Custom Motion Commands

Call Flowchart:

Example of implementing a custom Motion Command: Step 1: Set motion parameters Step 2: Call SendCmd to send to Controller.

Implement Command PMoveL(point, speed, zone, tool, wobj); This command is similar to the current MOVEL Command. Users can implement their own logic inside the command, such as pairing with a welding machine.

/**
 * @brief Implement Command PMoveL
 */
void RegPMoveL() {
    // 1. Command configuration, such as name, trigger method, task limits, etc.
    RLCmdConfigAPI cfg;
    cfg.SetFuncName("pmovel");
    // Set command look-ahead method to Motion Command
    cfg.SetLookAhead(CmdLookAheadImplAPI::MOVEMENT_ITSELF) ;
    // Set task limit type
    cfg.SetTaskLimit(TaskLimitAPI::TASK_NO_LIMIT);
    // Set step-back type
    cfg.SetStepBack(StepBackAPI::STEP_BACK_CUSTOM);

    // 2. Create command according to configuration
    BEGIN_COMMAND_API(cfg)

    // 3. Configure parameter checker for the command
    PARAMS_API(
        ArgTypeAPI(ValueTypeAPI::VALUE_ROBTARGET),
        ArgTypeAPI(ValueTypeAPI::VALUE_SPEED),
        ArgTypeAPI(ValueTypeAPI::VALUE_ZONE),
        ArgTypeAPI(ValueTypeAPI::VALUE_TOOL),
        ArgTypeAPI(ValueTypeAPI::VALUE_WOBJ)
    )

    // 4. Command forward execution body
    RLCmdActionAPI cmd_func = [=](std::shared_ptr<RLCallFrameAPI> frame,
        std::vector<std::shared_ptr<SymbolVarBaseAPI>> args) -> CommandExecuteAPI {
        // Get parameter data
        auto point = args[0]->GetPointAPI();
        auto speed = args[1]->GetSpeedAPI();
        auto zone = args[2]->GetZoneAPI();
        auto tool = args[3]->GetToolAPI();
        auto wobj = args[4]->GetWobjAPI();

        CommandExecuteAPI cmd_exec = [=]()
        {
            MotionCmdArgsAPI args_api;
            // Set target point
            args_api.SetTargetPoint(point);
            // Set motion type to linear
            args_api.SetMoveType(MoveTypeAPI::MOVE_L);
            // Set tool speed zone information
            args_api.SetTool(tool);
            args_api.SetWobj(wobj);
            args_api.SetZone(zone);
            args_api.SetSpeed(speed);
            // Set pointer to current execution position
            args_api.SetUpdatePointer(frame->GetCmdTask(), frame->GetCmdFile(), frame->GetCmdLine());
            // Set trigger
            TriggerAPI t;
            t.type = TriggerAPI::TriggerType::DISTANCE;
            t.reference_is_from_start = true;
            t.value_from_reference = 0.1;
            t.trigger_callback = [=]
            {
                LOG_DEBUG<<frame->GetCmdTask()<<" "<<frame->GetCmdFile()<<" "<<frame->GetCmdLine()<<" 100mm trigger callback";
            };
            args_api.SetTriggers({t});
            // Set path callbacks
            args_api.SetCallback(CallBackTypeAPI::MOVE_START,[]{LOG_INFO<<"movel start callback";});
            args_api.SetCallback(CallBackTypeAPI::MOVE_FINISH,[]{LOG_INFO<<"movel finish callback";});
            args_api.SetCallback(CallBackTypeAPI::MOVE_PAUSE,[]{LOG_INFO<<"movel pause callback";});
            MotionCmdAPI api;
            // Send command
            int ret = api.SendCmd(args_api);
            LOG_INFO<<"send motion cmd:"<<ret;
            LOG_DEBUG<<"point:"<<point<<" speed:"<<speed<<" zone:"<<zone
                <<" tool:"<<tool<<" wobj:"<<wobj;

            LOG_DEBUG<<":"<<frame->GetCmdTask()<<" "<<frame->GetCmdFile()<<" "<<frame->GetCmdLine();
            if (ret == 0){
                return CommandProcessResultAPI::CMD_PROCESS_EXTRA;
            }else{
                return CommandProcessResultAPI::CMD_PROCESS_ERROR;
            }
        };
        return cmd_exec;
    };
    EXECUTE_API(cmd_func)

    // 5. Register command to Controller
    REGISTER_COMMAND_API
}

After the above steps, a new Motion Command is created. The PMoveL command can now be called in RL. For more command usage, please refer to examples/motion_cmd.cpp