Scripts

Scripts contain C++ code to fulfill more complex and application-specific functions required by the user. They attach to a skill and run in parallel with it. They enable, among other things, the interaction with hardware and software components, like grippers, plcs, ros nodes, etc.

Defined at file models/coordination.xml in package pitasc_library.

General structure

xml

Chain of prototype based inheritance

any_script --> script --> object --> dictionary --> base --> descriptive

All scripts are inheriting from ‘script’.

Scripts contain the following attributes inside the <type> tag.

Attributes inside `<type>` tag
Attribute	Description
id	Name of the script, e.g. “my_script”. Needs to be locally unique to allow identification. If not unique, a incrementing element e.g., “_no0”, “_no1”, “_no2”, … will be added
data_type	Already set by inheritance (dict)
prototype	The base type the script “inherits” from, e.g. “script”.

Scripts contain the following parameters inside the <meta> tag by default.

Members inside `<meta>` tag
Member	Description
description	Describes the script
implementation	Implementation details (links to the cpp class)
categories	Categories the script is part of (e.g., logging, io, ..)
visibility	Visibility of the script (one of: required, basic, expert, hidden)

The xml definition of a script basically looks like the following:

<type id= '{Choose unique id}' prototype= '{Add parent script id}'> <!-- reference here -->
    <meta>
        <member id="description"> {Choose meaningful description} </member>
        <member id="categories"> {Add category(s) separated by comma} <member>
        <member id="visibility"> {Choose enum} </member>
        <member id="implementation">
            <clone prototype="orocos">
                <member id="package"> {Add cpp library name} </member>
                <member id="component"> {Add name of the class from .cpp file} </member>
            </clone>
        </member>
    </meta>
</type>

(cpp library name could for example be cppitasc_scripts.)

Note