Niryo_robot_programs_manager¶
This package is in charge of interpreting/running/saving programs. It is used by Niryo Studio.
Programs manager node¶
The ROS Node is made of several services to deal with the storage and running of programs.
Calls are not available from the Python ROS Wrapper, as it is made to run its programs with the Python ROS Wrapper.
It belongs to the ROS namespace: /niryo_robot_programs_manager/
.
Parameters - Programs manager¶
Name | Description |
---|---|
autorun_file_name |
Name of the file containing auto run infos |
programs_dir |
Path to the Program storage mother folder |
Services - Programs manager¶
Name | Message Type | Description |
---|---|---|
execute_program |
ExecuteProgram | Executes a program |
execute_program_autorun |
Trigger | Executes autorun program |
get_program |
GetProgram | Retrieves saved program |
get_program_autorun_infos |
GetProgramAutorunInfos | Gets autorun settings |
get_program_list |
GetProgramList | Gets saved programs’ name |
manage_program |
ManageProgram | Saves and Deletes programs |
set_program_autorun |
SetProgramAutorun | Sets autorun settings |
stop_program |
Trigger | Stops the current running program |
All these services are available as soon as the node is started whereas on standalone mode or not.
Dependencies - Programs manager¶
Services files - Programs manager¶
ExecuteProgram¶
bool execute_from_string
string name
string code_string
niryo_robot_programs_manager/ProgramLanguage language
---
int16 status
string message
string output
GetProgram¶
string name
niryo_robot_programs_manager/ProgramLanguage language
---
int32 status
string message
string code
string description
GetProgramAutorunInfos¶
---
int32 status
string message
niryo_robot_programs_manager/ProgramLanguage language
string name
# Mode
int8 ONE_SHOT = 1
int8 LOOP = 2
int8 mode
GetProgramList¶
niryo_robot_programs_manager/ProgramLanguage language
---
string[] programs_names
niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list
string[] programs_description
ManageProgram¶
# Command
int32 SAVE = 1
int32 DELETE = -1
int8 cmd
# Program Name
string name
# - Creation
niryo_robot_programs_manager/ProgramLanguage language
string code
string description
bool allow_overwrite
---
int16 status
string message
SetProgramAutorun¶
# Program language
niryo_robot_programs_manager/ProgramLanguage language
# Program Name
string name
# Mode
int8 DISABLE = 0
int8 ONE_SHOT = 1
int8 LOOP = 2
int8 mode
---
int16 status
string message
Messages files - Programs manager¶
ProgramIsRunning¶
bool program_is_running
int8 EXECUTION_ERROR = -2
int8 FILE_ERROR = -1
int8 NONE = 0
int8 PREEMPTED = 1
int8 SUCCESS = 2
int8 last_execution_status
string last_execution_msg
ProgramLanguage¶
int8 NONE = -1
int8 ALL = 0
# Runnable
int8 PYTHON2 = 1
int8 PYTHON3 = 2
# Not Runnable
int8 BLOCKLY = 66
int8 used
ProgramLanguageList¶
niryo_robot_programs_manager/ProgramLanguage[] language_list
ProgramList¶
string[] programs_names
niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list
string[] programs_description