SyncCmdQueue#

This command inserts a synchronization marker in the response stream. It carries an integer argument that is returned in the corresponding response, allowing the application to determine that all subsequent responses are more recent than the moment when the SyncCmdQueue request was sent.

Note

If you want to synchronize with the robot’s motion queue execution progression, use SetCheckpoint. SyncCmdQueue does not wait for the motion queue; it only ensures completion of previously queued non-motion commands.

Syntax#

SyncCmdQueue()

Arguments#

  • n : a non-negative integer number, ranging from 0 to 2³² − 1.

Responses#

  • [2097][n]

Additional details#

For example, sending SyncCmdQueue(123) just before the GetStatusRobot command inserts a marker in the response flow. When SyncCmdQueue response ([2097][123]) is later received, the application knows that messages that follow in the stream (such as a GetStatusRobot response code 2007) are newer than the moment SyncCmdQueue(123) was issued. This makes it possible to distinguish whether a received status comes from the most recent GetStatusRobot request rather than from an older request or from an older spontaneous robot status report.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

This command is not available in cyclic protocols.