implement scripting language

ArmCtlListener.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""ArmCtlListener.py: python listener for ArmControl scripts."""
+
+__author__ = "Kevin Matz"
+__copyright__ = "Copyright 2019, Company 235, LLC"
+__credits__ = ["Kevin Matz"]
+
+__license__ = "MIT"
+__version__ = "0.1"
+__maintainer__ = "Kevin Matz"
+__email__ = "kevin@company235.com"
+
+__status__ = "Prototype"
+
+
+import logging
+from ArmControlParser import ArmControlParser
+from ArmControlListener import ArmControlListener
+from robot import Robot
+from time import sleep
+
+logger = logging.getLogger('__main__')
+
+
+class ArmCtlListener(ArmControlListener):
+    def __init__(self, robot):
+        self.r = robot
+
+    # Exit a parse tree produced by ArmControlParser#Go.
+    def exitGo(self, ctx: ArmControlParser.GoContext):
+        if ctx.coords() is not None:
+            self.r.move(ctx.coords().values)
+            return
+        if ctx.name() is None:
+            logger.error("ERROR: Go command with no name?")
+            return
+        if ctx.value() is None:
+            logger.info("Go-ing to presets not supported yet.")
+            return
+        values = []
+        values.insert(self.r.config.get(ctx.name.getText(), None),
+                      ctx.value().value)
+        self.r.move(values)
+        pass
+
+    # Exit a parse tree produced by ArmControlParser#Pause.
+    def exitPause(self, ctx: ArmControlParser.PauseContext):
+        sleep(ctx.number().value)
+
+    # Exit a parse tree produced by ArmControlParser#Wait.
+    def exitWait(self, ctx: ArmControlParser.WaitContext):
+        while self.r.isMoving:
+            pass
+        if (ctx.number() is not None):
+            sleep(ctx.number().value)
+
+    # Enter a parse tree produced by ArmControlParser#coords.
+    def enterCoords(self, ctx: ArmControlParser.CoordsContext):
+        self.values = []
+        self.index = 0
+
+    # Exit a parse tree produced by ArmControlParser#number.
+    def exitNumber(self, ctx: ArmControlParser.NumberContext):
+        try:
+            ctx.value = int(ctx.getText())
+        except ValueError:
+            ctx.value = float(ctx.getText())
+        if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
+            ctx.parentCtx.values.insert(ctx.parentCtx.index, ctx.value)
+
+    # Exit a parse tree produced by ArmControlParser#seperator.
+    def exitSeperator(self, ctx: ArmControlParser.SeperatorContext):
+        if isinstance(ctx.parentCtx, ArmControlParser.CoordsContext):
+            ctx.parentCtx.index += 1