From b9a145a6eeab7cec5f76b8b4cb9ad456b0aa7737 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Mon, 29 Aug 2022 23:02:17 +0200
Subject: [PATCH] waiting feature
---
src/main/jastadd/cleanup/Cleanup.jrag | 15 --
src/main/jastadd/cleanup/Cleanup.relast | 15 +-
src/main/jastadd/cleanup/RobotWorld.jadd | 10 -
src/main/jastadd/cleanup/SemanticActions.jadd | 10 -
src/main/jastadd/select/Select.relast | 9 +
.../de/tudresden/inf/st/mg/RobotParser.java | 182 +++---------------
.../inf/st/mg/common/MotionGrammarParser.java | 7 +
.../template-configs/ControlParser.yaml | 51 +++++
8 files changed, 94 insertions(+), 205 deletions(-)
create mode 100644 src/main/jastadd/select/Select.relast
create mode 100644 src/main/resources/template-configs/ControlParser.yaml
diff --git a/src/main/jastadd/cleanup/Cleanup.jrag b/src/main/jastadd/cleanup/Cleanup.jrag
index d521f73..7e44ce3 100644
--- a/src/main/jastadd/cleanup/Cleanup.jrag
+++ b/src/main/jastadd/cleanup/Cleanup.jrag
@@ -11,21 +11,6 @@ aspect CleanupAttributes {
throw new UnsupportedOperationException("Invalid use of attribute object():String");
}
- syn double ASTNode.time(); // TODO can this be avoided?
- eq RobotIsNotReadyToPick.time() = 1;
- eq RobotIsNotReadyToDrop.time() = 1;
- eq WaitForEmptyTable.time() = 1;
- eq WaitForFullTable.time() = 1;
- eq ASTNode.time() {
- throw new UnsupportedOperationException("Invalid use of attribute time():double");
- }
-
- inh double Wait.time();
- eq RobotIsNotReadyToPick.getWait().time() = time();
- eq RobotIsNotReadyToDrop.getWait().time() = time();
- eq WaitForEmptyTable.getWait().time() = time();
- eq WaitForFullTable.getWait().time() = time();
-
syn String ASTNode.place(); // TODO can this be avoided?
eq DropObjectAtRightPlace.place() = getRightPlace().getPlace();
eq ASTNode.place() {
diff --git a/src/main/jastadd/cleanup/Cleanup.relast b/src/main/jastadd/cleanup/Cleanup.relast
index 79abc76..3931815 100644
--- a/src/main/jastadd/cleanup/Cleanup.relast
+++ b/src/main/jastadd/cleanup/Cleanup.relast
@@ -1,15 +1,7 @@
-Tidy : MotionGrammarElement ::= WaitForFullTable* MoveObjectToCorrectPlace* WaitForEmptyTable* EmptyTable;
+Tidy : MotionGrammarElement ::= NotEmptyTable MoveObjectToCorrectPlace* EmptyTable;
MoveObjectToCorrectPlace : MotionGrammarElement ::= ObjectAtWrongPlace/*provides object*/ PickUpObject/*uses object*/ DropObjectAtRightPlace/*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*/;
-WaitForEmptyTable : MotionGrammarElement ::= NotEmptyTable Wait/*uses const "1sec"*/;
-WaitForFullTable : MotionGrammarElement ::= EmptyTable Wait/*uses const "1sec"*/;
+PickUpObject/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToPickToken;
+DropObjectAtRightPlace/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToDropToken RightPlace/*uses object, provides place*/;
// Tokens
EmptyTable : Token;
@@ -23,5 +15,4 @@ RobotIsIdle : Token;
RobotIsNotIdle : Token; // TODO negated RobotIsIdle
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>;
diff --git a/src/main/jastadd/cleanup/RobotWorld.jadd b/src/main/jastadd/cleanup/RobotWorld.jadd
index e2625a2..edadbe3 100644
--- a/src/main/jastadd/cleanup/RobotWorld.jadd
+++ b/src/main/jastadd/cleanup/RobotWorld.jadd
@@ -37,7 +37,6 @@ aspect RobotWorld {
public static TokenType RobotIsNotIdle.type() { return TokenType.of("ROBOT_IS_NOT_IDLE"); }
public static TokenType RobotHasItemAttached.type() { return TokenType.of("ROBOT_HAS_ITEM_ATTACHED"); }
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 Pose Pose.of(double x, double y, double z) {
@@ -217,15 +216,6 @@ aspect RobotWorld {
}
}
- public Wait World.parseWait(double time) {
- return null;
