Class CommandChannel

Constructors

constructor

new CommandChannel(): CommandChannel
Returns CommandChannel
- Defined in src/ts/commandChannel.ts:16

Methods

abortTask

abortTask(): Promise<RcsStatus>
Aborts the currently running task/program Immediately stops all motion and task execution

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Emergency stop of current program
await commandChannel.abortTask();
```
- Defined in src/ts/commandChannel.ts:218

destroy

destroy(): void
Destroys the command channel and cleans up resources Call this when done using the command channel

Returns void
- Defined in src/ts/commandChannel.ts:1039

forwardProgram

forwardProgram(): Promise<RcsStatus>
Sets program execution direction to forward Used after reversing to resume normal forward execution

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
- Defined in src/ts/commandChannel.ts:202

getSerial

getSerial(): number
Gets the serial number of the current command Each command sent has a unique serial number for tracking

Returns number
The current command serial number
Example
```
// Get current command serial number
const serial = commandChannel.getSerial();
console.log(`Current command serial: ${serial}`);
```
- Defined in src/ts/commandChannel.ts:1029

homeJoint

homeJoint(jointIndex: number): Promise<RcsStatus>
Homes a specific joint by moving it to its home position
Parameters
- jointIndex: number
  Zero-based index of the joint to home, -1 to home all joints
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Home joint 0 (typically X-axis)
await commandChannel.homeJoint(0);

// Home joint 2 (typically Z-axis)
await commandChannel.homeJoint(2);

// Home all joints
await commandChannel.homeJoint(-1);
```
- Defined in src/ts/commandChannel.ts:507

jogContinuous

jogContinuous(
    axisOrJointIndex: number,
    isJointJog: boolean,
    speed: number,
): Promise<RcsStatus>
Starts continuous jogging motion for a specific axis or joint
Parameters
- axisOrJointIndex: number
  Index of the axis (0=X,1=Y,2=Z...) or joint to jog
- isJointJog: boolean
  true for joint jogging, false for axis jogging
- speed: number
  Jogging speed in machine units per second
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Jog X axis continuously at 10 units/sec
await commandChannel.jogContinuous(0, false, 10);

// Jog joint 2 continuously at -5 units/sec (negative direction)
await commandChannel.jogContinuous(2, true, -5);
```
- Defined in src/ts/commandChannel.ts:570

jogIncrement

jogIncrement(
    axisOrJointIndex: number,
    isJointJog: boolean,
    speed: number,
    increment: number,
): Promise<RcsStatus>
Jogs a specific distance at a given speed for an axis or joint
Parameters
- axisOrJointIndex: number
  Index of the axis (0=X,1=Y,2=Z...) or joint to jog
- isJointJog: boolean
  true for joint jogging, false for axis jogging
- speed: number
  Jogging speed in machine units per second
- increment: number
  Distance to jog in machine units
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Jog Y axis 1.0 unit at 5 units/sec
await commandChannel.jogIncrement(1, false, 5, 1.0);

// Jog joint 0 back 0.1 units at 2 units/sec
await commandChannel.jogIncrement(0, true, 2, -0.1);
```
- Defined in src/ts/commandChannel.ts:601

jogStop

jogStop(axisOrJointIndex: number, isJointJog: boolean): Promise<RcsStatus>
Stops jogging motion for a specific axis or joint
Parameters
- axisOrJointIndex: number
  Index of the axis (0=X,1=Y,2=Z...) or joint to stop
- isJointJog: boolean
  true for joint jogging, false for axis jogging
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Stop axis X jogging
await commandChannel.jogStop(0, false);

// Stop joint 1 jogging
await commandChannel.jogStop(1, true);
```
- Defined in src/ts/commandChannel.ts:546

loadToolTable

loadToolTable(): Promise<RcsStatus>
Reloads the tool table from disk Updates the in-memory tool table with changes made to the tool table file

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Reload tool table after editing the .tbl file
await commandChannel.loadToolTable();
```
- Defined in src/ts/commandChannel.ts:832

mdi

mdi(command: string): Promise<RcsStatus>
Executes a Manual Data Input (MDI) command Allows direct execution of G-code commands without a program file
Parameters
- command: string
  G-code command string to execute
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Move to position
await commandChannel.mdi('G0 X10 Y20 Z5');

// Set spindle speed
await commandChannel.mdi('S1000 M3');
```
- Defined in src/ts/commandChannel.ts:278

overrideLimits

overrideLimits(): Promise<RcsStatus>
Overrides axis limits to allow motion beyond normal soft limits

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Override limits for recovery from limit switch activation
await commandChannel.overrideLimits();
```
- Defined in src/ts/commandChannel.ts:391

pauseProgram

pauseProgram(): Promise<RcsStatus>
Pauses the currently running G-code program Program can be resumed with resumeProgram()

