Program management

Create, delete, rename, run, pause, abort programs and manage their attributes (comment, owner, subtype) via CGTP.

List programs
Source code editing
Run a program
Create a program
Pause, abort, resume, get and set attributes
API reference

CGTP provides rich program management features: create, delete, rename, run, pause, configure program properties, list programs, and edit source code.

List programs

Retrieve all TP or Karel programs on the controller, filtered by type and sub-type. You can also list all TP programs at once, regardless of their sub-type.

// List all TP programs on the controller (all sub-types)
string[] allTpPrograms = robot.Cgtp.ListTpPrograms();
foreach (string prog in allTpPrograms)
{
    Console.WriteLine(prog);
}

// List TP programs of a specific sub-type
string[] jobs = robot.Cgtp.ListPrograms(CgtpProgramType.Tp, CgtpProgramSubType.Job);
string[] macros = robot.Cgtp.ListPrograms(CgtpProgramType.Tp, CgtpProgramSubType.Macro);

// List Karel programs
string[] karelPrograms = robot.Cgtp.ListPrograms(CgtpProgramType.Karel, CgtpProgramSubType.None);

Source code editing

Insert, replace, or delete lines in a TP program directly on the controller. Requires firmware V9.10+.

// Insert a new line before line 3 in program MY_PROGRAM
robot.Cgtp.InsertSourceLine("MY_PROGRAM", "L P[5] 100mm/sec FINE", 3);

// Replace the content of line 5
robot.Cgtp.ReplaceSourceLine("MY_PROGRAM", "J P[1] 50% FINE", 5);

// Delete 2 lines starting at line 4
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 4, 2);

// Delete a single line
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 1);

Run a program

Run a specific program starting from a given line (default: line 1). Requires firmware V9.30+.

// Run program from line 1
robot.Cgtp.RunProgram("MY_PROGRAM");

// Run from a specific line
robot.Cgtp.RunProgram("MY_PROGRAM", lineNum: 10);

// Select a program
robot.Cgtp.SelectProgram("MY_PROGRAM");

// Change the currently active program
robot.Cgtp.ChangeActiveProgram("MY_PROGRAM");

// Abort a specific task
robot.Cgtp.AbortTask("MY_PROGRAM");

// Pause all running programs
robot.Cgtp.PauseAllPrograms();

Create a program

// Create a program
robot.Cgtp.CreateProgram(
    progName: "NEW_PROG",
    owner: "UnderAutomation",
    comment: "Created via CGTP",
    defaultGroup: 1,
    subType: CgtpProgramSubType.Job);

// Delete
robot.Cgtp.DeleteProgram("OLD_PROG");

// Rename
robot.Cgtp.RenameProgram("OLD_NAME", "NEW_NAME");

// Program properties
string comment = robot.Cgtp.GetProgramComment("MY_PROGRAM");
robot.Cgtp.SetProgramComment("MY_PROGRAM", "Updated comment");
string owner = robot.Cgtp.GetProgramOwner("MY_PROGRAM");
robot.Cgtp.SetProgramOwner("MY_PROGRAM", "Admin");
int stack = robot.Cgtp.GetProgramStackSize("MY_PROGRAM");
robot.Cgtp.SetProgramStackSize("MY_PROGRAM", 200);
robot.Cgtp.SetProgramIgnorePause("MY_PROGRAM", true);
robot.Cgtp.SetProgramWriteProtect("MY_PROGRAM", true);
robot.Cgtp.SetProgramSubType("MY_PROGRAM", CgtpProgramSubType.Macro);

Available sub-types: None, Job, Process, Macro, Condition.

Pause, abort, resume, get and set attributes

CGTP allows you to completely manage programs on the robot, including creation, deletion, renaming, and execution control. Here's a complete example demonstrating these features:

// Run a program
robot.Cgtp.RunProgram("MY_PROGRAM");

// Run from a specific line
robot.Cgtp.RunProgram("MY_PROGRAM", lineNum: 10);

// Select a program
robot.Cgtp.SelectProgram("MY_PROGRAM");

// Abort a task
robot.Cgtp.AbortTask("MY_PROGRAM");

// Pause all programs
robot.Cgtp.PauseAllPrograms();

// Create a program
robot.Cgtp.CreateProgram(
    progName: "NEW_PROG",
    owner: "UnderAutomation",
    comment: "Created via CGTP",
    subType: CgtpProgramSubType.Job
);

// Delete a program
robot.Cgtp.DeleteProgram("OLD_PROG");

// Rename a program
robot.Cgtp.RenameProgram("OLD_NAME", "NEW_NAME");

// List all TP programs
string[] programs = robot.Cgtp.ListTpPrograms();

// Edit source code (firmware V9.10+)
robot.Cgtp.InsertSourceLine("MY_PROGRAM", "L P[5] 100mm/sec FINE", 3);
robot.Cgtp.ReplaceSourceLine("MY_PROGRAM", "J P[1] 50% FINE", 5);
robot.Cgtp.DeleteSourceLines("MY_PROGRAM", 4, 2);

// Read program properties
string comment = robot.Cgtp.GetProgramComment("MY_PROGRAM");
string owner = robot.Cgtp.GetProgramOwner("MY_PROGRAM");
bool ignorePause = robot.Cgtp.GetProgramIgnorePause("MY_PROGRAM");

// Write program properties
robot.Cgtp.SetProgramComment("MY_PROGRAM", "Updated comment");
robot.Cgtp.SetProgramSubType("MY_PROGRAM", CgtpProgramSubType.Macro);

API reference

Members of Cgtp.CgtpProgramType :

public enum CgtpProgramType {
 
    // Karel program
    Karel = 2
 
    // TP program
    Tp = 1
}

Members of Cgtp.CgtpProgramSubType :

public enum CgtpProgramSubType {
 
    // Condition handler program.
    Condition = 4
 
    // Job program.
    Job = 1
 
    // Macro program.
    Macro = 3
 
    // No specific sub-type.
    None = 0
 
    // Process program.
    Process = 2
}

CGTP overview

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