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
- 🛡️ Error Handling & Diagnostic Architecture
- 📊 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/
│ │ ├── disassembler/
│ │ │ ├── disassembled_frame.py
│ │ │ ├── disassembly_summary.py
│ │ │ └── __init__.py
│ │ ├── 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/
│ │ │ │ ├── axis_peak_steps.py
│ │ │ │ ├── binary_program_telemetry.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── program.py
│ │ │ │ └── step.py
│ │ │ ├── compiler/
│ │ │ │ ├── blend_state.py
│ │ │ │ ├── command_token.py
│ │ │ │ ├── context.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pose_state.py
│ │ │ │ ├── speed_state.py
│ │ │ │ └── waypoint_descriptor.py
│ │ │ ├── diagnostic/
│ │ │ │ ├── code.py
│ │ │ │ ├── diagnostic.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── severity.py
│ │ │ ├── exporter/
│ │ │ │ ├── format.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── linter/
│ │ │ │ ├── context.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── tool_state.py
│ │ │ ├── macro/
│ │ │ │ ├── frame.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pallet.py
│ │ │ │ ├── repeat.py
│ │ │ │ └── subroutine.py
│ │ │ └── token/
│ │ │ ├── __init__.py
│ │ │ ├── pattern_kind.py
│ │ │ ├── token.py
│ │ │ └── token_type.py
│ │ ├── exceptions/
│ │ │ ├── error.py
│ │ │ ├── export.py
│ │ │ ├── __init__.py
│ │ │ ├── kinematics.py
│ │ │ ├── protocol.py
│ │ │ ├── semantic.py
│ │ │ └── syntax.py
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── __init__.py
│ │ │ ├── pose/
│ │ │ │ ├── angles.py
│ │ │ │ ├── axis.py
│ │ │ │ ├── cartesian.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── point_2d.py
│ │ │ │ ├── point_3d.py
│ │ │ │ └── steps.py
│ │ │ ├── profile/
│ │ │ │ ├── angle.py
│ │ │ │ ├── bounds.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── link.py
│ │ │ │ ├── singularity.py
│ │ │ │ ├── speed.py
│ │ │ │ ├── transmission.py
│ │ │ │ └── vertical.py
│ │ │ └── solver/
│ │ │ ├── dls.py
│ │ │ ├── elbow.py
│ │ │ ├── __init__.py
│ │ │ ├── jacobian.py
│ │ │ ├── solution.py
│ │ │ ├── solution_2d.py
│ │ │ ├── solution_3d.py
│ │ │ └── status.py
│ │ ├── motor/
│ │ │ ├── alias.py
│ │ │ ├── config.py
│ │ │ ├── __init__.py
│ │ │ ├── interface.py
│ │ │ ├── mask.py
│ │ │ ├── mode.py
│ │ │ └── wire_mode.py
│ │ ├── protocol/
│ │ │ ├── code.py
│ │ │ ├── delimiter.py
│ │ │ ├── event.py
│ │ │ ├── frame.py
│ │ │ ├── __init__.py
│ │ │ ├── joint_steps.py
│ │ │ ├── message.py
│ │ │ ├── payload_size.py
│ │ │ ├── status.py
│ │ │ └── tool.py
│ │ ├── repl/
│ │ │ ├── context.py
│ │ │ ├── __init__.py
│ │ │ ├── pose.py
│ │ │ └── result.py
│ │ └── trajectory/
│ │ ├── geometry/
│ │ │ ├── arc.py
│ │ │ ├── bypass.py
│ │ │ ├── circle.py
│ │ │ ├── __init__.py
│ │ │ └── point.py
│ │ ├── __init__.py
│ │ ├── metrics/
│ │ │ ├── bottleneck.py
│ │ │ ├── constraint.py
│ │ │ ├── __init__.py
│ │ │ ├── peak.py
│ │ │ └── report.py
│ │ ├── obstacle/
│ │ │ ├── box.py
│ │ │ ├── circle.py
│ │ │ ├── __init__.py
│ │ │ ├── shape.py
│ │ │ └── zone.py
│ │ ├── plan/
│ │ │ ├── __init__.py
│ │ │ ├── reconfiguration.py
│ │ │ └── waypoint.py
│ │ └── validation/
│ │ ├── __init__.py
│ │ └── result.py
│ └── service/
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── command/
│ │ │ │ ├── actuator/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── dependencies.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── compiler.py
│ │ │ │ ├── compiler_dependencies.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── tokens/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── iparser.py
│ │ │ │ │ └── parser.py
│ │ │ │ └── tool/
│ │ │ │ ├── builder.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuilder.py
│ │ │ │ └── __init__.py
│ │ │ ├── compiler.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── step/
│ │ │ ├── discretizer/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── discretizer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idiscretizer.py
│ │ │ │ └── __init__.py
│ │ │ ├── dispatcher/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── dispatcher.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idispatcher.py
│ │ │ │ └── __init__.py
│ │ │ ├── duration/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ └── __init__.py
│ │ ├── compiler.py
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── icompiler.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── pipeline/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipipeline.py
│ │ │ │ └── pipeline.py
│ │ │ ├── processor/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iprocessor.py
│ │ │ │ └── processor.py
│ │ │ └── provides.py
│ │ ├── macro/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── iexpander.py
│ │ │ ├── __init__.py
│ │ │ ├── jump/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── pallet/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ ├── repeat/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iexpander.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── segmenter/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isegmenter.py
│ │ │ │ ├── provides.py
│ │ │ │ └── segmenter.py
│ │ │ ├── subroutine/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iexpander.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iregistry.py
│ │ │ │ ├── provides.py
│ │ │ │ └── registry.py
│ │ │ ├── tangent/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ └── zone/
│ │ │ ├── expander.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── plan/
│ │ │ ├── ast/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ └── __init__.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── script/
│ │ │ ├── compiler.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ └── __init__.py
│ │ ├── primitive/
│ │ │ ├── control/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── waypoint/
│ │ │ │ ├── builder.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuilder.py
│ │ │ │ └── __init__.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ ├── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── arc/
│ │ │ │ │ ├── calculator/
│ │ │ │ │ │ ├── calculator.py
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── icalculator.py
│ │ │ │ │ │ └── __init__.py
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── interpolation/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── iinterpolator.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── interpolator.py
│ │ │ │ │ └── waypoint/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── cartesian/
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── itangent_heading_calculator.py
│ │ │ │ │ ├── tangent_heading_calculator.py
│ │ │ │ │ └── tangent_heading_calculator_factory.py
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isub_compiler.py
│ │ │ │ ├── relative/
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ └── __init__.py
│ │ │ │ └── vertical/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ ├── state/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ └── tool/
│ │ │ ├── compiler.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── waypoint/
│ │ │ ├── builder.py
│ │ │ ├── factory.py
│ │ │ ├── ibuilder.py
│ │ │ └── __init__.py
│ │ └── provides.py
│ ├── decompiler/
│ │ ├── decompiler.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── frame/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame.py
│ │ │ ├── iframe.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── idecompiler.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── disassembler/
│ │ ├── dependencies.py
│ │ ├── disassembler.py
│ │ ├── factory.py
│ │ ├── frame/
│ │ │ ├── decoder/
│ │ │ │ ├── actuator_decoder.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idecoder.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── joint_steps_decoder.py
│ │ │ │ └── system_decoder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame.py
│ │ │ ├── iframe.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── idisassembler.py
│ │ ├── __init__.py
│ │ ├── provides.py
│ │ └── summary/
│ │ ├── calculator.py
│ │ ├── factory.py
│ │ ├── icalculator.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── exporter/
│ │ ├── csv/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── exporter.py
│ │ ├── factory.py
│ │ ├── gcode/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── iexporter.py
│ │ ├── __init__.py
│ │ ├── json/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── provides.py
│ │ ├── scara/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── formatter/
│ │ │ │ ├── factory.py
│ │ │ │ ├── formatter.py
│ │ │ │ ├── iformatter.py
│ │ │ │ └── __init__.py
│ │ │ ├── iexporter.py
│ │ │ ├── __init__.py
│ │ │ ├── serializer.py
│ │ │ └── source_generator.py
│ │ └── svg/
│ │ ├── exporter.py
│ │ ├── factory.py
│ │ ├── iexporter.py
│ │ └── __init__.py
│ ├── info/
│ │ ├── factory.py
│ │ ├── iinfo.py
│ │ ├── info.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── dependencies.py
│ │ ├── envelope/
│ │ │ ├── envelope.py
│ │ │ ├── factory.py
│ │ │ ├── home.py
│ │ │ ├── home_factory.py
│ │ │ ├── ienvelope.py
│ │ │ ├── ihome.py
│ │ │ └── __init__.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── profile/
│ │ │ ├── deadzone/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── default_scara_profile.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── provides.py
│ │ ├── solver/
│ │ │ ├── analytical/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── planar/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── isolver.py
│ │ │ │ │ └── solver.py
│ │ │ │ └── spatial/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isolver.py
│ │ │ │ ├── pose/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── isolver.py
│ │ │ │ │ └── solver.py
│ │ │ │ └── solver.py
│ │ │ ├── __init__.py
│ │ │ └── numerical/
│ │ │ ├── __init__.py
│ │ │ ├── jacobian/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── planar/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isolver.py
│ │ │ │ └── solver.py
│ │ │ └── spatial/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── isolver.py
│ │ │ └── solver.py
│ │ ├── transmission/
│ │ │ ├── converter.py
│ │ │ ├── factory.py
│ │ │ ├── iconverter.py
│ │ │ └── __init__.py
│ │ └── workspace/
│ │ ├── boundary/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iservice.py
│ │ │ ├── provides.py
│ │ │ └── service.py
│ │ ├── evaluator.py
│ │ ├── factory.py
│ │ ├── ievaluator.py
│ │ └── __init__.py
│ ├── linter/
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── diagnostic/
│ │ │ ├── factory.py
│ │ │ ├── formatter.py
│ │ │ ├── iformatter.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── factory.py
│ │ ├── ilinter.py
│ │ ├── __init__.py
│ │ ├── linter.py
│ │ ├── provides.py
│ │ ├── rules/
│ │ │ ├── __init__.py
│ │ │ ├── irule.py
│ │ │ ├── motion/
│ │ │ │ ├── calibration/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── duplicate/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ └── rule.py
│ │ │ ├── obstacle/
│ │ │ │ ├── builder/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ └── rule.py
│ │ │ ├── pneumatic/
│ │ │ │ ├── conflict/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── flyby/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── redundancy/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ └── rule.py
│ │ │ ├── state/
│ │ │ │ ├── factory.py
│ │ │ │ ├── homing/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── mode/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── rule.py
│ │ │ │ └── zone/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ └── timing/
│ │ │ ├── blend_zone/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ ├── dwell/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── rule.py
│ │ ├── script/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ilinter.py
│ │ │ ├── __init__.py
│ │ │ ├── linter.py
│ │ │ └── provides.py
│ │ └── validator/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ivalidator.py
│ │ ├── provides.py
│ │ └── validator.py
│ ├── motor/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── interface.py
│ │ ├── mode.py
│ │ └── wire.py
│ ├── parser/
│ │ ├── commands/
│ │ │ ├── config/
│ │ │ │ ├── accel.py
│ │ │ │ ├── elbow.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor.py
│ │ │ │ ├── override.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── speed.py
│ │ │ │ ├── syntax.py
│ │ │ │ ├── tool_orient.py
│ │ │ │ └── zone.py
│ │ │ ├── flow/
│ │ │ │ ├── disable.py
│ │ │ │ ├── enable.py
│ │ │ │ ├── estop.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── hold.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── resume.py
│ │ │ │ ├── sync.py
│ │ │ │ └── wait.py
│ │ │ ├── frame/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── reset.py
│ │ │ │ └── set.py
│ │ │ ├── __init__.py
│ │ │ ├── iparser.py
│ │ │ ├── iprovider.py
│ │ │ ├── iprovides.py
│ │ │ ├── macro/
│ │ │ │ ├── end.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jump.py
│ │ │ │ ├── pallet_def.py
│ │ │ │ ├── pallet_move.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── repeat.py
│ │ │ │ ├── subroutine_call.py
│ │ │ │ └── subroutine_def.py
│ │ │ ├── motion/
│ │ │ │ ├── approach.py
│ │ │ │ ├── arc.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── home.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jog_axis.py
│ │ │ │ ├── jog_joint.py
│ │ │ │ ├── joint.py
│ │ │ │ ├── linear.py
│ │ │ │ ├── probe.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── relative.py
│ │ │ │ └── retract.py
│ │ │ ├── parameter/
│ │ │ │ ├── extractor.py
│ │ │ │ └── __init__.py
│ │ │ ├── tool/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── pump.py
│ │ │ │ ├── tool.py
│ │ │ │ └── valve.py
│ │ │ └── zone/
│ │ │ ├── definition.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── validator/
│ │ │ ├── box_validator.py
│ │ │ ├── circle_validator.py
│ │ │ ├── ibox_validator.py
│ │ │ ├── icircle_validator.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iparser.py
│ │ │ ├── parser.py
│ │ │ └── provides.py
│ │ ├── iparser.py
│ │ ├── lexer/
│ │ │ ├── factory.py
│ │ │ ├── ilexer.py
│ │ │ ├── __init__.py
│ │ │ ├── lexer.py
│ │ │ └── provides.py
│ │ ├── parser.py
│ │ ├── provides.py
│ │ └── splitter/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── isplitter.py
│ │ ├── provides.py
│ │ └── splitter.py
│ ├── protocol/
│ │ ├── iactuator_builder.py
│ │ ├── iactuator_unpacker.py
│ │ ├── icodec.py
│ │ ├── imotion_builder.py
│ │ ├── imotion_unpacker.py
│ │ ├── __init__.py
│ │ ├── ipacker.py
│ │ ├── iparser.py
│ │ ├── iresponse_builder.py
│ │ ├── iresponse_unpacker.py
│ │ ├── isystem_builder.py
│ │ └── isystem_unpacker.py
│ ├── repl/
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── __init__.py
│ ├── trajectory/
│ │ ├── avoidance/
│ │ │ ├── bypass/
│ │ │ │ ├── arc/
│ │ │ │ │ ├── calculator.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── icalculator.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── planner/
│ │ │ │ │ ├── dependencies.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── iplanner.py
│ │ │ │ │ ├── planner.py
│ │ │ │ │ └── provides.py
│ │ │ │ └── provides.py
│ │ │ ├── collision/
│ │ │ │ ├── box_checker.py
│ │ │ │ ├── circle_checker.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibox_checker.py
│ │ │ │ ├── icircle_checker.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ispatial_checker.py
│ │ │ │ ├── izone_registry.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── spatial_checker.py
│ │ │ │ └── zone_registry.py
│ │ │ ├── __init__.py
│ │ │ ├── router/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irouter.py
│ │ │ │ ├── provides.py
│ │ │ │ └── router.py
│ │ │ ├── shape/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iplanner.py
│ │ │ │ ├── planner.py
│ │ │ │ └── provides.py
│ │ │ └── validation/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── discretization/
│ │ │ ├── circle/
│ │ │ │ ├── circle.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icircle.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── line/
│ │ │ │ ├── factory.py
