event routine execution

ECapitanio

Hi,
I have some questions about event routine execution:

1. What happen if an event routine is called during the execution of another event routine?
for ex. while executing an "OnStop" routine the start button is pressed and the "OnStart" routine is executed (or vice-versa).
Pending requests for event routines are queued or ignored?

2. What happen if the execution of the program is stopped during the execution of a event routine? When the program is restarted the pending event routine execution is concluded or aborted?

3. Is there any detailed documentation regarding this topics?

Regards Emanuele

Steve_Murphy

Hello,

 

You can find more information in the System Parameters manual, found on the robot documentation under "Technical Reference Manuals".

 

With regards to your questions, to the best of my knowledge right now:

 

1)  Events are processed to completion before the next event is processed. So all routines attached to OnStop will be completed before the OnStart routine run.   (Based on the fact that all routines run at the same User Level priority.  For a specific event you can adjust which runs first by changing the Sequence Number.

 

2)  Event routines are continued from where they were stopped.  The only way to abort is to move the program pointer to Main.

 

Kind Regards,

 

  Steve

 

ECapitanio

OK, thank you very much!