- }
- public Wait RobotWorld.parseWait(double time) {
- System.out.print("Trying to parse token <Wait> for " + time + " seconds... ");
- System.out.println("success");
- return new Wait();
- }
-
public RightPlace World.parseRightPlace(String objectName) {
return null;
}
diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd
index bbb808d..0de4551 100644
--- a/src/main/jastadd/cleanup/SemanticActions.jadd
+++ b/src/main/jastadd/cleanup/SemanticActions.jadd
@@ -73,14 +73,4 @@ aspect SemanticActions {
}
}
- public void Wait.action(World world) {
- RobotWorld container = world.asRobotWorld();
- System.out.println("performing semantic action for element Wait");
- try {
- Thread.sleep((long) (time() * 1000));
- } catch (InterruptedException e) {
- // ignore
- }
- }
-
}
diff --git a/src/main/jastadd/select/Select.relast b/src/main/jastadd/select/Select.relast
new file mode 100644
index 0000000..7600879
--- /dev/null
+++ b/src/main/jastadd/select/Select.relast
@@ -0,0 +1,9 @@
+Task : MotionGrammarElement ::= Assignment;
+Assignment : MotionGrammarElement ::= Selection/*any type, any id*/ RestAssignment;
+abstract RestAssignment : MotionGrammarElement;
+SelectionChange : RestAssignment ::= Selection/*type == last type, id != last id*/ ObjectAssignment;
+Unselect : RestAssignment ::= Selection/*type == last type, id == last id*/ Assignment;
+CompleteAssignment : RestAssignment ::= Selection/*type != last type, id != last id*/;
+
+// Tokens
+Selection : Token;
\ No newline at end of file
diff --git a/src/main/java/de/tudresden/inf/st/mg/RobotParser.java b/src/main/java/de/tudresden/inf/st/mg/RobotParser.java
index b59cf42..8cbe2fc 100644
--- a/src/main/java/de/tudresden/inf/st/mg/RobotParser.java
+++ b/src/main/java/de/tudresden/inf/st/mg/RobotParser.java
@@ -48,7 +48,7 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
printAST("parseEmptyTable", result);
}
- private NotEmptyTable peekedNotEmptyTable_ = null;
+ private volatile NotEmptyTable peekedNotEmptyTable_ = null;
private boolean peekNotEmptyTable() {
peekedNotEmptyTable_ = getWorld().parseNotEmptyTable();
@@ -318,21 +318,6 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
printAST("parseRobotHasNoItemAttached", result);
}
- private void parseWait(ASTNode<?> parent, int index) throws ParseException {
- Wait result;
-
- result = getWorld().parseWait(parent.time());
- if (result == null) {
- throw new ParseException(Wait.type());
- }
-
- parent.setChild(result, index);
-
- // semantic action for Wait
- result.action(getWorld());
- printAST("parseWait", result);
- }
-
private void parseRightPlace(ASTNode<?> parent, int index) throws ParseException {
RightPlace result;
@@ -353,16 +338,11 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
result.parser = this;
parent.setChild(result, index);
- while (true) {
- peekEmptyTable();
- if (peekedEmptyTable_ != null) {
- int i = result.getNumWaitForFullTable();
- result.addWaitForFullTable(null);
- parseWaitForFullTable(result.getWaitForFullTableList(), i);
- } else {
- break;
- }
+ peekNotEmptyTable();
+ while (peekedNotEmptyTable_ == null) {
+ waitSomeTime();
}
+ parseNotEmptyTable(result, 0);
while (true) {
peekObjectAtWrongPlace(result);
@@ -371,22 +351,16 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
result.addMoveObjectToCorrectPlace(null);
parseMoveObjectToCorrectPlace(result.getMoveObjectToCorrectPlaceList(), i);
} else {
- break;
+ peekEmptyTable();
+ if (peekedEmptyTable_ != null) {
+ break;
+ } else {
+ waitSomeTime();
+ }
}
}
- while (true) {
- peekNotEmptyTable();
- if (peekedNotEmptyTable_ != null) {
- int i = result.getNumWaitForEmptyTable();
