From d2056824a1a200cccdfe1ad4dcb81d9fc0ab9fd5 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 13 Apr 2022 16:49:32 +0200
Subject: [PATCH] update pages
---
pages/docs/index.md | 4 +-
pages/docs/load-parsing.md | 21 ++++++++++
pages/docs/load.md | 42 +++++++++++++++++++
pages/docs/parsing.md | 21 ----------
pages/docs/sorting-parsing.md | 40 ++++++++++++++++++
pages/docs/sorting.md | 3 ++
pages/mkdocs.yml | 7 +++-
src/main/jastadd/cleanup/RobotWorld.jadd | 2 -
src/main/jastadd/cleanup/SemanticActions.jadd | 8 ++--
9 files changed, 118 insertions(+), 30 deletions(-)
create mode 100644 pages/docs/load-parsing.md
create mode 100644 pages/docs/load.md
delete mode 100644 pages/docs/parsing.md
create mode 100644 pages/docs/sorting-parsing.md
create mode 100644 pages/docs/sorting.md
diff --git a/pages/docs/index.md b/pages/docs/index.md
index 0834143..45b29f2 100644
--- a/pages/docs/index.md
+++ b/pages/docs/index.md
@@ -1,4 +1,4 @@
-# Motion Grammar Parser for JastAdd Example
+# Motion Grammar Parser for JastAdd Examples
A testbed for a potential *motion grammar*[^1] implementation using JastAdd.
@@ -23,7 +23,7 @@ elements.
There are no attributes used so far, but at each point where a semantic action takes place, the AST is printed to a
file in `src/gen/resources/diagrams/parsing`, demonstrating the "available" part of the AST, which could be used by
-attributes. This trace is shown [here](/parsing).
+attributes. This trace is shown [here](/load-parsing).
Detailed notes:
diff --git a/pages/docs/load-parsing.md b/pages/docs/load-parsing.md
new file mode 100644
index 0000000..260567d
--- /dev/null
+++ b/pages/docs/load-parsing.md
@@ -0,0 +1,21 @@
+# Parsing the Load/Unload World
+
+| Action | World | Motion Grammar |
+|--------|--------------------------------------------------------------|----------------------------------------------------|
+| |  | |
+| Load |  |  |
+| Load |  |  |
+| Load |  |  |
+| Full |  |  |
+| T2 |  |  |
+| T |  |  |
+| Unload |  |  |
+| T1 |  |  |
+| T |  |  |
+| Unload |  |  |
+| T1 |  |  |
+| T |  |  |
+| Unload |  |  |
+| T1 |  |  |
+| T |  |  |
+| |  |  |
diff --git a/pages/docs/load.md b/pages/docs/load.md
new file mode 100644
index 0000000..5b843ff
--- /dev/null
+++ b/pages/docs/load.md
@@ -0,0 +1,42 @@
+# The Load/Unload Grammar
+
+The motion grammar describes the Load/Unload scenario from Dantam[^1]. The point of this very simple grammar was *not*
+to show how motion grammars work, but rather the expressiveness of a CFG (compared to a regular grammar), but it is very
+simple, so it serves as a starting point.
+
+
+
+The grammar comprises three parts. `MotionGrammar` contains generic nonterminals present in every motion
+grammar, `LoadUnload` has the actual nonterminals of the grammar, and `World` describes the context within which the
+grammar is parsed.
+
+## Execution (Parsing) and Implementation Details
+
+Currently, the parser reads a sequence of `Load`, `Unload`, and `Full` tokens and loads a `Container` with up to ten
+elements.
+
+There are no attributes used so far, but at each point where a semantic action takes place, the AST is printed to a file
+in `src/gen/resources/diagrams/parsing`, demonstrating the "available" part of the AST, which could be used by
+attributes. This trace is shown [here](/load-parsing).
+
+Detailed notes:
+
+- Tokens can have semantic actions. This might be a difference to the original motion grammar concept, but could easily
+ be simulated by adding another nonterminal enclosing each token.
+- The `Load` token currently can always be parsed. This is problematic, since it requires a fixed order in the parser
+ rule for `T`. A workaround would be to introduce a new token `NotFull` before the load token.
+- The parser `Worldparser.java` uses three kinds of parse methods:
+ - `parse` distinguishes an abstract rule (for `T`, but since it is the entrypoint, it has this generic name). This
+ only works like this if the abstract rule does *not* have any elements, which can be achieved by a simple
+ transformation, but maybe breaks the attribute part of the grammar. This method needs a lookahead, which is done
+ by a peek method. The peek method actually parses the next token and keeps it in a cache, which is read by the
+ token parse method later.
+ - `parseT1` and `parseT2` do not need lookahead.
+ - `parseLoad`, `parseUnload`, and `parseFull` parse tokens.
+- There are no thoughts on parsing lists and optional children yet.
+
+## Bibliogaphy
+
+[^1]: Dantam, N., Stilman, M., 2013. The Motion Grammar: Analysis of a Linguistic Method for Robot Control. IEEE Trans.