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Pause the running program
await commandChannel.pauseProgram();
```
- Defined in src/ts/commandChannel.ts:151

programOpen

programOpen(filePath: string): Promise<RcsStatus>
Opens a G-code program file for execution
Parameters
- filePath: string
  Absolute path to the G-code file to open
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Open a G-code program
await commandChannel.programOpen('/home/user/programs/part.ngc');
```
- Defined in src/ts/commandChannel.ts:116

resetInterpreter

resetInterpreter(): Promise<RcsStatus>
Resets the G-code interpreter

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
- Defined in src/ts/commandChannel.ts:100

resumeProgram

resumeProgram(): Promise<RcsStatus>
Resumes a paused G-code program

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Resume the paused program
await commandChannel.resumeProgram();
```
- Defined in src/ts/commandChannel.ts:166

reverseProgram

reverseProgram(): Promise<RcsStatus>
Reverses program execution direction Used for backing up through a program

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
- Defined in src/ts/commandChannel.ts:192

runProgram

runProgram(startLine?: number): Promise<RcsStatus>
Runs the currently loaded G-code program
Parameters
- startLine: number = 0
  Line number to start execution from (default: 0 for beginning)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Run program from the beginning
await commandChannel.runProgram();

// Run program starting from line 100
await commandChannel.runProgram(100);
```
- Defined in src/ts/commandChannel.ts:135

sendOperatorDisplay

sendOperatorDisplay(message: string): Promise<RcsStatus>
Sends a display message to the operator
Parameters
- message: string
  Display message (max 254 characters)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Send display message
await commandChannel.sendOperatorDisplay('Insert tool T1 M6');
```
- Defined in src/ts/commandChannel.ts:982

sendOperatorError

sendOperatorError(message: string): Promise<RcsStatus>
Sends an error message to the operator display
Parameters
- message: string
  Error message to display (max 254 characters)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Send error message
await commandChannel.sendOperatorError('Tool change required');
```
- Defined in src/ts/commandChannel.ts:950

sendOperatorText

sendOperatorText(message: string): Promise<RcsStatus>
Sends a text message to the operator display
Parameters
- message: string
  Text message to display (max 254 characters)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Send informational message
await commandChannel.sendOperatorText('Setup complete');
```
- Defined in src/ts/commandChannel.ts:966

setAdaptiveFeedEnable

setAdaptiveFeedEnable(enable: boolean): Promise<RcsStatus>
Enables or disables adaptive feed functionality Allows external signals to modulate feedrate in real-time
Parameters
- enable: boolean
  true to enable adaptive feed, false to disable
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable adaptive feed for force-sensitive machining
await commandChannel.setAdaptiveFeedEnable(true);
```
- Defined in src/ts/commandChannel.ts:484

setAnalogOutput

setAnalogOutput(index: number, value: number): Promise<RcsStatus>
Sets the value of an analog output pin
Parameters
- index: number
  Index of the analog output pin
- value: number
  Analog value to set
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set analog output 0 to 13.3
await commandChannel.setAnalogOutput(0, 13.3);
```
- Defined in src/ts/commandChannel.ts:904

setBlockDelete

setBlockDelete(enable: boolean): Promise<RcsStatus>
Enables or disables block delete functionality When enabled, lines beginning with "/" are skipped during execution
Parameters
- enable: boolean
  true to enable block delete, false to disable
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable block delete - skip lines starting with "/"
await commandChannel.setBlockDelete(true);

// Disable block delete - execute all lines
await commandChannel.setBlockDelete(false);
```
- Defined in src/ts/commandChannel.ts:258

setDebugLevel

setDebugLevel(level: EmcDebug): Promise<RcsStatus>

Sets debug flags for LinuxCNC components using OR-ed EmcDebug flags Multiple debug categories can be enabled simultaneously by combining flags

Parameters

level: EmcDebug
Debug flags from EmcDebug enum, can be OR-ed together

Returns Promise<RcsStatus>

Promise resolving to RcsStatus indicating command completion

Example

// Disable all debugging
await commandChannel.setDebugLevel(0);

// Enable interpreter debugging only
await commandChannel.setDebugLevel(EmcDebug.INTERP);

// Enable multiple debug categories
await commandChannel.setDebugLevel(EmcDebug.INTERP | EmcDebug.MOTION_TIME);

// Enable task and NML debugging
await commandChannel.setDebugLevel(EmcDebug.TASK_ISSUE | EmcDebug.NML);

