Difference between revisions of "Namespace"

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=Background=
+
 
Application development requires “semi” global variables that are associated with a task and do not create conflicts if the same name is defined many times with a different namespace.
+
= Background =
Each task shall be able define a common shared variable with the same name, for example “var1”. Access from task is native like, “var1=1”, while access from command line or other tasks will require specification of a “namespace”, for example print task1::var1.
+
 
=Introduction=
+
Application development requires “semi” global variables that are associated with a task and do not create conflicts if the same name is defined many times with a different namespace. Each task shall be able define a common shared variable with the same name, for example “var1”. Access from task is native like, “var1=1”, while access from command line or other tasks will require specification of a “namespace”, for example print task1::var1.
 +
 
 +
= Introduction =
 +
 
 
This document describes the Namespace language feature. It presents the specifications and limitations of the feature and describes strategies in its implementation.
 
This document describes the Namespace language feature. It presents the specifications and limitations of the feature and describes strategies in its implementation.
  
=Specifications=
+
= Specifications =
==Declaration==
+
 
===Syntax===
+
== Declaration ==
<pre>
+
 
Common shared <variable_name> as <data_type> Namespace is <namespace_name>
+
=== Syntax ===
 +
<pre>Common shared <variable_name> as <data_type> Namespace is <namespace_name>
 
</pre>
 
</pre>
  
===Scope===
+
=== Scope ===
 +
 
 
Global variables only.
 
Global variables only.
===Available for the following Data types===
 
* Long
 
* Double
 
* String
 
* String of UTF8
 
* Joint of <robot_type>
 
* Location of <robot_type>
 
* Generic Joint
 
* Generic Location
 
* Structure
 
* Const Long
 
* Const Double
 
* Const String
 
* Const String of UTF8
 
* Const Joint of <robot_type>
 
* Const Location of <robot_type>
 
  
===Namespace name===
+
=== Available for the following Data types ===
The name of a PRG task without the extension.
+
 
Since it's a task name, it cannot include more than 8 characters.
+
*Long
Characters can only be alphabetical, numerical and underline.
+
*Double
The namespace can be a reserved word.
+
*String
The namespace task doesn't have to be loaded in memory.
+
*String of UTF8
 +
*Joint of <robot_type>
 +
*Location of <robot_type>
 +
*Generic Joint
 +
*Generic Location
 +
*Structure
 +
*Const Long
 +
*Const Double
 +
*Const String
 +
*Const String of UTF8
 +
*Const Joint of <robot_type>
 +
*Const Location of <robot_type>
  
===Limitations===
+
=== Namespace name ===
====Unavailable for the following elements====
 
* Real axes
 
* Real groups
 
* Generic axes
 
* Generic groups
 
* User errors
 
* User notes
 
* User Semaphores
 
* Cam tables
 
* Compensation tables
 
* Conveyers
 
* PLS
 
  
====In functions====
+
The name of a PRG task without the extension. Since it's a task name, it cannot include more than 8 characters. Characters can only be alphabetical, numerical and underline. The namespace can be a reserved word. The namespace task doesn't have to be loaded in memory.
* Cannot be used for function names.
 
* Cannot be used for parameter names.
 
  
<pre>
+
=== Limitations ===
MySub (byval param as long) namespace is MyTask     → syntax error in prototype
+
 
 +
==== Unavailable for the following elements ====
 +
 
 +
*Real axes
 +
*Real groups
 +
*Generic axes
 +
*Generic groups
 +
*User errors
 +
*User notes
 +
*User Semaphores
 +
*Cam tables
 +
*Compensation tables
 +
*Conveyers
 +
*PLS
 +
 
 +
==== In functions ====
 +
 
 +
*Cannot be used for function names.
 +
*Cannot be used for parameter names.
 +
<pre>MySub (byval param as long) namespace is MyTask     → syntax error in prototype
 
call MyTask::MySub(10)       → syntax error in function call
 
call MyTask::MySub(10)       → syntax error in function call
 
MyFunc (param as long namespace is MyTask) as string  → syntax error in prototype
 
MyFunc (param as long namespace is MyTask) as string  → syntax error in prototype
 
</pre>
 
</pre>
  
===Multiple global variables with identical names and different namespaces are allowed===
+
=== Multiple global variables with identical names and different namespaces are allowed ===
 +
 
 
Variables with identical names and different namespaces can also vary in number of dimensions (including scalars vs. arrays), data types (including different structure types) and robot types (for point variables).
 
