3.6 BasScript Class

Overview

BasScript is the structured script builder exposed by the C++17 SDK.

3.6.1 Script Object

cpp

BasScript()
BasScript(const std::string& scriptName)

Item	Description
Description	Creates a script object
Notes	A script name can be supplied, or the default constructor can be used

Public Members

Member	Description
`name`	Script name
`content`	Script text lines
`flagIf`	IF closure count
`flagSwitch`	SWITCH closure count
`flagWhile`	WHILE closure count
`indent`	Current indentation level

Basic Methods

cpp

GetScript() -> std::string
SetParam(ParamType type, ValueType valueType, SetParamVal_t value) -> STATUS_CODE
AssignValue(AssignType param1, int32_t index, AssignParam2 param2, AssignValue_t value, int32_t optIndex = 0, int32_t optValue = 0) -> STATUS_CODE

Method	Description	Return
`GetScript`	Outputs the script text generated by the current builder	`std::string`
`SetParam`	Sets a script parameter	`STATUS_CODE`
`AssignValue`	Generates an assignment	`STATUS_CODE`

Additional notes:

BasScript(scriptName) prewrites two lines: scriptName and SUB main .
BasScript() creates an empty script object. Use the named constructor when a script header is required.

3.6.2 BasMotion

cpp

MoveJoint(MovePoseType, int32_t, SpeedType, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)
MoveLine(MovePoseType, int32_t, SpeedType, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)
MoveCircle(MovePoseType, int32_t, MovePoseType, int32_t, SpeedType, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)
MoveJump(MovePoseType, int32_t, Float64, Float64, SpeedType, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)
MoveJump3(MovePoseType, const std::vector<int32_t>&, Float64, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)
MoveJump3cp(MovePoseType, const std::vector<int32_t>&, Float64, SmoothType, Float64 = 0.0, const ExtraParam* = nullptr)

Method	Description	Key Constraints
`MoveJoint`	Joint motion statement	`VALUE` speed range `0~100`
`MoveLine`	Linear motion statement	`VALUE` speed range `0~5000`
`MoveCircle`	Circular motion statement	`VALUE` speed range `0~5000`
`MoveJump`	Jump statement	`speedRatio` range `0~100`
`MoveJump3`	Three-point Jump statement	`poseIndex.size()` must be `3`
`MoveJump3cp`	Three-point continuous Jump statement	`poseIndex.size()` must be `3`

Common constraints:

When SmoothType::SMOOTH_DISTANCE is used, smoothDistance must be in the range 0~1000 .
If an invalid ExtraParam configuration is passed, motion methods return INVALID_PARAMETER .

3.6.3 BasLogical

cpp

LogiIf(LogiParam1, int32_t, LogiParam2, LogiValue_t, BooleanOperator = EQ)
LogiElseIf(LogiParam1, int32_t, LogiParam2, LogiValue_t, BooleanOperator = EQ)
LogiElse()
LogiEndIf()
LogiSwitch(LogiParam1, int32_t)
LogiCase(LogiParam2, LogiCaseValue_t)
LogiDefault()
LogiEndSwitch()
LogiWhile(LogiParam1, int32_t, LogiParam2, LogiValue_t, BooleanOperator = EQ)
LogiEndWhile()
LogiGoto(int32_t index)
LogiLabel(int32_t index)
LogiSkipCondition(LogiParam1, int32_t, LogiParam2, LogiValue_t, BooleanOperator = EQ)
LogiBreak()
LogiContinue()

Method	Description	Key Constraints
`LogiIf`	IF	Supports registers, IO, literals, strings, and IO status
`LogiElseIf`	ELSE IF	Same as above
`LogiElse`	ELSE	None
`LogiEndIf`	ENDIF	None
`LogiSwitch`	SWITCH	Actually outputs `SELECT`
`LogiCase`	CASE	`OtherType` supports only `VALUE` / `STRING`
`LogiDefault`	DEFAULT	None
`LogiEndSwitch`	ENDSELECT	None
`LogiWhile`	WHILE	Condition rules are the same as `LogiIf`
`LogiEndWhile`	WEND	None
`LogiGoto`	GOTO	Target is `LABELn`
`LogiLabel`	LABEL	Actually outputs `scriptName::LABELn`
`LogiSkipCondition`	SKIP CONDITION	Neither side may use `MH` / `MI`
`LogiBreak`	BREAK	None
`LogiContinue`	CONTINUE	None

