How to run Karel Program in "Pure Background Mode" witout interving other TP program~

I'm trying to running a Karel server to record Joint and Cartesian position.

When I want to run another TP program, It shows TPIF-013 other progam running.

How can I resolve this condition, running a Karel server program in background and a TP program by teach pendant manually step by step.

Here is my %statement in Karel

%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOABORT=ERROR+COMMAND
%NOBUSYLAMP
%NOPAUSESHFT

Quote from hoitzing

I don't think this is possible. You can do multitasking (RUN PROGRAM instead of CALL PROGRAM, but this would require you to have a main program from which you start your 'background' tasks. So if you want manual control over a program while already running something in the background, I don't think you'll be able to do it. Maybe look if it's possible for you to start your program(s) from a very simple shell:

Code

RUN KL_SERVER
CALL TP_PROGRAM

Besides this, if you want to execute the TP program in step mode won't this also put the Karel server in step mode? Maybe if you RUN the server it won't.. but something to think about/look into.

I actually found one of supplier to do this, but we can not simulate in the same way!!

Here's our program from one of our suppliers:

While the Karel Server Running, we can still enter a TP program to see detail.

Here's our own developing Karel program:

While the Karel Server Running, we will cause TPIF-013, when we are trying to enter a TP program

Quote from wag_FFU

you can use " Cold start autoexec program " in System config to start it automatic at cold start.

don´t forget to use a delay (100ms) to reduce the programm ´s CPU time, otherwise it will freeze your TP , or your robot...

But we are actually get stuck on the statement of "MSG_CONNECT(host_name, port_status)", not cpu running out of resource

Quote from wag_FFU

yes of course you have to write a TP program where you run your karel program,

What do you mean with "Running out of resource"? I told you to use a delay in the main loop to avoid the TP to freeze.

what mean you are stuck on MSG_connect?

Thank you for your advice, it does't work by adding delay in the main loop.

The Karel code is running at MSG_connect statement without TP freezing