arcs::aubo_scope::ScriptWriter Class Reference

ScriptWriter 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.
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 ()
	Use this method when generating script code for a node that has children nodes.
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 ()
	Sync.
void	defineFunction (const std::string &func_name)
	Define a function.
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)
	Sets the mass and Center of Gravity of the payload.
void	setTcp (const std::vector< double > &pose)
	Set the Tool Center Point.
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.
void	whileTrue ()
	Starts a while true loop.
void	whileCondition (const ExpressionPtr &expression)
	Starts a while-loop.
void	whileNot (const ExpressionPtr &expression)
	Starts a negated while-loop.
void	defineThread (const std::string &thread_name, bool loop_or_not)
	Start a thread definition.
void	runThread (const std::string &thread_name)
	Start a thread.
void	killThread (const std::string &thread_name)
	Kill a thread.
std::string	getResolvedVariable (const std::string &variable_name)
	Returns a registered variable name that can be used in a script.
void	increaseIndent ()
void	decreaseIndent ()

Private Member Functions
	ScriptWriter ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

ScriptWriter This interface provides support for generating Script code.

Definition at line 23 of file script_writer.h.

Constructor & Destructor Documentation

ScriptWriter() [1/3]

arcs::aubo_scope::ScriptWriter::ScriptWriter

(

ScriptWriter &

f

)

References ScriptWriter().

Referenced by ScriptWriter(), and ScriptWriter().

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ScriptWriter() [2/3]

arcs::aubo_scope::ScriptWriter::ScriptWriter

(

ScriptWriter &&

f

)

References ScriptWriter().

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~ScriptWriter()

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

virtual

ScriptWriter() [3/3]

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

private

Member Function Documentation

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.

Parameters

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.

Parameters

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.

Parameters

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

References sync().

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assign() [2/3]

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.

References sync().

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assign() [3/3]

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

References sync().

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decreaseIndent()

void arcs::aubo_scope::ScriptWriter::decreaseIndent

(

)

defineFunction()

void arcs::aubo_scope::ScriptWriter::defineFunction

(

const std::string &

func_name

)

Define a function.

Parameters

func_name

function name.

defineThread()

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

Start a thread definition.

Parameters

thread_name	the thread name,
loop_or_not	whether loops.

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.

Parameters

expression

the expression.

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.

Parameters

count	loop count,
step	loop step.

generateScript()

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

(

)

Generate a string with the full script code.

Returns

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.

Parameters

variable_name

a variable name.

Returns

variable name that can be used in a script.

ifCondition()

void arcs::aubo_scope::ScriptWriter::ifCondition

(

const ExpressionPtr &

expression

)

Start an if-conditional.

Parameters

expression

the expression.

ifNotCondition()

void arcs::aubo_scope::ScriptWriter::ifNotCondition

(

const ExpressionPtr &

expression

)

Start a negated if-conditional.

Parameters

expression

the expression.

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.

Parameters

variable_name

the variable to increment.

killThread()

void arcs::aubo_scope::ScriptWriter::killThread

(

const std::string &

thread_name

)

Kill a thread.

Parameters

thread_name

the 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.

Parameters

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 thread.

Parameters

thread_name

the thread name.

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 of the payload.

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.

sleep()

void arcs::aubo_scope::ScriptWriter::sleep

(

double

seconds

)

Sleep for a number of seconds.

Parameters

seconds

amount of time to sleep in seconds.

sync()

void arcs::aubo_scope::ScriptWriter::sync

(

)

Sync.

Referenced by assign(), assign(), and assign().

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whileCondition()

void arcs::aubo_scope::ScriptWriter::whileCondition

(

const ExpressionPtr &

expression

)

Starts a while-loop.

Parameters

expression

the loop invariant.

whileNot()

void arcs::aubo_scope::ScriptWriter::whileNot

(

const ExpressionPtr &

expression

)

Starts a negated while-loop.

Parameters

expression

the loop invariant.

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.

Let children nodes generate code.

Friends And Related Symbol Documentation

DataSwitch

friend class DataSwitch

friend

Definition at line 223 of file script_writer.h.

References DataSwitch.

Referenced by DataSwitch.

Member Data Documentation

d_

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

private

Definition at line 225 of file script_writer.h.

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

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