4.6 C99 BasScript Builder

Overview

C99 BasScript uses ArmBasScriptHandle* and ArmBasExtraParamHandle* as builder handles. They are local script-text construction objects. An ArmHandle* is only required when the script is executed.

Header file:

include/c_arm_bas_script.h

Basic APIs

`Arm_BasScript_Create`

int Arm_BasScript_Create(ArmBasScriptHandle** outScript);

Item	Description
Description	Creates an empty BAS script builder.
Request parameters	`outScript` : `ArmBasScriptHandle**` , output script-builder handle; on success, a non-null pointer is written
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_CreateWithName`

int Arm_BasScript_CreateWithName(const char* scriptName, ArmBasScriptHandle** outScript);

Item	Description
Description	Creates a BAS script builder with a script name.
Request parameters	`scriptName` : `const char` , script name string `outScript` : `ArmBasScriptHandle*` , output script-builder handle; on success, a non-null pointer is written
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Destroy`

void Arm_BasScript_Destroy(ArmBasScriptHandle* script);

Item	Description
Description	Destroys a BAS script builder.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	No return value

`Arm_BasScript_Reset`

int Arm_BasScript_Reset(ArmBasScriptHandle* script);

Item	Description
Description	Resets a BAS script builder.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_SetName`

int Arm_BasScript_SetName(ArmBasScriptHandle* script, const char* scriptName);

Item	Description
Description	Sets the BAS script name.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `scriptName` : `const char` , script name string
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_GetName`

int Arm_BasScript_GetName(ArmBasScriptHandle* script, char* outBuf, size_t bufSize);

Item	Description
Description	Reads the BAS script name.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `outBuf` : `char` , output string buffer allocated by the caller `bufSize` : `size_t` , output buffer size, including space for the trailing `\0`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions
Notes	String output uses the caller-provided buffer. If the buffer is too small, the function reports that through the status code.

`Arm_BasScript_AppendLine`

int Arm_BasScript_AppendLine(ArmBasScriptHandle* script, const char* line);

Item	Description
Description	Appends one line of BAS script text.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `line` : `const char` , one BAS script text line
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_AppendLines`

int Arm_BasScript_AppendLines(ArmBasScriptHandle* script, const char* const* lines, size_t lineCount);

Item	Description
Description	Appends multiple BAS script text lines.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `lines` : `const char const*` , array of BAS script text lines `lineCount` : `size_t` , number of script text lines
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_GetText`

int Arm_BasScript_GetText(ArmBasScriptHandle* script, char* outBuf, size_t bufSize);

Item	Description
Description	Exports the BAS script text generated by the current builder.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `outBuf` : `char` , output string buffer allocated by the caller `bufSize` : `size_t` , output buffer size, including space for the trailing `\0`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions
Notes	String output uses the caller-provided buffer. If the buffer is too small, the function reports that through the status code.

`Arm_BasScript_GetLineCount`

int Arm_BasScript_GetLineCount(ArmBasScriptHandle* script, size_t* outCount);

Item	Description
Description	Reads the current number of script text lines.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `outCount` : `size_t` , output-count pointer; on success, receives the actual count
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Execute`

int Arm_BasScript_Execute(ArmHandle* h, ArmBasScriptHandle* script);

Item	Description
Description	Executes the BAS script generated by the current builder.
Request parameters	`h` : `ArmHandle` , C99 session handle, usually created by `Arm_Create()` ; service APIs require a successful connection first `script` : `ArmBasScriptHandle` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

Value Construction APIs

`Arm_BasValue_Int32`

ArmBasValue Arm_BasValue_Int32(int32_t value);

Item	Description
Description	Constructs a BAS parameter value of type `int32_t` .
Request parameters	`value` : `int32_t` , integer literal
Return value	`ArmBasValue` ; a value object that can be passed to BasScript builder APIs

`Arm_BasValue_Float64`

ArmBasValue Arm_BasValue_Float64(double value);

Item	Description
Description	Constructs a BAS parameter value of type `double` .
Request parameters	`value` : `double` , floating-point literal
Return value	`ArmBasValue` ; a value object that can be passed to BasScript builder APIs

`Arm_BasValue_String`

ArmBasValue Arm_BasValue_String(const char* value);

Item	Description
Description	Constructs a BAS parameter value of string type.
Request parameters	`value` : `const char*` , string literal; must not be `NULL`
Return value	`ArmBasValue` ; a value object that can be passed to BasScript builder APIs

`Arm_BasValue_TaggedInt`

ArmBasValue Arm_BasValue_TaggedInt(int32_t tag, int32_t value);

Item	Description
Description	Constructs a tagged integer BAS parameter value for enum-style parameters.
Request parameters	`tag` : `int32_t` , value tag that identifies which field of `ArmBasValue` is active `value` : `int32_t` , enum value or index value associated with the tag
Return value	`ArmBasValue` ; a value object that can be passed to BasScript builder APIs

Instruction Construction APIs

`Arm_BasScript_SetParam`

int Arm_BasScript_SetParam(ArmBasScriptHandle* script, int32_t type, int32_t valueType, ArmBasValue value);

Item	Description
Description	Generates a BAS statement that sets a script parameter.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `type` : `int32_t` , script parameter type; see `ArmBasParamType` for values `valueType` : `int32_t` , value source type; see `ArmBasValueType` for values `value` : `ArmBasValue` ; when `valueType` is a direct value, this is the parameter value; when it is an R register, this is the R number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_AssignValue`

int Arm_BasScript_AssignValue(ArmBasScriptHandle* script, int32_t param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t optIndex, int32_t optValue);

Item	Description
Description	Generates a BAS assignment statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `int32_t` , assignment left-side type; see `ArmBasAssignType` for values `index` : `int32_t` , left-side number, for example an R, PR, SR, or IO number `param2` : `ArmBasValue` , right-side source type, such as register, IO, literal, string, or current pose `value` : `ArmBasValue` , right-side value or source number `optIndex` : `int32_t` , PR element, IO group, or additional index `optValue` : `int32_t` , PR element, IO status, or additional value
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveJoint`

int Arm_BasScript_Motion_MoveJoint(ArmBasScriptHandle* script, int32_t poseType, int32_t poseIndex, int32_t speedType, double speedValue, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Executes or generates a joint-motion statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType` : `int32_t` , pose type, joint or Cartesian `poseIndex` : `int32_t` , PR point index `speedType` : `int32_t` , speed type, either a direct value or a register `speedValue` : `double` , speed value or speed register index `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveLine`