Variables with identical names and different namespaces can also vary in number of dimensions (including scalars vs. arrays), data types (including different structure types) and robot types (for point variables).
 
+
<pre>' identical with different namespaces  
<pre>
 
/* identical with different namespaces */
 
 
Common shared Var1 as Long Namespace is Task1
 
Common shared Var1 as Long Namespace is Task1
 
Common shared Var1 as Long Namespace is Task2
 
Common shared Var1 as Long Namespace is Task2
  
  /* various number of dimensions with different namespaces */
+
  ' various number of dimensions with different namespaces  
 
Common shared Var2 as Double Namespace is Task1
 
Common shared Var2 as Double Namespace is Task1
 
Common shared Var2[10] as Double Namespace is Task2
 
Common shared Var2[10] as Double Namespace is Task2
 
Common shared Var2[3][5][7] as Double Namespace is Task3
 
Common shared Var2[3][5][7] as Double Namespace is Task3
  
/* various data types with different namespaces */
+
' various data types with different namespaces  
 
Common shared Var3 as String of UTF8 Namespace is Task1
 
Common shared Var3 as String of UTF8 Namespace is Task1
 
Common shared Var3 as Generic Location Namespace is Task2
 
Common shared Var3 as Generic Location Namespace is Task2
  
/* various robot types with different namespaces */
+
' various robot types with different namespaces  
 
Common shared Var4 as Joint of XY Namespace is Task1
 
Common shared Var4 as Joint of XY Namespace is Task1
 
Common shared Var4 as Joint of XYZR Namespace is Task2
 
Common shared Var4 as Joint of XYZR Namespace is Task2
  
/* various structure types with different namespaces */
+
' various structure types with different namespaces  
 
Common shared Var5 as StructType1 Namespace is Task1
 
Common shared Var5 as StructType1 Namespace is Task1
 
Common shared Var5 as StructType2 Namespace is Task2
 
Common shared Var5 as StructType2 Namespace is Task2
  
/* and also one without a namespace */
+
' and also one without a namespace  
 
Common shared Var1 as Long
 
Common shared Var1 as Long
 
</pre>
 
</pre>
  
==Applying to variables with namespaces==
+
== Applying to variables with namespaces ==
===Access===
+
 
====Outside the "namespace" task====
+
=== Access ===
 +
 
 +
==== Outside the "namespace" task ====
 +
 
 
The variable can only be accessed by using a prefix added to its name. The prefix will be composed of the namespace, followed by a double colon.
 
The variable can only be accessed by using a prefix added to its name. The prefix will be composed of the namespace, followed by a double colon.
<pre>
+
<pre><namespace>::<variable_name>
<namespace>::<variable_name>
 
 
</pre>
 
</pre>
  
====Within the "namespace" task====
+
==== Within the "namespace" task ====
  
 
The variable can be accessed directly, without using its namespace prefix. It can also be accessed through its namespace prefix.
 
The variable can be accessed directly, without using its namespace prefix. It can also be accessed through its namespace prefix.
  
 
+
&nbsp;
<pre>
+
<pre>Common shared Str1 as string namespace is StrTask
Common shared Str1 as string namespace is StrTask
 
  
 
In StrTask.PRG:
 
In StrTask.PRG:
Line 120: Line 125:
 
Str = "IJKL" → Variable Str1 does not exist
 
Str = "IJKL" → Variable Str1 does not exist
 
? Str1 →Variable Str1 does not exist
 
? Str1 →Variable Str1 does not exist
/* Unless there is a global Str1 without a namespace */
+
' Unless there is a global Str1 without a namespace  
  
 
StrTask::Str1 = "IJKL"
 
StrTask::Str1 = "IJKL"
Line 126: Line 131:
  
  
/* Namespace can be used with a function\ subroutine argument */
+
' Namespace can be used with a function\ subroutine argument  
 
Common shared Str1 as string namespace is StrTask
 
Common shared Str1 as string namespace is StrTask
  
Line 139: Line 144:
  
 
? MyFunc (Str1)  Variable Str1 does not exist
 
? MyFunc (Str1)  Variable Str1 does not exist
/* Unless there is a global Str1 without a namespace */
+
' Unless there is a global Str1 without a namespace  
  
 
</pre>
 
</pre>
  
===Priority===
+
=== Priority ===
====Priority within program block====
+
 
 +
==== Priority within program block ====
  
 
Below static variables and above global variables.
 
