com.ur.urcap.api.domain.script

Interface ScriptWriter

public interface ScriptWriter

This API adds support for generating URScript code from URCaps.

Method Summary

Methods

Modifier and Type	Method and Description
void	appendLine(String scriptLine)
void	appendRaw(String script)
void	assign(String variableName, String expression) Variable assignment.
void	defineFunction(String name)
void	defineThread(String threadName) Start a thread definition with a given thread name.
void	elseCondition() Adds an else branch.
void	elseIfCondition(String expression) Adds an else-if branch.
void	end() Insert an end.
String	generateScript()
void	globalVariable(String variableName, String expression) Global variable assignment.
void	ifCondition(String expression) Start an if-conditional.
void	ifNotCondition(String expression) Start a negated if-conditional
void	returnMethod() Return from method.
void	runThread(String threadHandle, String threadName) Start a previously defined thread.
void	set_payload(double payloadMass) Sets the payload mass.
void	set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ) Sets the mass and center of gravity of the payload.
void	set_tcp(double x, double y, double z, double rx, double ry, double rz) Set the Tool Center Point.
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	whileCondition(String expression) Starts a while-loop with a loop invariant.
void	whileNot(String expression) Starts a while-loop with a negated loop invariant.
void	whileTrue() Starts a while true loop.
void	writeChildren() Use this method when generating code for a node that has children nodes.

Method Detail

appendLine

void appendLine(String scriptLine)

Parameters:

scriptLine - a single line script command and uses auto-indentation.

appendRaw

void appendRaw(String script)

Parameters:

script - append script as is, without auto-indentation.

generateScript

String generateScript()

Returns:

the resulting script as a string

writeChildren

void writeChildren()

Use this method when generating code for a node that has children nodes. A simple example:

writer.ifCondition(expression)
 writer.writeChildren() // let children nodes generate code.
 writer.end()
 

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

globalVariable

void globalVariable(String variableName,
                  String expression)

Global variable assignment.

Parameters:

variableName - name of global variable

expression - expression that is assigned to the global variable

assign

void assign(String variableName,
          String expression)

Variable assignment. This method can be used to declare local variables.

Parameters:

variableName - name of the variable

expression - expression that is assigned to the variable

sleep

void sleep(double seconds)

Sleep for a number of seconds

Parameters:

seconds - amount of time to sleep in seconds

sync

void sync()

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

defineFunction

void defineFunction(String name)

Parameters:

name - Define a function of name name

returnMethod

void returnMethod()

Return from method.

end

void end()

Insert an end.

set_payload

void set_payload(double payloadMass)

Sets the payload mass. This function must be called, when the payload weight or weight distribution changes significantly - I.e when the robot picks up or puts down a heavy workpiece.

Parameters:

payloadMass - in kilograms

set_payload

void set_payload(double payloadMass,
               double centerOfGravityX,
               double centerOfGravityY,
               double centerOfGravityZ)

Sets the mass and center of gravity of the payload. This function must be called, when the payload weight or weigh distribution changes significantly - I.e when the robot 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.

set_tcp

void set_tcp(double x,
           double y,
           double z,
           double rx,
           double ry,
           double rz)

Set the Tool Center Point. Sets the transformation from the 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

ifCondition

void ifCondition(String expression)

Start an if-conditional.

Parameters:

expression - the expression of the if-sentence.

ifNotCondition

void ifNotCondition(String expression)

Start a negated if-conditional

Parameters:

expression - the expression of the negated if-sentence

elseIfCondition

void elseIfCondition(String expression)

Adds an else-if branch.

Parameters:

expression - the expression to "else-if" on.

elseCondition

void elseCondition()

Adds an else branch.

whileTrue

void whileTrue()

Starts a while true loop.

whileCondition

void whileCondition(String expression)

Starts a while-loop with a loop invariant.

Parameters:

expression - the loop invariant.

whileNot

void whileNot(String expression)

Starts a while-loop with a negated loop invariant.

Parameters:

expression - the loop invariant that will be negated

defineThread

void defineThread(String threadName)

Start a thread definition with a given thread name.

Parameters:

threadName - the name of the new thread

runThread

void runThread(String threadHandle,
             String threadName)

Start a previously defined thread.

Parameters:

threadHandle - A variable name which will contain a thread handle that can be used to control the thread.

threadName - The name of the thread that will be started.