int Arm_BasScript_Motion_MoveLine(ArmBasScriptHandle* script, int32_t poseType, int32_t poseIndex, int32_t speedType, double speedValue, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Executes or generates a linear-motion statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType` : `int32_t` , pose type, joint or Cartesian `poseIndex` : `int32_t` , PR point index `speedType` : `int32_t` , speed type, either a direct value or a register `speedValue` : `double` , speed value or speed register index `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveCircle`

int Arm_BasScript_Motion_MoveCircle(ArmBasScriptHandle* script, int32_t poseType1, int32_t poseIndex1, int32_t poseType2, int32_t poseIndex2, int32_t speedType, double speedValue, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Executes or generates an arc-motion statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType1` : `int32_t` , via-point source type; the currently exposed value is `ARM_BAS_MOVE_POSE_PR` `poseIndex1` : `int32_t` , via-point PR index `poseType2` : `int32_t` , end-point source type; the currently exposed value is `ARM_BAS_MOVE_POSE_PR` `poseIndex2` : `int32_t` , end-point PR index `speedType` : `int32_t` , speed type, either a direct value or a register `speedValue` : `double` , speed value or speed register index `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveJump`

int Arm_BasScript_Motion_MoveJump(ArmBasScriptHandle* script, int32_t poseType, int32_t poseIndex, double speedValue, double speedRatio, int32_t limZType, double limZValue, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Provides the C99 API capability for `BasScript Motion MoveJump` .
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType` : `int32_t` , pose type, joint or Cartesian `poseIndex` : `int32_t` , PR point index `speedValue` : `double` , speed value or speed register index `speedRatio` : `double` , speed ratio `limZType` : `int32_t` , Jump height-limit parameter type `limZValue` : `double` , Jump height-limit value `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveJump3`

int Arm_BasScript_Motion_MoveJump3(ArmBasScriptHandle* script, int32_t poseType, const int32_t* poseIndexList, size_t poseIndexCount, double speedValue, double speedRatio, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Provides the C99 API capability for `BasScript Motion MoveJump3` .
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType` : `int32_t` , pose type, joint or Cartesian `poseIndexList` : `const int32_t` , array of PR point indexes `poseIndexCount` : `size_t` , number of PR point indexes `speedValue` : `double` , speed value or speed register index `speedRatio` : `double` , speed ratio `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle*` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Motion_MoveJump3cp`

int Arm_BasScript_Motion_MoveJump3cp(ArmBasScriptHandle* script, int32_t poseType, const int32_t* poseIndexList, size_t poseIndexCount, double speedValue, int32_t smoothType, double smoothDistance, const ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Provides the C99 API capability for `BasScript Motion MoveJump3cp` .
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `poseType` : `int32_t` , pose type, joint or Cartesian `poseIndexList` : `const int32_t` , array of PR point indexes `poseIndexCount` : `size_t` , number of PR point indexes `speedValue` : `double` , speed value or speed register index `smoothType` : `int32_t` , smoothing type `smoothDistance` : `double` , smoothing distance `extraParam` : `const ArmBasExtraParamHandle*` , BasScript extra-parameter builder handle; may be `NULL` to append no extra parameters
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_If`

int Arm_BasScript_Logical_If(ArmBasScriptHandle* script, ArmBasValue param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t op);

Item	Description
Description	Generates an IF condition statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `ArmBasValue` , left-side source type for the condition, such as register, IO, literal, or string `index` : `int32_t` , left-side number, for example an R, SR, or IO number `param2` : `ArmBasValue` , right-side source type for the condition `value` : `ArmBasValue` , right-side value or source number `op` : `int32_t` , comparison or logical operator; see `ArmBasBooleanOperator` for values
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_ElseIf`

int Arm_BasScript_Logical_ElseIf(ArmBasScriptHandle* script, ArmBasValue param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t op);

Item	Description
Description	Generates an ELSE IF condition statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `ArmBasValue` , left-side source type for the condition, such as register, IO, literal, or string `index` : `int32_t` , left-side number, for example an R, SR, or IO number `param2` : `ArmBasValue` , right-side source type for the condition `value` : `ArmBasValue` , right-side value or source number `op` : `int32_t` , comparison or logical operator; see `ArmBasBooleanOperator` for values
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Else`

int Arm_BasScript_Logical_Else(ArmBasScriptHandle* script);

Item	Description
Description	Generates an ELSE statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_EndIf`

int Arm_BasScript_Logical_EndIf(ArmBasScriptHandle* script);

Item	Description
Description	Generates an ENDIF statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Switch`

int Arm_BasScript_Logical_Switch(ArmBasScriptHandle* script, ArmBasValue param, int32_t index);

Item	Description
Description	Generates a SWITCH / SELECT statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param` : `ArmBasValue` , SELECT expression source type `index` : `int32_t` , SELECT expression number, for example an R, SR, or IO number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Case`

int Arm_BasScript_Logical_Case(ArmBasScriptHandle* script, ArmBasValue param, ArmBasValue value);

Item	Description
Description	Generates a CASE statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param` : `ArmBasValue` , CASE value source type `value` : `ArmBasValue` , CASE match value or source number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Default`

int Arm_BasScript_Logical_Default(ArmBasScriptHandle* script);

Item	Description
Description	Generates a DEFAULT statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_EndSwitch`

int Arm_BasScript_Logical_EndSwitch(ArmBasScriptHandle* script);

Item	Description
Description	Generates an END SWITCH / ENDSELECT statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_While`

int Arm_BasScript_Logical_While(ArmBasScriptHandle* script, ArmBasValue param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t op);

Item	Description
Description	Generates a WHILE statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `ArmBasValue` , left-side source type for the condition, such as register, IO, literal, or string `index` : `int32_t` , left-side number, for example an R, SR, or IO number `param2` : `ArmBasValue` , right-side source type for the condition `value` : `ArmBasValue` , right-side value or source number `op` : `int32_t` , comparison or logical operator; see `ArmBasBooleanOperator` for values
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_EndWhile`

int Arm_BasScript_Logical_EndWhile(ArmBasScriptHandle* script);

Item	Description
Description	Generates a WHILE ending statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Goto`

int Arm_BasScript_Logical_Goto(ArmBasScriptHandle* script, int32_t index);

Item	Description
Description	Generates a GOTO statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , target `LABEL` number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Label`

int Arm_BasScript_Logical_Label(ArmBasScriptHandle* script, int32_t index);

Item	Description
Description	Generates a LABEL statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , current `LABEL` number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_SkipCondition`

int Arm_BasScript_Logical_SkipCondition(ArmBasScriptHandle* script, ArmBasValue param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t op);

