📦 NEW: 实现load函数，完成ptml到行为树对象的转换
👌 IMPROVE: 修改了ptml的语法，参数传递目前仅支持int、float、boolean，改为采用括号匹配方式
This commit is contained in:
2193177243@qq.com
parent
dc458925c6
commit
c323fa1da9
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@ -1,16 +1,35 @@
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sequence:
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selector:
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//sequence:
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// act action1()
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// act action2(2, 2.3, True)
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//
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// parallel 2:
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// act action3(int a, float b)
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// act action4()
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sequence{
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selector{
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cond CoffeeCupFound()
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task FindCoffeeCup()
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sequence:
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sequence{
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cond SeqTest()
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task Move()
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selector:
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task Move(1.2, 2, 2.3, True)
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task Grasp()
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parallel 3 {
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cond Istask()
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task TestTask()
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}
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}
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}
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selector{
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cond CoffeeCupGrasped()
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task GraspCoffeeCup()
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selector:
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}
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selector{
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cond DestinationAReached()
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task ReachDestinationA()
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selector:
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}
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selector{
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cond CoffeeCupPlaced()
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task PlaceCoffeeCup(1.2)
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task PlaceCoffeeCup()
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}
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}
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class CoffeeCupFound(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class CoffeeCupGrasped(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class CoffeeCupPlaced(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class DestinationAReached(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class FindCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class Grasp(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class GraspCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class Istask(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class Move(ptree.behaviour.Behaviour):
