remove pick and drop tokens

src/main/jastadd/cleanup/Cleanup.jrag

@@ -2,9 +2,7 @@ aspect CleanupAttributes {
 
   inh String ASTNode.object(); // TODO can this be avoided?
   inh String PickUpObject.object();
-  inh String Pick.object();
   inh String RightPlace.object();
-  inh String Drop.object();
   inh String DropObjectAtRightPlace.object();
   eq MoveObjectToCorrectPlace.getPickUpObject().object() = getObjectAtWrongPlace().getObject();
   eq MoveObjectToCorrectPlace.getDropObjectAtRightPlace().object() = getObjectAtWrongPlace().getObject();
@@ -32,9 +30,6 @@ aspect CleanupAttributes {
     throw new UnsupportedOperationException("Invalid use of attribute place():String");
   }
 
-  inh String Drop.place();
-  eq DropObjectAtRightPlace.getDrop().place() = place();
-
   syn boolean Tidy.inPlan(String object) {
     for (MoveObjectToCorrectPlace m : getMoveObjectToCorrectPlaceList()) {
       if (m.object().equals(object)) {

src/main/jastadd/cleanup/Cleanup.relast

 Tidy : MotionGrammarElement ::= MoveObjectToCorrectPlace* WaitForEmptyTable* EmptyTable;
 MoveObjectToCorrectPlace : MotionGrammarElement ::= ObjectAtWrongPlace/*provides object*/ PickUpObject/*uses object*/ DropObjectAtRightPlace/*uses object*/;
-PickUpObject/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToPick Pick/*uses object*/;
+PickUpObject/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToPick;
 abstract RobotIsReadyToPick : MotionGrammarElement;
 RobotIsReallyReadyToPick : RobotIsReadyToPick ::= RobotIsReadyToPickToken;
 RobotIsNotReadyToPick    : RobotIsReadyToPick ::= RobotIsNotReadyToPickToken Wait/*uses const "1sec"*/ RobotIsReadyToPick;
 abstract RobotIsReadyToDrop : MotionGrammarElement;
 RobotIsReallyReadyToDrop : RobotIsReadyToDrop ::= RobotIsReadyToDropToken;
 RobotIsNotReadyToDrop    : RobotIsReadyToDrop ::= RobotIsNotReadyToDropToken Wait/*uses const "1sec"*/ RobotIsReadyToDrop;
-DropObjectAtRightPlace/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToDrop RightPlace/*uses object, provides place*/ Drop/*uses place*/;
+DropObjectAtRightPlace/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToDrop RightPlace/*uses object, provides place*/;
 WaitForEmptyTable : MotionGrammarElement ::= NotEmptyTable Wait/*uses const "1sec"*/;
 
 // Tokens
 EmptyTable                        : Token;
 NotEmptyTable                     : Token; // TODO should be improved to express EmptyTable can not be parsed
 ObjectAtWrongPlace                : Token ::= <Object:String>; // the Object is a variable of the token
-Pick/*requires object*/           : Token;
 RobotIsReadyToPickToken           : Token ::= RobotIsIdle RobotHasNoItemAttached; // combined token. both individual tokens are parsed in parallel
 RobotIsNotReadyToPickToken        : Token ::= [RobotIsNotIdle] /*or*/ [RobotHasItemAttached]; // TODO negated RobotIsReadyToPickToken
 RobotIsReadyToDropToken           : Token ::= RobotIsIdle RobotHasItemAttached;   // combined token. both individual tokens are parsed in parallel
@@ -25,4 +24,3 @@ RobotHasItemAttached              : Token;
 RobotHasNoItemAttached            : Token; // TODO negated RobotHasItemAttached
 Wait/*requires time*/             : Token; // artificial token, which parsing takes a specified amount of time
 RightPlace/*requires object*/     : Token ::= <Place:String>;
-Drop/*requires object and place*/ : Token;

src/main/jastadd/cleanup/RobotWorld.jadd

@@ -14,7 +14,6 @@ aspect RobotWorld {
   public static TokenType EmptyTable.type()                 { return TokenType.of("EMPTY_TABLE"); }
   public static TokenType NotEmptyTable.type()              { return TokenType.of("NOT_EMPTY_TABLE"); }
   public static TokenType ObjectAtWrongPlace.type()         { return TokenType.of("OBJECT_AT_WRONG_PLACE"); }
-  public static TokenType Pick.type()                       { return TokenType.of("PICK"); }
   public static TokenType RobotIsReadyToPickToken.type()    { return TokenType.of("ROBOT_IS_READY_TO_PICK_TOKEN"); }
   public static TokenType RobotIsNotReadyToPickToken.type() { return TokenType.of("ROBOT_IS_NOT_READY_TO_PICK_TOKEN"); }
   public static TokenType RobotIsReadyToDropToken.type()    { return TokenType.of("ROBOT_IS_READY_TO_DROP_TOKEN"); }
@@ -25,7 +24,6 @@ aspect RobotWorld {
   public static TokenType RobotHasNoItemAttached.type()     { return TokenType.of("ROBOT_HAS_NO_ITEM_ATTACHED"); }
   public static TokenType Wait.type()                       { return TokenType.of("WAIT"); }
   public static TokenType RightPlace.type()                 { return TokenType.of("RIGHT_PLACE"); }
-  public static TokenType Drop.type()                       { return TokenType.of("DROP"); }
 
   public static Pose Pose.of(double x, double y, double z) {
     return new Pose(x, y, z, 0, 0, 0, 1);
@@ -84,22 +82,6 @@ aspect RobotWorld {
     return null;
   }
 