│ │ │ │ ├── iline.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── line.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── rectangle/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── irectangle.py
│ │ │ ├── provides.py
│ │ │ └── rectangle.py
│ │ ├── __init__.py
│ │ ├── metrics/
│ │ │ ├── bottleneck/
│ │ │ │ ├── detector.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idetector.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── cycle/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── imetrics.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics.py
│ │ │ ├── profile/
│ │ │ │ ├── analyzer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ianalyzer.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── summary/
│ │ │ ├── builder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ibuilder.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── plan/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iplan.py
│ │ │ ├── iread_only.py
│ │ │ ├── plan.py
│ │ │ └── provides.py
│ │ ├── reconfiguration/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ireconfiguration_planner.py
│ │ │ ├── planner.py
│ │ │ └── provides.py
│ │ └── validation/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── feedrate/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── __init__.py
│ │ ├── plan/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── provides.py
│ │ └── waypoint/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ivalidator.py
│ │ ├── provides.py
│ │ └── validator.py
│ └── transformation/
│ ├── factory.py
│ ├── __init__.py
│ ├── itransformer.py
│ ├── provides.py
│ └── transformer.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
│ │ │ ├── output/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_output_writer.py
│ │ │ │ ├── repl_output_writer.py
│ │ │ │ └── repl_output_writer_factory.py
│ │ │ ├── presentation/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_response_presenter.py
│ │ │ │ ├── irepl_status_presenter.py
│ │ │ │ ├── repl_response_presenter.py
│ │ │ │ ├── repl_response_presenter_factory.py
│ │ │ │ ├── repl_status_presenter.py
│ │ │ │ └── repl_status_presenter_factory.py
│ │ │ └── transmission/
│ │ │ ├── buffer/
│ │ │ │ ├── buffer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuffer.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── __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/
│ │ ├── bundle.py
│ │ ├── compile/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── inspection/
│ │ │ │ ├── framing/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── header/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── provides.py
│ │ │ │ │ └── trailer/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── hex/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── payload/
│ │ │ │ │ ├── dispatch/
│ │ │ │ │ │ ├── dependencies.py
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── joint/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── provides.py
│ │ │ │ │ └── tool/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ └── presentation/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── program/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ipresenter.py
│ │ │ │ │ ├── presenter.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── provides.py
│ │ │ │ └── step/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipresenter.py
│ │ │ │ ├── presenter.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── telemetry/
│ │ │ ├── factory.py
│ │ │ ├── formatter.py
│ │ │ ├── iformatter.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── decompile/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── disassemble/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── format/
│ │ │ │ ├── factory.py
│ │ │ │ ├── formatter.py
│ │ │ │ ├── iformatter.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── export/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── factory.py
│ │ ├── idefinition.py
│ │ ├── iexecutor.py
│ │ ├── info/
│ │ │ ├── definition.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── __init__.py
│ │ ├── lint/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── provides.py
│ │ └── repl/
│ │ ├── definition.py
│ │ ├── dependencies.py
│ │ ├── executor.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── config/
│ │ ├── scara_geometry_scheme.json
│ │ ├── scaralang.cfg
│ │ └── scaralang.logo
│ ├── decompiler/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── disassembler/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── exporter/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── info/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── linter/
│ │ ├── __init__.py
│ │ ├── script/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── validator/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── parser/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ └── instruction/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── protocol/
│ │ ├── builder/
│ │ │ ├── actuator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── motion.py
│ │ │ ├── packer.py
│ │ │ ├── provides.py
│ │ │ └── system.py
│ │ ├── checksum/
│ │ │ ├── crc16_ccitt.py
│ │ │ └── __init__.py
│ │ ├── codec/
│ │ │ ├── codec.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── __init__.py
│ │ ├── parser/
│ │ │ ├── assembler/
│ │ │ │ ├── assembler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iassembler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── parser.py
│ │ │ ├── provides.py
│ │ │ ├── state.py
│ │ │ └── unpacker/
│ │ │ ├── actuator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── motion.py
│ │ │ ├── provides.py
│ │ │ ├── response.py
│ │ │ └── system.py
│ │ ├── response/
│ │ │ ├── builder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ └── struct_format.py
│ └── trajectory/
│ ├── avoidance/
│ │ ├── bypass/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── router/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── shape/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── validation/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── discretization/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── metrics/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── plan/
│ │ ├── factory.py
│ │ └── __init__.py
│ └── validation/
│ ├── factory.py
│ └── __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
235 directories, 1041 files
</details>
🏗 Architecture & SOLID Principles
┌────────────────────────────────────────────────────────────────────────┐
│ CLI / Inbound Adapters │
│ (Compile, Decompile, Disassemble, Lint, Info, Export, REPL) │
└──────┬─────────────────────────────────────────────────────┬───────────┘
│ Depends on Role Protocols │
▼ ▼
┌─────────────────────────┐┌─────────────────────────┐┌─────────────────────────┐
│ ILinter ││ IScaraCompiler ││ IScaraDecompiler │
│(Validation/Diagnostics) ││(Plan/Binary Generation) ││ (Forward Kinematics/FK) │
└────────────┬────────────┘└────────────┬────────────┘└────────────┬────────────┘
│ │ │
▼ ▼ ▼
┌────────────────────────────────────────────────────────────────────────────────────┐
│ Application Services │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │ ScaraLexer │ │ ScaraParser │ │ ScaraCompiler │ │
│ │ (Token Stream) │ │ (Command Parsers) │ │ (Macro Expander) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │Kinematics Solvers│ │SafeTrajectoryRouter│ │ BinaryCompiler │ │
│ │(Planar + Spatial)│ │ (Bypass & Avoid) │ │ (Step Generator) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │ScaraDisassembler │ │ ScaraExporter │ │ ScaraDecompiler │ │
│ │ (Frame Decoder) │ │ (Multi-target Exp) │ │ (FK Pose Recovery) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
└─────────────────────────────────────────┬──────────────────────────────────────────┘
│ Operates on Pure Models
▼
┌────────────────────────────────────────────────────────────────────────────────────┐
│ Pure Domain Models │
│ (ScaraProgram, BinaryProgram, Waypoint, CartesianPose, ScaraJoints, │
│ BypassArcGeometry, CircleGeometry, ScaraBounds, InstructionParam, MessageId) │
└────────────────────────────────────────────────────────────────────────────────────┘
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):
- Unified role protocols (
IScaraCompiler, IScaraDecompiler, IScaraDisassembler, IScaraLinter, IScaraParser, IScaraLexer, IScaraExporter, IScaraInfoProvider). 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).
- Bidirectional Decompiler: Full binary-to-source decompilation reconstructing high-level SCARA DSL scripts from compiled bytecode frames (
scarac decompile).
- 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, 100% test coverage, and 10.00 / 10.00 Pylint score.
- Resilient Error Handling & Categorized Diagnostics: Strongly typed domain exception hierarchy (
ScaraSyntaxError, ScaraSemanticError, ScaraKinematicsError, ScaraProtocolError, ScaraExportError) coupled with dedicated CLI error presentation handlers (ICompileErrorHandler, IDecompileErrorHandler, IDisassembleErrorHandler, IExportErrorHandler, ILintErrorHandler) providing clear, category-tagged diagnostics ([SYNTAX], [SEMANTIC], [KINEMATICS], [PROTOCOL], [EXPORT], [DOMAIN]) and zero unhandled tracebacks at the system boundary.
📜 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, with full bidirectional decompilation back from binary bytecode:
┌─────────────────────────┐ ┌─────────────────────────┐
│ .scara Source │ │ Decompiled Source │
│ (High-level DSL Script) │ │ (_decompiled.scara DSL) │
└────────────┬────────────┘ └────────────▲────────────┘
ScaraLexer │ │ ScaraDecompiler
▼ │ (Reconstructed
┌─────────────────────────┐ │ Cartesian Poses)
│ Token Stream │ │
└────────────┬────────────┘ ┌────────────┴────────────┐
ScaraParser │ │ Forward Kinematics │
▼ │ (solve_fk: s -> X) │
┌─────────────────────────┐ └────────────▲────────────┘
│ Abstract AST │ │ BinaryParser /
└────────────┬────────────┘ │ Frame Unpacker
ScaraCompiler │ (Macros + Kinematics) │
▼ │
┌───────────────────────────────┐ │
│ TrajectoryPlan │ │
│ (Waypoints & Discretization) │ │
└───────────────┬───────────────┘ │
BinaryCompiler │ (Step Discretization) │
▼ │
┌─────────────────────────┐ │
│ BinaryProgram │───────────────────────────────────┘
│ (Wire Frames & Bytecode)│ Bidirectional Round-Trip
└─────────────────────────┘
Dead Zone Avoidance & Safe Trajectory Routing Pipeline
When generating continuous trajectories or executing Cartesian linear moves (MOVE_L), paths that intersect the inner annular physical dead zone ($R_{\min} \approx 77.6\text{ mm}$ for default SCARA geometry) are automatically detected and rerouted via tangent arc geometry:
┌──────────────────────────┐
│ ISafeTrajectoryRouter │
│ (Segment P1 -> P2 Move) │
└────────────┬─────────────┘
│
▼
┌──────────────────────────┐
│ IDeadZoneValidator │
│ (Annular & Line Check) │
└────────────┬─────────────┘
│
Intersects R_min? │
┌───────────────┴───────────────┐
No │ │ Yes
▼ ▼
┌─────────────────────┐ ┌─────────────────────────────┐
│ Direct Linear Move │ │ IDeadZoneBypassPlanner │
│ (P1 -> P2 Path) │ │ (Selects Safe Bypass) │
└─────────────────────┘ └──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ ITangentArcCalculator │
│ (Computes BypassArcGeometry)│
└──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ IAvoidanceShapePlanner │
│ (Discretizes Safe Arc) │
└──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ Safe Composite Trajectory │
│ (P1 -> Tangent -> Arc -> │
│ Tangent -> P2) │
└─────────────────────────────┘
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
📁 Verification Scripts & Examples (examples/ & run.sh)
The repository includes a comprehensive test and validation suite in examples/ covering all motion primitives, coordinate frames, macro operations, and pneumatic controls:
Script
Domain Feature
Output Artifacts
01_homing.scaraMulti-axis homing sequence
01_homing.bin, .dis, _decompiled.scara
02_linear_motion.scaraLinear Cartesian path interpolation (MOVE_L)
02_linear_motion.bin, .dis, _decompiled.scara
03_joint_rapid.scaraRapid joint point-to-point motion (MOVE_J)
03_joint_rapid.bin, .dis, _decompiled.scara
04_circular_arc.scaraClockwise / counter-clockwise arcs (ARC_CW / ARC_CCW)
04_circular_arc.bin, .dis, _decompiled.scara
05_jump_arch.scaraParabolic arch pick-and-place transfer (JUMP)
05_jump_arch.bin, .dis, _decompiled.scara
06_pneumatics.scaraEnd-effector vacuum pump & blow-off valve control
06_pneumatics.bin, .dis, _decompiled.scara
07_approach_retract.scaraVertical tool descent and safe retract (APPROACH / RETRACT)
07_approach_retract.bin, .dis, _decompiled.scara
08_work_frames.scaraWorkpiece coordinate frame offsets (FRAME USER / FRAME BASE)
08_work_frames.bin, .dis, _decompiled.scara
09_pallet_matrix.scaraGrid pallet matrix indexing (PALLET_DEF / MOVE_PALLET)
09_pallet_matrix.bin, .dis, _decompiled.scara
10_tangent_orientation.scaraAutomatic 4th-axis tool yaw tangent orientation
10_tangent_orientation.bin, .dis, _decompiled.scara
11_zone_blending.scaraCorner tolerance continuous path smoothing (ZONE)
11_zone_blending.bin, .dis, _decompiled.scara
12_industrial_pick_place.scaraComplete industrial assembly & palletizing cycle
12_industrial_pick_place.bin, .dis, _decompiled.scara
To validate compilation, decompiler round-trip, and disassembly across all examples in a single pass:
# Execute automated batch compiler / decompiler verification
bash run.sh
📡 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 wire frame consists of a 5-byte header, variable payload (0 to 64 bytes), and a 3-byte trailer (CRC-16-CCITT and EOF delimiter 0x0D), with a total frame length between 8 and 72 bytes:
┌─────────────┬─────────────┬─────────────┬─────────────┬─────────────┬────────────────────┬───────────────┬─────────────┐
│ SOF1 (1B) │ SOF2 (1B) │ Msg ID (1B) │ SEQ (1B) │ Length (1B) │ Payload (0..64B) │ CRC16 (2B) │ EOF (1B) │
│ 0xAA │ 0x55 │ 0x01..0x89 │ 0..255 │ 0..64 │ Binary Data │ CRC-16-CCITT │ 0x0D │
└─────────────┴─────────────┴─────────────┴─────────────┴─────────────┴────────────────────┴───────────────┴─────────────┘
│<─────────────────────── 5-Byte Wire Header ────────────────────────>│<── 0..64 Bytes ───>│<──── 3-Byte Wire Trailer ──>│
│<────────────────────────────────────────── Total Wire Frame: 8 to 72 Bytes ───────────────────────────────────────────>│
Message Types & Payload Structure
Message ID
Enum Identifier
Payload Structure
Description
0x01CMD_MOVE_JOINT_STEPSj1..j4 (16B), duration_us (4B), feed (2B) (22B)Coordinated stepper motor joint step block with duration and feedrate.
0x03CMD_ENABLEEmpty (0 bytes)
Energize stepper motor driver stages (holding torque).
0x04CMD_DISABLEEmpty (0 bytes)
De-energize motor driver stages (free movement).
0x05CMD_ESTOPEmpty (0 bytes)
Immediate hardware emergency stop and motion abort.
0x06CMD_HOMEEmpty (0 bytes)
Execute multi-axis homing sequence (Z -> J2 -> J1).
0x07CMD_HOLDEmpty (0 bytes)
Trajectory feed hold / pause motion execution.
0x08CMD_RESUMEEmpty (0 bytes)
Resume suspended motion execution.
0x09CMD_JOG_JOINTjoint_id (1B), dir (1B), steps (2B) (4B)Incremental single joint rotational/linear jog.
0x0ACMD_SETPOS_STEPSs1, s2, s3, s4 (16B)Force absolute step register position without motion.
0x0BCMD_TOOL_PUMPtool_id (1B), state (1B) (2B)Vacuum suction pump actuation (ON/OFF).
0x0CCMD_TOOL_VALVEtool_id (1B), state (1B) (2B)Pneumatic blow-off release valve actuation (ON/OFF).
0x0DCMD_WAITdelay_ms (4B)Dwell delay execution for specified milliseconds.
0x0ECMD_OVERRIDEpercent (1B: 10..200)Dynamically scale path execution velocity in real time.
0x0FCMD_CONFIG_MOTORmotor_mode (1B), axis_mask (1B) (2B)Select open-loop TMC2209 or closed-loop MKS SERVO42D.
0x20CMD_GET_STATUSEmpty (0 bytes)
Query consolidated robot status and motion flags.
0x21CMD_GET_STEPSEmpty (0 bytes)
Query current absolute joint step counters.
0x22CMD_GET_DIAGNOSTICSEmpty (0 bytes)
Query extended controller diagnostics and memory stats.
0x23CMD_CLEAR_FAULTEmpty (0 bytes)
Reset latched hardware fault condition.
