Procedure Exit

Function

Designate the exit port to be taken when exiting a Procedure. The default exit port of a Procedure is 0.

Usage Scenario

If the workflow inside a Procedure has multiple possible outcome, Procedure Exit is used to select the exit port to be taken.

Parameter Description

Basic Non-Move

Please refer to General Parameters of Non-Move Steps for detailed information.

Exit Port

Default value: 0

Instruction: Select the exit port of the Procedure to be taken. Each exit port is connected to a different succeeding logic.

Exit Port should be

Usage Example

The “Vision Move” Step in the Procedure has three possible outcomes: success, plan failure, and other failure. Two exit ports are needed on the Procedure to connect to succeeding logics for success and failure, respectively.

Connect the Plan failure and Other failure exit ports of the “Vision Move” Step to a Procedure Exit, and set Exit Port to 1. An exit port 1 is added to the Procedure, the exit port taken when the “Vision Move” Step failed at planning a path.

The Success port of the “Vision Move” Step is not connected to a Procedure Exit, and when this branch is executed, exit port 0 will be taken to exit the Procedure.