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FANUC TP abstraction

Home Page: http://github.com/kobbled/tp_plus

License: Apache License 2.0

Ruby 89.86% Yacc 8.11% C++ 0.94% LiveScript 0.12% Batchfile 0.04% HTML 0.93%

fanuc grammer parser roboguide ruby

tp_plus's Issues

Expression expansion doesn't reuse local registers after completed

e.g.:

local := R[50..90]
a = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2
b = (Mth::pow(x1, 2) + Mth::pow(y1, 2)) * (y3 - y2)
c = (Mth::pow(x1, 2) + Mth::pow(y1, 2)) * (x2 - x3)
d = (Mth::pow(x3, 2) + Mth::pow(y3, 2)) * (x2 * y1 - x1 * y2)

expands to this in LS:

 : R[50:a]=(AR[1]*(AR[5]-AR[8])-AR[2]*(AR[4]-AR[7])+AR[4]*AR[8]-AR[7]*AR[5]) ;
 : CALL MTH_POW(AR[1],2,57) ;
 : CALL MTH_POW(AR[2],2,58) ;
 : R[51:b]=((R[57:dvar1]+R[58:dvar2])*(AR[8]-AR[5])) ;
 : CALL MTH_POW(AR[1],2,59) ;
 : CALL MTH_POW(AR[2],2,60) ;
 : R[52:c]=((R[59:dvar3]+R[60:dvar4])*(AR[4]-AR[7])) ;
 : CALL MTH_POW(AR[7],2,61) ;
 : CALL MTH_POW(AR[8],2,62) ;
 : R[53:d]=((R[61:dvar5]+R[62:dvar6])*(AR[4]*AR[2]-AR[1]*AR[5])) ;

After the evaluation of b, the stack counter should be reset to 57. This can be achieved by doing $stack.push/$stack.pop before/after each expression expansion.

Namespace functions to self are not recognized

In trying to inline a member function within another member function, the namespace function does not recognize itself, or it other functions to check if it should inline the function call.

namespace ns
  inline def func1()
     # do work
     return()
  end

  inline def func2()
     #this function doesn't inline
     func1()
    
    return()
  end
end

A namespace should have reference to self i.e.

 inline def func2()
     using self

     func1()
  end

self should be implicit for all functions using scoping declaration

Handle variable names/comments in a karel hash table

Add back in option to build a karel hash table from the environment file. see karel hash commit. This can be used in karel programs to return register addresses, and to make a program to reset comments.

If / then / endif conversion failure

The conversion of

if foo == 1 then
 # do something
end

gives an ENDIF with two semicolons:

 : IF (R[1:foo]=1) THEN ;
 : ! do something ;
 : ENDIF ; ;

That second semicolon gives an error when importing the file to Fanuc.

Add Quick Skip

Found in section 7.28 of manual

Motion Modifiers

I believe that there is some handling of motion modifiers but there are no examples of the syntax required. I specifically need to know how to add "MROT" to a joint move.

Call functions in expression only work for num registers

There is currently no way to tell if the return of a call statement in a expression is a posreg, or a numreg, due to handle_arg_funcs in CallNode being evaluated during parsing, before the functions are evaluated, and the return type of a function is decided. Also the preprocessing of local variables is done before funtions.

# first pass
      #---------
      #set a list of declared positions into @pose_list
      #populate_pose_set
      #create definitions from ranges
      traverse_nodes(@nodes, :preprocess_local_variables)

      # second pass
      #----------
      #prepare/allocate functions
      traverse_nodes(@nodes, :preprocess_functions)

This may have to be switched around in order for this issue to be resolved.

Fine option on movement is not working

The option term(-1) should result in the FINE option activated in the LS-file, but it gives CNT(-1).

