scaralang
Python toolchain and compiler for the SCARA Robotics
Project maintained by vroncevic Hosted on GitHub Pages — Theme by mattgraham
SCARA Robotics Domain-Specific Language (DSL) Toolchain & Binary Protocol Codec
scaralang is a standalone, lightweight, GUI-independent Python toolchain and compiler for the SCARA Robotics Domain-Specific Language (DSL), combined with the official SCARA Wire Binary Protocol Codec.
Developed in python code.
The README is used to introduce the modules and provide instructions on how to install the modules, any machine dependencies it may have and any other information that should be provided before the modules are installed.
Table of Contents
- 🚀 Installation
- 📦 Dependencies
- 📁 Tool structure
- 📊 Code coverage
- 🛠 Usage
- 📚 Docs
- 👥 Contributing
- 📄 Copyright and licence
🚀 Installation
Used next development environment
Currently there are three ways to install package
- Install process based on using pip mechanism
- Install process based on build mechanism
- Install process based on setup.py mechanism
- Install process based on docker mechanism
Install using pip
scaralang is located at pypi.org.
You can install by using pip
# python3
pip3 install scaralang
Install using build
Navigate to release page download and extract release archive.
To install scaralang type the following
tar xvzf scaralang-x.y.z.tar.gz
cd scaralang-x.y.z/
# python3
wget https://bootstrap.pypa.io/get-pip.py
python3 get-pip.py
python3 -m pip install --upgrade setuptools
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade build
pip3 install -r requirements.txt
python3 -m build --no-isolation --wheel
pip3 install ./dist/scaralang-*-py3-none-any.whl
rm -f get-pip.py
chmod 755 /usr/local/lib/python3.10/dist-packages/usr/local/bin/scarac.py
ln -s /usr/local/lib/python3.10/dist-packages/usr/local/bin/scarac.py /usr/local/bin/scarac
Install using py setup
Navigate to release page download and extract release archive.
To install scaralang locate and run setup.py with arguments
tar xvzf scaralang-x.y.z.tar.gz
cd scaralang-x.y.z
# python3
pip3 install -r requirements.txt
python3 setup.py install_lib
python3 setup.py install_egg_info
Install using docker
You can use Dockerfile to create image/container.
📦 Dependencies
scaralang requires next modules and libraries
📁 Tool structure
scaralang is based on OOP and Clean Architecture.
Tool structure
Click to expand framework structure</summary>
scaralang/
├── core/
│ ├── __init__.py
│ ├── model/
│ │ ├── dsl/
│ │ │ ├── ast/
│ │ │ │ ├── command_type.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── instruction.py
│ │ │ │ ├── instruction_param.py
│ │ │ │ ├── jog_axis.py
│ │ │ │ ├── pneumatic_state.py
│ │ │ │ ├── program.py
│ │ │ │ ├── speed_mode.py
│ │ │ │ ├── tool_orient_mode.py
│ │ │ │ ├── tool_position.py
│ │ │ │ └── zone_mode.py
│ │ │ ├── binary/
│ │ │ │ ├── binary_program_telemetry.py
│ │ │ │ ├── disassembled_frame.py
│ │ │ │ ├── disassembly_summary.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── parsed_command_token.py
│ │ │ │ ├── program.py
│ │ │ │ └── step.py
│ │ │ ├── compiler/
│ │ │ │ ├── arc_geometry.py
│ │ │ │ ├── control_waypoint_descriptor.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── scara_compiler_context.py
│ │ │ ├── diagnostic/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── scara_diagnostic.py
│ │ │ │ ├── scara_diagnostic_code.py
│ │ │ │ └── scara_diagnostic_severity.py
│ │ │ ├── exporter/
│ │ │ │ ├── export_format.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── linter/
│ │ │ │ ├── __init__.py
│ │ │ │ └── scara_lint_context.py
│ │ │ ├── macro/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pallet_definition.py
│ │ │ │ └── work_frame.py
│ │ │ └── token/
│ │ │ ├── __init__.py
│ │ │ ├── lexer_pattern_kind.py
│ │ │ ├── scara_token.py
│ │ │ └── scara_token_type.py
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── elbow_config.py
│ │ │ ├── __init__.py
│ │ │ ├── point_2d.py
│ │ │ ├── point_3d.py
│ │ │ ├── scara_bounds.py
│ │ │ └── transmission_parameters.py
│ │ ├── motor/
│ │ │ ├── axis_mask.py
│ │ │ ├── __init__.py
│ │ │ ├── motor_config.py
│ │ │ ├── motor_drive_mode.py
│ │ │ └── motor_interface_type.py
│ │ ├── protocol/
│ │ │ ├── binary_delimiter.py
│ │ │ ├── binary_frame.py
│ │ │ ├── error_code.py
│ │ │ ├── __init__.py
│ │ │ ├── joint_steps.py
│ │ │ ├── message_id.py
│ │ │ ├── motor_wire_mode.py
│ │ │ └── tool_id.py
│ │ ├── repl/
│ │ │ ├── __init__.py
│ │ │ ├── repl_dispatch_result.py
│ │ │ └── repl_session_context.py
│ │ └── trajectory/
│ │ ├── arc_point.py
│ │ ├── axis_peak_metric.py
│ │ ├── bottleneck_incident.py
│ │ ├── circle_geometry.py
│ │ ├── __init__.py
│ │ ├── trajectory_cycle_report.py
│ │ ├── validation_result.py
│ │ └── waypoint.py
│ └── service/
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── binary_compiler.py
│ │ │ ├── binary_compiler_factory.py
│ │ │ ├── command/
│ │ │ │ ├── command_compiler.py
│ │ │ │ ├── command_compiler_factory.py
│ │ │ │ ├── icommand_compiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor/
│ │ │ │ │ ├── imotor_frame_builder.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── motor_frame_builder.py
│ │ │ │ │ └── motor_frame_builder_factory.py
│ │ │ │ ├── tokens/
│ │ │ │ │ ├── command_token_parser.py
│ │ │ │ │ ├── command_token_parser_factory.py
│ │ │ │ │ ├── icommand_token_parser.py
│ │ │ │ │ └── __init__.py
│ │ │ │ └── tool/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── itool_frame_builder.py
│ │ │ │ ├── tool_frame_builder.py
│ │ │ │ └── tool_frame_builder_factory.py
│ │ │ ├── ibinary_compiler.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics/
│ │ │ │ ├── binary_metrics_calculator.py
│ │ │ │ ├── binary_metrics_calculator_factory.py
│ │ │ │ ├── ibinary_metrics_calculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── imotion_compiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motion_compiler.py
│ │ │ │ └── motion_compiler_factory.py
│ │ │ └── step/
│ │ │ ├── __init__.py
│ │ │ ├── istep_discretizer.py
│ │ │ ├── iwaypoint_step_dispatcher.py
│ │ │ ├── step_discretizer.py
│ │ │ ├── step_discretizer_factory.py
│ │ │ ├── waypoint_step_dispatcher.py
│ │ │ └── waypoint_step_dispatcher_factory.py
│ │ ├── frame/
│ │ │ ├── frame_transformer.py
│ │ │ ├── frame_transformer_factory.py
│ │ │ ├── iframe_transformer.py
│ │ │ └── __init__.py
│ │ ├── iinstruction_pipeline.py
│ │ ├── __init__.py
│ │ ├── instruction_pipeline.py
│ │ ├── instruction_pipeline_factory.py
│ │ ├── iprimitive_instruction_processor.py
│ │ ├── iscara_compiler.py
│ │ ├── macro/
│ │ │ ├── frame_macro_expander.py
│ │ │ ├── frame_macro_expander_factory.py
│ │ │ ├── imacro_expander.py
│ │ │ ├── __init__.py
│ │ │ ├── itangent_macro_expander.py
│ │ │ ├── jump_macro_expander.py
│ │ │ ├── jump_macro_expander_factory.py
│ │ │ ├── pallet_macro_expander.py
│ │ │ ├── pallet_macro_expander_factory.py
│ │ │ ├── tangent_macro_expander.py
│ │ │ └── tangent_macro_expander_factory.py
│ │ ├── motion/
│ │ │ ├── arc/
│ │ │ │ ├── arc_move_compiler.py
│ │ │ │ ├── arc_move_compiler_factory.py
│ │ │ │ ├── builder/
│ │ │ │ │ ├── arc_waypoint_builder.py
│ │ │ │ │ ├── arc_waypoint_builder_factory.py
│ │ │ │ │ ├── iarc_waypoint_builder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── calculator/
│ │ │ │ │ ├── arc_point_calculator.py
│ │ │ │ │ ├── arc_point_calculator_factory.py
│ │ │ │ │ ├── iarc_point_calculator.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── interpolation/
│ │ │ │ ├── arc_interpolator.py
│ │ │ │ ├── arc_interpolator_factory.py
│ │ │ │ ├── iarc_interpolator.py
│ │ │ │ └── __init__.py
│ │ │ ├── cartesian/
│ │ │ │ ├── cartesian_move_compiler.py
│ │ │ │ ├── cartesian_move_compiler_factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── imotion_sub_compiler.py
│ │ │ ├── __init__.py
│ │ │ ├── motion_command_compiler.py
│ │ │ ├── motion_command_compiler_factory.py
│ │ │ └── vertical/
│ │ │ ├── __init__.py
│ │ │ ├── vertical_move_compiler.py
│ │ │ └── vertical_move_compiler_factory.py
│ │ ├── primitive/
│ │ │ ├── control/
│ │ │ │ ├── control_command_compiler.py
│ │ │ │ ├── control_command_compiler_factory.py
│ │ │ │ ├── control_waypoint_builder.py
│ │ │ │ ├── control_waypoint_builder_factory.py
│ │ │ │ ├── icontrol_waypoint_builder.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── iprimitive_compiler.py
│ │ │ ├── state/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── state_command_compiler.py
│ │ │ │ └── state_command_compiler_factory.py
│ │ │ └── tool/
│ │ │ ├── __init__.py
│ │ │ ├── itool_waypoint_builder.py
│ │ │ ├── tool_command_compiler.py
│ │ │ ├── tool_command_compiler_factory.py
│ │ │ ├── tool_waypoint_builder.py
│ │ │ └── tool_waypoint_builder_factory.py
│ │ ├── primitive_instruction_processor.py
│ │ ├── primitive_instruction_processor_factory.py
│ │ ├── scara_compiler.py
│ │ └── scara_compiler_factory.py
│ ├── disassembler/
│ │ ├── frame_detail_decoder.py
│ │ ├── frame_detail_decoder_factory.py
│ │ ├── iframe_detail_decoder.py
│ │ ├── __init__.py
│ │ ├── iscara_disassembler.py
│ │ ├── scara_disassembler.py
│ │ └── scara_disassembler_factory.py
│ ├── dsl/
│ │ ├── binary/
│ │ │ ├── binary_service.py
│ │ │ ├── binary_service_factory.py
│ │ │ ├── ibinary_service.py
│ │ │ └── __init__.py
│ │ ├── compilation/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_dsl_compiler.py
│ │ │ ├── scara_dsl_compiler.py
│ │ │ └── scara_dsl_compiler_factory.py
│ │ ├── __init__.py
│ │ ├── iscara_dsl_binary_compiler.py
│ │ ├── iscara_dsl_disassembler.py
│ │ ├── iscara_dsl_info_provider.py
│ │ ├── iscara_dsl_linter.py
│ │ ├── iscara_dsl_service.py
│ │ ├── iscara_dsl_validator.py
│ │ ├── scara_dsl_bundle.py
│ │ ├── scara_dsl_pipeline_bundle.py
│ │ ├── scara_dsl_service.py
│ │ ├── scara_dsl_service_factory.py
│ │ ├── toolchain/
│ │ │ ├── __init__.py
│ │ │ ├── itoolchain_info_provider.py
│ │ │ ├── toolchain_info_provider.py
│ │ │ └── toolchain_info_provider_factory.py
│ │ └── validation/
│ │ ├── __init__.py
│ │ ├── scara_script_validator.py
│ │ └── scara_script_validator_factory.py
│ ├── exporter/
│ │ ├── csv/
│ │ │ ├── csv_trajectory_exporter.py
│ │ │ ├── csv_trajectory_exporter_factory.py
│ │ │ ├── icsv_trajectory_exporter.py
│ │ │ └── __init__.py
│ │ ├── export_dispatcher_bundle.py
│ │ ├── export_target_dispatcher.py
│ │ ├── export_target_dispatcher_factory.py
│ │ ├── gcode/
│ │ │ ├── gcode_exporter.py
│ │ │ ├── gcode_exporter_factory.py
│ │ │ ├── igcode_exporter.py
│ │ │ └── __init__.py
│ │ ├── iexport_target_dispatcher.py
│ │ ├── __init__.py
│ │ ├── json/
│ │ │ ├── ijson_trajectory_exporter.py
│ │ │ ├── __init__.py
│ │ │ ├── json_trajectory_exporter.py
│ │ │ └── json_trajectory_exporter_factory.py
│ │ ├── scara/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_plan_exporter.py
│ │ │ ├── scara_plan_exporter.py
│ │ │ ├── scara_plan_exporter_factory.py
│ │ │ ├── scara_program_serializer.py
│ │ │ └── scara_source_generator.py
│ │ └── svg/
│ │ ├── __init__.py
│ │ ├── isvg_trajectory_exporter.py
│ │ ├── svg_trajectory_exporter.py
│ │ └── svg_trajectory_exporter_factory.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── default_scara_profile.py
│ │ ├── ikinematics_service.py
│ │ ├── __init__.py
│ │ ├── kinematics_service.py
│ │ ├── kinematics_service_factory.py
│ │ └── transmission/
│ │ ├── ijoint_step_transmission_converter.py
│ │ ├── __init__.py
│ │ ├── joint_step_transmission_converter.py
│ │ └── joint_step_transmission_converter_factory.py
│ ├── linter/
│ │ ├── diagnostic/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_diagnostic_formatter.py
│ │ │ ├── scara_diagnostic_formatter.py
│ │ │ └── scara_diagnostic_formatter_factory.py
│ │ ├── __init__.py
│ │ ├── iscara_linter.py
│ │ ├── rules/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_lint_rule.py
│ │ │ ├── motion/
│ │ │ │ ├── imotion_calibration_validator.py
│ │ │ │ ├── imotion_duplicate_validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motion_calibration_validator.py
│ │ │ │ ├── motion_calibration_validator_factory.py
│ │ │ │ ├── motion_duplicate_validator.py
│ │ │ │ ├── motion_duplicate_validator_factory.py
│ │ │ │ ├── motion_lint_rule.py
│ │ │ │ └── motion_lint_rule_factory.py
│ │ │ ├── pneumatic/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipneumatic_conflict_validator.py
│ │ │ │ ├── ipneumatic_flyby_validator.py
│ │ │ │ ├── ipneumatic_redundancy_validator.py
│ │ │ │ ├── pneumatic_conflict_validator.py
│ │ │ │ ├── pneumatic_conflict_validator_factory.py
│ │ │ │ ├── pneumatic_flyby_validator.py
