Python 10. WebAPP program use

10.1. Setting the default job program to load automatically on boot

Prototype	LoadDefaultProgConfig(flag,program_name)
Description	Sets the default job program to be automatically loaded on boot
Required parameters	flag: 1-automatically load the default program on power-up, 0-don’t automatically load the default program program_name: the name of the job program and its path, e.g. “/fruser/movej.lua”, where /fruser/ is the fixed path for QX, and /usr/local/etc/controller/lua/ is the fixed path for LA
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.2. Load the specified job program

Prototype	ProgramLoad(program_name)
Description	Load the specified job program.
Mandatory parameters	program_name: name of the job program and path, e.g. “/fruser/movej.lua”, where /fruser/ is the fixed path for QX, and /usr/local/etc/controller/lua/ is the fixed path for LA
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.3. Get the name of the loaded job program

Prototype	GetLoadedProgram()
Description	Get the name of the loaded job program
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode program_name: the name of the loaded operating program.

10.4. Get the line number of the current robot job program

Prototype	GetCurrentLine()
Description	Get the execution line number of the current robot job program
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode line_num: the line number of the current robot job program execution

10.5. Run the currently loaded job program

Prototype	ProgramRun()
Description	Run the currently loaded job program
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.6. Suspend the currently running job program

Prototype	ProgramPause()
Description	Suspend the currently running job program.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.7. Resuming a currently suspended program

Prototype	ProgramResume()
Description	Resume the currently suspended job program
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.8. Terminate the currently running job program

Prototype	ProgramStop()
Description	Terminate the currently running job program.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.9. Obtaining robot job program execution status

Prototype	GetProgramState()
Description	Get robot job program execution status
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode state: state of execution of the robot’s operating program, 1 - program stopped or no program running, 2 - program running, 3 - program suspended

10.10. Robot LUA program operation code example

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
program_name = "/fruser/test0610.lua"
loaded_name = ""
state = 0
line = 0
robot.Mode(0)
robot.LoadDefaultProgConfig(0, program_name)
robot.ProgramLoad(program_name)
robot.ProgramRun()
time.sleep(1)
robot.ProgramPause()
error,state = robot.GetProgramState()
print(f"program state:{state}")
error,line = robot.GetCurrentLine()
print(f"current line:{line}")
error,loaded_name = robot.GetLoadedProgram()
print(f"program name:{loaded_name}")
time.sleep(1)
robot.ProgramResume()
time.sleep(1)
robot.ProgramStop()
time.sleep(1)
robot.CloseRPC()

10.11. Download Lua files

New in version python: SDK-v2.0.2

Prototype	LuaDownLoad(fileName, savePath)
Description	Download Lua File
Mandatory parameter	fileName: the name of the lua file to be downloaded, e.g. “test.lua”
savePath: the local path to save the file	e.g. “D://Down/””
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.12. Deleting Lua files

New in version python: SDK-v2.0.2

Prototype	LuaDelete(fileName)
Description	Deleting Lua files.
Required Parameters	fileName: the name of the lua file to be deleted, “test.lua”
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

10.13. Get the names of all current lua files

New in version python: SDK-v2.0.2

Prototype	GetLuaList()
Description	Get the names of all current lua files
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode lua_num: number of lua files luaNames: list of lua file names

10.14. Uploading Lua files

New in version python: SDK-v2.0.2

Prototype	LuaUpload(filePath)
Description	Uploading a Lua file
Mandatory parameter	filePath: full path name of the uploaded file e.g. D://test/test.lua
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode errorStr(lua file exists error returned)

10.15. Robot LUA file upload and download code examples

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn,lua_num,luaNames = robot.GetLuaList()
print(f"res is:{rtn}")
print(f"size is:{lua_num}")
for name in luaNames:
    print(name)
rtn = robot.LuaDownLoad("test0610.lua", "D://zDOWN/")
print(f"LuaDownLoad rtn is:{rtn}")
rtn = robot.LuaUpload("D://zDOWN/test0610.lua")
print(f"LuaUpload rtn is:{rtn}")
rtn = robot.LuaDelete("test0610.lua")
print(f"LuaDelete rtn is:{rtn}")
robot.CloseRPC()