- result.addWaitForEmptyTable(null);
- parseWaitForEmptyTable(result.getWaitForEmptyTableList(), i);
- } else {
- break;
- }
- }
-
- parseEmptyTable(result, 3);
+ parseEmptyTable(result, 2);
// semantic action for Tidy
result.action(getWorld());
@@ -407,38 +381,18 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
printAST("parseMoveObjectToCorrectPlace", result);
}
- private void parseWaitForFullTable(ASTNode<?> parent, int index) throws ParseException {
- WaitForFullTable result = new WaitForFullTable();
- result.parser = this;
- parent.setChild(result, index);
-
- parseEmptyTable(result, 0);
- parseWait(result, 1);
-
- // semantic action for WaitForFullTable
- result.action(getWorld());
- printAST("parseWaitForFullTable", result);
- }
-
- private void parseWaitForEmptyTable(ASTNode<?> parent, int index) throws ParseException {
- WaitForEmptyTable result = new WaitForEmptyTable();
- result.parser = this;
- parent.setChild(result, index);
-
- parseNotEmptyTable(result, 0);
- parseWait(result, 1);
-
- // semantic action for WaitForEmptyTable
- result.action(getWorld());
- printAST("parseWaitForEmptyTable", result);
- }
-
private void parseDropObjectAtRightPlace(ASTNode<?> parent, int index) throws ParseException {
DropObjectAtRightPlace result = new DropObjectAtRightPlace();
result.parser = this;
parent.setChild(result, index);
- parseRobotIsReadyToDrop(result, 0);
+
+ peekRobotIsReadyToDropToken();
+ while (peekedRobotIsReadyToDropToken_ == null) {
+ waitSomeTime();
+ }
+ parseRobotIsReadyToDropToken(result, 0);
+
parseRightPlace(result, 1);
// semantic action for DropObjectAtRightPlace
@@ -451,103 +405,15 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
result.parser = this;
parent.setChild(result, index);
- parseRobotIsReadyToPick(result, 0);
-
- // semantic action for PickUpObject
- result.action(getWorld());
- printAST("parsePickUpObject", result);
- }
-
- private void parseRobotIsReadyToPick(ASTNode<?> parent, int index) throws ParseException {
- RobotIsReadyToPick result;
-
- // try the different types of RobotIsReadyToPick
- if (peekRobotIsReadyToPickToken()) {
- result = new RobotIsReallyReadyToPick();
- result.parser = this;
- parent.setChild(result, index);
- parseRobotIsReallyReadyToPick(parent, index);
- } else if (peekRobotIsNotReadyToPickToken()) {
- result = new RobotIsNotReadyToPick();
- result.parser = this;
- parent.setChild(result, index);
- parseRobotIsNotReadyToPick(parent, index);
- } else {
- throw new ParseException("RobotIsReadyToPick", RobotIsReadyToPickToken.type(), RobotIsNotReadyToPickToken.type());
+ peekRobotIsReadyToPickToken();
+ while (peekedRobotIsReadyToPickToken_ == null) {
+ waitSomeTime();
}
-
-
- // semantic action for RobotIsReadyToPick
- result.action(getWorld());
- printAST("parseRobotIsReadyToPick", result);
- }
-
- private void parseRobotIsReallyReadyToPick(ASTNode<?> parent, int index) throws ParseException {
- RobotIsReallyReadyToPick result = (RobotIsReallyReadyToPick) parent.getChild(index);
-
parseRobotIsReadyToPickToken(result, 0);
- // semantic action for RobotIsReallyReadyToPick
- result.action(getWorld());
- printAST("parseRobotIsReallyReadyToPick", result);
- }
-
- private void parseRobotIsNotReadyToPick(ASTNode<?> parent, int index) throws ParseException {
- RobotIsNotReadyToPick result = (RobotIsNotReadyToPick) parent.getChild(index);
-
- parseRobotIsNotReadyToPickToken(result, 0);
- parseWait(result, 1);
- parseRobotIsReadyToPick(result, 2);
-
- // semantic action for RobotIsNotReadyToPick
- result.action(getWorld());
- printAST("parseRobotIsNotReadyToPick", result);
- }
-