Below static variables and above global variables.
 
+
<pre>Common shared X1 as long = 1
<pre>
 
Common shared X1 as long = 1
 
 
Common shared X1 as long namespace is MyTask = 2
 
Common shared X1 as long namespace is MyTask = 2
  
Line 163: Line 167:
 
Dim X3 as long = 600
 
Dim X3 as long = 600
  
?X1 → 2 /* X1 refers to the "namespaced" variable */
+
?X1 → 2 ' X1 refers to the "namespaced" variable  
?X2 → 40 /* X2 refers to the static variable */
+
?X2 → 40 ' X2 refers to the static variable  
?X3 → 600 /* X3 refers to the local variable */
+
?X3 → 600 ' X3 refers to the local variable  
 
END PROGRAM
 
END PROGRAM
  
Line 175: Line 179:
  
 
PROGRAM
 
PROGRAM
X1 = 2   /* X1 refers to the "namespeced" variable */
+
X1 = 2   ' X1 refers to the "namespeced" variable
 
END PROGRAM
 
END PROGRAM
  
 
? MyTask.PRG.MyTask::X1 →2  
 
? MyTask.PRG.MyTask::X1 →2  
? MyTask.PRG. X1 →2  /* X1 refers to the "namespeced" variable and not to the global variable */
+
? MyTask.PRG. X1 →2  ' X1 refers to the "namespeced" variable and not to the global variable  
 
</pre>
 
</pre>
  
====Priority in watch command====
+
==== Priority in watch command ====
  
 +
=== Within commands ===
  
 +
==== Commands using variables ====
  
 
+
*FOR loop  
 
+
*ASCII system function  
 
+
*PRINTUSING$ command  
 
+
*WATCH command  
 
+
<pre>Common shared Index1 as long namespace is MyTask  
 
 
 
 
 
 
 
 
===Within commands===
 
====Commands using variables====
 
* FOR loop
 
* ASCII system function
 
* PRINTUSING$ command
 
* WATCH command
 
 
 
<pre>
 
Common shared Index1 as long namespace is MyTask  
 
 
Common shared Str1 as string namespace is MyTask  
 
Common shared Str1 as string namespace is MyTask  
  
Line 216: Line 209:
 
PRINTU$ MyTask::Str1, "##"; 1
 
PRINTU$ MyTask::Str1, "##"; 1
  
WATCH MyTask::Index1 /* Available only from terminal */
+
WATCH MyTask::Index1 ' Available only from terminal
  
 
Inside MyTask.PRG:
 
Inside MyTask.PRG:
Line 229: Line 222:
 
</pre>
 
</pre>
  
====Commands using array names====
+
==== Commands using array names ====
* ARRAYSIZE system function
+
 
* PASS Motion command
+
*ARRAYSIZE system function  
<pre>
+
*PASS Motion command  
Common shared JntArray[4] as joint of XYZR namespace is MyTask  
+
<pre>Common shared JntArray[4] as joint of XYZR namespace is MyTask  
 
Common shared DblArray[4] as double namespace is MyTask  
 
Common shared DblArray[4] as double namespace is MyTask  
  
Line 240: Line 233:
 
PASS Scara Nodes = MyTask:: JntArray Stretchvector = MyTask:: DblArray
 
PASS Scara Nodes = MyTask:: JntArray Stretchvector = MyTask:: DblArray
  
? ARRAYSIZE(MyTask :: JntArray, 1)
+
? ARRAYSIZE(MyTask&nbsp;:: JntArray, 1)
  
 
Inside MyTask.PRG:
 
Inside MyTask.PRG:
Line 250: Line 243:
 
</pre>
 
</pre>
  
====Save command====
+
==== Save command ====
 +
 
 
In order to save a "namespaced" variable, the variable name string- parameter must include the namespace prefix, even inside the namespace task.
 