Cannot interpret nested call statements in return

local := R[70..80]

def func2(val, exp) : numreg
  return(Mth::exp(exp * Mth::ln(val)))
end

power := R[20]
power = ns1::func2(4, 2)

gives error:

indirect_node.rb:70:in `id': undefined method `value' for #<TPPlus::Nodes::ArgumentNode:0x000001f424c699f8 @id=3, @comment=:ret> (NoMethodError)

        @target.value\r

Multiple returns statement

tp+

def circleCenter3Points(x1,y1,z1,x2,y2,z2,x3,y3,z3) : numreg, numreg, numreg
    a = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2
    b = (Mth::pow(x1, 2) + Mth::pow(y1, 2)) * (y3 - y2)
    c = (Mth::pow(x1, 2) + Mth::pow(y1, 2)) * (x2 - x3)
    d = (Mth::pow(x3, 2) + Mth::pow(y3, 2)) * (x2 * y1 - x1 * y2)
    
    x = -b / (a * 2) 
    y = -c / (a * 2)    
    z = (z1+z2+z3)/3

   return(x, y, z)
end

center := R[30..33]

center = circleCenter3Points(X1,Y1,Z1,X2,Y2,Z3,X3,Y3,Z3)

LS would turn into

/MN
 : CALL CIRCLECENTER3POINTS(X1,Y1,Z1,X2,Y2,Z3,X3,Y3,Z3,30,31,32) ;
/END

/MN
 : R[50:a]=(AR[1]*(AR[5]-AR[8])-AR[2]*(AR[4]-AR[7])+AR[4]*AR[8]-AR[7]*AR[5]) ;
 : CALL MTH_POW(AR[1],2,57) ;
 : CALL MTH_POW(AR[2],2,58) ;
 : R[51:b]=((R[57:dvar1]+R[58:dvar2])*(AR[8]-AR[5])) ;
 : CALL MTH_POW(AR[1],2,59) ;
 : CALL MTH_POW(AR[2],2,60) ;
 : R[52:c]=((R[59:dvar3]+R[60:dvar4])*(AR[4]-AR[7])) ;
 : CALL MTH_POW(AR[7],2,61) ;
 : CALL MTH_POW(AR[8],2,62) ;
 : R[53:d]=((R[61:dvar5]+R[62:dvar6])*(AR[4]*AR[2]-AR[1]*AR[5])) ;
 :  ;
 : R[54:x]=(R[51:b]*(-1)/(R[50:a]*2)) ;
 : R[55:y]=(R[52:c]*(-1)/(R[50:a]*2)) ;
 : R[56:z]=((AR[3]+AR[6]+AR[9])/3) ;

 : ! Multiple return ;
 : R[AR[10]]=R[54:x] ;
 : R[AR[11]]=R[55:y] ;
 : R[AR[12]]=R[56:z] ;
/END

Add alarm() & be able to call warning(), and alarm() from .timeout_to(<warn/alarm label>) request

indirect and inline functions

When using the indirect function inside the inlined function. The output PR has to be attached to the end of the function call and pointing to the PR number. See the example below.

Not working:
pr6 = correctFrame(&pr4, &pr5, Calib::Z) -- > PR[PR[86]]=PR[61:dummy_pr1] ;

Working:
correctFrame(&pr4, &pr5, Calib::Z, &pr6) -- > PR[86]=PR[61:dummy_pr1] ;

Add GPP preprocessor

Warnings / warning labels are not generated correctly in functions

Cannot store expression or function calls in function arguements

i.e.

foo((i+j), Mth::arcang(6, 50))

does not compile. TP does not support such functionality.

TP+ should support it, and interpret to:

: local := R[1..2];
: local1 = i + j ;
: Mth_arcang(6, 50, 2) ;
: CALL FOO(local1, local2);

Make examples folder

make folder with example .tpp code for reference

Do expression expansion in conditions for (if, ifthen, while, for) nodes

TP+

local := R[50..70]

EPSILON := 0.001

x := LR[]

if (Mth::abs(x) > EPSILON)
  #do stuff in here
  x = Mth::abs(x)
end

Local posreg does not recognize the global default pose config

The local register seems to use a different group configuration instead of the default. Here is an example.

import Tasks

#constents
GRIPPER_DEPTH := 75
PPC := 3   # points per circle


#variables
    part_rad        := LR[]
    farCir_pos      := LR[]
    closeCir_pos    := LR[]
    part2tof_dist   := LR[]
    centers         := LR[]

#end of variables


#user input:

