Wandelscript

Introduction

Wandelscript is a robust framework designed for defining, parsing, type checking, and executing advanced scripting capabilities for robot automation. It integrates grammar-based parsing, runtime execution, and plugin extensibility, making it suitable for complex robot programming scenarios.

Features

• Grammar Parsing: The Wandelscript grammar is defined and easily extensible. It is powered by ANTLR4 to generate efficient parsers.
• Runtime Execution: Includes a runtime environment capable of executing Wandelscript programs with support for custom plugins and built-in functions.
• Extensible Plugins: Supports adding custom functionality via Python-based plugins for robot control, kinematics, vision, and more.
• Built-in Libraries: Provides libraries for mathematical operations, string manipulations, pose interpolations, and interaction with industrial systems like OPC UA.
• Examples: Comprehensive example scripts are available to demonstrate use cases such as collision handling, multi-robot coordination, and TCP manipulation.
• Testing: Includes a set of unit tests to validate the functionality of the built-in components and plugins.

Grammar

The Wandelscript grammar is defined under wandelscript/grammar/. To generate the parser, use the following command:

cd wandelscript/grammar && poetry run antlr4 -Dlanguage=Python3 -visitor *.g4

Structure

The repository is organized as follows:

• Core Modules:
  • runtime.py: Implements the execution context for Wandelscript.
  • exception.py: Defines custom exceptions for Wandelscript.
  • models.py: Contains data models for serialization and execution.
  • metamodel.py: Facilitates runtime extensions and plugin registration.
• Built-ins: Found under wandelscript/builtins, these are pre-defined plugins for:
  • Math operations (math.py)
  • String manipulation (string.py)
  • Robotics control (controller.py)
• Examples: Demonstrates Wandelscript's capabilities with real-world use cases in wandelscript/examples/.

Dependencies

The project uses the Poetry dependency manager. Install the dependencies using:

poetry install

Key dependencies:

• Python 3.10+
• ANTLR4 for grammar processing
• wandelbots-nova for data types and interaction with robots
• Pydantic for data validation

Usage

1. CLI Tool: Use the wandelscript CLI tool
2. Extend Functionality: Add new plugins or built-ins to customize the scripting environment.
3. Examples: Refer to the /examples folder for sample Wandelscript files.

CLI Tool

There is a CLI tool wandelscript, as well as its shortcut pendant ws that gets installed into the Python environment when calling poetry install.

Example uses of the wandelscript CLI tool:

poetry run wandelscript --help
poetry run wandelscript my_script.cli
poetry run ws my_script.cli  # shortcut alternative to `poetry run wandelscript`

See poetry run wandelscript --help for information about available CLI arguments.

Contributing

Contributions are welcome! Here’s how you can help:

• Report bugs or suggest features via the issue tracker.
• Submit pull requests to improve code or documentation.
• Share example use cases or applications of Wandelscript.

Contact

Authors and contributors:

• Christoph Biering: Email
• Daniel Vorberg
• Dirk Sonnemann: Email
• Andreas Langenhagen: Email
• Mahsum Demir: Email

Feel free to reach out with questions, suggestions, or feedback!