Event Notifications

Receive event notifications by redefining event functions.

WARNING

In version 3.1.52 and later, all event functions run in disable_auto_sync mode.

Listen for Events 3.1.35

Registers an event callback function that executes func when an event is received.

• Function: on_event from the lua module
• Parameters:
  1. event: [str] Event name:
     • "robot_state" Redefine Robot State Change
     • "robot_collide" Redefine Robot Collision
     • "robot_stop" Redefine Robot Stop
     • "task_exit" Redefine Task End
     • "task_pause" Redefine Task Pause
     • "task_resume" Redefine Task Resume
  2. func: [function] Function to execute when event is received
• Returns: none

WARNING

Some events have default behaviors. After redefining the event, the default behavior will no longer execute, which may cause inconsistent behavior.

Example

on_event("robot_stop", function(is_estop)
  -- Terminate IO, motors, etc.
  set_do(0, 0)
  -- Stop executing subsequent tasks
  cancel_task(get_task_id())
end)

Robot State Change 3.1.11

Triggered when Robot State changes.

• Function: on_robot_state from the lua module
• Parameters:
  1. state: [int] Robot state after change
• Returns: none

Example

function on_robot_state(state)
  print("robot state: ", state)
end

Robot Collision 3.1.52

Triggered when the robot collides.

• Function: on_robot_collide from the lua module
• Parameters: none
• Returns: none

Example

function on_robot_collide()
  set_voice(3, 2)
  set_led(6, 1, {0})
end

Robot Stop 3.1

Triggered when the robot stops.

• Function: on_robot_stop from the lua module
• Parameters:
  1. is_estop: [bool] Whether it is an emergency stop
• Returns: none

Example

function on_robot_stop(is_estop)
  cancel_task(get_task_id())
end

Task End 3.1

Triggered after a task finishes running.

• Function: on_task_exit from the lua module
• Parameters:
  1. is_success: [bool] Whether the task executed successfully
• Returns: none

Example

function on_task_exit(is_success)
  if not is_success then
    stop_move()
  end
end

Task Pause 3.1

Triggered after a task pauses.

• Function: on_task_pause from the lua module
• Parameters: none
• Returns: none

Example

function on_task_pause()
  pause_move()
end

Task Resume 3.1

Triggered after a task resumes.

• Function: on_task_resume from the lua module
• Parameters: none
• Returns: none

Example

function on_task_resume()
  resume_move()
end