// Enable Python and remap debugging for custom components
await commandChannel.setDebugLevel(EmcDebug.PYTHON | EmcDebug.REMAP);

setDigitalOutput

setDigitalOutput(index: number, value: boolean): Promise<RcsStatus>
Sets the state of a digital output pin
Parameters
- index: number
  Index of the digital output pin
- value: boolean
  true to set high, false to set low
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set digital output 0 high
await commandChannel.setDigitalOutput(0, true);

// Set digital output 3 low
await commandChannel.setDigitalOutput(3, false);
```
- Defined in src/ts/commandChannel.ts:887

setFeedHoldEnable

setFeedHoldEnable(enable: boolean): Promise<RcsStatus>
Enables or disables feed hold functionality When enabled, allows pausing motion without stopping the program
Parameters
- enable: boolean
  true to enable feed hold, false to disable
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable feed hold capability
await commandChannel.setFeedHoldEnable(true);
```
- Defined in src/ts/commandChannel.ts:467

setFeedOverrideEnable

setFeedOverrideEnable(enable: boolean): Promise<RcsStatus>
Enables or disables feedrate override functionality
Parameters
- enable: boolean
  true to enable feedrate override, false to disable
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable feedrate override control
await commandChannel.setFeedOverrideEnable(true);
```
- Defined in src/ts/commandChannel.ts:426

setFeedRate

setFeedRate(scale: number): Promise<RcsStatus>
Sets the feedrate override scale factor
Parameters
- scale: number
  Feedrate scale factor (1.0 = 100%, 0.5 = 50%, 2.0 = 200%)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set feedrate to 50% of programmed values
await commandChannel.setFeedRate(0.5);

// Set feedrate to 120% of programmed values
await commandChannel.setFeedRate(1.2);
```
- Defined in src/ts/commandChannel.ts:333

setFlood

setFlood(on: boolean): Promise<RcsStatus>
Turns flood coolant on or off
Parameters
- on: boolean
  true to turn flood on, false to turn off
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Turn on flood coolant
await commandChannel.setFlood(true);

// Turn off flood coolant
await commandChannel.setFlood(false);
```
- Defined in src/ts/commandChannel.ts:815

setMaxPositionLimit

setMaxPositionLimit(jointIndex: number, limit: number): Promise<RcsStatus>
Sets the maximum position limit for a joint
Parameters
- jointIndex: number
  Zero-based index of the joint
- limit: number
  Maximum position limit in machine units
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set maximum limit for joint 0 to 200 units
await commandChannel.setMaxPositionLimit(0, 200);
```
- Defined in src/ts/commandChannel.ts:653

setMaxVelocity

setMaxVelocity(velocity: number): Promise<RcsStatus>
Sets the maximum velocity for trajectory planning
Parameters
- velocity: number
  Maximum velocity in machine units per second
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set maximum velocity to 200 units/second
await commandChannel.setMaxVelocity(200);
```
- Defined in src/ts/commandChannel.ts:314

setMinPositionLimit

setMinPositionLimit(jointIndex: number, limit: number): Promise<RcsStatus>
Sets the minimum position limit for a joint
Parameters
- jointIndex: number
  Zero-based index of the joint
- limit: number
  Minimum position limit in machine units
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set minimum limit for joint 0 to -100 units
await commandChannel.setMinPositionLimit(0, -100);
```
- Defined in src/ts/commandChannel.ts:629

setMist

setMist(on: boolean): Promise<RcsStatus>
Turns mist coolant on or off
Parameters
- on: boolean
  true to turn mist on, false to turn off
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Turn on mist coolant
await commandChannel.setMist(true);

// Turn off mist coolant
await commandChannel.setMist(false);
```
- Defined in src/ts/commandChannel.ts:796

setOptionalStop

setOptionalStop(enable: boolean): Promise<RcsStatus>
Enables or disables optional stop (M1) functionality When enabled, M1 codes in programs will pause execution
Parameters
- enable: boolean
  true to enable optional stops, false to disable
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable optional stops
await commandChannel.setOptionalStop(true);

// Disable optional stops
await commandChannel.setOptionalStop(false);
```
- Defined in src/ts/commandChannel.ts:238