3.6.4 BasStructure

cpp

Wait(LogiParam1, int32_t, WaitParam2, WaitValue_t, BooleanOperator = EQ)
WaitTime(ValueType, SetParamVal_t)
Pause()
Abort()
Call(const std::string& name)
Run(const std::string& name)
Load(LoadType param, LoadValue_t value)
Unload(LoadType param, LoadValue_t value)
Exec(LoadType param, LoadValue_t value)

Method	Description	Key Constraints
`Wait`	Conditional wait	Left operand does not support `RegisterType::SR` ; `OtherType` supports only `IO_STATUS`
`WaitTime`	Time wait	`VALUE` outputs a literal; `R` outputs `R[index]`
`Pause`	Pause	None
`Abort`	Abort	None
`Call`	Synchronously calls a script	Automatically inserts `IMPORT name` at the file header
`Run`	Runs a script asynchronously	None
`Load`	Load	`R/SR` pass an index, `STRING` passes a string, and `VALUE` passes a numeric value
`Unload`	Unload	Same as `Load`
`Exec`	Execute	Same as `Load`

3.6.5 BasSocket

cpp

SocketOpen(int32_t index)
SocketClose(int32_t index)
SocketConnect(int32_t index)
SocketSend(int32_t index, StrType msgType, SocketValue_t value)
SocketRecv(int32_t index, int32_t msgLength, StrType msgType, SocketValue_t value)

Method	Description	Key Constraints
`SocketOpen`	Opens the connection	Actually outputs `SOCKET_OPEN SK[index]`
`SocketClose`	Closes the connection	Actually outputs `SOCKET_CLOSE SK[index]`
`SocketConnect`	Connects	Actually outputs `SOCKET_CONNECT SK[index]`
`SocketSend`	Sends data	`SR` accepts only an integer index; `STRING` accepts only a string
`SocketRecv`	Receives data	`SR` accepts only an integer index; `STRING` accepts only a string

3.6.6 BasModbus

cpp

ModbusReadMH(int32_t, int32_t, int32_t, int32_t, int32_t)
ModbusReadMI(int32_t, int32_t, int32_t, int32_t, int32_t)
ModbusWriteMH(int32_t, int32_t, int32_t, int32_t, ValueType, int32_t)

Method	Description	Key Constraints
`ModbusReadMH`	Reads MH	Result is written to `R[rIndex]`
`ModbusReadMI`	Reads MI	Result is written to `R[rIndex]`
`ModbusWriteMH`	Writes MH	`ValueType::R` writes `R[index]` ; `VALUE` writes a literal

3.6.7 BasVision

cpp

VisionFind(const std::string& name)
VisionGetOffset(const std::string& name, int32_t index, int32_t labelIndex)
VisionGetQuantity(const std::string& name, int32_t index)

Method	Description	Actual Output
`VisionFind`	Find	`VISION_FIND "name"`
`VisionGetOffset`	Offset	`VISION_GET_OFFSET "name" VR[index] GOTO LABEL[labelIndex]`
`VisionGetQuantity`	Quantity	`VISION_GET_QUANTITY "name" R[index]`

3.6.8 ExtraParam

cpp

Acceleration(Float64 value)
Rctp()
Offset(int32_t index)
Tb(Float64 second, const std::string& type, const std::string& name = "", int32_t index = 0, const std::string& status = "")
Skip(int32_t index)
Approach(Float64 departureDist, Float64 approachingDist)

Method	Description	Key Behavior
`Acceleration`	Additional acceleration	Values outside `1~120` are output as `100.0`
`Rctp`	RTCP parameter	The C++ name is `Rctp` ; the script output is `RTCP`
`Offset`	Offset parameter	Outputs `FRAME_OFFSET PR[index]`
`Tb`	TB parameter	Must satisfy either "RUN with `name` " or "ASSIGN with `index+status` "; otherwise it is marked as an error
`Skip`	Skip parameter	Outputs `SKIP GOTO LABELn`
`Approach`	Departure/approach distance	Used only as an additional parameter for Jump instructions

3.6.9 Execution Semantics

Item	Description
`GetScript`	Returns the current script text
`ExecuteBasScript`	Validates first, then automatically appends `RETURN` / `END`
Closure validation	`IF` / `SWITCH` / `WHILE` must be closed
`Call`	Inserts `IMPORT name` at the script header, then generates `CALL "name"`

