Create global boolean variables.

Lavertue

Hi,

I am aware that I can create a ''global'' variable by the creating an installation variable, but it seems that I can only create an integers variable. Is there a way to create a boolean  global variable (or string for that matter)? My problem is that I use boolean variables  defined in the main program in the subprograms and at the start I always get an error message telling me: variables XXX is already created, do you want to automatically rename it? 

thanks

matthewd92

You can only store numbers or with the newest release a pose.  If we want to store "booleans" in installation variables we use 0 and 1 to represent False and True, not the best solution but it does work

louis_bergeron

@Lavertue

You can declare global bool variable in script code like this:

&nbsp;Program<span style="background-color: transparent; color: inherit; font-size: inherit; font-family: Hind, sans-serif;">&nbsp; &nbsp;<br>&nbsp; BeforeStart
</span><div>&nbsp; &nbsp; &nbsp;global myvar= True&nbsp;<span style="background-color: transparent; color: inherit; font-size: inherit;"><font face="Hind, sans-serif">&nbsp; &nbsp;
  Robot Program</font>
</span><span style="background-color: transparent; color: inherit; font-size: inherit; font-family: Hind, sans-serif;">&nbsp; &nbsp; &nbsp;myvar= True&nbsp;</span><span style="background-color: transparent; color: inherit; font-size: inherit;"><font face="Hind, sans-serif">
</font></span></div><div>&nbsp; &nbsp; &nbsp;Call SubProgram_1
</div><div>&nbsp; &nbsp; &nbsp;myvar= False&nbsp;
</div><div>&nbsp; &nbsp; &nbsp;Call SubProgram_1
</div><div>&nbsp; &nbsp;SubProgram_1
</div><div>&nbsp; &nbsp; &nbsp;If myvar≟ True&nbsp;
</div><div>&nbsp; &nbsp; &nbsp; &nbsp;Popup
</div><div>&nbsp; &nbsp; &nbsp;Else
</div><div>&nbsp; &nbsp; &nbsp; &nbsp;Popup<br></div>

You will have to use script code to assign the value True or False.  

Lavertue

Thanks Matthew,

that is what I understood at first, thank you for confirming. I'll make sure to use integers next time I have to use variables in multiple sub programs!

Lavertue

Thank you Louis, very helpful.

louis_bergeron

You can also create installation variable and give a value to "True" at the creation.  This variable will then be available for all program.

Lavertue

Do you mean creating (in the "before start")  assignements doing:
 
TRUE:=1
FALSE:0

then I have assignements doing:

myvar:=TRUE
myvar2:=FALSE


This way I could use integers, but see a "boolean logic" in my programming? 

louis_bergeron

@Lavertue

Within the installation variables screen.  Take care of uppercase and lowercase when you type 'True'.

matthewd92

@louis_bergeron do you know if that is new with the later releases, I don't recall being able to do that with the older versions of the software.  I learned something new today, thanks!

louis_bergeron

@matthewd92
I don't know since when it's available.  I just tried it on one robot and it works.  I was also surprised.

Lavertue

Hey everyone thanks for the help, 
I have tried this method and I get good results when I am creating a new program or when using the UR simulator, but when I try to add it to an existing program I still get the same mistake (see picture below). This happen when I load the program, it does not stop it from working, but I have to hit cancel about 20 times in this particular program. On the end-user side it is not the most optimal thing. 

My understanding of the UR was that it writes its variables when he sees them, so a script defining global variables should not cause ths error... Any idea what could cause this?
Note: the UR simulator on my computer never produce this message.

matthewd92

UR compiles and writes a script file when you press play. If the variable is declared more than once it needs to know if it should treat as the same variable or a different variable. What version of polyscope are you running in the robot? 

T800_412

All, this is good information, and I have a question about renaming. What happens to program execution if I select "automatically rename" when these popups are happening?

My original expectation for using the same name in the sub-program is so the value for the variable in the main program and sub-program is passed back and forth. So, for example, the main program has a variable "gadget_detected" that is solved for in one of eight sub-programs that run based on which gadget type is selected. (The sub-programs have the Camera Locate nodes in them which have to be different for each gadget type)

matthewd92

If you choose rename then they will no longer be the same variable. You could also use installation variables then you don’t have that issue. If you close the program, create the installation variable with the same name then when you reopen you’ll have the option to use the installation variable and once you select that and save it won’t ask again

T800_412

Here's a frustrating discovery. If you allow PolyScope to use installation variables to replace the original variables in your program, all those variables become unusable throughout the program, if you then remove the installation variable.

For example, I had "var_1" used throughout the program and sub-program, so I made and installation variable "var_1". I allowed PolyScope to convert the program variable to an installation variable. I then decided to get rid of some of the programming from a sub-program and merged it into the main program in a folder to keep it organized. When trying to run the program the incomplete message popped up. All of the parts of the program that referenced "var_1" had yellow nodes, even though Polyscope showed "var_1", appearing to be normal. To fix it, I had to delete, then re-enter "var_1" in all those places.

matthewd92

You just need to type into the installation variable True or False initially. I can’t remember when they started supporting non-integer types but in 3.4 and 3.5 it’s supported. 

You would need to close the program program before deleting it then it should work when you open the program back up. You removed the instantiation of the variable from the program when you deleted the installation variable.