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.