│ │ │ │ ├── pneumatic_flyby_validator_factory.py
│ │ │ │ ├── pneumatic_lint_rule.py
│ │ │ │ ├── pneumatic_lint_rule_factory.py
│ │ │ │ ├── pneumatic_redundancy_validator.py
│ │ │ │ └── pneumatic_redundancy_validator_factory.py
│ │ │ ├── state/
│ │ │ │ ├── imotor_mode_validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── istate_homing_validator.py
│ │ │ │ ├── istate_zone_validator.py
│ │ │ │ ├── motor_mode_validator.py
│ │ │ │ ├── motor_mode_validator_factory.py
│ │ │ │ ├── state_homing_validator.py
│ │ │ │ ├── state_homing_validator_factory.py
│ │ │ │ ├── state_lint_rule.py
│ │ │ │ ├── state_lint_rule_factory.py
│ │ │ │ ├── state_zone_validator.py
│ │ │ │ └── state_zone_validator_factory.py
│ │ │ └── timing/
│ │ │ ├── __init__.py
│ │ │ ├── itiming_blend_zone_validator.py
│ │ │ ├── itiming_dwell_validator.py
│ │ │ ├── timing_blend_zone_validator.py
│ │ │ ├── timing_blend_zone_validator_factory.py
│ │ │ ├── timing_dwell_validator.py
│ │ │ ├── timing_dwell_validator_factory.py
│ │ │ ├── timing_lint_rule.py
│ │ │ └── timing_lint_rule_factory.py
│ │ ├── scara_linter.py
│ │ └── scara_linter_factory.py
│ ├── motor/
│ │ ├── __init__.py
│ │ ├── motor_config_factory.py
│ │ ├── motor_drive_mode_resolver.py
│ │ ├── motor_interface_resolver.py
│ │ └── motor_wire_mode_converter.py
│ ├── parser/
│ │ ├── commands/
│ │ │ ├── config/
│ │ │ │ ├── accel_config_parser.py
│ │ │ │ ├── config_command_parser_factory.py
│ │ │ │ ├── elbow_config_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor_config_parser.py
│ │ │ │ ├── override_config_parser.py
│ │ │ │ ├── speed_config_parser.py
│ │ │ │ ├── tool_orient_command_parser.py
│ │ │ │ └── zone_command_parser.py
│ │ │ ├── flow/
│ │ │ │ ├── disable_command_parser.py
│ │ │ │ ├── enable_command_parser.py
│ │ │ │ ├── estop_command_parser.py
│ │ │ │ ├── flow_command_parser_factory.py
│ │ │ │ ├── hold_command_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── resume_command_parser.py
│ │ │ │ ├── sync_command_parser.py
│ │ │ │ └── wait_command_parser.py
│ │ │ ├── frame/
│ │ │ │ ├── frame_command_parser_factory.py
│ │ │ │ ├── frame_reset_command_parser.py
│ │ │ │ ├── frame_set_command_parser.py
│ │ │ │ └── __init__.py
│ │ │ ├── icommand_parser.py
│ │ │ ├── icommand_parser_provider.py
│ │ │ ├── __init__.py
│ │ │ ├── macro/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jump_command_parser.py
│ │ │ │ ├── macro_command_parser_factory.py
│ │ │ │ ├── pallet_def_command_parser.py
│ │ │ │ └── pallet_move_command_parser.py
│ │ │ ├── motion/
│ │ │ │ ├── approach_command_parser.py
│ │ │ │ ├── arc_command_parser.py
│ │ │ │ ├── home_command_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jog_command_parser.py
│ │ │ │ ├── joint_move_command_parser.py
│ │ │ │ ├── linear_move_command_parser.py
│ │ │ │ ├── motion_command_parser_factory.py
│ │ │ │ ├── probe_command_parser.py
│ │ │ │ └── retract_command_parser.py
│ │ │ ├── parameter/
│ │ │ │ ├── __init__.py
│ │ │ │ └── parameter_extractor.py
│ │ │ └── tool/
│ │ │ ├── __init__.py
│ │ │ ├── pump_command_parser.py
│ │ │ ├── tool_command_parser.py
│ │ │ ├── tool_command_parser_factory.py
│ │ │ └── valve_command_parser.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── iinstruction_line_parser.py
│ │ │ ├── __init__.py
│ │ │ ├── instruction_line_parser.py
│ │ │ └── instruction_line_parser_factory.py
│ │ ├── iscara_parser.py
│ │ ├── lexer/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_lexer.py
│ │ │ ├── scara_lexer.py
│ │ │ └── scara_lexer_factory.py
│ │ ├── scara_parser.py
│ │ ├── scara_parser_factory.py
│ │ └── splitter/
│ │ ├── __init__.py
│ │ ├── itoken_line_splitter.py
│ │ ├── token_line_splitter.py
│ │ └── token_line_splitter_factory.py
│ ├── protocol/
│ │ ├── ibinary_frame_builder.py
│ │ ├── ibinary_frame_parser.py
│ │ ├── ibinary_payload_unpacker.py
│ │ └── __init__.py
│ └── trajectory/
│ ├── discretization/
│ │ ├── __init__.py
│ │ ├── ishape_discretizer.py
│ │ ├── shape_discretizer.py
│ │ └── shape_discretizer_factory.py
│ ├── __init__.py
│ ├── metrics/
│ │ ├── bottleneck/
│ │ │ ├── imotion_bottleneck_detector.py
│ │ │ ├── __init__.py
│ │ │ ├── motion_bottleneck_detector.py
│ │ │ └── motion_bottleneck_detector_factory.py
│ │ ├── cycle/
│ │ │ ├── cycle_time_calculator.py
│ │ │ ├── cycle_time_calculator_factory.py
│ │ │ ├── icycle_time_calculator.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── profile/
│ │ │ ├── axis_speed_profile_analyzer.py
│ │ │ ├── axis_speed_profile_analyzer_factory.py
│ │ │ ├── iaxis_speed_profile_analyzer.py
│ │ │ └── __init__.py
│ │ ├── summary/
│ │ │ ├── __init__.py
│ │ │ ├── itrajectory_cycle_summary_builder.py
│ │ │ ├── trajectory_cycle_summary_builder.py
│ │ │ └── trajectory_cycle_summary_builder_factory.py
│ │ └── trajectory_metrics.py
│ ├── plan/
│ │ ├── __init__.py
│ │ ├── itrajectory_mutable.py
│ │ ├── itrajectory_plan.py
│ │ ├── itrajectory_plan_factory.py
│ │ ├── itrajectory_read_only.py
│ │ ├── trajectory_plan.py
│ │ └── trajectory_plan_factory.py
│ └── validation/
│ ├── feedrate/
│ │ ├── feedrate_validator.py
│ │ ├── feedrate_validator_factory.py
│ │ ├── ifeedrate_validator.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── itrajectory_validator.py
│ ├── plan/
│ │ ├── __init__.py
│ │ ├── itrajectory_plan_validator.py
│ │ ├── trajectory_plan_validator.py
│ │ └── trajectory_plan_validator_factory.py
│ ├── trajectory_validator.py
│ ├── trajectory_validator_factory.py
│ └── waypoint/
│ ├── __init__.py
│ ├── iwaypoint_validator.py
│ ├── waypoint_validator.py
│ └── waypoint_validator_factory.py
├── engine.py
├── infrastructure/
│ ├── cli/
│ │ ├── engine.py
│ │ ├── icli.py
│ │ ├── __init__.py
│ │ ├── repl/
│ │ │ ├── compiler/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_single_command_compiler.py
│ │ │ │ ├── repl_single_command_compiler.py
│ │ │ │ └── repl_single_command_compiler_factory.py
│ │ │ ├── dispatch/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_command_dispatcher.py
│ │ │ │ ├── repl_command_dispatcher.py
│ │ │ │ └── repl_command_dispatcher_factory.py
│ │ │ ├── __init__.py
│ │ │ ├── input/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_line_reader.py
│ │ │ │ ├── repl_line_reader.py
│ │ │ │ └── repl_line_reader_factory.py
│ │ │ ├── presentation/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_response_presenter.py
│ │ │ │ ├── repl_response_presenter.py
│ │ │ │ └── repl_response_presenter_factory.py
│ │ │ └── transmission/
│ │ │ ├── __init__.py
│ │ │ ├── irepl_frame_transmitter.py
│ │ │ ├── repl_frame_transmitter.py
│ │ │ └── repl_frame_transmitter_factory.py
│ │ └── setup/
│ │ ├── bundle.py
│ │ ├── dep_validator.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── keys.py
│ │ ├── opt_validator.py
│ │ ├── options.py
│ │ ├── registry.py
│ │ └── validator.py
│ ├── command/
│ │ ├── command_bundle.py
│ │ ├── command_bundle_factory.py
│ │ ├── compile/
│ │ │ ├── compile_command_definition.py
│ │ │ ├── compile_command_executor.py
│ │ │ ├── compile_command_executor_factory.py
│ │ │ ├── __init__.py
│ │ │ ├── inspection/
│ │ │ │ ├── framing/
│ │ │ │ │ ├── frame_header_formatter.py
│ │ │ │ │ ├── frame_header_formatter_factory.py
│ │ │ │ │ ├── frame_trailer_formatter.py
│ │ │ │ │ ├── frame_trailer_formatter_factory.py
│ │ │ │ │ ├── hex_stream_formatter.py
│ │ │ │ │ ├── hex_stream_formatter_factory.py
│ │ │ │ │ ├── iframe_header_formatter.py
│ │ │ │ │ ├── iframe_trailer_formatter.py
│ │ │ │ │ ├── ihex_stream_formatter.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── payload/
│ │ │ │ │ ├── ijoint_steps_payload_formatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ipayload_dispatcher_formatter.py
│ │ │ │ │ ├── itool_command_payload_formatter.py
│ │ │ │ │ ├── joint_steps_payload_formatter.py
│ │ │ │ │ ├── joint_steps_payload_formatter_factory.py
│ │ │ │ │ ├── payload_dispatcher_formatter.py
│ │ │ │ │ ├── payload_dispatcher_formatter_factory.py
│ │ │ │ │ ├── tool_command_payload_formatter.py
│ │ │ │ │ └── tool_command_payload_formatter_factory.py
│ │ │ │ └── presentation/
│ │ │ │ ├── frame_step_presenter.py
│ │ │ │ ├── frame_step_presenter_factory.py
│ │ │ │ ├── iframe_step_presenter.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iprogram_inspection_presenter.py
│ │ │ │ ├── program_inspection_presenter.py
│ │ │ │ └── program_inspection_presenter_factory.py
│ │ │ └── telemetry/
│ │ │ ├── compile_telemetry_formatter.py
│ │ │ ├── compile_telemetry_formatter_factory.py
│ │ │ ├── icompile_telemetry_formatter.py
│ │ │ └── __init__.py
│ │ ├── disassemble/
│ │ │ ├── disassemble_command_definition.py
│ │ │ ├── disassemble_command_executor.py
│ │ │ ├── disassemble_command_executor_factory.py
│ │ │ ├── format/
│ │ │ │ ├── disassemble_summary_formatter.py
│ │ │ │ ├── disassemble_summary_formatter_factory.py
│ │ │ │ ├── idisassemble_summary_formatter.py
│ │ │ │ └── __init__.py
│ │ │ └── __init__.py
│ │ ├── export/
│ │ │ ├── export_command_definition.py
│ │ │ ├── export_command_executor.py
│ │ │ ├── export_command_executor_factory.py
│ │ │ └── __init__.py
│ │ ├── icommand_definition.py
│ │ ├── icommand_executor.py
│ │ ├── info/
│ │ │ ├── info_command_definition.py
│ │ │ ├── info_command_executor.py
│ │ │ ├── info_command_executor_factory.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── lint/
│ │ │ ├── __init__.py
│ │ │ ├── lint_command_definition.py
│ │ │ ├── lint_command_executor.py
│ │ │ └── lint_command_executor_factory.py
│ │ └── repl/
│ │ ├── __init__.py
│ │ ├── repl_command_definition.py
│ │ ├── repl_command_executor.py
│ │ └── repl_command_executor_factory.py
│ ├── communication/
│ │ ├── __init__.py
│ │ └── protocol/
│ │ ├── binary/
│ │ │ ├── binary_struct_format.py
│ │ │ ├── builder/
│ │ │ │ ├── binary_frame_builder.py
│ │ │ │ ├── binary_frame_builder_factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── checksum/
│ │ │ │ ├── crc16_ccitt.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ └── parser/
│ │ │ ├── binary_frame_assembler.py
│ │ │ ├── binary_frame_assembler_factory.py
│ │ │ ├── binary_frame_parser.py
│ │ │ ├── binary_frame_parser_factory.py
│ │ │ ├── binary_payload_unpacker.py
│ │ │ ├── binary_payload_unpacker_factory.py
│ │ │ ├── ibinary_frame_assembler.py
│ │ │ ├── __init__.py
│ │ │ └── parser_state.py
│ │ └── __init__.py
│ ├── config/
│ │ ├── scaralang.cfg
│ │ └── scaralang.logo
│ └── __init__.py
├── __init__.py
├── py.typed
└── setup/
├── bundle.py
├── dep_validator.py
├── dependencies.py
├── factory.py
├── __init__.py
├── keys.py
├── opt_validator.py
├── options.py
├── registry.py
└── validator.py
117 directories, 545 files
</details>
🏗 Architecture & SOLID Principles
┌─────────────────────────────────────────────────────────────┐
│ CLI / Inbound Adapters │
│ (Compile, Disassemble, Lint, Info, Export, REPL) │
└──────────────┬───────────────────────────────┬──────────────┘
│ Depends on Role Protocols │
▼ ▼
┌──────────────────────────────┐┌─────────────────────────────┐
│ IScaraDslLinter ││ IScaraDslBinaryCompiler │
│ (Validation & Diagnostics) ││ (Plan / Binary Generation) │
└──────────────┬───────────────┘└──────────────┬──────────────┘
│ │
▼ ▼
┌────────────────────────────────────────────────────────────────────────┐
│ Application Services │
│ ┌────────────────────┐ ┌───────────────────┐ ┌───────────────────┐ │
│ │ ScaraLexer │ │ ScaraParser │ │ ScaraCompiler │ │
│ │ (Token Stream) │ │ (Command Parsers) │ │ (Macro Expander) │ │
│ └────────────────────┘ └───────────────────┘ └───────────────────┘ │
│ ┌────────────────────┐ ┌───────────────────┐ ┌───────────────────┐ │
│ │ BinaryCompiler │ │ ScaraDisassembler │ │ ExportDispatcher │ │
│ │ (Step Generator) │ │ (Frame Detail Dec)│ │ (Multi-target Exp)│ │
│ └────────────────────┘ └───────────────────┘ └───────────────────┘ │
└─────────────────────────────────┬──────────────────────────────────────┘
│ Operates on Pure Models
▼
┌────────────────────────────────────────────────────────────────────────┐
│ Pure Domain Models │
│ (ScaraProgram, BinaryProgram, Waypoint, DisassemblySummary, │
│ InstructionParam, ScaraCommandType, MessageId, ZoneMode) │
└────────────────────────────────────────────────────────────────────────┘
SOLID Principles Compliance
- S — Single Responsibility Principle (SRP):
- Every module, class, and service has exactly one clearly bounded reason to change.
- Parser and compiler logic is decomposed into dedicated handlers (
MotionCommandParser, ConfigCommandParser, PalletMacroExpander, StepDiscretizer) rather than a monolithic interpreter.