Item	Description
Description	Generates a SKIP CONDITION statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `ArmBasValue` , left-side source type for the condition, such as register, IO, literal, or string `index` : `int32_t` , left-side number, for example an R, SR, or IO number `param2` : `ArmBasValue` , right-side source type for the condition `value` : `ArmBasValue` , right-side value or source number `op` : `int32_t` , comparison or logical operator; see `ArmBasBooleanOperator` for values
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Break`

int Arm_BasScript_Logical_Break(ArmBasScriptHandle* script);

Item	Description
Description	Generates a BREAK statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Logical_Continue`

int Arm_BasScript_Logical_Continue(ArmBasScriptHandle* script);

Item	Description
Description	Generates a CONTINUE statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Wait`

int Arm_BasScript_Structure_Wait(ArmBasScriptHandle* script, ArmBasValue param1, int32_t index, ArmBasValue param2, ArmBasValue value, int32_t op);

Item	Description
Description	Generates a conditional WAIT statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `param1` : `ArmBasValue` , left-side source type for the wait condition `index` : `int32_t` , left-side number for the wait condition, for example an R, SR, or IO number `param2` : `ArmBasValue` , right-side source type for the wait condition `value` : `ArmBasValue` , right-side value or source number for the wait condition `op` : `int32_t` , comparison or logical operator; see `ArmBasBooleanOperator` for values
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_WaitTime`

int Arm_BasScript_Structure_WaitTime(ArmBasScriptHandle* script, int32_t valueType, ArmBasValue value);

Item	Description
Description	Generates a time-based WAIT statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `valueType` : `int32_t` , time source type; see `ArmBasValueType` for values `value` : `ArmBasValue` , wait time in seconds or R register number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Pause`

int Arm_BasScript_Structure_Pause(ArmBasScriptHandle* script);

Item	Description
Description	Generates a PAUSE statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Abort`

int Arm_BasScript_Structure_Abort(ArmBasScriptHandle* script);

Item	Description
Description	Generates an abort statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Call`

int Arm_BasScript_Structure_Call(ArmBasScriptHandle* script, const char* name);

Item	Description
Description	Generates a synchronous script-call statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `name` : `const char` , script name to call synchronously; must not be `NULL`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Run`

int Arm_BasScript_Structure_Run(ArmBasScriptHandle* script, const char* name);

Item	Description
Description	Generates an asynchronous script-run statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `name` : `const char` , script name to run asynchronously; must not be `NULL`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Load`

int Arm_BasScript_Structure_Load(ArmBasScriptHandle* script, int32_t loadType, ArmBasValue value);

Item	Description
Description	Generates a LOAD statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `loadType` : `int32_t` , program identifier source; see `ArmBasLoadType` for values `value` : `ArmBasValue` , script name, R/SR number, or direct value
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Unload`

int Arm_BasScript_Structure_Unload(ArmBasScriptHandle* script, int32_t loadType, ArmBasValue value);

Item	Description
Description	Generates an UNLOAD statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `loadType` : `int32_t` , program identifier source; see `ArmBasLoadType` for values `value` : `ArmBasValue` , script name, R/SR number, or direct value
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Structure_Exec`

int Arm_BasScript_Structure_Exec(ArmBasScriptHandle* script, int32_t loadType, ArmBasValue value);

Item	Description
Description	Generates an EXEC statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `loadType` : `int32_t` , program identifier source; see `ArmBasLoadType` for values `value` : `ArmBasValue` , script name, R/SR number, or direct value
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Socket_Open`

int Arm_BasScript_Socket_Open(ArmBasScriptHandle* script, int32_t index);

Item	Description
Description	Generates a Socket open statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Socket channel number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Socket_Close`

int Arm_BasScript_Socket_Close(ArmBasScriptHandle* script, int32_t index);

Item	Description
Description	Generates a Socket close statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Socket channel number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Socket_Connect`

int Arm_BasScript_Socket_Connect(ArmBasScriptHandle* script, int32_t index);

Item	Description
Description	Generates a Socket connect statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Socket channel number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Socket_Send`

int Arm_BasScript_Socket_Send(ArmBasScriptHandle* script, int32_t index, int32_t msgType, ArmBasValue value);

Item	Description
Description	Generates a Socket send statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Socket channel number `msgType` : `int32_t` , Socket message type; see `ArmBasStrType` for values `value` : `ArmBasValue` ; when `ARM_BAS_STR_STRING` , this is a string; when `ARM_BAS_STR_SR` , this is an SR number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Socket_Recv`

int Arm_BasScript_Socket_Recv(ArmBasScriptHandle* script, int32_t index, int32_t msgLength, int32_t msgType, ArmBasValue value);

Item	Description
Description	Generates a Socket receive statement.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Socket channel number `msgLength` : `int32_t` , receive message length `msgType` : `int32_t` , Socket message type; see `ArmBasStrType` for values `value` : `ArmBasValue` ; when `ARM_BAS_STR_STRING` , this is the string variable name; when `ARM_BAS_STR_SR` , this is an SR number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Modbus_ReadMH`

int Arm_BasScript_Modbus_ReadMH(ArmBasScriptHandle* script, int32_t index, int32_t id, int32_t address, int32_t length, int32_t rIndex);

Item	Description
Description	Generates a Modbus script statement that reads MH.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Modbus statement index `id` : `int32_t` , Modbus slave ID `address` : `int32_t` , MH start address `length` : `int32_t` , read length `rIndex` : `int32_t` , R register number that receives the result
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Modbus_ReadMI`

int Arm_BasScript_Modbus_ReadMI(ArmBasScriptHandle* script, int32_t index, int32_t id, int32_t address, int32_t length, int32_t rIndex);

Item	Description
Description	Generates a Modbus script statement that reads MI.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Modbus statement index `id` : `int32_t` , Modbus slave ID `address` : `int32_t` , MI start address `length` : `int32_t` , read length `rIndex` : `int32_t` , R register number that receives the result
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Modbus_WriteMH`

int Arm_BasScript_Modbus_WriteMH(ArmBasScriptHandle* script, int32_t index, int32_t id, int32_t address, int32_t length, int32_t valueType, int32_t value);

Item	Description
Description	Generates a Modbus script statement that writes MH.
Request parameters	`script` : `ArmBasScriptHandle*` , BasScript script-builder handle `index` : `int32_t` , Modbus statement index `id` : `int32_t` , Modbus slave ID `address` : `int32_t` , MH start address `length` : `int32_t` , write length `valueType` : `int32_t` , write-value source; see `ArmBasValueType` for values `value` : `int32_t` , direct write value or R register number
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Vision_Find`

int Arm_BasScript_Vision_Find(ArmBasScriptHandle* script, const char* name);

Item	Description
Description	Generates a vision find statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `name` : `const char` , vision task name; must not be `NULL`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Vision_GetOffset`

int Arm_BasScript_Vision_GetOffset(ArmBasScriptHandle* script, const char* name, int32_t index, int32_t labelIndex);