    # workpiece information
    PART_DIA := 153
    PART_LEN := 576
    part_rad = PART_DIA/2

    # far and close circles positions
    FARCIR      := 10   #mm wrt part edge
    CLOSECIR    := 10   #mm wrt gripper edge

    #for approach target calculation
    farCir_pos = PART_LEN - (GRIPPER_DEPTH + FARCIR)
    closeCir_pos = farCir_pos - CLOSECIR

    # robot pose approach
    CLEARANCE := 0.03             # initial clearance between part and tof with respect to measure frame
    TOFAPPROACH_ANGLE := 0        # with respect to tof measure frame
    part2tof_dist = PART_DIA/2 + CLEARANCE

#end of user input


#preprocessing section

    # getting robot ready
    TP_GROUPMASK = "1,*,*,*,*"
    TP_COMMENT = "3D tcp correction"
    
    zero_pos := P[1]

    default.group(1).pose -> [0, 0, 0, 0, 0 ,0]
    default.group(1).config -> ['N', 'U', 'T', 0, 0, 0]

    #safe_pos := PR[12]

    #move to safe pose
    #joint_move.to(safe_pos).at(30, '%').term(FINE)


    # clear tool offset
    Pos::clrpr(&tool_ofset)

    #check safe pos
    #G0_SAFE_POS()

    #rotate J1 to 95 deg
    #G1_ROTT_J1(95)

    #G0_DOOR_OPEN()

    dummypr1 = base_gripper
    part_frame = dummypr1

    # move into approach
    use_uframe tcp_calib_frame
    use_utool base_gripper

#end of perprocessing section


#approach tof
Tasks::appro_tof(TOFAPPROACH_ANGLE, part2tof_dist, farCir_pos)

For the tasks module, it contains a local posreg which should have (NUT) config but instead uses (NBU) config.

    def appro_tof(tofApproach_angle, part2tof_dist, farCir)
        # perform proper robot motion to approach the tof sensor, until surface is at zero with respect to
        # the tof measure frame. This motion is only on the z-axis.

        TP_GROUPMASK = "1,*,*,*,*"

        #vars
        pr1 := LPR[]

        # building target approach pose for the first time only
        # when correcting for the second time we use initial pose
        #if not len(self.initCloseTrgt):
        pr1 = Pos::setxyz(-1*part2tof_dist, 0, -1*farCir, tofApproach_angle, 0, 0)
        
        #move to the target
        joint_move.to(pr1).at(20, '%').term(FINE)
    end

But it will work if we use and initialize global posreg as in this code:

    def appro_tof(tofApproach_angle, part2tof_dist, farCir)
        # perform proper robot motion to approach the tof sensor, until surface is at zero with respect to
        # the tof measure frame. This motion is only on the z-axis.

        TP_GROUPMASK = "1,*,*,*,*"

        #vars
        pr1 := P[60]
        pr1.group(1).pose -> [0, 0, 0, 0, 0 ,0]
        pr1.group(1).config -> ['N', 'U', 'T', 0, 0, 0]

        # building target approach pose for the first time only
        # when correcting for the second time we use initial pose
        #if not len(self.initCloseTrgt):
        pr1 = Pos::setxyz(-1*part2tof_dist, 0, -1*farCir, tofApproach_angle, 0, 0)
        
        #move to the target
        joint_move.to(pr1).at(20, '%').term(FINE)
    end

If no position data is defined an empty position is printed. No Position should be printed at all in this case.

TP+

pos := P[1]
linear_move.to(pos).at(100, 'mm/s').term(-1)

/MN
 :  ;
 : L P[1:pos] 100mm/sec FINE ;
/POS
P[1:"pos"]{
};
/END

Add IRVision commands

vision registers -> VR[]

VOFFSET CONDITION VR[1]
L P[1] 50mm/sec CNT100 VOFFSET

Add position data helper tools

converts ls -> tpp for positions
make position data less verbose. (only have to define uframe, utool, config once, or once per change)
split components into position , and orientation. Make so that they persist for subsequent poses until changed.
include easy csv conversion "x,y,z,w,p,r, N, D, T, 0 ,0 ,0" to more easily write positions.
make tpp accept ls position data syntax so that you can just copy and paste the position data into tpp.