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def __init__(self, name: str, a, b, c, d):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class PlaceCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class ReachDestinationA(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class SeqTest(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -0,0 +1,21 @@
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import py_trees as ptree
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from typing import Any
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class TestTask(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -2,8 +2,8 @@ grammar ptml;
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root : tree+ EOF;
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tree : internal_node ':' (action_sign|tree)+ ;
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internal_node : 'sequence' | 'selector' | 'parallel' Integer | 'decorator' ;
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tree : internal_node '{' (action_sign|tree)+ '}' ;
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internal_node : 'sequence' | 'selector' | 'parallel' Integer ;
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action_sign : ('task'|'cond') Names '(' action_parm? ')';
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action_parm : (Integer|Float|boolean) (',' (Integer|Float|boolean))* ;
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// var_decls : var_type Names ;
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@ -1,10 +1,10 @@
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token literal names:
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null
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':'
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'{'
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'}'
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'sequence'
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'selector'
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'parallel'
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'decorator'
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'task'
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'cond'
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'('
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@ -48,4 +48,4 @@ boolean
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atn:
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[4, 1, 17, 61, 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, 2, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 33, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 39, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 46, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 52, 8, 4, 5, 4, 54, 8, 4, 10, 4, 12, 4, 57, 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, 32, 1, 0, 0, 0, 6, 34, 1, 0, 0, 0, 8, 45, 1, 0, 0, 0, 10, 58, 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, 3, 1, 0, 0, 0, 27, 33, 5, 2, 0, 0, 28, 33, 5, 3, 0, 0, 29, 30, 5, 4, 0, 0, 30, 33, 5, 14, 0, 0, 31, 33, 5, 5, 0, 0, 32, 27, 1, 0, 0, 0, 32, 28, 1, 0, 0, 0, 32, 29, 1, 0, 0, 0, 32, 31, 1, 0, 0, 0, 33, 5, 1, 0, 0, 0, 34, 35, 7, 0, 0, 0, 35, 36, 5, 13, 0, 0, 36, 38, 5, 8, 0, 0, 37, 39, 3, 8, 4, 0, 38, 37, 1, 0, 0, 0, 38, 39, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 5, 9, 0, 0, 41, 7, 1, 0, 0, 0, 42, 46, 5, 14, 0, 0, 43, 46, 5, 15, 0, 0, 44, 46, 3, 10, 5, 0, 45, 42, 1, 0, 0, 0, 45, 43, 1, 0, 0, 0, 45, 44, 1, 0, 0, 0, 46, 55, 1, 0, 0, 0, 47, 51, 5, 10, 0, 0, 48, 52, 5, 14, 0, 0, 49, 52, 5, 15, 0, 0, 50, 52, 3, 10, 5, 0, 51, 48, 1, 0, 0, 0, 51, 49, 1, 0, 0, 0, 51, 50, 1, 0, 0, 0, 52, 54, 1, 0, 0, 0, 53, 47, 1, 0, 0, 0, 54, 57, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 56, 1, 0, 0, 0, 56, 9, 1, 0, 0, 0, 57, 55, 1, 0, 0, 0, 58, 59, 7, 1, 0, 0, 59, 11, 1, 0, 0, 0, 8, 15, 23, 25, 32, 38, 45, 51, 55]
