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10.1. Set the default job program to be automatically loaded upon startup
/ * *
* @brief set the default job program to be automatically loaded upon startup
* @param [in] flag 0- Default programs are not automatically loaded upon startup, 1- Default programs are automatically loaded upon startup
* @param [in] program_name job program name and path, such as "/fruser/movej.lua", where "/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA.
* @return error code
* /
int LoadDefaultProgConfig(byte flag, string program_name);
10.2. Load the specified job program
/ * *
* @brief Load the specified job program
* @param [in] program_name job program name and path, such as "/fruser/movej.lua", where "/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA.
* @return error code
* /
int ProgramLoad(string program_name);
10.3. Get the name of the loaded job program
/ * *
* @brief Get the name of the loaded job program
* @param [out] program_name job program name and path, such as "/fruser/movej.lua", where "/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA.
* @return error code
* /
int GetLoadedProgram(ref string program_name);
10.4. Obtain the execution line number of the current robot operation program
/ * *
* @brief get the line number of the current robot job program being executed
* @param [out] line number
* @return error code
* /
int GetCurrentLine(ref int line);
10.5. Run the currently loaded job program
/ * *
* @brief run the currently loaded job program
* @return error code
* /
int ProgramRun();
10.6. Pause the currently running job program
/ * *
* @brief Suspend the currently running job program
* @return error code
* /
int ProgramPause();
10.7. Resume the currently suspended job procedure
/ * *
* @brief Resume the currently suspended operation procedure
* @return error code
* /
int ProgramResume();
10.8. Terminate the currently running job program
/ * *
* @brief Terminate the currently running job program
* @return error code
* /
int ProgramStop();
10.9. Obtain the execution status of the robot’s operation program
/ * *
* @brief Get the execution status of the robot operation program
* @param [out] state 1- The program stops or no program runs, 2- the program is running, 3- the program is paused
* @return error code
* /
int GetProgramState(ref byte state);
10.10. Example of robot LUA program operation code
private void btnWebApp_Click(object sender, EventArgs e)
{
string program_name = "/fruser/Text1.lua";
string loaded_name = "";
byte state=0;
int line=0;
robot.Mode(0);
robot.LoadDefaultProgConfig(0, program_name);
robot.ProgramLoad(program_name);
robot.ProgramRun();
Thread.Sleep(1000);
robot.ProgramPause();
robot.GetProgramState(ref state);
Console.WriteLine("program state:{0}\n", state);
robot.GetCurrentLine(ref line);
Console.WriteLine("current line:{0}\n", line);
robot.GetLoadedProgram(ref loaded_name);
Console.WriteLine("program name:{0}\n", loaded_name);
Thread.Sleep(1000);
robot.ProgramResume();
Thread.Sleep(1000);
robot.ProgramStop();
Thread.Sleep(1000);
}
10.11. Download the Lua file
New in version C#SDK-v1.0.5.
/ * *
* @brief Download Lua files
* @param [in] fileName The job program to be downloaded is "test.lua" or "test.tar.gz"
* @param [in] savePath save the local path of the job program "D://Down/"
* @return error code
* /
int LuaDownLoad(string fileName, string savePath);
10.12. Upload the Lua file
New in version C#SDK-v1.0.5.
/ * *
* @brief Upload the Lua file
* @param [in] filePath local job path name "... /test.lua" or "... /test.tar.gz"
* @param [out] errStr error message
* @return error code
* /
int LuaUpload(string filePath, ref string errStr);
10.13. Delete the Lua file
New in version C#SDK-v1.0.5.
/ * *
* @brief Delete the Lua file
* @param [in] fileName Name of the job program to be deleted "test.lua"
* @return error code
* /
int LuaDelete(string fileName);
10.14. Get the names of all current lua files
New in version C#SDK-v1.0.5.
/ * *
* @brief Get the names of all current lua files
* @param [out] luaNames list of job program names
* @return error code
* /
int GetLuaList(ref List<string> luaNames) ;
10.15. Code example for uploading and downloading robot LUA files
New in version C#SDK-v1.0.5.
private void btnUploadLua_Click(object sender, EventArgs e)
{
int rtn;
List<string> luaNames = new List<string>();
rtn = robot.GetLuaList(ref luaNames);
Console.WriteLine("res is: {0}", rtn);
Console.WriteLine("size is: {0}", luaNames.Count);
foreach (var name in luaNames)
{
Console.WriteLine(name);
}
rtn = robot.LuaDownLoad("TT.lua", "D://zDOWN/");
Console.WriteLine("LuaDownLoad rtn is {0}", rtn);
string errStr = "";
Thread.Sleep(2000);
rtn = robot.LuaUpload("D://zUP/airlab.lua", ref errStr);
Console.WriteLine("LuaUpload rtn is {0}", errStr);
Thread.Sleep(2000);
rtn = robot.LuaDelete("TT.lua");
Console.WriteLine("LuaDelete rtn is {0}", rtn);
}
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