Item	Description
Description	Generates a vision offset retrieval statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `name` : `const char` , vision task name; must not be `NULL` `index` : `int32_t` , vision offset result number `labelIndex` : `int32_t` , label number to jump to when offset retrieval fails
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasScript_Vision_GetQuantity`

int Arm_BasScript_Vision_GetQuantity(ArmBasScriptHandle* script, const char* name, int32_t index);

Item	Description
Description	Generates a vision quantity retrieval statement.
Request parameters	`script` : `ArmBasScriptHandle` , BasScript script-builder handle `name` : `const char` , vision task name; must not be `NULL` `index` : `int32_t` , number that receives the quantity result
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

Extra Parameter APIs

`Arm_BasExtraParam_Create`

int Arm_BasExtraParam_Create(ArmBasExtraParamHandle** outExtraParam);

Item	Description
Description	Creates a BAS extra-parameter builder.
Request parameters	`outExtraParam` : `ArmBasExtraParamHandle**` , output extra-parameter builder handle; on success, a non-null pointer is written
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Destroy`

void Arm_BasExtraParam_Destroy(ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Destroys a BAS extra-parameter builder.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder to destroy; may be `NULL`
Return value	No return value

`Arm_BasExtraParam_Reset`

int Arm_BasExtraParam_Reset(ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Resets a BAS extra-parameter builder.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder to reset
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_GetText`

int Arm_BasExtraParam_GetText(ArmBasExtraParamHandle* extraParam, char* outBuf, size_t bufSize);

Item	Description
Description	Exports the current extra-parameter text.
Request parameters	`extraParam` : `ArmBasExtraParamHandle` , extra-parameter builder `outBuf` : `char` , output string buffer allocated by the caller `bufSize` : `size_t` , output buffer size, including space for the trailing `\0`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions
Notes	String output uses the caller-provided buffer. If the buffer is too small, the function reports that through the status code.

`Arm_BasExtraParam_Acceleration`

int Arm_BasExtraParam_Acceleration(ArmBasExtraParamHandle* extraParam, double value);

Item	Description
Description	Appends an acceleration extra parameter.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder `value` : `double` , extra acceleration; values outside `1~120` are emitted as `100.0`
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Rctp`

int Arm_BasExtraParam_Rctp(ArmBasExtraParamHandle* extraParam);

Item	Description
Description	Appends an RTCP extra parameter.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Offset`

int Arm_BasExtraParam_Offset(ArmBasExtraParamHandle* extraParam, int32_t index);

Item	Description
Description	Appends a coordinate offset extra parameter.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder `index` : `int32_t` , PR number used for the offset
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Tb`

int Arm_BasExtraParam_Tb(ArmBasExtraParamHandle* extraParam, double second, const char* type, const char* name, int32_t index, const char* status);

Item	Description
Description	Appends a TB extra parameter.
Request parameters	`extraParam` : `ArmBasExtraParamHandle` , extra-parameter builder `second` : `double` , time parameter in seconds `type` : `const char` , TB type, for example `RUN` or `ASSIGN` `name` : `const char` , script name used by the `RUN` type; may be empty depending on the TB type `index` : `int32_t` , index used by the `ASSIGN` type `status` : `const char` , status string used by the `ASSIGN` type
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Skip`

int Arm_BasExtraParam_Skip(ArmBasExtraParamHandle* extraParam, int32_t index);

Item	Description
Description	Appends a Skip extra parameter.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder `index` : `int32_t` , target `LABEL` number to jump to
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

`Arm_BasExtraParam_Approach`

int Arm_BasExtraParam_Approach(ArmBasExtraParamHandle* extraParam, double departureDist, double approachingDist);

Item	Description
Description	Appends Jump approach/departure distance parameters.
Request parameters	`extraParam` : `ArmBasExtraParamHandle*` , extra-parameter builder `departureDist` : `double` , Jump departure distance `approachingDist` : `double` , Jump approach distance
Return value	Integer `STATUS_CODE` ; `0` means success, and other values should be handled according to the status-code definitions

Enums and Values

Enum	Description
`ArmBasMovePoseType`	Motion point source; exposes `ARM_BAS_MOVE_POSE_PR`
`ArmBasSmoothType`	Exact-to-point or distance-based smoothing
`ArmBasSpeedType`	Speed from a direct value or MR
`ArmBasRegisterType`	R / SR / MH / MI
`ArmBasIOType`	DI / DO / AI / AO / RI / RO / UI / UO / GI / GO / TAI / TAO / TDI / TDO
`ArmBasIOStatus`	ON / OFF / PULSE / rising edge / falling edge
`ArmBasBooleanOperator`	AND / OR / EQ / NE / GT / GE / LT / LE
`ArmBasAssignType`	ASSIGN left-side target or right-side source
`ArmBasOtherType`	Literal, string, IO status, or current pose
`ArmBasCurrentPose`	Current joint or Cartesian pose
`ArmBasLoadType`	Program identifier source for LOAD / UNLOAD / EXEC
`ArmBasStrType`	Socket string or SR
`ArmBasValueType`	Direct value or R register
`ArmBasParamType`	TF, UF, OVC, OAC, or payload number
`ArmBasMathOperator`	Reserved arithmetic operator enum
`ArmBasValueTag`	Identifies which field of `ArmBasValue` is active

Key Semantics

Category	Description
Motion speed	When `MoveJoint` uses a direct speed value, the range is `0~100` ; when `MoveLine` or `MoveCircle` uses a direct speed value, the range is `0~5000` .
Jump points	`poseIndexList` for `MoveJump3` and `MoveJump3cp` must contain exactly `3` PR point indexes.
Condition statements	IF, ELSE IF, WHILE, WAIT, and SKIP CONDITION use the same condition-parameter convention, supporting registers, IO, literals, strings, and IO status.
SELECT statement	`Arm_BasScript_Logical_Switch()` emits SELECT; `Arm_BasScript_Logical_EndSwitch()` emits ENDSELECT.
Closing validation	IF / SELECT / WHILE blocks must be closed; add the matching end statement before exporting or executing script text.
Socket	`ARM_BAS_STR_STRING` uses a string value, and `ARM_BAS_STR_SR` uses an SR number.
Modbus	`ReadMH` / `ReadMI` write results to an R register; `WriteMH` can write either a direct value or an R register value.
Extra acceleration	The valid range of `Arm_BasExtraParam_Acceleration()` is `1~120` ; out-of-range values are emitted as `100.0` .
TB extra parameter	TB parameters must satisfy one of two forms: `RUN` with `name` , or `ASSIGN` with `index + status` .
Approach	`Arm_BasExtraParam_Approach()` is only used as an extra parameter for Jump-style instructions.

