ScriptWriter (api 1.13.0 API)

```
public interface ScriptWriter
```
This interface provides support for generating URScript code.

Since:

1.0.0

Method Summary

All Methods Instance Methods Abstract Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`appendLine(String scriptLine)` Adds a single line of script code using auto-indentation.
`void`	`appendRaw(String script)` Adds script code appending the script code as is without using auto-indentation.
`void`	`assign(String variableName, String expression)` Variable assignment.
`void`	`assign(Variable variable, 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()` Generate a string with the full script code.
`String`	`getResolvedVariableName(Variable variable)` Returns a registered variable name that can be used in a script.
`void`	`globalVariable(String variableName, String expression)` Deprecated. Use `assign(Variable variable, String expression)` instead.
`void`	`ifCondition(String expression)` Start an if-conditional.
`void`	`ifNotCondition(String expression)` Start a negated if-conditional
`void`	`incrementVariable(Variable variable)` Add 1 to the variable value.
`void`	`returnMethod()` Return from method.
`void`	`runThread(String threadHandle, String threadName)` Start a previously defined thread.
`void`	`set_payload(double payloadMass)` Deprecated. In the script code generated by this method, the 'set_payload(m, cog)' script function will be called without specifying the optional 'cog' parameter. This means that the currently active TCP will be used as Center of Gravity (CoG) with the side effect that later calls to the 'set_tcp()' script function will also change the CoG to the new TCP. Use `set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ)` instead.
`void`	`set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ)` Sets the total mass and center of gravity (CoG) of the attached payload.
`void`	`set_tcp(double x, double y, double z, double rx, double ry, double rz)` Set the Tool Center Point (TCP).
`void`	`set_tcp(TCP tcp)` Set the Tool Center Point (TCP).
`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 script code for a node that has children nodes.

- Method Detail
  - appendLine
```
void appendLine(String scriptLine)
```
    Adds a single line of script code using auto-indentation.
    
    Parameters:
    
    scriptLine - single line of script code to append.
  - appendRaw
```
void appendRaw(String script)
```
    Adds script code appending the script code as is without using auto-indentation.
    
    Parameters:
    
    script - script code to append.
  - generateScript
```
String generateScript()
```
    Generate a string with the full script code.
    
    Returns:
    
    the resulting script as a string.
  - writeChildren
```
void writeChildren()
```
    Use this method when generating script 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
```
@Deprecated
void globalVariable(String variableName,
                                String expression)
```
    Deprecated. Use assign(Variable variable, String expression) instead.
    
    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.
    Assigns the variable without a local or global qualifier. See the Script Manual for the scoping rules.
    
    Parameters:
    
    variableName - name of the variable. Not null.
    
    expression - expression that is assigned to the variable. Not null.
  - assign
```
void assign(Variable variable,
            String expression)
```
    Variable assignment.
    
    Parameters:
    
    variable - the variable to assign an expression to. Not null.
    
    expression - expression that is assigned to the variable. Not null.
    
    Since:
    
    1.2.56
  - incrementVariable
```
void incrementVariable(Variable variable)
```
    Add 1 to the variable value.
    
    Parameters:
    
    variable - the variable to increment. Not null.
    
    Since:
    
    1.2.56
  - 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
```
@Deprecated
void set_payload(double payloadMass)
```
    Deprecated. In the script code generated by this method, the 'set_payload(m, cog)' script function will be called without specifying the optional 'cog' parameter. This means that the currently active TCP will be used as Center of Gravity (CoG) with the side effect that later calls to the 'set_tcp()' script function will also change the CoG to the new TCP.
    Use set_payload(double payloadMass, double centerOfGravityX, double centerOfGravityY, double centerOfGravityZ) instead.
    
    Sets the total payload mass.
    This function must be called, when the payload weight or weight distribution changes significantly, i.e when the robot arm picks up or puts down a heavy workpiece.
    
    Parameters:
    
    payloadMass - The total payload mass in kilograms.
    
    Since:
    
    1.5.0
  - set_payload
```
void set_payload(double payloadMass,
                 double centerOfGravityX,
                 double centerOfGravityY,
                 double centerOfGravityZ)
```
    Sets the total mass and center of gravity (CoG) of the attached payload.
    
    The center of gravity, also referred to as center of mass, is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.
    This function must be called, when the payload weight or weigh distribution changes significantly, i.e when the robot arm picks up or puts down a heavy workpiece.
    NOTE: The usage of this script function is deprecated on e-Series robots. Please consider using the Set Payload program node (see the SetPayloadNode interface) instead, or use the script function 'set_target_payload(m, cog, inertia)' (see the Script Manual for more details).
    
    Parameters:
    
    payloadMass - The total payload mass in kilograms
    
    centerOfGravityX - The X coordinate of the center of gravity (x displacement from the tool-mount) in meters.
    
    centerOfGravityY - The Y coordinate of the center of gravity (y displacement from the tool-mount) in meters.
    
    centerOfGravityZ - The Z coordinate of the center of gravity (z 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 (TCP).
    Sets the transformation from the tool output flange coordinate system to the TCP as a pose.
    
    Parameters:
    
    x - Position part.
    
    y - Position part.
    
    z - Position part.
    
    rx - Rotation part.
    
    ry - Rotation part.
    
    rz - Rotation part.
  - set_tcp
```
void set_tcp(TCP tcp)
```
    Set the Tool Center Point (TCP).
    Sets the transformation from the tool output flange coordinate system to the TCP as a pose.
    
    Parameters:
    
    tcp - Tool Center Point.
  - ifCondition
```
void ifCondition(String expression)
```
    Start an if-conditional.
    
    Parameters:
    
    expression - the expression of the if-sentence. Not null.
  - 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 of the "else-if"-sentence.
  - 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.
  - getResolvedVariableName
```
String getResolvedVariableName(Variable variable)
```
    Returns a registered variable name that can be used in a script.
    
    A variable is registered if it has been stored in a DataModel instance or used for the configuration of a built-in PolyScope program node.
    Please note: The name of a variable in the script can be different from the value of Variable.getDisplayName(). You should not use the value of Variable.getDisplayName() in a script.
    
    Parameters:
    
    variable - a registered Variable. Not null.
    
    Returns:
    
    variable name that can be used in a script.
    
    Throws:
    
    IllegalArgumentException - if the variable was not registered in the data model or used for the configuration of a built-in PolyScope program node.
    
    ClassCastException - if the variable was not created by VariableFactory.
    
    Since:
    
    1.2.56

Interface ScriptWriter

Method Summary

Method Detail

appendLine

appendRaw

generateScript

writeChildren

globalVariable

assign

assign

incrementVariable

sleep

sync

defineFunction

returnMethod

end

set_payload

set_payload

set_tcp

set_tcp

ifCondition

ifNotCondition

elseIfCondition

elseCondition

whileTrue

whileCondition

whileNot

defineThread

runThread

getResolvedVariableName