ScriptWriter (api 1.3.0 API)

```
public interface ScriptWriter
```
This API adds support for generating URScript code from URCaps.

Method Summary

All Methods Instance Methods Abstract Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`appendLine(String scriptLine)`
`void`	`appendRaw(String script)`
`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()`
`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 Global variable assignment.
`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)` 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
```
@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.
  - incrementVariable
```
void incrementVariable(Variable variable)
```
    Add 1 to the variable value.
    
    Parameters:
    
    variable - the variable to increment, not null.
  - 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, 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 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.
  - 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.

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

ifCondition

ifNotCondition

elseIfCondition

elseCondition

whileTrue

whileCondition

whileNot

defineThread

runThread

getResolvedVariableName