C and C++:

Online Programming Configuration projectManagement

This interface supports the sending and management of online programming files, global waypoint management, and other functions.

Send files rm_send_project()

• Method prototype:

int rm_send_project(rm_robot_handle * handle,rm_send_project_t project,int * errline)

Jump to rm_robot_handle and rm_send_project_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
project	Input	Parameter configuration structure for sending files.
errline	Input	If the operation fails, this parameter returns the number of error lines. If err_line is 0, it indicates that the paring data length is incorrect; if err_line is -1, it indicates no error.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.
-5	int	File name check failed.
-5	int	File reading failed.

• Usage demo

// Save the online programming files to the controller with the ID 10, and operate at 20% speed
rm_send_project_t project;
int errline;
strcpy(project.project_path, "/home/work/realman.txt");
project.project_type = 0;//在线编程文件
project.plan_speed = 20;
project.only_save = 0;// 运行
project.save_id = 10;
project.project_path_len = strlen(project.project_path);
ret = rm_send_project(robot_handle, project, &errline);
printf("send project result: %d, err_line: %d\n", ret, errline);

Change the speed ratio in trajectory planning rm_set_plan_speed()

• Method prototype:

int rm_set_plan_speed(rm_robot_handle * handle,int speed)

Jump to rm_robot_handle and rm_send_project_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed data of the current progress bar.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

int speed = 20;
ret = rm_set_plan_speed(robot_handle,speed);

Get online program list rm_get_program_trajectory_list()

• Method prototype:

int rm_get_program_trajectory_list(rm_robot_handle * handle,int page_num,int page_size,const char * vague_search,rm_program_trajectorys_t * trajectorys)

Jump to rm_robot_handle and rm_program_trajectorys_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
page_num	Input	Page number.
page_size	Input	Page size.
vague_search	Input	Keyword for vague search.
trajectorys	Output	Online program list.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Query 10 online programming files on page 1.
int page_num = 1;
int page_size = 10;
const char *vague_search;
rm_program_trajectorys_t program_trajectorys;
int result = rm_get_program_trajectory_list(robot_handle, page_num, page_size, vague_search, &program_trajectorys);
printf("rm_get_program_trajectory_list result : %d\n", result);

Start to run the specified trajectory rm_set_program_id_run()

• Method prototype:

int rm_set_program_id_run(rm_robot_handle * handle,int id,int speed,int block)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	Page number.
speed	Input	1−100, speed required to run the trajectory. If set to 0, run at the saved speed.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

Note: For single-thread blocking mode, set the timeout period to return the trajectory after running within the timeout period.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.
-4	int	The running has stopped, but the successful running information is not received. The trajectory may have stopped outside the range.

• Usage demo

// Run the online programming file with the ID 1 at the default speed in blocking mode (multi-thread mode by default)
ret = rm_set_program_id_run(robot_handle, 1, 0, 1);
printf("rm_set_program_id_run result :%d\n", ret);

Query the online program running state rm_get_program_run_state()

• Method prototype:

int rm_get_program_run_state(rm_robot_handle * handle,rm_program_run_state_t * run_state)

Jump to rm_robot_handle and rm_program_run_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
run_state	Output	Online program running state structure.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

rm_program_run_state_t state;
ret = rm_get_program_run_state(robot_handle, &state);

Delete the specified trajectory rm_delete_program_trajectory()

• Method prototype:

int rm_delete_program_trajectory(rm_robot_handle * handle,int id)

Jump to rm_robot_handle and rm_program_run_state_t for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	ID of specified trajectory.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Delete the online programming file with the ID 50
ret = rm_delete_program_trajectory(robot_handle, 50);
printf("delete program trajectory result : %d\n", ret);

Update the information of the specified trajectory rm_update_program_trajectory()

• Method prototype:

int rm_update_program_trajectory(rm_robot_handle * handle,int id,int speed,const char * name)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	ID of specified trajectory.
speed	Input	Updated planned speed ratio 1−100.
name	Input	Updated file name.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Update the online programming file with the ID 1: planned speed ratio: 50%, file name: "test"
ret = rm_update_program_trajectory(robot_handle,1,50,"test");
printf("update program trajectory result : %d\n", ret);

Set the ID of program that the IO runs by default rm_set_default_run_program()

• Method prototype:

int rm_set_default_run_program(rm_robot_handle * handle,int id)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Input	Set the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set the ID of online programming file that the IO runs by default to 1
int ret = -1;
ret = rm_set_default_run_program(robot_handle, 1);

Get the ID of program that the IO runs by default rm_get_default_run_program()

• Method prototype:

int rm_get_default_run_program(rm_robot_handle * handle,int * id)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
id	Output	Save the ID of online programming file that the IO runs by default. It is configurable from 0 to 100. 0 means canceling the setting.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

int id;
ret = rm_get_default_run_program(robot_handle, id);