Run Thread Command
Overview
The Run Thread Command helps to create and execute a thread. The features executed by the thread are determined by the functions specified in th_func_name
.
Property
Annotation
You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate from many DRL Components.
Parameters
In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.
For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/thread_run-th_func_name-loop-false-8427370.html.
Parameter Name | Data Type | Default Value | Description |
---|---|---|---|
th_func_name | callable | - | Name of the function run by the thread |
loop | bool | False | Flag indicates whether the thread will be repeated
|
Example
DRL Code
#----- Thread --------------------------------------
def fn_th_func():
if check_motion()==0: # No motion in action
set_digital_output(1, OFF)
else:
set_digital_output(1, ON)
#----- Main routine ----------------------------------
th_id = thread_run(fn_th_func, loop=True) # Thread run
while 1:
# do something…
wait(0.1)