arcs::aubo_scope::ScriptWriter类 参考

This interface provides support for generating Script code. 更多...

#include <script_writer.h>

Public 成员函数
	ScriptWriter (ScriptWriter &f)
	ScriptWriter (ScriptWriter &&f)
virtual	~ScriptWriter ()
void	setLabel (int lineno, const std::string &comment)
void	appendLine (const std::string &script_line)
	Adds a single line of script code using auto-indentation.
void	appendVectorDouble (const std::vector< double > &value)
void	appendRaw (const std::string &script)
	Adds script code appending the script code as is without using auto-indentation.
std::string	generateScript ()
	Generate a string with the full script code.
void	writeChildren ()
void	assign (VariablePtr variable, const std::string &expression, bool sync=false)
void	assign (const std::string &variableName, const ExpressionPtr &expression, bool sync=false)
void	assign (VariablePtr variable, const ExpressionPtr &expression, bool sync=false)
void	incrementVariable (const std::string &variable_name)
	Add 1 to the variable value.
void	note (const std::string &expression)
	Add a note.
void	sleep (double seconds)
	Sleep for a number of seconds.
void	sync ()
	Uses up the remaining "physical" time a thread has in the current frame.
void	defineFunction (const std::string &func_name)
void	anonyFunction (const std::string &func_name)
void	setRobotIndex (int robot_index)
void	returnMethod ()
	Return from method.
void	end ()
	Insert an end.
void	lineFeed ()
	Insert an empty line.
void	setPayload (double mass, double x, double y, double z)
void	setTcp (const std::vector< double > &pose)
void	ifCondition (const ExpressionPtr &expression)
	Start an if-conditional.
void	ifNotCondition (const ExpressionPtr &expression)
	Start a negated if-conditional
void	elseIfCondition (const ExpressionPtr &expression)
	Adds an else-if branch.
void	elseCondition ()
	Adds an else branch.
void	forCondition (int count, int step)
	Starts a for-loop with tow loop invariants.
void	whileTrue ()
	Starts a while true loop.
void	whileCondition (const ExpressionPtr &expression)
	Starts a while-loop with a loop invariant.
void	whileNot (const ExpressionPtr &expression)
	Starts a while-loop with a negated loop invariant.
void	defineThread (const std::string &thread_name, bool loop_or_not)
	Start a thread definition with a given thread name.
void	runThread (const std::string &thread_name)
	Start a previously defined thread.
void	killThread (const std::string &thread_name)
	killThread
std::string	getResolvedVariable (const std::string &variable_name)
void	increaseIndent ()
void	decreaseIndent ()

Private 成员函数
	ScriptWriter ()

Private 属性
void *	d_ { nullptr }

友元
class	DataSwitch

详细描述

This interface provides support for generating Script code.

在文件 script_writer.h 第 16 行定义.

构造及析构函数说明

ScriptWriter() [1/3]

arcs::aubo_scope::ScriptWriter::ScriptWriter

(

ScriptWriter &

f

)

引用了 ScriptWriter().

被这些函数引用 ScriptWriter() , 以及 ScriptWriter().

函数调用图:

这是这个函数的调用关系图:

ScriptWriter() [2/3]

arcs::aubo_scope::ScriptWriter::ScriptWriter

(

ScriptWriter &&

f

)

引用了 ScriptWriter().

函数调用图:

~ScriptWriter()

virtual arcs::aubo_scope::ScriptWriter::~ScriptWriter ( )

virtual

ScriptWriter() [3/3]

arcs::aubo_scope::ScriptWriter::ScriptWriter ( )

private

成员函数说明

anonyFunction()

void arcs::aubo_scope::ScriptWriter::anonyFunction

(

const std::string &

func_name

)

appendLine()

void arcs::aubo_scope::ScriptWriter::appendLine

(

const std::string &

script_line

)

Adds a single line of script code using auto-indentation.

