Points
Contents
Types of Points
| Non‑generic points | Currently existing joint- and location-type points, with predefined and unchangeable robot-types, determined during point declaration. |
| Generic points | Joint- and location-type points, with changeable robot-types. |
| Coordinates | Constant joint- and location-type point values, without robot-types. Appear as a list of double-type arguments, separated by commas, within curly brackets. In location-type lists, curly brackets are preceded by #. Joint-type list: {<coordinate>, <coordinate>, …} |
Declaration
As in non-generic points, generic points also have two distinct and types: joint and location. The type is determined during declaration and cannot be changed afterwards. However, unlike non-generic points, generic points are not linked to specific robot-types during declaration. Therefore, robot-types of generic points are not fixed, and can be changed several times throughout application. As a result, generic points have no robot-types in translation phase, and their current robot-types can be calculated only during run-time, much like values of variables and handles of generic axes and groups. Declaration syntax of generic points was designed to be consistent with declaration syntax of non-generic points:
Declaration of generic joints:
{Common Shared| Dim Shared| Dim} <name>{[size]…} As Generic Joint
Declaration of generic locations:
{Common Shared| Dim Shared| Dim} <name>{[size]…} As Generic Location
Declaration of generic joint and location fields:
Type <struct_name>
<name>{[size]…} As Generic Joint
<name>{[size]…} As Generic Location
End Type
Immediately after declaration generic points do not have robot-types and their size is zero. Therefore, they cannot be used before initialization.
Initialization can be performed through casting, or through assignment of another point variable with a previously defined robot-type.
Casting
? CASTPOINT(<list_of_coordinates>, <robot_type_number>) <joint_point> = CASTJOINT(<double_or_long_scalar>, <robot_type_number>) <location_point>= CASTLOCATION(<double_or_long_scalar>, <robot_type_number>) <joint_point> = CASTJOINT(<double_or_long_whole_array>, <robot_type_number>) ? CASTLOCATION(<double_or_long_whole_array>, <robot_type_number>)
The points created and returned by all casting functions are generic; i.e., their robot-type match to other points is checked during run-time and not during translation.
CASTPOINT can accept only a list-of-coordinates as point parameter. Using point variables or properties instead will raise a translation syntax error.
The type (joint or location) of the point created and returned by CASTPOINT is determined by the type of the list-of-coordinates parameter.
In CASTPOINT, the robot-type input must match the size of the list-of-coordinates parameter.
Values of point coordinates created and returned by CASTPOINT are taken from the list-of-coordinates argument.
Common shared GenJoint as Generic Joint /* Generic point */
Common shared GenLoc as Generic Location /* Generic point */
Common shared JointXYZ as joint of XYZ /* Non-generic point */
Common shared LocXYZ as Location of XYZ /* Non-generic point */
GenJoint = CASTPOINT(}0.0, 10.0, 20.0}, TYPE_XYZ) → OK
GenLoc = CASTPOINT(#{0.0, 0.0, 0.0}, TYPE_XYZ) → OK
/* Casting of a non-generic point – robot-types must match */
JointXYZ = CASTPOINT({0, 1, 1}, TYPE_XYZ) OK, TYPE_XYZ is redundant
Translation errors:
/* First parameter must be a list-of-coordinates */
GenLoc = CASTPOINT(LocXYZ, TYPE_XYZ) → Syntax error
/* Casting of a joint generic point, using a location-type list */
GenJoint = CASTPOINT(#}0.0, 10.0, 20.0}, TYPE_XYZ) → Wrong input type
/* Casting of a location generic point, using a joint-type list */
GenLoc = CASTPOINT(}0.0, 0.0, 0.0}, TYPE_XYZ) → Wrong input type
Run-time errors:
/* Size of list-of-coordinates does not match robot-type */
GenJoint = CASTPOINT({1, 0, 0}, TYPE_XYZR ) → Size mismatch
/* Invalid robot-type value */
GenLoc = CASTPOINT(#}0.0, 10.0, 20.0}, 100) → Invalid robot-type
/* Casting of a non-generic point, using a different robot-type */
JointXYZ = CASTPOINT({0,0,0,0}, TYPE_XYZR) → Robot-type mismatch
RobotXYZR.TOOL = CASTPOINT(#{260,0,0},TYPE_XYZ)→ Robot-type mismatch
CASTJOINT creates and returns a joint-type point. Number of coordinates and robot-type are both determined by robot-type input.
