10. Robot WebAPP program usage

10.1. Set default program to load automatically on startup

1/**
2* @brief  Set default program to load automatically on startup
3* @param  [in] flag  0-Do not load default program automatically, 1-Load default program automatically
4* @param  [in] program_name Program name and path, e.g., "/fruser/movej.lua" ("/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA)
5* @return  Error code
6*/
7int LoadDefaultProgConfig(int flag, String program_name);

10.2. Load specified program

1/**
2* @brief  Load specified program
3* @param  [in] program_name Program name and path, e.g., "/fruser/movej.lua" ("/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA)
4* @return  Error code
5*/
6int ProgramLoad(String program_name);

10.3. Get loaded program name

1/**
2* @brief  Get loaded program name
3* @param  [out] program_name program_name[0]: Program name and path, e.g., "/fruser/movej.lua" ("/fruser/" is the fixed path for QX, and "/usr/local/etc/controller/lua/" is the fixed path for LA)
4* @return  Error code
5*/
6int GetLoadedProgram(String[] program_name);

10.4. Get current program execution line number

1/**
2* @brief  Get current program execution line number
3* @param  [out] List[0]: Error code; List[1]: int line - Line number
4* @return  Error code
5*/
6List<Integer> GetCurrentLine();

10.5. Run currently loaded program

1/**
2* @brief  Run currently loaded program
3* @return  Error code
4*/
5int ProgramRun();

10.6. Pause current running program

1/**
2* @brief  Pause current running program
3* @return  Error code
4*/
5int PauseMotion();

10.7. Resume paused program

1/**
2* @brief  Resume paused program
3* @return  Error code
4*/
5int ResumeMotion();

10.8. Stop current running program

1/**
2* @brief  Stop current running program
3* @return  Error code
4*/
5int StopMotion();

10.9. Get robot program execution state

1/**
2* @brief  Get robot program execution state
3* @param   [out] state 1-Program stopped/no program running, 2-Program running, 3-Program paused
4* @return  Error code
5*/
6public int GetProgramState(int[] state)

10.10. Robot LUA program operation code example

 1public static int TestLuaOp(Robot robot)
 2{
 3    String program_name = "/fruser/Text1.lua";
 4    String[] loaded_name = new String[]{""};
 5    int[] state=new int[]{0};
 6    List<Integer> line=new ArrayList<>();
 7
 8    robot.Mode(0);
 9    robot.LoadDefaultProgConfig(0, program_name);
10    robot.ProgramLoad(program_name);
11    robot.ProgramRun();
12    robot.Sleep(1000);
13    robot.ProgramPause();
14    robot.GetProgramState(state);
15    System.out.println("program state:"+ state[0]);
16    line=robot.GetCurrentLine();
17    System.out.println("current line:"+ line);
18    robot.GetLoadedProgram(loaded_name);
19    System.out.println("program name:"+ loaded_name[0]);
20    robot.Sleep(1000);
21    robot.ProgramResume();
22    robot.Sleep(1000);
23    robot.ProgramStop();
24    robot.Sleep(1000);
25
26    robot.CloseRPC();
27    return 0;
28}

10.11. Download Lua program

1/**
2* @brief Download program
3* @param [in] fileName Lua file name to download ("test.lua" or "test.tar.gz")
4* @param [in] savePath Local save path ("D://Down/")
5* @return Error code
6*/
7int LuaDownLoad(String fileName, String savePath);

10.12. Delete Lua program

1/**
2* @brief Delete program
3* @param [in] fileName Program name to delete ("test.lua")
4* @return Error code
5*/
6int LuaDelete(String fileName);

10.13. Get all current Lua file names

1/**
2* @brief Get all current Lua file names
3* @param [out] luaNames Program name list
4* @return Error code
5*/
6int GetLuaList(List<String> luaNames);

10.14. Upload Lua program

1/**
2* @brief Upload program
3* @param [in] filePath Local Lua file path (".../test.lua" or ".../test.tar.gz")
4* @param [out] errStr Error message
5* @return Error code
6*/
7int LuaUpload(String filePath, String errStr);

10.15. Robot LUA file upload/download code example

 1public static int TestLUAUpDownLoad(Robot robot)
 2{
 3    List<String> luaNames=new ArrayList<>();
 4    int rtn = robot.GetLuaList(luaNames);
 5    System.out.println("res is: "+rtn);
 6    System.out.println("size is: "+luaNames.size());
 7    for (int it =1; it < luaNames.size(); it++)
 8    {
 9        System.out.println(luaNames.get(it));
10    }
11
12    rtn = robot.LuaDownLoad("test.lua", "D://zDOWN/");
13    System.out.println("LuaDownLoad rtn is:"+rtn);
14
15    rtn = robot.LuaUpload("D://zUP/XG.lua","");
16    System.out.println("LuaUpload rtn is:"+ rtn);
17
18    rtn = robot.LuaDelete("XG.lua");
19    System.out.println("LuaDelete rtn is:"+ rtn);
20
21    return 0;
22}