work on parser

src/main/java/de/tudresden/inf/st/mg/RobotParser.java

@@ -27,7 +27,7 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     while (true) {
       peekObjectAtWrongPlace();
       if (peekedObjectAtWrongPlace_ != null) {
-        parseObjectAtWrongPlace(result.getMoveObjectToCorrectPlaceList(), result.getNumMoveObjectToCorrectPlace());
+        parseMoveObjectToCorrectPlace(result.getMoveObjectToCorrectPlaceList(), result.getNumMoveObjectToCorrectPlace());
       } else {
         break;
       }
@@ -41,6 +41,84 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     printAST("parseTidy", result);
   }
 
+  private void parseMoveObjectToCorrectPlace(ASTNode<?> parent, int index) throws ParseException {
+    MoveObjectToCorrectPlace result = (MoveObjectToCorrectPlace) parent.getChild(index);
+
+    parseObjectAtWrongPlace(result, 0);
+    parsePickUpObject(result, 1);
+    parseDropObjectAtRightPlace(result, 2);
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parseMoveObjectToCorrectPlace", result);
+  }
+
+  private void parseDropObjectAtRightPlace(ASTNode<?> parent, int index) throws ParseException {
+    DropObjectAtRightPlace result = (DropObjectAtRightPlace) parent.getChild(index);
+
+    parseRightPlace(result, 0);
+    parseDrop(result, 1);
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parseDropObjectAtRightPlace", result);
+  }
+
+
+  private void parsePickUpObject(ASTNode<?> parent, int index) throws ParseException {
+    PickUpObject result = (PickUpObject) parent.getChild(index);
+
+    parseRobotIsReadyToPick(result, 0);
+    parsePick(result, 1);
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parsePickUpObject", result);
+  }
+
+  private void parseRobotIsReadyToPick(ASTNode<?> parent, int index) throws ParseException {
+    RobotIsReadyToPick result;
+
+    // try to parse a T
+    if (peekRobotIsFree()) {
+      result = new RobotIsReallyReadyToPick();
+      parent.setChild(result, index);
+      parseRobotIsReallyReadyToPick(parent, index);
+    } else if (peekRobotIsBusy()) {
+      result = new RobotIsNotReadyToPick();
+      parent.setChild(result, index);
+      parseRobotIsNotReadyToPick(parent, index);
+    } else {
+      throw new ParseException("RobotIsReadyToPick", RobotIsFree.type(), RobotIsBusy.type());
+    }
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parsePickUpObject", result);
+  }
+
+  private void parseRobotIsReallyReadyToPick(ASTNode<?> parent, int index) throws ParseException {
+    RobotIsReallyReadyToPick result = (RobotIsReallyReadyToPick) parent.getChild(index);
+
+    parseRobotIsFree(result, 0);
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parseRobotIsReallyReadyToPick", result);
+  }
+
+  private void parseRobotIsNotReadyToPick(ASTNode<?> parent, int index) throws ParseException {
+    RobotIsNotReadyToPick result = (RobotIsNotReadyToPick) parent.getChild(index);
+
+    parseRobotIsBusy(result, 0);
+    parseWait(result, 1);
+    parseRobotIsReadyToPick(result, 2);
+
+    // semantic action for T1
+    result.action(getWorld());
+    printAST("parseRobotIsNotReadyToPick", result);
+  }
+
   private boolean peekObjectAtWrongPlace() {
     peekedObjectAtWrongPlace_ = getWorld().parseObjectAtWrongPlace();
     return peekedObjectAtWrongPlace_ != null;