diff --git a/behavior_tree/__pycache__/behavior_library.cpython-310.pyc b/behavior_tree/__pycache__/behavior_library.cpython-310.pyc
deleted file mode 100644
index 66410e4..0000000
Binary files a/behavior_tree/__pycache__/behavior_library.cpython-310.pyc and /dev/null differ
diff --git a/robowaiter/behavior_tree/ptml/test/test.dot b/robowaiter/behavior_tree/ptml/test/test.dot
new file mode 100644
index 0000000..4ba2e0e
--- /dev/null
+++ b/robowaiter/behavior_tree/ptml/test/test.dot
@@ -0,0 +1,15 @@
+digraph pastafarianism {
+ordering=out;
+graph [fontname="times-roman"];
+node [fontname="times-roman"];
+edge [fontname="times-roman"];
+selector_4aUN4FAA [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_4aUN4FAA, shape=octagon, style=filled];
+sequence_BNun8ZFM [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_BNun8ZFM, shape=box, style=filled];
+selector_4aUN4FAA -> sequence_BNun8ZFM;
+Chatting [fillcolor=gray, fontcolor=black, fontsize=9, label=Chatting, shape=ellipse, style=filled];
+sequence_BNun8ZFM -> Chatting;
+DealChat [fillcolor=gray, fontcolor=black, fontsize=9, label=DealChat, shape=ellipse, style=filled];
+sequence_BNun8ZFM -> DealChat;
+"At(Coffee,Table)" [fillcolor=gray, fontcolor=black, fontsize=9, label="At(Coffee,Table)", shape=ellipse, style=filled];
+selector_4aUN4FAA -> "At(Coffee,Table)";
+}
diff --git a/robowaiter/behavior_tree/ptml/test/test.png b/robowaiter/behavior_tree/ptml/test/test.png
new file mode 100644
index 0000000..64b20fe
Binary files /dev/null and b/robowaiter/behavior_tree/ptml/test/test.png differ
diff --git a/robowaiter/behavior_tree/ptml/test/test.svg b/robowaiter/behavior_tree/ptml/test/test.svg
new file mode 100644
index 0000000..a9f4336
--- /dev/null
+++ b/robowaiter/behavior_tree/ptml/test/test.svg
@@ -0,0 +1,67 @@
+
+
+
+
+
diff --git a/robowaiter/behavior_tree/test/ptml.interp b/robowaiter/behavior_tree/test/ptml.interp
new file mode 100644
index 0000000..a96ef7d
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptml.interp
@@ -0,0 +1,51 @@
+token literal names:
+null
+'{'
+'}'
+'sequence'
+'selector'
+'parallel'
+'task'
+'cond'
+'('
+')'
+','
+'True'
+'False'
+null
+null
+null
+null
+null
+
+token symbolic names:
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+Names
+Integer
+Float
+LINE_COMMENT
+WS
+
+rule names:
+root
+tree
+internal_node
+action_sign
+action_parm
+boolean
+
+
+atn:
+[4, 1, 17, 62, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 24, 8, 1, 11, 1, 12, 1, 25, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 34, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 40, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 47, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 53, 8, 4, 5, 4, 55, 8, 4, 10, 4, 12, 4, 58, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 66, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 33, 1, 0, 0, 0, 6, 35, 1, 0, 0, 0, 8, 46, 1, 0, 0, 0, 10, 59, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 23, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 25, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 27, 1, 0, 0, 0, 27, 28, 5, 