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[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]
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@ -15,11 +15,11 @@ Integer=14
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Float=15
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LINE_COMMENT=16
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WS=17
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':'=1
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'sequence'=2
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'selector'=3
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'parallel'=4
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'decorator'=5
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'{'=1
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'}'=2
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'sequence'=3
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'selector'=4
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'parallel'=5
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'task'=6
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'cond'=7
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'('=8
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@ -0,0 +1,40 @@
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import os
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from antlr4 import *
|
||||
from ptmlTranslator import ptmlTranslator
|
||||
from ptmlParser import ptmlParser as Parser
|
||||
from ptmlLexer import ptmlLexer as Lexer
|
||||
|
||||
def load(ptml_path: str, behaviour_lib_path: str):
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
ptml_path (str): _description_
|
||||
behaviour_lib_path (str): _description_
|
||||
|
||||
Raises:
|
||||
FileNotFoundError: _description_
|
||||
FileNotFoundError: _description_
|
||||
"""
|
||||
# error handle
|
||||
if not os.path.exists(ptml_path):
|
||||
raise FileNotFoundError(
|
||||
'Given a fault ptml path: {}'.format(ptml_path)
|
||||
)
|
||||
if not os.path.exists(behaviour_lib_path):
|
||||
raise FileNotFoundError(
|
||||
'Given a fault behaviour library path: {}'.format(behaviour_lib_path)
|
||||
)
|
||||
|
||||
# noting fault, go next
|
||||
input_stream = FileStream(ptml_path, encoding='utf-8')
|
||||
|
||||
lexer = Lexer(input_stream)
|
||||
stream = CommonTokenStream(lexer)
|
||||
parser = Parser(stream)
|
||||
tree = parser.root()
|
||||
|
||||
walker = ParseTreeWalker()
|
||||
ptml = ptmlTranslator() # listener mode
|
||||
walker.walk(ptml, tree)
|
||||
|
||||
return ptml.bt_root
|
||||
File diff suppressed because one or more lines are too long
|
|
@ -10,65 +10,62 @@ else:
|
|||
|
||||
def serializedATN():
|
||||
return [
|
||||
4,0,17,164,6,-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,
|
||||
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,
|
||||
13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,1,1,1,1,
|
||||
1,1,1,1,1,1,1,1,1,1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,
|
||||
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,
|
||||
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,
|
||||
12,5,12,104,8,12,10,12,12,12,107,9,12,1,13,3,13,110,8,13,1,13,1,
|
||||
13,5,13,114,8,13,10,13,12,13,117,9,13,1,13,3,13,120,8,13,1,14,4,
|
||||
14,123,8,14,11,14,12,14,124,1,14,1,14,5,14,129,8,14,10,14,12,14,
|
||||
132,9,14,1,14,1,14,4,14,136,8,14,11,14,12,14,137,3,14,140,8,14,1,
|
||||
15,1,15,1,15,1,15,5,15,146,8,15,10,15,12,15,149,9,15,1,15,3,15,152,
|
||||
8,15,1,15,1,15,1,15,1,15,1,16,4,16,159,8,16,11,16,12,16,160,1,16,
|
||||