0x24CMD_PINGtimestamp_ms (4B)Real-time link health and latency measurement ping.
0x30CMD_BOOTLOADEREmpty (0 bytes)
Reboot controller into USB BOOTSEL firmware update mode.
0x80RESP_ACKacked_id (1B), q_count (1B) (2B)Positive command acknowledgment from robot controller.
0x81RESP_NACKrejected_id (1B), error_code (1B) (2B)Negative command rejection with hardware error code.
0x82RESP_STATUSstate, substate, flags (3B), s1..s4 (16B) (19B)Real-time consolidated robot status and coordinates.
0x83RESP_STEPSs1, s2, s3, s4 (16B)Current absolute joint step positions for all 4 axes.
0x84RESP_PONGecho_timestamp_ms (4B)Heartbeat keepalive reply with round-trip timestamp.
0x85RESP_MOVE_EVENTevent_type (1B), step_index (4B) (5B)Trajectory waypoint start/complete execution notification.
0x86RESP_HOMING_EVENTaxis_mask (1B), status (1B) (2B)Multi-axis limit switch trigger event notification.
0x88RESP_DIAGNOSTICSExtended 56-byte payload
System diagnostics (CPU, free RAM, temperature, drops).
0x89RESP_FAULT_EVENTfault_code (2B), axis (1B), info (1B) (4B)Critical hardware fault alert.
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.
🛡️ Error Handling & Diagnostic Architecture
scaralang implements end-to-end, resilient error handling and structured diagnostic reporting based on Clean Architecture principles. It enforces a strict separation between domain-level error contracts, core application validation, and presentation-layer error formatting.
Domain Exception Hierarchy
All internal toolchain exceptions inherit from the base domain exception ScaraError (defined in scaralang.core.model.exceptions.error):
┌─────────────────┐
│ Exception │
└────────┬────────┘
▼
┌─────────────────┐
│ ScaraError │
└────────┬────────┘
│
┌───────────────────┬───────────────────┴───────────────────┬───────────────────┐
▼ ▼ ▼ ▼ ▼
┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐
│ ScaraSyntax │ │ ScaraSemantic │ │ ScaraKinematics │ │ ScaraProtocol │ │ ScaraExport │
│ Error │ │ Error │ │ Error │ │ Error │ │ Error │
└─────────────────┘ └─────────────────┘ └─────────────────┘ └─────────────────┘ └─────────────────┘
Exception Class
Module
Category
Description
ScaraErrorcore/model/exceptions/error.py[DOMAIN]Base class for all domain, compiler, and protocol exceptions.
ScaraSyntaxErrorcore/model/exceptions/syntax.py[SYNTAX]Lexer, tokenization, or parser grammar violations (e.g., malformed numeric literals, invalid opcodes).
ScaraSemanticErrorcore/model/exceptions/semantic.py[SEMANTIC]Semantic validation failures (e.g., undefined pallet reference, duplicate definitions, missing required parameters).
ScaraKinematicsErrorcore/model/exceptions/kinematics.py[KINEMATICS]Robot workspace, reachability, or mechanical singularity violations (e.g., coordinates exceeding arm reach, deadband violations).
ScaraProtocolErrorcore/model/exceptions/protocol.py[PROTOCOL]Wire framing, CRC-16 checksum failure, invalid message IDs, or truncated payload deserialization faults.
ScaraExportErrorcore/model/exceptions/export.py[EXPORT]Trajectory export format errors, unsupported export targets, or output serialization failures.
Dedicated Command Error Handlers
In accordance with the Single Responsibility Principle (SRP) and Interface Segregation Principle (ISP), each CLI subcommand delegates error categorization, return code resolution, and error message formatting to a dedicated error handler component:
Subcommand
Protocol Interface
Concrete Handler
Companion Factory
compileICompileErrorHandlerCompileErrorHandlerCompileErrorHandlerFactory
decompileIDecompileErrorHandlerDecompileErrorHandlerDecompileErrorHandlerFactory
disassembleIDisassembleErrorHandlerDisassembleErrorHandlerDisassembleErrorHandlerFactory
exportIExportErrorHandlerExportErrorHandlerExportErrorHandlerFactory
lintILintErrorHandlerLintErrorHandlerLintErrorHandlerFactory
Categorized Diagnostics & Formatted Messages
When a command fails, the corresponding error handler captures the domain exception, formats a category-tagged diagnostic message, and sets returncode = 1 without raw tracebacks:
- Syntax Errors (
[SYNTAX]):
$ scarac compile --script invalid_syntax.scara
[SYNTAX] Line 4: Invalid float literal for parameter 'X': '150.abc'
- Semantic Errors (
[SEMANTIC]):
$ scarac compile --script invalid_pallet.scara
[SEMANTIC] Line 12: Referenced pallet 'TRAY1' has not been defined
- Kinematics Violations (
[KINEMATICS]):
$ scarac compile --script out_of_reach.scara
[KINEMATICS] Target coordinates (500.0, 300.0) exceed maximum reach of SCARA arm
- Wire Protocol & Deserialization Errors (
[PROTOCOL]):
$ scarac decompile --file corrupted.bin
[PROTOCOL] Payload truncated: expected 22 bytes for JOINT_STEPS, got 14 bytes
- Export Target Errors (
[EXPORT]):
$ scarac export --script program.scara --format unsupported --output out.bin
[EXPORT] Unsupported export format 'unsupported'
- File System / Missing Input Errors (
[IO]):
$ scarac compile --script missing.scara
compile::execute - file not found: missing.scara
Python Library API: Error Handling Example
Downstream applications (such as scarajectory or scaraemu) can catch specific domain exceptions for fine-grained recovery:
from scaralang.core.model.exceptions.error import ScaraError
from scaralang.core.model.exceptions.syntax import ScaraSyntaxError
from scaralang.core.model.exceptions.semantic import ScaraSemanticError
from scaralang.core.model.exceptions.kinematics import ScaraKinematicsError
from scaralang.infrastructure.compiler.factory import DefaultCompilerFactory
compiler = DefaultCompilerFactory.create()
try:
plan = compiler.compile(source="MOVE_J X 999.0 Y 999.0 Z 20.0")
except ScaraSyntaxError as exc:
print(f"Syntax error in script: {exc}")
except ScaraKinematicsError as exc:
print(f"Target position violates robot kinematic boundaries: {exc}")
except ScaraSemanticError as exc:
print(f"Semantic rule violation: {exc}")
except ScaraError as exc:
print(f"General SCARA domain error: {exc}")
📊 Code coverage
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/disassembler/__init__.py9
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scaralang/core/model/disassembler/disassembled_frame.py17
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scaralang/core/model/disassembler/disassembly_summary.py18
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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.py53
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scaralang/core/model/dsl/ast/instruction.py18
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scaralang/core/model/dsl/ast/instruction_param.py63
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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/axis_peak_steps.py16
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scaralang/core/model/dsl/binary/binary_program_telemetry.py19
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scaralang/core/model/dsl/binary/program.py21
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scaralang/core/model/dsl/binary/step.py20
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scaralang/core/model/dsl/compiler/__init__.py9
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scaralang/core/model/dsl/compiler/blend_state.py15
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scaralang/core/model/dsl/compiler/command_token.py16
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scaralang/core/model/dsl/compiler/context.py26
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scaralang/core/model/dsl/compiler/pose_state.py18
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scaralang/core/model/dsl/compiler/speed_state.py17
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scaralang/core/model/dsl/compiler/waypoint_descriptor.py16
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scaralang/core/model/dsl/diagnostic/__init__.py9
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scaralang/core/model/dsl/diagnostic/code.py24
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scaralang/core/model/dsl/diagnostic/diagnostic.py18
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scaralang/core/model/dsl/diagnostic/severity.py15
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scaralang/core/model/dsl/exporter/__init__.py9
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scaralang/core/model/dsl/exporter/format.py17
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scaralang/core/model/dsl/linter/__init__.py9
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scaralang/core/model/dsl/linter/context.py22
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scaralang/core/model/dsl/linter/tool_state.py14
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scaralang/core/model/dsl/macro/__init__.py9
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scaralang/core/model/dsl/macro/frame.py15
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scaralang/core/model/dsl/macro/pallet.py19
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scaralang/core/model/dsl/macro/repeat.py16
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scaralang/core/model/dsl/macro/subroutine.py16
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scaralang/core/model/dsl/token/__init__.py9
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scaralang/core/model/dsl/token/pattern_kind.py22
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scaralang/core/model/dsl/token/token.py17
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scaralang/core/model/dsl/token/token_type.py23
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scaralang/core/model/exceptions/__init__.py9
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scaralang/core/model/exceptions/error.py10
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scaralang/core/model/exceptions/export.py11
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scaralang/core/model/exceptions/kinematics.py11
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scaralang/core/model/exceptions/protocol.py11
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scaralang/core/model/exceptions/semantic.py11
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scaralang/core/model/exceptions/syntax.py11
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scaralang/core/model/kinematics/__init__.py9
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scaralang/core/model/kinematics/pose/__init__.py9
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scaralang/core/model/kinematics/pose/angles.py16
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scaralang/core/model/kinematics/pose/axis.py16
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scaralang/core/model/kinematics/pose/cartesian.py16
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scaralang/core/model/kinematics/pose/point_2d.py14
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scaralang/core/model/kinematics/pose/point_3d.py15
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scaralang/core/model/kinematics/pose/steps.py16
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scaralang/core/model/kinematics/profile/__init__.py9
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scaralang/core/model/kinematics/profile/angle.py16
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scaralang/core/model/kinematics/profile/bounds.py22
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scaralang/core/model/kinematics/profile/link.py14
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scaralang/core/model/kinematics/profile/singularity.py16
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scaralang/core/model/kinematics/profile/speed.py17
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scaralang/core/model/kinematics/profile/transmission.py18
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scaralang/core/model/kinematics/profile/vertical.py14
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scaralang/core/model/kinematics/solver/__init__.py9
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scaralang/core/model/kinematics/solver/dls.py16
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scaralang/core/model/kinematics/solver/elbow.py14
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scaralang/core/model/kinematics/solver/jacobian.py16
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scaralang/core/model/kinematics/solver/solution.py19
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scaralang/core/model/kinematics/solver/solution_2d.py17
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scaralang/core/model/kinematics/solver/solution_3d.py18
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scaralang/core/model/kinematics/solver/status.py18
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scaralang/core/model/motor/__init__.py9
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scaralang/core/model/motor/alias.py14
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scaralang/core/model/motor/config.py18
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scaralang/core/model/motor/interface.py15
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scaralang/core/model/motor/mask.py18
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scaralang/core/model/motor/mode.py14
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scaralang/core/model/motor/wire_mode.py14
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scaralang/core/model/protocol/__init__.py9
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scaralang/core/model/protocol/code.py21
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scaralang/core/model/protocol/delimiter.py15
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scaralang/core/model/protocol/event.py15
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scaralang/core/model/protocol/frame.py17
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scaralang/core/model/protocol/joint_steps.py18
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scaralang/core/model/protocol/message.py41
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scaralang/core/model/protocol/payload_size.py24
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scaralang/core/model/protocol/status.py19
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scaralang/core/model/protocol/tool.py13
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scaralang/core/model/repl/__init__.py9
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scaralang/core/model/repl/context.py21
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scaralang/core/model/repl/pose.py16
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scaralang/core/model/repl/result.py15
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scaralang/core/model/trajectory/__init__.py9
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scaralang/core/model/trajectory/geometry/__init__.py9
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scaralang/core/model/trajectory/geometry/arc.py18
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scaralang/core/model/trajectory/geometry/bypass.py10
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scaralang/core/model/trajectory/geometry/circle.py18
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scaralang/core/model/trajectory/geometry/point.py15
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scaralang/core/model/trajectory/metrics/__init__.py9
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scaralang/core/model/trajectory/metrics/bottleneck.py18
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scaralang/core/model/trajectory/metrics/constraint.py14
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scaralang/core/model/trajectory/metrics/peak.py17
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scaralang/core/model/trajectory/metrics/report.py18
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scaralang/core/model/trajectory/obstacle/__init__.py9
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scaralang/core/model/trajectory/obstacle/box.py16
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scaralang/core/model/trajectory/obstacle/circle.py15
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scaralang/core/model/trajectory/obstacle/shape.py14
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scaralang/core/model/trajectory/obstacle/zone.py18
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scaralang/core/model/trajectory/plan/__init__.py9
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scaralang/core/model/trajectory/plan/reconfiguration.py19
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scaralang/core/model/trajectory/plan/waypoint.py19
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scaralang/core/model/trajectory/validation/__init__.py9
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scaralang/core/model/trajectory/validation/result.py15
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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/command/__init__.py9
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scaralang/core/service/compiler/binary/command/actuator/__init__.py9
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scaralang/core/service/compiler/binary/command/actuator/builder.py28
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scaralang/core/service/compiler/binary/command/actuator/dependencies.py14
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scaralang/core/service/compiler/binary/command/actuator/factory.py19
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scaralang/core/service/compiler/binary/command/actuator/ibuilder.py16
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scaralang/core/service/compiler/binary/command/compiler.py64
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scaralang/core/service/compiler/binary/command/compiler_dependencies.py22
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scaralang/core/service/compiler/binary/command/dependencies.py18
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scaralang/core/service/compiler/binary/command/factory.py32
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scaralang/core/service/compiler/binary/command/icompiler.py15
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scaralang/core/service/compiler/binary/command/provides.py14
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scaralang/core/service/compiler/binary/command/tokens/__init__.py9
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scaralang/core/service/compiler/binary/command/tokens/factory.py18
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scaralang/core/service/compiler/binary/command/tokens/iparser.py16
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scaralang/core/service/compiler/binary/command/tokens/parser.py21
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scaralang/core/service/compiler/binary/command/tool/__init__.py9
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scaralang/core/service/compiler/binary/command/tool/builder.py23
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scaralang/core/service/compiler/binary/command/tool/dependencies.py14
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scaralang/core/service/compiler/binary/command/tool/factory.py19
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scaralang/core/service/compiler/binary/command/tool/ibuilder.py16
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scaralang/core/service/compiler/binary/compiler.py31
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scaralang/core/service/compiler/binary/dependencies.py16
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scaralang/core/service/compiler/binary/factory.py20
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scaralang/core/service/compiler/binary/icompiler.py16
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scaralang/core/service/compiler/binary/metrics/__init__.py9
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scaralang/core/service/compiler/binary/metrics/calculator.py39
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scaralang/core/service/compiler/binary/metrics/factory.py18
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scaralang/core/service/compiler/binary/metrics/icalculator.py19
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scaralang/core/service/compiler/binary/motion/__init__.py9
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scaralang/core/service/compiler/binary/motion/compiler.py36
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scaralang/core/service/compiler/binary/motion/dependencies.py18
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scaralang/core/service/compiler/binary/motion/factory.py21
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scaralang/core/service/compiler/binary/motion/icompiler.py17
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scaralang/core/service/compiler/binary/motion/provides.py14
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scaralang/core/service/compiler/binary/provides.py14
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scaralang/core/service/compiler/binary/step/__init__.py9
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scaralang/core/service/compiler/binary/step/discretizer/__init__.py9
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scaralang/core/service/compiler/binary/step/discretizer/dependencies.py20