2, 0, 0, 28, 3, 1, 0, 0, 0, 29, 34, 5, 3, 0, 0, 30, 34, 5, 4, 0, 0, 31, 32, 5, 5, 0, 0, 32, 34, 5, 14, 0, 0, 33, 29, 1, 0, 0, 0, 33, 30, 1, 0, 0, 0, 33, 31, 1, 0, 0, 0, 34, 5, 1, 0, 0, 0, 35, 36, 7, 0, 0, 0, 36, 37, 5, 13, 0, 0, 37, 39, 5, 8, 0, 0, 38, 40, 3, 8, 4, 0, 39, 38, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 5, 9, 0, 0, 42, 7, 1, 0, 0, 0, 43, 47, 5, 14, 0, 0, 44, 47, 5, 15, 0, 0, 45, 47, 3, 10, 5, 0, 46, 43, 1, 0, 0, 0, 46, 44, 1, 0, 0, 0, 46, 45, 1, 0, 0, 0, 47, 56, 1, 0, 0, 0, 48, 52, 5, 10, 0, 0, 49, 53, 5, 14, 0, 0, 50, 53, 5, 15, 0, 0, 51, 53, 3, 10, 5, 0, 52, 49, 1, 0, 0, 0, 52, 50, 1, 0, 0, 0, 52, 51, 1, 0, 0, 0, 53, 55, 1, 0, 0, 0, 54, 48, 1, 0, 0, 0, 55, 58, 1, 0, 0, 0, 56, 54, 1, 0, 0, 0, 56, 57, 1, 0, 0, 0, 57, 9, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 59, 60, 7, 1, 0, 0, 60, 11, 1, 0, 0, 0, 8, 15, 23, 25, 33, 39, 46, 52, 56]
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/test/ptml.tokens b/robowaiter/behavior_tree/test/ptml.tokens
new file mode 100644
index 0000000..1f7a813
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptml.tokens
@@ -0,0 +1,29 @@
+T__0=1
+T__1=2
+T__2=3
+T__3=4
+T__4=5
+T__5=6
+T__6=7
+T__7=8
+T__8=9
+T__9=10
+T__10=11
+T__11=12
+Names=13
+Integer=14
+Float=15
+LINE_COMMENT=16
+WS=17
+'{'=1
+'}'=2
+'sequence'=3
+'selector'=4
+'parallel'=5
+'task'=6
+'cond'=7
+'('=8
+')'=9
+','=10
+'True'=11
+'False'=12
diff --git a/robowaiter/behavior_tree/test/ptmlLexer.interp b/robowaiter/behavior_tree/test/ptmlLexer.interp
new file mode 100644
index 0000000..823b753
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptmlLexer.interp
@@ -0,0 +1,68 @@
+token literal names:
+null
+'{'
+'}'
+'sequence'
+'selector'
+'parallel'
+'task'
+'cond'
+'('
+')'
+','
+'True'
+'False'
+null
+null
+null
+null
+null
+
+token symbolic names:
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+null
+Names
+Integer
+Float
+LINE_COMMENT
+WS
+
+rule names:
+T__0
+T__1
+T__2
+T__3
+T__4
+T__5
+T__6
+T__7
+T__8
+T__9
+T__10
+T__11
+Names
+Integer
+Float
+LINE_COMMENT
+WS
+
+channel names:
+DEFAULT_TOKEN_CHANNEL
+HIDDEN
+
+mode names:
+DEFAULT_MODE
+
+atn:
+[4, 0, 17, 156, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 5, 12, 96, 8, 12, 10, 12, 12, 12, 99, 9, 12, 1, 13, 3, 13, 102, 8, 13, 1, 13, 1, 13, 5, 13, 106, 8, 13, 10, 13, 12, 13, 109, 9, 13, 1, 13, 3, 13, 112, 8, 13, 1, 14, 4, 14, 115, 8, 14, 11, 14, 12, 14, 116, 1, 14, 1, 14, 5, 14, 121, 8, 14, 10, 14, 12, 14, 124, 9, 14, 1, 14, 1, 14, 4, 14, 128, 8, 14, 11, 14, 12, 14, 129, 3, 14, 132, 8, 14, 1, 15, 1, 15, 1, 15, 1, 15, 5, 15, 138, 8, 15, 10, 15, 12, 15, 141, 9, 15, 1, 15, 3, 15, 144, 8, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 4, 16, 151, 8, 16, 11, 16, 12, 16, 152, 1, 16, 1, 16, 1, 139, 0, 17, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 166, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 1, 35, 1, 0, 0, 0, 3, 37, 1, 0, 0, 0, 5, 39, 1, 0, 0, 0, 7, 48, 1, 0, 0, 0, 9, 57, 1, 0, 0, 0, 11, 66, 1, 0, 0, 0, 13, 71, 1, 0, 0, 0, 15, 76, 1, 0, 0, 0, 17, 78, 1, 0, 0, 0, 19, 80, 1, 0, 0, 0, 21, 82, 1, 0, 0, 0, 23, 87, 1, 0, 0, 0, 25, 93, 1, 