	Get the pointer of the most recently interpreted instruction
int	arcs::common_interface::RuntimeMachine::loadProgram (const std::string &program)
	Load a local project file.
int	arcs::common_interface::RuntimeMachine::preloadProgram (int index, const std::string &program)
	Preload project file
std::string	arcs::common_interface::RuntimeMachine::getPreloadProgram (int index)
	Get the name of the preloaded project file.
int	arcs::common_interface::RuntimeMachine::clearPreloadPrograms ()
	Clear all preloaded project files.
int	arcs::common_interface::RuntimeMachine::runProgram ()
	Run the already loaded project file
int	arcs::common_interface::RuntimeMachine::start ()
	Start the runtime
int	arcs::common_interface::RuntimeMachine::stop ()
	Stop the runtime, i.e., stop script execution.
int	arcs::common_interface::RuntimeMachine::abort ()
	Abort robot operation.
int	arcs::common_interface::RuntimeMachine::pause ()
	Pause the interpreter
int	arcs::common_interface::RuntimeMachine::step ()
	Execute a single step
int	arcs::common_interface::RuntimeMachine::resume ()
	Resume the interpreter
int	arcs::common_interface::RuntimeMachine::arbitraryResume ()
	Resume the interpreter
int	arcs::common_interface::RuntimeMachine::setResumeWait (bool wait)
	Wait for the previous sequence to complete before resuming the interpreter
int	arcs::common_interface::RuntimeMachine::enterCritical (double timeout)
	The abort command is deferred during critical sections to avoid interrupting internal instructions.
int	arcs::common_interface::RuntimeMachine::exitCritical ()
	Exit the critical section
ARCS_DEPRECATED RuntimeState	arcs::common_interface::RuntimeMachine::getStatus ()
	Get the status of the planner
int	arcs::common_interface::RuntimeMachine::setBreakPoint (int lineno)
	Set a breakpoint
int	arcs::common_interface::RuntimeMachine::removeBreakPoint (int lineno)
	Remove a breakpoint
int	arcs::common_interface::RuntimeMachine::clearBreakPoints ()
	Clear all breakpoints
int	arcs::common_interface::RuntimeMachine::timerStart (const std::string &name)
	Start the timer
int	arcs::common_interface::RuntimeMachine::timerStop (const std::string &name)
	Stop the timer
int	arcs::common_interface::RuntimeMachine::timerReset (const std::string &name)
	Reset the timer
int	arcs::common_interface::RuntimeMachine::timerDelete (const std::string &name)
	Delete the timer
double	arcs::common_interface::RuntimeMachine::getTimer (const std::string &name)
	Get the timer value
int	arcs::common_interface::RuntimeMachine::triggBegin (double distance, double delay)
	Start configuring trigger
int	arcs::common_interface::RuntimeMachine::triggEnd ()
	End configuring trigger
int	arcs::common_interface::RuntimeMachine::triggInterrupt (double distance, double delay)
	Returns the automatically assigned interrupt number
std::vector< int >	arcs::common_interface::RuntimeMachine::getTriggInterrupts ()
	Get the list of all interrupt numbers

Detailed Description

The RuntimeMachine class.

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}

◆ enterCritical()

int arcs::common_interface::RuntimeMachine::enterCritical ( double timeout )

The abort command is deferred during critical sections to avoid interrupting internal instructions.

Parameters

timeout (seconds, 0~5): max deferral time for abort. Exceeding it forces exit from critical section and triggers abort.

Returns

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

Lua function prototype: enterCritical(timeout: number) -> number

JSON-RPC Request Example: {"jsonrpc":"2.0","method":"RuntimeMachine.enterCritical","params":[5.0],"id":1}

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

◆ exitCritical()

int arcs::common_interface::RuntimeMachine::exitCritical ( )

Exit the critical section

Parameters

return

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

Lua function prototype: exitCritical() -> number

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

◆ 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

◆ 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

Functions

Detailed Description

Function Documentation

◆ abort()

◆ arbitraryResume()

◆ clearBreakPoints()

◆ clearPreloadPrograms()

◆ deleteTask()

◆ detachTask()

◆ enterCritical()

◆ exitCritical()

◆ getAdvancePlanContext()

◆ getAdvancePtr()

◆ getExecutionStatus()

◆ getInterpPtr()

◆ getMainPtr()

◆ getPlanContext()

◆ getPreloadProgram()

◆ 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()