参数

script_line

single line of script code to append.

appendRaw()

void arcs::aubo_scope::ScriptWriter::appendRaw

(

const std::string &

script

)

Adds script code appending the script code as is without using auto-indentation.

参数

script

script code to append.

appendVectorDouble()

void arcs::aubo_scope::ScriptWriter::appendVectorDouble

(

const std::vector< double > &

value

)

assign() [1/3]

void arcs::aubo_scope::ScriptWriter::assign	(	const std::string &	variableName,
		const ExpressionPtr &	expression,
		bool	sync = false )

Variable assignment. Assigns the variable without a local or global qualifier. See the Script Manual for the scoping rules.

参数

variableName	name of the variable, not null.
expression	expression that is assigned to the variable, not null.

引用了 sync().

函数调用图:

assign() [2/3]

void arcs::aubo_scope::ScriptWriter::assign	(	VariablePtr	variable,
		const ExpressionPtr &	expression,
		bool	sync = false )

Variable assignment.

参数

variable	the variable to assign an expression to, not null.
expression	expression that is assigned to the variable, not null.

引用了 sync().

函数调用图:

assign() [3/3]

void arcs::aubo_scope::ScriptWriter::assign	(	VariablePtr	variable,
		const std::string &	expression,
		bool	sync = false )

引用了 sync().

函数调用图:

decreaseIndent()

void arcs::aubo_scope::ScriptWriter::decreaseIndent

(

)

defineFunction()

void arcs::aubo_scope::ScriptWriter::defineFunction

(

const std::string &

func_name

)

参数

name	Define a function of name name.

defineThread()

void arcs::aubo_scope::ScriptWriter::defineThread	(	const std::string &	thread_name,
		bool	loop_or_not )

Start a thread definition with a given thread name.

参数

threadName	the name of the new thread.
loop_or_not	the new thread loops or not.

elseCondition()

void arcs::aubo_scope::ScriptWriter::elseCondition

(

)

Adds an else branch.

elseIfCondition()

void arcs::aubo_scope::ScriptWriter::elseIfCondition

(

const ExpressionPtr &

expression

)

Adds an else-if branch.

参数

expression

the expression of the "else-if"-sentence.

end()

void arcs::aubo_scope::ScriptWriter::end

(

)

Insert an end.

forCondition()

void arcs::aubo_scope::ScriptWriter::forCondition	(	int	count,
		int	step )

Starts a for-loop with tow loop invariants.

参数

count	the loop counts.
step	the loop step.

generateScript()

std::string arcs::aubo_scope::ScriptWriter::generateScript

(

)

Generate a string with the full script code.

返回

the resulting script as a string.

getResolvedVariable()

std::string arcs::aubo_scope::ScriptWriter::getResolvedVariable

(

const std::string &

variable_name

)

Returns a registered variable name that can be used in a script.

A variable is registered if it has been stored in a DataModel instance or used for the configuration of a built-in AuboScope program node.

Please note: The name of a variable in the script can be different from the value of Variable#getDisplayName(). You should not use the value of Variable#getDisplayName() in a script.

参数

variable

a registered Variable. Not null.

返回

variable name that can be used in a script.

异常

IllegalArgumentException	if the variable was not registered in the data model or used for the configuration of a built-in AuboScope program node.
ClassCastException	if the variable was not created by domain/variable/VariableFactory.

ifCondition()

void arcs::aubo_scope::ScriptWriter::ifCondition

(

const ExpressionPtr &

expression

)

Start an if-conditional.

参数

expression

the expression of the if-sentence. Not null.

ifNotCondition()

void arcs::aubo_scope::ScriptWriter::ifNotCondition

(

const ExpressionPtr &

expression

)

Start a negated if-conditional

参数

expression

the expression of the negated if-sentence.

increaseIndent()

void arcs::aubo_scope::ScriptWriter::increaseIndent

(

)

incrementVariable()

void arcs::aubo_scope::ScriptWriter::incrementVariable

(

const std::string &

variable_name

)

Add 1 to the variable value.