-  public Pick World.parsePick(String objectName) {
-    return null;
-  }
-  public Pick RobotScene.parsePick(String objectName) {
-    System.out.print("Trying to parse token <Pick> for Object \"" + objectName + "\"... ");
-    MovableObject o = getTable().getMovableObjectByName(objectName);
-
-    if (o != null) {
-      System.out.println("success");
-      return new Pick();
-    } else {
-      System.out.println("failure");
-      return null;
-    }
-  }
-
   public RobotIsReadyToPickToken World.parseRobotIsReadyToPickToken() {
     return null;
   }
@@ -250,21 +232,4 @@ aspect RobotWorld {
       return null;
     }
   }
-
-  public Drop World.parseDrop(String objectName, String placeName) {
-    return null;
-  }
-  public Drop RobotScene.parseDrop(String objectName, String placeName) {
-    System.out.print("Trying to parse token <Drop> for Object \"" + objectName + "\" and Bin \"" + placeName + "\"... ");
-    MovableObject o = getTable().getMovableObjectByName(objectName);
-    Bin b = getTable().getBinByName(placeName);
-
-    if (o != null && b != null) {
-      System.out.println("success");
-      return new Drop();
-    } else {
-      System.out.println("failure");
-      return null;
-    }
-  }
 }

src/main/jastadd/cleanup/SemanticActions.jadd

 aspect SemanticActions {
 
-  public void Pick.action(World world) {
+  public void PickUpObject.action(World world) {
     RobotScene scene = world.asRobotScene();
     System.out.println("performing semantic action for element Pick");
     String objectName = object();
@@ -15,7 +15,7 @@ aspect SemanticActions {
     });
   }
 
-  public void Drop.action(World world) {
+  public void DropObjectAtRightPlace.action(World world) {
     RobotScene scene = world.asRobotScene();
     System.out.println("performing semantic action for element Pick");
     String objectName = object();

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

@@ -19,7 +19,6 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
   private EmptyTable peekedEmptyTable_ = null;
   private NotEmptyTable peekedNotEmptyTable_ = null;
   private ObjectAtWrongPlace peekedObjectAtWrongPlace_ = null;
-  private Pick peekedPick_ = null;
   private RobotIsReadyToPickToken peekedRobotIsReadyToPickToken_ = null;
   private RobotIsNotReadyToPickToken peekedRobotIsNotReadyToPickToken_ = null;
   private RobotIsReadyToDropToken peekedRobotIsReadyToDropToken_ = null;
@@ -30,7 +29,6 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
   private RobotHasNoItemAttached peekedRobotHasNoItemAttached_ = null;
   private Wait peekedWait_ = null;
   private RightPlace peekedRightPlace_ = null;
-  private Drop peekedDrop_ = null;
 
   @Override
   protected void parse(ASTNode<?> parent, int index) throws ParseException {
@@ -97,33 +95,12 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
 
     parseRobotIsReadyToDrop(result, 0);
     parseRightPlace(result, 1);
-    parseDrop(result, 2);
 
     // semantic action for DropObjectAtRightPlace
     result.action(getWorld());
     printAST("parseDropObjectAtRightPlace", result);
   }
 
-  private void parseDrop(ASTNode<?> parent, int index) throws ParseException {
-    Drop result;
-
-    if (peekedDrop_ != null) {
-      result = peekedDrop_;
-      peekedDrop_ = null; // TODO check if all peeked values are actually parsed afterwards
-    } else {
-      result = getWorld().parseDrop(parent.object(), parent.place());
-      if (result == null) {
-        throw new ParseException(Drop.type());
-      }
-    }
-
-    parent.setChild(result, index);
-
-    // semantic action for Drop
-    result.action(getWorld());
-    printAST("parseDrop", result);
-  }
-
   private void parseRightPlace(ASTNode<?> parent, int index) throws ParseException {
     RightPlace result;
 
@@ -149,33 +126,12 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     parent.setChild(result, index);
 
     parseRobotIsReadyToPick(result, 0);
-    parsePick(result, 1);
 
     // semantic action for T1
     result.action(getWorld());
     printAST("parsePickUpObject", result);
   }
 
-  private void parsePick(ASTNode<?> parent, int index) throws ParseException {
-    Pick result;
-
-    if (peekedPick_ != null) {
-      result = peekedPick_;
-      peekedPick_ = null; // TODO check if all peeked values are actually parsed afterwards
-    } else {
-      result = getWorld().parsePick(parent.object());
-      if (result == null) {
-        throw new ParseException(Pick.type());
-      }
-    }
-
-    parent.setChild(result, index);
-
-    // semantic action for Pick
-    result.action(getWorld());
-    printAST("parsePick", result);
-  }
-
   private void parseRobotIsReadyToPick(ASTNode<?> parent, int index) throws ParseException {
     RobotIsReadyToPick result;