tp_plus 0.0.73 → 0.0.74

checksums.yaml

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data/README.md

@@ -1,65 +1,74 @@
-TP+
-===
-
-TP+ is a higher-level language abstraction that translates into FANUC
-TP. It features many useful utilities that makes creating TP programs
-easier:
-
-* Identifiers for registers, position registers, IO, etc.
-* Re-usable methods
-* If-else blocks
-* Readable motion statements
-* Automatic label numbering
-
-Of course adding another layer of abstraction takes you a step further
-away from the code the robot is running. However, it's hoped that the
-increased productivity and rigid syntax requirements will actually
-improve your TP code.
-
-Examples
---------
-
-example_1.tpp
-
-    foo  := R[1]
-
-    bar  := DO[1]
-    baz  := DO[2]
-
-    home := PR[1]
-
-
-    foo = 1
-
-    @loop
-      foo += 1
-
-      jump_to @foo if foo < 10
-
-    turn_on bar if foo == 5
-    toggle baz
-
-    linear_move.to(home).at(2000mm/s).term(0)
-
-
-example_1.ls
-
-    /PROG example_1
-    /MN
-      1:  R[1:foo] = 1 ;
-      1:   ;
-      1:  LBL[1:loop] ;
-      1:  R[1:foo]=R[1:foo]+1 ;
-      1:  IF R[1:foo]<10,JMP LBL[1] ;
-      1:   ;
-      1:  IF (R[1:foo]=5),DO[1:bar]=(ON) ;
-      1:  DO[2:baz]=(!DO[2:baz]) ;
-      1:   ;
-      1:  L PR[1:home] 2000mm/sec CNT0 ;
-    /END
-
-
-License
--------
-
-TP+ is released under the [MIT License](http://www.opensource.org/licenses/MIT).
+TP+
+===
+
+[![Build Status](https://travis-ci.org/onerobotics/tp_plus.svg?branch=master)](https://travis-ci.org/onerobotics/tp_plus)
+
+TP+ is a higher-level language abstraction that translates into FANUC
+TP. It features many useful utilities that makes creating TP programs
+easier:
+
+* Identifiers for registers, position registers, IO, etc.
+* Re-usable methods
+* If-else blocks
+* Readable motion statements
+* Automatic label numbering
+
+Of course adding another layer of abstraction takes you a step further
+away from the code the robot is running. However, it's hoped that the
+increased productivity and rigid syntax requirements will actually
+improve your TP code.
+
+Examples
+--------
+
+example_1.tpp
+
+    foo  := R[1]
+    bar  := DO[1]
+    baz  := DO[2]
+
+    home := PR[1]
+
+    foo = 1
+
+    @loop
+      foo += 1
+
+      jump_to @loop if foo < 10
+
+    turn_on bar if foo == 5
+    toggle baz
+
+    linear_move.to(home).at(2000mm/s).term(0)
+
+
+example_1.ls
+
+    /PROG example_1
+    /MN
+      1:  R[1:foo] = 1 ;
+      1:   ;
+      1:  LBL[100:loop] ;
+      1:  R[1:foo]=R[1:foo]+1 ;
+      1:  IF R[1:foo]<10,JMP LBL[100] ;
+      1:   ;
+      1:  IF (R[1:foo]=5),DO[1:bar]=(ON) ;
+      1:  DO[2:baz]=(!DO[2:baz]) ;
+      1:   ;
+      1:  L PR[1:home] 2000mm/sec CNT0 ;
+    /END
+
+For a more extensive example and test environment, visit http://tp-plus.herokuapp.com/.
+
+Usage
+-----
+
+1. `gem install tp_plus`
+2. `tpp filename.tpp > filename.ls`
+
+See `tpp --help` for options.
+
+License
+-------
+
+TP+ is released under the [MIT License](http://www.opensource.org/licenses/MIT).

data/Rakefile

@@ -1,21 +1,35 @@
-namespace :compile do
-  task :parser do
-    sh "racc -l -o lib/tp_plus/parser.rb generators/parser.y"
-  end
-
-  task :scanner do
-    sh "rex generators/scanner.rex -o lib/tp_plus/scanner.rb --stub"
-  end
-end
-
-task compile: ["compile:parser","compile:scanner"]
-
-require 'rake/testtask'
-
-Rake::TestTask.new do |t|
-  t.libs << "test"
-  t.test_files = FileList['test/**/test_*.rb']
-  t.verbose = true
-end
-
-task default: :test
+file "lib/tp_plus/parser.rb" => ["generators/parser.y"] do |t|
+  sh "racc -l -t -v -o lib/tp_plus/parser.rb generators/parser.y"
+end
+
+namespace :compile do
+  task :parser do
+    Rake::Task["lib/tp_plus/parser.rb"].invoke
+  end
+end
+
+task compile: ["compile:parser"]
+
+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  # build the parser if necessary
+  Rake::Task["lib/tp_plus/parser.rb"].invoke
+
+  t.libs << "test"
+  t.test_files = FileList['test/**/test_*.rb']
+  t.verbose = true
+end
+
+task default: :test
+
+
+desc "Run the TP+ benchmark"
+task :benchmark do
+  ruby "./performance/benchmark.rb"
+end
+
+desc "Run the TP+ profiler"
+task :profile do
+  ruby "./performance/profile.rb"
+end

