The RuntimeMachine class 更多...

函数
int	arcs::common_interface::RuntimeMachine::newTask (bool daemon=false)
	返回 task_id
int	arcs::common_interface::RuntimeMachine::deleteTask (int tid)
	删除 task，会终止正在执行的运动
int	arcs::common_interface::RuntimeMachine::detachTask (int tid)
	等待 task 自然结束
bool	arcs::common_interface::RuntimeMachine::isTaskAlive (int tid)
	判断任务是否存活
int	arcs::common_interface::RuntimeMachine::getTaskQueueSize (int tid)
	获取任务中缓存的指令的数量
int	arcs::common_interface::RuntimeMachine::switchTask (int tid)
	切换当前线程，切换之后接下来的指令将被插入切换后的线程中
int	arcs::common_interface::RuntimeMachine::setLabel (int lineno, const std::string &comment)
	标记记下来的指令的行号和注释
ARCS_DEPRECATED int	arcs::common_interface::RuntimeMachine::setPlanContext (int tid, int lineno, const std::string &comment)
	向aubo_control日志中添加注释使用 setLabel 替换
int	arcs::common_interface::RuntimeMachine::nop ()
	空操作
std::tuple< std::string, std::string >	arcs::common_interface::RuntimeMachine::getExecutionStatus ()
	获取耗时的接口(INST)执行状态, 如 setPersistentParameters
int	arcs::common_interface::RuntimeMachine::gotoLine (int lineno)
	跳转到指定行号
std::tuple< int, int, std::string >	arcs::common_interface::RuntimeMachine::getPlanContext (int tid=-1)
	获取当前运行上下文
std::tuple< int, int, std::string >	arcs::common_interface::RuntimeMachine::getAdvancePlanContext (int tid=-1)
	获取提前运行规划器的上下文信息
int	arcs::common_interface::RuntimeMachine::getAdvancePtr (int tid=-1)
	获取AdvanceRun的程序指针
int	arcs::common_interface::RuntimeMachine::getMainPtr (int tid=-1)
	获取机器人运动的程序指针
int	arcs::common_interface::RuntimeMachine::getInterpPtr (int tid)
	获取最近解释过的指令指针
int	arcs::common_interface::RuntimeMachine::loadProgram (const std::string &program)
	加载本地工程文件 Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program 目录中查找
int	arcs::common_interface::RuntimeMachine::preloadProgram (int index, const std::string &program)
	预加载工程文件
std::string	arcs::common_interface::RuntimeMachine::getPreloadProgram (int index)
	获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串
int	arcs::common_interface::RuntimeMachine::clearPreloadPrograms ()
	清除所有已预加载的工程文件调用此方法将释放所有通过 preloadProgram 预加载的工程索引及其关联的工程名称
int	arcs::common_interface::RuntimeMachine::runProgram ()
	运行已经加载的工程文件
int	arcs::common_interface::RuntimeMachine::start ()
	开始运行时
int	arcs::common_interface::RuntimeMachine::stop ()
	停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动
int	arcs::common_interface::RuntimeMachine::abort ()
	终止机器人运行.
int	arcs::common_interface::RuntimeMachine::pause ()
	暂停解释器
int	arcs::common_interface::RuntimeMachine::step ()
	单步运行
int	arcs::common_interface::RuntimeMachine::resume ()
	恢复解释器
int	arcs::common_interface::RuntimeMachine::arbitraryResume ()
	恢复解释器(不检查当前点和暂停点距离)
int	arcs::common_interface::RuntimeMachine::setResumeWait (bool wait)
	恢复解释器之前等待恢复前之前的序列完成
int	arcs::common_interface::RuntimeMachine::enterCritical (double timeout)
	进入临界区，abort 命令会被推迟执行，避免临界区内的指令被打断
int	arcs::common_interface::RuntimeMachine::exitCritical ()
	退出临界区
ARCS_DEPRECATED RuntimeState	arcs::common_interface::RuntimeMachine::getStatus ()
	获取规划器的状态
int	arcs::common_interface::RuntimeMachine::setBreakPoint (int lineno)
	设置断点
int	arcs::common_interface::RuntimeMachine::removeBreakPoint (int lineno)
	移除断点
int	arcs::common_interface::RuntimeMachine::clearBreakPoints ()
	清除所有断点
int	arcs::common_interface::RuntimeMachine::timerStart (const std::string &name)
	定时器开始
int	arcs::common_interface::RuntimeMachine::timerStop (const std::string &name)
	定时器结束
int	arcs::common_interface::RuntimeMachine::timerReset (const std::string &name)
	定时器重置
int	arcs::common_interface::RuntimeMachine::timerDelete (const std::string &name)
	定时器删除
double	arcs::common_interface::RuntimeMachine::getTimer (const std::string &name)
	获取定时器数值
int	arcs::common_interface::RuntimeMachine::triggBegin (double distance, double delay)
	开始配置触发
int	arcs::common_interface::RuntimeMachine::triggEnd ()
	终止配置触发
int	arcs::common_interface::RuntimeMachine::triggInterrupt (double distance, double delay)
	返回自动分配的中断号
std::vector< int >	arcs::common_interface::RuntimeMachine::getTriggInterrupts ()
	获取所有的中断号列表

详细描述

The RuntimeMachine class

函数说明

◆ abort()

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

终止机器人运行.