- Strict limit of $\le 15$ methods per class across the entire codebase enforced by automated Quality Gate.
- O — Open/Closed Principle (OCP):
- The DSL parser, macro expanders, and exporters are open for extension without modifying existing code.
- Extensible Chain of Responsibility and dispatcher pattern allow registering new instruction handlers and export targets seamlessly.
- L — Liskov Substitution Principle (LSP):
- Pure structural subtyping via Python
@runtime_checkable Protocol definitions. Concrete classes never inherit from abstract protocols, ensuring complete structural interchangeability.
- I — Interface Segregation Principle (ISP):
- Fat facade
IScaraDslService is segregated into focused role protocols (IScaraDslBinaryCompiler, IScaraDslDisassembler, IScaraDslLinter, IScaraDslInfoProvider, IScaraDslCompiler, IScaraPlanExporter). Clients depend strictly on the minimal methods they call.
- D — Dependency Inversion Principle (DIP):
- High-level domain services and CLI executors depend strictly on abstract protocols, never on concrete implementations. All infrastructure dependencies are injected via constructor Dependency Injection (Zero-Fallback DI).
Automated Quality Gates (run_quality_gates.sh)
Every build is validated against 4 strict automated quality gates:
- Structural Protocols Gate (
interfaces_checker.py): Verifies 100% compliance with @runtime_checkable Protocol structural typing across concrete implementations.
- Interface Segregation Gate (
isp_checker.py): Enforces ISP compliance and verifies that no bloated or unused interfaces exist.
- Module Limits Gate (
limits_checker.py): Enforces file length, method count, and line length limits ($\le 150$ characters).
- Single Responsibility Gate (
srp_checker.py): Strictly enforces $\le 15$ methods per class and logical method line limits.
✨ Features
- High-Level SCARA DSL Toolchain: Lexer, Tokenizer, Line Splitter, AST Parser, Linter, and Semantic Validator for human-readable SCARA motion scripts (
.scara).
- Deterministic Bytecode Compiler: Direct translation of high-level Cartesian DSL trajectories into discrete stepper motor joint step blocks (
JointSteps, Step, BinaryProgram).
- SCARA Binary Wire Protocol Codec: High-performance streaming frame parser, payload unpacker, frame builder, and CRC-16-CCITT integrity verification (
0xAA 0x55 header framing).
- Multi-Target Trajectory Exporter: Export robotic trajectories into industrial G-code, CSV time-series data, JSON trajectory bundles, and SVG vector toolpaths.
- Interactive Motion REPL Console: Terminal-based interactive console (
scarac repl) for real-time single-command compilation, inspection, and frame transmission.
- Single Source of Truth (SSoT): Seamless domain and codec foundation shared between
scarajectory (Desktop Studio), scaraemu (Digital Twin Simulator), and dof2bot/scara (RP2040 firmware).
- Zero GUI Dependencies: 100% headless, clean architecture design with zero Tkinter, Qt, or graphics dependencies.
- Strict Quality & SOLID Standards: 100% structural protocol conformance, 99% test coverage, and 10.00 / 10.00 Pylint score.
📜 SCARA Domain-Specific Language (DSL) & .scara Programs
scaralang includes a dedicated, industrial-grade Domain-Specific Language designed specifically for SCARA robotic manipulators. Programs are written in plain text files with the .scara extension and compiled into validated Cartesian trajectories via a clean AST pipeline:
┌─────────────────────────┐
│ .scara Source │
└────────────┬────────────┘
ScaraLexer │
▼
┌─────────────────────────┐
│ Token Stream │
└────────────┬────────────┘
ScaraParser │
▼
┌─────────────────────────┐
│ Abstract AST │
└────────────┬────────────┘
ScaraCompiler │ (Macros + Kinematics)
▼
┌────────────────────────────┐
│ TrajectoryPlan │
|(Waypoints & Discretization)|
└───────────────┬────────────┘
BinaryCompiler │ (Step Discretization)
▼
┌─────────────────────────┐
│ BinaryProgram │
| (Wire Frames & Bytecode)|
└─────────────────────────┘
SCARA DSL Instruction Quick Reference
📖 Complete Specification: For the exhaustive parameter reference, boundary checks, linter diagnostics, and full industrial examples, see LANGUAGE_REFERENCE.md.
Category
Instruction & Syntax
Parameters
Description
Motion
MOVE_J X <x> Y <y> Z <z> [P <phi>]X, Y, Z (mm), P (deg)Rapid non-interpolated Cartesian joint motion.
MOVE_L X <x> Y <y> Z <z> [P <phi>]X, Y, Z (mm), P (deg)Linear continuous path interpolated motion.
ARC_CW X <x> Y <y> I <i> J <j> [Z <z>] [P <p>]X, Y, I, J center offsetClockwise circular arc interpolation in XY plane.
ARC_CCW X <x> Y <y> I <i> J <j> [Z <z>] [P <p>]X, Y, I, J center offsetCounter-clockwise circular arc interpolation.
APPROACH DIST <d>DIST (mm, > 0)Relative vertical descent along -Z axis.
RETRACT DIST <d>DIST (mm, > 0)Relative vertical ascent along +Z axis.
JOG_AXIS <X\|Y\|Z\|PHI> <step>Axis, step displacement
Incremental single-axis manual jog move.
JOG_JOINT <1\|2\|3\|4> <deg>Joint ID (1..4), angle (deg)
Incremental individual joint rotational jog.
PROBE [SPEED <s>] [DIST <d>]SPEED (mm/s), DIST (mm)Tactile surface contact search along -Z axis.
Macros
JUMP X <x> Y <y> Z <z> [ARCH <h>]X, Y, Z, ARCH height3D parabolic arch pick-and-place transfer.
PALLET_DEF <id> ROWS <r> COLS <c> DX <dx> DY <dy>Matrix dimensions & pitch
Defines structured 2D Cartesian pallet matrix.
MOVE_PALLET <id> INDEX <i>Pallet name, 1-based index
Direct positioning to pallet matrix cell.
Actuators
PUMP <ON\|OFF>ON or OFFEnergizes or cuts end-effector vacuum pump.
VALVE <ON\|OFF>ON or OFFOpens or closes pneumatic release blow-off valve.
TOOL <UP\|DOWN>UP or DOWNActuates tool head vertical pneumatic slide stage.
TOOL_ORIENT <AUTO\|TANGENT\|FIXED>Tracking mode
Configures 4th-axis tool yaw orientation mode.
Dynamics
SPEED <RAPID\|WORK> <val>RAPID or WORK, feedrateSets rapid travel or working path feedrate (mm/s).
ACCEL <val>val (mm/s²)Sets trajectory acceleration and deceleration limit.
OVERRIDE <percent>percent (10% - 200%)Dynamically scales path velocity in real time.
ZONE <OFF\|FINE\|EXACT\|Z1..Z50>Blending tolerance (mm)
Corner path rounding and continuous velocity mode.
Kinematics
CONFIG ELBOW <LEFT\|RIGHT>LEFT or RIGHTSets arm kinematic inverse solution branch.
CONFIG MOTOR <OPEN_LOOP\|CLOSED_LOOP>Drive control mode
Selects open-loop microstepping or closed-loop FOC.
FRAME X <x> Y <y> Z <z> [PHI <p>]Cartesian offsets, angle
Defines local Work Coordinate System (WCS).
FRAME_RESETNone
Resets coordinate system to base world origin.
HOMENone
Triggers multi-axis hardware homing calibration.
Safety & Flow
WAIT <ms> / WAIT_MS <ms>Duration in milliseconds
Pauses execution dwell for hardware stabilization.
SYNCNone
Execution barrier; drains motion queue buffer.
HOLDNone
Trajectory feed hold; pauses running motion.
RESUMENone
Resumes previously suspended trajectory.
ESTOPNone
Immediate emergency stop and motion abort.
ENABLENone
Energizes motor driver stages (holding torque).
DISABLENone
De-energizes motor driver stages (free movement).
Example .scara Program: Industrial Pick & Place
# ----------------------------------------------------
# Industrial Pick-and-Place Cycle with Pneumatic Grip
# ----------------------------------------------------
CONFIG ELBOW LEFT
SPEED RAPID 180.0
SPEED WORK 60.0
ACCEL 400.0
OVERRIDE 100
# Home robot to reference position
HOME
# Rapid move above pick feeder station
MOVE_J X 140.0 Y -30.0 Z 35.0
APPROACH DIST 30.0
# Engage suction cup and pause for vacuum seal
PUMP ON
WAIT 200
# Retract with part
RETRACT DIST 30.0
# Smooth 3D parabolic arch transfer to drop location
JUMP X 180.0 Y 30.0 Z 5.0 ARCH 40.0
# Release part with air pulse
PUMP OFF
VALVE ON
WAIT 100
VALVE OFF
# Retract to safe transit altitude
RETRACT DIST 30.0
HOME
📡 SCARA Binary Wire Protocol & Codec
All binary wire communication between scaralang, scarajectory, scaraemu, and physical robot firmware is governed by deterministic packet framing:
Frame Header & Wire Format
Each binary frame consists of a 4-byte header, variable payload, and 2-byte CRC-16-CCITT checksum:
┌──────────────┬──────────────┬──────────────┬──────────────────┬──────────────┐
│ SOF1 (0xAA) │ SOF2 (0x55) │ Msg ID (1B) │ Payload Len (1B)│ Payload (NB) │ ... CRC16 (2B)
└──────────────┴──────────────┴──────────────┴──────────────────┴──────────────┘
Message Types & Payload Structure
Message ID
Enum Identifier
Payload Structure
Description
0x01JOINT_STEPSStep[n] (8 bytes per step: $\Delta S_1, \Delta S_2, \Delta S_3, \Delta S_4$)Coordinated stepper motor joint step block.
0x02TOOL_COMMANDToolId (1B), Action (1B), Param (2B)End-effector actuator trigger (vacuum, gripper, valve).
0x03ESTOPEmpty (0 bytes)
Immediate hardware emergency stop.
0x04PAUSEEmpty (0 bytes)
Pause execution / feed hold.
0x05RESUMEEmpty (0 bytes)
Resume paused trajectory execution.
0x06HEARTBEATSequence (4B), Status (1B)Real-time link health and operational state beacon.
0x07SYNCTimestamp (4B)Clock synchronization and timestamp alignment.
Hardware Execution & Motor Actuation Targets
Binary wire frames generated by scaralang stream directly over UART / USB-CDC to the physical scara_base firmware running on the Raspberry Pi Pico (RP2040), which coordinates motor actuation across two configurable drive modes:
- Open-Loop Stepper Mode (TMC2209): Coordinated microstepping pulses generated by RP2040 PIO hardware state machines driving TMC2209 STEP/DIR stages for ultra-silent operation.
- Closed-Loop Stepper Mode (MKS SERVO42D over CAN Bus): NEMA stepper motors equipped with MKS SERVO42D closed-loop modules communicating with the Raspberry Pi Pico over a high-speed differential CAN bus (CAN_H / CAN_L). This guarantees 100% elimination of lost steps, hardware PID closed-loop position correction, and real-time following-error telemetry.