data/bin/tpp

@@ -1,73 +1,73 @@
-#!/usr/bin/env ruby
-require 'tp_plus'
-require 'optparse'
-
-options = {}
-OptionParser.new do |opts|
-  opts.banner = "Usage: tpp [options] filename"
-
-  opts.on("-e", "--environment env_file.tpp", "Require an environment file before parsing files") do |e|
-    options[:environment] = e
-  end
-
-  opts.on_tail("-h", "--help", "Show this message") do
-    puts opts
-    exit
-  end
-end.parse!
-
-def contents(filename)
-  if !File.exist?(filename)
-    puts "File (#{filename}) does not exist"
-    exit
-  end
-  f = File.open(filename,'rb')
-  src = f.read
-  f.close
-  return src
-end
-
-scanner = TPPlus::Scanner.new
-parser = TPPlus::Parser.new(scanner)
-interpreter = parser.interpreter
-if options[:environment]
-  interpreter.load_environment(contents(options[:environment]))
-end
-
-if ARGV.length != 1
-  puts "Must provide filename argument. See tpp --help for details"
-  exit
-end
-
-src = contents(ARGV[0])
-
-scanner.scan_setup(src)
-parser.parse
-
-lines = interpreter.eval
-
-tpp_filename = File.basename(ARGV[0],".*")
-output = %(/PROG #{tpp_filename.upcase}
-/ATTR
-COMMENT = "#{interpreter.header_data[:comment] || tpp_filename.upcase}";
-TCD:  STACK_SIZE	= 0,
-      TASK_PRIORITY	= 50,
-      TIME_SLICE	= 0,
-      BUSY_LAMP_OFF	= 0,
-      ABORT_REQUEST	= 0,
-      PAUSE_REQUEST	= #{interpreter.header_data[:ignore_pause] ? "7" : "0"};
-DEFAULT_GROUP = #{interpreter.header_data[:group_mask] || "1,*,*,*,*"};
-/MN\n)
-
-lines.each_line do |line|
-  output += " : " + line
-end
-
-if interpreter.pos_section != ""
-  output += "/POS\n"
-  output += interpreter.pos_section
-end
-
-output += %(/END\n)
-
-print output
+#!/usr/bin/env ruby
+require 'tp_plus'
+require 'optparse'
+
+options = {}
+OptionParser.new do |opts|
+  opts.banner = "Usage: tpp [options] filename"
+
+  opts.on("-e", "--environment env_file.tpp", "Require an environment file before parsing files") do |e|
+    options[:environment] = e
+  end
+
+  opts.on_tail("-h", "--help", "Show this message") do
+    puts opts
+    exit
+  end
+end.parse!
+
+def contents(filename)
+  if !File.exist?(filename)
+    puts "File (#{filename}) does not exist"
+    exit
+  end
+  f = File.open(filename,'rb')
+  src = f.read
+  f.close
+  return src
+end
+
+scanner = TPPlus::Scanner.new
+parser = TPPlus::Parser.new(scanner)
+interpreter = parser.interpreter
+if options[:environment]
+  interpreter.load_environment(contents(options[:environment]))
+end
+
+if ARGV.length != 1
+  puts "Must provide filename argument. See tpp --help for details"
+  exit
+end
+
+src = contents(ARGV[0])
+
+scanner.scan_setup(src)
+parser.parse
+
+lines = interpreter.eval
+
+tpp_filename = File.basename(ARGV[0],".*")
+output = %(/PROG #{tpp_filename.upcase}
+/ATTR
+COMMENT = "#{interpreter.header_data[:comment] || tpp_filename.upcase}";
+TCD:  STACK_SIZE	= 0,
+      TASK_PRIORITY	= 50,
+      TIME_SLICE	= 0,
+      BUSY_LAMP_OFF	= 0,
+      ABORT_REQUEST	= 0,
+      PAUSE_REQUEST	= #{interpreter.header_data[:ignore_pause] ? "7" : "0"};
+DEFAULT_GROUP = #{interpreter.header_data[:group_mask] || "1,*,*,*,*"};
+/MN\n)
+
+lines.each_line do |line|
+  output += " : " + line
+end
+
+if interpreter.pos_section != ""
+  output += "/POS\n"
+  output += interpreter.pos_section
+end
+
+output += %(/END\n)
+
+print output