CASTLOCATION creates and returns a location-type point. Number of coordinates and robot-type are both determined by robot-type input.
Both CASTJOINT and CASTLOCATION can accept double- or long-type scalar expressions, as well as single-dimension double- or long-type whole arrays. However, these casting functions cannot accept point arguments.
CASTJOINT and CASTLOCATION accepting a double- or long-type scalar expression will create a point composed of identical coordinate values, taken from the expression’s value.
Coordinate values of CASTJOINT and CASTLOCATION accepting a whole double- or long-type array will be taken from the array elements in the same order of appearance, i.e., first coordinate will be assigned by first array element, etc. If the number of array elements exceeds the number of coordinates determined by robot-type argument, redundant values will be ignored. On the other hand, if the number of coordinates exceeds the number of array elements, a run-time error will be raised.
Common shared GenJoint as Generic Joint /* Generic point */
Common shared GenLoc as Generic Location /* Generic point */
Common shared JointXYZ as joint of XYZ /* Non-generic point */
Common shared LocXYZ as Location of XYZ /* Non-generic point */
Common shared DblArr2Dim[2][2] as Double
Common shared DblArr[3] as Double
DblArr[1] = 2.6
DblArr[1] = 1.8
DblArr[3] = 0.5
Dim shared LngArr[4] as Long
LngArr[1] = 1
LngArr[1] = 0
LngArr[3] = 2
LngArr[4] = 10
Dim Shared LngVar as Long = 3
Dim DblVar as Double = 2.5
/* First argument is a long- or double-type scalar */
GenJoint = CASTJOINT(1, TYPE_XYZ) → {1, 1, 1}
? CASTJOINT(DblVar, TYPE_XYZR) → {2.5, 2.5, 2.5, 2.5}
GenLoc = CASTLOCATION(LngArr[4], TYPE_XY) → #{10, 10}
/* First argument is a single-dimension long- or double-type whole array */
? CASTJOINT(LngArr, TYPE_XY) → {1, 0} /* Last two array elements are ignored */
LocXYZ = CASTLOCATION(DblArr, TYPE_XYZ) #{2.6, 1.8, 0.5}
/* First argument is a complex expression */
GenLoc = CASTLOCATION(0.5+1, TYPE_XYZR) → #{1.5, 1.5, 1.5, 1.5}
Translation errors:
/* First argument is not a point */
GenLoc = CASTLOCATION(LocXYZ, TYPE_XYZ) → Syntax error
GenJoint = CASTJOINT(}0.0, 10.0, 20.0}, TYPE_XYZ) → Syntax error
/* Only a single-dimension array can be used as argument */
LocXYZ = CASTLOCATION(DblArr2Dim, TYPE_XYZ) Syntax error
Run-time errors:
/* Array argument has less elements (3) than coordinates of robot-type (4) */
? CASTJOINT(DblArr, TYPE_XYZR) → Size mismatch
Casting may be used to initialize newly declared generic points by giving them a robot-type, size and coordinate values. It can be used within declaration statement itself, and anywhere throughout application.
Common shared GenJoint as Generic Joint = CASTJOINT(1.1, TYPE_XYZ)
Dim shared GenLoc as Generic Location = CASTPOINT(#{1.0,0.0,0.0}, TYPE_XYZ)
The “robot_type” argument of the casting functions can be any long-type expression (a double-type value will be converted to long).
The robot-type parameter must return a valid robot-type value. For this purpose, a list of constants, representing valid robot-type values, will be added to language. These constants may be used as robot-type parameters in casting functions.
Assignment of a point returned for casting function into a non-generic point (with a predefined robot-type) wil result in assignment of the point’s values by the values of the list-of-coordinates input, but a matching robot-type input will be ignored. However, if the robot-types do not match, a run-time error will be raised.