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scaralang/core/service/compiler/binary/step/discretizer/discretizer.py58
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scaralang/core/service/compiler/binary/step/discretizer/factory.py19
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scaralang/core/service/compiler/binary/step/discretizer/idiscretizer.py19
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scaralang/core/service/compiler/binary/step/dispatcher/__init__.py9
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scaralang/core/service/compiler/binary/step/dispatcher/dependencies.py16
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scaralang/core/service/compiler/binary/step/dispatcher/dispatcher.py36
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scaralang/core/service/compiler/binary/step/dispatcher/factory.py19
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scaralang/core/service/compiler/binary/step/dispatcher/idispatcher.py17
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scaralang/core/service/compiler/binary/step/duration/__init__.py9
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scaralang/core/service/compiler/binary/step/duration/calculator.py29
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scaralang/core/service/compiler/binary/step/duration/factory.py18
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scaralang/core/service/compiler/binary/step/duration/icalculator.py15
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scaralang/core/service/compiler/compiler.py28
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scaralang/core/service/compiler/context/__init__.py9
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scaralang/core/service/compiler/context/factory.py37
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scaralang/core/service/compiler/dependencies.py16
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scaralang/core/service/compiler/factory.py19
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scaralang/core/service/compiler/icompiler.py16
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scaralang/core/service/compiler/instruction/__init__.py9
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scaralang/core/service/compiler/instruction/dependencies.py21
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scaralang/core/service/compiler/instruction/factory.py26
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scaralang/core/service/compiler/instruction/pipeline/__init__.py9
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scaralang/core/service/compiler/instruction/pipeline/dependencies.py21
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scaralang/core/service/compiler/instruction/pipeline/factory.py19
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scaralang/core/service/compiler/instruction/pipeline/ipipeline.py19
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scaralang/core/service/compiler/instruction/pipeline/pipeline.py57
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scaralang/core/service/compiler/instruction/processor/__init__.py9
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scaralang/core/service/compiler/instruction/processor/dependencies.py15
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scaralang/core/service/compiler/instruction/processor/factory.py19
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scaralang/core/service/compiler/instruction/processor/iprocessor.py17
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scaralang/core/service/compiler/instruction/processor/processor.py27
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scaralang/core/service/compiler/instruction/provides.py16
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scaralang/core/service/compiler/macro/__init__.py9
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scaralang/core/service/compiler/macro/dependencies.py14
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scaralang/core/service/compiler/macro/factory.py31
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scaralang/core/service/compiler/macro/frame/__init__.py9
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scaralang/core/service/compiler/macro/frame/expander.py30
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scaralang/core/service/compiler/macro/frame/factory.py18
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scaralang/core/service/compiler/macro/iexpander.py16
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scaralang/core/service/compiler/macro/jump/__init__.py9
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scaralang/core/service/compiler/macro/jump/expander.py34
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scaralang/core/service/compiler/macro/jump/factory.py18
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scaralang/core/service/compiler/macro/pallet/__init__.py9
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scaralang/core/service/compiler/macro/pallet/dependencies.py14
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scaralang/core/service/compiler/macro/pallet/expander.py47
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scaralang/core/service/compiler/macro/pallet/factory.py19
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scaralang/core/service/compiler/macro/provides.py14
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scaralang/core/service/compiler/macro/repeat/__init__.py9
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scaralang/core/service/compiler/macro/repeat/dependencies.py14
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scaralang/core/service/compiler/macro/repeat/expander.py41
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scaralang/core/service/compiler/macro/repeat/factory.py24
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scaralang/core/service/compiler/macro/repeat/iexpander.py16
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scaralang/core/service/compiler/macro/repeat/provides.py16
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scaralang/core/service/compiler/macro/segmenter/__init__.py9
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scaralang/core/service/compiler/macro/segmenter/factory.py18
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scaralang/core/service/compiler/macro/segmenter/isegmenter.py16
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scaralang/core/service/compiler/macro/segmenter/provides.py16
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scaralang/core/service/compiler/macro/segmenter/segmenter.py33
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scaralang/core/service/compiler/macro/subroutine/__init__.py9
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scaralang/core/service/compiler/macro/subroutine/dependencies.py16
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scaralang/core/service/compiler/macro/subroutine/expander.py63
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scaralang/core/service/compiler/macro/subroutine/factory.py27
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scaralang/core/service/compiler/macro/subroutine/iexpander.py16
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scaralang/core/service/compiler/macro/subroutine/iregistry.py17
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scaralang/core/service/compiler/macro/subroutine/provides.py18
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scaralang/core/service/compiler/macro/subroutine/registry.py30
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scaralang/core/service/compiler/macro/tangent/__init__.py9
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scaralang/core/service/compiler/macro/tangent/expander.py24
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scaralang/core/service/compiler/macro/tangent/factory.py18
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scaralang/core/service/compiler/macro/zone/__init__.py9
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scaralang/core/service/compiler/macro/zone/expander.py22
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scaralang/core/service/compiler/macro/zone/factory.py18
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scaralang/core/service/compiler/plan/__init__.py9
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scaralang/core/service/compiler/plan/ast/__init__.py9
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scaralang/core/service/compiler/plan/ast/compiler.py33
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scaralang/core/service/compiler/plan/ast/factory.py37
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scaralang/core/service/compiler/plan/ast/icompiler.py16
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scaralang/core/service/compiler/plan/dependencies.py18
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scaralang/core/service/compiler/plan/factory.py23
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scaralang/core/service/compiler/plan/provides.py16
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scaralang/core/service/compiler/plan/script/__init__.py9
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scaralang/core/service/compiler/plan/script/compiler.py42
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scaralang/core/service/compiler/plan/script/dependencies.py18
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scaralang/core/service/compiler/plan/script/factory.py19
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scaralang/core/service/compiler/plan/script/icompiler.py17
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scaralang/core/service/compiler/primitive/__init__.py9
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scaralang/core/service/compiler/primitive/control/__init__.py9
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scaralang/core/service/compiler/primitive/control/compiler.py49
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scaralang/core/service/compiler/primitive/control/factory.py19
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scaralang/core/service/compiler/primitive/control/waypoint/__init__.py9
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scaralang/core/service/compiler/primitive/control/waypoint/builder.py17
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scaralang/core/service/compiler/primitive/control/waypoint/factory.py18
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scaralang/core/service/compiler/primitive/control/waypoint/ibuilder.py17
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scaralang/core/service/compiler/primitive/factory.py27
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scaralang/core/service/compiler/primitive/icompiler.py18
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scaralang/core/service/compiler/primitive/motion/__init__.py9
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scaralang/core/service/compiler/primitive/motion/arc/__init__.py9
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scaralang/core/service/compiler/primitive/motion/arc/calculator/__init__.py9
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scaralang/core/service/compiler/primitive/motion/arc/calculator/calculator.py40
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scaralang/core/service/compiler/primitive/motion/arc/calculator/factory.py20
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scaralang/core/service/compiler/primitive/motion/arc/calculator/icalculator.py19
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scaralang/core/service/compiler/primitive/motion/arc/compiler.py43
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scaralang/core/service/compiler/primitive/motion/arc/factory.py20
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scaralang/core/service/compiler/primitive/motion/arc/interpolation/__init__.py9
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scaralang/core/service/compiler/primitive/motion/arc/interpolation/factory.py18
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scaralang/core/service/compiler/primitive/motion/arc/interpolation/iinterpolator.py16
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scaralang/core/service/compiler/primitive/motion/arc/interpolation/interpolator.py52
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scaralang/core/service/compiler/primitive/motion/arc/waypoint/__init__.py9
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scaralang/core/service/compiler/primitive/motion/arc/waypoint/builder.py23
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scaralang/core/service/compiler/primitive/motion/arc/waypoint/factory.py18
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scaralang/core/service/compiler/primitive/motion/arc/waypoint/ibuilder.py18
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scaralang/core/service/compiler/primitive/motion/cartesian/__init__.py9
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scaralang/core/service/compiler/primitive/motion/cartesian/compiler.py49
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scaralang/core/service/compiler/primitive/motion/cartesian/factory.py20
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scaralang/core/service/compiler/primitive/motion/cartesian/itangent_heading_calculator.py15
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scaralang/core/service/compiler/primitive/motion/cartesian/tangent_heading_calculator.py22
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scaralang/core/service/compiler/primitive/motion/cartesian/tangent_heading_calculator_factory.py18
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scaralang/core/service/compiler/primitive/motion/compiler.py29
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scaralang/infrastructure/command/compile/inspection/hex/iformatter.py15
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scaralang/infrastructure/command/compile/inspection/hex/provides.py14
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scaralang/infrastructure/command/compile/inspection/payload/__init__.py9
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/__init__.py9
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/dependencies.py22
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/factory.py19
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/formatter.py49
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/iformatter.py15
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scaralang/infrastructure/command/compile/inspection/payload/dispatch/provides.py14
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scaralang/infrastructure/command/compile/inspection/payload/factory.py33
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scaralang/infrastructure/command/compile/inspection/payload/joint/__init__.py9
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scaralang/infrastructure/command/compile/inspection/payload/joint/factory.py21
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scaralang/infrastructure/command/compile/inspection/payload/joint/formatter.py25
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scaralang/infrastructure/command/compile/inspection/payload/joint/iformatter.py15
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scaralang/infrastructure/command/compile/inspection/payload/joint/provides.py14
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scaralang/infrastructure/command/compile/inspection/payload/provides.py18
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scaralang/infrastructure/command/compile/inspection/payload/tool/__init__.py9
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scaralang/infrastructure/command/compile/inspection/payload/tool/factory.py21
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scaralang/infrastructure/command/compile/inspection/payload/tool/formatter.py24
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scaralang/infrastructure/command/compile/inspection/payload/tool/iformatter.py14
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scaralang/infrastructure/command/compile/inspection/payload/tool/provides.py14
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scaralang/infrastructure/command/compile/inspection/presentation/__init__.py9
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scaralang/infrastructure/command/compile/inspection/presentation/factory.py34
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scaralang/infrastructure/command/compile/inspection/presentation/program/__init__.py9
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scaralang/infrastructure/command/compile/inspection/presentation/program/factory.py19
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scaralang/infrastructure/command/compile/inspection/presentation/program/ipresenter.py15
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scaralang/infrastructure/command/compile/inspection/presentation/program/presenter.py27
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scaralang/infrastructure/command/compile/inspection/presentation/program/provides.py14
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scaralang/infrastructure/command/compile/inspection/presentation/provides.py16
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scaralang/infrastructure/command/compile/inspection/presentation/step/__init__.py9
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scaralang/infrastructure/command/compile/inspection/presentation/step/dependencies.py20
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scaralang/infrastructure/command/compile/inspection/presentation/step/factory.py19
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scaralang/infrastructure/command/compile/inspection/presentation/step/ipresenter.py15
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scaralang/infrastructure/command/compile/inspection/presentation/step/presenter.py37
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scaralang/infrastructure/command/compile/inspection/presentation/step/provides.py14
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scaralang/infrastructure/command/compile/provides.py16
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scaralang/infrastructure/command/compile/telemetry/__init__.py9
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scaralang/infrastructure/command/compile/telemetry/factory.py18
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scaralang/infrastructure/command/compile/telemetry/formatter.py16
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scaralang/infrastructure/command/compile/telemetry/iformatter.py15
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scaralang/infrastructure/command/compile/telemetry/provides.py14
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scaralang/infrastructure/command/decompile/__init__.py9
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scaralang/infrastructure/command/decompile/definition.py24
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scaralang/infrastructure/command/decompile/dependencies.py16
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scaralang/infrastructure/command/decompile/error/__init__.py9
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scaralang/infrastructure/command/decompile/error/factory.py18
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scaralang/infrastructure/command/decompile/error/handler.py40
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scaralang/infrastructure/command/decompile/error/ihandler.py16
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scaralang/infrastructure/command/decompile/error/provides.py14
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scaralang/infrastructure/command/decompile/executor.py45
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scaralang/infrastructure/command/decompile/factory.py27
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scaralang/infrastructure/command/decompile/provides.py16
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scaralang/infrastructure/command/disassemble/__init__.py9
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scaralang/infrastructure/command/disassemble/definition.py24
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scaralang/infrastructure/command/disassemble/dependencies.py20
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scaralang/infrastructure/command/disassemble/error/__init__.py9
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scaralang/infrastructure/command/disassemble/error/factory.py18
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scaralang/infrastructure/command/disassemble/error/handler.py40
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scaralang/infrastructure/command/disassemble/error/ihandler.py16
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scaralang/infrastructure/command/disassemble/error/provides.py14
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scaralang/infrastructure/command/disassemble/executor.py62
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scaralang/infrastructure/command/disassemble/factory.py33
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scaralang/infrastructure/command/disassemble/format/__init__.py9
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scaralang/infrastructure/command/disassemble/format/factory.py18