0, 0, 0, 27, 111, 1, 0, 0, 0, 29, 131, 1, 0, 0, 0, 31, 133, 1, 0, 0, 0, 33, 150, 1, 0, 0, 0, 35, 36, 5, 123, 0, 0, 36, 2, 1, 0, 0, 0, 37, 38, 5, 125, 0, 0, 38, 4, 1, 0, 0, 0, 39, 40, 5, 115, 0, 0, 40, 41, 5, 101, 0, 0, 41, 42, 5, 113, 0, 0, 42, 43, 5, 117, 0, 0, 43, 44, 5, 101, 0, 0, 44, 45, 5, 110, 0, 0, 45, 46, 5, 99, 0, 0, 46, 47, 5, 101, 0, 0, 47, 6, 1, 0, 0, 0, 48, 49, 5, 115, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 108, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 99, 0, 0, 53, 54, 5, 116, 0, 0, 54, 55, 5, 111, 0, 0, 55, 56, 5, 114, 0, 0, 56, 8, 1, 0, 0, 0, 57, 58, 5, 112, 0, 0, 58, 59, 5, 97, 0, 0, 59, 60, 5, 114, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 108, 0, 0, 62, 63, 5, 108, 0, 0, 63, 64, 5, 101, 0, 0, 64, 65, 5, 108, 0, 0, 65, 10, 1, 0, 0, 0, 66, 67, 5, 116, 0, 0, 67, 68, 5, 97, 0, 0, 68, 69, 5, 115, 0, 0, 69, 70, 5, 107, 0, 0, 70, 12, 1, 0, 0, 0, 71, 72, 5, 99, 0, 0, 72, 73, 5, 111, 0, 0, 73, 74, 5, 110, 0, 0, 74, 75, 5, 100, 0, 0, 75, 14, 1, 0, 0, 0, 76, 77, 5, 40, 0, 0, 77, 16, 1, 0, 0, 0, 78, 79, 5, 41, 0, 0, 79, 18, 1, 0, 0, 0, 80, 81, 5, 44, 0, 0, 81, 20, 1, 0, 0, 0, 82, 83, 5, 84, 0, 0, 83, 84, 5, 114, 0, 0, 84, 85, 5, 117, 0, 0, 85, 86, 5, 101, 0, 0, 86, 22, 1, 0, 0, 0, 87, 88, 5, 70, 0, 0, 88, 89, 5, 97, 0, 0, 89, 90, 5, 108, 0, 0, 90, 91, 5, 115, 0, 0, 91, 92, 5, 101, 0, 0, 92, 24, 1, 0, 0, 0, 93, 97, 7, 0, 0, 0, 94, 96, 7, 1, 0, 0, 95, 94, 1, 0, 0, 0, 96, 99, 1, 0, 0, 0, 97, 95, 1, 0, 0, 0, 97, 98, 1, 0, 0, 0, 98, 26, 1, 0, 0, 0, 99, 97, 1, 0, 0, 0, 100, 102, 5, 45, 0, 0, 101, 100, 1, 0, 0, 0, 101, 102, 1, 0, 0, 0, 102, 103, 1, 0, 0, 0, 103, 107, 7, 2, 0, 0, 104, 106, 7, 3, 0, 0, 105, 104, 1, 0, 0, 0, 106, 109, 1, 0, 0, 0, 107, 105, 1, 0, 0, 0, 107, 108, 1, 0, 0, 0, 108, 112, 1, 0, 0, 0, 109, 107, 1, 0, 0, 0, 110, 112, 5, 48, 0, 0, 111, 101, 1, 0, 0, 0, 111, 110, 1, 0, 0, 0, 112, 28, 1, 0, 0, 0, 113, 115, 7, 3, 0, 0, 114, 113, 1, 0, 0, 0, 115, 116, 1, 0, 0, 0, 116, 114, 1, 0, 0, 0, 116, 117, 1, 0, 0, 0, 117, 118, 1, 0, 0, 0, 118, 122, 5, 46, 0, 0, 119, 121, 7, 3, 0, 0, 120, 119, 1, 0, 0, 0, 121, 124, 1, 0, 0, 0, 122, 120, 1, 0, 0, 0, 122, 123, 1, 0, 0, 0, 123, 132, 1, 0, 0, 0, 124, 122, 1, 0, 0, 0, 125, 127, 5, 46, 0, 0, 126, 128, 7, 3, 0, 0, 127, 126, 1, 0, 0, 0, 128, 129, 1, 0, 0, 0, 129, 127, 1, 0, 0, 0, 129, 130, 1, 0, 0, 0, 130, 132, 1, 0, 0, 0, 131, 114, 1, 0, 0, 0, 131, 125, 1, 0, 0, 0, 132, 30, 1, 0, 0, 0, 133, 134, 5, 47, 0, 0, 134, 135, 5, 47, 0, 0, 135, 139, 1, 0, 0, 0, 136, 138, 9, 0, 0, 0, 137, 136, 1, 0, 0, 0, 138, 141, 1, 0, 0, 0, 139, 140, 1, 0, 0, 0, 139, 137, 1, 0, 0, 0, 140, 143, 1, 0, 0, 0, 141, 139, 1, 0, 0, 0, 142, 144, 5, 13, 0, 0, 143, 142, 1, 0, 0, 0, 143, 144, 1, 0, 0, 0, 144, 145, 1, 0, 0, 0, 145, 146, 5, 10, 0, 0, 146, 147, 1, 0, 0, 0, 147, 148, 6, 15, 0, 0, 148, 32, 1, 0, 0, 0, 149, 151, 7, 4, 0, 0, 150, 149, 1, 0, 0, 0, 151, 152, 1, 0, 0, 0, 152, 150, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 154, 1, 0, 0, 0, 154, 155, 6, 16, 0, 0, 155, 34, 1, 0, 0, 0, 12, 0, 97, 101, 107, 111, 116, 122, 129, 131, 139, 143, 152, 1, 6, 0, 0]