1,16,1,147,0,17,1,1,3,2,5,3,7,4,9,5,11,6,13,7,15,8,17,9,19,10,21,
|
||||
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,
|
||||
13,32,32,174,0,1,1,0,0,0,0,3,1,0,0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,
|
||||
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,
|
||||
1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,0,1,35,1,0,0,0,3,37,1,0,0,0,5,46,
|
||||
1,0,0,0,7,55,1,0,0,0,9,64,1,0,0,0,11,74,1,0,0,0,13,79,1,0,0,0,15,
|
||||
84,1,0,0,0,17,86,1,0,0,0,19,88,1,0,0,0,21,90,1,0,0,0,23,95,1,0,0,
|
||||
0,25,101,1,0,0,0,27,119,1,0,0,0,29,139,1,0,0,0,31,141,1,0,0,0,33,
|
||||
158,1,0,0,0,35,36,5,58,0,0,36,2,1,0,0,0,37,38,5,115,0,0,38,39,5,
|
||||
101,0,0,39,40,5,113,0,0,40,41,5,117,0,0,41,42,5,101,0,0,42,43,5,
|
||||
110,0,0,43,44,5,99,0,0,44,45,5,101,0,0,45,4,1,0,0,0,46,47,5,115,
|
||||
0,0,47,48,5,101,0,0,48,49,5,108,0,0,49,50,5,101,0,0,50,51,5,99,0,
|
||||
0,51,52,5,116,0,0,52,53,5,111,0,0,53,54,5,114,0,0,54,6,1,0,0,0,55,
|
||||
56,5,112,0,0,56,57,5,97,0,0,57,58,5,114,0,0,58,59,5,97,0,0,59,60,
|
||||
5,108,0,0,60,61,5,108,0,0,61,62,5,101,0,0,62,63,5,108,0,0,63,8,1,
|
||||
0,0,0,64,65,5,100,0,0,65,66,5,101,0,0,66,67,5,99,0,0,67,68,5,111,
|
||||
0,0,68,69,5,114,0,0,69,70,5,97,0,0,70,71,5,116,0,0,71,72,5,111,0,
|
||||
0,72,73,5,114,0,0,73,10,1,0,0,0,74,75,5,116,0,0,75,76,5,97,0,0,76,
|
||||
77,5,115,0,0,77,78,5,107,0,0,78,12,1,0,0,0,79,80,5,99,0,0,80,81,
|
||||
5,111,0,0,81,82,5,110,0,0,82,83,5,100,0,0,83,14,1,0,0,0,84,85,5,
|
||||
40,0,0,85,16,1,0,0,0,86,87,5,41,0,0,87,18,1,0,0,0,88,89,5,44,0,0,
|
||||
89,20,1,0,0,0,90,91,5,84,0,0,91,92,5,114,0,0,92,93,5,117,0,0,93,
|
||||
94,5,101,0,0,94,22,1,0,0,0,95,96,5,70,0,0,96,97,5,97,0,0,97,98,5,
|
||||
108,0,0,98,99,5,115,0,0,99,100,5,101,0,0,100,24,1,0,0,0,101,105,
|
||||
7,0,0,0,102,104,7,1,0,0,103,102,1,0,0,0,104,107,1,0,0,0,105,103,
|
||||
1,0,0,0,105,106,1,0,0,0,106,26,1,0,0,0,107,105,1,0,0,0,108,110,5,
|
||||
45,0,0,109,108,1,0,0,0,109,110,1,0,0,0,110,111,1,0,0,0,111,115,7,
|
||||
2,0,0,112,114,7,3,0,0,113,112,1,0,0,0,114,117,1,0,0,0,115,113,1,
|
||||
0,0,0,115,116,1,0,0,0,116,120,1,0,0,0,117,115,1,0,0,0,118,120,5,
|
||||
48,0,0,119,109,1,0,0,0,119,118,1,0,0,0,120,28,1,0,0,0,121,123,7,
|
||||
3,0,0,122,121,1,0,0,0,123,124,1,0,0,0,124,122,1,0,0,0,124,125,1,
|
||||
0,0,0,125,126,1,0,0,0,126,130,5,46,0,0,127,129,7,3,0,0,128,127,1,
|
||||
0,0,0,129,132,1,0,0,0,130,128,1,0,0,0,130,131,1,0,0,0,131,140,1,
|
||||
0,0,0,132,130,1,0,0,0,133,135,5,46,0,0,134,136,7,3,0,0,135,134,1,
|
||||
0,0,0,136,137,1,0,0,0,137,135,1,0,0,0,137,138,1,0,0,0,138,140,1,
|
||||
0,0,0,139,122,1,0,0,0,139,133,1,0,0,0,140,30,1,0,0,0,141,142,5,47,
|
||||
0,0,142,143,5,47,0,0,143,147,1,0,0,0,144,146,9,0,0,0,145,144,1,0,
|
||||
0,0,146,149,1,0,0,0,147,148,1,0,0,0,147,145,1,0,0,0,148,151,1,0,
|
||||
0,0,149,147,1,0,0,0,150,152,5,13,0,0,151,150,1,0,0,0,151,152,1,0,
|
||||
0,0,152,153,1,0,0,0,153,154,5,10,0,0,154,155,1,0,0,0,155,156,6,15,
|
||||
0,0,156,32,1,0,0,0,157,159,7,4,0,0,158,157,1,0,0,0,159,160,1,0,0,
|
||||
0,160,158,1,0,0,0,160,161,1,0,0,0,161,162,1,0,0,0,162,163,6,16,0,
|
||||
0,163,34,1,0,0,0,12,0,105,109,115,119,124,130,137,139,147,151,160,
|
||||
1,6,0,0
|
||||
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):
|
||||
|
|
@ -100,8 +97,8 @@ class ptmlLexer(Lexer):
|
|||
modeNames = [ "DEFAULT_MODE" ]
|
||||
|
||||
literalNames = [ "<INVALID>",
|
||||
"':'", "'sequence'", "'selector'", "'parallel'", "'decorator'",
|
||||
"'task'", "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
|
||||
"'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'task'",
|
||||
"'cond'", "'('", "')'", "','", "'True'", "'False'" ]
|
||||
|
||||
symbolicNames = [ "<INVALID>",
|
||||
"Names", "Integer", "Float", "LINE_COMMENT", "WS" ]
|
||||
|
|
|
|||
|
|
