Command to stop only a sub program

marvin.kaphengst · October 1, 2019, 2:14pm

Hello everybody,

I am working with an SPS and an UR10 and I made the mistake and used a switch-case statement as a menu that can be controlled via the integer register and from there I start sub programs. This was working fine until I wanted to stop a sub program and go back to the main program (which is waiting for a special input boolean register in a loop). The only thing I can do is to use ‘halt’ which stops the whole program. But I only want to go out of the sub program. I know, if I used functions (instead of sub programs) it would have been possible with the return command. But is there also a way to do it with sub programs?

Thanks in advance

Marvin

m.birkholz · October 1, 2019, 8:57pm

It should be fine using functions or threads with return statements. Just to be sure i understood this right: Can you post your generated urscript?

marvin.kaphengst · October 2, 2019, 6:12am

Okay, now that I had a look into the gernerated script it appears to me that sub programs are nothing else than functions that are getting called so I will test the “return” statement. Lets see if this works. The code (simplified a bit) can be found below:

def MainProgram():
  set_standard_analog_input_domain(0, 1)
  set_standard_analog_input_domain(1, 1)
  set_tool_analog_input_domain(0, 1)
  set_tool_analog_input_domain(1, 1)
  set_analog_outputdomain(0, 0)
  set_analog_outputdomain(1, 0)
  set_tool_voltage(12)
  set_input_actions_to_default()
  set_tcp(p[-0.00126,-0.30352999999999997,0.054009999999999996,1.5707,0.0,0.0])
  set_payload(8.5, [0.0, 0.15, 0.05])
  set_gravity([0.0, 0.0, 9.82])
  rtde_set_watchdog("speed_slider_mask", 10.0, "pause")
  rtde_set_watchdog("input_bit_registers0_to_31", 10.0, "pause")
  rtde_set_watchdog("input_bit_registers32_to_63", 10.0, "pause")
  def subProgram1():
    sleep(0.01)
  end
  def subProgram2():
    write_output_boolean_register(0,   False  )
    popup("Camera gets triggert", "Meldung", False, False, blocking=True)
    write_output_boolean_register(0,   True  )
    sleep(0.1)
    while (not(read_input_boolean_register(2) ==   True  )):
      sync()
    end
    sleep(0.1)
    write_output_boolean_register(0,   False  )
    popup("Move to hole", "Warnung", True, False, blocking=True)
    p_hole=p[-0.15258,-0.71954,0.32050,3.1415,0.0,0.0]
    movel(p_hole, a = 0.01, v = 0.01, t = 0, r = 0)
  end
  def subProgram3():
    sleep(0.01)
  end
  def subProgram4():
    sleep(0.01)
  end
  def subProgram5():
    sleep(0.01)
  end
  $ 72 "Thread_1"
  thread Thread_1():
    while (True):
      global IN_boolReg_0to7=[read_input_boolean_register(0), read_input_boolean_register(1), read_input_boolean_register(2), read_input_boolean_register(3), read_input_boolean_register(4), read_input_boolean_register(5), read_input_boolean_register(6), read_input_boolean_register(7)]
      global OUT_boolReg_0to7=[read_output_boolean_register(0), read_output_boolean_register(1), read_output_boolean_register(2), read_output_boolean_register(3), read_output_boolean_register(4), read_output_boolean_register(5), read_output_boolean_register(6), read_output_boolean_register(7)]
      global IN_floatReg_0to7=[read_input_float_register(0), read_input_float_register(1), read_input_float_register(2), read_input_float_register(3), read_input_float_register(4), read_input_float_register(5), read_input_float_register(6), read_input_float_register(7)]
      global OUT_floatReg_0to7=[read_output_float_register(0), read_output_float_register(1), read_output_float_register(2), read_output_float_register(3), read_output_float_register(4), read_output_float_register(5), read_output_float_register(6), read_output_float_register(7)]
      global IN_intReg_0=read_input_integer_register(0)
      global OUT_actual_tcp=get_actual_tcp_pose()
      sync()
    end
  end
  threadId_Thread_1 = run Thread_1()
  while (True):
    $ 1 "Roboterprogramm"
    $ 2 "TESTâ‰” True "
    global TEST=  True  
    $ 3 "Schleife read_input_boolean_register(4)â‰Ÿ False "
    thread Thread_while_3():
      while (True):
        $ 4 "write_output_boolean_register(2,  True )"
        write_output_boolean_register(2,   True  )
        $ 5 "write_output_boolean_register(3,  False )"
        write_output_boolean_register(3,   False  )
        $ 6 "write_output_boolean_register(6,  False )"
        write_output_boolean_register(6,   False  )
        $ 7 "sync()"
        sync()
      end
    end
    if (read_input_boolean_register(4) ==   False  ):
      global thread_handler_3=run Thread_while_3()
      while (read_input_boolean_register(4) ==   False  ):
        sync()
      end
      kill thread_handler_3
