stop_capture¶

Runs at once Any mode Open to every client

End the running telemetry capture now and save what it has. The recorder writes the capture's file with the ticks recorded so far, and the robot's activity log says CAPTURE_SAVED, "stopped early". The call returns at once. Any client can stop a capture, also one that another client started.

Syntax¶

robot.stop_capture()

Arguments¶

None.

Returns¶

Any

None: the robot sends no data back.

Examples¶

robot.capture_telemetry(60, "long_test")
robot.move_joints(90, -105, 165, 0, -30, 180)
robot.wait_idle()
robot.stop_capture()

Further details¶

Note

With no capture running, the recorder refuses the stop in its activity log only (CAPTURE_REFUSED); the call still returns normally.

Usage restrictions 1 code

This command runs at once; it is not queued. The robot accepts it in any mode and state, from every client.

It answers with one of these codes when it does not carry the command out:

[6021] Capture not started — the recorder process is not running

In Python, a code above raises CommandRejected; its number is the code. The call raises:

CommandRejected: The recorder process is not running.
RobotTimeout: The robot did not answer within 5 s.
RobotConnectionError: The client is not connected.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "stop_capture", "args": []}