📊 Code coverage
Click to expand code coverage</summary>
Name
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scaralang/__init__.py9
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scaralang/core/__init__.py9
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scaralang/core/model/__init__.py9
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scaralang/core/model/dsl/__init__.py9
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scaralang/core/model/dsl/ast/__init__.py9
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scaralang/core/model/dsl/ast/command_type.py47
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scaralang/core/model/dsl/ast/instruction.py18
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scaralang/core/model/dsl/ast/instruction_param.py57
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scaralang/core/model/dsl/ast/jog_axis.py16
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scaralang/core/model/dsl/ast/pneumatic_state.py14
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scaralang/core/model/dsl/ast/program.py14
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scaralang/core/model/dsl/ast/speed_mode.py14
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scaralang/core/model/dsl/ast/tool_orient_mode.py15
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scaralang/core/model/dsl/ast/tool_position.py14
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scaralang/core/model/dsl/ast/zone_mode.py15
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scaralang/core/model/dsl/binary/__init__.py9
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scaralang/core/model/dsl/binary/binary_program_telemetry.py21
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scaralang/core/model/dsl/binary/disassembled_frame.py17
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scaralang/core/model/dsl/binary/disassembly_summary.py18
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scaralang/core/model/dsl/binary/parsed_command_token.py16
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scaralang/core/model/dsl/binary/program.py20
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scaralang/core/model/dsl/binary/step.py19
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scaralang/core/model/dsl/compiler/__init__.py9
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scaralang/core/model/dsl/compiler/arc_geometry.py18
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scaralang/core/model/dsl/compiler/control_waypoint_descriptor.py16
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scaralang/core/model/dsl/compiler/scara_compiler_context.py35
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scaralang/core/model/dsl/diagnostic/__init__.py9
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scaralang/core/model/dsl/diagnostic/scara_diagnostic.py18
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scaralang/core/model/dsl/diagnostic/scara_diagnostic_code.py23
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scaralang/core/model/dsl/diagnostic/scara_diagnostic_severity.py15
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scaralang/core/model/dsl/exporter/__init__.py9
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scaralang/core/model/dsl/exporter/export_format.py17
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scaralang/core/model/dsl/linter/__init__.py9
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scaralang/core/model/dsl/linter/scara_lint_context.py22
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scaralang/core/model/dsl/macro/__init__.py9
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scaralang/core/model/dsl/macro/pallet_definition.py19
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scaralang/core/model/dsl/macro/work_frame.py15
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scaralang/core/model/dsl/token/__init__.py9
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scaralang/core/model/dsl/token/lexer_pattern_kind.py22
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scaralang/core/model/dsl/token/scara_token.py17
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scaralang/core/model/dsl/token/scara_token_type.py23
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scaralang/core/model/kinematics/__init__.py9
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scaralang/core/model/kinematics/elbow_config.py14
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scaralang/core/model/kinematics/point_2d.py14
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scaralang/core/model/kinematics/point_3d.py15
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scaralang/core/model/kinematics/scara_bounds.py29
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scaralang/core/model/kinematics/transmission_parameters.py18
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scaralang/core/model/motor/__init__.py9
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scaralang/core/model/motor/axis_mask.py18
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scaralang/core/model/motor/motor_config.py18
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scaralang/core/model/motor/motor_drive_mode.py14
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scaralang/core/model/motor/motor_interface_type.py15
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scaralang/core/model/protocol/__init__.py9
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scaralang/core/model/protocol/binary_delimiter.py15
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scaralang/core/model/protocol/binary_frame.py17
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scaralang/core/model/protocol/error_code.py21
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scaralang/core/model/protocol/joint_steps.py18
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scaralang/core/model/protocol/message_id.py41
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scaralang/core/model/protocol/motor_wire_mode.py14
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scaralang/core/model/protocol/tool_id.py13
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scaralang/core/model/repl/__init__.py9
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scaralang/core/model/repl/repl_dispatch_result.py15
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scaralang/core/model/repl/repl_session_context.py23
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scaralang/core/model/trajectory/__init__.py9
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scaralang/core/model/trajectory/arc_point.py15
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scaralang/core/service/parser/commands/frame/frame_set_command_parser.py24
0
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scaralang/core/service/parser/commands/icommand_parser.py18
0
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scaralang/core/service/parser/commands/icommand_parser_provider.py17
0
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scaralang/core/service/parser/commands/macro/__init__.py9
0
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scaralang/core/service/parser/commands/macro/jump_command_parser.py27
1
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scaralang/core/service/parser/commands/macro/macro_command_parser_factory.py20
0
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scaralang/core/service/parser/commands/macro/pallet_def_command_parser.py30
0
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scaralang/core/service/parser/commands/macro/pallet_move_command_parser.py30
0
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scaralang/core/service/parser/commands/motion/__init__.py9
0
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scaralang/core/service/parser/commands/motion/approach_command_parser.py23
0
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scaralang/core/service/parser/commands/motion/arc_command_parser.py25
0
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scaralang/core/service/parser/commands/motion/home_command_parser.py22
0
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scaralang/core/service/parser/commands/motion/jog_command_parser.py35
0
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scaralang/core/service/parser/commands/motion/joint_move_command_parser.py23
0
100%
scaralang/core/service/parser/commands/motion/linear_move_command_parser.py23
0
100%
scaralang/core/service/parser/commands/motion/motion_command_parser_factory.py25
0
100%
scaralang/core/service/parser/commands/motion/probe_command_parser.py24
0
100%
scaralang/core/service/parser/commands/motion/retract_command_parser.py23
0
100%
scaralang/core/service/parser/commands/parameter/__init__.py9
0
100%
scaralang/core/service/parser/commands/parameter/parameter_extractor.py39
0
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scaralang/core/service/parser/commands/tool/__init__.py9
0
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scaralang/core/service/parser/commands/tool/pump_command_parser.py31
0
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scaralang/core/service/parser/commands/tool/tool_command_parser.py31
0
100%
scaralang/core/service/parser/commands/tool/tool_command_parser_factory.py20
0
100%
scaralang/core/service/parser/commands/tool/valve_command_parser.py31
0
100%
scaralang/core/service/parser/instruction/__init__.py9
0
100%
scaralang/core/service/parser/instruction/iinstruction_line_parser.py20
0
100%
scaralang/core/service/parser/instruction/instruction_line_parser.py54
0
100%
scaralang/core/service/parser/instruction/instruction_line_parser_factory.py36
0
100%
scaralang/core/service/parser/iscara_parser.py19
0
100%
scaralang/core/service/parser/lexer/__init__.py9
0
100%
scaralang/core/service/parser/lexer/iscara_lexer.py16
0
100%
scaralang/core/service/parser/lexer/scara_lexer.py45
1
98%
scaralang/core/service/parser/lexer/scara_lexer_factory.py18
0
100%
scaralang/core/service/parser/scara_parser.py34
0
100%
scaralang/core/service/parser/scara_parser_factory.py31
0
100%
scaralang/core/service/parser/splitter/__init__.py9
0
100%
scaralang/core/service/parser/splitter/itoken_line_splitter.py17
0
100%
scaralang/core/service/parser/splitter/token_line_splitter.py29
0
100%
scaralang/core/service/parser/splitter/token_line_splitter_factory.py18
0
100%
scaralang/core/service/protocol/__init__.py9
0
100%
scaralang/core/service/protocol/ibinary_frame_builder.py25
0
100%
scaralang/core/service/protocol/ibinary_frame_parser.py18
0
100%
scaralang/core/service/protocol/ibinary_payload_unpacker.py20
0
100%
scaralang/core/service/trajectory/__init__.py9
0
100%
scaralang/core/service/trajectory/discretization/__init__.py9
0
100%
scaralang/core/service/trajectory/discretization/ishape_discretizer.py20
0
100%
scaralang/core/service/trajectory/discretization/shape_discretizer.py35
0
100%
scaralang/core/service/trajectory/discretization/shape_discretizer_factory.py18
0
100%
scaralang/core/service/trajectory/metrics/__init__.py9
0
100%
scaralang/core/service/trajectory/metrics/bottleneck/__init__.py9
0
100%
scaralang/core/service/trajectory/metrics/bottleneck/imotion_bottleneck_detector.py17
0
100%
scaralang/core/service/trajectory/metrics/bottleneck/motion_bottleneck_detector.py34
0
100%
scaralang/core/service/trajectory/metrics/bottleneck/motion_bottleneck_detector_factory.py18
0
100%
scaralang/core/service/trajectory/metrics/cycle/__init__.py9
0
100%
scaralang/core/service/trajectory/metrics/cycle/cycle_time_calculator.py41
0
100%
scaralang/core/service/trajectory/metrics/cycle/cycle_time_calculator_factory.py18
0
100%
scaralang/core/service/trajectory/metrics/cycle/icycle_time_calculator.py17
0
100%
scaralang/core/service/trajectory/metrics/profile/__init__.py9
0
100%
scaralang/core/service/trajectory/metrics/profile/axis_speed_profile_analyzer.py46
0
100%
scaralang/core/service/trajectory/metrics/profile/axis_speed_profile_analyzer_factory.py18
0
100%
scaralang/core/service/trajectory/metrics/profile/iaxis_speed_profile_analyzer.py17
0
100%
scaralang/core/service/trajectory/metrics/summary/__init__.py9
0
100%
scaralang/core/service/trajectory/metrics/summary/itrajectory_cycle_summary_builder.py18
0
100%
scaralang/core/service/trajectory/metrics/summary/trajectory_cycle_summary_builder.py35
0
100%
scaralang/core/service/trajectory/metrics/summary/trajectory_cycle_summary_builder_factory.py21
0
100%
scaralang/core/service/trajectory/metrics/trajectory_metrics.py40
0
100%
scaralang/core/service/trajectory/plan/__init__.py9
0
100%
scaralang/core/service/trajectory/plan/itrajectory_mutable.py21
0
100%
scaralang/core/service/trajectory/plan/itrajectory_plan.py13
0
100%
scaralang/core/service/trajectory/plan/itrajectory_plan_factory.py16
0
100%
scaralang/core/service/trajectory/plan/itrajectory_read_only.py20
0
100%
scaralang/core/service/trajectory/plan/trajectory_plan.py42
0
100%
scaralang/core/service/trajectory/plan/trajectory_plan_factory.py22
0
100%
scaralang/core/service/trajectory/validation/__init__.py9
0
100%
scaralang/core/service/trajectory/validation/feedrate/__init__.py9
0
100%
scaralang/core/service/trajectory/validation/feedrate/feedrate_validator.py25
0
100%
scaralang/core/service/trajectory/validation/feedrate/feedrate_validator_factory.py19
0
100%
scaralang/core/service/trajectory/validation/feedrate/ifeedrate_validator.py16
0
100%
scaralang/core/service/trajectory/validation/itrajectory_validator.py28
0
100%
scaralang/core/service/trajectory/validation/plan/__init__.py9
0
100%
scaralang/core/service/trajectory/validation/plan/itrajectory_plan_validator.py16
0
100%
scaralang/core/service/trajectory/validation/plan/trajectory_plan_validator.py44
0
100%
scaralang/core/service/trajectory/validation/plan/trajectory_plan_validator_factory.py20
0
100%
scaralang/core/service/trajectory/validation/trajectory_validator.py46
0
100%
scaralang/core/service/trajectory/validation/trajectory_validator_factory.py28
0
100%
scaralang/core/service/trajectory/validation/waypoint/__init__.py9
0
100%
scaralang/core/service/trajectory/validation/waypoint/iwaypoint_validator.py17
0
100%
scaralang/core/service/trajectory/validation/waypoint/waypoint_validator.py33
0
100%
scaralang/core/service/trajectory/validation/waypoint/waypoint_validator_factory.py19
0
100%
scaralang/engine.py60
0
100%
scaralang/infrastructure/__init__.py9
0
100%
scaralang/infrastructure/cli/__init__.py9
0
100%
scaralang/infrastructure/cli/engine.py44
0
100%
scaralang/infrastructure/cli/icli.py15
0
100%
scaralang/infrastructure/cli/repl/__init__.py9
0
100%
scaralang/infrastructure/cli/repl/compiler/__init__.py9
0
100%
scaralang/infrastructure/cli/repl/compiler/irepl_single_command_compiler.py16
0
100%
scaralang/infrastructure/cli/repl/compiler/repl_single_command_compiler.py46
1
98%
scaralang/infrastructure/cli/repl/compiler/repl_single_command_compiler_factory.py18
0
100%
scaralang/infrastructure/cli/repl/dispatch/__init__.py9
0
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scaralang/infrastructure/cli/repl/dispatch/irepl_command_dispatcher.py17
0
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scaralang/infrastructure/cli/repl/dispatch/repl_command_dispatcher.py37
0
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scaralang/infrastructure/cli/repl/dispatch/repl_command_dispatcher_factory.py17
0
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scaralang/infrastructure/cli/repl/input/__init__.py9
0
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scaralang/infrastructure/cli/repl/input/irepl_line_reader.py13
0
100%
scaralang/infrastructure/cli/repl/input/repl_line_reader.py21
0
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scaralang/infrastructure/cli/repl/input/repl_line_reader_factory.py21
0
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scaralang/infrastructure/cli/repl/presentation/__init__.py9
0
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scaralang/infrastructure/cli/repl/presentation/irepl_response_presenter.py18
0
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scaralang/infrastructure/cli/repl/presentation/repl_response_presenter.py25
0
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scaralang/infrastructure/cli/repl/presentation/repl_response_presenter_factory.py17
0
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scaralang/infrastructure/cli/repl/transmission/__init__.py9
0
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scaralang/infrastructure/cli/repl/transmission/irepl_frame_transmitter.py15
0
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scaralang/infrastructure/cli/repl/transmission/repl_frame_transmitter.py24
0
100%
scaralang/infrastructure/cli/repl/transmission/repl_frame_transmitter_factory.py17
0
100%
scaralang/infrastructure/cli/setup/__init__.py9
0
100%
scaralang/infrastructure/cli/setup/bundle.py22
0
100%
scaralang/infrastructure/cli/setup/dep_validator.py37
0
100%
scaralang/infrastructure/cli/setup/dependencies.py18
0
100%
scaralang/infrastructure/cli/setup/factory.py26
0
100%
scaralang/infrastructure/cli/setup/keys.py26
0
100%
scaralang/infrastructure/cli/setup/opt_validator.py35
0
100%
scaralang/infrastructure/cli/setup/options.py15
0
100%
scaralang/infrastructure/cli/setup/registry.py31
0
100%
scaralang/infrastructure/cli/setup/validator.py43
0
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scaralang/infrastructure/command/__init__.py9
0
100%
scaralang/infrastructure/command/command_bundle.py16
0
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scaralang/infrastructure/command/command_bundle_factory.py47
0
100%
scaralang/infrastructure/command/compile/__init__.py9
0
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scaralang/infrastructure/command/compile/compile_command_definition.py24
0
100%
scaralang/infrastructure/command/compile/compile_command_executor.py57
0
100%
scaralang/infrastructure/command/compile/compile_command_executor_factory.py26
0
100%
scaralang/infrastructure/command/compile/inspection/__init__.py9
0
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scaralang/infrastructure/command/compile/inspection/framing/__init__.py9
0
100%
scaralang/infrastructure/command/compile/inspection/framing/frame_header_formatter.py15
0
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scaralang/infrastructure/command/compile/inspection/framing/frame_header_formatter_factory.py17
0
100%
scaralang/infrastructure/command/compile/inspection/framing/frame_trailer_formatter.py12
0
100%
scaralang/infrastructure/command/compile/inspection/framing/frame_trailer_formatter_factory.py17
0
100%
scaralang/infrastructure/command/compile/inspection/framing/hex_stream_formatter.py19
0
100%
scaralang/infrastructure/command/compile/inspection/framing/hex_stream_formatter_factory.py17
0
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scaralang/infrastructure/command/compile/inspection/framing/iframe_header_formatter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/framing/iframe_trailer_formatter.py13
0
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scaralang/infrastructure/command/compile/inspection/framing/ihex_stream_formatter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/payload/__init__.py9
0
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scaralang/infrastructure/command/compile/inspection/payload/ijoint_steps_payload_formatter.py14
0
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scaralang/infrastructure/command/compile/inspection/payload/ipayload_dispatcher_formatter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/payload/itool_command_payload_formatter.py13
0
100%
scaralang/infrastructure/command/compile/inspection/payload/joint_steps_payload_formatter.py23
0
100%
scaralang/infrastructure/command/compile/inspection/payload/joint_steps_payload_formatter_factory.py18
0
100%
scaralang/infrastructure/command/compile/inspection/payload/payload_dispatcher_formatter.py43
0
100%
scaralang/infrastructure/command/compile/inspection/payload/payload_dispatcher_formatter_factory.py25
0
100%
scaralang/infrastructure/command/compile/inspection/payload/tool_command_payload_formatter.py22
0
100%
scaralang/infrastructure/command/compile/inspection/payload/tool_command_payload_formatter_factory.py18
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/__init__.py9
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/frame_step_presenter.py34
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/frame_step_presenter_factory.py21
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/iframe_step_presenter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/iprogram_inspection_presenter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/program_inspection_presenter.py25
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/program_inspection_presenter_factory.py18
0
100%
scaralang/infrastructure/command/compile/telemetry/__init__.py9
0
100%
scaralang/infrastructure/command/compile/telemetry/compile_telemetry_formatter.py14
0
100%
scaralang/infrastructure/command/compile/telemetry/compile_telemetry_formatter_factory.py17
0
100%
scaralang/infrastructure/command/compile/telemetry/icompile_telemetry_formatter.py14
0
100%
scaralang/infrastructure/command/disassemble/__init__.py9
0
100%
scaralang/infrastructure/command/disassemble/disassemble_command_definition.py24
0
100%
scaralang/infrastructure/command/disassemble/disassemble_command_executor.py45
2
96%
scaralang/infrastructure/command/disassemble/disassemble_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/disassemble/format/__init__.py9
0
100%
scaralang/infrastructure/command/disassemble/format/disassemble_summary_formatter.py14
0
100%
scaralang/infrastructure/command/disassemble/format/disassemble_summary_formatter_factory.py17
0
100%
scaralang/infrastructure/command/disassemble/format/idisassemble_summary_formatter.py14
0
100%
scaralang/infrastructure/command/export/__init__.py9
0
100%
scaralang/infrastructure/command/export/export_command_definition.py24
0
100%
scaralang/infrastructure/command/export/export_command_executor.py46
2
96%
scaralang/infrastructure/command/export/export_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/icommand_definition.py14
0
100%
scaralang/infrastructure/command/icommand_executor.py14
0
100%
scaralang/infrastructure/command/info/__init__.py9
0
100%
scaralang/infrastructure/command/info/info_command_definition.py24
0
100%
scaralang/infrastructure/command/info/info_command_executor.py23
0
100%
scaralang/infrastructure/command/info/info_command_executor_factory.py22
0
100%
scaralang/infrastructure/command/lint/__init__.py9
0
100%
scaralang/infrastructure/command/lint/lint_command_definition.py24
0
100%
scaralang/infrastructure/command/lint/lint_command_executor.py40
2
95%
scaralang/infrastructure/command/lint/lint_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/repl/__init__.py9
0
100%
scaralang/infrastructure/command/repl/repl_command_definition.py24
0
100%
scaralang/infrastructure/command/repl/repl_command_executor.py77
2
97%
scaralang/infrastructure/command/repl/repl_command_executor_factory.py33
0
100%
scaralang/infrastructure/communication/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/binary_struct_format.py23
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/binary_frame_builder.py57
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/binary_frame_builder_factory.py18
1
94%
scaralang/infrastructure/communication/protocol/binary/checksum/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/checksum/crc16_ccitt.py30
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_assembler.py27
1
96%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_assembler_factory.py18
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_parser.py91
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_parser_factory.py26
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_payload_unpacker.py48
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_payload_unpacker_factory.py18
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/ibinary_frame_assembler.py16
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/parser_state.py20
0
100%
scaralang/setup/__init__.py9
0
100%
scaralang/setup/bundle.py21
0
100%
scaralang/setup/dep_validator.py36
0
100%
scaralang/setup/dependencies.py17
0
100%
scaralang/setup/factory.py50
1
98%
scaralang/setup/keys.py26
0
100%
scaralang/setup/opt_validator.py34
0
100%
scaralang/setup/options.py13
0
100%
scaralang/setup/registry.py30
0
100%
scaralang/setup/validator.py43
0
100%
Total
11454
31
99%
</details>
🛠 Usage
CLI Tool (scarac / scaralang)
# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile program.scara -o program.bin
# Compile with verbose wire frame inspection and telemetry metrics
scarac compile program.scara -o program.bin --inspect --telemetry
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, or SVG
scarac export program.scara --format GCODE -o program.gcode
scarac export program.scara --format CSV -o trajectory.csv
scarac export program.scara --format JSON -o trajectory.json
scarac export program.scara --format SVG -o toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info
# Launch interactive SCARA DSL motion REPL console
scarac repl
CLI Subcommand Reference
Subcommand
Description
Key Options
lintStatic analysis linter and semantic validator.
path, --verbose
compileCompiles .scara scripts into binary execution files.
input, -o/--output, --inspect, --telemetry
disassembleDecodes binary .bin frames into assembly instructions.
input, --summary, --hex
exportExports trajectory plans to multi-target formats.
input, --format <GCODE\|CSV\|JSON\|SVG>, -o/--output
infoDisplays compiler version, supported grammar, and limits.
