procedure & procedure_exit

procedure is used to process multi-layer tasks.

procedure_exit is applied in the situation that there are multiple possible results by the program, select an exit port to exit current procedure; if the multiple outputs are not involved in procedure, use procedure alone.

Example of procedure_exit is used

../../../../_images/sample_Combo.png

As shown in the figure, there is a visual_move in this procedure. Due to the possibilities of visual recognition: success and no pose or failed to pick, the two exits are required to connect different processing logics respectively. Perform the following operation:

  • Connect procedure_exit Task at the port2 of visual_move;

  • Set the exit_port in the property of procedure_exit to 1. (exit_port defaults to 0)

Back to the previous layer, you may see that the procedure becomes two output ports, and users can connect them with different processing logic as required.

../../../../_images/combo.png

Example for using procedure alone

../../../../_images/sample_noExit.png

In the figure above, the process flow in procedure does not have multiple possible results. This procedure has only one output port. As shown in the figure below, when the program finishes running the last Task, it will jump out of procedure directly.

../../../../_images/singlePort.png