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scaralang/infrastructure/command/disassemble/format/formatter.py16
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scaralang/infrastructure/command/disassemble/format/iformatter.py15
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scaralang/infrastructure/command/disassemble/format/provides.py14
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scaralang/infrastructure/command/disassemble/provides.py16
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scaralang/infrastructure/command/export/__init__.py9
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scaralang/infrastructure/command/export/definition.py24
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scaralang/infrastructure/command/export/dependencies.py18
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scaralang/infrastructure/command/export/error/__init__.py9
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scaralang/infrastructure/command/export/error/factory.py18
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scaralang/infrastructure/command/export/error/handler.py40
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scaralang/infrastructure/command/export/error/ihandler.py17
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scaralang/infrastructure/command/export/error/provides.py14
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scaralang/infrastructure/command/export/executor.py53
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scaralang/infrastructure/command/export/factory.py36
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scaralang/infrastructure/command/export/provides.py16
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scaralang/infrastructure/command/factory.py40
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scaralang/infrastructure/command/idefinition.py14
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scaralang/infrastructure/command/iexecutor.py14
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scaralang/infrastructure/command/info/__init__.py9
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scaralang/infrastructure/command/info/definition.py24
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scaralang/infrastructure/command/info/executor.py25
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scaralang/infrastructure/command/info/factory.py22
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scaralang/infrastructure/command/info/provides.py16
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scaralang/infrastructure/command/lint/__init__.py9
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scaralang/infrastructure/command/lint/definition.py24
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scaralang/infrastructure/command/lint/dependencies.py18
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scaralang/infrastructure/command/lint/error/__init__.py9
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scaralang/infrastructure/command/lint/error/factory.py18
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scaralang/infrastructure/command/lint/error/handler.py40
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scaralang/infrastructure/command/lint/error/ihandler.py16
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scaralang/infrastructure/command/lint/error/provides.py14
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scaralang/infrastructure/command/lint/executor.py47
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scaralang/infrastructure/command/lint/factory.py28
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scaralang/infrastructure/command/lint/provides.py16
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scaralang/infrastructure/command/provides.py14
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scaralang/infrastructure/command/repl/__init__.py9
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scaralang/infrastructure/command/repl/definition.py24
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scaralang/infrastructure/command/repl/dependencies.py24
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scaralang/infrastructure/command/repl/executor.py84
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scaralang/infrastructure/command/repl/factory.py29
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scaralang/infrastructure/command/repl/provides.py16
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scaralang/infrastructure/compiler/__init__.py9
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scaralang/infrastructure/compiler/binary/__init__.py9
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scaralang/infrastructure/compiler/binary/factory.py43
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scaralang/infrastructure/compiler/factory.py31
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scaralang/infrastructure/decompiler/__init__.py9
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scaralang/infrastructure/decompiler/factory.py33
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scaralang/infrastructure/disassembler/__init__.py9
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scaralang/infrastructure/disassembler/factory.py28
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scaralang/infrastructure/exporter/__init__.py9
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scaralang/infrastructure/exporter/factory.py27
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scaralang/infrastructure/info/__init__.py9
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scaralang/infrastructure/info/factory.py20
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scaralang/infrastructure/kinematics/__init__.py9
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scaralang/infrastructure/kinematics/factory.py24
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scaralang/infrastructure/linter/__init__.py9
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scaralang/infrastructure/linter/script/__init__.py9
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scaralang/infrastructure/linter/script/factory.py23
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scaralang/infrastructure/linter/validator/__init__.py9
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scaralang/infrastructure/linter/validator/factory.py27
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scaralang/infrastructure/parser/__init__.py9
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scaralang/infrastructure/parser/factory.py26
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scaralang/infrastructure/parser/instruction/__init__.py9
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scaralang/infrastructure/parser/instruction/factory.py31
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scaralang/infrastructure/protocol/__init__.py9
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scaralang/infrastructure/protocol/builder/__init__.py9
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scaralang/infrastructure/protocol/builder/actuator.py33
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scaralang/infrastructure/protocol/builder/factory.py22
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scaralang/infrastructure/protocol/builder/motion.py32
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scaralang/infrastructure/protocol/builder/packer.py35
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scaralang/infrastructure/protocol/builder/provides.py20
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scaralang/infrastructure/protocol/builder/system.py40
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scaralang/infrastructure/protocol/checksum/__init__.py9
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scaralang/infrastructure/protocol/checksum/crc16_ccitt.py35
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scaralang/infrastructure/protocol/codec/__init__.py9
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scaralang/infrastructure/protocol/codec/codec.py32
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scaralang/infrastructure/protocol/codec/dependencies.py16
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scaralang/infrastructure/protocol/codec/factory.py19
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scaralang/infrastructure/protocol/codec/provides.py14
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scaralang/infrastructure/protocol/parser/__init__.py9
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scaralang/infrastructure/protocol/parser/assembler/__init__.py9
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scaralang/infrastructure/protocol/parser/assembler/assembler.py32
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scaralang/infrastructure/protocol/parser/assembler/factory.py18
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scaralang/infrastructure/protocol/parser/assembler/iassembler.py16
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scaralang/infrastructure/protocol/parser/assembler/provides.py14
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scaralang/infrastructure/protocol/parser/factory.py25
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scaralang/infrastructure/protocol/parser/parser.py90
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scaralang/infrastructure/protocol/parser/provides.py24
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scaralang/infrastructure/protocol/parser/state.py20
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scaralang/infrastructure/protocol/parser/unpacker/__init__.py9
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scaralang/infrastructure/protocol/parser/unpacker/actuator.py33
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scaralang/infrastructure/protocol/parser/unpacker/factory.py21
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scaralang/infrastructure/protocol/parser/unpacker/motion.py24
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scaralang/infrastructure/protocol/parser/unpacker/provides.py20
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scaralang/infrastructure/protocol/parser/unpacker/response.py29
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scaralang/infrastructure/protocol/parser/unpacker/system.py34
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scaralang/infrastructure/protocol/response/__init__.py9
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scaralang/infrastructure/protocol/response/builder.py36
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scaralang/infrastructure/protocol/response/dependencies.py14
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scaralang/infrastructure/protocol/response/factory.py19
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scaralang/infrastructure/protocol/response/provides.py14
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scaralang/infrastructure/protocol/struct_format.py26
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scaralang/infrastructure/trajectory/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/bypass/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/bypass/dependencies.py12
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scaralang/infrastructure/trajectory/avoidance/bypass/factory.py9
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scaralang/infrastructure/trajectory/avoidance/router/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/router/dependencies.py17
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scaralang/infrastructure/trajectory/avoidance/router/factory.py25
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scaralang/infrastructure/trajectory/avoidance/shape/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/shape/dependencies.py17
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scaralang/infrastructure/trajectory/avoidance/shape/factory.py25
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scaralang/infrastructure/trajectory/avoidance/validation/__init__.py9
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scaralang/infrastructure/trajectory/avoidance/validation/dependencies.py14
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scaralang/infrastructure/trajectory/avoidance/validation/factory.py28
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scaralang/infrastructure/trajectory/discretization/__init__.py9
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scaralang/infrastructure/trajectory/discretization/factory.py18
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scaralang/infrastructure/trajectory/metrics/__init__.py9
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scaralang/infrastructure/trajectory/metrics/factory.py18
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scaralang/infrastructure/trajectory/plan/__init__.py9
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scaralang/infrastructure/trajectory/plan/factory.py18
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scaralang/infrastructure/trajectory/validation/__init__.py9
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scaralang/infrastructure/trajectory/validation/factory.py21
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scaralang/setup/__init__.py9
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scaralang/setup/bundle.py19
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scaralang/setup/dep_validator.py36
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scaralang/setup/dependencies.py15
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scaralang/setup/factory.py38
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scaralang/setup/keys.py24
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scaralang/setup/opt_validator.py34
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scaralang/setup/options.py13
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scaralang/setup/registry.py28
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scaralang/setup/validator.py38
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Total
20508
0
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</details>
🛠 Usage
CLI Tool (scarac / scaralang)
# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint --script program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile --script program.scara --output program.bin
# Compile with hexadecimal stream output and detailed wire frame breakdown
scarac compile --script program.scara --hex --dump-frames --verbose
# Decompile binary bytecode file (.bin) back into high-level SCARA DSL script
scarac decompile --file program.bin --output decompiled.scara
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble --file program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, SVG, or SCARA
scarac export --script program.scara --format gcode --output program.gcode
scarac export --script program.scara --format csv --output trajectory.csv
scarac export --script program.scara --format json --output trajectory.json
scarac export --script program.scara --format svg --output toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info --verbose
# Launch interactive SCARA DSL motion REPL console
scarac repl --endpoint dry-run
CLI Subcommand Reference
Subcommand
Description
Key Options
lintValidate syntax and static analysis rules of a .scara DSL script.
--script
compileCompile a .scara DSL script into binary wire frames and packets.
--script, --output, --hex, --dump-frames, --verbose
decompileDecompile binary frames from a .bin file into high-level SCARA DSL script.
--file, --output
disassembleDecode binary frames from a .bin file into human-readable instructions.
--file, --summary
exportExport trajectory plan to multi-target formats (G-code, CSV, JSON, SVG, SCARA).
--script, --format <gcode\|csv\|json\|svg\|scara>, --output
infoDisplay compiler version, supported grammar, and binary protocol specifications.
--verbose
replInteractive terminal REPL motion console for single-line execution.
--endpoint, --dry-run
Python Library API
from scaralang.infrastructure.compiler.factory import DefaultCompilerFactory
from scaralang.infrastructure.decompiler.factory import DefaultDecompilerFactory
from scaralang.infrastructure.linter.validator.factory import DefaultScriptValidatorFactory
# Initialize fine-grained role services via their default infrastructure factories
validator = DefaultScriptValidatorFactory.create().validator
compiler = DefaultCompilerFactory.create()
decompiler = DefaultDecompilerFactory.create()
# SCARA DSL script to analyze and compile
script = """HOME
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
"""
# 1. Validate syntax and kinematics
is_valid, diagnostics = validator.validate_script(source=script)
if is_valid:
# 2. Compile directly to binary program package and raw bytecode
binary_prog = compiler.compile_to_binary(source=script)
raw_bytes = compiler.compile_to_bytes(source=script)
telemetry = compiler.get_program_telemetry(program=binary_prog)
print(f"Generated {len(raw_bytes)} bytes of binary bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")
print(f"Trajectory execution time: {telemetry.duration_s:.2f} s")
# 3. Decompile binary bytecode back into high-level SCARA DSL script
decompiled_script = decompiler.decompile_bytes(data=raw_bytes)
print("Decompiled script:")
print(decompiled_script)
📚 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/
│ │ ├── disassembler/
│ │ │ ├── disassembled_frame.py
│ │ │ ├── disassembly_summary.py
│ │ │ └── __init__.py
│ │ ├── 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/
│ │ │ │ ├── axis_peak_steps.py
│ │ │ │ ├── binary_program_telemetry.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── program.py
│ │ │ │ └── step.py
│ │ │ ├── compiler/
│ │ │ │ ├── blend_state.py
│ │ │ │ ├── command_token.py
│ │ │ │ ├── context.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pose_state.py
│ │ │ │ ├── speed_state.py
│ │ │ │ └── waypoint_descriptor.py
│ │ │ ├── diagnostic/
│ │ │ │ ├── code.py
│ │ │ │ ├── diagnostic.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── severity.py
│ │ │ ├── exporter/
│ │ │ │ ├── format.py
│ │ │ │ └── __init__.py
│ │ │ ├── __init__.py
│ │ │ ├── linter/
│ │ │ │ ├── context.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── tool_state.py
│ │ │ ├── macro/
│ │ │ │ ├── frame.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── pallet.py
│ │ │ │ ├── repeat.py
│ │ │ │ └── subroutine.py
│ │ │ └── token/
│ │ │ ├── __init__.py
│ │ │ ├── pattern_kind.py
│ │ │ ├── token.py
│ │ │ └── token_type.py
│ │ ├── exceptions/
│ │ │ ├── error.py
│ │ │ ├── export.py
│ │ │ ├── __init__.py
│ │ │ ├── kinematics.py
│ │ │ ├── protocol.py
│ │ │ ├── semantic.py
│ │ │ └── syntax.py
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── __init__.py
│ │ │ ├── pose/
│ │ │ │ ├── angles.py
│ │ │ │ ├── axis.py
│ │ │ │ ├── cartesian.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── point_2d.py
│ │ │ │ ├── point_3d.py
│ │ │ │ └── steps.py
│ │ │ ├── profile/
│ │ │ │ ├── angle.py
│ │ │ │ ├── bounds.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── link.py
│ │ │ │ ├── singularity.py
│ │ │ │ ├── speed.py
│ │ │ │ ├── transmission.py
│ │ │ │ └── vertical.py
│ │ │ └── solver/
│ │ │ ├── dls.py
│ │ │ ├── elbow.py
│ │ │ ├── __init__.py
│ │ │ ├── jacobian.py
│ │ │ ├── solution.py
│ │ │ ├── solution_2d.py
│ │ │ ├── solution_3d.py
│ │ │ └── status.py
│ │ ├── motor/
│ │ │ ├── alias.py
│ │ │ ├── config.py
│ │ │ ├── __init__.py
│ │ │ ├── interface.py
│ │ │ ├── mask.py
│ │ │ ├── mode.py
│ │ │ └── wire_mode.py
│ │ ├── protocol/
│ │ │ ├── code.py
│ │ │ ├── delimiter.py
│ │ │ ├── event.py
│ │ │ ├── frame.py
│ │ │ ├── __init__.py
│ │ │ ├── joint_steps.py
│ │ │ ├── message.py
│ │ │ ├── payload_size.py
│ │ │ ├── status.py
│ │ │ └── tool.py
│ │ ├── repl/
│ │ │ ├── context.py
│ │ │ ├── __init__.py
│ │ │ ├── pose.py
│ │ │ └── result.py
│ │ └── trajectory/
│ │ ├── geometry/
│ │ │ ├── arc.py
│ │ │ ├── bypass.py
│ │ │ ├── circle.py
│ │ │ ├── __init__.py
│ │ │ └── point.py
│ │ ├── __init__.py
│ │ ├── metrics/
│ │ │ ├── bottleneck.py
│ │ │ ├── constraint.py
│ │ │ ├── __init__.py
│ │ │ ├── peak.py
│ │ │ └── report.py
│ │ ├── obstacle/
│ │ │ ├── box.py
│ │ │ ├── circle.py
│ │ │ ├── __init__.py
│ │ │ ├── shape.py
│ │ │ └── zone.py
│ │ ├── plan/
│ │ │ ├── __init__.py
│ │ │ ├── reconfiguration.py
│ │ │ └── waypoint.py
│ │ └── validation/
│ │ ├── __init__.py
│ │ └── result.py
│ └── service/
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── command/
│ │ │ │ ├── actuator/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── dependencies.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── compiler.py
│ │ │ │ ├── compiler_dependencies.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── tokens/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── iparser.py
│ │ │ │ │ └── parser.py
│ │ │ │ └── tool/
│ │ │ │ ├── builder.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuilder.py
│ │ │ │ └── __init__.py
│ │ │ ├── compiler.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── step/
│ │ │ ├── discretizer/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── discretizer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idiscretizer.py
│ │ │ │ └── __init__.py
│ │ │ ├── dispatcher/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── dispatcher.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idispatcher.py
│ │ │ │ └── __init__.py