--json, --verbose
replInteractive terminal REPL for single-line compilation.
--port, --baud
Python Library API
from scaralang.setup.factory import ScaraDslServiceFactory
from scaralang.core.service.dsl.iscara_dsl_service import IScaraDslService
# Initialize full DSL service via Composition Root factory
service: IScaraDslService = ScaraDslServiceFactory.create_default()
# Lint a script string
script: str = """
SPEED RAPID 100.0
MOVE_J X 150.0 Y 50.0 Z 20.0
PUMP ON
WAIT 100
MOVE_L X 180.0 Y 50.0 Z 20.0
PUMP OFF
"""
report = service.lint_script(script)
if not report.has_errors:
# Compile directly to binary program
binary_prog = service.compile_to_binary(script)
print(f"Generated {len(binary_prog.raw_bytes)} bytes of bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")
📚 Docs
More documentation and info at
👥 Contributing
📄 Copyright and licence
Copyright (C) 2026 by vroncevic.github.io/scaralang
scaralang is free software; you can redistribute it and/or modify
it under the same terms as Python itself, either Python version 3.x or,
at your option, any later version of Python 3 you may have available.
Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨
Lets help and support PSF.
scaralang/
├── core/
│ ├── __init__.py
│ ├── model/
│ │ ├── dsl/
│ │ │ ├── ast/
│ │ │ │ ├── command_type.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── instruction.py
│ │ │ │ ├── instruction_param.py
│ │ │ │ ├── jog_axis.py
│ │ │ │ ├── pneumatic_state.py
│ │ │ │ ├── program.py
│ │ │ │ ├── speed_mode.py
│ │ │ │ ├── tool_orient_mode.py
│ │ │ │ ├── tool_position.py
│ │ │ │ └── zone_mode.py
│ │ │ ├── binary/
│ │ │ │ ├── binary_program_telemetry.py
│ │ │ │ ├── disassembled_frame.py
│ │ │ │ ├── disassembly_summary.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── parsed_command_token.py
│ │ │ │ ├── program.py
│ │ │ │ └── step.py
│ │ │ ├── compiler/
│ │ │ │ ├── arc_geometry.py
│ │ │ │ ├── control_waypoint_descriptor.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── scara_compiler_context.py
│ │ │ ├── diagnostic/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── scara_diagnostic.py
│ │ │ │ ├── scara_diagnostic_code.py
│ │ │ │ └── scara_diagnostic_severity.py
│ │ │ ├── exporter/
│ │ │ │ ├── export_format.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── linter/
│ │ │ │ ├── __init__.py
│ │ │ │ └── scara_lint_context.py
│ │ │ ├── macro/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pallet_definition.py
│ │ │ │ └── work_frame.py
│ │ │ └── token/
│ │ │ ├── __init__.py
│ │ │ ├── lexer_pattern_kind.py
│ │ │ ├── scara_token.py
│ │ │ └── scara_token_type.py
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── elbow_config.py
│ │ │ ├── __init__.py
│ │ │ ├── point_2d.py
│ │ │ ├── point_3d.py
│ │ │ ├── scara_bounds.py
│ │ │ └── transmission_parameters.py
│ │ ├── motor/
│ │ │ ├── axis_mask.py
│ │ │ ├── __init__.py
│ │ │ ├── motor_config.py
│ │ │ ├── motor_drive_mode.py
│ │ │ └── motor_interface_type.py
│ │ ├── protocol/
│ │ │ ├── binary_delimiter.py
│ │ │ ├── binary_frame.py
│ │ │ ├── error_code.py
│ │ │ ├── __init__.py
│ │ │ ├── joint_steps.py
│ │ │ ├── message_id.py
│ │ │ ├── motor_wire_mode.py
│ │ │ └── tool_id.py
│ │ ├── repl/
│ │ │ ├── __init__.py
│ │ │ ├── repl_dispatch_result.py
│ │ │ └── repl_session_context.py
│ │ └── trajectory/
│ │ ├── arc_point.py
│ │ ├── axis_peak_metric.py
│ │ ├── bottleneck_incident.py
│ │ ├── circle_geometry.py
│ │ ├── __init__.py
│ │ ├── trajectory_cycle_report.py
│ │ ├── validation_result.py
│ │ └── waypoint.py
│ └── service/
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── binary_compiler.py
│ │ │ ├── binary_compiler_factory.py
│ │ │ ├── command/
│ │ │ │ ├── command_compiler.py
│ │ │ │ ├── command_compiler_factory.py
│ │ │ │ ├── icommand_compiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor/
│ │ │ │ │ ├── imotor_frame_builder.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── motor_frame_builder.py
│ │ │ │ │ └── motor_frame_builder_factory.py
│ │ │ │ ├── tokens/
│ │ │ │ │ ├── command_token_parser.py
│ │ │ │ │ ├── command_token_parser_factory.py
│ │ │ │ │ ├── icommand_token_parser.py
│ │ │ │ │ └── __init__.py
│ │ │ │ └── tool/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── itool_frame_builder.py
│ │ │ │ ├── tool_frame_builder.py
│ │ │ │ └── tool_frame_builder_factory.py
│ │ │ ├── ibinary_compiler.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics/
│ │ │ │ ├── binary_metrics_calculator.py
│ │ │ │ ├── binary_metrics_calculator_factory.py
│ │ │ │ ├── ibinary_metrics_calculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── imotion_compiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motion_compiler.py
│ │ │ │ └── motion_compiler_factory.py
│ │ │ └── step/
│ │ │ ├── __init__.py
│ │ │ ├── istep_discretizer.py
│ │ │ ├── iwaypoint_step_dispatcher.py
│ │ │ ├── step_discretizer.py
│ │ │ ├── step_discretizer_factory.py
│ │ │ ├── waypoint_step_dispatcher.py
│ │ │ └── waypoint_step_dispatcher_factory.py
│ │ ├── frame/
│ │ │ ├── frame_transformer.py
│ │ │ ├── frame_transformer_factory.py
│ │ │ ├── iframe_transformer.py
│ │ │ └── __init__.py
│ │ ├── iinstruction_pipeline.py
│ │ ├── __init__.py
│ │ ├── instruction_pipeline.py
│ │ ├── instruction_pipeline_factory.py
│ │ ├── iprimitive_instruction_processor.py
│ │ ├── iscara_compiler.py
│ │ ├── macro/
│ │ │ ├── frame_macro_expander.py
│ │ │ ├── frame_macro_expander_factory.py
│ │ │ ├── imacro_expander.py
│ │ │ ├── __init__.py
│ │ │ ├── itangent_macro_expander.py
│ │ │ ├── jump_macro_expander.py
│ │ │ ├── jump_macro_expander_factory.py
│ │ │ ├── pallet_macro_expander.py
│ │ │ ├── pallet_macro_expander_factory.py
│ │ │ ├── tangent_macro_expander.py
│ │ │ └── tangent_macro_expander_factory.py
│ │ ├── motion/
│ │ │ ├── arc/
│ │ │ │ ├── arc_move_compiler.py
│ │ │ │ ├── arc_move_compiler_factory.py
│ │ │ │ ├── builder/
│ │ │ │ │ ├── arc_waypoint_builder.py
│ │ │ │ │ ├── arc_waypoint_builder_factory.py
│ │ │ │ │ ├── iarc_waypoint_builder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── calculator/
│ │ │ │ │ ├── arc_point_calculator.py
│ │ │ │ │ ├── arc_point_calculator_factory.py
│ │ │ │ │ ├── iarc_point_calculator.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── interpolation/
│ │ │ │ ├── arc_interpolator.py
│ │ │ │ ├── arc_interpolator_factory.py
│ │ │ │ ├── iarc_interpolator.py
│ │ │ │ └── __init__.py
│ │ │ ├── cartesian/
│ │ │ │ ├── cartesian_move_compiler.py
│ │ │ │ ├── cartesian_move_compiler_factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── imotion_sub_compiler.py
│ │ │ ├── __init__.py
│ │ │ ├── motion_command_compiler.py
│ │ │ ├── motion_command_compiler_factory.py
│ │ │ └── vertical/
│ │ │ ├── __init__.py
│ │ │ ├── vertical_move_compiler.py
│ │ │ └── vertical_move_compiler_factory.py
│ │ ├── primitive/
│ │ │ ├── control/
│ │ │ │ ├── control_command_compiler.py
│ │ │ │ ├── control_command_compiler_factory.py
│ │ │ │ ├── control_waypoint_builder.py
│ │ │ │ ├── control_waypoint_builder_factory.py
│ │ │ │ ├── icontrol_waypoint_builder.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── iprimitive_compiler.py
│ │ │ ├── state/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── state_command_compiler.py
│ │ │ │ └── state_command_compiler_factory.py
│ │ │ └── tool/
│ │ │ ├── __init__.py
│ │ │ ├── itool_waypoint_builder.py
│ │ │ ├── tool_command_compiler.py
│ │ │ ├── tool_command_compiler_factory.py
│ │ │ ├── tool_waypoint_builder.py
│ │ │ └── tool_waypoint_builder_factory.py
│ │ ├── primitive_instruction_processor.py
│ │ ├── primitive_instruction_processor_factory.py
│ │ ├── scara_compiler.py
│ │ └── scara_compiler_factory.py
│ ├── disassembler/
│ │ ├── frame_detail_decoder.py
│ │ ├── frame_detail_decoder_factory.py
│ │ ├── iframe_detail_decoder.py
│ │ ├── __init__.py
│ │ ├── iscara_disassembler.py
│ │ ├── scara_disassembler.py
│ │ └── scara_disassembler_factory.py
│ ├── dsl/
│ │ ├── binary/
│ │ │ ├── binary_service.py
│ │ │ ├── binary_service_factory.py
│ │ │ ├── ibinary_service.py
│ │ │ └── __init__.py
│ │ ├── compilation/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_dsl_compiler.py
│ │ │ ├── scara_dsl_compiler.py
│ │ │ └── scara_dsl_compiler_factory.py
│ │ ├── __init__.py
│ │ ├── iscara_dsl_binary_compiler.py
│ │ ├── iscara_dsl_disassembler.py
│ │ ├── iscara_dsl_info_provider.py
│ │ ├── iscara_dsl_linter.py
│ │ ├── iscara_dsl_service.py
│ │ ├── iscara_dsl_validator.py
│ │ ├── scara_dsl_bundle.py
│ │ ├── scara_dsl_pipeline_bundle.py
│ │ ├── scara_dsl_service.py
│ │ ├── scara_dsl_service_factory.py
│ │ ├── toolchain/
│ │ │ ├── __init__.py
│ │ │ ├── itoolchain_info_provider.py
│ │ │ ├── toolchain_info_provider.py
│ │ │ └── toolchain_info_provider_factory.py
│ │ └── validation/
│ │ ├── __init__.py
│ │ ├── scara_script_validator.py
│ │ └── scara_script_validator_factory.py
│ ├── exporter/
│ │ ├── csv/
│ │ │ ├── csv_trajectory_exporter.py
│ │ │ ├── csv_trajectory_exporter_factory.py
│ │ │ ├── icsv_trajectory_exporter.py
│ │ │ └── __init__.py
│ │ ├── export_dispatcher_bundle.py
│ │ ├── export_target_dispatcher.py
│ │ ├── export_target_dispatcher_factory.py
│ │ ├── gcode/
│ │ │ ├── gcode_exporter.py
│ │ │ ├── gcode_exporter_factory.py
│ │ │ ├── igcode_exporter.py
│ │ │ └── __init__.py
│ │ ├── iexport_target_dispatcher.py
│ │ ├── __init__.py
│ │ ├── json/
│ │ │ ├── ijson_trajectory_exporter.py
│ │ │ ├── __init__.py
│ │ │ ├── json_trajectory_exporter.py
│ │ │ └── json_trajectory_exporter_factory.py
│ │ ├── scara/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_plan_exporter.py
│ │ │ ├── scara_plan_exporter.py
│ │ │ ├── scara_plan_exporter_factory.py
│ │ │ ├── scara_program_serializer.py
│ │ │ └── scara_source_generator.py
│ │ └── svg/
│ │ ├── __init__.py
│ │ ├── isvg_trajectory_exporter.py
│ │ ├── svg_trajectory_exporter.py
│ │ └── svg_trajectory_exporter_factory.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── default_scara_profile.py
│ │ ├── ikinematics_service.py
│ │ ├── __init__.py
│ │ ├── kinematics_service.py
│ │ ├── kinematics_service_factory.py
│ │ └── transmission/
│ │ ├── ijoint_step_transmission_converter.py
│ │ ├── __init__.py
│ │ ├── joint_step_transmission_converter.py
│ │ └── joint_step_transmission_converter_factory.py
│ ├── linter/
│ │ ├── diagnostic/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_diagnostic_formatter.py
│ │ │ ├── scara_diagnostic_formatter.py
│ │ │ └── scara_diagnostic_formatter_factory.py
│ │ ├── __init__.py
│ │ ├── iscara_linter.py
│ │ ├── rules/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_lint_rule.py
│ │ │ ├── motion/
│ │ │ │ ├── imotion_calibration_validator.py
│ │ │ │ ├── imotion_duplicate_validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motion_calibration_validator.py
│ │ │ │ ├── motion_calibration_validator_factory.py
│ │ │ │ ├── motion_duplicate_validator.py
│ │ │ │ ├── motion_duplicate_validator_factory.py
│ │ │ │ ├── motion_lint_rule.py
│ │ │ │ └── motion_lint_rule_factory.py
│ │ │ ├── pneumatic/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipneumatic_conflict_validator.py
│ │ │ │ ├── ipneumatic_flyby_validator.py
│ │ │ │ ├── ipneumatic_redundancy_validator.py
│ │ │ │ ├── pneumatic_conflict_validator.py
│ │ │ │ ├── pneumatic_conflict_validator_factory.py
│ │ │ │ ├── pneumatic_flyby_validator.py
│ │ │ │ ├── pneumatic_flyby_validator_factory.py
│ │ │ │ ├── pneumatic_lint_rule.py
│ │ │ │ ├── pneumatic_lint_rule_factory.py
│ │ │ │ ├── pneumatic_redundancy_validator.py
│ │ │ │ └── pneumatic_redundancy_validator_factory.py
│ │ │ ├── state/
│ │ │ │ ├── imotor_mode_validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── istate_homing_validator.py
│ │ │ │ ├── istate_zone_validator.py
│ │ │ │ ├── motor_mode_validator.py