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing generated script text
#include "arm_api.h"    // Arm entry point and BasScript builder type
#include "status_code.h" // STATUS_CODE for checking builder call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    BasScript script("demo.bas");
    STATUS_CODE waitRet = script.structure.WaitTime(
        ValueType::VALUE,
        Float64{0.1}
    );
    if (waitRet != STATUS_CODE::OK) {
        return 1;
    }

    STATUS_CODE loadRet = script.structure.Load(
        LoadType::STRING,
        std::string("demo_program")
    );
    if (loadRet != STATUS_CODE::OK) {
        return 1;
    }

    std::cout << script.GetScript() << "\n";
    // STATUS_CODE execRet = arm.programManager.ExecuteBasScript(script);
    return 0;
}

Scenario Examples

The snippets below cover the BasScript builder APIs across basic construction, motion statements, logical statements, flow-control statements, and Socket/Modbus/vision statements. The examples only build script text and do not send it to the controller.

Basic Builder and Extra Parameters

cpp

BasScript script("demo.bas");
BasScript emptyScript;
ExtraParam extra;
extra.Acceleration(80.0);
extra.Rctp();
extra.Offset(1);
extra.Tb(0.1, "RUN", "helper.bas");
extra.Skip(10);
extra.Approach(10.0, 10.0);
STATUS_CODE setTfRet = script.SetParam(ParamType::TF_NO, ValueType::VALUE, int32_t{0});
STATUS_CODE assignRet = script.AssignValue(AssignType::R, 1, OtherType::VALUE, Float64{3.14});
std::cout << script.GetScript() << "\n";

Generate Motion Statements

cpp

BasScript script("motion.bas");
ExtraParam extra;
extra.Acceleration(80.0);
STATUS_CODE moveJointRet = script.motion.MoveJoint(MovePoseType::PR, 1, SpeedType::VALUE, 20.0, SmoothType::FINE, 0.0, &extra);
STATUS_CODE moveLineRet = script.motion.MoveLine(MovePoseType::PR, 2, SpeedType::VALUE, 100.0, SmoothType::SMOOTH_DISTANCE, 5.0, &extra);
STATUS_CODE moveCircleRet = script.motion.MoveCircle(MovePoseType::PR, 2, MovePoseType::PR, 3, SpeedType::VALUE, 100.0, SmoothType::FINE, 0.0, &extra);
STATUS_CODE moveJumpRet = script.motion.MoveJump(MovePoseType::PR, 4, 100.0, 50.0, SpeedType::VALUE, 20.0, SmoothType::FINE, 0.0, &extra);
STATUS_CODE moveJump3Ret = script.motion.MoveJump3(MovePoseType::PR, std::vector<int32_t>{1, 2, 3}, 100.0, 50.0, SmoothType::FINE, 0.0, &extra);
STATUS_CODE moveJump3cpRet = script.motion.MoveJump3cp(MovePoseType::PR, std::vector<int32_t>{1, 2, 3}, 100.0, SmoothType::FINE, 0.0, &extra);

Generate Condition and Loop Statements

cpp

BasScript script("logical.bas");
STATUS_CODE ifRet = script.logical.LogiIf(RegisterType::R, 1, OtherType::VALUE, Float64{1.0}, BooleanOperator::EQ);
STATUS_CODE elseIfRet = script.logical.LogiElseIf(RegisterType::R, 1, OtherType::VALUE, Float64{2.0}, BooleanOperator::EQ);
STATUS_CODE elseRet = script.logical.LogiElse();
STATUS_CODE endIfRet = script.logical.LogiEndIf();
STATUS_CODE switchRet = script.logical.LogiSwitch(RegisterType::R, 1);
STATUS_CODE caseRet = script.logical.LogiCase(OtherType::VALUE, int32_t{1});
STATUS_CODE defaultRet = script.logical.LogiDefault();
STATUS_CODE endSwitchRet = script.logical.LogiEndSwitch();
STATUS_CODE whileRet = script.logical.LogiWhile(RegisterType::R, 1, OtherType::VALUE, Float64{1.0}, BooleanOperator::EQ);
STATUS_CODE continueRet = script.logical.LogiContinue();
STATUS_CODE breakRet = script.logical.LogiBreak();
STATUS_CODE endWhileRet = script.logical.LogiEndWhile();
STATUS_CODE labelRet = script.logical.LogiLabel(10);
STATUS_CODE gotoRet = script.logical.LogiGoto(10);
STATUS_CODE skipRet = script.logical.LogiSkipCondition(IOType::DI, 0, OtherType::IO_STATUS, IOStatus::ON, BooleanOperator::EQ);