Print how many local registers are being used

indirect method for pose_reg is not working in tpp

The following code will not work:
pos.indirect('r',&numreg)
it is supposed to look like this:
PR[i,R[1]]

handle conflicting variables names that are also keywords

Errors are currently posted as TPPlus::Parser::ParseError: Parse error on line 2 column 6: "inc" (INC)for example. This does not give an indication that this is a keyword, and should not be used.

inline if statements don't register `elsif` statements

currently you have to use IFTHEN, or force a code block by adding a comment into the if blocks.

Add Independent and Simultaneous motion group instructions

Independent motion

linear_move.to(p1).at(100, 'mm/s').term(100).independent(group(1))
joint_move.to(p1).at(100, '%').term(50).independent(group(3))
Independent GP
GP1 L P[1] 50mm/s CNT100
GP3 J P[1] 100% CNT50

simultaneous motion

linear_move.to(p1).at(90, 'mm/s').term(100).simultaneous(group(1))
joint_move.to(p1).at(100, '%').term(50).simultaneous(group(3))
Simultaneous GP
GP1 L P[1] 90mm/s CNT100
GP3 J P[1] 100% CNT50

Issues with Ruby 3.1.1

While building the parser

Calling `DidYouMean::SPELL_CHECKERS.merge!(error_name => spell_checker)' has been deprecated. Please call `DidYouMean.correct_error(error_name, spell_checker)' instead.
Calling `DidYouMean::SPELL_CHECKERS.merge!(error_name => spell_checker)' has been deprecated. Please call `DidYouMean.correct_error(error_name, spell_checker)' instead.
racc -l -t -v -o lib/tp_plus/parser.rb generators/parser.y
Calling `DidYouMean::SPELL_CHECKERS.merge!(error_name => spell_checker)' has been deprecated. Please call `DidYouMean.correct_error(error_name, spell_checker)' instead.
1 useless nonterminals
2 useless rules
32 shift/reduce conflicts
3 reduce/reduce conflicts
C:/Ruby31-x64/bin/ruby.exe -w -I"lib;test" -I"C:/Ruby31-x64/lib/ruby/gems/3.1.0/gems/rake-12.3.3/lib" "C:/Ruby31-x64/lib/ruby/gems/3.1.0/gems/rake-12.3.3/lib/rake/rake_test_loader.rb" "test/test_helper.rb" "test/tp_plus/test_interpreter.rb" "test/tp_plus/test_parser.rb" "test/tp_plus/test_scanner.rb"
C:/Ruby31-x64/lib/ruby/gems/3.1.0/gems/bundler-2.1.4/lib/bundler/vendor/thor/lib/thor/error.rb:105: warning: constant DidYouMean::SPELL_CHECKERS is deprecated
Calling `DidYouMean::SPELL_CHECKERS.merge!(error_name => spell_checker)' has been deprecated. Please call `DidYouMean.correct_error(error_name, spell_checker)' instead.
tp_plus/lib/tp_plus/motion/pose_templates.rb:84: warning: mismatched indentations at 'end' with 'module' at 1

File does not exist: matrix

rake aborted!
Command failed with status (1): [ruby -w -I"lib;test" -I"C:/Ruby31-x64/lib/ruby/gems/3.1.0/gems/rake-12.3.3/lib" "C:/Ruby31-x64/lib/ruby/gems/3.1.0/gems/rake-12.3.3/lib/rake/rake_test_loader.rb" "test/test_helper.rb" "test/tp_plus/test_interpreter.rb" "test/tp_plus/test_parser.rb" "test/tp_plus/test_scanner.rb" ]

Tasks: TOP => default => test
(See full trace by running task with --trace)

and while interpreting

tp_plus/lib/tp_plus/motion/pose_factory.rb:449: warning: Passing safe_level with the 2nd argument of ERB.new is deprecated. Do not use it, and specify other arguments as keyword arguments.
tp_plus/lib/tp_plus/motion/pose_factory.rb:449: warning: Passing trim_mode with the 3rd argument of ERB.new is deprecated. Use keyword argument like ERB.new(str, trim_mode: ...) instead.

import files

add functionality to import other files with

using math, system, etc...

could use gpp preprocessor similar to ktransw for full preprocessor directives

tpp can't compile more than one call of inlined functions

When more than one call of an inlined function exists in the same file, the tpp will throw an error when compiling as follows.

