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Command queue

Commands that change the arm state are appended to the firmware command queue and run in order. The DobotLab functions, such as ptp, wait for their own command. These members wait on, pause, and clear the queue.

Member Description
Magician.wait_for Block until a queued command has executed.
Magician.wait_idle Block until every command queued by this instance has executed.
Magician.wait Pause the arm.
Magician.batch Queue commands and run them when the block exits.
Magician.start_queue Start executing queued commands.
Magician.stop_queue Pause execution of queued commands.
Magician.force_stop_queue Stop execution immediately.
Magician.clear_queue Remove all queued commands.
Magician.queued_cmd_current_index Read the index of the last executed command.
Magician.queued_cmd_left_space Read the free space in the queue.

Magician.wait_for

Magician.wait_for(index, *, timeout=None, poll=0.02, raise_on_alarm=True) -> None

Block until the queue has executed the command at index.

Parameters

Name Type Description
index int Queue index returned by a queued command.
timeout float or None, default None Maximum wait, seconds. None waits indefinitely.
poll float, default 0.02 Polling interval, seconds.
raise_on_alarm bool, default True Raise as soon as any alarm is active. Commands still queued are then discarded.

Raises

Example

index = bot.move_to(200, 0, 50, mode=1, wait=False)  # MOVJ_XYZ
bot.wait_for(index, timeout=10)

Magician.wait_idle

Magician.wait_idle(*, timeout=None, poll=0.02, raise_on_alarm=True) -> None

Block until the queue has executed every command queued by this instance.

Returns immediately if nothing has been queued since connecting or since the last clear_queue.

Parameters

Name Type Description
timeout float or None, default None Maximum wait, seconds. None waits indefinitely.
poll float, default 0.02 Polling interval, seconds.
raise_on_alarm bool, default True Raise as soon as any alarm is active. Commands still queued are then discarded.

Raises

Magician.wait

Magician.wait(second) -> bool

Pause the arm for second seconds and wait until the pause ends.

Inside batch, the pause is queued and the method returns at once.

Parameters

Name Type Description
second float Pause duration, seconds. Rounded to milliseconds.

Returns bool: True.

Magician.batch

Magician.batch()

Context manager that queues commands and runs them when the block exits.

On entry, stops and clears the queue. Inside the block, the DobotLab functions only queue their command. On exit, starts the queue and waits until every command has executed. If the block raises, the queued commands are discarded. Nested blocks take effect only at the outermost level. move_to with wait=True, wait_for, and wait_idle do not return inside the block.

Returns A context manager that yields the Magician instance.

Raises DobotAlarmError subclass: the arm reported an alarm while running the commands.

Example

with bot.batch():
    for x, y in points:
        bot.ptp(mode=2, x=x, y=y, z=50, r=0)  # MOVL_XYZ

Magician.start_queue

Magician.start_queue() -> None

Start executing queued commands.

connect calls this method when auto_start_queue=True.

Magician.stop_queue

Magician.stop_queue() -> None

Pause execution of queued commands.

Queued commands are kept, and new commands can still be queued.

Magician.force_stop_queue

Magician.force_stop_queue() -> None

Stop execution of queued commands immediately, including the command in progress.

Magician.clear_queue

Magician.clear_queue() -> None

Remove all queued commands.

Magician.queued_cmd_current_index

Magician.queued_cmd_current_index() -> int

Read the index of the last executed queued command.

Magician.queued_cmd_left_space

Magician.queued_cmd_left_space() -> int

Read the number of free slots in the firmware queue.