C, C++:

Action Configuration

Supports action-related configuration, including operations such as querying, running, deleting, saving, and updating.

Query Action List rm_get_tool_action_list

• Method prototype:

int rm_get_tool_action_list(rm_robot_handle *handle, int page_num, int page_size, const char *vague_search, rm_tool_action_list_t *list);

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
page_num	Input	Page number.
page_size	Input	Number of items per page.
vague_search	Input	Vague search string.
list	Output	Action list.

Jump to rm_robot_handle and rm_tool_action_list_t for details of the structure.

• Return value:

Parameter	Description
0	Success.
1	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	The data transmission fails, indicating that a problem occurs during the communication.
-2	The data reception fails, indicating that a problem occurs during the communication or the controller has a return timeout.
-3	The return value parsing fails, indicating that the received data format is incorrect or incomplete.
-4	This interface is not supported by the Gen 3 Controller.

• Usage demo

int page_num = 1;
int page_size = 20;
const char* vague_search = NULL;
rm_tool_action_list_t list;
ret = rm_get_tool_action_list(handle, page_num, page_size, vague_search, &list);
printf("%d\n", ret);
printf("=== Tool Action List ===\n");
printf("Number of returned actions: %d\n", list.list_len);
printf("\n");
const int THRESHOLD = 1000000;
for (int i = 0; i < list.list_len; i++) {
    printf("Action %d:\n", i + 1);
    printf("  Name: %s\n", list.act_list[i].name);
    int hasValidPos = 0;
    for (int j = 0; j < 100; j++) {
        if (abs(list.act_list[i].hand_pos[j]) < THRESHOLD) {
            hasValidPos = 1;
            break;
        }
    }
    int hasValidAngle = 0;
    for (int j = 0; j < 100; j++) {
        if (abs(list.act_list[i].hand_angle[j]) < THRESHOLD) {
            hasValidAngle = 1;
            break;
        }
    }
    if (hasValidPos) {
        printf("  handpos: [");
        for (int j = 0; j < 100; j++) {
            if (abs(list.act_list[i].hand_pos[j]) < THRESHOLD) {
                if (j > 0) printf(", ");
                printf("%d", list.act_list[i].hand_pos[j]);
            }
        }
        printf("]\n");
    }
    else if (hasValidAngle) {
        printf("  handangle: [");
        for (int j = 0; j < 100; j++) {
            if (abs(list.act_list[i].hand_angle[j]) < THRESHOLD) {
                if (j > 0) printf(", ");
                printf("%d", list.act_list[i].hand_angle[j]);
            }
        }
        printf("]\n");
    }
    printf("--------------------\n");
}

Run Specified End Tool Action rm_run_tool_action

• Method prototype:

int rm_run_tool_action(rm_robot_handle *handle, const char *action_name);

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm control handle.
action_name	Input	Action name.

Jump to rm_robot_handle for details of the structure.

• Return value:

Parameter	Description
0	Success.
1	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	The data transmission fails, indicating that a problem occurs during the communication.
-2	The data reception fails, indicating that a problem occurs during the communication or the controller has a return timeout.
-3	The return value parsing fails, indicating that the received data format is incorrect or incomplete.
-4	This interface is not supported by the Gen 3 Controller.
-5	The current in-position device verification fails, i.e., the current in-position device is not an end tool action.

• Usage demo

Run the specified end tool action "run_tool_action"

const char* action_name = "1";
ret = rm_run_tool_action(handle, action_name);
printf("%d\n", ret);

Delete Specified End Tool Action rm_delete_tool_action

• Method prototype:

int rm_delete_tool_action(rm_robot_handle *handle, const char *action_name);

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm control handle.
action_name	Input	Action name.

Jump to rm_robot_handle for details of the structure.

• Return value:

Parameter	Description
0	Success.
1	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	The data transmission fails, indicating that a problem occurs during the communication.
-2	The data reception fails, indicating that a problem occurs during the communication or the controller has a return timeout.
-3	The return value parsing fails, indicating that the received data format is incorrect or incomplete.
-4	This interface is not supported by the Gen 3 Controller.

• Usage demo

Delete the specified end tool action "delete_tool_action"

const char* action_name = "p";
ret = rm_delete_tool_action(handle, action_name);
printf("%d\n", ret);

Save Action to Controller rm_save_tool_action

• Method prototype:

int rm_save_tool_action(rm_robot_handle *handle, const char *action_name,int *selected_array,int array_size, int array_type);

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm control handle.
action_name	Input	Action name.
selected_array	Input	Value of the save array.
array_size	Input	Size of the save array.
array_type	Input	Save type (0 - indicates save type is hand_pos; 1 - indicates save type is hand_angle)

Jump to rm_robot_handle for details of the structure.

• Return value:

Parameter	Description
0	Success.
1	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	The data transmission fails, indicating that a problem occurs during the communication.
-2	The data reception fails, indicating that a problem occurs during the communication or the controller has a return timeout.
-3	The return value parsing fails, indicating that the received data format is incorrect or incomplete.
-4	This interface is not supported by the Gen 3 Controller.

• Usage demo

Save action "save_tool_action"

const char* action_name = "12";
int selected_array[6] = {1,1,1,1,1,1};
int array_size = 6;
int array_type = 0;
ret = rm_save_tool_action(handle, action_name, selected_array, array_size, array_type);
printf("%d\n", ret);

Update Action to Controller rm_update_tool_action

• Method prototype:

int rm_update_tool_action(rm_robot_handle *handle, const char *action_name, const char *new_name, int *selected_array,int array_size, int array_type);

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm control handle.
action_name	Input	Action name.
new_name	Input	New action name.
selected_array	Input	Value of the save array.
array_size	Input	Size of the save array.
array_type	Input	Save type (0 - indicates save type is hand_pos; 1 - indicates save type is hand_angle)

Jump to rm_robot_handle for details of the structure.

• Return value:

Parameter	Description
0	Success.
1	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	The data transmission fails, indicating that a problem occurs during the communication.
-2	The data reception fails, indicating that a problem occurs during the communication or the controller has a return timeout.
-3	The return value parsing fails, indicating that the received data format is incorrect or incomplete.
-4	This interface is not supported by the Gen 3 Controller.

• Usage demo

const char* action_name = "121";
const char* new_name = "12";
int selected_array[6] = { 2,1,1,1,1,1 };
int array_size = 6;
int array_type = 1;
ret = rm_update_tool_action(handle, action_name, new_name, selected_array, array_size, array_type);
printf("%d\n", ret);