public bool ExecuteInstruction(string instruction)
{
string[] args = Machina.Utilities.Parsing.ParseStatement(instruction);
if (args == null || args.Length == 0)
{
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}
// ███╗ ███╗██╗ ██╗ ██████╗ ██╗ ██╗███╗ ██╗
// ████╗ ████║╚██╗ ██╔╝ ██╔═══██╗██║ ██║████╗ ██║
// ██╔████╔██║ ╚████╔╝ ██║ ██║██║ █╗ ██║██╔██╗ ██║
// ██║╚██╔╝██║ ╚██╔╝ ██║ ██║██║███╗██║██║╚██╗██║
// ██║ ╚═╝ ██║ ██║ ╚██████╔╝╚███╔███╔╝██║ ╚████║
// ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚══╝╚══╝ ╚═╝ ╚═══╝
if (args[0].Equals("Test1", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Test1());
}
else if (args[0].Equals("Test2", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Test2());
}
// easy way to define tool
else if (args[0].Equals("tool", StringComparison.CurrentCultureIgnoreCase))
{
if (args[1].Equals("pallet", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DefineTool("pallet", new Machina.Point(-63, 0, 70), Machina.Orientation.WorldXY));
}
if (args[1].Equals("vacuum", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DefineTool("vacuum", new Machina.Point(83, 0, 50), Machina.Orientation.WorldXY));
}
// print error with line number.
ErrorWithLineNum(args[1]);
return(false);
}
else if (args[0].Equals("MoveToRobTarget", StringComparison.CurrentCultureIgnoreCase))
{
// action MoveToRobTarget is only available in ABB robots
// further testing for UR robots is needed (have no UR Robot)
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.MoveToRobTarget(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("MoveCToRobTarget", StringComparison.CurrentCultureIgnoreCase))
{
// Action MovecToRobTarget is only available to ABB robots
// further testing for UR robots is needed (have no UR Robot)
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.MovecToRobTarget(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture),
Convert.ToDouble(args[13], CultureInfo.InvariantCulture),
Convert.ToDouble(args[14], CultureInfo.InvariantCulture),
Convert.ToDouble(args[15], CultureInfo.InvariantCulture),
Convert.ToDouble(args[16], CultureInfo.InvariantCulture),
Convert.ToDouble(args[17], CultureInfo.InvariantCulture),
Convert.ToDouble(args[18], CultureInfo.InvariantCulture),
Convert.ToDouble(args[19], CultureInfo.InvariantCulture),
Convert.ToDouble(args[20], CultureInfo.InvariantCulture),
Convert.ToDouble(args[21], CultureInfo.InvariantCulture),
Convert.ToDouble(args[22], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("abbDefineTool", StringComparison.CurrentCultureIgnoreCase))
{
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.AbbDefineTool(
args[1],
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("abbAttachTool", StringComparison.CurrentCultureIgnoreCase))
{
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.AbbAttachTool(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
// ███████╗██╗ ██╗██╗███████╗████████╗██╗███╗ ██╗ ██████╗
// ██╔════╝╚██╗██╔╝██║██╔════╝╚══██╔══╝██║████╗ ██║██╔════╝
// █████╗ ╚███╔╝ ██║███████╗ ██║ ██║██╔██╗ ██║██║ ███╗
// ██╔══╝ ██╔██╗ ██║╚════██║ ██║ ██║██║╚██╗██║██║ ██║
// ███████╗██╔╝ ██╗██║███████║ ██║ ██║██║ ╚████║╚██████╔╝
// ╚══════╝╚═╝ ╚═╝╚═╝╚══════╝ ╚═╝ ╚═╝╚═╝ ╚═══╝ ╚═════╝
// This is horrible, but oh well...
if (args[0].Equals("MotionMode", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MotionMode(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Speed", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Speed(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("SpeedTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.SpeedTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Acceleration", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Acceleration(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AccelerationTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AccelerationTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Precision", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Precision(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("PrecisionTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.PrecisionTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Coordinates", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("Temperature", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("TemperatureTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("ExtrusionRate", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("ExtrusionRateTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("PushSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PushSettings();
return(true);
}
else if (args[0].Equals("PopSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PopSettings();
return(true);
}
else if (args[0].Equals("Move", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Move(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("MoveTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MoveTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Rotate", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Rotate(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("RotateTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.RotateTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Transform", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("TransformTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.TransformTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Axes", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Axes(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AxesTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AxesTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxis", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
try
{
axisNumber = Convert.ToInt32(args[1]);
if (axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Axis number must be between 1 and 6");
return(false);
}
}
catch
{
Logger.Error($"Axis number must be an integer");
return(false);
}
double increment;
try
{
increment = Convert.ToDouble(args[2], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid increment value " + args[2]);
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxis(axisNumber, increment, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxisTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
try
{
axisNumber = Convert.ToInt32(args[1]);
if (axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Axis number must be between 1 and 6");
return(false);
}
}
catch
{
Logger.Error($"Axis number must be an integer");
return(false);
}
double val;
try
{
val = Convert.ToDouble(args[2], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid value " + args[2]);
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxisTo(axisNumber, val, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ArmAngle", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error("Relative `ArmAngle` is temporarily disabled, please use the absolute `ArmAngleTo` version instead.");
return(false);
//Logger.Warning(
//"Relative `ArmAngle` is temporarily disabled, please use the absolute `ArmAngleTo` version instead.");
}
else if (args[0].Equals("ArmAngleTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
double val;
try
{
val = Convert.ToDouble(args[1], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid value " + args[1]);
return(false);
}
//double val;
//if (!Double.TryParse(args[1], out val))
//{
// Logger.Error($"Invalid value " + args[1]);
// return false;
//}
return(bot.ArmAngleTo(val));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Wait", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Wait(Convert.ToInt32(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Message", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Message(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Comment", StringComparison.CurrentCultureIgnoreCase))
{
// Do nothing here, just go through with it.
return(true);
}
else if (args[0].Equals("CustomCode", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning("\"CustomCode\" can lead to unexpected results, use with caution and only if you REALLY know what you are doing.");
try
{
string statement = args[1];
bool dec = false;
if (args.Length > 2)
{
dec = bool.Parse(args[2]); // if not good, throw and explain
}
return(bot.CustomCode(statement, dec));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
}
return(false);
}
else if (args[0].Equals("new Tool", StringComparison.CurrentCultureIgnoreCase) ||
args[0].Equals("Tool.Create", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"DefineTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("DefineTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.DefineTool(
args[1],
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture),
Convert.ToDouble(args[13], CultureInfo.InvariantCulture),
Convert.ToDouble(args[14], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Attach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"AttachTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("AttachTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AttachTool(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Detach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning($"\"{args[0]}\" is deprecated, please update your client and use \"DetachTool\" instead.");
return(bot.DetachTool());
}
else if (args[0].Equals("DetachTool", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DetachTool());
}
else if (args[0].Equals("WriteDigital", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
// Numeric pins
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2], CultureInfo.InvariantCulture)));
case 4: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2], CultureInfo.InvariantCulture), Convert.ToBoolean(args[3])));
}
}
// Named pins (ABB)
else
{
switch (count)
{
case 3: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2], CultureInfo.InvariantCulture)));
case 4: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2], CultureInfo.InvariantCulture), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
// why is this hear and not a call to BadFormatInstruction?
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("WriteAnalog", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
else
{
switch (count)
{
case 3: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Extrude", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Extrude());
}
// If here, instruction is not available or something went wrong...
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}