(Deprecated) use vcExecutor

vcRslProgramExecutor

vcRslProgramExecutor is an executor for robot programs, thereby allowing you to program and simulate robot actions. In this context, a robot program consists of a Main routine, subroutines and statements.

Inherits: vcBehaviour

Contents HideContents Show
  1. Properties
  2. Methods
  3. Events

Properties

Name Type Access Description
ActionMode Boolean RW Defines if the execution of robot program is performed automatically or by a logic controller, for example a pedestal.

If False, MainRoutine is executed automatically at start of simulation.
Colour vcMaterial RW Defines the color of robot program.
Controller vcRobotController

or

vcServoController

 RW Defines the controller referenced by executor, which is either a controller for robot or servo.
CurrentRoutine vcRslRoutine R Gets the current routine in robot program being handled by executor.
DigitalMapIn vcBooleanSignalMap RW Defines the input device used for reading digital signal values.
DigitalMapOut vcBooleanSignalMap RW Defines the output device used for sending digital signal values.
ExecutionMode Boolean RW Defines if a robot is controlled by an external executor, for example a virtual robot controller.
IntegerMapIn vcIntegerSignalMap RW Defines the input device used for reading integer values.
IntegerMapOut vcIntegerSignalMap RW Defines the output device used for sending integer values.
Looping Boolean RW Defines if the executor loops a robot program during a simulation.
MainRoutine vcRslRoutine R Gets the main routine of robot program.
ProcessHandlers List of vcRslProcessHandler RW Gets a list of all process statement handlers connected to executor.
Program String RW Defines the URI of robot program being handled by executor.
RealMapIn vcBehaviour RW Defines the device used for reading real number values.
RealMapOut vcBehaviour RW Defines the device used for sending real number values.
StringMapIn vcStringSignalMap RW Defines the device used for reading string values.
StringMapOut vcStringSignalMap RW Defines the device used for sending string values.
SubRoutines List of vcRslRoutine R Gets a list of all subroutines in current robot program being handled by executor.

Methods

Name Return Type Parameters Description
callRemoteAction None String routine Schedules a remote routine by name in a connected robot to be executed at first opportunity.

Note: Python execution continues immediately.
callRoutine None String routine, [Boolean suspend] Executes a routine by name in robot program, and then waits for completion of that routine.

An optional suspend argument can be used to wait or not wait for completion of routine. If False, Python execution continues immediately.
createSubRoutine vcRslRoutine String routine_name Adds a new routine of a given routine_name to robot program.
delay None Real time Schedules a delay in the execution of robot program for a given amount of time.

Note: Python execution continues immediately.
deleteProgram Boolean None Deletes the robot program being handled by executor, thereby removing all routines and statements.

If deletion is successful, returns True; otherwise returns False.
deleteSubRoutine Boolean String routine Deletes a routine by name from robot program.

If deletion is successful, returns True; otherwise returns False.
newProgram Boolean String name Creates a new robot program of a given name to be handled by executor.
setOutput None Integer output_index, Boolean value Sets the value of a signal connected to a port at a given output_index in robot.
waitInput None Integer input_index, Boolean value Schedules the executor to wait until a signal connected to a port at a given input_index in robot has a given value.

Note: Python execution continues immediately.
waitRemoteAction None String routine Schedules the executor to wait for completion of a routine by name in a connected robot.

Note: Python execution continues immediately.

Events

Name Parameters Description
OnProgramChange vcRslRoutine routine, vcRslStatement statement Triggered when a change occurs in robot program, for example when you add/delete a statement from a routine.