FAILED: C:/Users/HamdanAl-Musaibeli/workhub/myhub/sensing_tpp/build/G1_UFRAME_CALIBRATE.ls 
"C:\Users\HamdanAl-Musaibeli\workhub\shrdhub\pub\tp_plus\bin\tpp.bat" C:\Users\HamdanAl-Musaibeli\workhub\myhub\sensing_tpp\src\G1_UFRAME_CALIBRATE.tpp -o C:\Users\HamdanAl-Musaibeli\workhub\myhub\sensing_tpp\build\G1_UFRAME_CALIBRATE.ls -e "C:\Users\HamdanAl-Musaibeli\workhub\myhub\sensing_tpp\temp\env2.tpp" /I"C:\Users\HamdanAl-Musaibeli\workhub\myhub\sensing_tpp\include" 
default position not set! May give unintended results! Check position data before running!
C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/function.rb:172:in `block in preinline': undefined method `identifier' for #<TPPlus::Nodes::DigitNode:0x000001ca6c88d668 @value=3, @name=""> (NoMethodError)

              map[v.identifier] = map[k]
                   ^^^^^^^^^^^
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/function.rb:167:in `each'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/function.rb:167:in `preinline'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/call_node.rb:159:in `eval'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `block in string_for'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `each'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `inject'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `string_for'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:22:in `true_block'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:89:in `eval'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `block in string_for'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `each'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `inject'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:56:in `string_for'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:38:in `false_block'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/nodes/conditional_node.rb:98:in `eval'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/interpreter.rb:406:in `block in eval'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/interpreter.rb:399:in `each'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/lib/tp_plus/interpreter.rb:399:in `eval'
        from C:/Users/HamdanAl-Musaibeli/workhub/shrdhub/pub/tp_plus/bin/tpp:192:in `<main>'
ninja: build stopped: subcommand failed.

add break statement

Add arc motion

Position Setting Features

offset -> p2.group(1).xyz.offset -> [0,0,10] Use to offset from the previous position
copy positions p2 = p1
range sets -> p1..p3.group(1).xyz -> [10,0,100]
reverse -> p6..p10 = p1..p5.reverse copy positions into next set in reverse order
polar -> transform cylindrical (theta, r, z) data into cartesian
sphere -> transform spherical (r, theta, phi) data into cartesian
translate whole or individual positions program (similar to program shift). -> translate.group(1).pose(0,0,100,0,0,0)

Pass namespaces in parent scope into functions

related to #23

need functionality for imports to work

namespace idhead
    SLOPE := -0.7457
    INTERCEPT := 41.537
    OFFSET := -0.4
  end

def frame_offset(frame, standoff)
   frame.x += (idhead::SLOPE*standoff + idhead::INTERCEPT)+idhead::OFFSET
end

Pass negative values into the parameters of a Program Call

In Fanuc's TP it is possible to call a program like this:
CALL PROG(1, 2, (-1))
In tp_plus, the parser throws an error on the minus sign:
Parse error on line 27 column 32: "" (MINUS) (TPPlus::Parser::ParseError)

Inlining self members is not working

Calling members from the same namespace and trying to inline them does not work:

TP+

local := R[50..80]

namespace Calc

  inline def normalizeVector(n1,n2,n3,e1,e2,e3)
    norm := LR[]
    
    norm = Mth::SQRT(n1*n1 + n2*n2 + n3*n3)
    indirect('r', e1) = n1/norm
    indirect('r', e2) = n2/norm
    indirect('r', e3) = n3/norm
  end

  inline def dot(nx,ny,nz,vx,vy,vz,d)
      indirect('r', d) = nx*vx + ny*vy + nz*vz
  end

  inline def intersect(x1,y1,z1,x2,y2,z2,nx,ny,nz)
    ux := LR[]
    uy := LR[]
    uz := LR[]
    vx := LR[]
    vy := LR[]
    vz := LR[]
    d  := LR[]

