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CDSL Instruction Set

CDSL programs are composed of instructions, with each instruction written on a separate line.

The current instruction set consists of:

  • set — Create or update a variable
  • print — Print a variable or value
  • move — Move a component by a specified value
  • wait — Pause execution for a specified duration

Comments can be written using //. Empty lines and comment lines are ignored.

set

Creates a variable or changes the value of an existing variable.

Syntax

set <variable> <value>

Examples

set A 121
set speed 100
set angle 45.5

Variable names must be valid identifiers. Values can be numeric literals, variables, or expressions.

A variable is referenced using $:

set A 121
set B $A

print

Prints a value or the value of a variable.

Syntax

print <value>

Examples

Print a variable:

set A 121
print $A

Print a literal:

print 100
print 45.5

A variable that has not been defined cannot be printed:

print $M

move

Moves a specified component by a given value.

Syntax

move <component> <value>

The component name is user-defined and identifies the hardware component being controlled.

Examples

Move a component by a literal value:

move JOINT_2 120

Use a variable:

set A 121
move JOINT_1 $A

The value must be a valid numeric value, variable, or expression.

Invalid examples:

move JOINT abc
move JOINT 12abc
move JOINT 12.0.1

An undefined variable also results in an error:

move BASE $B

Once the variable exists, it can be used:

set B 1330
move BASE $B

wait

Pauses execution for a specified number of milliseconds.

Syntax

wait <duration_ms>

Examples

wait 500
wait 1000

The duration can also be stored in a variable:

set delay 500
wait $delay

The delay cannot be negative:

wait -500

Invalid values are rejected:

wait abc

Variables

Variables are created using set and referenced using $.

set speed 100
set angle 45.5

print $speed
move JOINT_1 $angle
wait $speed

Using an undefined variable results in an error:

move BASE $UNKNOWN

Expressions

Expressions can be used where a numeric value is accepted.

Expressions are enclosed in #[...]. Spaces shouldn't be included

#[10 + 20] // Invalid
#[10 + 20] // Valid

For example:

set A 100
set B #[50+25]

print #[$A+$B]
move JOINT_1 #[45*2]
wait #[250+250]

Expressions support arithmetic operators such as:

+   Addition
-   Subtraction
*   Multiplication
/   Division

Parentheses can be used to control evaluation order:

print #[(10+20)*2]

Variables can be referenced inside expressions using $:

set A 100
set B 50

print #[$A+$B]

Comments

Use // to add comments.

set A 121 // Set A to 121
print $A // Print A

A line beginning with // is ignored:

// set A 500

Comments can also be used to temporarily disable an instruction.

Complete Example

// Configure initial values
set A 121
set speed 100
set delay 500

// Display values
print $A
print $speed

// Move components
move JOINT_1 $speed
move JOINT_2 120

// Wait between operations
wait $delay

// Use an expression
set speed #[50*2]
move JOINT_1 $speed

wait #[250+250]

print $speed

This demonstrates the basic CDSL workflow:

set    → define values
print  → inspect values
move   → control components
wait   → introduce delays
#[...] → calculate values
$...   → reference variables
//     → add comments

Validation

CDSL reports errors when instructions are malformed or contain invalid values.

For example:

print
set X
set @C 12
move JOINT abc
wait -500
move BASE $UNKNOWN

These correspond to invalid arguments, invalid variable names, invalid values, negative delays, undefined variables, and unsupported instructions.

You can validate a CDSL file without executing it using:

cdsl <file>.cdsl --check

This is useful for checking a script for instruction errors before running it.