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/test/ptmlLexer.py b/robowaiter/behavior_tree/test/ptmlLexer.py
new file mode 100644
index 0000000..3f6d98b
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptmlLexer.py
@@ -0,0 +1,119 @@
+# Generated from ptml.g4 by ANTLR 4.13.1
+from antlr4 import *
+from io import StringIO
+import sys
+if sys.version_info[1] > 5:
+ from typing import TextIO
+else:
+ from typing.io import TextIO
+
+
+def serializedATN():
+ return [
+ 4,0,17,156,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,
+ 2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2,
+ 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1,
+ 2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,
+ 4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,5,1,6,1,6,1,
+ 6,1,6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,
+ 1,11,1,11,1,11,1,11,1,11,1,12,1,12,5,12,96,8,12,10,12,12,12,99,9,
+ 12,1,13,3,13,102,8,13,1,13,1,13,5,13,106,8,13,10,13,12,13,109,9,
+ 13,1,13,3,13,112,8,13,1,14,4,14,115,8,14,11,14,12,14,116,1,14,1,
+ 14,5,14,121,8,14,10,14,12,14,124,9,14,1,14,1,14,4,14,128,8,14,11,
+ 14,12,14,129,3,14,132,8,14,1,15,1,15,1,15,1,15,5,15,138,8,15,10,
+ 15,12,15,141,9,15,1,15,3,15,144,8,15,1,15,1,15,1,15,1,15,1,16,4,
+ 16,151,8,16,11,16,12,16,152,1,16,1,16,1,139,0,17,1,1,3,2,5,3,7,4,
+ 9,5,11,6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,
+ 33,17,1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,
+ 1,0,49,57,1,0,48,57,3,0,9,10,12,13,32,32,166,0,1,1,0,0,0,0,3,1,0,
+ 0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0,
+ 0,0,15,1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0,
+ 0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,
+ 0,1,35,1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,
+ 0,11,66,1,0,0,0,13,71,1,0,0,0,15,76,1,0,0,0,17,78,1,0,0,0,19,80,
+ 1,0,0,0,21,82,1,0,0,0,23,87,1,0,0,0,25,93,1,0,0,0,27,111,1,0,0,0,
+ 29,131,1,0,0,0,31,133,1,0,0,0,33,150,1,0,0,0,35,36,5,123,0,0,36,
+ 2,1,0,0,0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,
+ 0,0,41,42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,
+ 0,0,45,46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,
+ 49,50,5,101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,
+ 54,5,116,0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,
+ 5,112,0,0,58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,
+ 108,0,0,62,63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,
+ 0,0,0,66,67,5,116,0,0,67,68,5,97,0,0,68,69,5,115,0,0,69,70,5,107,
+ 0,0,70,12,1,0,0,0,71,72,5,99,0,0,72,73,5,111,0,0,73,74,5,110,0,0,
+ 74,75,5,100,0,0,75,14,1,0,0,0,76,77,5,40,0,0,77,16,1,0,0,0,78,79,
+ 5,41,0,0,79,18,1,0,0,0,80,81,5,44,0,0,81,20,1,0,0,0,82,83,5,84,0,
+ 0,83,84,5,114,0,0,84,85,5,117,0,0,85,86,5,101,0,0,86,22,1,0,0,0,
+ 87,88,5,70,0,0,88,89,5,97,0,0,89,90,5,108,0,0,90,91,5,115,0,0,91,
+ 92,5,101,0,0,92,24,1,0,0,0,93,97,7,0,0,0,94,96,7,1,0,0,95,94,1,0,
+ 0,0,96,99,1,0,0,0,97,95,1,0,0,0,97,98,1,0,0,0,98,26,1,0,0,0,99,97,
+ 1,0,0,0,100,102,5,45,0,0,101,100,1,0,0,0,101,102,1,0,0,0,102,103,
+ 1,0,0,0,103,107,7,2,0,0,104,106,7,3,0,0,105,104,1,0,0,0,106,109,
+ 1,0,0,0,107,105,1,0,0,0,107,108,1,0,0,0,108,112,1,0,0,0,109,107,
