30 lines
1.3 KiB
XML
30 lines
1.3 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">
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<Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
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<Parameter name="cmd" type="string" xsi:type="element" />
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<Parameter name="args" type="string" xsi:type="array" use="reference" />
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<Parameter name="tx" type="string" xsi:type="element" use="reference" />
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<Parameter name="ex" type="string" xsi:type="element" use="reference" />
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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="puck" 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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<Local name="ok" type="bool" xsi:type="array" size="1" />
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<Local name="ret" 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], puck, ok)
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toNum(args[1], sample, ok)
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tx = "Mounting sample " + toString("", puck) + ":" + toString("", sample)
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break
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default
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ex = "Invalid command: " + cmd
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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> |