3.5 ProgramManager Class

Overview

ProgramManager handles program start/stop, running-program queries, program pose read/write, and BasScript execution. After Arm is connected, access the instance through arm.programManager ; no separate initialization is required.

3.5.1 Program Execution Control

3.5.1.1 Start Program

cpp

Start(const std::string& programName) -> STATUS_CODE

Item	Description
Description	Starts the specified program
Request Parameters	`programName` : std::string program name
Return Value	STATUS_CODE: function execution result
Notes	Returns `PROGRAM_NOT_FOUND` if the program does not exist
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.1.2 Stop Program

cpp

Stop(const std::string& programName = "") -> STATUS_CODE

Item	Description
Description	Stops the specified program. If the program name is empty, stops the currently running program
Request Parameters	`programName` : std::string program name, optional
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.1.3 Pause Program

cpp

Pause(const std::string& programName = "") -> STATUS_CODE

Item	Description
Description	Pauses the specified program. If the program name is empty, pauses the currently running program
Request Parameters	`programName` : std::string program name, optional
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.1.4 Resume Program

cpp

Resume(const std::string& programName = "") -> STATUS_CODE

Item	Description
Description	Resumes the specified program. If the program name is empty, resumes the currently paused program
Request Parameters	`programName` : std::string program name, optional
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.1.5 Get All Running Programs

cpp

AllRunningPrograms() -> std::pair<std::vector<RunningProgramInfo>, STATUS_CODE>

Item	Description
Description	Gets the current list of all running programs
Request Parameters	None
Return Value	`std::vector<RunningProgramInfo>` : running program list STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.2 Execute BasScript

3.5.2.1 Execute Script Text Lines

cpp

ExecuteBasScript(const std::vector<std::string>& scriptLines) -> STATUS_CODE

Item	Description
Description	Executes script text lines directly
Request Parameters	`scriptLines` : `std::vector<std::string>` list of script text lines
Return Value	STATUS_CODE: function execution result
Notes	Executes the text exactly as provided by the caller
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.2.2 Execute Builder-Generated Script

cpp

ExecuteBasScript(const BasScript& basScript) -> STATUS_CODE

Item	Description
Description	Executes a script generated by the builder
Request Parameters	`basScript` : script object generated by the BasScript builder
Return Value	STATUS_CODE: function execution result
Notes	When `BasScript` is passed, closure validation is performed first, and the execution path automatically appends `RETURN` / `END`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3 Program Poses

3.5.3.1 Read Program Pose

cpp

PoseRead(const std::string& programName, int32_t index, ProgramType programType = ProgramType::USER) -> std::pair<ProgramPose, STATUS_CODE>

Item	Description
Description	Reads the specified pose from the specified program
Request Parameters	`programName` : std::string program name `index` : int32_t pose index `programType` : ProgramType program type, default `USER`
Return Value	ProgramPose: program pose STATUS_CODE: function execution result
Notes	Returns `PROGRAM_NOT_FOUND` if the program does not exist, and `PROGRAM_POSE_NOT_FOUND` if the pose does not exist
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3.2 Write Program Pose

cpp

PoseWrite(const std::string& programName, int32_t index, const ProgramPose& value, ProgramType programType = ProgramType::USER) -> STATUS_CODE

Item	Description
Description	Writes the specified pose to the specified program
Request Parameters	`programName` : std::string program name `index` : int32_t pose index `value` : ProgramPose pose value `programType` : ProgramType program type, default `USER`
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3.3 Add Program Pose

cpp

PoseAdd(const std::string& programName, int32_t index, const ProgramPose& value, ProgramType programType = ProgramType::USER) -> STATUS_CODE

Item	Description
Description	Adds a pose at the specified position
Request Parameters	`programName` : std::string program name `index` : int32_t pose index `value` : ProgramPose pose value `programType` : ProgramType program type, default `USER`
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3.4 Read All Program Poses

cpp

PoseReadAll(const std::string& programName, ProgramType programType = ProgramType::USER) -> std::pair<std::vector<ProgramPose>, STATUS_CODE>

Item	Description
Description	Reads all poses from the specified program
Request Parameters	`programName` : std::string program name `programType` : ProgramType program type, default `USER`
Return Value	`std::vector<ProgramPose>` : pose list STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3.5 Batch Write Program Poses

cpp

PoseWriteBatch(const std::string& programName, const std::vector<ProgramPose>& posesToUpdate) -> STATUS_CODE

Item	Description
Description	Batch-writes program poses
Request Parameters	`programName` : std::string program name `posesToUpdate` : `std::vector<ProgramPose>` pose list
Return Value	STATUS_CODE: function execution result
Notes	Block programs are not supported and return `UNSUPPORTED_FILETYPE` ; missing programs return `PROGRAM_NOT_FOUND`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.5.3.6 Pose Type Conversion

cpp

PoseConvert(const ProgramPose& pose, PoseType fromType, PoseType toType) -> std::pair<ProgramPose, STATUS_CODE>

