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15.4.22 Interrupt commands

15.4.22.1 IRegister — Register interrupt

Explanation

Register an interrupt, determining whether it can be triggered once, whether it can be debugged (triggered during single-step or single-step pause), as well as the interrupt number, trigger signal, and trigger type. . One trigger source can only be bound to one interrupt function.

Definition

IRegister([\SINGLE,][\DEBUG,][\LOGIC,]int_num, signal, trigger_type, trap_function);

[] indicates optional parameters

int_num, data type: interrupt number variable, used as an interrupt identifier

signal, register signal/DI signal

trigger_type, trigger method

DI signal trigger methods:

  • \Posflank: posedge triggering

  • \Negflank: negedge triggering

  • \Highlevel: high-level triggering

  • \Lowlevel: low-level triggering

Note: High/low level triggering will continuously trigger interrupts

Register (int+bool+bit+byte) trigger methods: 0 represents low level, non-0 represents high level

trap_function: interrupt function name

\SINGLE, single trigger (optional)

\DEBUG, debuggable (optional), adding this parameter allows interrupts to be triggered during single-step or single-step pause states

\LOGIC, logic interrupt (optional), adding this parameter prevents the interrupt from interrupting robot motion after it is triggered

Example

 
IRegister(\SINGLE, \DEBUG, intnum0, DI1_0, \Posflank, "trapfun1");

Register an interrupt where when DI signal DI1_0 has a posedge change, execute trapfun1 function and stop responding to this interrupt after one trigger; this interrupt can be triggered during single-step and single-step pause states; intnum0 serves as an identifier for this interrupt, used for IEnable, IDisable, and GetTrapData commands

15.4.22.2 IVRegister — Register variable interrupt

Explanation

Register a monitored variable and bind an interrupt. When the variable changes or changes to a specified value, the interrupt is triggered.

Definition

IVRegister([\SINGLE,][\DEBUG,][\LOGIC,]int_num, varname, TrigMode, [specific_value], trap_function);**

int_num, data type: interrupt number variable, used as an interrupt identifier

varname, variable name

TrigMode, trigger mode

  • \CHANGE: trigger when the variable changes

  • \SPECIFICVALUE: trigger when the variable changes to a specified value

specific_value, comparison value, must be the same type as varname; optional, used with \SPECIFICVALUE

trap_function: interrupt function name

\SINGLE, single trigger (optional)

\DEBUG, debuggable (optional), adding this parameter allows the interrupt to be triggered in single-step mode when the program is not running

\LOGIC, logic interrupt (optional), adding this parameter prevents the interrupt from interrupting robot motion after it is triggered

Variables can only be global variables (from the variable list) and must be of type bool, byte, double, or int.

If the variable is modified very quickly, some trigger occurrences may be missed. If the interrupt program reads the variable value while the interrupt is being executed, the read value cannot be guaranteed to be the value that originally triggered the interrupt.

Example

 
IVRegister \SINGLE, \DEBUG, intnum1, global_var, \CHANGE, "trapfun2"

Register a variable interrupt. When global_var changes, execute trapfun2. This interrupt triggers only once and can be triggered in single-step mode when the program is not running.

15.4.22.3 ITRegister — Register timed interrupt

Explanation

Given a cycle time $t$, allow the program to trigger an interrupt periodically.

Definition

ITRegister([\SINGLE,][\DEBUG,][\LOGIC,]int_num, time_gap, trap_function);**

int_num, data type: interrupt number variable, used as an interrupt identifier

time_gap, time interval, int type

trap_function: interrupt function name

\SINGLE, single trigger (optional)

\DEBUG, debuggable (optional), adding this parameter allows the interrupt to be triggered in single-step mode when the program is not running

\LOGIC, logic interrupt (optional), adding this parameter prevents the interrupt from interrupting robot motion after it is triggered

The interrupt cannot be triggered strictly according to the set timing and may be delayed due to timer error and call overhead.

Example

 
ITRegister intnum0, 3, "trapfun1"

Register an interrupt that executes trapfun1 every three seconds.

15.4.22.4 IGRegister — Register GI signal interrupt

Explanation

Register a GI signal-triggered interrupt. When the GI signal changes, the interrupt is triggered.

Definition

IGRegister([\SINGLE,][\DEBUG,][\LOGIC,]int_num, signal, trap_function);**

int_num, data type: interrupt number variable, used as an interrupt identifier

signal, GI signal

trap_function: interrupt function name

\SINGLE, single trigger (optional)

\DEBUG, debuggable (optional), adding this parameter allows the interrupt to be triggered in single-step or single-step pause states

\LOGIC, logic interrupt (optional), adding this parameter prevents the interrupt from interrupting robot motion after it is triggered

Example

 
IGRegister intnum0, GI1, "trapfun1"

Register an interrupt that executes trapfun1 when GI signal GI1 changes.

15.4.22.5 IEnable — Activate interrupt

Explanation

Activate an interrupt disabled by IDisable, lookahead triggered (activated by default after IRegister)

Definition

IEnable (int_num);

int_num, data type: interrupt number variable, used as an interrupt identifier

Example

 
IEnable(intnum0 );

Activate interrupt corresponding to intnum0, can be triggered by bound signal source after activation

15.4.22.6 IDisable — Disable interrupt

Explanation

Disable an interrupt, lookahead triggered. Note that, for an interrupt configured with single-trigger mode, if it receives an interrupt signal after being disabled by IDisable, it will still be treated as completion of the single trigger

Definition

IDisable(int_num);

int_num, data type: interrupt number variable, used as an interrupt identifier

Example

 
IDisable(intnum0);

Disable the interrupt corresponding to intnum0; after being disabled, it cannot be triggered by the bound signal source

15.4.22.7 GetTrapData — Get interrupt information

Explanation

Get information about an interrupt, lookahead triggered.

Definition

GetTrapData (int_num, str);

int_num, data type: interrupt number variable, used as an interrupt identifier

Str, data type: string receiving interrupt information

Example

 
GetTrapData (intnum0, string0);

Get interrupt information corresponding to intnum0, store information in string0
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