Builder Rules

Arm_BasScript_Create() creates an empty builder.
Arm_BasScript_CreateWithName() creates a builder with a script name and generates the script header.
Arm_BasScript_SetName() changes only the name; existing content is preserved.
Arm_BasScript_AppendLine() / Arm_BasScript_AppendLines() only append script text.
Arm_BasScript_GetText() serializes the current content; use Arm_BasScript_CreateWithName() when a script header is required.
Arm_BasScript_Reset() returns the builder to the mode it had at creation time.
Arm_BasScript_Execute() executes the script generated by the builder through ArmHandle* .
Arm_BasExtraParam_GetText() outputs the current extra-parameter text.

Minimal Example

#include <stdio.h>  // Provides printf for printing the generated script text.
#include "c_arm_api.h"  // Includes the aggregate C99 SDK header.
int main(void)  // Example program entry point.
{  // Enters the example main function.
    ArmBasScriptHandle* script = NULL;  // Prepares the script-builder handle.
    char text[2048] = {0};  // Prepares the script-text output buffer.
    int ret = Arm_BasScript_CreateWithName("demo.bas", &script);  // Creates a named script builder.
    if (ret != 0 || script == NULL) {  // Checks whether builder creation failed.
        return 1;  // Exits when creation fails.
    }  // Ends the creation check.
    Arm_BasScript_Structure_WaitTime(script, ARM_BAS_VALUE_TYPE_VALUE, Arm_BasValue_Float64(0.1));  // Appends a wait statement.
    Arm_BasScript_GetText(script, text, sizeof(text));  // Exports the script text.
    printf("%s\n", text);  // Prints the script text.
    Arm_BasScript_Destroy(script);  // Destroys the script builder.
    return 0;  // Ends the example successfully.
}  // Ends the example main function.

Scenario Examples

Motion Statements and Extra Parameters

ArmBasScriptHandle* script = NULL;  // Prepares the script builder.
ArmBasExtraParamHandle* extra = NULL;  // Prepares the extra-parameter builder.
int createRet = Arm_BasScript_Create(&script);  // Creates the script builder.
int extraRet = Arm_BasExtraParam_Create(&extra);  // Creates the extra-parameter builder.
Arm_BasExtraParam_Acceleration(extra, 80.0);  // Sets extra acceleration.
Arm_BasExtraParam_Rctp(extra);  // Sets the RTCP extra parameter.
Arm_BasExtraParam_Offset(extra, 1);  // Sets FRAME_OFFSET PR[1].
Arm_BasExtraParam_Skip(extra, 10);  // Sets SKIP GOTO LABEL10.
Arm_BasExtraParam_Approach(extra, 20.0, 10.0);  // Sets Jump approach/departure distance.
Arm_BasScript_Motion_MoveJoint(script, ARM_BAS_MOVE_POSE_PR, 1, ARM_BAS_SPEED_VALUE, 30.0, ARM_BAS_SMOOTH_FINE, 0.0, extra);  // Generates a joint-motion statement.
Arm_BasScript_Motion_MoveLine(script, ARM_BAS_MOVE_POSE_PR, 2, ARM_BAS_SPEED_VALUE, 30.0, ARM_BAS_SMOOTH_DISTANCE, 5.0, extra);  // Generates a linear-motion statement.
Arm_BasScript_Motion_MoveCircle(script, ARM_BAS_MOVE_POSE_PR, 2, ARM_BAS_MOVE_POSE_PR, 3, ARM_BAS_SPEED_VALUE, 20.0, ARM_BAS_SMOOTH_FINE, 0.0, extra);  // Generates an arc-motion statement.
Arm_BasScript_Motion_MoveJump(script, ARM_BAS_MOVE_POSE_PR, 4, 40.0, 80.0, ARM_BAS_VALUE_TYPE_VALUE, 100.0, ARM_BAS_SMOOTH_FINE, 0.0, extra);  // Generates a Jump statement.
(void)createRet;  // Keeps the creation status code in this example.
(void)extraRet;  // Keeps the extra-parameter creation status code in this example.
Arm_BasExtraParam_Destroy(extra);  // Destroys the extra-parameter builder.
Arm_BasScript_Destroy(script);  // Destroys the script builder.

Logic, Flow, Socket, Modbus, and Vision

ArmBasScriptHandle* script = NULL;  // Prepares the script builder.
Arm_BasScript_Create(&script);  // Creates the script builder.
Arm_BasScript_SetParam(script, ARM_BAS_PARAM_OVC, ARM_BAS_VALUE_TYPE_VALUE, Arm_BasValue_Float64(20.0));  // Sets OVC.
Arm_BasScript_AssignValue(script, ARM_BAS_ASSIGN_R, 1, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE), Arm_BasValue_Float64(1.0), 0, 0);  // Generates an assignment statement.
Arm_BasScript_Logical_If(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_REGISTER_TYPE, ARM_BAS_REGISTER_R), 1, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE), Arm_BasValue_Float64(1.0), ARM_BAS_BOOLEAN_EQ);  // Generates IF.
Arm_BasScript_Logical_Else(script);  // Generates ELSE.
Arm_BasScript_Logical_EndIf(script);  // Generates ENDIF.
Arm_BasScript_Logical_Switch(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_REGISTER_TYPE, ARM_BAS_REGISTER_R), 1);  // Generates SWITCH.
Arm_BasScript_Logical_Case(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE), Arm_BasValue_Int32(1));  // Generates CASE.
Arm_BasScript_Logical_Default(script);  // Generates DEFAULT.
Arm_BasScript_Logical_EndSwitch(script);  // Generates ENDSWITCH.
Arm_BasScript_Logical_While(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_REGISTER_TYPE, ARM_BAS_REGISTER_R), 1, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE), Arm_BasValue_Float64(0.0), ARM_BAS_BOOLEAN_GT);  // Generates WHILE.
Arm_BasScript_Logical_Break(script);  // Generates BREAK.
Arm_BasScript_Logical_Continue(script);  // Generates CONTINUE.
Arm_BasScript_Logical_EndWhile(script);  // Generates ENDWHILE.
Arm_BasScript_Logical_Label(script, 10);  // Generates LABEL.
Arm_BasScript_Logical_Goto(script, 10);  // Generates GOTO.
Arm_BasScript_Logical_SkipCondition(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_TYPE, ARM_BAS_IO_DI), 1, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_IO_STATUS), Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_STATUS, ARM_BAS_IO_STATUS_ON), ARM_BAS_BOOLEAN_EQ);  // Generates a SKIP condition.
Arm_BasScript_Structure_Wait(script, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_TYPE, ARM_BAS_IO_DI), 1, Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_IO_STATUS), Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_STATUS, ARM_BAS_IO_STATUS_ON), ARM_BAS_BOOLEAN_EQ);  // Generates a WAIT condition.
Arm_BasScript_Structure_Pause(script);  // Generates a pause statement.
Arm_BasScript_Structure_Call(script, "sub.bas");  // Generates CALL.
Arm_BasScript_Structure_Run(script, "sub.bas");  // Generates RUN.
Arm_BasScript_Structure_Load(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("sub.bas"));  // Generates LOAD.
Arm_BasScript_Structure_Unload(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("sub.bas"));  // Generates UNLOAD.
Arm_BasScript_Structure_Exec(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("sub.bas"));  // Generates EXEC.
Arm_BasScript_Socket_Open(script, 1);  // Generates Socket Open.
Arm_BasScript_Socket_Connect(script, 1);  // Generates Socket Connect.
Arm_BasScript_Socket_Send(script, 1, ARM_BAS_STR_STRING, Arm_BasValue_String("ping"));  // Generates Socket Send.
Arm_BasScript_Socket_Recv(script, 1, 128, ARM_BAS_STR_SR, Arm_BasValue_Int32(1));  // Generates Socket Recv.
Arm_BasScript_Socket_Close(script, 1);  // Generates Socket Close.
Arm_BasScript_Modbus_ReadMH(script, 1, 1, 0, 2, 1);  // Generates MH read.
Arm_BasScript_Modbus_ReadMI(script, 1, 1, 0, 2, 1);  // Generates MI read.
Arm_BasScript_Modbus_WriteMH(script, 1, 1, 0, 1, ARM_BAS_VALUE_TYPE_VALUE, 7);  // Generates MH write.
Arm_BasScript_Vision_Find(script, "camera");  // Generates vision find.
Arm_BasScript_Vision_GetOffset(script, "camera", 1, 10);  // Generates vision offset.
Arm_BasScript_Vision_GetQuantity(script, "camera", 1);  // Generates vision quantity.
Arm_BasScript_Structure_Abort(script);  // Generates an abort statement.
Arm_BasScript_Destroy(script);  // Destroys the script builder.