参数

variable

the variable to increment. Not null.

killThread()

void arcs::aubo_scope::ScriptWriter::killThread

(

const std::string &

thread_name

)

killThread

参数

thread_name

lineFeed()

void arcs::aubo_scope::ScriptWriter::lineFeed

(

)

Insert an empty line.

note()

void arcs::aubo_scope::ScriptWriter::note

(

const std::string &

expression

)

Add a note.

参数

expression

the note expression.

returnMethod()

void arcs::aubo_scope::ScriptWriter::returnMethod

(

)

Return from method.

runThread()

void arcs::aubo_scope::ScriptWriter::runThread

(

const std::string &

thread_name

)

Start a previously defined thread.

参数

threadName

The name of the thread that will be started.

setLabel()

void arcs::aubo_scope::ScriptWriter::setLabel	(	int	lineno,
		const std::string &	comment )

setPayload()

void arcs::aubo_scope::ScriptWriter::setPayload	(	double	mass,
		double	x,
		double	y,
		double	z )

Sets the mass and Center of Gravity (CoG) of the payload.

This function must be called, when the payload weight or weigh distribution changes significantly, i.e when the robot arm picks up or puts down a heavy workpiece.

参数

payloadMass	in kilograms
centerOfGravityX	displacement from the tool-mount in meters.
centerOfGravityY	displacement from the tool-mount in meters.
centerOfGravityZ	displacement from the tool-mount in meters.

setRobotIndex()

void arcs::aubo_scope::ScriptWriter::setRobotIndex

(

int

robot_index

)

setTcp()

void arcs::aubo_scope::ScriptWriter::setTcp

(

const std::vector< double > &

pose

)

Set the Tool Center Point (TCP).

Sets the transformation from the tool output flange coordinate system to the TCP as a pose.

参数

x	Position part.
y	Position part.
z	Position part.
rx	Rotation part.
ry	Rotation part.
rz	Rotation part.

sleep()

void arcs::aubo_scope::ScriptWriter::sleep

(

double

seconds

)

Sleep for a number of seconds.

参数

seconds

amount of time to sleep in seconds.

sync()

void arcs::aubo_scope::ScriptWriter::sync

(

)

Uses up the remaining "physical" time a thread has in the current frame.

被这些函数引用 assign(), assign() , 以及 assign().

这是这个函数的调用关系图:

whileCondition()

void arcs::aubo_scope::ScriptWriter::whileCondition

(

const ExpressionPtr &

expression

)

Starts a while-loop with a loop invariant.

参数

expression

the loop invariant.

whileNot()

void arcs::aubo_scope::ScriptWriter::whileNot

(

const ExpressionPtr &

expression

)

Starts a while-loop with a negated loop invariant.

参数

expression

the loop invariant that will be negated.

whileTrue()

void arcs::aubo_scope::ScriptWriter::whileTrue

(

)

Starts a while true loop.

writeChildren()

void arcs::aubo_scope::ScriptWriter::writeChildren

(

)

Use this method when generating script code for a node that has children nodes.globalVariable

A simple example:

   writer.ifCondition(expression)

   writer.writeChildren()          // let children nodes generate code.

   writer.end()

@endcode

In most cases you prglobalVariableobably only want to call ScriptWriter#writeChildren() once, but it is possible to call it multiple times and thus have children nodes generate their code multiple times.

友元及相关符号说明

DataSwitch

friend class DataSwitch

friend

在文件 script_writer.h 第 282 行定义.

引用了 DataSwitch.

被这些函数引用 DataSwitch.

类成员变量说明

d_

void* arcs::aubo_scope::ScriptWriter::d_ { nullptr }

private

在文件 script_writer.h 第 284 行定义.

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该类的文档由以下文件生成:

• include/aubo_caps/domain/script/script_writer.h