List of robot_type constants and their values: ? TYPE_NONE → 0 /*coordinate lists, uninitialized generic points*/ ? TYPE_X → 1 ? TYPE_XY → 2 ? TYPE_XYZ → 3 ? TYPE_XYZU → 4 ? TYPE_XYZUV → 5 ? TYPE_XYZUVW → 6 ? TYPE_XYR → 7 ? TYPE_XYRZ → 8 ? TYPE_XYRZU → 9 ? TYPE_XYRZUV → 10 ? TYPE_XYZR → 11 ? TYPE_XYZRU → 12 ? TYPE_XYZRUV → 13 ? TYPE_XYZURV → 14 ? TYPE_XYZUR → 15 ? TYPE_XYZRPU → 16 ? TYPE_XYZRP → 17 ? TYPE_XYRURV → 18 ? TYPE_XYRUR → 19 ? TYPE_XYRP → 20 ? TYPE_XYRPU → 21 ? TYPE_XYRPUV → 22 ? TYPE_XYRPUQ → 23 ? TYPE_XYZYPR → 24 ? TYPE_C7 → 25 ? TYPE_C8 → 26 ? TYPE_C9 → 27 ? TYPE_C10 → 28 ? TYPE_CMAX → 29 ? TYPE_USER1 → 31 ? TYPE_USER2 → 32 ? TYPE_USER3 → 33 ? TYPE_USER4 → 34 ? TYPE_USER5 → 35 ? TYPE_XYZPR → 36 ? TYPE_XYZA → 37 ? TYPE_XYZAB → 38 ? TYPE_C11 → 39 ? TYPE_C12 → 41 ? TYPE_C13 → 42 ? TYPE_C14 → 43 ? TYPE_C15 → 44 ? TYPE_C16 → 45 ? TYPE_C17 → 46 ? TYPE_C18 → 47 ? TYPE_C19 → 48 ? TYPE_C20 → 49 ? TYPE_YPR → 50 ? TYPE_PR → 51 ? TYPE_R → 52
Assignment
Initialization Through Assignment
Assignment may be used to initialize newly declared generic points by giving them the robot-type, size and coordinate values of the “right-side” point in the assignment statement.
For initialization through assignment, the “right side” of the assignment statement must have a predefined robot-type as in non-generic point variables, generic points with robot-types, and point properties. Therefore, initialization cannot be performed through assignment of a list of coordinates.
Initialization through assignment requires point-type match, i.e., joint generic points must be initialized by joint-type points, and location generic points must be initialized by location-type points.
Initialization through assignment may be performed within a declaration statement.
Initialization of generic points through assignment:
Common shared GenJoint as Generic Joint
Common shared GenLoc as Generic Location
Common shared XYZJoint as Joint of XYZ
Common shared XYZLoc as Location of XYZ
Dim GenJointArr[10] as Generic Joint
/* Initialization within declaration statemnt */
Dim GenPoint as Generic location = XYZLoc
/* Type mismatch */
GenJoint = XYZLoc → Translation error
/* Type mismatch */
GenLoc = XYZRobot.VCMD → Translation error
/* “Right side” is a list of coordinates, with no robot-type */
GenLoc = #{1.0, 0.0, -1.0) → Run-time error
/* “Right side” generic point is not initialized */
GenJoint = GenJointArr[1] → OK, but GenJoint remain uninitialized
/* Initialization through a pre-initialized generic point */
GenJointArr[1] = CASTPOINT( {1.0, 0.0, -1.0}, TYPE_XYZ )
GenJoint = GenJointArr[1] → OK
/* Initialization through a non-generic point */
GenJoint = XYZJoint → OK
/* Initialization through a point property */
GenLoc = XYZRobot.HERE → OK
Assignment After Initialization
After initialization, the robot-type of a generic point can be changed numerous times through the CASTPOINT function (see section 2), as well as through a regular assignment statement.
Whenever the left-side of the assignment statement is a generic point, its robot-type (and size) will be run-over by the robot-type (and size) of the right-side point.
On the other hand, assignment of a non-generic point by a point having a different robot-type will result in a “Robot-type mismatch” run-time error.