│ │ │ │ ├── motor_mode_validator_factory.py
│ │ │ │ ├── state_homing_validator.py
│ │ │ │ ├── state_homing_validator_factory.py
│ │ │ │ ├── state_lint_rule.py
│ │ │ │ ├── state_lint_rule_factory.py
│ │ │ │ ├── state_zone_validator.py
│ │ │ │ └── state_zone_validator_factory.py
│ │ │ └── timing/
│ │ │ ├── __init__.py
│ │ │ ├── itiming_blend_zone_validator.py
│ │ │ ├── itiming_dwell_validator.py
│ │ │ ├── timing_blend_zone_validator.py
│ │ │ ├── timing_blend_zone_validator_factory.py
│ │ │ ├── timing_dwell_validator.py
│ │ │ ├── timing_dwell_validator_factory.py
│ │ │ ├── timing_lint_rule.py
│ │ │ └── timing_lint_rule_factory.py
│ │ ├── scara_linter.py
│ │ └── scara_linter_factory.py
│ ├── motor/
│ │ ├── __init__.py
│ │ ├── motor_config_factory.py
│ │ ├── motor_drive_mode_resolver.py
│ │ ├── motor_interface_resolver.py
│ │ └── motor_wire_mode_converter.py
│ ├── parser/
│ │ ├── commands/
│ │ │ ├── config/
│ │ │ │ ├── accel_config_parser.py
│ │ │ │ ├── config_command_parser_factory.py
│ │ │ │ ├── elbow_config_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor_config_parser.py
│ │ │ │ ├── override_config_parser.py
│ │ │ │ ├── speed_config_parser.py
│ │ │ │ ├── tool_orient_command_parser.py
│ │ │ │ └── zone_command_parser.py
│ │ │ ├── flow/
│ │ │ │ ├── disable_command_parser.py
│ │ │ │ ├── enable_command_parser.py
│ │ │ │ ├── estop_command_parser.py
│ │ │ │ ├── flow_command_parser_factory.py
│ │ │ │ ├── hold_command_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── resume_command_parser.py
│ │ │ │ ├── sync_command_parser.py
│ │ │ │ └── wait_command_parser.py
│ │ │ ├── frame/
│ │ │ │ ├── frame_command_parser_factory.py
│ │ │ │ ├── frame_reset_command_parser.py
│ │ │ │ ├── frame_set_command_parser.py
│ │ │ │ └── __init__.py
│ │ │ ├── icommand_parser.py
│ │ │ ├── icommand_parser_provider.py
│ │ │ ├── __init__.py
│ │ │ ├── macro/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jump_command_parser.py
│ │ │ │ ├── macro_command_parser_factory.py
│ │ │ │ ├── pallet_def_command_parser.py
│ │ │ │ └── pallet_move_command_parser.py
│ │ │ ├── motion/
│ │ │ │ ├── approach_command_parser.py
│ │ │ │ ├── arc_command_parser.py
│ │ │ │ ├── home_command_parser.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jog_command_parser.py
│ │ │ │ ├── joint_move_command_parser.py
│ │ │ │ ├── linear_move_command_parser.py
│ │ │ │ ├── motion_command_parser_factory.py
│ │ │ │ ├── probe_command_parser.py
│ │ │ │ └── retract_command_parser.py
│ │ │ ├── parameter/
│ │ │ │ ├── __init__.py
│ │ │ │ └── parameter_extractor.py
│ │ │ └── tool/
│ │ │ ├── __init__.py
│ │ │ ├── pump_command_parser.py
│ │ │ ├── tool_command_parser.py
│ │ │ ├── tool_command_parser_factory.py
│ │ │ └── valve_command_parser.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── iinstruction_line_parser.py
│ │ │ ├── __init__.py
│ │ │ ├── instruction_line_parser.py
│ │ │ └── instruction_line_parser_factory.py
│ │ ├── iscara_parser.py
│ │ ├── lexer/
│ │ │ ├── __init__.py
│ │ │ ├── iscara_lexer.py
│ │ │ ├── scara_lexer.py
│ │ │ └── scara_lexer_factory.py
│ │ ├── scara_parser.py
│ │ ├── scara_parser_factory.py
│ │ └── splitter/
│ │ ├── __init__.py
│ │ ├── itoken_line_splitter.py
│ │ ├── token_line_splitter.py
│ │ └── token_line_splitter_factory.py
│ ├── protocol/
│ │ ├── ibinary_frame_builder.py
│ │ ├── ibinary_frame_parser.py
│ │ ├── ibinary_payload_unpacker.py
│ │ └── __init__.py
│ └── trajectory/
│ ├── discretization/
│ │ ├── __init__.py
│ │ ├── ishape_discretizer.py
│ │ ├── shape_discretizer.py
│ │ └── shape_discretizer_factory.py
│ ├── __init__.py
│ ├── metrics/
│ │ ├── bottleneck/
│ │ │ ├── imotion_bottleneck_detector.py
│ │ │ ├── __init__.py
│ │ │ ├── motion_bottleneck_detector.py
│ │ │ └── motion_bottleneck_detector_factory.py
│ │ ├── cycle/
│ │ │ ├── cycle_time_calculator.py
│ │ │ ├── cycle_time_calculator_factory.py
│ │ │ ├── icycle_time_calculator.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── profile/
│ │ │ ├── axis_speed_profile_analyzer.py
│ │ │ ├── axis_speed_profile_analyzer_factory.py
│ │ │ ├── iaxis_speed_profile_analyzer.py
│ │ │ └── __init__.py
│ │ ├── summary/
│ │ │ ├── __init__.py
│ │ │ ├── itrajectory_cycle_summary_builder.py
│ │ │ ├── trajectory_cycle_summary_builder.py
│ │ │ └── trajectory_cycle_summary_builder_factory.py
│ │ └── trajectory_metrics.py
│ ├── plan/
│ │ ├── __init__.py
│ │ ├── itrajectory_mutable.py
│ │ ├── itrajectory_plan.py
│ │ ├── itrajectory_plan_factory.py
│ │ ├── itrajectory_read_only.py
│ │ ├── trajectory_plan.py
│ │ └── trajectory_plan_factory.py
│ └── validation/
│ ├── feedrate/
│ │ ├── feedrate_validator.py
│ │ ├── feedrate_validator_factory.py
│ │ ├── ifeedrate_validator.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── itrajectory_validator.py
│ ├── plan/
│ │ ├── __init__.py
│ │ ├── itrajectory_plan_validator.py
│ │ ├── trajectory_plan_validator.py
│ │ └── trajectory_plan_validator_factory.py
│ ├── trajectory_validator.py
│ ├── trajectory_validator_factory.py
│ └── waypoint/
│ ├── __init__.py
│ ├── iwaypoint_validator.py
│ ├── waypoint_validator.py
│ └── waypoint_validator_factory.py
├── engine.py
├── infrastructure/
│ ├── cli/
│ │ ├── engine.py
│ │ ├── icli.py
│ │ ├── __init__.py
│ │ ├── repl/
│ │ │ ├── compiler/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_single_command_compiler.py
│ │ │ │ ├── repl_single_command_compiler.py
│ │ │ │ └── repl_single_command_compiler_factory.py
│ │ │ ├── dispatch/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_command_dispatcher.py
│ │ │ │ ├── repl_command_dispatcher.py
│ │ │ │ └── repl_command_dispatcher_factory.py
│ │ │ ├── __init__.py
│ │ │ ├── input/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_line_reader.py
│ │ │ │ ├── repl_line_reader.py
│ │ │ │ └── repl_line_reader_factory.py
│ │ │ ├── presentation/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_response_presenter.py
│ │ │ │ ├── repl_response_presenter.py
│ │ │ │ └── repl_response_presenter_factory.py
│ │ │ └── transmission/
│ │ │ ├── __init__.py
│ │ │ ├── irepl_frame_transmitter.py
│ │ │ ├── repl_frame_transmitter.py
│ │ │ └── repl_frame_transmitter_factory.py
│ │ └── setup/
│ │ ├── bundle.py
│ │ ├── dep_validator.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── keys.py
│ │ ├── opt_validator.py
│ │ ├── options.py
│ │ ├── registry.py
│ │ └── validator.py
│ ├── command/
│ │ ├── command_bundle.py
│ │ ├── command_bundle_factory.py
│ │ ├── compile/
│ │ │ ├── compile_command_definition.py
│ │ │ ├── compile_command_executor.py
│ │ │ ├── compile_command_executor_factory.py
│ │ │ ├── __init__.py
│ │ │ ├── inspection/
│ │ │ │ ├── framing/
│ │ │ │ │ ├── frame_header_formatter.py
│ │ │ │ │ ├── frame_header_formatter_factory.py
│ │ │ │ │ ├── frame_trailer_formatter.py
│ │ │ │ │ ├── frame_trailer_formatter_factory.py
│ │ │ │ │ ├── hex_stream_formatter.py
│ │ │ │ │ ├── hex_stream_formatter_factory.py
│ │ │ │ │ ├── iframe_header_formatter.py
│ │ │ │ │ ├── iframe_trailer_formatter.py
│ │ │ │ │ ├── ihex_stream_formatter.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── payload/
│ │ │ │ │ ├── ijoint_steps_payload_formatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ipayload_dispatcher_formatter.py
│ │ │ │ │ ├── itool_command_payload_formatter.py
│ │ │ │ │ ├── joint_steps_payload_formatter.py
│ │ │ │ │ ├── joint_steps_payload_formatter_factory.py
│ │ │ │ │ ├── payload_dispatcher_formatter.py
│ │ │ │ │ ├── payload_dispatcher_formatter_factory.py
│ │ │ │ │ ├── tool_command_payload_formatter.py
│ │ │ │ │ └── tool_command_payload_formatter_factory.py
│ │ │ │ └── presentation/
│ │ │ │ ├── frame_step_presenter.py
│ │ │ │ ├── frame_step_presenter_factory.py
│ │ │ │ ├── iframe_step_presenter.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iprogram_inspection_presenter.py
│ │ │ │ ├── program_inspection_presenter.py
│ │ │ │ └── program_inspection_presenter_factory.py
│ │ │ └── telemetry/
│ │ │ ├── compile_telemetry_formatter.py
│ │ │ ├── compile_telemetry_formatter_factory.py
│ │ │ ├── icompile_telemetry_formatter.py
│ │ │ └── __init__.py
│ │ ├── disassemble/
│ │ │ ├── disassemble_command_definition.py
│ │ │ ├── disassemble_command_executor.py
│ │ │ ├── disassemble_command_executor_factory.py
│ │ │ ├── format/
│ │ │ │ ├── disassemble_summary_formatter.py
│ │ │ │ ├── disassemble_summary_formatter_factory.py
│ │ │ │ ├── idisassemble_summary_formatter.py
│ │ │ │ └── __init__.py
│ │ │ └── __init__.py
│ │ ├── export/
│ │ │ ├── export_command_definition.py
│ │ │ ├── export_command_executor.py
│ │ │ ├── export_command_executor_factory.py
│ │ │ └── __init__.py
│ │ ├── icommand_definition.py
│ │ ├── icommand_executor.py
│ │ ├── info/
│ │ │ ├── info_command_definition.py
│ │ │ ├── info_command_executor.py
│ │ │ ├── info_command_executor_factory.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── lint/
│ │ │ ├── __init__.py
│ │ │ ├── lint_command_definition.py
│ │ │ ├── lint_command_executor.py
│ │ │ └── lint_command_executor_factory.py
│ │ └── repl/
│ │ ├── __init__.py
│ │ ├── repl_command_definition.py
│ │ ├── repl_command_executor.py
│ │ └── repl_command_executor_factory.py
│ ├── communication/
│ │ ├── __init__.py
│ │ └── protocol/
│ │ ├── binary/
│ │ │ ├── binary_struct_format.py
│ │ │ ├── builder/
│ │ │ │ ├── binary_frame_builder.py
│ │ │ │ ├── binary_frame_builder_factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── checksum/
│ │ │ │ ├── crc16_ccitt.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ └── parser/
│ │ │ ├── binary_frame_assembler.py
│ │ │ ├── binary_frame_assembler_factory.py
│ │ │ ├── binary_frame_parser.py
│ │ │ ├── binary_frame_parser_factory.py
│ │ │ ├── binary_payload_unpacker.py
│ │ │ ├── binary_payload_unpacker_factory.py
│ │ │ ├── ibinary_frame_assembler.py
│ │ │ ├── __init__.py
│ │ │ └── parser_state.py
│ │ └── __init__.py
│ ├── config/
│ │ ├── scaralang.cfg
│ │ └── scaralang.logo
│ └── __init__.py
├── __init__.py
├── py.typed
└── setup/
├── bundle.py
├── dep_validator.py
├── dependencies.py
├── factory.py
├── __init__.py
├── keys.py
├── opt_validator.py
├── options.py
├── registry.py
└── validator.py
117 directories, 545 files
┌─────────────────────────────────────────────────────────────┐
│ CLI / Inbound Adapters │
│ (Compile, Disassemble, Lint, Info, Export, REPL) │
└──────────────┬───────────────────────────────┬──────────────┘
│ Depends on Role Protocols │
▼ ▼
┌──────────────────────────────┐┌─────────────────────────────┐
│ IScaraDslLinter ││ IScaraDslBinaryCompiler │
│ (Validation & Diagnostics) ││ (Plan / Binary Generation) │
└──────────────┬───────────────┘└──────────────┬──────────────┘
│ │
▼ ▼
┌────────────────────────────────────────────────────────────────────────┐
│ Application Services │
│ ┌────────────────────┐ ┌───────────────────┐ ┌───────────────────┐ │
│ │ ScaraLexer │ │ ScaraParser │ │ ScaraCompiler │ │
│ │ (Token Stream) │ │ (Command Parsers) │ │ (Macro Expander) │ │
│ └────────────────────┘ └───────────────────┘ └───────────────────┘ │
│ ┌────────────────────┐ ┌───────────────────┐ ┌───────────────────┐ │
│ │ BinaryCompiler │ │ ScaraDisassembler │ │ ExportDispatcher │ │
│ │ (Step Generator) │ │ (Frame Detail Dec)│ │ (Multi-target Exp)│ │
│ └────────────────────┘ └───────────────────┘ └───────────────────┘ │
└─────────────────────────────────┬──────────────────────────────────────┘
│ Operates on Pure Models
▼
┌────────────────────────────────────────────────────────────────────────┐
│ Pure Domain Models │
│ (ScaraProgram, BinaryProgram, Waypoint, DisassemblySummary, │
│ InstructionParam, ScaraCommandType, MessageId, ZoneMode) │
└────────────────────────────────────────────────────────────────────────┘
- Every module, class, and service has exactly one clearly bounded reason to change.