Item	Description
Description	Converts a pose from one type to another
Request Parameters	`pose` : ProgramPose to convert `fromType` : PoseType source type `toType` : PoseType target type
Return Value	ProgramPose: converted pose STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

PoseWriteBatch Boundaries

Item	Description
User program	Supported
Block program	Not supported; returns `UNSUPPORTED_FILETYPE`
Program does not exist	Returns `PROGRAM_NOT_FOUND`

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing program and pose results
#include "arm_api.h"    // Arm entry point; after connection, program and motion APIs are available
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [runningPrograms, queryRet] = arm.programManager.AllRunningPrograms();
    if (queryRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [jointPose, poseRet] = arm.motionControl.GetCurrentPose(PoseType::JOINT);
    if (poseRet != STATUS_CODE::OK) {
        return 1;
    }

    ProgramPose programPose;
    programPose.name = "demo_pose";
    programPose.pose = jointPose;
    auto [cartPose, convertRet] = arm.programManager.PoseConvert(
        programPose,
        PoseType::JOINT,
        PoseType::CART
    );
    if (convertRet != STATUS_CODE::OK) {
        return 1;
    }

    std::cout << "running_program_count=" << runningPrograms.size() << "\n";
    std::cout << "converted_pose_type="
              << static_cast<int>(cartPose.pose.poseType) << "\n";
    return 0;
}

Scenario Examples

The snippets below cover running-state queries, script execution, pose reads, pose maintenance, and program control. They assume the arm object from the minimal example is already connected. Calls that change program or robot state remain commented out; run them only after checking the site.

Query Running Programs

cpp

auto [runningPrograms, runningRet] = arm.programManager.AllRunningPrograms();
if (runningRet == STATUS_CODE::OK) {
    std::cout << "running_program_count=" << runningPrograms.size() << "\n";
}

Execute BasScript

cpp

std::vector<std::string> scriptLines = {"WAIT 0.1"};
// STATUS_CODE execLinesRet = arm.programManager.ExecuteBasScript(scriptLines);
BasScript script("demo.bas");
STATUS_CODE waitRet = script.structure.WaitTime(ValueType::VALUE, Float64{0.1});
if (waitRet != STATUS_CODE::OK) {
    return;
}
// STATUS_CODE execScriptRet = arm.programManager.ExecuteBasScript(script);

Read and Convert Program Poses

cpp

const std::string programName = "demo_program";
auto [poseFromProgram, readRet] = arm.programManager.PoseRead(programName, 0, ProgramType::USER);
auto [allPoses, readAllRet] = arm.programManager.PoseReadAll(programName, ProgramType::USER);
if (readRet == STATUS_CODE::OK && readAllRet == STATUS_CODE::OK) {
    std::cout << "pose_name=" << poseFromProgram.name << " pose_count=" << allPoses.size() << "\n";
}
auto [convertedPose, convertRet] = arm.programManager.PoseConvert(poseFromProgram, PoseType::JOINT, PoseType::CART);
if (convertRet == STATUS_CODE::OK) {
    std::cout << "converted_pose_type=" << static_cast<int>(convertedPose.pose.poseType) << "\n";
}

Maintain Program Poses

cpp

const std::string programName = "demo_program";
ProgramPose poseToWrite;
poseToWrite.name = "demo_pose";
// STATUS_CODE writeRet = arm.programManager.PoseWrite(programName, 0, poseToWrite, ProgramType::USER);
// STATUS_CODE addRet = arm.programManager.PoseAdd(programName, 1, poseToWrite, ProgramType::USER);
// STATUS_CODE batchRet = arm.programManager.PoseWriteBatch(programName, std::vector<ProgramPose>{poseToWrite});

Control Program Execution

cpp

const std::string programName = "demo_program";
// STATUS_CODE startRet = arm.programManager.Start(programName);
// STATUS_CODE pauseRet = arm.programManager.Pause(programName);
// STATUS_CODE resumeRet = arm.programManager.Resume(programName);
// STATUS_CODE stopRet = arm.programManager.Stop(programName);

Example code:

cpp17/program_execution/src/control_programs/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "control_programs/run.h"