Sample code

c99/bas_script_execution/src/main.cpp

cpp

#include <stdio.h>

#include "c_arm_api.h"

int main(void)
{
    // [ZH] 本示例直接在源码中写死连接地址，不解析命令行参数。
    // [EN] This example hard-codes the connection addresses in the source code.
    const char* controller_ip = "10.27.1.2";
    const char* teach_panel_ip = "10.27.1.102";
    const int execute_generated_script = 0;
    int overall_status = 0;

#define RECORD_STATUS(label, expr) \
    do { \
        int status = (expr); \
        printf("[c99_bas_script] %s status: %d\n", (label), status); \
        if (status != 0) { \
            overall_status = status; \
        } \
    } while (0)

    // [ZH] 创建并连接 SDK 句柄。构造脚本文本本身不需要连接，执行脚本才需要连接。
    // [EN] Create and connect the SDK handle. Building text does not need a connection; executing does.
    ArmHandle* handle = Arm_Create();
    if (handle == NULL) {
        printf("[c99_bas_script] 创建句柄失败 / Create handle failed\n");
        return 1;
    }

    int connect_ret = Arm_Connect(handle, controller_ip, teach_panel_ip);
    if (connect_ret != 0) {
        printf("[c99_bas_script] 连接机器人失败 / Connect failed: %d\n", connect_ret);
        Arm_Destroy(handle);
        return 1;
    }
    printf("[c99_bas_script] 机器人连接成功 / Robot connected successfully\n");

    // [ZH] 覆盖空构造器、命名、追加原始文本、行数、导出文本和 Reset。
    // [EN] Cover empty creation, naming, raw append, line count, text export, and reset.
    ArmBasScriptHandle* scratch_script = NULL;
    RECORD_STATUS("Create", Arm_BasScript_Create(&scratch_script));
    RECORD_STATUS("SetName", Arm_BasScript_SetName(scratch_script, "scratch.bas"));
    RECORD_STATUS("AppendLine", Arm_BasScript_AppendLine(scratch_script, "WAIT TIME 0.1"));
    const char* raw_lines[2] = {"R[1]=1", "R[2]=2"};
    RECORD_STATUS("AppendLines", Arm_BasScript_AppendLines(scratch_script, raw_lines, 2U));
    size_t scratch_line_count = 0U;
    RECORD_STATUS("GetLineCount", Arm_BasScript_GetLineCount(scratch_script, &scratch_line_count));
    char scratch_text[2048] = {0};
    RECORD_STATUS("GetText(scratch)", Arm_BasScript_GetText(scratch_script, scratch_text, sizeof(scratch_text)));
    RECORD_STATUS("Reset", Arm_BasScript_Reset(scratch_script));
    printf("[c99_bas_script] scratch line count: %zu\n", scratch_line_count);
    printf("[c99_bas_script] scratch text:\n%s\n", scratch_text);
    Arm_BasScript_Destroy(scratch_script);

    // [ZH] 创建主脚本和附加参数构造器。
    // [EN] Create the main script and extra-parameter builder.
    ArmBasScriptHandle* script = NULL;
    ArmBasExtraParamHandle* extra = NULL;
    RECORD_STATUS("CreateWithName", Arm_BasScript_CreateWithName("example_c99.bas", &script));
    RECORD_STATUS("ExtraParam_Create", Arm_BasExtraParam_Create(&extra));
    RECORD_STATUS("ExtraParam_Acceleration", Arm_BasExtraParam_Acceleration(extra, 80.0));
    RECORD_STATUS("ExtraParam_Rctp", Arm_BasExtraParam_Rctp(extra));
    RECORD_STATUS("ExtraParam_Offset", Arm_BasExtraParam_Offset(extra, 1));
    RECORD_STATUS("ExtraParam_Tb", Arm_BasExtraParam_Tb(extra, 0.1, "RUN", "helper.bas", 0, ""));
    RECORD_STATUS("ExtraParam_Skip", Arm_BasExtraParam_Skip(extra, 10));
    RECORD_STATUS("ExtraParam_Approach", Arm_BasExtraParam_Approach(extra, 10.0, 5.0));
    char extra_text[1024] = {0};
    RECORD_STATUS("ExtraParam_GetText", Arm_BasExtraParam_GetText(extra, extra_text, sizeof(extra_text)));
    printf("[c99_bas_script] extra text: %s\n", extra_text);