│ │ │ ├── duration/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ └── __init__.py
│ │ ├── compiler.py
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── icompiler.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── pipeline/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipipeline.py
│ │ │ │ └── pipeline.py
│ │ │ ├── processor/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iprocessor.py
│ │ │ │ └── processor.py
│ │ │ └── provides.py
│ │ ├── macro/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── iexpander.py
│ │ │ ├── __init__.py
│ │ │ ├── jump/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── pallet/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ ├── repeat/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iexpander.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── segmenter/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isegmenter.py
│ │ │ │ ├── provides.py
│ │ │ │ └── segmenter.py
│ │ │ ├── subroutine/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iexpander.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iregistry.py
│ │ │ │ ├── provides.py
│ │ │ │ └── registry.py
│ │ │ ├── tangent/
│ │ │ │ ├── expander.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ └── zone/
│ │ │ ├── expander.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── plan/
│ │ │ ├── ast/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icompiler.py
│ │ │ │ └── __init__.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── script/
│ │ │ ├── compiler.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ └── __init__.py
│ │ ├── primitive/
│ │ │ ├── control/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── waypoint/
│ │ │ │ ├── builder.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuilder.py
│ │ │ │ └── __init__.py
│ │ │ ├── factory.py
│ │ │ ├── icompiler.py
│ │ │ ├── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── arc/
│ │ │ │ │ ├── calculator/
│ │ │ │ │ │ ├── calculator.py
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── icalculator.py
│ │ │ │ │ │ └── __init__.py
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── interpolation/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── iinterpolator.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── interpolator.py
│ │ │ │ │ └── waypoint/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── cartesian/
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── itangent_heading_calculator.py
│ │ │ │ │ ├── tangent_heading_calculator.py
│ │ │ │ │ └── tangent_heading_calculator_factory.py
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isub_compiler.py
│ │ │ │ ├── relative/
│ │ │ │ │ ├── compiler.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ └── __init__.py
│ │ │ │ └── vertical/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ ├── state/
│ │ │ │ ├── compiler.py
│ │ │ │ ├── factory.py
│ │ │ │ └── __init__.py
│ │ │ └── tool/
│ │ │ ├── compiler.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── waypoint/
│ │ │ ├── builder.py
│ │ │ ├── factory.py
│ │ │ ├── ibuilder.py
│ │ │ └── __init__.py
│ │ └── provides.py
│ ├── decompiler/
│ │ ├── decompiler.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── frame/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame.py
│ │ │ ├── iframe.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── idecompiler.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── disassembler/
│ │ ├── dependencies.py
│ │ ├── disassembler.py
│ │ ├── factory.py
│ │ ├── frame/
│ │ │ ├── decoder/
│ │ │ │ ├── actuator_decoder.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idecoder.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── joint_steps_decoder.py
│ │ │ │ └── system_decoder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── frame.py
│ │ │ ├── iframe.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── idisassembler.py
│ │ ├── __init__.py
│ │ ├── provides.py
│ │ └── summary/
│ │ ├── calculator.py
│ │ ├── factory.py
│ │ ├── icalculator.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── exporter/
│ │ ├── csv/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── exporter.py
│ │ ├── factory.py
│ │ ├── gcode/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── iexporter.py
│ │ ├── __init__.py
│ │ ├── json/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── iexporter.py
│ │ │ └── __init__.py
│ │ ├── provides.py
│ │ ├── scara/
│ │ │ ├── exporter.py
│ │ │ ├── factory.py
│ │ │ ├── formatter/
│ │ │ │ ├── factory.py
│ │ │ │ ├── formatter.py
│ │ │ │ ├── iformatter.py
│ │ │ │ └── __init__.py
│ │ │ ├── iexporter.py
│ │ │ ├── __init__.py
│ │ │ ├── serializer.py
│ │ │ └── source_generator.py
│ │ └── svg/
│ │ ├── exporter.py
│ │ ├── factory.py
│ │ ├── iexporter.py
│ │ └── __init__.py
│ ├── info/
│ │ ├── factory.py
│ │ ├── iinfo.py
│ │ ├── info.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── dependencies.py
│ │ ├── envelope/
│ │ │ ├── envelope.py
│ │ │ ├── factory.py
│ │ │ ├── home.py
│ │ │ ├── home_factory.py
│ │ │ ├── ienvelope.py
│ │ │ ├── ihome.py
│ │ │ └── __init__.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── profile/
│ │ │ ├── deadzone/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── default_scara_profile.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── provides.py
│ │ ├── solver/
│ │ │ ├── analytical/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── planar/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── isolver.py
│ │ │ │ │ └── solver.py
│ │ │ │ └── spatial/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isolver.py
│ │ │ │ ├── pose/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── isolver.py
│ │ │ │ │ └── solver.py
│ │ │ │ └── solver.py
│ │ │ ├── __init__.py
│ │ │ └── numerical/
│ │ │ ├── __init__.py
│ │ │ ├── jacobian/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ └── __init__.py
│ │ │ ├── planar/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── isolver.py
│ │ │ │ └── solver.py
│ │ │ └── spatial/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── isolver.py
│ │ │ └── solver.py
│ │ ├── transmission/
│ │ │ ├── converter.py
│ │ │ ├── factory.py
│ │ │ ├── iconverter.py
│ │ │ └── __init__.py
│ │ └── workspace/
│ │ ├── boundary/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iservice.py
│ │ │ ├── provides.py
│ │ │ └── service.py
│ │ ├── evaluator.py
│ │ ├── factory.py
│ │ ├── ievaluator.py
│ │ └── __init__.py
│ ├── linter/
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── diagnostic/
│ │ │ ├── factory.py
│ │ │ ├── formatter.py
│ │ │ ├── iformatter.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── factory.py
│ │ ├── ilinter.py
│ │ ├── __init__.py
│ │ ├── linter.py
│ │ ├── provides.py
│ │ ├── rules/
│ │ │ ├── __init__.py
│ │ │ ├── irule.py
│ │ │ ├── motion/
│ │ │ │ ├── calibration/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── duplicate/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ └── rule.py
│ │ │ ├── obstacle/
│ │ │ │ ├── builder/
│ │ │ │ │ ├── builder.py
│ │ │ │ │ ├── ibuilder.py
│ │ │ │ │ └── __init__.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ └── rule.py
│ │ │ ├── pneumatic/
│ │ │ │ ├── conflict/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── flyby/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── redundancy/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ └── rule.py
│ │ │ ├── state/
│ │ │ │ ├── factory.py
│ │ │ │ ├── homing/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── mode/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ivalidator.py
│ │ │ │ │ └── validator.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── rule.py
│ │ │ │ └── zone/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ └── timing/
│ │ │ ├── blend_zone/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ ├── dwell/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ivalidator.py
│ │ │ │ └── validator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── rule.py
│ │ ├── script/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ilinter.py
│ │ │ ├── __init__.py
│ │ │ ├── linter.py
│ │ │ └── provides.py
│ │ └── validator/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ivalidator.py
│ │ ├── provides.py
│ │ └── validator.py
│ ├── motor/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── interface.py
│ │ ├── mode.py
│ │ └── wire.py
│ ├── parser/
│ │ ├── commands/
│ │ │ ├── config/
│ │ │ │ ├── accel.py
│ │ │ │ ├── elbow.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── motor.py
│ │ │ │ ├── override.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── speed.py
│ │ │ │ ├── syntax.py
│ │ │ │ ├── tool_orient.py
│ │ │ │ └── zone.py
│ │ │ ├── flow/
│ │ │ │ ├── disable.py
│ │ │ │ ├── enable.py
│ │ │ │ ├── estop.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── hold.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── resume.py
│ │ │ │ ├── sync.py
│ │ │ │ └── wait.py
│ │ │ ├── frame/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── reset.py
│ │ │ │ └── set.py
│ │ │ ├── __init__.py
│ │ │ ├── iparser.py
│ │ │ ├── iprovider.py
│ │ │ ├── iprovides.py
│ │ │ ├── macro/
│ │ │ │ ├── end.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jump.py
│ │ │ │ ├── pallet_def.py
│ │ │ │ ├── pallet_move.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── repeat.py
│ │ │ │ ├── subroutine_call.py
│ │ │ │ └── subroutine_def.py
│ │ │ ├── motion/
│ │ │ │ ├── approach.py
│ │ │ │ ├── arc.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── home.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── jog_axis.py
│ │ │ │ ├── jog_joint.py
│ │ │ │ ├── joint.py
│ │ │ │ ├── linear.py
│ │ │ │ ├── probe.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── relative.py
│ │ │ │ └── retract.py
│ │ │ ├── parameter/
│ │ │ │ ├── extractor.py
│ │ │ │ └── __init__.py
│ │ │ ├── tool/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── pump.py
│ │ │ │ ├── tool.py
│ │ │ │ └── valve.py
│ │ │ └── zone/
│ │ │ ├── definition.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── provides.py
│ │ │ └── validator/
│ │ │ ├── box_validator.py
│ │ │ ├── circle_validator.py
│ │ │ ├── ibox_validator.py
│ │ │ ├── icircle_validator.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── instruction/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iparser.py
│ │ │ ├── parser.py
│ │ │ └── provides.py
│ │ ├── iparser.py
│ │ ├── lexer/
│ │ │ ├── factory.py
│ │ │ ├── ilexer.py
│ │ │ ├── __init__.py
│ │ │ ├── lexer.py
│ │ │ └── provides.py
│ │ ├── parser.py
│ │ ├── provides.py
│ │ └── splitter/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── isplitter.py
│ │ ├── provides.py
│ │ └── splitter.py
│ ├── protocol/
│ │ ├── iactuator_builder.py
│ │ ├── iactuator_unpacker.py
│ │ ├── icodec.py
│ │ ├── imotion_builder.py
│ │ ├── imotion_unpacker.py
│ │ ├── __init__.py
│ │ ├── ipacker.py
│ │ ├── iparser.py
│ │ ├── iresponse_builder.py
│ │ ├── iresponse_unpacker.py
│ │ ├── isystem_builder.py
│ │ └── isystem_unpacker.py
│ ├── repl/
│ │ ├── context/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── __init__.py
│ ├── trajectory/
│ │ ├── avoidance/
│ │ │ ├── bypass/
│ │ │ │ ├── arc/
│ │ │ │ │ ├── calculator.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── icalculator.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── planner/
│ │ │ │ │ ├── dependencies.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── iplanner.py
│ │ │ │ │ ├── planner.py
│ │ │ │ │ └── provides.py
│ │ │ │ └── provides.py
│ │ │ ├── collision/
│ │ │ │ ├── box_checker.py
│ │ │ │ ├── circle_checker.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibox_checker.py
│ │ │ │ ├── icircle_checker.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ispatial_checker.py
│ │ │ │ ├── izone_registry.py
│ │ │ │ ├── provides.py
│ │ │ │ ├── spatial_checker.py
│ │ │ │ └── zone_registry.py
│ │ │ ├── __init__.py
│ │ │ ├── router/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irouter.py
│ │ │ │ ├── provides.py
│ │ │ │ └── router.py
│ │ │ ├── shape/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iplanner.py
│ │ │ │ ├── planner.py
│ │ │ │ └── provides.py
│ │ │ └── validation/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── discretization/
│ │ │ ├── circle/
│ │ │ │ ├── circle.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icircle.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── line/
│ │ │ │ ├── factory.py
│ │ │ │ ├── iline.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── line.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── rectangle/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── irectangle.py
│ │ │ ├── provides.py
│ │ │ └── rectangle.py
│ │ ├── __init__.py
│ │ ├── metrics/
│ │ │ ├── bottleneck/
│ │ │ │ ├── detector.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── idetector.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── cycle/
│ │ │ │ ├── calculator.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── icalculator.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── imetrics.py
│ │ │ ├── __init__.py
│ │ │ ├── metrics.py
│ │ │ ├── profile/
│ │ │ │ ├── analyzer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ianalyzer.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── summary/
│ │ │ ├── builder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ibuilder.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── plan/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iplan.py
│ │ │ ├── iread_only.py
│ │ │ ├── plan.py
│ │ │ └── provides.py
│ │ ├── reconfiguration/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ireconfiguration_planner.py
│ │ │ ├── planner.py
│ │ │ └── provides.py
│ │ └── validation/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── feedrate/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── __init__.py
│ │ ├── plan/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── ivalidator.py
│ │ │ ├── provides.py
│ │ │ └── validator.py
│ │ ├── provides.py
│ │ └── waypoint/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ivalidator.py
│ │ ├── provides.py
│ │ └── validator.py
│ └── transformation/
│ ├── factory.py
│ ├── __init__.py
│ ├── itransformer.py
│ ├── provides.py
│ └── transformer.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
│ │ │ ├── output/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_output_writer.py
│ │ │ │ ├── repl_output_writer.py
│ │ │ │ └── repl_output_writer_factory.py
│ │ │ ├── presentation/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── irepl_response_presenter.py
│ │ │ │ ├── irepl_status_presenter.py
│ │ │ │ ├── repl_response_presenter.py
│ │ │ │ ├── repl_response_presenter_factory.py
│ │ │ │ ├── repl_status_presenter.py
│ │ │ │ └── repl_status_presenter_factory.py
│ │ │ └── transmission/
│ │ │ ├── buffer/
│ │ │ │ ├── buffer.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuffer.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── __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/
│ │ ├── bundle.py
│ │ ├── compile/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── inspection/
│ │ │ │ ├── framing/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── header/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── provides.py
│ │ │ │ │ └── trailer/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── hex/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── payload/
│ │ │ │ │ ├── dispatch/
│ │ │ │ │ │ ├── dependencies.py
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── joint/
│ │ │ │ │ │ ├── factory.py
│ │ │ │ │ │ ├── formatter.py
│ │ │ │ │ │ ├── iformatter.py
│ │ │ │ │ │ ├── __init__.py
│ │ │ │ │ │ └── provides.py
│ │ │ │ │ ├── provides.py
│ │ │ │ │ └── tool/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── formatter.py
│ │ │ │ │ ├── iformatter.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ └── provides.py
│ │ │ │ └── presentation/
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── program/
│ │ │ │ │ ├── factory.py
│ │ │ │ │ ├── __init__.py
│ │ │ │ │ ├── ipresenter.py
│ │ │ │ │ ├── presenter.py
│ │ │ │ │ └── provides.py
│ │ │ │ ├── provides.py
│ │ │ │ └── step/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ipresenter.py
│ │ │ │ ├── presenter.py
│ │ │ │ └── provides.py
│ │ │ ├── provides.py
│ │ │ └── telemetry/
│ │ │ ├── factory.py
│ │ │ ├── formatter.py
│ │ │ ├── iformatter.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── decompile/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── disassemble/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── format/
│ │ │ │ ├── factory.py
│ │ │ │ ├── formatter.py
│ │ │ │ ├── iformatter.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── export/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── factory.py
│ │ ├── idefinition.py
│ │ ├── iexecutor.py
│ │ ├── info/
│ │ │ ├── definition.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── __init__.py
│ │ ├── lint/
│ │ │ ├── definition.py
│ │ │ ├── dependencies.py
│ │ │ ├── error/
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ ├── ihandler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── executor.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── provides.py
│ │ └── repl/
│ │ ├── definition.py
│ │ ├── dependencies.py
│ │ ├── executor.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ └── provides.py
│ ├── compiler/
│ │ ├── binary/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── config/
│ │ ├── scara_geometry_scheme.json
│ │ ├── scaralang.cfg
│ │ └── scaralang.logo
│ ├── decompiler/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── disassembler/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── exporter/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── info/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── kinematics/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── linter/
│ │ ├── __init__.py
│ │ ├── script/
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── validator/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── parser/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ └── instruction/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── protocol/
│ │ ├── builder/
│ │ │ ├── actuator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── motion.py
│ │ │ ├── packer.py
│ │ │ ├── provides.py
│ │ │ └── system.py
│ │ ├── checksum/
│ │ │ ├── crc16_ccitt.py
│ │ │ └── __init__.py
│ │ ├── codec/
│ │ │ ├── codec.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ ├── __init__.py
│ │ ├── parser/
│ │ │ ├── assembler/
│ │ │ │ ├── assembler.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iassembler.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── provides.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── parser.py
│ │ │ ├── provides.py
│ │ │ ├── state.py
│ │ │ └── unpacker/
│ │ │ ├── actuator.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── motion.py
│ │ │ ├── provides.py
│ │ │ ├── response.py
│ │ │ └── system.py
│ │ ├── response/
│ │ │ ├── builder.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── provides.py
│ │ └── struct_format.py
│ └── trajectory/
│ ├── avoidance/
│ │ ├── bypass/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── router/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── shape/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ └── validation/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── discretization/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── metrics/
│ │ ├── factory.py
│ │ └── __init__.py
│ ├── plan/
│ │ ├── factory.py
│ │ └── __init__.py
│ └── validation/
│ ├── factory.py
│ └── __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
235 directories, 1041 files
┌────────────────────────────────────────────────────────────────────────┐
│ CLI / Inbound Adapters │
│ (Compile, Decompile, Disassemble, Lint, Info, Export, REPL) │
└──────┬─────────────────────────────────────────────────────┬───────────┘
│ Depends on Role Protocols │
▼ ▼
┌─────────────────────────┐┌─────────────────────────┐┌─────────────────────────┐
│ ILinter ││ IScaraCompiler ││ IScaraDecompiler │
│(Validation/Diagnostics) ││(Plan/Binary Generation) ││ (Forward Kinematics/FK) │
└────────────┬────────────┘└────────────┬────────────┘└────────────┬────────────┘
│ │ │
▼ ▼ ▼
┌────────────────────────────────────────────────────────────────────────────────────┐
│ Application Services │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │ ScaraLexer │ │ ScaraParser │ │ ScaraCompiler │ │
│ │ (Token Stream) │ │ (Command Parsers) │ │ (Macro Expander) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │Kinematics Solvers│ │SafeTrajectoryRouter│ │ BinaryCompiler │ │
│ │(Planar + Spatial)│ │ (Bypass & Avoid) │ │ (Step Generator) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
│ ┌──────────────────┐ ┌────────────────────┐ ┌──────────────────────────────┐ │
│ │ScaraDisassembler │ │ ScaraExporter │ │ ScaraDecompiler │ │
│ │ (Frame Decoder) │ │ (Multi-target Exp) │ │ (FK Pose Recovery) │ │
│ └──────────────────┘ └────────────────────┘ └──────────────────────────────┘ │
└─────────────────────────────────────────┬──────────────────────────────────────────┘
│ Operates on Pure Models
▼
┌────────────────────────────────────────────────────────────────────────────────────┐
│ Pure Domain Models │
│ (ScaraProgram, BinaryProgram, Waypoint, CartesianPose, ScaraJoints, │
│ BypassArcGeometry, CircleGeometry, ScaraBounds, InstructionParam, MessageId) │
└────────────────────────────────────────────────────────────────────────────────────┘
- 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.