+ 1,0,0,0,110,112,5,48,0,0,111,101,1,0,0,0,111,110,1,0,0,0,112,28,
+ 1,0,0,0,113,115,7,3,0,0,114,113,1,0,0,0,115,116,1,0,0,0,116,114,
+ 1,0,0,0,116,117,1,0,0,0,117,118,1,0,0,0,118,122,5,46,0,0,119,121,
+ 7,3,0,0,120,119,1,0,0,0,121,124,1,0,0,0,122,120,1,0,0,0,122,123,
+ 1,0,0,0,123,132,1,0,0,0,124,122,1,0,0,0,125,127,5,46,0,0,126,128,
+ 7,3,0,0,127,126,1,0,0,0,128,129,1,0,0,0,129,127,1,0,0,0,129,130,
+ 1,0,0,0,130,132,1,0,0,0,131,114,1,0,0,0,131,125,1,0,0,0,132,30,1,
+ 0,0,0,133,134,5,47,0,0,134,135,5,47,0,0,135,139,1,0,0,0,136,138,
+ 9,0,0,0,137,136,1,0,0,0,138,141,1,0,0,0,139,140,1,0,0,0,139,137,
+ 1,0,0,0,140,143,1,0,0,0,141,139,1,0,0,0,142,144,5,13,0,0,143,142,
+ 1,0,0,0,143,144,1,0,0,0,144,145,1,0,0,0,145,146,5,10,0,0,146,147,
+ 1,0,0,0,147,148,6,15,0,0,148,32,1,0,0,0,149,151,7,4,0,0,150,149,
+ 1,0,0,0,151,152,1,0,0,0,152,150,1,0,0,0,152,153,1,0,0,0,153,154,
+ 1,0,0,0,154,155,6,16,0,0,155,34,1,0,0,0,12,0,97,101,107,111,116,
+ 122,129,131,139,143,152,1,6,0,0
+ ]
+
+class ptmlLexer(Lexer):
+
+ atn = ATNDeserializer().deserialize(serializedATN())
+
+ decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
+
+ T__0 = 1
+ T__1 = 2
+ T__2 = 3
+ T__3 = 4
+ T__4 = 5
+ T__5 = 6
+ T__6 = 7
+ T__7 = 8
+ T__8 = 9
+ T__9 = 10
+ T__10 = 11
+ T__11 = 12
+ Names = 13
+ Integer = 14
+ Float = 15
+ LINE_COMMENT = 16
+ WS = 17
+
+ channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
+
+ modeNames = [ "DEFAULT_MODE" ]
+
+ literalNames = [ "",
+ "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'task'",
+ "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
+
+ symbolicNames = [ "",
+ "Names", "Integer", "Float", "LINE_COMMENT", "WS" ]
+
+ ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6",
+ "T__7", "T__8", "T__9", "T__10", "T__11", "Names", "Integer",
+ "Float", "LINE_COMMENT", "WS" ]
+
+ grammarFileName = "ptml.g4"
+
+ def __init__(self, input=None, output:TextIO = sys.stdout):
+ super().__init__(input, output)
+ self.checkVersion("4.13.1")
+ self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
+ self._actions = None
+ self._predicates = None
+
+
diff --git a/robowaiter/behavior_tree/test/ptmlLexer.tokens b/robowaiter/behavior_tree/test/ptmlLexer.tokens
new file mode 100644
index 0000000..1f7a813
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptmlLexer.tokens
@@ -0,0 +1,29 @@
+T__0=1
+T__1=2
+T__2=3
+T__3=4
+T__4=5
+T__5=6
+T__6=7
+T__7=8
+T__8=9
+T__9=10
+T__10=11
+T__11=12
+Names=13
+Integer=14
+Float=15
+LINE_COMMENT=16
+WS=17
+'{'=1
+'}'=2
+'sequence'=3
+'selector'=4
+'parallel'=5
+'task'=6
+'cond'=7
+'('=8
+')'=9
+','=10
+'True'=11
+'False'=12
diff --git a/robowaiter/behavior_tree/test/ptmlListener.py b/robowaiter/behavior_tree/test/ptmlListener.py
new file mode 100644
index 0000000..536aaf2
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptmlListener.py
@@ -0,0 +1,66 @@
+# Generated from ptml.g4 by ANTLR 4.13.1
+from antlr4 import *
+if "." in __name__:
+ from .ptmlParser import ptmlParser
+else:
+ from ptmlParser import ptmlParser
+
+# This class defines a complete listener for a parse tree produced by ptmlParser.