In order to save a "namespaced" variable, the variable name string- parameter must include the namespace prefix, even inside the namespace task.
<pre>
+
<pre>Common shared Var1 as long namespace is MyTask = 10
Common shared Var1 as long namespace is MyTask = 10
 
 
Common shared Var1 as long = 1000
 
Common shared Var1 as long = 1000
  
 
Namespace prefix should be used both inside and outside MyTask.PRG:
 
Namespace prefix should be used both inside and outside MyTask.PRG:
/* saving a “namespaced” variable */
+
' saving a “namespaced” variable  
 
Save File = "MySave.PRG" Type = Long Variablename = "MyTask::Var1"
 
Save File = "MySave.PRG" Type = Long Variablename = "MyTask::Var1"
  
Line 264: Line 257:
 
MYTASK::VAR1 = 10
 
MYTASK::VAR1 = 10
  
/* saving a regular (that doesn’t have a namespace) global variable */
+
' saving a regular (that doesn’t have a namespace) global variable  
 
Save File = "MySave.PRG" Type = Long Variablename = " Var1"
 
Save File = "MySave.PRG" Type = Long Variablename = " Var1"
  
Line 272: Line 265:
 
</pre>
 
</pre>
  
==== Varlist command====
+
==== Varlist command ====
In order to exhibit "namespaced" variables through Varlist command, the variables must include a namespace prefix, which can be partial with wild cards (*, ?).
+
 
<pre>
+
In order to exhibit "namespaced" variables through Varlist command, the variables must include a namespace prefix, which can be partial with wild cards (*,&nbsp;?).
Common shared Var1 as long namespace is MyTask1 = 10
+
<pre>Common shared Var1 as long namespace is MyTask1 = 10
 
Common shared Var2 as double namespace is MyTask1 = 0.5
 
Common shared Var2 as double namespace is MyTask1 = 0.5
 
Common shared Var1 as string namespace is MyTask2 = "ABC"
 
Common shared Var1 as string namespace is MyTask2 = "ABC"
Line 287: Line 280:
 
? Varlist *::* →MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
 
? Varlist *::* →MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
  
/* Without any part of the namespace prefix */
+
' Without any part of the namespace prefix
 
? Varlist Var* →No variables found
 
? Varlist Var* →No variables found
 
</pre>
 
</pre>
  
====Deletevar command====
+
==== Deletevar command ====
In order to delete "namespaced" variables through Deletevar command, the variables must include a namespace prefix, which can be partial with wild cards (*, ?).
 
As with regular global variables, "namespaced" variables cannot be deleted until all tasks applying to these variables will be unloaded.
 
  
<pre>
+
In order to delete "namespaced" variables through Deletevar command, the variables must include a namespace prefix, which can be partial with wild cards (*,&nbsp;?). As with regular global variables, "namespaced" variables cannot be deleted until all tasks applying to these variables will be unloaded.
Common shared Var1 as long namespace is MyTask1 = 10
+
<pre>Common shared Var1 as long namespace is MyTask1 = 10
 
Common shared Var2 as double namespace is MyTask1 = 0.5
 
Common shared Var2 as double namespace is MyTask1 = 0.5
 
Common shared Var1 as string namespace is MyTask2 = "ABC"
 
Common shared Var1 as string namespace is MyTask2 = "ABC"
Line 308: Line 299:
 
Deletevar *::* → MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
 
Deletevar *::* → MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
  
/* Without any part of the namespace prefix */
+
' Without any part of the namespace prefix
 
Deletevar Var* → No variables found
 
Deletevar Var* → No variables found
 
</pre>
 
</pre>

Revision as of 15:27, 10 July 2019

Background

Application development requires “semi” global variables that are associated with a task and do not create conflicts if the same name is defined many times with a different namespace. Each task shall be able define a common shared variable with the same name, for example “var1”. Access from task is native like, “var1=1”, while access from command line or other tasks will require specification of a “namespace”, for example print task1::var1.

Introduction

This document describes the Namespace language feature. It presents the specifications and limitations of the feature and describes strategies in its implementation.