    end
    $ 8 "write_output_integer_register(0, read_input_integer_register(0))"
    write_output_integer_register(0, read_input_integer_register(0))
    $ 9 "sps_choice=read_input_integer_register(0)"
    sps_choice=read_input_integer_register(0)
    $ 10 "Script: floatRegMirror.script"
    write_output_float_register(0, read_input_float_register(0))
    write_output_float_register(1, read_input_float_register(1))
    write_output_float_register(2, read_input_float_register(2))
    write_output_float_register(3, read_input_float_register(3))
    write_output_float_register(4, read_input_float_register(4))
    write_output_float_register(5, read_input_float_register(5))
    write_output_float_register(6, read_input_float_register(6))
    write_output_float_register(7, read_input_float_register(7))
    IN_floatReg_0to7=[read_input_float_register(0), read_input_float_register(1), read_input_float_register(2), read_input_float_register(3), read_input_float_register(4), read_input_float_register(5), read_input_float_register(6), read_input_float_register(7)]
    $ 11 "write_output_boolean_register(3, True )"
    write_output_boolean_register(3,  True  )
    $ 12 "write_output_boolean_register(2, False )"
    write_output_boolean_register(2,  False  )
    $ 13 "write_output_boolean_register(5, True )"
    write_output_boolean_register(5,  True  )
    $ 14 "counter1â‰”0"
    global counter1=0
    $ 15 "Schleife read_input_boolean_register(6)â‰Ÿ True "
    while (read_input_boolean_register(6) ==   True  ):
      $ 16 "If read_input_float_register(5)â‰Ÿ True  or counter1>9"
      if (read_input_float_register(5) ==   True    or  counter1>9):
        $ 17 "break"
        break
      end
      $ 18 "Warten: 0.5"
      sleep(0.5)
      $ 19 "counter1â‰”counter1+1"
      global counter1=counter1+1
    end
    $ 20 "If (read_input_boolean_register(5)â‰Ÿ True  and read_input_boolean_register(6)â‰Ÿ False ) or counter1>9"
    if ((read_input_boolean_register(5) ==   True    and  read_input_boolean_register(6) ==   False  )  or  counter1>9):
      $ 21 "continue"
      continue
    end
    $ 22 "write_output_boolean_register(6, True )"
    write_output_boolean_register(6,  True  )
    $ 23 "Switch sps_choice"
    switch_1 = sps_choice
    if (0 == switch_1):
      $ 25 "Meldung"
      popup("Case 0", "Meldung", False, False, blocking=True)
    elif (1 == switch_1):
      $ 27 "Meldung"
      popup("Case 1", "Meldung", False, False, blocking=True)
      $ 28 "If TESTâ‰Ÿ True "
      if (TEST ==   True  ):
        $ 29 "continue"
        continue
      end
      $ 30 "Aufruf subProgram1"
      subProgram1()
    elif (2 == switch_1):
      $ 32 "Meldung"
      popup("Case 2", "Meldung", False, False, blocking=True)
      $ 33 "If TESTâ‰Ÿ True "
      if (TEST ==   True  ):
        $ 34 "continue"
        continue
      end
      $ 35 "Aufruf subProgram2"
      subProgram2()
    elif (3 == switch_1):
      $ 37 "Meldung"
      popup("Case 3", "Meldung", False, False, blocking=True)
      $ 38 "If TESTâ‰Ÿ True "
      if (TEST ==   True  ):
        $ 39 "continue"
        continue
      end
      $ 40 "Aufruf subProgram3"
      subProgram3()
    elif (4 == switch_1):
      $ 42 "Meldung"
      popup("Case 4", "Meldung", False, False, blocking=True)
      $ 43 "If TESTâ‰Ÿ True "
      if (TEST ==   True  ):
        $ 44 "continue"
        continue
      end
      $ 45 "Aufruf subProgram4"
      subProgram4()
    elif (5 == switch_1):
      $ 47 "Meldung"
      popup("Case 5", "Meldung", False, False, blocking=True)
      $ 48 "If TESTâ‰Ÿ True "
      if (TEST ==   True  ):
        $ 49 "continue"
        continue
      end
      $ 50 "Aufruf subProgram5"
      subProgram5()
    else:
      $ 52 "Meldung"
      popup("Case standard", "Meldung", False, False, blocking=True)
    end
  end
end

m.birkholz · October 2, 2019, 7:01am

Exactly😉 That‘s why using return should be fine. You can also use Threads and wait for completed execution using join command.

I would also recommend to create your program only using urscript. In this case, mixing polyscope programming with a ton of script commands can be confusing

marvin.kaphengst · October 14, 2019, 6:59am

Exactly😉 That‘s why using return should be fine. You can also use Threads and wait for completed execution using join command.

I would also recommend to create your program only using urscript. In this case, mixing polyscope programming with a ton of script commands can be confusing

Thank you for the help. And yes you are right, mixing the block building programming with script files is confusing. This should be changed by me

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