For information on the latest version, please have a look at GL013301.
save_sub_program
This function saves a DRL sub-program into the controller with the specified file name and DRL script content. Sub-programs can be invoked from a main DRL program or managed independently for modular and reusable task configuration.
Definition
DRFLEx.h within class CDRFLEx, public section (line 984)
bool save_sub_program(int iTargetType, string strFileName, string strDrlProgram) {
return _save_sub_program(_rbtCtrl, iTargetType, strFileName.c_str(), strDrlProgram.c_str());
};
Parameter
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
iTargetType |
int |
Specifies the target type for saving the sub-program. |
|
strFileName |
string |
256-byte file name of the DRL sub-program file to be saved. |
|
strDrlProgram |
string |
The DRL script content to be saved as a sub-program. |
Return
Value |
Type |
Description |
|---|---|---|
0 |
int |
Failed — failed to save the sub-program to the controller. |
1 |
int |
Success — the sub-program was successfully saved. |
Example
// Define DRL script to save as a sub-program
string strSubDrl =
"def sub_task():\n"
" movej([0, 0, 0, 0, 0, 0])\n"
"end\n";
// Save the DRL sub-program into the controller
bool bSaved = drfl.save_sub_program(0, "sub_task.drl", strSubDrl);
if (bSaved) {
// Successfully saved
// The sub-program can now be called from a main DRL program
} else {
// Handle failure
}
This example stores a reusable DRL sub-program on the controller, allowing modular composition of DRL task sequences.