Call Plugin command from robot program可打印版本 +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API) +--- Thread: Call Plugin command from robot program (/Thread-Call-Plugin-command-from-robot-program) |
Call Plugin command from robot program-mvistein-05-18-2022 Is there a way to call a (blocking) plugin-command from a robot program? 一个点燃tle background to my question: In the example Synchronize-3-Robots, a python script is used for the synchronization of the three robot programs. The invocation of the python script however takes considerable time. Since I was already able to improve the performance of my application by moving from the C# API to a C++ plugin (about factor 60) I was thinking whether the synchronization of the simulation could also be performed internally (within the plugin). Best regards, Michael RE: Call Plugin command from robot program-Sam-05-18-2022 Hi Michael, I'm not sure if I understand correctly, but you can call a C++ plugin from the Python script, which can be called from a Program. See//www.sinclairbody.com/doc/en/PythonAPI/robodk.html?highlight=plugin#robodk.robolink.Robolink.PluginCommand RE: Call Plugin command from robot program-mvistein-05-18-2022 Hi Sam, what I am looking for is a way to do this, but without the Python script in between (because to me it seems that launching the Python interpreter takes quite some time). Best regards, Michael RE: Call Plugin command from robot program-Sam-05-19-2022 Hi Michael, What are you trying to do exactly? Only Python scripts can be called with a Program Call Instruction from a RoboDK Program. Calling a RoboDK Plug-In from the Python script should not take longer than a few milliseconds.
Code:
from robolink import *
You stated that you need blocking function calls, so the following might not apply: you can also use event-based code with Plug-Ins to update the robot poses on each render for instance. Seehttps://github.com/RoboDK/Plug-In-Interface/blob/d26720cff7e7848fbca9adfa6a72bade6b67054c/robodk_interface/iapprobodk.h#L212. |