SmartMotor BASIC for VS Code

Language support for programs written for Moog Animatics SmartMotor servo motors (Class 5 and later), saved as .sms files and loaded with the SMI software.

Features

Syntax highlighting for the whole command set of the SmartMotor Developer's Guide: flow control, labels (C10), GOSUB(n) / GOTO(n), motion commands, registers, status bits (Bt, Be, Bls, B(0,2)), bit resets (ZS, Zr), report commands (RPA, RKP, Raa), user variables (a..zzz) and arrays (ab[], aw[], al[], af[]), Combitronic addresses (G:0, EA:2), character codes (#13) and the SMI preprocessor (#define, #ifdef, #endif).
Hovers with the syntax, description and page of each command in the Developer's Guide, and the value of #define names.
Outline and breadcrumbs: each Cn label is a symbol, described by its comment. Ctrl+Shift+O jumps between them.
Go to definition / find references between GOSUB(n), GOTO(n) and Cn, and for #define names.
Checks for unbalanced IF/ENDIF, WHILE/LOOP, SWITCH/ENDS and #ifdef/#endif, duplicate labels, and GOSUB/GOTO to a label that is not in the file (smartmotor.diagnostics.enable turns them off).
Folding of subroutines, blocks and comment headers.
Snippets: sub, if, ifelse, while, switch, moveabs, moverel, movevel, watch, print, tune, itr, define.
Programs saved by SMI as RTF (files that start with {\rtf1\animaticsfile) open as their program text, read-only and with all of the above. The editor title has Save as Plain Text... (it asks where, and suggests a new <name>_text.sms) and Open RTF Source. Set smartmotor.rtf.openAsProgram to false to be asked instead.
.sms files get an engine icon in the explorer (with icon themes that have no icon of their own for them, such as the default Seti).
Toggle comments with Ctrl+/.

EIGN(W,0)     'Disable hardware limits
ZS            'Clear faults
ADT=100       'Set maximum accel/decel
VT=100000     'Set maximum velocity
MP            'Set Position mode
C1            'Place a label
  PT=100000   'Set position
  G           'Start motion
  GOSUB(10)   'Call wait subroutine
  PT=0        'Set position
  G           'Start motion
  GOSUB(10)   'Call wait subroutine
  GOTO(1)     'Loop back to label 1
END           'Obligatory END (never reached)

C10
  WHILE Bt    'Loop while trajectory in progress
    IF ABS(EA)>100     'Test for excessive load
      PRINT("Excessive Load",#13)   'Print warning
    ENDIF
  LOOP
RETURN

(From "Move Back and Forth with Watch", SmartMotor Developer's Guide.)

Notes on the language

The language is case-sensitive: commands are upper case, user variables lower case.
Labels C0..C999 are called with GOSUB(n) (or GOSUBn) and return with RETURN; interrupt handlers return with RETURNI. A host can call any label, so labels that are never called in the file are not reported.
Several commands can share a line: MP PT=0 G TWAIT.

Development

npm install
npm test              # parser unit tests, grammar assertions and snapshots
npm run build:grammar # regenerate the grammar after editing src/commands.json
npx vsce package      # build smartmotor-basic-<version>.vsix

src/commands.json holds the command list of the Developer's Guide and is the source for both the grammar and the hovers. test/fixtures/ holds the example programs of the guide. Press F5 in VS Code to try the extension on them.

License

MIT. SmartMotor is a trademark of Moog Inc. This extension is not affiliated with Moog or Animatics.

Credits

Extension and file icons (recolored): Automotive icons created by LAFS - Flaticon

SmartMotor BASIC