2019-07-30 00:13:00 -04:00
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""ArmCtlListener.py: python listener for ArmControl scripts."""
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__author__ = "Kevin Matz"
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__copyright__ = "Copyright 2019, Company 235, LLC"
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__credits__ = ["Kevin Matz"]
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__license__ = "MIT"
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__version__ = "0.1"
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__maintainer__ = "Kevin Matz"
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__email__ = "kevin@company235.com"
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__status__ = "Prototype"
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import logging
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from ArmControlParser import ArmControlParser
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from ArmControlListener import ArmControlListener
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from robot import Robot
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from time import sleep
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logger = logging.getLogger('__main__')
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class ArmCtlListener(ArmControlListener):
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def __init__(self, robot):
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self.r = robot
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# Exit a parse tree produced by ArmControlParser#Go.
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def exitGo(self, ctx: ArmControlParser.GoContext):
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if ctx.coords() is not None:
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self.r.move(ctx.coords().values)
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return
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if ctx.name() is None:
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logger.error("ERROR: Go command with no name?")
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return
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if ctx.value() is None:
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2019-07-30 11:22:03 -04:00
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preset = self.r.preset.get(ctx.name().getText(), None)
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if preset is None:
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logger.error("ERROR: Preset not found")
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return
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preset = self.r.read_preset(preset)
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if preset is None:
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logger.error("ERROR: preset invalid")
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return
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self.r.target = preset
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self.r.move()
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2019-07-30 00:13:00 -04:00
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return
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2019-07-30 11:07:17 -04:00
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index = int(self.r.config.get(ctx.name().getText(), None))
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self.r.target[index] = ctx.value().value
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self.r.move()
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2019-07-30 00:13:00 -04:00
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# Exit a parse tree produced by ArmControlParser#Pause.
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def exitPause(self, ctx: ArmControlParser.PauseContext):
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sleep(ctx.number().value)
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# Exit a parse tree produced by ArmControlParser#Wait.
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def exitWait(self, ctx: ArmControlParser.WaitContext):
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2019-07-30 11:21:45 -04:00
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while self.r.isMoving():
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2019-07-30 00:13:00 -04:00
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pass
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if (ctx.number() is not None):
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sleep(ctx.number().value)
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# Enter a parse tree produced by ArmControlParser#coords.
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def enterCoords(self, ctx: ArmControlParser.CoordsContext):
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self.values = []
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self.index = 0
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2019-07-30 10:40:20 -04:00
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# Exit a parse tree produced by ArmControlParser#value.
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def exitValue(self, ctx: ArmControlParser.ValueContext):
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if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
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ctx.parentCtx.values.insert(ctx.parentCtx.index, ctx.value)
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2019-07-30 00:13:00 -04:00
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# Exit a parse tree produced by ArmControlParser#number.
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def exitNumber(self, ctx: ArmControlParser.NumberContext):
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try:
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ctx.value = int(ctx.getText())
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except ValueError:
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ctx.value = float(ctx.getText())
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2019-07-30 10:39:55 -04:00
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if isinstance(ctx.parentCtx, ArmControlParser.ValueContext):
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ctx.parentCtx.value = ctx.value
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# Exit a parse tree produced by ArmControlParser#hexidecimal.
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def exitHexidecimal(self, ctx: ArmControlParser.HexidecimalContext):
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ctx.value = int(ctx.getText(), 16)
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if isinstance(ctx.parentCtx, ArmControlParser.ValueContext):
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ctx.parentCtx.value = ctx.value
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2019-07-30 00:13:00 -04:00
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# Exit a parse tree produced by ArmControlParser#seperator.
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def exitSeperator(self, ctx: ArmControlParser.SeperatorContext):
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if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
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ctx.parentCtx.index += 1
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