- Parser and compiler logic is decomposed into dedicated handlers (
MotionCommandParser,ConfigCommandParser,PalletMacroExpander,StepDiscretizer) rather than a monolithic interpreter. - Strict limit of $\le 15$ methods per class across the entire codebase enforced by automated Quality Gate.
- The DSL parser, macro expanders, and exporters are open for extension without modifying existing code.
- Extensible Chain of Responsibility and dispatcher pattern allow registering new instruction handlers and export targets seamlessly.
- Pure structural subtyping via Python
@runtime_checkable Protocoldefinitions. Concrete classes never inherit from abstract protocols, ensuring complete structural interchangeability.
- Fat facade
IScaraDslServiceis segregated into focused role protocols (IScaraDslBinaryCompiler,IScaraDslDisassembler,IScaraDslLinter,IScaraDslInfoProvider,IScaraDslCompiler,IScaraPlanExporter). Clients depend strictly on the minimal methods they call.
- High-level domain services and CLI executors depend strictly on abstract protocols, never on concrete implementations. All infrastructure dependencies are injected via constructor Dependency Injection (Zero-Fallback DI).
run_quality_gates.sh)interfaces_checker.py): Verifies 100% compliance with @runtime_checkable Protocol structural typing across concrete implementations.isp_checker.py): Enforces ISP compliance and verifies that no bloated or unused interfaces exist.limits_checker.py): Enforces file length, method count, and line length limits ($\le 150$ characters).srp_checker.py): Strictly enforces $\le 15$ methods per class and logical method line limits..scara).JointSteps, Step, BinaryProgram).0xAA 0x55 header framing).scarac repl) for real-time single-command compilation, inspection, and frame transmission.scarajectory (Desktop Studio), scaraemu (Digital Twin Simulator), and dof2bot/scara (RP2040 firmware)..scara Programs.scara extension and compiled into validated Cartesian trajectories via a clean AST pipeline: ┌─────────────────────────┐
│ .scara Source │
└────────────┬────────────┘
ScaraLexer │
▼
┌─────────────────────────┐
│ Token Stream │
└────────────┬────────────┘
ScaraParser │
▼
┌─────────────────────────┐
│ Abstract AST │
└────────────┬────────────┘
ScaraCompiler │ (Macros + Kinematics)
▼
┌────────────────────────────┐
│ TrajectoryPlan │
|(Waypoints & Discretization)|
└───────────────┬────────────┘
BinaryCompiler │ (Step Discretization)
▼
┌─────────────────────────┐
│ BinaryProgram │
| (Wire Frames & Bytecode)|
└─────────────────────────┘
📖 Complete Specification: For the exhaustive parameter reference, boundary checks, linter diagnostics, and full industrial examples, see LANGUAGE_REFERENCE.md.
MOVE_J X <x> Y <y> Z <z> [P <phi>]X, Y, Z (mm), P (deg)MOVE_L X <x> Y <y> Z <z> [P <phi>]X, Y, Z (mm), P (deg)ARC_CW X <x> Y <y> I <i> J <j> [Z <z>] [P <p>]X, Y, I, J center offsetARC_CCW X <x> Y <y> I <i> J <j> [Z <z>] [P <p>]X, Y, I, J center offsetAPPROACH DIST <d>DIST (mm, > 0)RETRACT DIST <d>DIST (mm, > 0)JOG_AXIS <X\|Y\|Z\|PHI> <step>JOG_JOINT <1\|2\|3\|4> <deg>PROBE [SPEED <s>] [DIST <d>]SPEED (mm/s), DIST (mm)JUMP X <x> Y <y> Z <z> [ARCH <h>]X, Y, Z, ARCH heightPALLET_DEF <id> ROWS <r> COLS <c> DX <dx> DY <dy>MOVE_PALLET <id> INDEX <i>PUMP <ON\|OFF>ON or OFFVALVE <ON\|OFF>ON or OFFTOOL <UP\|DOWN>UP or DOWNTOOL_ORIENT <AUTO\|TANGENT\|FIXED>SPEED <RAPID\|WORK> <val>RAPID or WORK, feedrateACCEL <val>val (mm/s²)OVERRIDE <percent>percent (10% - 200%)ZONE <OFF\|FINE\|EXACT\|Z1..Z50>CONFIG ELBOW <LEFT\|RIGHT>LEFT or RIGHTCONFIG MOTOR <OPEN_LOOP\|CLOSED_LOOP>FRAME X <x> Y <y> Z <z> [PHI <p>]FRAME_RESETHOMEWAIT <ms> / WAIT_MS <ms>SYNCHOLDRESUMEESTOPENABLEDISABLE.scara Program: Industrial Pick & Place# ----------------------------------------------------
# Industrial Pick-and-Place Cycle with Pneumatic Grip
# ----------------------------------------------------
CONFIG ELBOW LEFT
SPEED RAPID 180.0
SPEED WORK 60.0
ACCEL 400.0
OVERRIDE 100
# Home robot to reference position
HOME
# Rapid move above pick feeder station
MOVE_J X 140.0 Y -30.0 Z 35.0
APPROACH DIST 30.0
# Engage suction cup and pause for vacuum seal
PUMP ON
WAIT 200
# Retract with part
RETRACT DIST 30.0
# Smooth 3D parabolic arch transfer to drop location
JUMP X 180.0 Y 30.0 Z 5.0 ARCH 40.0
# Release part with air pulse
PUMP OFF
VALVE ON
WAIT 100
VALVE OFF
# Retract to safe transit altitude
RETRACT DIST 30.0
HOME
┌──────────────┬──────────────┬──────────────┬──────────────────┬──────────────┐
│ SOF1 (0xAA) │ SOF2 (0x55) │ Msg ID (1B) │ Payload Len (1B)│ Payload (NB) │ ... CRC16 (2B)
└──────────────┴──────────────┴──────────────┴──────────────────┴──────────────┘
0x01JOINT_STEPSStep[n] (8 bytes per step: $\Delta S_1, \Delta S_2, \Delta S_3, \Delta S_4$)0x02TOOL_COMMANDToolId (1B), Action (1B), Param (2B)0x03ESTOP0 bytes)0x04PAUSE0 bytes)0x05RESUME0 bytes)0x06HEARTBEATSequence (4B), Status (1B)0x07SYNCTimestamp (4B)scara_base firmware running on the Raspberry Pi Pico (RP2040), which coordinates motor actuation across two configurable drive modes:
Click to expand code coverage</summary>
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scaralang/__init__.py9
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scaralang/core/__init__.py9
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scaralang/core/model/__init__.py9
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scaralang/core/model/dsl/__init__.py9
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scaralang/core/model/dsl/ast/__init__.py9
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scaralang/core/model/dsl/ast/command_type.py47
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scaralang/core/model/dsl/ast/instruction.py18
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scaralang/core/model/dsl/ast/instruction_param.py57
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scaralang/core/model/dsl/ast/jog_axis.py16
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scaralang/core/model/dsl/ast/pneumatic_state.py14
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scaralang/core/model/dsl/ast/program.py14
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scaralang/core/model/dsl/ast/speed_mode.py14
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scaralang/core/model/dsl/ast/tool_orient_mode.py15
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scaralang/core/model/dsl/ast/tool_position.py14
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scaralang/core/model/dsl/ast/zone_mode.py15
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scaralang/core/model/dsl/binary/__init__.py9
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scaralang/core/model/dsl/binary/binary_program_telemetry.py21
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scaralang/core/model/dsl/binary/disassembled_frame.py17
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scaralang/core/model/dsl/binary/disassembly_summary.py18
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scaralang/core/model/dsl/binary/parsed_command_token.py16
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scaralang/core/model/dsl/binary/program.py20
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scaralang/core/model/dsl/binary/step.py19
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scaralang/core/model/dsl/compiler/__init__.py9
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scaralang/core/model/dsl/compiler/arc_geometry.py18
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scaralang/core/model/dsl/compiler/control_waypoint_descriptor.py16
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scaralang/core/model/dsl/compiler/scara_compiler_context.py35
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scaralang/core/model/dsl/diagnostic/__init__.py9
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scaralang/core/model/dsl/diagnostic/scara_diagnostic.py18
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scaralang/core/model/dsl/diagnostic/scara_diagnostic_code.py23
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scaralang/core/model/dsl/diagnostic/scara_diagnostic_severity.py15
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scaralang/core/model/dsl/exporter/__init__.py9
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scaralang/core/model/dsl/exporter/export_format.py17
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scaralang/core/model/dsl/linter/__init__.py9
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scaralang/core/model/dsl/linter/scara_lint_context.py22
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scaralang/core/model/dsl/macro/__init__.py9
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scaralang/core/model/dsl/macro/pallet_definition.py19
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scaralang/core/model/dsl/macro/work_frame.py15
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scaralang/core/model/dsl/token/__init__.py9
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scaralang/core/model/dsl/token/lexer_pattern_kind.py22
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scaralang/core/model/dsl/token/scara_token.py17
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scaralang/core/model/dsl/token/scara_token_type.py23
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scaralang/core/model/kinematics/__init__.py9
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scaralang/core/model/kinematics/elbow_config.py14
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scaralang/core/model/kinematics/point_2d.py14
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scaralang/core/model/kinematics/point_3d.py15
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scaralang/core/model/kinematics/scara_bounds.py29
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scaralang/core/model/kinematics/transmission_parameters.py18
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scaralang/core/model/motor/__init__.py9
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scaralang/core/model/motor/axis_mask.py18
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scaralang/core/model/motor/motor_config.py18
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scaralang/core/model/motor/motor_drive_mode.py14
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scaralang/core/model/motor/motor_interface_type.py15
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scaralang/core/model/protocol/__init__.py9
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scaralang/core/model/protocol/binary_delimiter.py15
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scaralang/core/model/protocol/binary_frame.py17
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scaralang/core/model/protocol/error_code.py21
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scaralang/core/model/protocol/joint_steps.py18
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scaralang/core/model/protocol/message_id.py41
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scaralang/core/model/protocol/motor_wire_mode.py14
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scaralang/core/model/protocol/tool_id.py13
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scaralang/core/model/repl/__init__.py9
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scaralang/core/model/repl/repl_dispatch_result.py15
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scaralang/core/model/repl/repl_session_context.py23
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scaralang/core/model/trajectory/__init__.py9
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scaralang/core/model/trajectory/arc_point.py15
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scaralang/core/model/trajectory/axis_peak_metric.py16
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scaralang/core/model/trajectory/bottleneck_incident.py16
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scaralang/core/model/trajectory/circle_geometry.py18
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scaralang/core/model/trajectory/trajectory_cycle_report.py18
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scaralang/core/model/trajectory/validation_result.py15
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scaralang/core/model/trajectory/waypoint.py19
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scaralang/core/service/__init__.py9
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scaralang/core/service/compiler/__init__.py9
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scaralang/core/service/compiler/binary/__init__.py9
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scaralang/core/service/compiler/binary/binary_compiler.py28
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scaralang/core/service/compiler/binary/binary_compiler_factory.py20
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scaralang/core/service/compiler/binary/command/__init__.py9
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scaralang/core/service/compiler/binary/command/command_compiler.py56
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scaralang/core/service/compiler/binary/command/command_compiler_factory.py31
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scaralang/core/service/compiler/binary/command/icommand_compiler.py14
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scaralang/core/service/compiler/binary/command/motor/__init__.py9
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scaralang/core/service/compiler/binary/command/motor/imotor_frame_builder.py14
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scaralang/core/service/compiler/binary/command/motor/motor_frame_builder.py23
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scaralang/core/service/compiler/binary/command/motor/motor_frame_builder_factory.py19
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scaralang/core/service/compiler/binary/command/tokens/__init__.py9
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scaralang/core/service/compiler/binary/command/tokens/command_token_parser.py22
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scaralang/core/service/compiler/binary/command/tokens/command_token_parser_factory.py18
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scaralang/core/service/compiler/binary/command/tokens/icommand_token_parser.py16
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scaralang/core/service/compiler/binary/command/tool/__init__.py9
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scaralang/core/service/compiler/binary/command/tool/itool_frame_builder.py15
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scaralang/core/service/compiler/binary/command/tool/tool_frame_builder.py21
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scaralang/core/service/compiler/binary/command/tool/tool_frame_builder_factory.py19
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scaralang/core/service/compiler/binary/ibinary_compiler.py15
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scaralang/core/service/compiler/binary/metrics/__init__.py9
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scaralang/core/service/compiler/binary/metrics/binary_metrics_calculator.py26
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scaralang/core/service/compiler/binary/metrics/binary_metrics_calculator_factory.py18
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scaralang/core/service/compiler/binary/metrics/ibinary_metrics_calculator.py17
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scaralang/core/service/compiler/binary/motion/__init__.py9
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scaralang/core/service/compiler/binary/motion/imotion_compiler.py15
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scaralang/core/service/compiler/binary/motion/motion_compiler.py28
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scaralang/core/service/compiler/binary/motion/motion_compiler_factory.py20
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scaralang/core/service/compiler/binary/step/__init__.py9
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scaralang/core/service/compiler/binary/step/istep_discretizer.py16
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scaralang/core/service/compiler/binary/step/iwaypoint_step_dispatcher.py16
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scaralang/core/service/compiler/binary/step/step_discretizer.py42
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scaralang/core/service/compiler/binary/step/step_discretizer_factory.py20
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scaralang/core/service/compiler/binary/step/waypoint_step_dispatcher.py32
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scaralang/core/service/compiler/binary/step/waypoint_step_dispatcher_factory.py20
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scaralang/core/service/compiler/frame/__init__.py9
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scaralang/core/service/compiler/frame/frame_transformer.py22
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scaralang/core/service/compiler/frame/frame_transformer_factory.py18
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scaralang/core/service/compiler/frame/iframe_transformer.py15
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scaralang/core/service/compiler/iinstruction_pipeline.py16
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scaralang/core/service/compiler/instruction_pipeline.py36
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scaralang/core/service/compiler/instruction_pipeline_factory.py27
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scaralang/core/service/compiler/iprimitive_instruction_processor.py16
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scaralang/core/service/compiler/iscara_compiler.py15
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scaralang/core/service/compiler/macro/__init__.py9
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scaralang/core/service/compiler/macro/frame_macro_expander.py29
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scaralang/core/service/compiler/macro/frame_macro_expander_factory.py18
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scaralang/core/service/compiler/macro/imacro_expander.py16
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scaralang/core/service/compiler/macro/itangent_macro_expander.py18
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scaralang/core/service/compiler/macro/jump_macro_expander.py34
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scaralang/core/service/compiler/macro/jump_macro_expander_factory.py18
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scaralang/core/service/compiler/macro/pallet_macro_expander.py43
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scaralang/core/service/compiler/macro/pallet_macro_expander_factory.py23
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scaralang/core/service/compiler/macro/tangent_macro_expander.py34
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scaralang/core/service/compiler/macro/tangent_macro_expander_factory.py18
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scaralang/core/service/compiler/motion/__init__.py9