/**
 * 程序控制门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunProgramExecutionControlPrograms(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_program] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_program] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 顺序执行启动、暂停、恢复和停止接口。
    // [EN] Execute the start, pause, resume, and stop APIs in sequence.
    STATUS_CODE startRet = arm.programManager.Start("demo.bas");
    STATUS_CODE pauseRet = arm.programManager.Pause("demo.bas");
    STATUS_CODE resumeRet = arm.programManager.Resume("demo.bas");
    STATUS_CODE stopRet = arm.programManager.Stop("demo.bas");
    std::cout << "[cpp17_program] Start 状态码 / Start status code: " << static_cast<int>(startRet) << "\n";
    std::cout << "[cpp17_program] Pause 状态码 / Pause status code: " << static_cast<int>(pauseRet) << "\n";
    std::cout << "[cpp17_program] Resume 状态码 / Resume status code: " << static_cast<int>(resumeRet) << "\n";
    std::cout << "[cpp17_program] Stop 状态码 / Stop status code: " << static_cast<int>(stopRet) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_program] 示例结束 / Example finished\n";
    return 0;
}

cpp17/bas_script_execution/src/build_bas_script/run.cpp

cpp

#include <iostream>
#include <vector>
#include "arm_api.h"
#include "status_code.h"

#include "build_bas_script/run.h"

/**
 * 构造 BAS 脚本门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunBasScriptExecutionBuildBasScript(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_bas_script] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_bas_script] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 构造 BAS 脚本对象并覆盖全部脚本构造接口。
    // [EN] Build the BAS script object and cover the script-building APIs.
    BasScript script("example_bas_script.bas");
    ExtraParam extraParam;
    extraParam.Acceleration(20.0);
    extraParam.Rctp();
    extraParam.Offset(1);
    extraParam.Tb(0.5, "DI", "", 1, "ON");
    extraParam.Skip(2);
    extraParam.Approach(5.0, 3.0);
    script.SetParam(ParamType::OVC, ValueType::VALUE, Float64{20.0});
    script.AssignValue(AssignType::R, 1, OtherType::VALUE, Float64{1.0});
    script.AssignValue(AssignType::R, 2, AssignType::MR, int32_t{3});
    script.motion.MoveJoint(MovePoseType::PR, 1, SpeedType::VALUE, 10.0, SmoothType::FINE, 0.0, &extraParam);
    script.motion.MoveLine(MovePoseType::PR, 2, SpeedType::VALUE, 10.0, SmoothType::SMOOTH_DISTANCE, 1.0, &extraParam);
    script.motion.MoveCircle(MovePoseType::PR, 1, MovePoseType::PR, 2, SpeedType::VALUE, 10.0, SmoothType::SMOOTH_DISTANCE, 1.0, &extraParam);
    std::vector<int32_t> jumpIndexList;
    jumpIndexList.push_back(1);
    jumpIndexList.push_back(2);
    jumpIndexList.push_back(3);
    script.motion.MoveJump(MovePoseType::PR, 3, 10.0, 100.0, SpeedType::VALUE, 20.0, SmoothType::FINE, 0.0, &extraParam);
    script.motion.MoveJump3(MovePoseType::PR, jumpIndexList, 10.0, 100.0, SmoothType::FINE, 0.0, &extraParam);
    script.motion.MoveJump3cp(MovePoseType::PR, jumpIndexList, 10.0, SmoothType::FINE, 0.0, &extraParam);
    script.logical.LogiIf(RegisterType::R, 1, OtherType::VALUE, Float64{1.0}, BooleanOperator::EQ);
    script.logical.LogiElseIf(RegisterType::R, 1, OtherType::VALUE, Float64{2.0}, BooleanOperator::EQ);
    script.logical.LogiElse();
    script.logical.LogiEndIf();
    script.logical.LogiSwitch(RegisterType::MR, 1);
    script.logical.LogiCase(OtherType::VALUE, int32_t{1});
    script.logical.LogiDefault();
    script.logical.LogiEndSwitch();
    script.logical.LogiWhile(RegisterType::R, 1, OtherType::VALUE, Float64{10.0}, BooleanOperator::LT);
    script.logical.LogiBreak();
    script.logical.LogiContinue();
    script.logical.LogiEndWhile();
    script.logical.LogiGoto(100);
    script.logical.LogiLabel(100);
    script.logical.LogiSkipCondition(RegisterType::R, 1, OtherType::VALUE, Float64{0.0}, BooleanOperator::EQ);
    script.structure.Wait(RegisterType::R, 1, ValueType::VALUE, Float64{0.5}, BooleanOperator::GE);
    script.structure.WaitTime(ValueType::VALUE, Float64{0.1});
    script.structure.Pause();
    script.structure.Abort();
    script.structure.Call("demo_user_program");
    script.structure.Run("demo_user_program");
    script.structure.Load(LoadType::R, int32_t{1});
    script.structure.Unload(LoadType::R, int32_t{1});
    script.structure.Exec(LoadType::STRING, std::string("demo"));
    script.socket.SocketOpen(1);
    script.socket.SocketConnect(1);
    script.socket.SocketSend(1, StrType::STRING, std::string("hello"));
    script.socket.SocketRecv(1, 16, StrType::SR, int32_t{1});
    script.socket.SocketClose(1);
    script.modbus.ModbusReadMH(1, 1, 0, 1, 1);
    script.modbus.ModbusReadMI(1, 1, 0, 1, 1);
    script.modbus.ModbusWriteMH(1, 1, 0, 1, ValueType::VALUE, 1);
    script.vision.VisionFind("camera_1");
    script.vision.VisionGetOffset("camera_1", 1, 0);
    script.vision.VisionGetQuantity("camera_1", 1);
    std::cout << "[cpp17_bas_script] 脚本文本 / Script text:\n" << script.GetScript() << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_bas_script] 示例结束 / Example finished\n";
    return 0;
}

