83 lines
2.9 KiB
XML
83 lines
2.9 KiB
XML
<?xml version="1.0" encoding="utf-8" ?>
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<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2" >
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<Program name="onCommandTcp" access="private" >
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<Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1" >
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<Parameter name="cmd" type="string" use="value" xsi:type="element" dimensions="1" />
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<Parameter name="args" type="string" use="reference" xsi:type="array" dimensions="1" />
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<Parameter name="tx" type="string" use="reference" xsi:type="element" dimensions="1" />
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<Parameter name="ex" type="string" use="reference" xsi:type="element" dimensions="1" />
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</Parameters>
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<Locals>
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<Local name="index" type="num" xsi:type="array" size="1" />
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<Local name="ok" type="bool" xsi:type="array" size="1" />
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<Local name="puck" type="num" xsi:type="array" size="1" />
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<Local name="ret" type="num" xsi:type="array" size="1" />
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<Local name="sample" type="num" xsi:type="array" size="1" />
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</Locals>
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<Code><![CDATA[begin
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switch (cmd)
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// case "mount"
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// toNum(args[0],segment,ok)
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// toNum(args[1],puck,ok)
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// toNum(args[2],sample,ok)
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// tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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// //taskCreate "mount",10,mount(puck, sample)
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// // taskCreate "unmount",10,unmount(puck,sample)
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// //taskCreate "firstmount",10,firstmount(puck,sample)
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// // taskCreate "moveHome",10,moveHome()
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// break
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// case "firstmount"
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// toNum(args[0],segment,ok)
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// toNum(args[1],puck,ok)
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// toNum(args[2],sample,ok)
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// tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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// break
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// case "unmount"
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// toNum(args[0],segment,ok)
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// toNum(args[1],puck,ok)
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// toNum(args[2],sample,ok)
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// tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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// break
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case "getDewar"
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toNum(args[0],segment,ok)
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toNum(args[1],puck,ok)
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toNum(args[2],sample,ok)
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tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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break
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case "putGonio"
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toNum(args[0],segment,ok)
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toNum(args[1],puck,ok)
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toNum(args[2],sample,ok)
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tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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break
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case "getGonio"
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toNum(args[0],segment,ok)
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toNum(args[1],puck,ok)
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toNum(args[2],sample,ok)
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tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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break
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case "putDewar"
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toNum(args[0],segment,ok)
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toNum(args[1],puck,ok)
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toNum(args[2],sample,ok)
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tx="Mounting sample "+toString("",segment)+":"+toString("",puck)+":"+toString("",sample)
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break
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endSwitch
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end]]></Code>
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</Program>
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</Programs> |