setRapidRate

setRapidRate(scale: number): Promise<RcsStatus>
Sets the rapid traverse override scale factor
Parameters
- scale: number
  Rapid rate scale factor (1.0 = 100%, 0.25 = 25%)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set rapid rate to 50%
await commandChannel.setRapidRate(0.5);
```
- Defined in src/ts/commandChannel.ts:349

setSpindleOverride

setSpindleOverride(scale: number, spindleIndex?: number): Promise<RcsStatus>
Sets the spindle speed override scale factor
Parameters
- scale: number
  Spindle override scale factor (1.0 = 100%)
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set spindle speed to 80% of programmed values
await commandChannel.setSpindleOverride(0.8);

// Set spindle 1 speed to 110%
await commandChannel.setSpindleOverride(1.1, 1);
```
- Defined in src/ts/commandChannel.ts:369

setSpindleOverrideEnable

setSpindleOverrideEnable(
enable: boolean,
spindleIndex?: number,
): Promise<RcsStatus>
Enables or disables spindle speed override functionality
Parameters
- enable: boolean
  true to enable spindle override, false to disable
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable spindle override control
await commandChannel.setSpindleOverrideEnable(true);
```
- Defined in src/ts/commandChannel.ts:443

setState

setState(state: TaskState): Promise<RcsStatus>
Sets the task state for LinuxCNC
Parameters
- state: TaskState
  The task state to set (ESTOP, ESTOP_RESET, OFF, or ON)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable E-stop
await commandChannel.setState(TaskState.ESTOP);

// Reset E-stop
await commandChannel.setState(TaskState.ESTOP_RESET);

// Turn machine on
await commandChannel.setState(TaskState.ON);
```
- Defined in src/ts/commandChannel.ts:82

setTaskMode

setTaskMode(mode: TaskMode): Promise<RcsStatus>
Sets the task execution mode for LinuxCNC
Parameters
- mode: TaskMode
  The task mode to set (MDI, MANUAL, or AUTO)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Switch to MDI mode for manual data input
await commandChannel.setTaskMode(TaskMode.MDI);

// Switch to manual mode for jogging
await commandChannel.setTaskMode(TaskMode.MANUAL);

// Switch to auto mode for program execution
await commandChannel.setTaskMode(TaskMode.AUTO);
```
- Defined in src/ts/commandChannel.ts:60

setTool

setTool(
toolEntry: RecursivePartial<ToolEntry> & { toolNo: number },
): Promise<RcsStatus>
Sets tool data for a specific tool number Updates tool geometry and parameters in the tool table
Parameters
- toolEntry: RecursivePartial<ToolEntry> & { toolNo: number }
  Tool entry containing tool number and optional geometry data
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set basic tool data
await commandChannel.setTool({
  toolNo: 3,
  pocketNo: 3
});

// Set tool with geometry data
await commandChannel.setTool({
  toolNo: 1,
  pocketNo: 1,
  diameter: 6.35,
  offset: {
    x: 0,
    y: 0,
    z: 25.4
  }
});
```
- Defined in src/ts/commandChannel.ts:864

setTrajMode

setTrajMode(mode: TrajMode): Promise<RcsStatus>
Sets the trajectory mode for coordinated motion
Parameters
- mode: TrajMode
  The trajectory mode (FREE, COORD, or TELEOP)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Set to coordinated mode for normal G-code execution
await commandChannel.setTrajMode(TrajMode.COORD);

// Set to free mode for individual joint control
await commandChannel.setTrajMode(TrajMode.FREE);
```
- Defined in src/ts/commandChannel.ts:298

spindleBrake

spindleBrake(engage: boolean, spindleIndex?: number): Promise<RcsStatus>
Engages or releases the spindle brake
Parameters
- engage: boolean
  true to engage brake, false to release brake
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Engage spindle brake
await commandChannel.spindleBrake(true);

// Release brake on spindle 1
await commandChannel.spindleBrake(false, 1);
```
- Defined in src/ts/commandChannel.ts:773

spindleDecrease

spindleDecrease(spindleIndex?: number): Promise<RcsStatus>
Decreases spindle speed by a predefined increment Spindle must already be running
Parameters
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Decrease speed of main spindle
await commandChannel.spindleDecrease();

// Decrease speed of spindle 1
await commandChannel.spindleDecrease(1);
```
- Defined in src/ts/commandChannel.ts:734

spindleIncrease

spindleIncrease(spindleIndex?: number): Promise<RcsStatus>
Increases spindle speed by a predefined increment Spindle must already be running
Parameters
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Increase speed of main spindle
await commandChannel.spindleIncrease();

// Increase speed of spindle 1
await commandChannel.spindleIncrease(1);
```
- Defined in src/ts/commandChannel.ts:714

spindleOff

spindleOff(spindleIndex?: number): Promise<RcsStatus>
Turns off the spindle
Parameters
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Turn off main spindle
await commandChannel.spindleOff();

