From 3aa386c5c318f29e020bf72d129fed0cda1c7db8 Mon Sep 17 00:00:00 2001 From: ChenXL97 <908926798@qq.com> Date: Wed, 8 Nov 2023 10:26:22 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E4=B8=8Echatglm3?= =?UTF-8?q?=E7=9A=84=E9=80=9A=E4=BF=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../behavior_library.cpython-310.pyc | Bin 4754 -> 0 bytes robowaiter/behavior_tree/ptml/test/test.dot | 15 + robowaiter/behavior_tree/ptml/test/test.png | Bin 0 -> 15484 bytes robowaiter/behavior_tree/ptml/test/test.svg | 67 +++ robowaiter/behavior_tree/test/ptml.interp | 51 ++ robowaiter/behavior_tree/test/ptml.tokens | 29 + .../behavior_tree/test/ptmlLexer.interp | 68 +++ robowaiter/behavior_tree/test/ptmlLexer.py | 119 ++++ .../behavior_tree/test/ptmlLexer.tokens | 29 + robowaiter/behavior_tree/test/ptmlListener.py | 66 +++ robowaiter/behavior_tree/test/ptmlParser.py | 514 ++++++++++++++++++ robowaiter/llm_client/ask_llm.py | 18 +- 12 files changed, 972 insertions(+), 4 deletions(-) delete mode 100644 behavior_tree/__pycache__/behavior_library.cpython-310.pyc create mode 100644 robowaiter/behavior_tree/ptml/test/test.dot create mode 100644 robowaiter/behavior_tree/ptml/test/test.png create mode 100644 robowaiter/behavior_tree/ptml/test/test.svg create mode 100644 robowaiter/behavior_tree/test/ptml.interp create mode 100644 robowaiter/behavior_tree/test/ptml.tokens create mode 100644 robowaiter/behavior_tree/test/ptmlLexer.interp create mode 100644 robowaiter/behavior_tree/test/ptmlLexer.py create mode 100644 robowaiter/behavior_tree/test/ptmlLexer.tokens create mode 100644 robowaiter/behavior_tree/test/ptmlListener.py create mode 100644 robowaiter/behavior_tree/test/ptmlParser.py 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 66410e4b7975f7c90fe775daf90618639beac1ca..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4754 zcmcJT-*4Mg6vusICvnoGKhm!I$(HfE0}2vszyydg5EQX$qD7NJgyrVCt-Ji%wZm4k zr>)YY2~FY^fwW3ItPec!G8GX2hu>x;$5Bm5D;@4N5m#q~r10z5Bmif3)`f=Effn?)1=G<3wZXBqOu|x1 zjOs)6u+)XbO=W@V#MRYYN#mN8k$jAJ6FoyR5YbDK&u<^v(wJGCDV27`l7GZ&6-t7$V>u(?`r$p8m2FuhE{;U}F|(-OXJ7rVMIQ`lE$?OOTE#(d+VX}gvv&s$68w{}Aq zuCT1_QPrLordXM5u817PM5wnTlV!sz180YmJ_ z0G(R}5?J*znsS~756w@Jx-^Ln`PdCNZf7X zCk8(UGnCV%e!PJlPY^TejCYJM7H+Y!WK}K^IK_y|$;mm|@MKfibyu7q+n@wt9sE?Q z$xYWnIkr$_ooUP)iFgR+{cPR3VmLv&pc0*jO0>vrNGA3LHZom1ZJLkBN0iOrS=}2 zcIHg%(Nx8?8+F-`PwjA_laa(r069T-@g3y?4$ndlmc4^<_hEkp9Uw~ z;vmE!h$9eP@Pd*Tpg&3iTN7Q(FA_?zsm;YU~hd4=w zXo=#EmWZWFZ6RdYp3o8!h*yvWmWl?AnFjqJ!0yv`?j@MZwaVq3!mw+tAntYO5z0H% z6(vMnyozgHgOE)tg>)r(JWUf=vv>;vqn->7O*^xVn&mDLhUXi?>JNl6zJ!pL67#<= z6uyn+N(yOz;^F#(;aLPIlJJgn2iOaTCwFidPqrtB?;{Th;&^u+{UmV;VI+yvb@3E; 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+'(' +')' +',' +'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, 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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