Add method to set replay_mode, also via a start_program kwarg

[michaelosthege]

We'd like to run programs primarily in SINGLE mode, and this way it's easy to make sure it's set.

Observing program execution and awaiting it's completion would be nice, but even after #36 I'm still a bit confused about the exact order of events to monitor for that.

[michaelosthege]

What's the STATUS refresh rate again? Sleeping for one cycle would be best.

[cpr-mab]

The STATUS message is sent roughly every 25ms, it may be a bit slower

[michaelosthege]

Thanks, I reduced the sleep to 50 ms.

In practice I'd expect the replay mode to usually match already, making the method extremely fast.

[cpr-mab]

About observing program execution:

• EXECACK is sent after each successful command execution (i.e. once per line in the program)
• EXECERROR is sent when a command fails, this implies that the further program execution is aborted and the program must be restarted
• EXECPAUSE is sent when the program is paused (by user, command, PLC, hardware error, etc.)
• EXECEND is sent when the program is stopped (when finished, on hardware error, by PLC etc.)

Each of those command got the parameters

• cmdNr (int) - index of the command in the currently running (sub-)program, starting at 0
• progNr (int) - index of the currently running (sub-)program, 0 is the main program
• programName - string, filename of the currently running (sub-)program

EXECEND and EXECERROR may contain an error message / reason string as 4th parameter

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Logic programs send EXECERROR on error but no other messages. In the current RobotControl version 15 Move-To commands generate MOVETOxxx (e.g. MOVETOEXECACK) messages and mobile platform programs generate PLTFxxx messages.

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So to wait for completion you will need to observe EXECEND, EXECERROR and perhaps EXECPAUSE.

Regarding your comment in PR #36: Each EXECxxx message generates a new message ID.

[michaelosthege]

Thanks!

My execution/observation code is currently this, and it works too. For the moment I think it's sufficient.

logger.info("Executing program '%s' once", fname)
if not await controller.start_programm_async(replay_mode=ReplayMode.SINGLE):
    raise MovementError("Program execution failed.")
# Wait for it to start
while controller.robot_state.main_runstate != RunState.RUNNING:
    await asyncio.sleep(0.1)
# Observe and log progress
cmd_count = -1
while controller.robot_state.main_runstate == RunState.RUNNING:
    if controller.robot_state.main_current_command != cmd_count:
        cmd_count = controller.robot_state.main_current_command
        logger.info(
            "Program '%s' is in step %d/%d",
            controller.robot_state.main_current_program,
            controller.robot_state.main_current_command,
            controller.robot_state.main_commands_count,
        )
    await asyncio.sleep(0.025)
logger.info("Program '%s' completed.", fname)