data/lib/tp_plus/interpreter.rb

@@ -1,129 +1,152 @@
-require 'tp_plus/parser'
-
-module TPPlus
-  class Interpreter
-    attr_accessor :line_count, :nodes, :position_data, :header_data
-    attr_reader :labels, :variables, :constants, :namespaces, :source_line_count
-    def initialize
-      @line_count    = 0
-      @nodes         = []
-      @labels        = {}
-      @namespaces    = {}
-      @variables     = {}
-      @constants     = {}
-      @position_data = {}
-      @header_data   = {}
-      @current_label = 99
-    end
-
-    def load_environment(string)
-      scanner = TPPlus::Scanner.new
-      parser = TPPlus::Parser.new(scanner, self)
-      scanner.scan_setup(string)
-      parser.parse
-      eval
-    rescue RuntimeError => e
-      raise "Runtime error in environment on line #{@source_line_count}:\n#{e}"
-    end
-
-    def next_label
-      @current_label += 1
-    end
-
-    def add_namespace(name, block)
-      if @namespaces[name.to_sym].nil?
-        @namespaces[name.to_sym] = TPPlus::Namespace.new(name, block)
-      else
-        @namespaces[name.to_sym].reopen!(block)
-      end
-    end
-
-    def add_label(identifier)
-      raise "Label @#{identifier} already defined" if @labels[identifier.to_sym]
-      @labels[identifier.to_sym] = next_label
-    end
-
-    def add_var(identifier, node)
-      raise "Variable #{identifier} already defined" if @variables[identifier.to_sym]
-
-      @variables[identifier.to_sym] = node
-      node.comment = identifier
-    end
-
-    def add_constant(identifier, node)
-      raise "Constant #{identifier} already defined" if @constants[identifier.to_sym]
-
-      @constants[identifier.to_sym] = node
-    end
-
-    def get_namespace(identifier)
-      if ns = @namespaces[identifier.to_sym]
-        return ns
-      end
-
-      false
-    end
-
-    def get_var(identifier)
-      raise "Variable (#{identifier}) not defined" if @variables[identifier.to_sym].nil?
-
-      @variables[identifier.to_sym]
-    end
-
-    def get_constant(identifier)
-      raise "Constant (#{identifier}) not defined" if @constants[identifier.to_sym].nil?
-
-      @constants[identifier.to_sym]
-    end
-
-    def define_labels
-      @nodes.select {|n| n.is_a? Nodes::LabelDefinitionNode}.each do |n|
-        add_label(n.identifier)
-      end
-    end
-
-    def pos_section
-      return "" if @position_data.empty?
-      return "" if @position_data[:positions].empty?
-
-      @position_data[:positions].inject("") do |s,p|
-        s << %(P[#{p[:id]}:"#{p[:comment]}"]{
-   GP#{p[:group]}:
-  UF : #{p[:uframe]}, UT : #{p[:utool]},  CONFIG : '#{p[:config][:flip] ? 'F' : 'N'} #{p[:config][:up] ? 'U' : 'D'} #{p[:config][:top] ? 'T' : 'B'}, #{p[:config][:turn_counts].join(', ')}',
-  X = #{p[:components][:x]} mm, Y = #{p[:components][:y]} mm, Z = #{p[:components][:z]} mm,
-  W = #{p[:components][:w]} deg, P = #{p[:components][:p]} deg, R = #{p[:components][:r]} deg
-};\n)
-      end
-    end
-
-    def eval
-      s = ""
-      last_node = nil
-
-      define_labels
-
-      @source_line_count = 0
-
-      @nodes.each do |n|
-        @source_line_count += 1 unless n.is_a?(Nodes::TerminatorNode) && !last_node.is_a?(Nodes::TerminatorNode)
-        raise if n.is_a?(String)
-
-        res = n.eval(self)
-
-        # preserve whitespace
-        if n.is_a?(Nodes::TerminatorNode) && last_node.is_a?(Nodes::TerminatorNode)
-          s += " ;\n"
-        end
-        last_node = n
-        # end preserve whitespace
-
-        next if res.nil?
-
-        s += "#{res} ;\n"
-      end
-      s
-    rescue RuntimeError => e
-      raise "Runtime error on line #{@source_line_count}:\n#{e}"
-    end
-  end
-end
+require 'tp_plus/parser'
+
+module TPPlus
+  class Interpreter
+    attr_accessor :line_count, :nodes, :position_data, :header_data
+    attr_reader :labels, :variables, :constants, :namespaces, :source_line_count
+    def initialize
+      @line_count    = 0
+      @nodes         = []
+      @labels        = {}
+      @namespaces    = {}
+      @variables     = {}