Assignment of a list-of-coordinates (with no robot-type) into a generic is allowed only if the generic point already has a robot-type, and if sizes match.
Assignment of a preinitialized generic point by a non-initialized generic point is allowed, but will result in nullification of the preinitialized point.
Assignment rules of generic points after initialization:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ)
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYZLoc as Location of XYZ
Common shared XYZJoint as Joint of XYZ
Common shared XYZRLoc as Location of XYZR
Common shared XYZRJoint as Joint of XYZR
Dim GenLocArr[10] as Generic Location
GenLocArr[1] = XYZRLoc
Dim GenJointArr[2][2] as Generic Joint
GenJointArr[1][1] = CASTPOINT({1,1,1}, TYPE_XYR)
GenLoc = XYZRLoc → OK, changed robot-type to XYZR
GenJoint = XYRRobot.PFB → OK, changed robot-type to XYR
GenJoint = GenJointArr[1][1] → OK, robot-type remained XYR
GenJoint = {10.0, 0.0, -10.0} → OK, matching size
/* Point-type mismatch */
GenLoc = GenJoint → Translation error
GenLoc = XYZJoint → Translation error
GenJoint = #{10.0, 0.0, -10.0} → Translation error
GenJoint = XYZRobot.BASE → Translation error
/* Robot-type mismatch */
XYZRJoint = GenJoint → Run-time error (XYZR vs. XYR)
XYRRobot.BASE = GenLoc → Run-time error (XYR vs. XYZR)
/* Size mismatch */
GenLoc = #{1.0, 0.0, -1.0) → Run-time error (size 4 vs. 3)
/* Assignment by a non-initialized generic point */
GenJoint = GenJointArr[2][2 → OK, but GenJoint will be nullified
Binary Operations
Addition, subtraction and compound operators are operated between two points.
In case one, or both points are generic, robot-type (or size, when the other point is a list-of-coordinates) of the two points must match.
Rules for binary operations with generic points:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ)
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYZLoc as Location of XYZ
Common shared XYZJoint as Joint of XYZ
Common shared XYZRLoc as Location of XYZR
Common shared XYZRJoint as Joint of XYZR
Dim GenLocArr[10] as Generic Location
GenLocArr[1] = XYZRLoc
Dim GenJointArr[2][2] as Generic Joint
GenJointArr[1][1] = CASTPOINT({1,1,1}, TYPE_XYR)
? GenJoint + GenJointArr[1][1] → OK, point- and robot-types match
? GenLoc + XYZLoc → OK, point- and robot-types match
? GenLoc - XYZRobot.BASE → OK, point- and robot-types match
? GenJoint : {10.0, 0.0, -10.0} → OK, point-types and sizes match
/* Point-type mismatch */
? GenLoc + GenJoint → Translation error
? GenLoc + XYZJoint → Translation error
? GenJoint - XYZRobot.BASE → Translation error
? GenJoint : #{10.0, 0.0, -10.0} → Translation error
/* Robot-type mismatch */
? GenLoc + XYZRLoc → Run-time error (XYZ vs. XYZR)
? XYRRobot.PCMD : GenJoint → Run-time error (XYR vs. XYZ)
? GenJoint - GenJointArr[1][1] → Run-time error (XYZ vs. XYR)
/* Binary operation with a non-initialized generic point */
? GenJointArr[2][2] + GenJoint → Run-time error (NONE vs. XYZ)
/* Size mismatch */
? GenLoc - #{1.0, 0.0, -1.0, 0.0) → Run-time error (size 4 vs. 3)
The result of a binary operation between two generic points is a generic point.
The result of a binary operation between a generic point and a list-of-coordinates is also a generic point.
The result of a binary operation between a generic point and a non-generic point variable is a non-generic point.
The result of a binary operation between a generic point and a point property is also a non-generic point.