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scaralang/core/service/compiler/motion/arc/__init__.py9
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scaralang/core/service/compiler/motion/arc/arc_move_compiler.py40
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scaralang/core/service/compiler/motion/arc/arc_move_compiler_factory.py29
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scaralang/core/service/compiler/motion/arc/builder/__init__.py9
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scaralang/core/service/compiler/motion/arc/builder/arc_waypoint_builder.py21
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scaralang/core/service/compiler/motion/arc/builder/arc_waypoint_builder_factory.py18
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scaralang/core/service/compiler/motion/arc/builder/iarc_waypoint_builder.py17
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scaralang/core/service/compiler/motion/arc/calculator/__init__.py9
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scaralang/core/service/compiler/motion/arc/calculator/arc_point_calculator.py35
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scaralang/core/service/compiler/motion/arc/calculator/arc_point_calculator_factory.py28
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scaralang/core/service/compiler/motion/arc/calculator/iarc_point_calculator.py18
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scaralang/core/service/compiler/motion/arc/interpolation/__init__.py9
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scaralang/core/service/compiler/motion/arc/interpolation/arc_interpolator.py40
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scaralang/core/service/compiler/motion/arc/interpolation/arc_interpolator_factory.py18
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scaralang/core/service/compiler/motion/arc/interpolation/iarc_interpolator.py15
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scaralang/core/service/compiler/motion/cartesian/__init__.py9
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scaralang/core/service/compiler/motion/cartesian/cartesian_move_compiler.py45
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scaralang/core/service/compiler/motion/cartesian/cartesian_move_compiler_factory.py28
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scaralang/core/service/compiler/motion/imotion_sub_compiler.py17
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scaralang/core/service/compiler/motion/motion_command_compiler.py34
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scaralang/core/service/compiler/motion/motion_command_compiler_factory.py26
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scaralang/core/service/compiler/motion/vertical/__init__.py9
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0
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scaralang/core/service/trajectory/validation/trajectory_validator.py46
0
100%
scaralang/core/service/trajectory/validation/trajectory_validator_factory.py28
0
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scaralang/core/service/trajectory/validation/waypoint/__init__.py9
0
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scaralang/core/service/trajectory/validation/waypoint/iwaypoint_validator.py17
0
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scaralang/core/service/trajectory/validation/waypoint/waypoint_validator.py33
0
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scaralang/core/service/trajectory/validation/waypoint/waypoint_validator_factory.py19
0
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scaralang/engine.py60
0
100%
scaralang/infrastructure/__init__.py9
0
100%
scaralang/infrastructure/cli/__init__.py9
0
100%
scaralang/infrastructure/cli/engine.py44
0
100%
scaralang/infrastructure/cli/icli.py15
0
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scaralang/infrastructure/cli/repl/__init__.py9
0
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scaralang/infrastructure/cli/repl/compiler/__init__.py9
0
100%
scaralang/infrastructure/cli/repl/compiler/irepl_single_command_compiler.py16
0
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scaralang/infrastructure/cli/repl/compiler/repl_single_command_compiler.py46
1
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scaralang/infrastructure/cli/repl/compiler/repl_single_command_compiler_factory.py18
0
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scaralang/infrastructure/cli/repl/dispatch/__init__.py9
0
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scaralang/infrastructure/cli/repl/dispatch/irepl_command_dispatcher.py17
0
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scaralang/infrastructure/cli/repl/dispatch/repl_command_dispatcher.py37
0
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scaralang/infrastructure/cli/repl/dispatch/repl_command_dispatcher_factory.py17
0
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scaralang/infrastructure/cli/repl/input/__init__.py9
0
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scaralang/infrastructure/cli/repl/input/irepl_line_reader.py13
0
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scaralang/infrastructure/cli/repl/input/repl_line_reader.py21
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scaralang/infrastructure/cli/repl/input/repl_line_reader_factory.py21
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scaralang/infrastructure/cli/repl/presentation/__init__.py9
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scaralang/infrastructure/cli/repl/presentation/irepl_response_presenter.py18
0
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scaralang/infrastructure/cli/repl/presentation/repl_response_presenter.py25
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scaralang/infrastructure/cli/repl/presentation/repl_response_presenter_factory.py17
0
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scaralang/infrastructure/cli/repl/transmission/__init__.py9
0
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scaralang/infrastructure/cli/repl/transmission/irepl_frame_transmitter.py15
0
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scaralang/infrastructure/cli/repl/transmission/repl_frame_transmitter.py24
0
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scaralang/infrastructure/cli/repl/transmission/repl_frame_transmitter_factory.py17
0
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scaralang/infrastructure/cli/setup/__init__.py9
0
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scaralang/infrastructure/cli/setup/bundle.py22
0
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scaralang/infrastructure/cli/setup/dep_validator.py37
0
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scaralang/infrastructure/cli/setup/dependencies.py18
0
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scaralang/infrastructure/cli/setup/factory.py26
0
100%
scaralang/infrastructure/cli/setup/keys.py26
0
100%
scaralang/infrastructure/cli/setup/opt_validator.py35
0
100%
scaralang/infrastructure/cli/setup/options.py15
0
100%
scaralang/infrastructure/cli/setup/registry.py31
0
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scaralang/infrastructure/cli/setup/validator.py43
0
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scaralang/infrastructure/command/__init__.py9
0
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scaralang/infrastructure/command/command_bundle.py16
0
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scaralang/infrastructure/command/command_bundle_factory.py47
0
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scaralang/infrastructure/command/compile/__init__.py9
0
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scaralang/infrastructure/command/compile/compile_command_definition.py24
0
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scaralang/infrastructure/command/compile/compile_command_executor.py57
0
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scaralang/infrastructure/command/compile/compile_command_executor_factory.py26
0
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scaralang/infrastructure/command/compile/inspection/__init__.py9
0
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scaralang/infrastructure/command/compile/inspection/framing/__init__.py9
0
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scaralang/infrastructure/command/compile/inspection/framing/frame_header_formatter.py15
0
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scaralang/infrastructure/command/compile/inspection/framing/frame_header_formatter_factory.py17
0
100%
scaralang/infrastructure/command/compile/inspection/framing/frame_trailer_formatter.py12
0
100%
scaralang/infrastructure/command/compile/inspection/framing/frame_trailer_formatter_factory.py17
0
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scaralang/infrastructure/command/compile/inspection/framing/hex_stream_formatter.py19
0
100%
scaralang/infrastructure/command/compile/inspection/framing/hex_stream_formatter_factory.py17
0
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scaralang/infrastructure/command/compile/inspection/framing/iframe_header_formatter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/framing/iframe_trailer_formatter.py13
0
100%
scaralang/infrastructure/command/compile/inspection/framing/ihex_stream_formatter.py14
0
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scaralang/infrastructure/command/compile/inspection/payload/__init__.py9
0
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scaralang/infrastructure/command/compile/inspection/payload/ijoint_steps_payload_formatter.py14
0
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scaralang/infrastructure/command/compile/inspection/payload/ipayload_dispatcher_formatter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/payload/itool_command_payload_formatter.py13
0
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scaralang/infrastructure/command/compile/inspection/payload/joint_steps_payload_formatter.py23
0
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scaralang/infrastructure/command/compile/inspection/payload/joint_steps_payload_formatter_factory.py18
0
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scaralang/infrastructure/command/compile/inspection/payload/payload_dispatcher_formatter.py43
0
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scaralang/infrastructure/command/compile/inspection/payload/payload_dispatcher_formatter_factory.py25
0
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scaralang/infrastructure/command/compile/inspection/payload/tool_command_payload_formatter.py22
0
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scaralang/infrastructure/command/compile/inspection/payload/tool_command_payload_formatter_factory.py18
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/__init__.py9
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/frame_step_presenter.py34
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/frame_step_presenter_factory.py21
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/iframe_step_presenter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/iprogram_inspection_presenter.py14
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/program_inspection_presenter.py25
0
100%
scaralang/infrastructure/command/compile/inspection/presentation/program_inspection_presenter_factory.py18
0
100%
scaralang/infrastructure/command/compile/telemetry/__init__.py9
0
100%
scaralang/infrastructure/command/compile/telemetry/compile_telemetry_formatter.py14
0
100%
scaralang/infrastructure/command/compile/telemetry/compile_telemetry_formatter_factory.py17
0
100%
scaralang/infrastructure/command/compile/telemetry/icompile_telemetry_formatter.py14
0
100%
scaralang/infrastructure/command/disassemble/__init__.py9
0
100%
scaralang/infrastructure/command/disassemble/disassemble_command_definition.py24
0
100%
scaralang/infrastructure/command/disassemble/disassemble_command_executor.py45
2
96%
scaralang/infrastructure/command/disassemble/disassemble_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/disassemble/format/__init__.py9
0
100%
scaralang/infrastructure/command/disassemble/format/disassemble_summary_formatter.py14
0
100%
scaralang/infrastructure/command/disassemble/format/disassemble_summary_formatter_factory.py17
0
100%
scaralang/infrastructure/command/disassemble/format/idisassemble_summary_formatter.py14
0
100%
scaralang/infrastructure/command/export/__init__.py9
0
100%
scaralang/infrastructure/command/export/export_command_definition.py24
0
100%
scaralang/infrastructure/command/export/export_command_executor.py46
2
96%
scaralang/infrastructure/command/export/export_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/icommand_definition.py14
0
100%
scaralang/infrastructure/command/icommand_executor.py14
0
100%
scaralang/infrastructure/command/info/__init__.py9
0
100%
scaralang/infrastructure/command/info/info_command_definition.py24
0
100%
scaralang/infrastructure/command/info/info_command_executor.py23
0
100%
scaralang/infrastructure/command/info/info_command_executor_factory.py22
0
100%
scaralang/infrastructure/command/lint/__init__.py9
0
100%
scaralang/infrastructure/command/lint/lint_command_definition.py24
0
100%
scaralang/infrastructure/command/lint/lint_command_executor.py40
2
95%
scaralang/infrastructure/command/lint/lint_command_executor_factory.py24
0
100%
scaralang/infrastructure/command/repl/__init__.py9
0
100%
scaralang/infrastructure/command/repl/repl_command_definition.py24
0
100%
scaralang/infrastructure/command/repl/repl_command_executor.py77
2
97%
scaralang/infrastructure/command/repl/repl_command_executor_factory.py33
0
100%
scaralang/infrastructure/communication/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/binary_struct_format.py23
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/binary_frame_builder.py57
0
100%
scaralang/infrastructure/communication/protocol/binary/builder/binary_frame_builder_factory.py18
1
94%
scaralang/infrastructure/communication/protocol/binary/checksum/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/checksum/crc16_ccitt.py30
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/__init__.py9
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_assembler.py27
1
96%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_assembler_factory.py18
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_parser.py91
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_frame_parser_factory.py26
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_payload_unpacker.py48
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/binary_payload_unpacker_factory.py18
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/ibinary_frame_assembler.py16
0
100%
scaralang/infrastructure/communication/protocol/binary/parser/parser_state.py20
0
100%
scaralang/setup/__init__.py9
0
100%
scaralang/setup/bundle.py21
0
100%
scaralang/setup/dep_validator.py36
0
100%
scaralang/setup/dependencies.py17
0
100%
scaralang/setup/factory.py50
1
98%
scaralang/setup/keys.py26
0
100%
scaralang/setup/opt_validator.py34
0
100%
scaralang/setup/options.py13
0
100%
scaralang/setup/registry.py30
0
100%
scaralang/setup/validator.py43
0
100%
Total
11454
31
99%
</details>
🛠 Usage
CLI Tool (scarac / scaralang)
# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile program.scara -o program.bin
# Compile with verbose wire frame inspection and telemetry metrics
scarac compile program.scara -o program.bin --inspect --telemetry
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, or SVG
scarac export program.scara --format GCODE -o program.gcode
scarac export program.scara --format CSV -o trajectory.csv
scarac export program.scara --format JSON -o trajectory.json
scarac export program.scara --format SVG -o toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info
# Launch interactive SCARA DSL motion REPL console
scarac repl
CLI Subcommand Reference
Subcommand
Description
Key Options
lintStatic analysis linter and semantic validator.
path, --verbose
compileCompiles .scara scripts into binary execution files.
input, -o/--output, --inspect, --telemetry
disassembleDecodes binary .bin frames into assembly instructions.
input, --summary, --hex
exportExports trajectory plans to multi-target formats.
input, --format <GCODE\|CSV\|JSON\|SVG>, -o/--output
infoDisplays compiler version, supported grammar, and limits.
--json, --verbose
replInteractive terminal REPL for single-line compilation.
--port, --baud
Python Library API
from scaralang.setup.factory import ScaraDslServiceFactory
from scaralang.core.service.dsl.iscara_dsl_service import IScaraDslService
# Initialize full DSL service via Composition Root factory
service: IScaraDslService = ScaraDslServiceFactory.create_default()
# Lint a script string
script: str = """
SPEED RAPID 100.0
MOVE_J X 150.0 Y 50.0 Z 20.0
PUMP ON
WAIT 100
MOVE_L X 180.0 Y 50.0 Z 20.0
PUMP OFF
"""
report = service.lint_script(script)
if not report.has_errors:
# Compile directly to binary program
binary_prog = service.compile_to_binary(script)
print(f"Generated {len(binary_prog.raw_bytes)} bytes of bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")
📚 Docs
More documentation and info at
👥 Contributing
📄 Copyright and licence
Copyright (C) 2026 by vroncevic.github.io/scaralang
scaralang is free software; you can redistribute it and/or modify
it under the same terms as Python itself, either Python version 3.x or,
at your option, any later version of Python 3 you may have available.
Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨
Lets help and support PSF.
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/ scaralang)# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile program.scara -o program.bin
# Compile with verbose wire frame inspection and telemetry metrics
scarac compile program.scara -o program.bin --inspect --telemetry
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, or SVG
scarac export program.scara --format GCODE -o program.gcode
scarac export program.scara --format CSV -o trajectory.csv
scarac export program.scara --format JSON -o trajectory.json
scarac export program.scara --format SVG -o toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info
# Launch interactive SCARA DSL motion REPL console
scarac repl
lintpath, --verbosecompile.scara scripts into binary execution files.input, -o/--output, --inspect, --telemetrydisassemble.bin frames into assembly instructions.input, --summary, --hexexportinput, --format <GCODE\|CSV\|JSON\|SVG>, -o/--outputinfo--json, --verboserepl--port, --baudfrom scaralang.setup.factory import ScaraDslServiceFactory
from scaralang.core.service.dsl.iscara_dsl_service import IScaraDslService
# Initialize full DSL service via Composition Root factory
service: IScaraDslService = ScaraDslServiceFactory.create_default()
# Lint a script string
script: str = """
SPEED RAPID 100.0
MOVE_J X 150.0 Y 50.0 Z 20.0
PUMP ON
WAIT 100
MOVE_L X 180.0 Y 50.0 Z 20.0
PUMP OFF
"""
report = service.lint_script(script)
if not report.has_errors:
# Compile directly to binary program
binary_prog = service.compile_to_binary(script)
print(f"Generated {len(binary_prog.raw_bytes)} bytes of bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")