- Unified role protocols (
IScaraCompiler,IScaraDecompiler,IScaraDisassembler,IScaraLinter,IScaraParser,IScaraLexer,IScaraExporter,IScaraInfoProvider). 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).scarac decompile).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).ScaraSyntaxError, ScaraSemanticError, ScaraKinematicsError, ScaraProtocolError, ScaraExportError) coupled with dedicated CLI error presentation handlers (ICompileErrorHandler, IDecompileErrorHandler, IDisassembleErrorHandler, IExportErrorHandler, ILintErrorHandler) providing clear, category-tagged diagnostics ([SYNTAX], [SEMANTIC], [KINEMATICS], [PROTOCOL], [EXPORT], [DOMAIN]) and zero unhandled tracebacks at the system boundary..scara Programs.scara extension and compiled into validated Cartesian trajectories via a clean AST pipeline, with full bidirectional decompilation back from binary bytecode: ┌─────────────────────────┐ ┌─────────────────────────┐
│ .scara Source │ │ Decompiled Source │
│ (High-level DSL Script) │ │ (_decompiled.scara DSL) │
└────────────┬────────────┘ └────────────▲────────────┘
ScaraLexer │ │ ScaraDecompiler
▼ │ (Reconstructed
┌─────────────────────────┐ │ Cartesian Poses)
│ Token Stream │ │
└────────────┬────────────┘ ┌────────────┴────────────┐
ScaraParser │ │ Forward Kinematics │
▼ │ (solve_fk: s -> X) │
┌─────────────────────────┐ └────────────▲────────────┘
│ Abstract AST │ │ BinaryParser /
└────────────┬────────────┘ │ Frame Unpacker
ScaraCompiler │ (Macros + Kinematics) │
▼ │
┌───────────────────────────────┐ │
│ TrajectoryPlan │ │
│ (Waypoints & Discretization) │ │
└───────────────┬───────────────┘ │
BinaryCompiler │ (Step Discretization) │
▼ │
┌─────────────────────────┐ │
│ BinaryProgram │───────────────────────────────────┘
│ (Wire Frames & Bytecode)│ Bidirectional Round-Trip
└─────────────────────────┘
MOVE_L), paths that intersect the inner annular physical dead zone ($R_{\min} \approx 77.6\text{ mm}$ for default SCARA geometry) are automatically detected and rerouted via tangent arc geometry: ┌──────────────────────────┐
│ ISafeTrajectoryRouter │
│ (Segment P1 -> P2 Move) │
└────────────┬─────────────┘
│
▼
┌──────────────────────────┐
│ IDeadZoneValidator │
│ (Annular & Line Check) │
└────────────┬─────────────┘
│
Intersects R_min? │
┌───────────────┴───────────────┐
No │ │ Yes
▼ ▼
┌─────────────────────┐ ┌─────────────────────────────┐
│ Direct Linear Move │ │ IDeadZoneBypassPlanner │
│ (P1 -> P2 Path) │ │ (Selects Safe Bypass) │
└─────────────────────┘ └──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ ITangentArcCalculator │
│ (Computes BypassArcGeometry)│
└──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ IAvoidanceShapePlanner │
│ (Discretizes Safe Arc) │
└──────────────┬──────────────┘
│
▼
┌─────────────────────────────┐
│ Safe Composite Trajectory │
│ (P1 -> Tangent -> Arc -> │
│ Tangent -> P2) │
└─────────────────────────────┘
📖 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
examples/ & run.sh)examples/ covering all motion primitives, coordinate frames, macro operations, and pneumatic controls:01_homing.scara01_homing.bin, .dis, _decompiled.scara02_linear_motion.scaraMOVE_L)02_linear_motion.bin, .dis, _decompiled.scara03_joint_rapid.scaraMOVE_J)03_joint_rapid.bin, .dis, _decompiled.scara04_circular_arc.scaraARC_CW / ARC_CCW)04_circular_arc.bin, .dis, _decompiled.scara05_jump_arch.scaraJUMP)05_jump_arch.bin, .dis, _decompiled.scara06_pneumatics.scara06_pneumatics.bin, .dis, _decompiled.scara07_approach_retract.scaraAPPROACH / RETRACT)07_approach_retract.bin, .dis, _decompiled.scara08_work_frames.scaraFRAME USER / FRAME BASE)08_work_frames.bin, .dis, _decompiled.scara09_pallet_matrix.scaraPALLET_DEF / MOVE_PALLET)09_pallet_matrix.bin, .dis, _decompiled.scara10_tangent_orientation.scara10_tangent_orientation.bin, .dis, _decompiled.scara11_zone_blending.scaraZONE)11_zone_blending.bin, .dis, _decompiled.scara12_industrial_pick_place.scara12_industrial_pick_place.bin, .dis, _decompiled.scara# Execute automated batch compiler / decompiler verification
bash run.sh
0x0D), with a total frame length between 8 and 72 bytes:┌─────────────┬─────────────┬─────────────┬─────────────┬─────────────┬────────────────────┬───────────────┬─────────────┐
│ SOF1 (1B) │ SOF2 (1B) │ Msg ID (1B) │ SEQ (1B) │ Length (1B) │ Payload (0..64B) │ CRC16 (2B) │ EOF (1B) │
│ 0xAA │ 0x55 │ 0x01..0x89 │ 0..255 │ 0..64 │ Binary Data │ CRC-16-CCITT │ 0x0D │
└─────────────┴─────────────┴─────────────┴─────────────┴─────────────┴────────────────────┴───────────────┴─────────────┘
│<─────────────────────── 5-Byte Wire Header ────────────────────────>│<── 0..64 Bytes ───>│<──── 3-Byte Wire Trailer ──>│
│<────────────────────────────────────────── Total Wire Frame: 8 to 72 Bytes ───────────────────────────────────────────>│
0x01CMD_MOVE_JOINT_STEPSj1..j4 (16B), duration_us (4B), feed (2B) (22B)0x03CMD_ENABLE0 bytes)0x04CMD_DISABLE0 bytes)0x05CMD_ESTOP0 bytes)0x06CMD_HOME0 bytes)0x07CMD_HOLD0 bytes)0x08CMD_RESUME0 bytes)0x09CMD_JOG_JOINTjoint_id (1B), dir (1B), steps (2B) (4B)0x0ACMD_SETPOS_STEPSs1, s2, s3, s4 (16B)0x0BCMD_TOOL_PUMPtool_id (1B), state (1B) (2B)ON/OFF).0x0CCMD_TOOL_VALVEtool_id (1B), state (1B) (2B)ON/OFF).0x0DCMD_WAITdelay_ms (4B)0x0ECMD_OVERRIDEpercent (1B: 10..200)0x0FCMD_CONFIG_MOTORmotor_mode (1B), axis_mask (1B) (2B)0x20CMD_GET_STATUS0 bytes)0x21CMD_GET_STEPS0 bytes)0x22CMD_GET_DIAGNOSTICS0 bytes)0x23CMD_CLEAR_FAULT0 bytes)0x24CMD_PINGtimestamp_ms (4B)0x30CMD_BOOTLOADER0 bytes)0x80RESP_ACKacked_id (1B), q_count (1B) (2B)0x81RESP_NACKrejected_id (1B), error_code (1B) (2B)0x82RESP_STATUSstate, substate, flags (3B), s1..s4 (16B) (19B)0x83RESP_STEPSs1, s2, s3, s4 (16B)0x84RESP_PONGecho_timestamp_ms (4B)0x85RESP_MOVE_EVENTevent_type (1B), step_index (4B) (5B)0x86RESP_HOMING_EVENTaxis_mask (1B), status (1B) (2B)0x88RESP_DIAGNOSTICS0x89RESP_FAULT_EVENTfault_code (2B), axis (1B), info (1B) (4B)scara_base firmware running on the Raspberry Pi Pico (RP2040), which coordinates motor actuation across two configurable drive modes:ScaraError (defined in scaralang.core.model.exceptions.error): ┌─────────────────┐
│ Exception │
└────────┬────────┘
▼
┌─────────────────┐
│ ScaraError │
└────────┬────────┘
│
┌───────────────────┬───────────────────┴───────────────────┬───────────────────┐
▼ ▼ ▼ ▼ ▼
┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐
│ ScaraSyntax │ │ ScaraSemantic │ │ ScaraKinematics │ │ ScaraProtocol │ │ ScaraExport │
│ Error │ │ Error │ │ Error │ │ Error │ │ Error │
└─────────────────┘ └─────────────────┘ └─────────────────┘ └─────────────────┘ └─────────────────┘
ScaraErrorcore/model/exceptions/error.py[DOMAIN]ScaraSyntaxErrorcore/model/exceptions/syntax.py[SYNTAX]ScaraSemanticErrorcore/model/exceptions/semantic.py[SEMANTIC]ScaraKinematicsErrorcore/model/exceptions/kinematics.py[KINEMATICS]ScaraProtocolErrorcore/model/exceptions/protocol.py[PROTOCOL]ScaraExportErrorcore/model/exceptions/export.py[EXPORT]compileICompileErrorHandlerCompileErrorHandlerCompileErrorHandlerFactorydecompileIDecompileErrorHandlerDecompileErrorHandlerDecompileErrorHandlerFactorydisassembleIDisassembleErrorHandlerDisassembleErrorHandlerDisassembleErrorHandlerFactoryexportIExportErrorHandlerExportErrorHandlerExportErrorHandlerFactorylintILintErrorHandlerLintErrorHandlerLintErrorHandlerFactoryreturncode = 1 without raw tracebacks:[SYNTAX]):
$ scarac compile --script invalid_syntax.scara
[SYNTAX] Line 4: Invalid float literal for parameter 'X': '150.abc'
[SEMANTIC]):
$ scarac compile --script invalid_pallet.scara
[SEMANTIC] Line 12: Referenced pallet 'TRAY1' has not been defined
[KINEMATICS]):
$ scarac compile --script out_of_reach.scara
[KINEMATICS] Target coordinates (500.0, 300.0) exceed maximum reach of SCARA arm
[PROTOCOL]):
$ scarac decompile --file corrupted.bin
[PROTOCOL] Payload truncated: expected 22 bytes for JOINT_STEPS, got 14 bytes
[EXPORT]):
$ scarac export --script program.scara --format unsupported --output out.bin
[EXPORT] Unsupported export format 'unsupported'
[IO]):
$ scarac compile --script missing.scara
compile::execute - file not found: missing.scara
scarajectory or scaraemu) can catch specific domain exceptions for fine-grained recovery:from scaralang.core.model.exceptions.error import ScaraError
from scaralang.core.model.exceptions.syntax import ScaraSyntaxError
from scaralang.core.model.exceptions.semantic import ScaraSemanticError
from scaralang.core.model.exceptions.kinematics import ScaraKinematicsError
from scaralang.infrastructure.compiler.factory import DefaultCompilerFactory
compiler = DefaultCompilerFactory.create()
try:
plan = compiler.compile(source="MOVE_J X 999.0 Y 999.0 Z 20.0")
except ScaraSyntaxError as exc:
print(f"Syntax error in script: {exc}")
except ScaraKinematicsError as exc:
print(f"Target position violates robot kinematic boundaries: {exc}")
except ScaraSemanticError as exc:
print(f"Semantic rule violation: {exc}")
except ScaraError as exc:
print(f"General SCARA domain error: {exc}")
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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/infrastructure/trajectory/discretization/factory.py18
0
100%
scaralang/infrastructure/trajectory/metrics/__init__.py9
0
100%
scaralang/infrastructure/trajectory/metrics/factory.py18
0
100%
scaralang/infrastructure/trajectory/plan/__init__.py9
0
100%
scaralang/infrastructure/trajectory/plan/factory.py18
0
100%
scaralang/infrastructure/trajectory/validation/__init__.py9
0
100%
scaralang/infrastructure/trajectory/validation/factory.py21
0
100%
scaralang/setup/__init__.py9
0
100%
scaralang/setup/bundle.py19
0
100%
scaralang/setup/dep_validator.py36
0
100%
scaralang/setup/dependencies.py15
0
100%
scaralang/setup/factory.py38
0
100%
scaralang/setup/keys.py24
0
100%
scaralang/setup/opt_validator.py34
0
100%
scaralang/setup/options.py13
0
100%
scaralang/setup/registry.py28
0
100%
scaralang/setup/validator.py38
0
100%
Total
20508
0
100%
</details>
🛠 Usage
CLI Tool (scarac / scaralang)
# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint --script program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile --script program.scara --output program.bin
# Compile with hexadecimal stream output and detailed wire frame breakdown
scarac compile --script program.scara --hex --dump-frames --verbose
# Decompile binary bytecode file (.bin) back into high-level SCARA DSL script
scarac decompile --file program.bin --output decompiled.scara
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble --file program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, SVG, or SCARA
scarac export --script program.scara --format gcode --output program.gcode
scarac export --script program.scara --format csv --output trajectory.csv
scarac export --script program.scara --format json --output trajectory.json
scarac export --script program.scara --format svg --output toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info --verbose
# Launch interactive SCARA DSL motion REPL console
scarac repl --endpoint dry-run
CLI Subcommand Reference
Subcommand
Description
Key Options
lintValidate syntax and static analysis rules of a .scara DSL script.
--script
compileCompile a .scara DSL script into binary wire frames and packets.
--script, --output, --hex, --dump-frames, --verbose
decompileDecompile binary frames from a .bin file into high-level SCARA DSL script.
--file, --output
disassembleDecode binary frames from a .bin file into human-readable instructions.
--file, --summary
exportExport trajectory plan to multi-target formats (G-code, CSV, JSON, SVG, SCARA).
--script, --format <gcode\|csv\|json\|svg\|scara>, --output
infoDisplay compiler version, supported grammar, and binary protocol specifications.
--verbose
replInteractive terminal REPL motion console for single-line execution.
