RoboWaiter/ptml/ptmlTranslator.py

import os
import sys
import uuid

project_path = "/home/wu/RoboWaiter/ptml"
sys.path.append(project_path)

from antlr4 import *
from ptmlListener import ptmlListener
from ptmlParser import ptmlParser
from ptml.ptmlTranslateAPI import PyTreesAPI

class ptmlTranslator(ptmlListener):
    """Translate the ptml language to BT.

    Args:
        ptmlListener (_type_): _description_
    """
    
    def __init__(self) -> None:
        super().__init__()
        self.stack = []
        self.api = PyTreesAPI()
        
        
    # Enter a parse tree produced by ptmlParser#root.
    def enterRoot(self, ctx:ptmlParser.RootContext):
        pass

    # Exit a parse tree produced by ptmlParser#root.
    def exitRoot(self, ctx:ptmlParser.RootContext):
        pass
        
        
    # Enter a parse tree produced by ptmlParser#tree.
    def enterTree(self, ctx:ptmlParser.TreeContext):
        pass

    # Exit a parse tree produced by ptmlParser#tree.
    def exitTree(self, ctx:ptmlParser.TreeContext):
        pass


    # Enter a parse tree produced by ptmlParser#internal_node.
    def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
        type = str(ctx.children[0])
        
        match type:
            case 'sequence':
                tag = self.api.newSequenceNode()
            case 'selector':
                tag = self.api.newSelectorNode()
            case 'parallel':
                tag = self.api.newParallelNode(threshold=int(ctx.children[1]))
            case 'decorator':
                tag = self.api.newDecoratorNode()
            case _:
                raise TypeError(
                    ''
                )
        self.stack.append(tag)
                        

    # Exit a parse tree produced by ptmlParser#internal_node.
    def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
        pass


    # Enter a parse tree produced by ptmlParser#action_sign.
    def enterAction_sign(self, ctx:ptmlParser.Action_signContext):
        # cond / task
        type = str(ctx.children[0])
        name = str(ctx.Names())
        
        # if have params
        if len(ctx.children) > 4:
            args = ctx.action_parm()
            print(args.Float())
        else:
            args = []
        
        # 
        if type == 'cond':
            behav_tag = self.api.newBehaviourNode(name, args, isCond=True)
        else:
            behav_tag = self.api.newBehaviourNode(name, args, isCond=False)
        # connect
        parent_tag = self.stack[-1]
        self.api.connect_to_parent(behav_tag, parent_tag)        
    

    # Exit a parse tree produced by ptmlParser#action_sign.
    def exitAction_sign(self, ctx:ptmlParser.Action_signContext):
        pass


    # Enter a parse tree produced by ptmlParser#action_parm.
    def enterAction_parm(self, ctx:ptmlParser.Action_parmContext):
        pass

    # Exit a parse tree produced by ptmlParser#action_parm.
    def exitAction_parm(self, ctx:ptmlParser.Action_parmContext):
        pass


    # Enter a parse tree produced by ptmlParser#boolean.
    def enterBoolean(self, ctx:ptmlParser.BooleanContext):
        pass

    # Exit a parse tree produced by ptmlParser#boolean.
    def exitBoolean(self, ctx:ptmlParser.BooleanContext):
        pass