Specifications

Declaration

Syntax

Common shared <variable_name> as <data_type> Namespace is <namespace_name>

Scope

Global variables only.

Available for the following Data types

  • Long
  • Double
  • String
  • String of UTF8
  • Joint of <robot_type>
  • Location of <robot_type>
  • Generic Joint
  • Generic Location
  • Structure
  • Const Long
  • Const Double
  • Const String
  • Const String of UTF8
  • Const Joint of <robot_type>
  • Const Location of <robot_type>

Namespace name

The name of a PRG task without the extension. Since it's a task name, it cannot include more than 8 characters. Characters can only be alphabetical, numerical and underline. The namespace can be a reserved word. The namespace task doesn't have to be loaded in memory.

Limitations

Unavailable for the following elements

  • Real axes
  • Real groups
  • Generic axes
  • Generic groups
  • User errors
  • User notes
  • User Semaphores
  • Cam tables
  • Compensation tables
  • Conveyers
  • PLS

In functions

  • Cannot be used for function names.
  • Cannot be used for parameter names.
MySub (byval param as long) namespace is MyTask 	     → syntax error in prototype
call MyTask::MySub(10)			    		  → syntax error in function call
MyFunc (param as long namespace is MyTask) as string  → syntax error in prototype

Multiple global variables with identical names and different namespaces are allowed

Variables with identical names and different namespaces can also vary in number of dimensions (including scalars vs. arrays), data types (including different structure types) and robot types (for point variables).

' identical with different namespaces 
Common shared Var1 as Long Namespace is Task1
Common shared Var1 as Long Namespace is Task2

 ' various number of dimensions with different namespaces 
Common shared Var2 as Double Namespace is Task1
Common shared Var2[10] as Double Namespace is Task2
Common shared Var2[3][5][7] as Double Namespace is Task3

' various data types with different namespaces 
Common shared Var3 as String of UTF8 Namespace is Task1
Common shared Var3 as Generic Location Namespace is Task2

' various robot types with different namespaces 
Common shared Var4 as Joint of XY Namespace is Task1
Common shared Var4 as Joint of XYZR Namespace is Task2

' various structure types with different namespaces 
Common shared Var5 as StructType1 Namespace is Task1
Common shared Var5 as StructType2 Namespace is Task2

' and also one without a namespace 
Common shared Var1 as Long

Applying to variables with namespaces

Access

Outside the "namespace" task

The variable can only be accessed by using a prefix added to its name. The prefix will be composed of the namespace, followed by a double colon.

<namespace>::<variable_name>

Within the "namespace" task

The variable can be accessed directly, without using its namespace prefix. It can also be accessed through its namespace prefix.

 

Common shared Str1 as string namespace is StrTask

In StrTask.PRG:

Program
	StrTask::Str1 = "ABCD"
	? Str1			 	→ ABCD
	Str1 = "EFGH"
	? StrTask::Str1	 	→ EFGH
End Program

From terminal, another task or library:

Str = "IJKL"		→ Variable Str1 does not exist
? Str1 		 →Variable Str1 does not exist 	
' Unless there is a global Str1 without a namespace 

StrTask::Str1 = "IJKL"
? StrTask::Str1 			→IJKL


' Namespace can be used with a function\ subroutine argument 
Common shared Str1 as string namespace is StrTask

In StrTask.PRG:

? MyFunc (StrTask::Str1)
? MyFunc (Str1)

From terminal, another task or library:

? MyFunc (StrTask::Str1)

? MyFunc (Str1)	 Variable Str1 does not exist	
' Unless there is a global Str1 without a namespace 

Priority

Priority within program block

Below static variables and above global variables.