+Robot. 29, 704–718. https://doi.org/10.1109/TRO.2013.2239553
+
diff --git a/pages/docs/parsing.md b/pages/docs/parsing.md
deleted file mode 100644
index 4faa06d..0000000
--- a/pages/docs/parsing.md
+++ /dev/null
@@ -1,21 +0,0 @@
-# Parsing the Load/Unload World
-
-| Action | World | Motion Grammar |
-|--------|---------------------------------------------------------------------------------|------------------------------------------------------------------------|
-| |  | |
-| Load |  |  |
-| Load |  |  |
-| Load |  |  |
-| Full |  |  |
-| T2 |  |  |
-| T |  |  |
-| Unload |  |  |
-| T1 |  |  |
-| T |  |  |
-| Unload |  |  |
-| T1 |  |  |
-| T |  |  |
-| Unload |  |  |
-| T1 |  |  |
-| T |  |  |
-| |  |  |
diff --git a/pages/docs/sorting-parsing.md b/pages/docs/sorting-parsing.md
new file mode 100644
index 0000000..91ea99b
--- /dev/null
+++ b/pages/docs/sorting-parsing.md
@@ -0,0 +1,40 @@
+# Parsing the Robot Sorting World
+
+| Action | World | Motion Grammar |
+|---------------------------|--------------------------------------------------------------------------------|----------------------------------------------------------------------|
+| |  | |
+| ObjectAtWrongPlace |  |  |
+| RobotIsFree |  |  |
+| RobotIsReallyReadyToPick |  |  |
+| PickUpObject |  |  |
+| Pick |  |  |
+| PickUpObject |  |  |
+| RightPlace |  |  |
+| Drop |  |  |
+| DropObjectAtRightPlace |  |  |
+| MoveObjectToCorrectPlace |  |  |
+| ObjectAtWrongPlace |  |  |
+| RobotIsBusy |  |  |
+| Wait |  |  |
+| RobotIsBusy |  |  |
+| Wait |  |  |
+| RobotIsFree |  |  |
+| RobotIsReallyReadyToPick |  |  |
+| PickUpObject |  |  |
+| RobotIsNotReadyToPick |  |  |
+| PickUpObject |  |  |
+| RobotIsNotReadyToPick |  |  |
+| PickUpObject |  |  |
+| Pick |  |  |
+| PickUpObject |  |  |
+| RightPlace |  |  |
+| Drop |  |  |
+| DropObjectAtRightPlace |  |  |
+| MoveObjectToCorrectPlace |  |  |
+| NotEmptyTable |  |  |
+| Wait |  |  |
+| WaitForEmptyTable |  |  |
+| EmptyTable |  |  |
+| Tidy |  |  |
+| |  |  |
+
diff --git a/pages/docs/sorting.md b/pages/docs/sorting.md
new file mode 100644
index 0000000..3c57634
--- /dev/null
+++ b/pages/docs/sorting.md
@@ -0,0 +1,3 @@
+# The Robot Sorting Grammar
+
+
diff --git a/pages/mkdocs.yml b/pages/mkdocs.yml
index f489d98..d99c565 100644
--- a/pages/mkdocs.yml
+++ b/pages/mkdocs.yml
@@ -4,7 +4,12 @@ site_dir: ../public
nav:
- "Overview": index.md
- - "Parsing Example": parsing.md
+ - "Load-Unload Grammar":
+ - "Overview": load.md
+ - "Parsing": load-parsing.md
+ - "Sorting Example":
+ - "Overview": sorting.md
+ - "Parsing": sorting-parsing.md
- "API documentation": ragdoc/index.html
theme:
diff --git a/src/main/jastadd/cleanup/RobotWorld.jadd b/src/main/jastadd/cleanup/RobotWorld.jadd
index 205ae76..a3a5659 100644
--- a/src/main/jastadd/cleanup/RobotWorld.jadd
+++ b/src/main/jastadd/cleanup/RobotWorld.jadd
@@ -4,10 +4,8 @@ aspect RobotWorld {
Table t = new Table();
t.addPhysicalObject(new Bin("binRed", Pose.of(-10, -10, 0), "red"));
t.addPhysicalObject(new Bin("binGreen", Pose.of(-10, 0, 0), "green"));
- t.addPhysicalObject(new Bin("binBlue", Pose.of(-10, 10, 0), "blue"));
t.addPhysicalObject(new MovableObject("boxRed", Pose.of(-5, -10, 0), "red"));
t.addPhysicalObject(new MovableObject("boxGreen", Pose.of(-5, 0, 0), "green"));
- t.addPhysicalObject(new MovableObject("boxBlue", Pose.of(-5, 10, 0), "blue"));
Robot b = new Robot();
b.setIsIdle(true);
return new RobotScene(t, b);
diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd
index a1d6d88..b3e0a42 100644
--- a/src/main/jastadd/cleanup/SemanticActions.jadd
+++ b/src/main/jastadd/cleanup/SemanticActions.jadd
@@ -8,11 +8,11 @@ aspect SemanticActions {
@Override
public void run() {
scene.getRobot().setIsIdle(false);
- try { Thread.sleep(1500); } catch (InterruptedException e) { /* ignore */ }
+ try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
MovableObject object = scene.getTable().getMovableObjectByName(objectName);
scene.getRobot().setAttachedItem(object);
object.setPose(Pose.of(-1,-1,-1));
- try { Thread.sleep(2500); } catch (InterruptedException e) { /* ignore */ }
+ try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
scene.getRobot().setIsIdle(true);
}
});
@@ -27,12 +27,12 @@ aspect SemanticActions {
@Override
public void run() {
scene.getRobot().setIsIdle(false);
- try { Thread.sleep(3500); } catch (InterruptedException e) { /* ignore */ }
+ try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
MovableObject object = scene.getTable().getMovableObjectByName(objectName);
Bin bin = scene.getTable().getBinByName(placeName);
object.setPose(Pose.of(bin.getPose()));
scene.getRobot().setAttachedItem(null);
- try { Thread.sleep(1500); } catch (InterruptedException e) { /* ignore */ }
+ try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
scene.getRobot().setIsIdle(true);
}
});
--
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