    // [ZH] 覆盖基础参数与赋值接口。
    // [EN] Cover parameter and assignment APIs.
    RECORD_STATUS(
        "SetParam",
        Arm_BasScript_SetParam(
            script,
            ARM_BAS_PARAM_OVC,
            ARM_BAS_VALUE_TYPE_VALUE,
            Arm_BasValue_Float64(20.0)
        )
    );
    RECORD_STATUS(
        "AssignValue(value)",
        Arm_BasScript_AssignValue(
            script,
            ARM_BAS_ASSIGN_R,
            1,
            Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE),
            Arm_BasValue_Float64(3.14),
            0,
            0
        )
    );
    RECORD_STATUS(
        "AssignValue(string)",
        Arm_BasScript_AssignValue(
            script,
            ARM_BAS_ASSIGN_SR,
            1,
            Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_STRING),
            Arm_BasValue_String("hello"),
            0,
            0
        )
    );

    // [ZH] 覆盖运动语句构造接口。
    // [EN] Cover motion-statement construction APIs.
    int32_t jump_points[3] = {1, 2, 3};
    RECORD_STATUS(
        "Motion_MoveJoint",
        Arm_BasScript_Motion_MoveJoint(
            script, ARM_BAS_MOVE_POSE_PR, 1, ARM_BAS_SPEED_VALUE, 20.0,
            ARM_BAS_SMOOTH_FINE, 0.0, extra
        )
    );
    RECORD_STATUS(
        "Motion_MoveLine",
        Arm_BasScript_Motion_MoveLine(
            script, ARM_BAS_MOVE_POSE_PR, 2, ARM_BAS_SPEED_VALUE, 100.0,
            ARM_BAS_SMOOTH_DISTANCE, 5.0, extra
        )
    );
    RECORD_STATUS(
        "Motion_MoveCircle",
        Arm_BasScript_Motion_MoveCircle(
            script, ARM_BAS_MOVE_POSE_PR, 2, ARM_BAS_MOVE_POSE_PR, 3,
            ARM_BAS_SPEED_VALUE, 100.0, ARM_BAS_SMOOTH_FINE, 0.0, extra
        )
    );
    RECORD_STATUS(
        "Motion_MoveJump",
        Arm_BasScript_Motion_MoveJump(
            script, ARM_BAS_MOVE_POSE_PR, 4, 100.0, 50.0,
            ARM_BAS_SPEED_VALUE, 20.0, ARM_BAS_SMOOTH_FINE, 0.0, extra
        )
    );
    RECORD_STATUS(
        "Motion_MoveJump3",
        Arm_BasScript_Motion_MoveJump3(
            script, ARM_BAS_MOVE_POSE_PR, jump_points, 3U, 100.0, 50.0,
            ARM_BAS_SMOOTH_FINE, 0.0, extra
        )
    );
    RECORD_STATUS(
        "Motion_MoveJump3cp",
        Arm_BasScript_Motion_MoveJump3cp(
            script, ARM_BAS_MOVE_POSE_PR, jump_points, 3U, 100.0,
            ARM_BAS_SMOOTH_FINE, 0.0, extra
        )
    );

    // [ZH] 覆盖逻辑语句构造接口。
    // [EN] Cover logical-statement construction APIs.
    ArmBasValue reg_r = Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_REGISTER_TYPE, ARM_BAS_REGISTER_R);
    ArmBasValue io_di = Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_TYPE, ARM_BAS_IO_DI);
    ArmBasValue other_value = Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_VALUE);
    ArmBasValue other_status = Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_OTHER_TYPE, ARM_BAS_OTHER_IO_STATUS);
    ArmBasValue status_on = Arm_BasValue_TaggedInt(ARM_BAS_VALUE_TAG_IO_STATUS, ARM_BAS_IO_STATUS_ON);
    RECORD_STATUS("Logical_If", Arm_BasScript_Logical_If(script, reg_r, 1, other_value, Arm_BasValue_Int32(1), ARM_BAS_BOOLEAN_EQ));
    RECORD_STATUS("Logical_ElseIf", Arm_BasScript_Logical_ElseIf(script, reg_r, 1, other_value, Arm_BasValue_Int32(2), ARM_BAS_BOOLEAN_EQ));
    RECORD_STATUS("Logical_Else", Arm_BasScript_Logical_Else(script));
    RECORD_STATUS("Logical_EndIf", Arm_BasScript_Logical_EndIf(script));
    RECORD_STATUS("Logical_Switch", Arm_BasScript_Logical_Switch(script, reg_r, 1));
    RECORD_STATUS("Logical_Case", Arm_BasScript_Logical_Case(script, other_value, Arm_BasValue_Int32(1)));
    RECORD_STATUS("Logical_Default", Arm_BasScript_Logical_Default(script));
    RECORD_STATUS("Logical_EndSwitch", Arm_BasScript_Logical_EndSwitch(script));
    RECORD_STATUS("Logical_While", Arm_BasScript_Logical_While(script, reg_r, 1, other_value, Arm_BasValue_Int32(3), ARM_BAS_BOOLEAN_LT));
    RECORD_STATUS("Logical_Continue", Arm_BasScript_Logical_Continue(script));
    RECORD_STATUS("Logical_Break", Arm_BasScript_Logical_Break(script));
    RECORD_STATUS("Logical_EndWhile", Arm_BasScript_Logical_EndWhile(script));
    RECORD_STATUS("Logical_Label", Arm_BasScript_Logical_Label(script, 10));
    RECORD_STATUS("Logical_Goto", Arm_BasScript_Logical_Goto(script, 10));
    RECORD_STATUS("Logical_SkipCondition", Arm_BasScript_Logical_SkipCondition(script, io_di, 1, other_status, status_on, ARM_BAS_BOOLEAN_EQ));

    // [ZH] 覆盖流程控制语句构造接口。
    // [EN] Cover structural-control statement construction APIs.
    RECORD_STATUS("Structure_Wait", Arm_BasScript_Structure_Wait(script, io_di, 1, other_status, status_on, ARM_BAS_BOOLEAN_EQ));
    RECORD_STATUS("Structure_WaitTime", Arm_BasScript_Structure_WaitTime(script, ARM_BAS_VALUE_TYPE_VALUE, Arm_BasValue_Float64(0.1)));
    RECORD_STATUS("Structure_Pause", Arm_BasScript_Structure_Pause(script));
    RECORD_STATUS("Structure_Abort", Arm_BasScript_Structure_Abort(script));
    RECORD_STATUS("Structure_Call", Arm_BasScript_Structure_Call(script, "helper.bas"));
    RECORD_STATUS("Structure_Run", Arm_BasScript_Structure_Run(script, "helper.bas"));
    RECORD_STATUS("Structure_Load", Arm_BasScript_Structure_Load(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("demo_program")));
    RECORD_STATUS("Structure_Unload", Arm_BasScript_Structure_Unload(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("demo_program")));
    RECORD_STATUS("Structure_Exec", Arm_BasScript_Structure_Exec(script, ARM_BAS_LOAD_STRING, Arm_BasValue_String("demo_program")));