Generate Flow-Control Statements

cpp

BasScript script("structure.bas");
STATUS_CODE waitRet = script.structure.Wait(IOType::DI, 0, OtherType::IO_STATUS, IOStatus::ON, BooleanOperator::EQ);
STATUS_CODE waitTimeRet = script.structure.WaitTime(ValueType::VALUE, Float64{0.1});
STATUS_CODE pauseRet = script.structure.Pause();
STATUS_CODE abortRet = script.structure.Abort();
STATUS_CODE callRet = script.structure.Call("helper.bas");
STATUS_CODE runRet = script.structure.Run("helper.bas");
STATUS_CODE loadRet = script.structure.Load(LoadType::STRING, std::string("demo_program"));
STATUS_CODE unloadRet = script.structure.Unload(LoadType::STRING, std::string("demo_program"));
STATUS_CODE execRet = script.structure.Exec(LoadType::STRING, std::string("demo_program"));

Generate Socket, Modbus, and Vision Statements

cpp

BasScript script("io.bas");
STATUS_CODE socketOpenRet = script.socket.SocketOpen(1);
STATUS_CODE socketConnectRet = script.socket.SocketConnect(1);
STATUS_CODE socketSendRet = script.socket.SocketSend(1, StrType::STRING, std::string("hello"));
STATUS_CODE socketRecvRet = script.socket.SocketRecv(1, 32, StrType::SR, int32_t{1});
STATUS_CODE socketCloseRet = script.socket.SocketClose(1);
STATUS_CODE readMhRet = script.modbus.ModbusReadMH(0, 1, 0, 2, 1);
STATUS_CODE readMiRet = script.modbus.ModbusReadMI(0, 1, 0, 2, 2);
STATUS_CODE writeMhRet = script.modbus.ModbusWriteMH(0, 1, 0, 1, ValueType::VALUE, 10);
STATUS_CODE visionFindRet = script.vision.VisionFind("camera");
STATUS_CODE visionOffsetRet = script.vision.VisionGetOffset("camera", 1, 10);
STATUS_CODE visionQuantityRet = script.vision.VisionGetQuantity("camera", 2);

Example code:

cpp17/bas_script_execution/src/main.cpp

cpp

#include "build_bas_script/run.h"
#include "execute_bas_script/run.h"

int main(void)
{
    // [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
    // [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
    return RunBasScriptExecutionBuildBasScript();
    // return RunBasScriptExecutionExecuteBasScript();
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.6 BasScript Class

Overview

3.6.1 Script Object

Public Members

Basic Methods

3.6.2 BasMotion

3.6.3 BasLogical

3.6.4 BasStructure

3.6.5 BasSocket

3.6.6 BasModbus

3.6.7 BasVision

3.6.8 ExtraParam

3.6.9 Execution Semantics

Minimal Call Example

Scenario Examples

Basic Builder and Extra Parameters

Generate Motion Statements

Generate Condition and Loop Statements

Generate Flow-Control Statements

Generate Socket, Modbus, and Vision Statements

3.6 BasScript Class ​

Overview ​

3.6.1 Script Object ​

Public Members ​

Basic Methods ​

3.6.2 BasMotion ​

3.6.3 BasLogical ​

3.6.4 BasStructure ​

3.6.5 BasSocket ​

3.6.6 BasModbus ​

3.6.7 BasVision ​

3.6.8 ExtraParam ​

3.6.9 Execution Semantics ​

Minimal Call Example ​

Scenario Examples ​

Basic Builder and Extra Parameters ​

Generate Motion Statements ​

Generate Condition and Loop Statements ​

Generate Flow-Control Statements ​

Generate Socket, Modbus, and Vision Statements ​

3.6 BasScript Class

Overview

3.6.1 Script Object

Public Members

Basic Methods

3.6.2 BasMotion

3.6.3 BasLogical

3.6.4 BasStructure

3.6.5 BasSocket

3.6.6 BasModbus

3.6.7 BasVision

3.6.8 ExtraParam

3.6.9 Execution Semantics

Minimal Call Example

Scenario Examples

Basic Builder and Extra Parameters

Generate Motion Statements

Generate Condition and Loop Statements

Generate Flow-Control Statements

Generate Socket, Modbus, and Vision Statements