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VAL 3 tasks

List the VAL 3 tasks with their state, program line and runtime error, then suspend, resume or kill a task.

List the tasks
Suspend, resume and kill
Try it in the demo application
Reference

This page shows how to follow and control the VAL 3 tasks of a Staubli CS8 or CS9 controller: list them with their state, their program line and their runtime error, then suspend, resume or kill a task.

List the tasks

GetTasks() returns every task of the controller.

var controller = new StaubliController();
controller.Connect("192.168.0.254");
ControllerTask[] tasks = controller.Soap.GetTasks();

foreach (ControllerTask task in tasks)
{
    // State: Idle, Transition, Running, Stepping, Stopped
    Console.WriteLine($"{task.Name} ({task.State}), priority {task.Priority}, created by {task.CreatedBy}");

    // Line of the VAL 3 program that the task executes
    ProgramLine line = task.ProgramLine;
    if (line != null)
        Console.WriteLine($"  {line.ProgramName}:{line.LineNumber} {line.LineContent}");

    // Runtime error of the task, 0 when there is none
    if (task.RuntimeError != 0)
        Console.WriteLine($"  Error {task.RuntimeError}: {task.RuntimeErrorDescription}");
}
controller.Disconnect();
}

Click to see the full code

Property	Meaning
`Name`	Name of the task
`CreatedBy`	The project that created the task
`State`	`Idle`, `Transition`, `Running`, `Stepping` or `Stopped`
`Priority`	Priority of the task
`ProgramLine`	Application, program, line number and text of the current line
`RuntimeError`	Code of the runtime error of the task, `0` when there is none
`RuntimeErrorDescription`	Text of the runtime error

RuntimeError is the way to detect that a VAL 3 program stopped on an error. See Monitor the state of the robot.

Suspend, resume and kill

A task is identified by its name and by the project that created it: pass Name and CreatedBy as they come from GetTasks().

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// A task is identified by its name and by the project that created it
ControllerTask task = controller.Soap.GetTasks().First(t => t.Name == "myTask");

// Pause the task
controller.Soap.TaskSuspend(task.Name, task.CreatedBy);

// Continue it
controller.Soap.TaskResume(task.Name, task.CreatedBy);

// Stop it for good
controller.Soap.TaskKill(task.Name, task.CreatedBy);
controller.Disconnect();
}

Click to see the full code

TaskSuspend pauses the task.
TaskResume continues a suspended task.
TaskKill stops the task for good.

When the task does not exist, the method throws a CustomSoapException with the code TaskNotFound.

Try it in the demo application

Everything on this page can be tried without writing code, in the VAL Applications page of the demo application.

VAL Applications page of the Staubli SDK demo application

The demo application is open source. The C# source of this page is ValApplicationsControl.cs.

Reference

Methods of SoapClientBase :

// Get all the tasks available on the controller
ControllerTask[] GetTasks();

// Kill a task on the controller
void TaskKill(string taskName, string createdBy);

// Resume a task on the controller
void TaskResume(string taskName, string createdBy);

// Suspend a task on the controller
void TaskSuspend(string taskName, string createdBy);

Class

ControllerTask

C#Python

Represents a task running on the controller.

Member	Type	Description
ControllerTask() Constructor		Initializes a new instance of the `ControllerTask` class.
CreatedBy Property	string	Name of the entity that created the task.
Name Property	string	Name of the task.
Priority Property	int	Priority level of the task.
ProgramLine Property	ProgramLine	Current program line being executed by the task.
RuntimeError Property	int	Runtime error code (0 if no error).
RuntimeErrorDescription Property	string	Human-readable description of the runtime error.
State Property	ControllerTaskState	Current execution state of the task.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

Enum

ControllerTaskState

C#Python

Execution state of a controller task.

Name	Value	Description
Idle	0	Task is idle and not executing.
Running	2	Task is currently running.
Stepping	3	Task is executing step by step.
Stopped	4	Task is stopped.
Transition	1	Task is transitioning between states.

Class

ProgramLine

C#Python

Represents a line of a VAL3 program being executed on the controller.

Member	Type	Description
ProgramLine() Constructor		Initializes a new instance of the `ProgramLine` class.
ApplicationName Property	string	Name of the application containing the program.
LineContent Property	string	Content of the line being executed.
LineNumber Property	int	Line number currently being executed.
ProgramName Property	string	Name of the program.
Equals(object) Method	bool
GetHashCode() Method	int
ToString() Method	string

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VAL 3 tasks

List the tasks

Suspend, resume and kill

Try it in the demo application

Reference