@ -15,11 +15,11 @@ Integer=14
|
|||
Float=15
|
||||
LINE_COMMENT=16
|
||||
WS=17
|
||||
':'=1
|
||||
'sequence'=2
|
||||
'selector'=3
|
||||
'parallel'=4
|
||||
'decorator'=5
|
||||
'{'=1
|
||||
'}'=2
|
||||
'sequence'=3
|
||||
'selector'=4
|
||||
'parallel'=5
|
||||
'task'=6
|
||||
'cond'=7
|
||||
'('=8
|
||||
|
|
|
|||
|
|
@ -10,26 +10,26 @@ else:
|
|||
|
||||
def serializedATN():
|
||||
return [
|
||||
4,1,17,61,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
|
||||
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,
|
||||
1,25,1,2,1,2,1,2,1,2,1,2,3,2,33,8,2,1,3,1,3,1,3,1,3,3,3,39,8,3,1,
|
||||
3,1,3,1,4,1,4,1,4,3,4,46,8,4,1,4,1,4,1,4,1,4,3,4,52,8,4,5,4,54,8,
|
||||
4,10,4,12,4,57,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6,7,1,
|
||||
0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,32,1,0,0,0,6,34,1,0,0,0,8,
|
||||
45,1,0,0,0,10,58,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1,0,0,
|
||||
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,
|
||||
0,26,3,1,0,0,0,27,33,5,2,0,0,28,33,5,3,0,0,29,30,5,4,0,0,30,33,5,
|
||||
14,0,0,31,33,5,5,0,0,32,27,1,0,0,0,32,28,1,0,0,0,32,29,1,0,0,0,32,
|
||||
31,1,0,0,0,33,5,1,0,0,0,34,35,7,0,0,0,35,36,5,13,0,0,36,38,5,8,0,
|
||||
0,37,39,3,8,4,0,38,37,1,0,0,0,38,39,1,0,0,0,39,40,1,0,0,0,40,41,
|
||||
5,9,0,0,41,7,1,0,0,0,42,46,5,14,0,0,43,46,5,15,0,0,44,46,3,10,5,
|
||||
0,45,42,1,0,0,0,45,43,1,0,0,0,45,44,1,0,0,0,46,55,1,0,0,0,47,51,
|
||||
5,10,0,0,48,52,5,14,0,0,49,52,5,15,0,0,50,52,3,10,5,0,51,48,1,0,
|
||||
0,0,51,49,1,0,0,0,51,50,1,0,0,0,52,54,1,0,0,0,53,47,1,0,0,0,54,57,
|
||||
1,0,0,0,55,53,1,0,0,0,55,56,1,0,0,0,56,9,1,0,0,0,57,55,1,0,0,0,58,
|
||||
59,7,1,0,0,59,11,1,0,0,0,8,15,23,25,32,38,45,51,55
|
||||
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 ):
|
||||
|
|
@ -42,8 +42,8 @@ class ptmlParser ( Parser ):
|
|||
|
||||
sharedContextCache = PredictionContextCache()
|
||||
|
||||
literalNames = [ "<INVALID>", "':'", "'sequence'", "'selector'", "'parallel'",
|
||||
"'decorator'", "'task'", "'cond'", "'('", "')'", "','",
|
||||
literalNames = [ "<INVALID>", "'{'", "'}'", "'sequence'", "'selector'",
|
||||
"'parallel'", "'task'", "'cond'", "'('", "')'", "','",
|
||||
"'True'", "'False'" ]
|
||||
|
||||
symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>",
|
||||
|
|
@ -137,7 +137,7 @@ class ptmlParser ( Parser ):
|
|||
self.state = 15
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 60) != 0)):
|
||||
if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)):
|
||||
break
|
||||
|
||||
self.state = 17
|
||||
|
|
@ -194,6 +194,7 @@ class ptmlParser ( Parser ):
|
|||
|
||||
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
|
||||
|
|
@ -202,30 +203,30 @@ class ptmlParser ( Parser ):
|
|||
self.match(ptmlParser.T__0)
|
||||
self.state = 23
|
||||
self._errHandler.sync(self)
|
||||
_alt = 1
|
||||
while _alt!=2 and _alt!=ATN.INVALID_ALT_NUMBER:
|
||||
if _alt == 1:
|
||||
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 [2, 3, 4, 5]:
|
||||
self.state = 22
|
||||
self.tree()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(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)
|
||||
_alt = self._interp.adaptivePredict(self._input,2,self._ctx)
|
||||
_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)
|
||||
|
|
@ -264,30 +265,25 @@ class ptmlParser ( Parser ):
|
|||
localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
|
||||
self.enterRule(localctx, 4, self.RULE_internal_node)
|
||||
try:
|
||||
self.state = 32
|
||||
self.state = 33
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [2]:
|
||||
if token in [3]:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 27
|
||||
self.match(ptmlParser.T__1)
|
||||
pass
|
||||
elif token in [3]:
|
||||
self.enterOuterAlt(localctx, 2)