--endpoint, --dry-run
Python Library API
from scaralang.infrastructure.compiler.factory import DefaultCompilerFactory
from scaralang.infrastructure.decompiler.factory import DefaultDecompilerFactory
from scaralang.infrastructure.linter.validator.factory import DefaultScriptValidatorFactory
# Initialize fine-grained role services via their default infrastructure factories
validator = DefaultScriptValidatorFactory.create().validator
compiler = DefaultCompilerFactory.create()
decompiler = DefaultDecompilerFactory.create()
# SCARA DSL script to analyze and compile
script = """HOME
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
"""
# 1. Validate syntax and kinematics
is_valid, diagnostics = validator.validate_script(source=script)
if is_valid:
# 2. Compile directly to binary program package and raw bytecode
binary_prog = compiler.compile_to_binary(source=script)
raw_bytes = compiler.compile_to_bytes(source=script)
telemetry = compiler.get_program_telemetry(program=binary_prog)
print(f"Generated {len(raw_bytes)} bytes of binary bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")
print(f"Trajectory execution time: {telemetry.duration_s:.2f} s")
# 3. Decompile binary bytecode back into high-level SCARA DSL script
decompiled_script = decompiler.decompile_bytes(data=raw_bytes)
print("Decompiled script:")
print(decompiled_script)
📚 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/__init__.pyscaralang/core/__init__.pyscaralang/core/model/__init__.pyscaralang/core/model/disassembler/__init__.pyscaralang/core/model/disassembler/disassembled_frame.pyscaralang/core/model/disassembler/disassembly_summary.pyscaralang/core/model/dsl/__init__.pyscaralang/core/model/dsl/ast/__init__.pyscaralang/core/model/dsl/ast/command_type.pyscaralang/core/model/dsl/ast/instruction.pyscaralang/core/model/dsl/ast/instruction_param.pyscaralang/core/model/dsl/ast/jog_axis.pyscaralang/core/model/dsl/ast/pneumatic_state.pyscaralang/core/model/dsl/ast/program.pyscaralang/core/model/dsl/ast/speed_mode.pyscaralang/core/model/dsl/ast/tool_orient_mode.pyscaralang/core/model/dsl/ast/tool_position.pyscaralang/core/model/dsl/ast/zone_mode.pyscaralang/core/model/dsl/binary/__init__.pyscaralang/core/model/dsl/binary/axis_peak_steps.pyscaralang/core/model/dsl/binary/binary_program_telemetry.pyscaralang/core/model/dsl/binary/program.pyscaralang/core/model/dsl/binary/step.pyscaralang/core/model/dsl/compiler/__init__.pyscaralang/core/model/dsl/compiler/blend_state.pyscaralang/core/model/dsl/compiler/command_token.pyscaralang/core/model/dsl/compiler/context.pyscaralang/core/model/dsl/compiler/pose_state.pyscaralang/core/model/dsl/compiler/speed_state.pyscaralang/core/model/dsl/compiler/waypoint_descriptor.pyscaralang/core/model/dsl/diagnostic/__init__.pyscaralang/core/model/dsl/diagnostic/code.pyscaralang/core/model/dsl/diagnostic/diagnostic.pyscaralang/core/model/dsl/diagnostic/severity.pyscaralang/core/model/dsl/exporter/__init__.pyscaralang/core/model/dsl/exporter/format.pyscaralang/core/model/dsl/linter/__init__.pyscaralang/core/model/dsl/linter/context.pyscaralang/core/model/dsl/linter/tool_state.pyscaralang/core/model/dsl/macro/__init__.pyscaralang/core/model/dsl/macro/frame.pyscaralang/core/model/dsl/macro/pallet.pyscaralang/core/model/dsl/macro/repeat.pyscaralang/core/model/dsl/macro/subroutine.pyscaralang/core/model/dsl/token/__init__.pyscaralang/core/model/dsl/token/pattern_kind.pyscaralang/core/model/dsl/token/token.pyscaralang/core/model/dsl/token/token_type.pyscaralang/core/model/exceptions/__init__.pyscaralang/core/model/exceptions/error.pyscaralang/core/model/exceptions/export.pyscaralang/core/model/exceptions/kinematics.pyscaralang/core/model/exceptions/protocol.pyscaralang/core/model/exceptions/semantic.pyscaralang/core/model/exceptions/syntax.pyscaralang/core/model/kinematics/__init__.pyscaralang/core/model/kinematics/pose/__init__.pyscaralang/core/model/kinematics/pose/angles.pyscaralang/core/model/kinematics/pose/axis.pyscaralang/core/model/kinematics/pose/cartesian.pyscaralang/core/model/kinematics/pose/point_2d.pyscaralang/core/model/kinematics/pose/point_3d.pyscaralang/core/model/kinematics/pose/steps.pyscaralang/core/model/kinematics/profile/__init__.pyscaralang/core/model/kinematics/profile/angle.pyscaralang/core/model/kinematics/profile/bounds.pyscaralang/core/model/kinematics/profile/link.pyscaralang/core/model/kinematics/profile/singularity.pyscaralang/core/model/kinematics/profile/speed.pyscaralang/core/model/kinematics/profile/transmission.pyscaralang/core/model/kinematics/profile/vertical.pyscaralang/core/model/kinematics/solver/__init__.pyscaralang/core/model/kinematics/solver/dls.pyscaralang/core/model/kinematics/solver/elbow.pyscaralang/core/model/kinematics/solver/jacobian.pyscaralang/core/model/kinematics/solver/solution.pyscaralang/core/model/kinematics/solver/solution_2d.pyscaralang/core/model/kinematics/solver/solution_3d.pyscaralang/core/model/kinematics/solver/status.pyscaralang/core/model/motor/__init__.pyscaralang/core/model/motor/alias.pyscaralang/core/model/motor/config.pyscaralang/core/model/motor/interface.pyscaralang/core/model/motor/mask.pyscaralang/core/model/motor/mode.pyscaralang/core/model/motor/wire_mode.pyscaralang/core/model/protocol/__init__.pyscaralang/core/model/protocol/code.pyscaralang/core/model/protocol/delimiter.pyscaralang/core/model/protocol/event.pyscaralang/core/model/protocol/frame.pyscaralang/core/model/protocol/joint_steps.pyscaralang/core/model/protocol/message.pyscaralang/core/model/protocol/payload_size.pyscaralang/core/model/protocol/status.pyscaralang/core/model/protocol/tool.pyscaralang/core/model/repl/__init__.pyscaralang/core/model/repl/context.pyscaralang/core/model/repl/pose.pyscaralang/core/model/repl/result.pyscaralang/core/model/trajectory/__init__.pyscaralang/core/model/trajectory/geometry/__init__.pyscaralang/core/model/trajectory/geometry/arc.pyscaralang/core/model/trajectory/geometry/bypass.pyscaralang/core/model/trajectory/geometry/circle.pyscaralang/core/model/trajectory/geometry/point.pyscaralang/core/model/trajectory/metrics/__init__.pyscaralang/core/model/trajectory/metrics/bottleneck.pyscaralang/core/model/trajectory/metrics/constraint.pyscaralang/core/model/trajectory/metrics/peak.pyscaralang/core/model/trajectory/metrics/report.pyscaralang/core/model/trajectory/obstacle/__init__.pyscaralang/core/model/trajectory/obstacle/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actory.pyscaralang/core/service/compiler/macro/frame/__init__.pyscaralang/core/service/compiler/macro/frame/expander.pyscaralang/core/service/compiler/macro/frame/factory.pyscaralang/core/service/compiler/macro/iexpander.pyscaralang/core/service/compiler/macro/jump/__init__.pyscaralang/core/service/compiler/macro/jump/expander.pyscaralang/core/service/compiler/macro/jump/factory.pyscaralang/core/service/compiler/macro/pallet/__init__.pyscaralang/core/service/compiler/macro/pallet/dependencies.pyscaralang/core/service/compiler/macro/pallet/expander.pyscaralang/core/service/compiler/macro/pallet/factory.pyscaralang/core/service/compiler/macro/provides.pyscaralang/core/service/compiler/macro/repeat/__init__.pyscaralang/core/service/compiler/macro/repeat/dependencies.pyscaralang/core/service/compiler/macro/repeat/expander.pyscaralang/core/service/compiler/macro/repeat/factory.pyscaralang/core/service/compiler/macro/repeat/iexpander.pyscaralang/core/service/compiler/macro/repeat/provides.pyscaralang/core/service/compiler/macro/segmenter/__init__.pyscaralang/core/service/compiler/macro/segmenter/factory.pyscaralang/core/service/compiler/macro/segmenter/isegmenter.pyscaralang/core/service/compiler/macro/segmenter/provides.pyscaralang/core/service/compiler/macro/segmenter/segmenter.pyscaralang/core/service/compiler/macro/subroutine/__init__.pyscaralang/core/service/compiler/macro/subroutine/dependencies.pyscaralang/core/service/compiler/macro/subroutine/expander.pyscaralang/core/service/compiler/macro/subroutine/factory.pyscaralang/core/service/compiler/macro/subroutine/iexpander.pyscaralang/core/service/compiler/macro/subroutine/iregistry.pyscaralang/core/service/compiler/macro/subroutine/provides.pyscaralang/core/service/compiler/macro/subroutine/registry.pyscaralang/core/service/compiler/macro/tangent/__init__.pyscaralang/core/service/compiler/macro/tangent/expander.pyscaralang/core/service/compiler/macro/tangent/factory.pyscaralang/core/service/compiler/macro/zone/__init__.pyscaralang/core/service/compiler/macro/zone/expander.pyscaralang/core/service/compiler/macro/zone/factory.pyscaralang/core/service/compiler/plan/__init__.pyscaralang/core/service/compiler/plan/ast/__init__.pyscaralang/core/service/compiler/plan/ast/compiler.pyscaralang/core/service/compiler/plan/ast/factory.pyscaralang/core/service/compiler/plan/ast/icompiler.pyscaralang/core/service/compiler/plan/dependencies.pyscaralang/core/service/compiler/plan/factory.pyscaralang/core/service/compiler/plan/provides.pyscaralang/core/service/compiler/plan/script/__init__.pyscaralang/core/service/compiler/plan/script/compiler.pyscaralang/core/service/compiler/plan/script/dependencies.pyscaralang/core/service/compiler/plan/script/factory.pyscaralang/core/service/compiler/plan/script/icompiler.pyscaralang/core/service/compiler/primitive/__init__.pyscaralang/core/service/compiler/primitive/control/__init__.pyscaralang/core/service/compiler/primitive/control/compiler.pyscaralang/core/service/compiler/primitive/control/factory.pyscaralang/core/service/compiler/primitive/control/waypoint/__init__.pyscaralang/core/service/compiler/primitive/control/waypoint/builder.pyscaralang/core/service/compiler/primitive/control/waypoint/factory.pyscaralang/core/service/compiler/primitive/control/waypoint/ibuilder.pyscaralang/core/service/compiler/primitive/factory.pyscaralang/core/service/compiler/primitive/icompiler.pyscaralang/core/service/compiler/primitive/motion/__init__.pyscaralang/core/service/compiler/primitive/motion/arc/__init__.pyscaralang/core/service/compiler/primitive/motion/arc/calculator/__init__.pyscaralang/core/service/compiler/primitive/motion/arc/calculator/calculator.pyscaralang/core/service/compiler/primitive/motion/arc/calculator/factory.pyscaralang/core/service/compiler/primitive/motion/arc/calculator/icalculator.pyscaralang/core/service/compiler/primitive/motion/arc/compiler.pyscaralang/core/service/compiler/primitive/motion/arc/factory.pyscaralang/core/service/compiler/primitive/motion/arc/interpolation/__init__.pyscaralang/core/service/compiler/primitive/motion/arc/interpolation/factory.pyscaralang/core/service/compiler/primitive/motion/arc/interpolation/iinterpolator.pyscaralang/core/service/compiler/primitive/motion/arc/interpolation/interpolator.pyscaralang/core/service/compiler/primitive/motion/arc/waypoint/__init__.pyscaralang/core/service/compiler/primitive/motion/arc/waypoint/builder.pyscaralang/core/service/compiler/primitive/motion/arc/waypoint/factory.pyscaralang/core/service/compiler/primitive/motion/arc/waypoint/ibuilder.pyscaralang/core/service/compiler/primitive/motion/cartesian/__init__.pyscaralang/core/service/compiler/primitive/motion/cartesian/compiler.pyscaralang/core/service/compiler/primitive/motion/cartesian/factory.pyscaralang/core/service/compiler/primitive/motion/cartesian/itangent_heading_calculator.pyscaralang/core/service/compiler/primitive/motion/cartesian/tangent_heading_calculator.pyscaralang/core/service/compiler/pri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/ scaralang)# Display general help and available subcommands
scarac --help
# Validate syntax and run static diagnostic lint checks
scarac lint --script program.scara
# Compile DSL program to packed binary execution file (.bin)
scarac compile --script program.scara --output program.bin
# Compile with hexadecimal stream output and detailed wire frame breakdown
scarac compile --script program.scara --hex --dump-frames --verbose
# Decompile binary bytecode file (.bin) back into high-level SCARA DSL script
scarac decompile --file program.bin --output decompiled.scara
# Disassemble binary bytecode file into human-readable frame breakdown
scarac disassemble --file program.bin --summary
# Export trajectory to industrial G-code, CSV time-series, JSON, SVG, or SCARA
scarac export --script program.scara --format gcode --output program.gcode
scarac export --script program.scara --format csv --output trajectory.csv
scarac export --script program.scara --format json --output trajectory.json
scarac export --script program.scara --format svg --output toolpath.svg
# Inspect toolchain info, supported commands, and grammar version
scarac info --verbose
# Launch interactive SCARA DSL motion REPL console
scarac repl --endpoint dry-run
lint--scriptcompile--script, --output, --hex, --dump-frames, --verbosedecompile--file, --outputdisassemble--file, --summaryexport--script, --format <gcode\|csv\|json\|svg\|scara>, --outputinfo--verboserepl--endpoint, --dry-runfrom scaralang.infrastructure.compiler.factory import DefaultCompilerFactory
from scaralang.infrastructure.decompiler.factory import DefaultDecompilerFactory
from scaralang.infrastructure.linter.validator.factory import DefaultScriptValidatorFactory
# Initialize fine-grained role services via their default infrastructure factories
validator = DefaultScriptValidatorFactory.create().validator
compiler = DefaultCompilerFactory.create()
decompiler = DefaultDecompilerFactory.create()
# SCARA DSL script to analyze and compile
script = """HOME
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
"""
# 1. Validate syntax and kinematics
is_valid, diagnostics = validator.validate_script(source=script)
if is_valid:
# 2. Compile directly to binary program package and raw bytecode
binary_prog = compiler.compile_to_binary(source=script)
raw_bytes = compiler.compile_to_bytes(source=script)
telemetry = compiler.get_program_telemetry(program=binary_prog)
print(f"Generated {len(raw_bytes)} bytes of binary bytecode.")
print(f"Total motor steps: {len(binary_prog.steps)}")
print(f"Trajectory execution time: {telemetry.duration_s:.2f} s")
# 3. Decompile binary bytecode back into high-level SCARA DSL script
decompiled_script = decompiler.decompile_bytes(data=raw_bytes)
print("Decompiled script:")
print(decompiled_script)