    // [ZH] 覆盖 Socket、Modbus 和视觉语句构造接口。
    // [EN] Cover Socket, Modbus, and vision statement construction APIs.
    RECORD_STATUS("Socket_Open", Arm_BasScript_Socket_Open(script, 1));
    RECORD_STATUS("Socket_Connect", Arm_BasScript_Socket_Connect(script, 1));
    RECORD_STATUS("Socket_Send", Arm_BasScript_Socket_Send(script, 1, ARM_BAS_STR_STRING, Arm_BasValue_String("ping")));
    RECORD_STATUS("Socket_Recv", Arm_BasScript_Socket_Recv(script, 1, 32, ARM_BAS_STR_SR, Arm_BasValue_Int32(1)));
    RECORD_STATUS("Socket_Close", Arm_BasScript_Socket_Close(script, 1));
    RECORD_STATUS("Modbus_ReadMH", Arm_BasScript_Modbus_ReadMH(script, 1, 1, 0, 2, 1));
    RECORD_STATUS("Modbus_ReadMI", Arm_BasScript_Modbus_ReadMI(script, 1, 1, 0, 2, 2));
    RECORD_STATUS("Modbus_WriteMH", Arm_BasScript_Modbus_WriteMH(script, 1, 1, 0, 1, ARM_BAS_VALUE_TYPE_VALUE, 10));
    RECORD_STATUS("Vision_Find", Arm_BasScript_Vision_Find(script, "camera"));
    RECORD_STATUS("Vision_GetOffset", Arm_BasScript_Vision_GetOffset(script, "camera", 1, 10));
    RECORD_STATUS("Vision_GetQuantity", Arm_BasScript_Vision_GetQuantity(script, "camera", 2));

    // [ZH] 导出最终脚本文本。默认不执行，避免示例运行时直接下发复杂脚本。
    // [EN] Export the final script text. Execution is disabled by default to avoid sending a complex script.
    char script_name[128] = {0};
    char script_text[8192] = {0};
    RECORD_STATUS("GetName", Arm_BasScript_GetName(script, script_name, sizeof(script_name)));
    RECORD_STATUS("GetText(final)", Arm_BasScript_GetText(script, script_text, sizeof(script_text)));
    printf("[c99_bas_script] script name: %s\n", script_name);
    printf("[c99_bas_script] script text:\n%s\n", script_text);
    if (execute_generated_script != 0) {
        RECORD_STATUS("Execute", Arm_BasScript_Execute(handle, script));
    } else {
        printf("[c99_bas_script] Execute skipped by default / 默认跳过 Execute\n");
    }

    RECORD_STATUS("ExtraParam_Reset", Arm_BasExtraParam_Reset(extra));
    Arm_BasExtraParam_Destroy(extra);
    Arm_BasScript_Destroy(script);
    Arm_Disconnect(handle);
    Arm_Destroy(handle);
    printf("[c99_bas_script] 示例结束 / Example finished\n");
#undef RECORD_STATUS
    return overall_status == 0 ? 0 : 1;
}

4.6 C99 BasScript Builder ​

Overview ​

Basic APIs ​

Arm_BasScript_Create ​

Arm_BasScript_CreateWithName ​

Arm_BasScript_Destroy ​

Arm_BasScript_Reset ​

Arm_BasScript_SetName ​

Arm_BasScript_GetName ​

Arm_BasScript_AppendLine ​

Arm_BasScript_AppendLines ​

Arm_BasScript_GetText ​

Arm_BasScript_GetLineCount ​

Arm_BasScript_Execute ​

Value Construction APIs ​

Arm_BasValue_Int32 ​

Arm_BasValue_Float64 ​

Arm_BasValue_String ​

Arm_BasValue_TaggedInt ​

Instruction Construction APIs ​

Arm_BasScript_SetParam ​

Arm_BasScript_AssignValue ​

Arm_BasScript_Motion_MoveJoint ​

Arm_BasScript_Motion_MoveLine ​

Arm_BasScript_Motion_MoveCircle ​

Arm_BasScript_Motion_MoveJump ​

Arm_BasScript_Motion_MoveJump3 ​

Arm_BasScript_Motion_MoveJump3cp ​

Arm_BasScript_Logical_If ​

Arm_BasScript_Logical_ElseIf ​

Arm_BasScript_Logical_Else ​

Arm_BasScript_Logical_EndIf ​

Arm_BasScript_Logical_Switch ​

Arm_BasScript_Logical_Case ​

Arm_BasScript_Logical_Default ​

Arm_BasScript_Logical_EndSwitch ​

Arm_BasScript_Logical_While ​

Arm_BasScript_Logical_EndWhile ​

Arm_BasScript_Logical_Goto ​

Arm_BasScript_Logical_Label ​

Arm_BasScript_Logical_SkipCondition ​

Arm_BasScript_Logical_Break ​

Arm_BasScript_Logical_Continue ​

Arm_BasScript_Structure_Wait ​

Arm_BasScript_Structure_WaitTime ​

Arm_BasScript_Structure_Pause ​

Arm_BasScript_Structure_Abort ​

Arm_BasScript_Structure_Call ​

Arm_BasScript_Structure_Run ​

Arm_BasScript_Structure_Load ​

Arm_BasScript_Structure_Unload ​

Arm_BasScript_Structure_Exec ​

Arm_BasScript_Socket_Open ​

Arm_BasScript_Socket_Close ​

Arm_BasScript_Socket_Connect ​

Arm_BasScript_Socket_Send ​

Arm_BasScript_Socket_Recv ​

Arm_BasScript_Modbus_ReadMH ​

Arm_BasScript_Modbus_ReadMI ​

Arm_BasScript_Modbus_WriteMH ​

Arm_BasScript_Vision_Find ​

Arm_BasScript_Vision_GetOffset ​

Arm_BasScript_Vision_GetQuantity ​

Extra Parameter APIs ​

Arm_BasExtraParam_Create ​

Arm_BasExtraParam_Destroy ​

Arm_BasExtraParam_Reset ​

Arm_BasExtraParam_GetText ​

Arm_BasExtraParam_Acceleration ​

Arm_BasExtraParam_Rctp ​

Arm_BasExtraParam_Offset ​

Arm_BasExtraParam_Tb ​

Arm_BasExtraParam_Skip ​

Arm_BasExtraParam_Approach ​

Enums and Values ​

Key Semantics ​

Builder Rules ​

Minimal Example ​

Scenario Examples ​

Motion Statements and Extra Parameters ​