+      @constants     = {}
+      @position_data = {}
+      @header_data   = {}
+      @current_label = 99
+    end
+
+    def load_environment(string)
+      scanner = TPPlus::Scanner.new
+      parser = TPPlus::Parser.new(scanner, self)
+      scanner.scan_setup(string)
+      parser.parse
+      eval
+    rescue RuntimeError => e
+      raise "Runtime error in environment on line #{@source_line_count}:\n#{e}"
+    end
+
+    def next_label
+      @current_label += 1
+    end
+
+    def add_namespace(name, block)
+      if @namespaces[name.to_sym].nil?
+        @namespaces[name.to_sym] = TPPlus::Namespace.new(name, block)
+      else
+        @namespaces[name.to_sym].reopen!(block)
+      end
+    end
+
+    def add_label(identifier)
+      raise "Label @#{identifier} already defined" if @labels[identifier.to_sym]
+      @labels[identifier.to_sym] = next_label
+    end
+
+    def add_var(identifier, node)
+      raise "Variable #{identifier} already defined" if @variables[identifier.to_sym]
+
+      @variables[identifier.to_sym] = node
+      node.comment = identifier
+    end
+
+    def add_constant(identifier, node)
+      raise "Constant #{identifier} already defined" if @constants[identifier.to_sym]
+
+      @constants[identifier.to_sym] = node
+    end
+
+    def get_namespace(identifier)
+      if ns = @namespaces[identifier.to_sym]
+        return ns
+      end
+
+      false
+    end
+
+    def get_var(identifier)
+      raise "Variable (#{identifier}) not defined" if @variables[identifier.to_sym].nil?
+
+      @variables[identifier.to_sym]
+    end
+
+    def get_constant(identifier)
+      raise "Constant (#{identifier}) not defined" if @constants[identifier.to_sym].nil?
+
+      @constants[identifier.to_sym]
+    end
+
+    def define_labels
+      @nodes.select {|n| n.is_a? Nodes::LabelDefinitionNode}.each do |n|
+        add_label(n.identifier)
+      end
+    end
+
+    def pos_section
+      return "" if @position_data.empty?
+      return "" if @position_data[:positions].empty?
+
+      @position_data[:positions].inject("") do |s,p|
+        s << %(P[#{p[:id]}:"#{p[:comment]}"]{\n)
+
+        p[:mask].each do |q|
+          s << pos_return(q)
+        end
+
+        s << %(\n};\n)
+      end
+    end
+
+    def pos_return(position_hash)
+      s = ""
+      if position_hash[:config].is_a?(Hash)
+        s << %(   GP#{position_hash[:group]}:
+  UF : #{position_hash[:uframe]}, UT : #{position_hash[:utool]},  CONFIG : '#{position_hash[:config][:flip] ? 'F' : 'N'} #{position_hash[:config][:up] ? 'U' : 'D'} #{position_hash[:config][:top] ? 'T' : 'B'}, #{position_hash[:config][:turn_counts].join(', ')}',
+  X = #{position_hash[:components][:x]} mm, Y = #{position_hash[:components][:y]} mm, Z = #{position_hash[:components][:z]} mm,
+  W = #{position_hash[:components][:w]} deg, P = #{position_hash[:components][:p]} deg, R = #{position_hash[:components][:r]} deg)
+      else
+        s << %(   GP#{position_hash[:group]}:
+  UF : #{position_hash[:uframe]}, UT : #{position_hash[:utool]})
+        if position_hash[:components].is_a?(Hash)
+          position_hash[:components].each_with_index do |key, joint|
+            s << %(, \n)
+            s << %(\tJ#{key} = #{joint[1]} deg)
+          end
+          s << %(\n)
+        end
+      end
+
+      return s
+    end
+
+    def eval
+      s = ""
+      last_node = nil
+
+      define_labels
+
+      @source_line_count = 0
+
+      @nodes.each do |n|
+        @source_line_count += 1 unless n.is_a?(Nodes::TerminatorNode) && !last_node.is_a?(Nodes::TerminatorNode)
+        raise if n.is_a?(String)
+
+        res = n.eval(self)
+
+        # preserve whitespace
+        if n.is_a?(Nodes::TerminatorNode) && last_node.is_a?(Nodes::TerminatorNode)
+          s += " ;\n"
+        end
+        last_node = n
+        # end preserve whitespace
+
+        next if res.nil?
+
+        s += "#{res} ;\n"
+      end
+      s
+    rescue RuntimeError => e
+      raise "Runtime error on line #{@source_line_count}:\n#{e}"
+    end
+  end
+end