    # vector from two points
    vx=x2-x1
    vy=y2-y1
    vz=z2-z1

    Calc::normalizeVector(vx,vy,vz,&ux,&uy,&uz)  # unit vector
    d = Calc::dot(nx,ny,nz,ux,uy,uz)  # dot product
  end
end

X1 := -0.30694321232747335
Y1 := 1.6723049456001353
Z1 := 1.432745154010752
X2 := -0.7868785787889008
Y2 := 1.7975569490378929
Z2 := 1.44473503116485
CX := -0.23966969549655914
CY := 1.6529096364974976
CZ := 1.438263177871704

Calc::intersect(X1,Y1,Z1,X2,Y2,Z2,CX,CY,CZ)

Add shared stack

add shared register stack in along side the local stack.

Include singularity avoidance option in header

We use the singularity avoidance option most of the time, therefore it is needed to include the following statement in the LS-file's header:

/APPL

AUTO_SINGULARITY_HEADER;
  ENABLE_SINGULARITY_AVOIDANCE   : TRUE;

This should be between the DEFAULT_GROUP and the /MN line. I think it would be useful if we could set or unset this option from the tpp file.
I have solved it for now by adding the lines manually in the bin\tpp file, so there is no need for hurry.

Dockerfile

Create dockerfile. Apparently ruby3 has issues in a docker container. Possibly downgrade back to ruby2, or branch until issue is resolved.

Add functions

export each function as a different ls file with function name, except for the main function, export that as the program name.

Post Process Paths from position data & motion sequence

Map the path defined in the .tpp file to catch errors before running on an actual robot. Visualize path for the user. Catch singularities, and limit errors.

Packages that might be useful:

https://github.com/icsl-Jeon/traj_gen
https://github.com/mahmoud-a-ali/scurve_traj_generation

positions in functions arn't reading correctly

-positions are ignoring uframe, and utool sets.
-default positions are not being saved

local variables as arguments in built-in math functions not working

TP+

x := LR[]

x = 24
x = SQRT[x]

inline functions

conversion example

# MAIN

inline def arclength(angle, radius) : numreg 
  return(angle*radius*M_PI/180)
end

length := R[1]
length2 := R[2]
length3 := R[3]
radius := R[4]
angle := R[5]

length = arclength(90, 100)
length2 = arclength(180, 50)
length3 = arclength(angle, radius)

: ! MAIN ;
: R[1:length]=(90*100*3.14159/180) ;
: R[2:length2]=(180*50*3.14159/180) ;
: R[3:length3]=(R[5:angle]*R[4:radius]*3.14159/180) ;
: END ;

Would have to convert argument registers to the actual parent call input arguments. It would also have to interpret returns to map them to the set output registers.

add local scope variables

utilize a block of designated registers and position registers to use as local variables in functions, that get released once out of scope.

Issue with case statement

Hi Matt,
I've got some issues with the case statement. It seems that the 'else' statement is mandatory, since it throws an error there is no else case.

    case SubProgram
    when 1
        # case 1
    when 2
        # case 2
    end

Error:

Traceback (most recent call last):
        7: from C:/Users/d.vandodeweerd/tp_plus/bin/tpp:66:in `<main>'
        6: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:121:in `list_warnings'
        5: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:89:in `find_warnings'
        4: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:89:in `each'
        3: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:93:in `block in find_warnings'
        2: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:103:in `find_warnings'
        1: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:103:in `each'
C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:104:in `block in find_warnings': undefined method `get_block' for nil:NilClass (NoMethodError)

Second issue: when I use the case statement inside a function, I get an error too:

def test()
    case SubProgram
    when 1
        # case 1
    when 2
        # case 2
    else
        # else
    end
end

Error:

