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¶

Programs Manager’s Parameters¶
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¶

Programs manager Services¶
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