|
||||
self.state = 28
|
||||
self.state = 29
|
||||
self.match(ptmlParser.T__2)
|
||||
pass
|
||||
elif token in [4]:
|
||||
self.enterOuterAlt(localctx, 3)
|
||||
self.state = 29
|
||||
self.match(ptmlParser.T__3)
|
||||
self.enterOuterAlt(localctx, 2)
|
||||
self.state = 30
|
||||
self.match(ptmlParser.Integer)
|
||||
self.match(ptmlParser.T__3)
|
||||
pass
|
||||
elif token in [5]:
|
||||
self.enterOuterAlt(localctx, 4)
|
||||
self.enterOuterAlt(localctx, 3)
|
||||
self.state = 31
|
||||
self.match(ptmlParser.T__4)
|
||||
self.state = 32
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
|
@ -336,26 +332,26 @@ class ptmlParser ( Parser ):
|
|||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 34
|
||||
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 = 35
|
||||
self.match(ptmlParser.Names)
|
||||
self.state = 36
|
||||
self.match(ptmlParser.Names)
|
||||
self.state = 37
|
||||
self.match(ptmlParser.T__7)
|
||||
self.state = 38
|
||||
self.state = 39
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0):
|
||||
self.state = 37
|
||||
self.state = 38
|
||||
self.action_parm()
|
||||
|
||||
|
||||
self.state = 40
|
||||
self.state = 41
|
||||
self.match(ptmlParser.T__8)
|
||||
except RecognitionException as re:
|
||||
localctx.exception = re
|
||||
|
|
@ -413,49 +409,49 @@ class ptmlParser ( Parser ):
|
|||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 45
|
||||
self.state = 46
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [14]:
|
||||
self.state = 42
|
||||
self.state = 43
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
elif token in [15]:
|
||||
self.state = 43
|
||||
self.state = 44
|
||||
self.match(ptmlParser.Float)
|
||||
pass
|
||||
elif token in [11, 12]:
|
||||
self.state = 44
|
||||
self.state = 45
|
||||
self.boolean()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
self.state = 55
|
||||
self.state = 56
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
while _la==10:
|
||||
self.state = 47
|
||||
self.state = 48
|
||||
self.match(ptmlParser.T__9)
|
||||
self.state = 51
|
||||
self.state = 52
|
||||
self._errHandler.sync(self)
|
||||
token = self._input.LA(1)
|
||||
if token in [14]:
|
||||
self.state = 48
|
||||
self.state = 49
|
||||
self.match(ptmlParser.Integer)
|
||||
pass
|
||||
elif token in [15]:
|
||||
self.state = 49
|
||||
self.state = 50
|
||||
self.match(ptmlParser.Float)
|
||||
pass
|
||||
elif token in [11, 12]:
|
||||
self.state = 50
|
||||
self.state = 51
|
||||
self.boolean()
|
||||
pass
|
||||
else:
|
||||
raise NoViableAltException(self)
|
||||
|
||||
self.state = 57
|
||||
self.state = 58
|
||||
self._errHandler.sync(self)
|
||||
_la = self._input.LA(1)
|
||||
|
||||
|
|
@ -497,7 +493,7 @@ class ptmlParser ( Parser ):
|
|||
self._la = 0 # Token type
|
||||
try:
|
||||
self.enterOuterAlt(localctx, 1)
|
||||
self.state = 58
|
||||
self.state = 59
|
||||
_la = self._input.LA(1)
|
||||
if not(_la==11 or _la==12):
|
||||
self._errHandler.recoverInline(self)
|
||||
|
|
|
|||
|
|
@ -1,123 +0,0 @@
|
|||
import os
|
||||
import typing
|
||||
import shortuuid
|
||||
|
||||
short_uuid = lambda : shortuuid.ShortUUID().random(length=8)
|
||||
|
||||
class PyTreesAPI():
|
||||
"""
|
||||
|
||||
"""
|
||||
|
||||
def __init__(self) -> None:
|
||||
self.pystr = ''
|
||||
self.prepare()
|
||||
|
||||
|
||||
def prepare(self) -> None:
|
||||
# import libraries
|
||||
self.pystr += 'import py_trees as tree\n'
|
||||
|
||||
self.pystr += '\n' * 2
|
||||
|
||||
def write_to_file(self, dir: str = './', filename: str = 'auto_generate.py') -> None:
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
dir (str, optional): _description_. Defaults to './'.
|
||||
filename (str, optional): _description_. Defaults to 'auto_generate.py'.