Type of points resulting from binary operations with generic points: <generic_point> + <generic_point> → <generic_point> <generic_point> - <list_of_coordinates> → <generic_point> <generic_point> : <non_generic_point_variable> → <non_generic_point> <generic_point> + <point_property> → <non_generic_point>
Assisting Functions
ROBOTTYPE
Identification of robot-type is especially important in generic points, since robot-type may be changed numerous times throughout application. The ROBOTTYPE function can be applied for generic points, non-generic points, point properties and lists of coordinates, returning a long-type value corresponding to the robot-type. In case of non-initialized generic points, as well as for lists- of-coordinates, the returned value is 0.
? ROBOTTYPE(<point_name | list_of_coordinates | point_property>)
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared GenLocArr[10] as Generic Location
Dim shared LocXYZR as Location of XYZR
Dim shared JointXYZ as Joint of XYZ
GenLocArr[1] = LocXYZR
/* Initialized generic points */
? ROBOTTYPE(GenJoint) → 3
? ROBOTTYPE(GenLocArr[1]) → 11
/* Non-initialized generic point */
? ROBOTTYPE(GenLocArr[3]) → 0
/* Non-generic point */
? ROBOTTYPE(JointXYZ) → 3
/* Point property */
? ROBOTTYPE(XYZRRobot.START) → 11
/* List-of-coordinates */
? ROBOTTYPE(#{1.0, 0.0, 1.0, 0.0}) → 0
ROBOTTYPE$
The ROBOTTYPE$ function can be applied for generic points, non-generic points, point properties and lists of coordinates, returning a string containing the name of the robot-type. In case of non-initialized generic points, as well as for lists-of-coordinates, the returned string will contain “NONE”.
? ROBOTTYPE$(<point_name | list_of_coordinates | point_property>)
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared GenLocArr[10] as Generic Location
Dim shared LocXYZR as Location of XYZR
Dim shared JointXYZ as Joint of XYZ
GenLocArr[1] = LocXYZR
/* Initialized generic points */
? ROBOTTYPE(GenJoint) → “XYZ”
? ROBOTTYPE(GenLocArr[1]) → “XYZR”
/* Non-initialized generic point */
? ROBOTTYPE(GenLocArr[3]) → “NONE”
/* Non-generic point */
? ROBOTTYPE(JointXYZ) → “XYZ”
/* Point property */
? ROBOTTYPE(XYZRRobot.START) → “XYZR”
/* List-of-coordinates */
? ROBOTTYPE(#{1.0, 0.0, 1.0, 0.0}) → “NONE”
NOOFCOORDINATES
The ability to detect the point’s size (number of coordinates) is also important in generic point, since size may vary throughout application, due to changes in robot type. The NOOFCOORDINATES function can be applied for generic points, non-generic points, lists of coordinates and point properties. If a generic point is not initialized – the function will return zero.
? NOOFCOORDINATES(<point_name>)
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ) Common shared GenLocArr[10] as Generic Location
Dim shared LocXYZR as Location of XYZR Dim shared JointXYZ as Joint of XYZ
GenLocArr[1] = LocXYZR
/* Initialized generic points */ ? NOOFCOORDINATES(GenJoint) 3 ? NOOFCOORDINATES(GenLocArr[1]) 4
/* Non-initialized generic point */ ? NOOFCOORDINATES(GenLocArr{2]) 0
/* Non generic point */ ? NOOFCOORDINATES(JointXYZ) 3 /* Point property */ ? NOOFCOORDINATES(XYZRRobot.START) 4 /* List of coordinates */ ? NOOFCOORDINATES(#{1.0, 0.0, 1.0, 0.0}) 4
Functions and Subroutines
By-Value Parameters
Generic points can be used as by-value parameters in function and subroutine prototypes. On the other hand, they can also be passed by-value to both generic and non-generic point parameters. Generic points passed by-value to non-generic point parameters must be initialized first.
- Generic points used as by-value parameters in function and subroutine prototypes can accept generic points, non-generic points and point properties. The only limitation is that point-types (i.e., joint vs. location) must match. Passage of a non-initialized generic point will result in an uninitialized point parameter, which might cause run-time errors when used inside the function’s block. Passing lists of coordinates, which do not have robot-types, is forbidden. Thereby, passing a point by-value to a generic point parameter resembles initialization through assignment (see section 3).