+class ptmlListener(ParseTreeListener):
+
+ # 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):
+ pass
+
+ # 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):
+ pass
+
+ # 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
+
+
+
+del ptmlParser
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/test/ptmlParser.py b/robowaiter/behavior_tree/test/ptmlParser.py
new file mode 100644
index 0000000..f222d07
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptmlParser.py
@@ -0,0 +1,514 @@
+# Generated from ptml.g4 by ANTLR 4.13.1
+# encoding: utf-8
+from antlr4 import *
+from io import StringIO
+import sys
+if sys.version_info[1] > 5:
+ from typing import TextIO
+else:
+ from typing.io import TextIO
+
+def serializedATN():
+ return [
+ 4,1,17,62,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
+ 0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,4,1,24,8,1,11,1,12,
+ 1,25,1,1,1,1,1,2,1,2,1,2,1,2,3,2,34,8,2,1,3,1,3,1,3,1,3,3,3,40,8,
+ 3,1,3,1,3,1,4,1,4,1,4,3,4,47,8,4,1,4,1,4,1,4,1,4,3,4,53,8,4,5,4,
+ 55,8,4,10,4,12,4,58,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6,
+ 7,1,0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,33,1,0,0,0,6,35,1,0,0,
+ 0,8,46,1,0,0,0,10,59,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1,
+ 0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17,18,5,0,0,1,18,
+ 1,1,0,0,0,19,20,3,4,2,0,20,23,5,1,0,0,21,24,3,6,3,0,22,24,3,2,1,
+ 0,23,21,1,0,0,0,23,22,1,0,0,0,24,25,1,0,0,0,25,23,1,0,0,0,25,26,
+ 1,0,0,0,26,27,1,0,0,0,27,28,5,2,0,0,28,3,1,0,0,0,29,34,5,3,0,0,30,
+ 34,5,4,0,0,31,32,5,5,0,0,32,34,5,14,0,0,33,29,1,0,0,0,33,30,1,0,
+ 0,0,33,31,1,0,0,0,34,5,1,0,0,0,35,36,7,0,0,0,36,37,5,13,0,0,37,39,
+ 5,8,0,0,38,40,3,8,4,0,39,38,1,0,0,0,39,40,1,0,0,0,40,41,1,0,0,0,
+ 41,42,5,9,0,0,42,7,1,0,0,0,43,47,5,14,0,0,44,47,5,15,0,0,45,47,3,
+ 10,5,0,46,43,1,0,0,0,46,44,1,0,0,0,46,45,1,0,0,0,47,56,1,0,0,0,48,
+ 52,5,10,0,0,49,53,5,14,0,0,50,53,5,15,0,0,51,53,3,10,5,0,52,49,1,
+ 0,0,0,52,50,1,0,0,0,52,51,1,0,0,0,53,55,1,0,0,0,54,48,1,0,0,0,55,
+ 58,1,0,0,0,56,54,1,0,0,0,56,57,1,0,0,0,57,9,1,0,0,0,58,56,1,0,0,
+ 0,59,60,7,1,0,0,60,11,1,0,0,0,8,15,23,25,33,39,46,52,56
+ ]
+
+class ptmlParser ( Parser ):
+
+ grammarFileName = "ptml.g4"
+
+ atn = ATNDeserializer().deserialize(serializedATN())
+
+ decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
+
+ sharedContextCache = PredictionContextCache()
+
+ literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'",
+ "'parallel'", "'task'", "'cond'", "'('", "')'", "','",
+ "'True'", "'False'" ]
+
+ symbolicNames = [ "", "", "", "",
+ "", "", "", "",
+ "", "", "", "",
+ "", "Names", "Integer", "Float", "LINE_COMMENT",
+ "WS" ]
+
+ RULE_root = 0
+ RULE_tree = 1
+ RULE_internal_node = 2
+ RULE_action_sign = 3
+ RULE_action_parm = 4
+ RULE_boolean = 5
+
+ ruleNames = [ "root", "tree", "internal_node", "action_sign", "action_parm",
+ "boolean" ]
+
+ EOF = Token.EOF
+ T__0=1
+ T__1=2
+ T__2=3
+ T__3=4
+ T__4=5
+ T__5=6
+ T__6=7
+ T__7=8
+ T__8=9
+ T__9=10
+ T__10=11
+ T__11=12
+ Names=13
+ Integer=14
+ Float=15
+ LINE_COMMENT=16
+ WS=17
+
+ def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
+ super().__init__(input, output)
+ self.checkVersion("4.13.1")
+ self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
+ self._predicates = None
+
+
+
+
+ class RootContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+ def EOF(self):
+ return self.getToken(ptmlParser.EOF, 0)
+
+ def tree(self, i:int=None):
+ if i is None:
+ return self.getTypedRuleContexts(ptmlParser.TreeContext)
+ else:
+ return self.getTypedRuleContext(ptmlParser.TreeContext,i)
+
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_root
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterRoot" ):
+ listener.enterRoot(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitRoot" ):
+ listener.exitRoot(self)
+
+
+
+
+ def root(self):
+
+ localctx = ptmlParser.RootContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 0, self.RULE_root)
+ self._la = 0 # Token type
+ try:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 13
