Java 10. Robot WebAPP program usage

10.1. Set default program to load automatically on startup

/**
* @brief  Set default program to load automatically on startup
* @param  [in] flag  0-Do not load default program automatically, 1-Load default program automatically
* @param  [in] program_name Program name and path, e.g., "/fruser/movej.lua" ("/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA)
* @return  Error code
*/
int LoadDefaultProgConfig(int flag, String program_name);

10.2. Load specified program

/**
* @brief  Load specified program
* @param  [in] program_name Program name and path, e.g., "/fruser/movej.lua" ("/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 loaded program name

/**
* @brief  Get loaded program name
* @param  [out] program_name program_name[0]: Program name and path, e.g., "/fruser/movej.lua" ("/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA)
* @return  Error code
*/
int GetLoadedProgram(String[] program_name);

10.4. Get current program execution line number

/**
* @brief  Get current program execution line number
* @param  [out] List[0]: Error code; List[1]: int line - Line number
* @return  Error code
*/
List<Integer> GetCurrentLine();

10.5. Run currently loaded program

/**
* @brief  Run currently loaded program
* @return  Error code
*/
int ProgramRun();

10.6. Pause current running program

/**
* @brief  Pause current running program
* @return  Error code
*/
int PauseMotion();

10.7. Resume paused program

/**
* @brief  Resume paused program
* @return  Error code
*/
int ResumeMotion();

10.8. Stop current running program

/**
* @brief  Stop current running program
* @return  Error code
*/
int StopMotion();

10.9. Get robot program execution state

/**
* @brief  Get robot program execution state
* @param   [out] state 1-Program stopped/no program running, 2-Program running, 3-Program paused
* @return  Error code
*/
public int GetProgramState(int[] state)

10.10. Robot LUA program operation code example

public static int TestLuaOp(Robot robot)
{
    String program_name = "/fruser/Text1.lua";
    String[] loaded_name = new String[]{""};
    int[] state=new int[]{0};
    List<Integer> line=new ArrayList<>();

    robot.Mode(0);
    robot.LoadDefaultProgConfig(0, program_name);
    robot.ProgramLoad(program_name);
    robot.ProgramRun();
    robot.Sleep(1000);
    robot.ProgramPause();
    robot.GetProgramState(state);
    System.out.println("program state:"+ state[0]);
    line=robot.GetCurrentLine();
    System.out.println("current line:"+ line);
    robot.GetLoadedProgram(loaded_name);
    System.out.println("program name:"+ loaded_name[0]);
    robot.Sleep(1000);
    robot.ProgramResume();
    robot.Sleep(1000);
    robot.ProgramStop();
    robot.Sleep(1000);

    robot.CloseRPC();
    return 0;
}

10.11. Download Lua program

/**
* @brief Download program
* @param [in] fileName Lua file name to download ("test.lua" or "test.tar.gz")
* @param [in] savePath Local save path ("D://Down/")
* @return Error code
*/
int LuaDownLoad(String fileName, String savePath);

10.12. Delete Lua program

/**
* @brief Delete program
* @param [in] fileName Program name to delete ("test.lua")
* @return Error code
*/
int LuaDelete(String fileName);

10.13. Get all current Lua file names

/**
* @brief Get all current Lua file names
* @param [out] luaNames Program name list
* @return Error code
*/
int GetLuaList(List<String> luaNames);

10.14. Upload Lua program

/**
* @brief Upload program
* @param [in] filePath Local Lua file path (".../test.lua" or ".../test.tar.gz")
* @param [out] errStr Error message
* @return Error code
*/
int LuaUpload(String filePath, String errStr);

10.15. Robot LUA file upload/download code example

public static int TestLUAUpDownLoad(Robot robot)
{
    List<String> luaNames=new ArrayList<>();
    int rtn = robot.GetLuaList(luaNames);
    System.out.println("res is: "+rtn);
    System.out.println("size is: "+luaNames.size());
    for (int it =1; it < luaNames.size(); it++)
    {
        System.out.println(luaNames.get(it));
    }

    rtn = robot.LuaDownLoad("test.lua", "D://zDOWN/");
    System.out.println("LuaDownLoad rtn is:"+rtn);

    rtn = robot.LuaUpload("D://zUP/XG.lua","");
    System.out.println("LuaUpload rtn is:"+ rtn);

    rtn = robot.LuaDelete("XG.lua");
    System.out.println("LuaDelete rtn is:"+ rtn);

    return 0;
}