Common shared X1 as long = 1	
Common shared X1 as long namespace is MyTask = 2

Common shared X2 as long namespace is MyTask = 30  
Dim shared X2 as long = 40

Common shared X3 as long namespace is MyTask = 500  
Dim shared X3 as long = 40

In MyTask.PRG:

PROGRAM
Dim X3 as long = 600

	?X1 → 2	 ' X1 refers to the "namespaced" variable 
	?X2 → 40	' X2 refers to the static variable 
	?X3 → 600	' X3 refers to the local variable 
END PROGRAM

Common shared X1 as long = 10	
Common shared X1 as long namespace is MyTask 


In MyTask.PRG (task paused):

PROGRAM
	X1 = 2	  ' X1 refers to the "namespeced" variable 	
END PROGRAM

? MyTask.PRG.MyTask::X1	→2 
? MyTask.PRG. X1 			→2  ' X1 refers to the "namespeced" variable and not to the global variable 

Priority in watch command

Within commands

Commands using variables

  • FOR loop
  • ASCII system function
  • PRINTUSING$ command
  • WATCH command
Common shared Index1 as long namespace is MyTask 
Common shared Str1 as string namespace is MyTask 

Outside and inside MyTask.PRG:

For MyTask::Index1 = 1 to 10
	…
Next MyTask::Index1

? ASCII (MyTask::Str1, 1)

PRINTU$ MyTask::Str1, "##"; 1

WATCH MyTask::Index1 	' Available only from terminal  

Inside MyTask.PRG:

For Index1 = 1 to 10
	…
Next Index1

? ASCII(Str1, 1)

PRINTU$ Str1, "##"; 1

Commands using array names

  • ARRAYSIZE system function
  • PASS Motion command
Common shared JntArray[4] as joint of XYZR namespace is MyTask 
Common shared DblArray[4] as double namespace is MyTask 

Outside and inside MyTask.PRG:

PASS Scara Nodes = MyTask:: JntArray Stretchvector = MyTask:: DblArray

? ARRAYSIZE(MyTask :: JntArray, 1)

Inside MyTask.PRG:

PASS Scara Nodes = JntArray Stretchvector = DblArray

? ARRAYSIZE(JntArray, 1)

Save command

In order to save a "namespaced" variable, the variable name string- parameter must include the namespace prefix, even inside the namespace task.

Common shared Var1 as long namespace is MyTask = 10
Common shared Var1 as long = 1000

Namespace prefix should be used both inside and outside MyTask.PRG:
' saving a “namespaced” variable 
Save File = "MySave.PRG" Type = Long Variablename = "MyTask::Var1"

Result in MySave.PRG:

MYTASK::VAR1 = 10

' saving a regular (that doesn’t have a namespace) global variable 
Save File = "MySave.PRG" Type = Long Variablename = " Var1"

Result in MySave.PRG:

VAR1 = 1000

Varlist command

In order to exhibit "namespaced" variables through Varlist command, the variables must include a namespace prefix, which can be partial with wild cards (*, ?).

Common shared Var1 as long namespace is MyTask1 = 10
Common shared Var2 as double namespace is MyTask1 = 0.5
Common shared Var1 as string namespace is MyTask2 = "ABC"

At least part of the namespace prefix must be used in Varlist command:

? Varlist MyTask1::Var1	 →MyTask1::Var1
? Varlist MyTask1::*	 →MyTask1::Var1, MyTask1::Var2
? Varlist MyTask?::Var?	 →MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
? Varlist *::Var1		 →MyTask1::Var1, MyTask2::Var1
? Varlist *::*			 →MyTask1::Var1, MyTask1::Var2, MyTask2::Var1

' Without any part of the namespace prefix 	
? Varlist Var*			 →No variables found

Deletevar command

In order to delete "namespaced" variables through Deletevar command, the variables must include a namespace prefix, which can be partial with wild cards (*, ?). As with regular global variables, "namespaced" variables cannot be deleted until all tasks applying to these variables will be unloaded.

Common shared Var1 as long namespace is MyTask1 = 10
Common shared Var2 as double namespace is MyTask1 = 0.5
Common shared Var1 as string namespace is MyTask2 = "ABC"

At least part of the namespace prefix must be used in Deletevar command:

Deletevar MyTask1::Var1	 →MyTask1::Var1
Deletevar MyTask1::*	→ MyTask1::Var1, MyTask1::Var2
Deletevar MyTask?::Var?	→ MyTask1::Var1, MyTask1::Var2, MyTask2::Var1
Deletevar *::Var1		 MyTask1::Var1, MyTask2::Var1
Deletevar *::*		→ MyTask1::Var1, MyTask1::Var2, MyTask2::Var1

' Without any part of the namespace prefix 	
Deletevar Var*		→ No variables found