drl Services

DrlStart

This is a service to execute a program configured in the DRL language in the robot controller.

Request:

int8    robot_system       # Robot System Mode: 0 = Real, 1 = Virtual
string  code               # DRL code to execute

Response:

bool success

Note

The drl service is only available in real mode.

DrlStop

This service is used to stop the DRL program (task) currently running on the robot controller. Stops differently according to the eStopType received as an argument, and stops the motion of the current section

Request:

int8    stop_mode          # <STOP_TYPE> stop_mode
                           # STOP_TYPE_QUICK_STO = 0
                           # STOP_TYPE_QUICK     = 1
                           # STOP_TYPE_SLOW      = 2
                           # STOP_TYPE_HOLD = STOP_TYPE_EMERGENCY = 3

Response:

bool success

Note

The drl service is only available in real mode.

DrlPause

This is a service to temporarily stop the DRL program (task) currently running on the robot controller.

Request:

(None)

Response:

bool success

Note

The drl service is only available in real mode.

DrlResume

This is a service to resume the currently paused DRL program (task) from the robot controller.

Request:

(None)

Response:

bool success

Note

The drl service is only available in real mode.

GetDrlState

Get DRL Program State.

Request:

(None)

Response:

int8 drl_state             # <DRL_PROGRAM_STATE>
                           # 0 : DRL_PROGRAM_STATE_PLAY
                           # 1 : DRL_PROGRAM_STATE_STOP
                           # 2 : DRL_PROGRAM_STATE_HOLD
                           # 3 : DRL_PROGRAM_STATE_LAST
bool success

Note

The drl service is only available in real mode.