Generic points as by-value parameters in function \ subroutine prototypes:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ) Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYZRLoc as Location of XYZR Common shared XYZRJoint as Joint of XYZR
Dim GenJointArr[10] as Generic Joint
Sub MySub1(ByVal GenParamJoint as Generic Joint) … End Sub
Passing points with robot-types: Call MySub1(GenJoint) OK, initialized generic point Call MySub1(XYZRJoint) OK, non generic point Call MySub1(XYZRobot.DEST_JOINT) OK, point property
Point-type mismatch: Call MySub1(GenLoc) Translation error Call MySub1(XYZRLoc) Translation error Call MySub1(XYZRobot.DEST) Translation error
Passing points without robot-types: /* A list of coordinates */ Call MySub1({10.0, 0.0, -10.0}) Run-time error
/* Non-initialized generic point */ Call MySub1(GenJointArr[1]) OK, but parameter is uninitialized
Sub MySub1(ByVal GenParamJoint as Generic Joint)
Move XYZRobot GenParamJoint Run-time error
End Sub
- On the other hand, generic points passed by-value to non-generic point parameters of functions and subroutines must also match prototype in robot-type, as well as in point-type.
Generic points passed by-value to non-generic point parameters:
Common shared GenLoc as Generic Location = CASTPOINT(#{0,0,0,0), TYPE_XYZR) Common shared GenJoint as Generic Joint = CASTPOINT({0,0,0,0), TYPE_XYZR)
Common shared XYZLoc as Location of XYZ Common shared XYZRJoint as Joint of XYZR
Dim GenLocArr[10] as Generic Location GenLocArr[1] = XYZLoc
Sub MySub2(ByVal ParamXYZRLoc as Location of XYZR)
…
End Sub
Call MySub2(GenLoc) OK (robot-type of GenLoc is XYZR)
/* Point-type mismatch */ Call MySub2(GenJoint) Translation error
/* Robot-type mismatch */ Call MySub2(GenLocArr[1]) Run-time error
/* Non-initialized generic point */ Call MySub2(GenLocArr[4]) Run-time error (robot-type mismatch)
By-Reference Parameters
Generic points can be used as by-reference parameters in function and subroutine prototypes. On the other hand, they can also be passed by-reference to both generic and non-generic point parameters. - Generic points used as by-reference parameters in function and subroutine prototypes can accept generic points and non-generic point variables, but cannot accept lists of coordinates, and point properties. The only limitation is that point-types (i.e., joint vs. location) must match. Non-initialized generic points can be passed by-reference, and may be initialized inside function \ subroutine block. However, usage without initialization within function \ subroutine block might raise a run-time error. Generic points as by-reference parameters in function \ subrotine prototypes:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ) Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYRLoc as Location of XYR Common shared XYZRLoc as Location of XYZR Common shared XYZRJoint as Joint of XYZR
Dim GenLocArr[10] as Generic Location
Function MyFunc1(GenParamLoc as Generic Location) as long … End Function
? MyFunc1(GenLoc) OK, generic point variable ? MyFunc1(XYRLoc) OK, non-generic point variable
/* Passing “values” by-reference is not allowed */ ? MyFunc1(#{10.0, 0.0, -10.0}) Translation error ? MyFunc1(CASTPOINT(#{10.0,0.0,-10.0},TYPE_XYZ)) Translation error ? MyFunc1(XYZRobot.DEST) Translation error
/* Point-type mismatch */ ? MyFunc1(GenJoint) Translation error ? MyFunc1(XYZRJoint) Translation error
/* Changing robot-type inside the function’s block */ Function MyFunc1(GenParamLoc as Generic Location) as long GenParamLoc = XYZRLoc End Function ? MyFunc1(GenLoc) OK. Robot-type of GenLoc was changed to XYZR. ? MyFunc1(XYRLoc) Error. Robot-types of XYRLoc and XYZRLoc differ.