- private void parseRobotIsReadyToDrop(ASTNode<?> parent, int index) throws ParseException {
- RobotIsReadyToDrop result;
-
- // try the different types of RobotIsReadyToDrop
- if (peekRobotIsReadyToDropToken()) {
- result = new RobotIsReallyReadyToDrop();
- result.parser = this;
- parent.setChild(result, index);
- parseRobotIsReallyReadyToDrop(parent, index);
- } else if (peekRobotIsNotReadyToDropToken()) {
- result = new RobotIsNotReadyToDrop();
- result.parser = this;
- parent.setChild(result, index);
- parseRobotIsNotReadyToDrop(parent, index);
- } else {
- throw new ParseException("RobotIsReadyToDrop", RobotIsReadyToDropToken.type(), RobotIsNotReadyToDropToken.type());
- }
-
-
- // semantic action for RobotIsReadyToDrop
- result.action(getWorld());
- printAST("parseRobotIsReadyToDrop", result);
- }
-
- private void parseRobotIsReallyReadyToDrop(ASTNode<?> parent, int index) throws ParseException {
- RobotIsReallyReadyToDrop result = (RobotIsReallyReadyToDrop) parent.getChild(index);
-
- parseRobotIsReadyToDropToken(result, 0);
-
- // semantic action for RobotIsReallyReadyToDrop
- result.action(getWorld());
- printAST("parseRobotIsReallyReadyToDrop", result);
- }
-
- private void parseRobotIsNotReadyToDrop(ASTNode<?> parent, int index) throws ParseException {
- RobotIsNotReadyToDrop result = (RobotIsNotReadyToDrop) parent.getChild(index);
-
- parseRobotIsNotReadyToDropToken(result, 0);
- parseWait(result, 1);
- parseRobotIsReadyToDrop(result, 2);
-
- // semantic action for RobotIsNotReadyToDrop
+ // semantic action for PickUpObject
result.action(getWorld());
- printAST("parseRobotIsNotReadyToDrop", result);
+ printAST("parsePickUpObject", result);
}
}
diff --git a/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java b/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
index 1f22d5f..1122a4a 100644
--- a/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
+++ b/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
@@ -20,6 +20,13 @@ public abstract class MotionGrammarParser<T extends MotionGrammarElement> {
protected ASTNode<T> rootContainer_;
private int timeStep_;
+ protected static void waitSomeTime() {
+ try {
+ Thread.sleep(100/*ms*/);
+ } catch(InterruptedException ignored) {
+ }
+ }
+
public void setDebugDiagramDir(Path p) {
MotionGrammarConfig.astDiagramDir = p;
}
diff --git a/src/main/resources/template-configs/ControlParser.yaml b/src/main/resources/template-configs/ControlParser.yaml
new file mode 100644
index 0000000..577841f
--- /dev/null
+++ b/src/main/resources/template-configs/ControlParser.yaml
@@ -0,0 +1,51 @@
+name: "ControlParser"
+package: "de.tudresden.inf.st.mg"
+genPackage: "de.tudresden.inf.st.mg.jastadd.model"
+targetType: "Task"
+
+tokenContext:
+ context: false # default value
+ peek: true # default value
+ worldParserArguments: [ ] # default value
+ tokens:
+ - name: "Bin"
+ peek: false
+ - name: "Box"
+ peek: false
+
+ruleContext:
+ constructObject: false # default value
+ peekForType: false # default value
+ token: false # default value
+ first: false # default value
+ last: false # default value
+ list: false # default value
+ additionalArgs: "" # default value
+ peekContext: "" # default value
+ rules:
+ - ruleName: "T"
+ peekForType: true
+ types:
+ - type: "T2"
+ token: "Full"
+ first: true
+ - type: "T1"
+ token: "Load"
+ last: true
+ components: []
+ - ruleName: "T1"
+ components:
+ - componentName: "Load"
+ token: true
+ index: 0
+ - componentName: "T"
+ token: true
+ index: 1
+ - componentName: "Unload"
+ token: true
+ index: 2
+ - ruleName: "T2"
+ components:
+ - componentName: "Full"
+ token: true
+ index: 0
--
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