// Turn off spindle 1
await commandChannel.spindleOff(1);
```
- Defined in src/ts/commandChannel.ts:753

spindleOn

spindleOn(
    speed: number,
    spindleIndex?: number,
    waitForSpeed?: boolean,
): Promise<RcsStatus>
Turns on the spindle at a specified speed
Parameters
- speed: number
  Spindle speed in RPM (positive = clockwise, negative = counterclockwise)
- spindleIndex: number = 0
  Index of the spindle to control (default: 0)
- waitForSpeed: boolean = true
  Whether to wait for spindle to reach speed before continuing (default: true)
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Turn on spindle at 1000 RPM clockwise
await commandChannel.spindleOn(1000);

// Turn on spindle 1 at 500 RPM counterclockwise
await commandChannel.spindleOn(-500, 1);

// Start spindle without waiting for speed
await commandChannel.spindleOn(800, 0, false);
```
- Defined in src/ts/commandChannel.ts:685

stepProgram

stepProgram(): Promise<RcsStatus>
Executes a single step of the G-code program Advances program execution by one line/block

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Step through program one line at a time
await commandChannel.stepProgram();
```
- Defined in src/ts/commandChannel.ts:182

taskPlanSynch

taskPlanSynch(): Promise<RcsStatus>
On completion of this call, the VAR file on disk is updated with live values from the interpreter.

Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
- Defined in src/ts/commandChannel.ts:91

teleopEnable

teleopEnable(enable: boolean): Promise<RcsStatus>
Enables or disables teleop mode
Parameters
- enable: boolean
  true to enable teleop mode, false for joint mode
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Enable teleop mode for Cartesian jogging
await commandChannel.teleopEnable(true);

// Disable teleop mode for joint jogging
await commandChannel.teleopEnable(false);
```
- Defined in src/ts/commandChannel.ts:410

unhomeJoint

unhomeJoint(jointIndex: number): Promise<RcsStatus>
Unhomes a specific joint, clearing its homed status
Parameters
- jointIndex: number
  Zero-based index of the joint to unhome, -1 to unhome all joints
Returns Promise<RcsStatus>
Promise resolving to RcsStatus indicating command completion
Example
```
// Unhome joint 1 (typically Y-axis)
await commandChannel.unhomeJoint(1);

// Unhome all joints
await commandChannel.unhomeJoint(-1);
```
- Defined in src/ts/commandChannel.ts:526

waitComplete

waitComplete(timeout?: number): RcsStatus

Synchronously waits for the last command to complete This does the same as await but provides a synchronous way to wait for command completion

Parameters

Optionaltimeout: number
Maximum time to wait in seconds (default: 5 seconds)

Returns RcsStatus

RcsStatus indicating completion status (RCS_DONE, RCS_ERROR, or -1 for timeout)

Example

// These two approaches are equivalent:

// Approach 1: Using await (asynchronous)
await commandChannel.runProgram();
console.log('Program completed');

// Approach 2: Using waitComplete (synchronous)
commandChannel.runProgram(); // Fire and forget - don't await
const status = commandChannel.waitComplete(); // Synchronously wait for completion
if (status === RcsStatus.DONE) {
  console.log('Program completed');
}

Class CommandChannel

Index

Constructors

Methods

Constructors

constructor

Returns CommandChannel

Methods

abortTask

Returns Promise<RcsStatus>

Example

destroy

Returns void

forwardProgram

Returns Promise<RcsStatus>

getSerial

Returns number

Example

homeJoint

Parameters

Returns Promise<RcsStatus>

Example

jogContinuous

Parameters

Returns Promise<RcsStatus>

Example

jogIncrement

Parameters

Returns Promise<RcsStatus>

Example

jogStop

Parameters

Returns Promise<RcsStatus>

Example

loadToolTable

Returns Promise<RcsStatus>

Example

mdi

Parameters

Returns Promise<RcsStatus>

Example

overrideLimits

Returns Promise<RcsStatus>

Example

pauseProgram

Returns Promise<RcsStatus>

Example

programOpen

Parameters

Returns Promise<RcsStatus>

Example

resetInterpreter

Returns Promise<RcsStatus>

resumeProgram

Returns Promise<RcsStatus>

Example

reverseProgram

Returns Promise<RcsStatus>

runProgram

Parameters

Returns Promise<RcsStatus>

Example

sendOperatorDisplay

Parameters

Returns Promise<RcsStatus>

Example

sendOperatorError

Parameters

Returns Promise<RcsStatus>

Example

sendOperatorText

Parameters

Returns Promise<RcsStatus>

Example

setAdaptiveFeedEnable

Parameters

Returns Promise<RcsStatus>

Example

setAnalogOutput

Parameters