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

#include <script_writer.h>

Public Member Functions
	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. More...

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. More...

std::string	generateScript ()
	Generate a string with the full script code. More...

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. More...

void	note (const std::string &expression)
	Add a note. More...

void	sleep (double seconds)
	Sleep for a number of seconds. More...

void	sync ()
	Uses up the remaining "physical" time a thread has in the current frame. More...

void	defineFunction (const std::string &func_name)

void	anonyFunction (const std::string &func_name)

void	setRobotIndex (int robot_index)

void	returnMethod ()
	Return from method. More...

void	end ()
	Insert an end. More...

void	lineFeed ()
	Insert an empty line. More...

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. More...

void	ifNotCondition (const ExpressionPtr &expression)
	Start a negated if-conditional. More...

void	elseIfCondition (const ExpressionPtr &expression)
	Adds an else-if branch. More...

void	elseCondition ()
	Adds an else branch. More...

void	forCondition (int count, int step)
	Starts a for-loop with tow loop invariants. More...

void	whileTrue ()
	Starts a while true loop. More...

void	whileCondition (const ExpressionPtr &expression)
	Starts a while-loop with a loop invariant. More...

void	whileNot (const ExpressionPtr &expression)
	Starts a while-loop with a negated loop invariant. More...

void	defineThread (const std::string &thread_name, bool loop_or_not)
	Start a thread definition with a given thread name. More...

void	runThread (const std::string &thread_name)
	Start a previously defined thread. More...

void	killThread (const std::string &thread_name)
	killThread More...

std::string	getResolvedVariable (const std::string &variable_name)

void	increaseIndent ()

void	decreaseIndent ()

Private Member Functions
	ScriptWriter ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

This interface provides support for generating Script code.

Definition at line 16 of file script_writer.h.

Constructor & Destructor Documentation

arcs::aubo_scope::ScriptWriter::ScriptWriter ( ScriptWriter & f )

arcs::aubo_scope::ScriptWriter::ScriptWriter ( ScriptWriter && f )

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

virtual

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

private

Member Function Documentation

void arcs::aubo_scope::ScriptWriter::anonyFunction ( const std::string & func_name )

void arcs::aubo_scope::ScriptWriter::appendLine ( const std::string & script_line )

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

Parameters

script_line single line of script code to append.

void arcs::aubo_scope::ScriptWriter::appendRaw ( const std::string & script )

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

Parameters

script script code to append.

void arcs::aubo_scope::ScriptWriter::appendVectorDouble ( const std::vector< double > & value )

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

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.

Parameters

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

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

Variable assignment.

Parameters

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

void arcs::aubo_scope::ScriptWriter::decreaseIndent ( )

void arcs::aubo_scope::ScriptWriter::defineFunction ( const std::string & func_name )

Parameters

name	Define a function of name name.

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

Start a thread definition with a given thread name.

Parameters

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

void arcs::aubo_scope::ScriptWriter::elseCondition ( )

Adds an else branch.

void arcs::aubo_scope::ScriptWriter::elseIfCondition ( const ExpressionPtr & expression )

Adds an else-if branch.

Parameters

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

void arcs::aubo_scope::ScriptWriter::end ( )

Insert an end.

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

Starts a for-loop with tow loop invariants.

Parameters

count	the loop counts.
step	the loop step.

std::string arcs::aubo_scope::ScriptWriter::generateScript ( )

Generate a string with the full script code.

Returns: the resulting script as a string.

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.

Parameters

variable a registered Variable. Not null.

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

Exceptions

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.

void arcs::aubo_scope::ScriptWriter::ifCondition ( const ExpressionPtr & expression )

Start an if-conditional.

Parameters

expression the expression of the if-sentence. Not null.

void arcs::aubo_scope::ScriptWriter::ifNotCondition ( const ExpressionPtr & expression )

Start a negated if-conditional.

Parameters

expression the expression of the negated if-sentence.

void arcs::aubo_scope::ScriptWriter::increaseIndent ( )

void arcs::aubo_scope::ScriptWriter::incrementVariable ( const std::string & variable_name )

Add 1 to the variable value.

Parameters

variable the variable to increment. Not null.

void arcs::aubo_scope::ScriptWriter::killThread ( const std::string & thread_name )

killThread

Parameters

thread_name

void arcs::aubo_scope::ScriptWriter::lineFeed ( )

Insert an empty line.

void arcs::aubo_scope::ScriptWriter::note ( const std::string & expression )

Add a note.

Parameters

expression the note expression.

void arcs::aubo_scope::ScriptWriter::returnMethod ( )

Return from method.

void arcs::aubo_scope::ScriptWriter::runThread ( const std::string & thread_name )

Start a previously defined thread.

Parameters

threadName The name of the thread that will be started.

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

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.

Parameters

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.

void arcs::aubo_scope::ScriptWriter::setRobotIndex ( int robot_index )

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.

Parameters

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

void arcs::aubo_scope::ScriptWriter::sleep ( double seconds )

Sleep for a number of seconds.

Parameters

seconds amount of time to sleep in seconds.

void arcs::aubo_scope::ScriptWriter::sync ( )

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

void arcs::aubo_scope::ScriptWriter::whileCondition ( const ExpressionPtr & expression )

Starts a while-loop with a loop invariant.

Parameters

expression the loop invariant.

void arcs::aubo_scope::ScriptWriter::whileNot ( const ExpressionPtr & expression )

Starts a while-loop with a negated loop invariant.

Parameters

expression the loop invariant that will be negated.

void arcs::aubo_scope::ScriptWriter::whileTrue ( )

Starts a while true loop.

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()

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.

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 282 of file script_writer.h.

Member Data Documentation

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

private

Definition at line 284 of file script_writer.h.

The documentation for this class was generated from the following file:

include/aubo_caps/domain/script/script_writer.h

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation