From e7fd4453e28f8de9fe7bca57d92057262159c75b Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 6 Apr 2022 08:15:59 +0200
Subject: [PATCH] WIP
---
build.gradle | 2 +-
src/main/jastadd/SemanticActions.jadd | 4 +-
src/main/jastadd/World.jadd | 170 ------------------
src/main/jastadd/World.jrag | 47 -----
src/main/jastadd/World.relast | 15 --
src/main/jastadd/common/MotionGrammar.relast | 2 +
.../java/de/tudresden/inf/st/mg/Main.java | 31 +---
.../de/tudresden/inf/st/mg/RobotParser.java | 44 ++++-
.../de/tudresden/inf/st/mg/ParserTest.java | 40 +++--
9 files changed, 74 insertions(+), 281 deletions(-)
delete mode 100644 src/main/jastadd/World.jadd
delete mode 100644 src/main/jastadd/World.jrag
delete mode 100644 src/main/jastadd/World.relast
diff --git a/build.gradle b/build.gradle
index 8855bbd..1f62d3f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -84,7 +84,7 @@ jar {
duplicatesStrategy = DuplicatesStrategy.FAIL
}
-def relastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/World.relast', './src/main/jastadd/LoadUnload.relast', './src/main/jastadd/Cleanup.relast']
+def relastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/LoadWorld.relast', './src/main/jastadd/RobotWorld.relast', './src/main/jastadd/LoadUnload.relast', './src/main/jastadd/Cleanup.relast']
def grammarPrefix = './src/gen/jastadd/MotionGrammar'
def grammarDiagramFile = './src/gen/resources/diagrams/grammar/uml.png'
def jastAddListName = 'JastAddList'
diff --git a/src/main/jastadd/SemanticActions.jadd b/src/main/jastadd/SemanticActions.jadd
index 16c727b..a3edb74 100644
--- a/src/main/jastadd/SemanticActions.jadd
+++ b/src/main/jastadd/SemanticActions.jadd
@@ -4,7 +4,7 @@ aspect SemanticActions {
public void Load.action(World world) {
System.out.println("performing semantic action for element Load");
System.out.print(" " + world);
- world.getContainer().setElementCount(world.getContainer().getElementCount() + 1);
+ world.setElementCount(world.getElementCount() + 1);
System.out.println(" -> " + world);
}
@@ -12,7 +12,7 @@ aspect SemanticActions {
public void Unload.action(World world) {
System.out.println("performing semantic action for element Unload");
System.out.print(" " + world);
- world.getContainer().setElementCount(world.getContainer().getElementCount() - 1);
+ world.setElementCount(world.getElementCount() - 1);
System.out.println(" -> " + world);
}
}
\ No newline at end of file
diff --git a/src/main/jastadd/World.jadd b/src/main/jastadd/World.jadd
deleted file mode 100644
index e1a676a..0000000
--- a/src/main/jastadd/World.jadd
+++ /dev/null
@@ -1,170 +0,0 @@
-aspect World {
-
- public static final int World.MAX_CAPACITY = 10;
-
- public static World World.initialWorld(java.util.Random r) {
- Container c = new Container();
- c.setCapacity(r.nextInt(MAX_CAPACITY - 1) + 1);
- c.setElementCount(r.nextInt(c.getCapacity()));
- Table t = new Table();
- t.addBin(new Bin("binRed", Pose.of(-10, -10, 0), "red"));
- t.addBin(new Bin("binGreen", Pose.of(-10, 0, 0), "green"));
- t.addBin(new Bin("binBlue", Pose.of(-10, 10, 0), "blue"));
- t.addMovableObject(new MovableObject("boxRed", Pose.of(-5, -10, 0), "red"));
- t.addMovableObject(new MovableObject("boxGreen", Pose.of(-5, 0, 0), "green"));
- t.addMovableObject(new MovableObject("boxBlue", Pose.of(-5, 10, 0), "blue"));
- Robot b = new Robot();
- return new World(c, t, b);
- }
-
- public static Pose Pose.of(double x, double y, double z) {
- return new Pose(x,y,z,0,0,0,1);
- }
-
- @Override
- public String World.toString() {
- return print();
- }
-
- public enum TokenType {UNDEFINED,FULL,LOAD,UNLOAD; }
- public static TokenType Token.type() {return TokenType.UNDEFINED; }
- public static TokenType Full.type() {return TokenType.FULL; }
- public static TokenType Load.type() {return TokenType.LOAD; }
- public static TokenType Unload.type() {return TokenType.UNLOAD; }
-
- public Full World.parseFull() {
- System.out.print("Trying to parse token <Full>... ");
- if (getContainer().getCapacity() <= getContainer().getElementCount()) {
- System.out.println("success");
- return new Full();
- } else {
- System.out.println("failure");
- return null;
- }
- }
-
- public Load World.parseLoad() {
- System.out.print("Trying to parse token <Load>... ");
- // TODO should we check if loading is possible?
- System.out.println("success");
- return new Load();
- }
-
- public Unload World.parseUnload() {
- System.out.print("Trying to parse token <Unload>... ");
- // TODO should we check if unloading is possible?
- System.out.println("success");
- return new Unload();
- }
-
- public EmptyTable World.parseEmptyTable() {
- System.out.print("Trying to parse token <EmptyTable>... ");
- if (getTable().isEmpty()) {
- System.out.println("success");
- return new EmptyTable();
- } else {
- System.out.println("failure");
- return null;
- }
- }
-
- public ObjectAtWrongPlace World.parseObjectAtWrongPlace() {
- System.out.print("Trying to parse token <ObjectAtWrongPlace>... ");
- // TODO get a *random* object?
- for (MovableObject o : getTable().getMovableObjectList()) {
- if (!o.isInBin()) {
- System.out.println("success");
- return new ObjectAtWrongPlace(o.getName());
- }
- }
- System.out.println("failure");
- return null;
- }
-
- public Pick World.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 RobotIsFree World.parseRobotIsFree() {
- System.out.print("Trying to parse token <RobotIsFree>... ");
- RobotIsIdle idle = parseRobotIsIdle();
- RobotHasNoItemAttached noItem = parseRobotHasNoItemAttached();
- if (idle != null && noItem != null) {
- System.out.println("success");
- return new RobotIsFree(idle, noItem);
- } else {
- System.out.println("failure");
- return null;
- }
- }
-
- public RobotIsIdle World.parseRobotIsIdle() {
- System.out.print("Trying to parse token <RobotIsIdle>... ");
- if (getRobot().getIsIdle()) {
- System.out.println("success");
- return new RobotIsIdle();
- } else {
- System.out.println("failure");
- return null;
- }
- }
-
- public RobotHasNoItemAttached World.parseRobotHasNoItemAttached() {
- System.out.print("Trying to parse token <RobotHasNoItemAttached>... ");
- if (!getRobot().hasAttachedItem()) {
- System.out.println("success");
- return new RobotHasNoItemAttached();
- } else {
- System.out.println("failure");
- return null;
- }
- }
-
- public Wait World.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) {
- System.out.print("Trying to parse token <RightPlace> for Object \"" + objectName + "\"... ");
- MovableObject o = getTable().getMovableObjectByName(objectName);
-
- if (o != null) {
- for (Bin b : getTable().getBinList()) {
- if (o.fitsIn(b)) {
- System.out.println("success");
- return new RightPlace(b.getName());
- }
- }
- System.out.println("failure (no matching bin found)");
- return null;
- } else {
- System.out.println("failure (object does not exist)");
- return null;
- }
- }
-
- public Drop World.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;
- }
- }
-}
\ No newline at end of file
diff --git a/src/main/jastadd/World.jrag b/src/main/jastadd/World.jrag
deleted file mode 100644
index c0558b4..0000000
--- a/src/main/jastadd/World.jrag
+++ /dev/null
@@ -1,47 +0,0 @@
-aspect World {
- syn String World.print() = "[World " + getContainer().print() + "]";
- syn String Container.print() = "[Container " + getElementCount() + "/" + getCapacity() + "]";
-
- inh Table PhysicalObject.containingTable();
- eq Table.getChild().containingTable() = this;
-
- syn boolean MovableObject.isInBin() {
- for (Bin b : containingTable().getBinList()) {
- if (getPose().getX() == b.getPose().getX() && getPose().getY() == b.getPose().getY() && getPose().getZ() == b.getPose().getZ()) {
- return true;
- }
- }
- return false;
- }
-
- syn boolean Table.isEmpty() {
- for (MovableObject o : getMovableObjectList()) {
- if (!o.isInBin()) {
- return false;
- }
- }
- return true;
- }
-
- syn MovableObject Table.getMovableObjectByName(String name) {
- for (MovableObject o : getMovableObjectList()) {
- if (o.getName().equals(name)) {
- return o;
- }
- }
- return null;
- }
-
- syn Bin Table.getBinByName(String name) {
- for (Bin b : getBinList()) {
- if (b.getName().equals(name)) {
- return b;
- }
- }
- return null;
- }
-
- syn boolean MovableObject.fitsIn(Bin b) {
- return getColor().equals(b.getColor());
- }
-}
\ No newline at end of file
diff --git a/src/main/jastadd/World.relast b/src/main/jastadd/World.relast
deleted file mode 100644
index 946dd81..0000000
--- a/src/main/jastadd/World.relast
+++ /dev/null
@@ -1,15 +0,0 @@
-// World Model of the Motion Grammar
-// The world contains one container with a maximum capacity and a current number of contained elements
-
-World ::= Container Table Robot;
-Container ::= <Capacity:int> <ElementCount:int>;
-
-Table ::= MovableObject* Bin*;
-abstract PhysicalObject ::= <Name> Pose <Color>;
-MovableObject : PhysicalObject;
-Bin : PhysicalObject;
-
-Pose ::= <X:double> <Y:double> <Z:double> <QX:double> <QY:double> <QZ:double> <QW:double>;
-
-Robot ::= <IsIdle:boolean>;
-rel Robot.attachedItem? <-> MovableObject.attachedRobot?;
diff --git a/src/main/jastadd/common/MotionGrammar.relast b/src/main/jastadd/common/MotionGrammar.relast
index 7b55408..06d63b8 100644
--- a/src/main/jastadd/common/MotionGrammar.relast
+++ b/src/main/jastadd/common/MotionGrammar.relast
@@ -1,3 +1,5 @@
// Generic AST elements for every motion grammar
abstract MotionGrammarElement;
abstract Token : MotionGrammarElement;
+
+abstract World;
diff --git a/src/main/java/de/tudresden/inf/st/mg/Main.java b/src/main/java/de/tudresden/inf/st/mg/Main.java
index 905b280..8f4dadc 100644
--- a/src/main/java/de/tudresden/inf/st/mg/Main.java
+++ b/src/main/java/de/tudresden/inf/st/mg/Main.java
@@ -10,37 +10,8 @@ import java.util.Comparator;
import java.util.Random;
public class Main {
-
- public static final Path AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing");
-
public static void main(String[] args) {
-
- // for some reason, the best random seed value here is 1 and not 0???
- World world = World.initialWorld(new Random(1));
-
- WorldParser parser = new WorldParser(world);
- parser.setDebugDiagramDir(AST_DIAGRAM_DIR);
-
- try {
- Files.walk(AST_DIAGRAM_DIR)
- .sorted(Comparator.reverseOrder())
- .map(Path::toFile)
- .forEach(File::delete);
- } catch (IOException ignored) {
- }
-
- try {
- Files.createDirectories(AST_DIAGRAM_DIR);
- } catch (IOException e) {
- System.err.println("Unable to create AST diagram directory " + AST_DIAGRAM_DIR);
- e.printStackTrace();
- }
- try {
- parser.parse();
- } catch (WorldParser.ParseException e) {
- e.printStackTrace();
- }
-
+ throw new RuntimeException("Main method not implemented. Run tests.");
}
}
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 30b8726..6b227c6 100644
--- a/src/main/java/de/tudresden/inf/st/mg/RobotParser.java
+++ b/src/main/java/de/tudresden/inf/st/mg/RobotParser.java
@@ -8,9 +8,7 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
private static final String WORLD = "World";
- private Load peekedLoad_ = null;
- private Unload peekedUnload_ = null;
- private Full peekedFull_ = null;
+ private ObjectAtWrongPlace peekedObjectAtWrongPlace_ = null;
public RobotParser(World world) {
context_.put(WORLD, world);
@@ -23,14 +21,48 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
@Override
protected void parse(ASTNode<?> parent, int index) throws ParseException {
- Tidy result;
+ Tidy result = new Tidy();
+ parent.setChild(result, index);
- if (true) {
- throw new ParseException("T", Load.type(), Full.type());
+ while (true) {
+ peekObjectAtWrongPlace();
+ if (peekedObjectAtWrongPlace_ != null) {
+ parseObjectAtWrongPlace(result.getMoveObjectToCorrectPlaceList(), result.getNumMoveObjectToCorrectPlace());
+ } else {
+ break;
+ }
}
+ // TODO implement
+ // parseEmptyTable(result, 1);
+
// semantic action for T
result.action(getWorld());
printAST("parseTidy", result);
}
+
+ private boolean peekObjectAtWrongPlace() {
+ peekedObjectAtWrongPlace_ = getWorld().parseObjectAtWrongPlace();
+ return peekedObjectAtWrongPlace_ != null;
+ }
+
+ private void parseObjectAtWrongPlace(ASTNode<?> parent, int index) throws ParseException {
+ ObjectAtWrongPlace result;
+
+ if (peekedObjectAtWrongPlace_ != null) {
+ result = peekedObjectAtWrongPlace_;
+ peekedObjectAtWrongPlace_ = null; // TODO check if all peeked values are actually parsed afterwards
+ } else {
+ result = getWorld().parseObjectAtWrongPlace();
+ if (result == null) {
+ throw new ParseException(ObjectAtWrongPlace.type());
+ }
+ }
+
+ parent.setChild(result, index);
+
+ // semantic action for Unload
+ result.action(getWorld());
+ printAST("parseObjectAtWrongPlace", result);
+ }
}
diff --git a/src/test/java/de/tudresden/inf/st/mg/ParserTest.java b/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
index efb5b28..6dce667 100644
--- a/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
+++ b/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
@@ -1,6 +1,8 @@
package de.tudresden.inf.st.mg;
import de.tudresden.inf.st.mg.common.MotionGrammarParser;
+import de.tudresden.inf.st.mg.jastadd.model.Container;
+import de.tudresden.inf.st.mg.jastadd.model.RobotScene;
import de.tudresden.inf.st.mg.jastadd.model.T1;
import de.tudresden.inf.st.mg.jastadd.model.World;
import org.junit.jupiter.api.BeforeAll;
@@ -17,29 +19,47 @@ import static org.assertj.core.api.Assertions.assertThat;
public class ParserTest {
- public static final Path AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing");
+ public static final Path LOAD_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "load");
+ public static final Path TIDY_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "tidy");
@BeforeAll
static void prepareOutputPath() throws IOException {
try {
- Files.walk(AST_DIAGRAM_DIR)
- .sorted(Comparator.reverseOrder())
- .map(Path::toFile)
- .forEach(File::delete);
+ Files.walk(LOAD_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
} catch (IOException e) {
// do nothing
}
- Files.createDirectories(AST_DIAGRAM_DIR);
+ try {
+ Files.walk(TIDY_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
+ } catch (IOException e) {
+ // do nothing
+ }
+ Files.createDirectories(LOAD_AST_DIAGRAM_DIR);
+ Files.createDirectories(TIDY_AST_DIAGRAM_DIR);
+ }
+
+ @Test
+ void runLodUnloadParser() throws MotionGrammarParser.ParseException {
+
+ // for some reason, the best random seed value here is 1 and not 0???
+ Container containerWorld = Container.initialWorld(new Random(1));
+
+ WorldParser parser = new WorldParser(containerWorld);
+ parser.setDebugDiagramDir(LOAD_AST_DIAGRAM_DIR);
+
+ var result = parser.parse();
+
+ assertThat(result).isNotNull().isInstanceOf(T1.class);
}
@Test
- void runParser() throws MotionGrammarParser.ParseException {
+ void runTidyParser() throws MotionGrammarParser.ParseException {
// for some reason, the best random seed value here is 1 and not 0???
- World world = World.initialWorld(new Random(1));
+ World world = RobotScene.initialWorld(new Random(1));
- WorldParser parser = new WorldParser(world);
- parser.setDebugDiagramDir(AST_DIAGRAM_DIR);
+ RobotParser parser = new RobotParser(world);
+ parser.setDebugDiagramDir(TIDY_AST_DIAGRAM_DIR);
var result = parser.parse();
--
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