cpp17/bas_script_execution/src/execute_bas_script/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "execute_bas_script/run.h"

/**
 * 执行 BAS 脚本门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunBasScriptExecutionExecuteBasScript(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_bas_script] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_bas_script] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 直接执行两种 BAS 脚本接口。
    // [EN] Execute both BAS script APIs directly.
    BasScript script("example_bas_script.bas");
    script.structure.WaitTime(ValueType::VALUE, Float64{0.1});
    script.structure.Abort();
    STATUS_CODE linesRet = arm.programManager.ExecuteBasScript(script.content);
    STATUS_CODE scriptRet = arm.programManager.ExecuteBasScript(script);
    std::cout << "[cpp17_bas_script] ExecuteBasScript(lines) 状态码 / ExecuteBasScript(lines) status code: " << static_cast<int>(linesRet) << "\n";
    std::cout << "[cpp17_bas_script] ExecuteBasScript(script) 状态码 / ExecuteBasScript(script) status code: " << static_cast<int>(scriptRet) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_bas_script] 示例结束 / Example finished\n";
    return 0;
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.5 ProgramManager Class

Overview

3.5.1 Program Execution Control

3.5.1.1 Start Program

3.5.1.2 Stop Program

3.5.1.3 Pause Program

3.5.1.4 Resume Program

3.5.1.5 Get All Running Programs

3.5.2 Execute BasScript

3.5.2.1 Execute Script Text Lines

3.5.2.2 Execute Builder-Generated Script

3.5.3 Program Poses

3.5.3.1 Read Program Pose

3.5.3.2 Write Program Pose

3.5.3.3 Add Program Pose

3.5.3.4 Read All Program Poses

3.5.3.5 Batch Write Program Poses

3.5.3.6 Pose Type Conversion

PoseWriteBatch Boundaries

Minimal Call Example

Scenario Examples

Query Running Programs

Execute BasScript

Read and Convert Program Poses

Maintain Program Poses

Control Program Execution

3.5 ProgramManager Class ​

Overview ​

3.5.1 Program Execution Control ​

3.5.1.1 Start Program ​

3.5.1.2 Stop Program ​

3.5.1.3 Pause Program ​

3.5.1.4 Resume Program ​

3.5.1.5 Get All Running Programs ​

3.5.2 Execute BasScript ​

3.5.2.1 Execute Script Text Lines ​

3.5.2.2 Execute Builder-Generated Script ​

3.5.3 Program Poses ​

3.5.3.1 Read Program Pose ​

3.5.3.2 Write Program Pose ​

3.5.3.3 Add Program Pose ​

3.5.3.4 Read All Program Poses ​

3.5.3.5 Batch Write Program Poses ​

3.5.3.6 Pose Type Conversion ​

PoseWriteBatch Boundaries ​

Minimal Call Example ​

Scenario Examples ​

Query Running Programs ​

Execute BasScript ​

Read and Convert Program Poses ​

Maintain Program Poses ​

Control Program Execution ​

3.5 ProgramManager Class

Overview

3.5.1 Program Execution Control

3.5.1.1 Start Program

3.5.1.2 Stop Program

3.5.1.3 Pause Program

3.5.1.4 Resume Program

3.5.1.5 Get All Running Programs

3.5.2 Execute BasScript

3.5.2.1 Execute Script Text Lines

3.5.2.2 Execute Builder-Generated Script

3.5.3 Program Poses

3.5.3.1 Read Program Pose

3.5.3.2 Write Program Pose

3.5.3.3 Add Program Pose

3.5.3.4 Read All Program Poses

3.5.3.5 Batch Write Program Poses

3.5.3.6 Pose Type Conversion

PoseWriteBatch Boundaries

Minimal Call Example

Scenario Examples

Query Running Programs

Execute BasScript

Read and Convert Program Poses

Maintain Program Poses

Control Program Execution