Traceback (most recent call last):
        12: from C:/Users/d.vandodeweerd/tp_plus/bin/tpp:103:in `<main>'
        11: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:135:in `output_functions'
        10: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:135:in `each'
         9: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:136:in `block in output_functions'        
         8: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/function.rb:77:in `output_program'
         7: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:200:in `eval'
         6: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:200:in `each'
         5: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:204:in `block in eval'
         4: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/nodes/case_node.rb:79:in `eval'
         3: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/nodes/case_node.rb:26:in `first_cond_statement'
         2: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/nodes/case_condition_node.rb:39:in `eval'
         1: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/nodes/case_condition_node.rb:26:in `is_jump_label'       
C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/nodes/jump_node.rb:17:in `eval': Label (caselbl1) not found (RuntimeError)
        6: from C:/Users/d.vandodeweerd/tp_plus/bin/tpp:103:in `<main>'
        5: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:135:in `output_functions'
        4: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:135:in `each'
        3: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:136:in `block in output_functions'
        2: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/function.rb:77:in `output_program'
        1: from C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:192:in `eval'
C:/Users/d.vandodeweerd/tp_plus/lib/tp_plus/interpreter.rb:219:in `rescue in eval': Runtime error on line 1: (RuntimeError)

These issues are not very urgent, because I can work around them, it is just to let you know.

Kind regards,
Dick

Use LS position formatting in position_data section

Replace old json data

but parse into pose_factory.rb for error checking and saving state

position_data {
P[1:"p1"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 50.000 mm, Z = 0.000 mm,
  W = 0.000 deg, P = 0.000 deg, R = 0.000 deg
   GP2:
  UF : 3, UT : 5,
  J1 = 0.000 deg,
  J2 = 0.000 deg
     GP3:
  UF : 3, UT : 5,
  J1 = 500.000 mm
  };
P[2:"p2"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 50.000 mm, Z = 100.000 mm,
  W = 90.000 deg, P = 0.000 deg, R = -90.000 deg
   GP2:
  UF : 3, UT : 5,
  J1 = 90.000 deg,
  J2 = 0.000 deg
     GP3:
  UF : 3, UT : 5,
  J1 = 500.000 mm
  };
}
end

Modifiers that still need to be added

Section 7.3 of Handling Tool Manual
-Corner Region Termination (CRy)
-Corner Distance (CDy)
-Approach Linear Distance (AP_LDx)
-Retract Linear Distance (RT_LDx)
-Process Speed (PSPDx)
-Continuous Rotation Velocity (CTVx)
-Simultaneous Extended Axis Velocity (EVx%)
-Independent Extended Axis Velocity (Ind.EVx%)
-Remote TCP motion (RTCP)
-Search Motion Option (Search [ ])
-Distance Before (DB xmm, prog)
-'POINT LOGIC' for use in TA,TB,DB statements

Brackets in constant expressions are being removed violating BEDMAS

TP+

a = (X1 * (Y2 - Y3)) - (Y1 * (X2 - X3)) + (X2 * Y3) - (X3 * Y2)

giving this:

 : R[295:a]=((-2.52127529e-06)*(-0.04156384)-(-0.03740988)-(0.0716490895*(0.071994-(-0.06479058)))+(0.071994*(-0.03740988))-(-0.06479058)*(-0.04156384)) ;

Environment files cannot be read by functions

variables in an environment file do not have scope into functions.

Environmental declarations not working in functions

Environmental file:

reg1 := R[1]

Function declaration:

def foo()
  reg1 = 1
end

Results in this error:

C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:214:in `rescue in eval': Runtime error on line 1: (RuntimeError)
Variable (reg1) not defined
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:177:in `eval'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/function.rb:165:in `output_program'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:121:in `block in output_functions'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:120:in `each'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:120:in `output_functions'
        from C:/Users/184/TP-plus/tp_plus/bin/tpp:128:in `<main>'
C:/Users/184/TP-plus/tp_plus/lib/tp_plus/base_block.rb:123:in `get_var': Variable (reg1) not defined (RuntimeError)
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/nodes/var_node.rb:10:in `target_node'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/nodes/var_node.rb:35:in `eval'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/nodes/assignment_node.rb:44:in `identifier_string'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/nodes/assignment_node.rb:55:in `eval'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:199:in `block in eval'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:195:in `each'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:195:in `eval'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/function.rb:165:in `output_program'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:121:in `block in output_functions'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:120:in `each'
        from C:/Users/184/TP-plus/tp_plus/lib/tp_plus/interpreter.rb:120:in `output_functions'
        from C:/Users/184/TP-plus/tp_plus/bin/tpp:128:in `<main>'

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