/* Non-initialized generic points: no error for function call, but run-time error when trying to use the non-initialized parameter inside the function’s block */ ? MyFunc1(GenLocArr[1]) No error for function call
Function MyFunc1(GenParamLoc as Generic Location) as long ? GenParamLoc + #{1,0,1} Run-time error /* Initialization inside the function block */ GenParamLoc = XYRLoc End Function
- On the other hand, generic points can be passed by-reference as non-generic point parameters of functions and subroutines. Although the only limitation is that point-types (i.e., joint vs. location) must match, it is the user’s responsibility to also match the robot-type of the non-generic to prototype. Otherwise, robot-type declared in prototype becomes inapplicable. Therefore, passing a generic point by-reference to a non-generic prototype will raise a translation note.
Generic points passed by-reference to non-generic point parameters:
Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ) Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ)
Common shared XYZRLoc as Location of XYZR Common shared XYZRJoint as Joint of XYZR
Dim GenJointArr[10] as Generic Joint GenJointArr[1] = XYZRJoint
Function MyFunc2(ParamXYZJoint as Joint of XYZ) as String /* Query the robot-type of the non-generic parameter */
MyFunc2 = ROBOTTYPE$(ParamXYZJoint)
End Function
/* Initialized generic point with a matching robot-type */ ? MyFunc2(GenJoint) “XYZ”, Translation note /* Initialized generic point with a non-matching robot-type */ ? MyFunc2(GenJointArr[1]) “XYZR”, Translation note /* Non-Initialized generic point with no robot-type */ ? MyFunc2(GenJointArr[2]) “NONE”, Translation note
/* Point-type mismatch */
? MyFunc2(GenLoc) Translation error
Returned-Values
Generic points can be used as returned-values of functions. On the other hand, they can also be assigned to both generic and non-generic point returned-values. For assignment into non-generic point returned-values - generic points must be initialized first. - Generic points used as returned-values of functions can be assigned by generic points, non-generic points and point properties. The only limitation is that point-types (i.e., joint vs. location) must match. Assignment of a non-initialized generic point will result in an uninitialized returned-value, which might cause run-time errors when used inside or outside the function’s block. Assignment of lists of coordinates, which do not have robot -types, is forbidden. Thereby, assignment of a generic returned-value resembles initialization through assignment (see section 3).
Generic points as returned-values in functions:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ) Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYZRLoc as Location of XYZR Common shared XYZRJoint as Joint of XYZR
Dim shared GenLocArr[10] as Generic Joint
Function GenLocFunc(…) as Generic Location
GenLocFunc = <location_point>
End Function
Assignments with robot-types: GenLocFunc = GenLoc OK, initialized generic point GenLocFun = XYZRLoc OK, non-generic point GenLocFunc = XYZRobot.DEST OK, point property
Point-type mismatch: GenLocFunc = GenJoint Translation error GenLocFunc = XYZRJoint Translation error GenLocFunc = XYZRobot.DEST_JOINT Translation error
Assignments without robot-types: /* A list of coordinates */ GenLocFunc = #{10.0, 0.0, -10.0} Run-time error /* Non-initialized generic point */ GenLocFunc = GenLocArr[1] OK, but returned-value is uninitialized /*Using a non-initialized returned value will cause run-time error*/ Move XYZRobot GenLocFunc(…)
- On the other hand, generic points assigned into non-generic point returned-values of functions must also match prototype in robot-type, as well as in point-type.
Generic points assigned into non-generic point returned-values:
Common shared GenLoc as Generic Location=CASTPOINT(#{0,0,0},TYPE_XYZ) Common shared GenJoint as Generic Joint=CASTPOINT({0,0,0},TYPE_XYZ)
Common shared XYZLoc as Location of XYZ Common shared XYZJoint as Joint of XYZ
Dim shared XYZRJoint as Joint of XYZR
Dim GenJointArr[10] as Generic Joint GenJointArr[1] = XYZRJoint
Function JointXYZFunc as Joint of XYZ
JointXYZFunc = <joint_point>
End Function
JointXYZFunc = GenJoint OK (robot-type of GenJoint is XYZ)
/* Point-type mismatch */ JointXYZFunc = GenLoc Translation error
/* Robot-type mismatch */ JointXYZFunc = GenJointArr[1]) Run-time error
/* Non-initialized generic point */ JointXYZFunc = GenJointArr[2] Run-time error (robot-type mismatch)