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ while True:
+ self.state = 12
+ self.tree()
+ self.state = 15
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)):
+ break
+
+ self.state = 17
+ self.match(ptmlParser.EOF)
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+ class TreeContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+ def internal_node(self):
+ return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0)
+
+
+ def action_sign(self, i:int=None):
+ if i is None:
+ return self.getTypedRuleContexts(ptmlParser.Action_signContext)
+ else:
+ return self.getTypedRuleContext(ptmlParser.Action_signContext,i)
+
+
+ def tree(self, i:int=None):
+ if i is None:
+ return self.getTypedRuleContexts(ptmlParser.TreeContext)
+ else:
+ return self.getTypedRuleContext(ptmlParser.TreeContext,i)
+
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_tree
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterTree" ):
+ listener.enterTree(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitTree" ):
+ listener.exitTree(self)
+
+
+
+
+ def tree(self):
+
+ localctx = ptmlParser.TreeContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 2, self.RULE_tree)
+ self._la = 0 # Token type
+ try:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 19
+ self.internal_node()
+ self.state = 20
+ self.match(ptmlParser.T__0)
+ self.state = 23
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ while True:
+ self.state = 23
+ self._errHandler.sync(self)
+ token = self._input.LA(1)
+ if token in [6, 7]:
+ self.state = 21
+ self.action_sign()
+ pass
+ elif token in [3, 4, 5]:
+ self.state = 22
+ self.tree()
+ pass
+ else:
+ raise NoViableAltException(self)
+
+ self.state = 25
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0)):
+ break
+
+ self.state = 27
+ self.match(ptmlParser.T__1)
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+ class Internal_nodeContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+ def Integer(self):
+ return self.getToken(ptmlParser.Integer, 0)
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_internal_node
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterInternal_node" ):
+ listener.enterInternal_node(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitInternal_node" ):
+ listener.exitInternal_node(self)
+
+
+
+
+ def internal_node(self):
+
+ localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 4, self.RULE_internal_node)
+ try:
+ self.state = 33
+ self._errHandler.sync(self)
+ token = self._input.LA(1)
+ if token in [3]:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 29
+ self.match(ptmlParser.T__2)
+ pass
+ elif token in [4]:
+ self.enterOuterAlt(localctx, 2)
+ self.state = 30
+ self.match(ptmlParser.T__3)
+ pass
+ elif token in [5]:
+ self.enterOuterAlt(localctx, 3)
+ self.state = 31
+ self.match(ptmlParser.T__4)
+ self.state = 32
+ self.match(ptmlParser.Integer)
+ pass
+ else:
+ raise NoViableAltException(self)
+
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+ class Action_signContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+ def Names(self):
+ return self.getToken(ptmlParser.Names, 0)
+
+ def action_parm(self):
+ return self.getTypedRuleContext(ptmlParser.Action_parmContext,0)
+
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_action_sign
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterAction_sign" ):
+ listener.enterAction_sign(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitAction_sign" ):
+ listener.exitAction_sign(self)
+
+
+
+
+ def action_sign(self):
+
+ localctx = ptmlParser.Action_signContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 6, self.RULE_action_sign)
+ self._la = 0 # Token type
+ try:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 35
+ _la = self._input.LA(1)
+ if not(_la==6 or _la==7):
+ self._errHandler.recoverInline(self)
+ else:
+ self._errHandler.reportMatch(self)
+ self.consume()
+ self.state = 36
+ self.match(ptmlParser.Names)
+ self.state = 37
+ self.match(ptmlParser.T__7)
+ self.state = 39
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0):
+ self.state = 38
+ self.action_parm()
+
+