如果只是考虑停止运行时，可以调用 RuntimeMachine::stop 接口

如果脚本运行时处于 Running 状态，则终止运行时；如果运行时处于 Stopped 且机器人正在移动，则停止机器人移动；如果此时力控开启了，则机器人停止力控

返回

Python函数原型: abort(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: abort() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ arbitraryResume()

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

恢复解释器(不检查当前点和暂停点距离)

返回

Python函数原型: arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: arbitraryResume() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ clearBreakPoints()

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

清除所有断点

返回

Python函数原型: clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: clearBreakPoints() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ clearPreloadPrograms()

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

清除所有已预加载的工程文件调用此方法将释放所有通过 preloadProgram 预加载的工程索引及其关联的工程名称

返回: 成功返回0；

◆ deleteTask()

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

删除 task，会终止正在执行的运动

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ detachTask()

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

等待 task 自然结束

参数

tid

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ enterCritical()

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

进入临界区，abort 命令会被推迟执行，避免临界区内的指令被打断

参数

timeout 单位秒，范围 0~5 秒，表示 abort 命令最大推迟时间，超过这个时间自动退出临界区并 abort

返回

Python函数原型: enterCritical(self: pyaubo_sdk.RuntimeMachine, arg0: double) -> int

Lua函数原型: enterCritical(timeout: number) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ exitCritical()

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

退出临界区

参数

return

Python函数原型: exitCritical(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: exitCritical() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.exitCritical","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ getAdvancePlanContext()

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

获取提前运行规划器的上下文信息

参数

tid	任务编号如果指定(不是-1)，返回对应任务运行规划器的上下文信息；如果不指定(是-1)，返回正在运行的线程运行规划器的上下文信息

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]}

◆ getAdvancePtr()

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

获取AdvanceRun的程序指针

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getExecutionStatus()

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

获取耗时的接口(INST)执行状态, 如 setPersistentParameters

返回: 指令名字, 执行状态执行状态: EXECUTING/FINISHED

Python函数原型: getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str, int]

Lua函数原型: getExecutionStatus() -> string, string, number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]}

◆ getInterpPtr()

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

获取最近解释过的指令指针

参数

tid

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getMainPtr()

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

获取机器人运动的程序指针

参数

tid	任务编号如果指定(不是-1)，返回对应任务的程序指针；如果不指定(是-1)，返回正在运行线程的程序指针

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":-1}

◆ getPlanContext()

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

获取当前运行上下文

参数

tid	任务编号如果指定(不是-1)，返回对应任务的运行上下文；如果不指定(是-1)，返回正在运行的线程的运行上下文

返回

Python函数原型: getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str]

Lua函数原型: getPlanContext() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[-1,0,""]}

◆ getPreloadProgram()

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

获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串

参数

index 0~99 工程索引号

返回: 工程文件名字

◆ getStatus()

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

获取规划器的状态

返回

Python函数原型: getStatus(self: pyaubo_sdk.RuntimeMachine) -> arcs::common_interface::RuntimeState

Lua函数原型: getStatus() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"Running"}

◆ getTaskQueueSize()

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

获取任务中缓存的指令的数量

参数

tid

返回

◆ getTimer()

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

获取定时器数值

参数

name

返回

Python函数原型: getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float

Lua函数原型: getTimer(name: string) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":25.409769612}

◆ getTriggInterrupts()

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

获取所有的中断号列表

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[]}

◆ gotoLine()

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

跳转到指定行号

参数

lineno

返回

Python函数原型: gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: gotoLine(lineno: number) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ isTaskAlive()

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

判断任务是否存活

参数

tid

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

◆ loadProgram()

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

加载本地工程文件 Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program 目录中查找

参数

program

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ newTask()

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

返回 task_id

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":26}

◆ nop()

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

空操作

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ pause()

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

暂停解释器

返回

Python函数原型: pause(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: pause() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ preloadProgram()

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

预加载工程文件

参数

index	0~99 工程索引号
program	工程名字

返回

◆ removeBreakPoint()

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

移除断点

参数

lineno

返回

Python函数原型: removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: removeBreakPoint(lineno: number) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ resume()

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

恢复解释器

返回

Python函数原型: resume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: resume() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ runProgram()

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

运行已经加载的工程文件

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ setBreakPoint()

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

设置断点

参数

lineno

返回

Python函数原型: setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: setBreakPoint(lineno: number) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ setLabel()

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

标记记下来的指令的行号和注释

参数

lineno
comment

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ setPlanContext()

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

向aubo_control日志中添加注释使用 setLabel 替换

参数

tid	指令的线程ID
lineno	行号
comment	注释

返回

Python函数原型: setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int, arg2: str) -> int

Lua函数原型: setPlanContext(tid: number, lineno: number, comment: string) -> number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ setResumeWait()

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

恢复解释器之前等待恢复前之前的序列完成

参数

wait

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ start()

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

开始运行时

返回

Python函数原型: start(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: start() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ step()

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

单步运行

返回

Python函数原型: step(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: step() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ stop()

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

停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动

如果考虑停止机器人所有运动，可以调用 RuntimeMachine::abort 接口

返回

Python函数原型: stop(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: stop() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ switchTask()

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

切换当前线程，切换之后接下来的指令将被插入切换后的线程中

参数

tid

返回

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerDelete()

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

定时器删除

参数

name

返回

Python函数原型: timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerDelete(name: string) -> nil

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerReset()

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

定时器重置

参数

name

返回

Python函数原型: timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerReset(name: string) -> nil

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerStart()

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

定时器开始

参数

name

返回

Python函数原型: timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerStart(name: string) -> nil

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ timerStop()

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

定时器结束

参数

name

返回

Python函数原型: timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerStop(name: string) -> nil

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggBegin()

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

开始配置触发

参数

distance
delay

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggEnd()

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

终止配置触发

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ triggInterrupt()

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

返回自动分配的中断号

参数

distance
delay
intnum

返回