.. _get_robot_mode:

get_robot_mode
------------------------------------------
Returns the mode stored in this CDRFLEx instance (initially ROBOT_MODE_MANUAL). set_robot_mode stores the requested mode. Calls that send a safety mode to the controller also store the mode when the controller accepts it: drl_stop stores Manual mode, set_safety_mode and the initialization and recovery options of set_robot_control store the safety mode they send, and multi_jog, motion and force-control commands store the current safety mode. The stored mode is not read from the controller; call set_robot_mode(ROBOT_MODE_AUTONOMOUS) before Auto-only functions, even if the controller is already in Auto mode. To confirm that the controller accepted a mode change, check the return value of set_robot_mode.

Auto mode automatically executes motions (programs) configured in sequential order, while Manual mode executes single motions such as jog.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    ROBOT_MODE get_robot_mode() { return _get_robot_mode(_rbtCtrl); };

**Parameter** |br|
None

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - :ref:`ROBOT_MODE <enum_robot_mode>`
     - Refer to the Definition of Enumeration Type

.. Caution::

   set_robot_mode stores the requested mode even when it returns false. get_robot_mode then returns the requested mode, and functions that require Auto or Manual mode accept calls although the controller did not change mode. If set_robot_mode returns false, do not use mode-gated functions until a later set_robot_mode call returns true.

**Example**

.. code-block:: cpp

   #include <thread>
   #include <chrono>

   string strDrProgram = "\r\n"
                         "loop = 0\r\n"
                         "while loop < 3:\r\n"
                         "    movej(posj(10,10,10,10,10,10), vel=60, acc=60)\r\n"
                         "    movel(posx(559, 434.5, 651.5, 0, 180, 0), vel=60, acc=60)\r\n"
                         "    loop=loop+1\r\n"
                         "movej(posj(10,10,10,10,10,10), vel=60, acc=60)\r\n";

   if (drfl.get_robot_state() == STATE_STANDBY) {
       if (drfl.get_robot_mode() == ROBOT_MODE_MANUAL) {
           // Manual mode
           drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 10.0f);  // start jog
           std::this_thread::sleep_for(std::chrono::seconds(2));
           drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 0.0f);   // stop jog
       }
       else {
           // Automatic mode
           ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
           drfl.drl_start(eTargetSystem, strDrProgram);
       }
   }


This example checks the robot’s **operation mode** and performs different actions accordingly.  
In Manual mode, the robot executes a short jog motion;  
in Auto mode, it runs a predefined DRL program sequentially.