+ self.state = 41
+ self.match(ptmlParser.T__8)
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+ class Action_parmContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+ def Integer(self, i:int=None):
+ if i is None:
+ return self.getTokens(ptmlParser.Integer)
+ else:
+ return self.getToken(ptmlParser.Integer, i)
+
+ def Float(self, i:int=None):
+ if i is None:
+ return self.getTokens(ptmlParser.Float)
+ else:
+ return self.getToken(ptmlParser.Float, i)
+
+ def boolean(self, i:int=None):
+ if i is None:
+ return self.getTypedRuleContexts(ptmlParser.BooleanContext)
+ else:
+ return self.getTypedRuleContext(ptmlParser.BooleanContext,i)
+
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_action_parm
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterAction_parm" ):
+ listener.enterAction_parm(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitAction_parm" ):
+ listener.exitAction_parm(self)
+
+
+
+
+ def action_parm(self):
+
+ localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 8, self.RULE_action_parm)
+ self._la = 0 # Token type
+ try:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 46
+ self._errHandler.sync(self)
+ token = self._input.LA(1)
+ if token in [14]:
+ self.state = 43
+ self.match(ptmlParser.Integer)
+ pass
+ elif token in [15]:
+ self.state = 44
+ self.match(ptmlParser.Float)
+ pass
+ elif token in [11, 12]:
+ self.state = 45
+ self.boolean()
+ pass
+ else:
+ raise NoViableAltException(self)
+
+ self.state = 56
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+ while _la==10:
+ self.state = 48
+ self.match(ptmlParser.T__9)
+ self.state = 52
+ self._errHandler.sync(self)
+ token = self._input.LA(1)
+ if token in [14]:
+ self.state = 49
+ self.match(ptmlParser.Integer)
+ pass
+ elif token in [15]:
+ self.state = 50
+ self.match(ptmlParser.Float)
+ pass
+ elif token in [11, 12]:
+ self.state = 51
+ self.boolean()
+ pass
+ else:
+ raise NoViableAltException(self)
+
+ self.state = 58
+ self._errHandler.sync(self)
+ _la = self._input.LA(1)
+
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+ class BooleanContext(ParserRuleContext):
+ __slots__ = 'parser'
+
+ def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+ super().__init__(parent, invokingState)
+ self.parser = parser
+
+
+ def getRuleIndex(self):
+ return ptmlParser.RULE_boolean
+
+ def enterRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "enterBoolean" ):
+ listener.enterBoolean(self)
+
+ def exitRule(self, listener:ParseTreeListener):
+ if hasattr( listener, "exitBoolean" ):
+ listener.exitBoolean(self)
+
+
+
+
+ def boolean(self):
+
+ localctx = ptmlParser.BooleanContext(self, self._ctx, self.state)
+ self.enterRule(localctx, 10, self.RULE_boolean)
+ self._la = 0 # Token type
+ try:
+ self.enterOuterAlt(localctx, 1)
+ self.state = 59
+ _la = self._input.LA(1)
+ if not(_la==11 or _la==12):
+ self._errHandler.recoverInline(self)
+ else:
+ self._errHandler.reportMatch(self)
+ self.consume()
+ except RecognitionException as re:
+ localctx.exception = re
+ self._errHandler.reportError(self, re)
+ self._errHandler.recover(self, re)
+ finally:
+ self.exitRule()
+ return localctx
+
+
+
+
+
diff --git a/robowaiter/llm_client/ask_llm.py b/robowaiter/llm_client/ask_llm.py
index 15172fd..e5d7460 100644
--- a/robowaiter/llm_client/ask_llm.py
+++ b/robowaiter/llm_client/ask_llm.py
@@ -10,17 +10,27 @@ import urllib3
urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
def ask_llm(question):
- url = "https://45.125.46.134:25344/v1/completions"
+ url = "https://45.125.46.134:25344/v1/chat/completions"
headers = {"Content-Type": "application/json"}
data = {
- "prompt": question
- }
+ "model": "RoboWaiter",
+ "messages": [
+ {
+ "role": "system",
+ "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
+ },
+ {
+ "role": "user",
+ "content": question
+ }
+ ]
+ }
response = requests.post(url, headers=headers, json=data, verify=False)
if response.status_code == 200:
result = response.json()
- return result['choices'][0]['text']
+ return result['choices'][0]['message']['content']
else:
return "大模型请求失败:", response.status_code