Lebai Help

Program Control

Start Task

Start a new task

Serial tasks are executed in queue, with maximum one serial task running at a time. Subsequent tasks wait for previous tasks to complete, fail or terminate before running.

Parallel tasks execute immediately, with multiple parallel tasks running simultaneously with independent environment variables.

WARNING

  • When the started scene contains motion related interfaces, must start as serial task (is_parallel is false)
  • In serial tasks, must start as parallel task (is_parallel is true), otherwise will block
task_id = lebai:start_task(scene, params, dir, is_parallel, loop_to)
  • Parameters
    • scene Scene ID
    • params Parameters to pass. String array. Optional, default empty
    • dir Workspace name. Optional, default root directory
    • is_parallel Whether to execute in parallel. Optional, default serial
    • loop_to Number of repetitions. Optional, default 1 time, 0 means infinite
  • Returns
    • task_id Task ID
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "start_task", "params": [{"name": "", "params": [""], "dir": "", "is_parallel": false, "loop_to": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"id": 1}, "id": 1 }

Get All Task IDs

tasks = lebai:get_task_list()
  • Returns
    • tasks IDs of all uncompleted tasks
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "load_task_list", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"ids": []}, "id": 1 }

Get Serial Task ID

task = lebai:get_main_task_id()
  • Returns
    • task ID of serial task

Wait for Task Completion

stdout = lebai:wait_task(task_id)
  • Parameters
    • task_id task_id returned by start_task. Optional, default serial task
  • Returns
    • stdout All print output of the task
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "wait_task", "params": [{"id": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"done": true, "stdout": ""}, "id": 1 }

Get Task State

state = lebai:get_task_state(task_id)
  • Parameters
    • task_id Task ID. Optional, default serial task
  • Returns
    • state Task state: "NONE" no task; "WAIT" queuing; "RUNNING" running; "PAUSE" paused; "SUCCESS" completed successfully; "INTERRUPTING" stopping; "INTERRUPT" stopped; "FAIL" failed
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "load_task", "params": [{"id": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"state": ""}, "id": 1 }

Stop Task

lebai:cancel_task(task_id)

Stop specified task. When stopping serial task, will automatically call stop_move to stop motion

  • Parameters
    • task_id Task ID. Optional, default serial task
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "cancel_task", "params": [{"id": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Pause Task

lebai:pause_task(task_id)

Pause specified task. When pausing serial task, will automatically call pause_move to pause motion

  • Parameters
    • task_id Task ID. Optional, default serial task
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "pause_task", "params": [{"id": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }

Resume Task

lebai:resume_task(task_id)

Resume specified task. When resuming serial task, will automatically call resume_move to resume motion

  • Parameters
    • task_id Task ID. Optional, default serial task
JSON-RPC
// Request:
{ "jsonrpc": "2.0", "method": "resume_task", "params": [{"id": 1}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {}, "id": 1 }