|
||||
|
||||
Raises:
|
||||
FileNotFoundError: _description_
|
||||
"""
|
||||
# exceptions handling
|
||||
filepath = os.path.join(dir, filename)
|
||||
if not os.path.exists(dir):
|
||||
raise FileNotFoundError(
|
||||
''
|
||||
)
|
||||
# if os.path.exists(filepath):
|
||||
# raise FileExistsError(
|
||||
# ''
|
||||
# )
|
||||
|
||||
with open(filepath, 'w') as file:
|
||||
file.write(self.pystr)
|
||||
|
||||
def run(self) -> None:
|
||||
"""_summary_
|
||||
"""
|
||||
self.write_to_file()
|
||||
out = os.popen('python ./auto_generate.py')
|
||||
print(out.read())
|
||||
|
||||
|
||||
def newTree(self) -> None:
|
||||
"""_summary_
|
||||
"""
|
||||
|
||||
def newSequenceNode(self) -> str:
|
||||
"""_summary_
|
||||
|
||||
Returns:
|
||||
str: _description_
|
||||
"""
|
||||
tag = 'sequence_' + short_uuid()
|
||||
return tag
|
||||
|
||||
def newSelectorNode(self) -> str:
|
||||
"""_summary_
|
||||
|
||||
Returns:
|
||||
str: _description_
|
||||
"""
|
||||
tag = 'selector_' + short_uuid()
|
||||
return tag
|
||||
|
||||
def newParallelNode(self, threshold:int) -> str:
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
threshold (int): _description_
|
||||
|
||||
Returns:
|
||||
str: _description_
|
||||
"""
|
||||
tag = 'parallel_' + short_uuid()
|
||||
return tag
|
||||
|
||||
def newDecoratorNode(self) -> str:
|
||||
"""_summary_
|
||||
|
||||
Returns:
|
||||
str: _description_
|
||||
"""
|
||||
tag = 'decorator_' + short_uuid()
|
||||
return tag
|
||||
|
||||
def newBehaviourNode(self,
|
||||
name: str,
|
||||
args: typing.Optional[typing.List[str]] = [],
|
||||
isCond: bool = False
|
||||
) -> str:
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
name (str): _description_
|
||||
args (typing.Optional[typing.List[str]], optional): _description_. Defaults to [].
|
||||
isCond (bool, optional): _description_. Defaults to False.
|
||||
|
||||
Returns:
|
||||
str: _description_
|
||||
"""
|
||||
tag = 'behavior_' + short_uuid()
|
||||
return tag
|
||||
|
||||
def connect_to_parent(self, uuid_child:str, uuid_parent:str) -> None:
|
||||
"""_summary_
|
||||
|
||||
Args:
|
||||
uuid_child (str): _description_
|
||||
uuid_parent (str): _description_
|
||||
"""
|
||||
return
|
||||
|
|
@ -1,14 +1,11 @@
|
|||
import os
|
||||
import sys
|
||||
import uuid
|
||||
|
||||
project_path = "/home/wu/RoboWaiter/ptml"
|
||||
sys.path.append(project_path)
|
||||
import shortuuid
|
||||
import py_trees as ptree
|
||||
|
||||
from antlr4 import *
|
||||
from ptmlListener import ptmlListener
|
||||
from ptmlParser import ptmlParser
|
||||
from ptml.ptmlTranslateAPI import PyTreesAPI
|
||||
|
||||
short_uuid = lambda : shortuuid.ShortUUID().random(length=8)
|
||||
|
||||
class ptmlTranslator(ptmlListener):
|
||||
"""Translate the ptml language to BT.
|
||||
|
|
@ -19,9 +16,8 @@ class ptmlTranslator(ptmlListener):
|
|||
|
||||
def __init__(self) -> None:
|
||||
super().__init__()
|
||||
self.stack = []
|
||||
self.api = PyTreesAPI()
|
||||
|
||||
self.bt_root = None
|
||||
self.stack = []
|
||||
|
||||
# Enter a parse tree produced by ptmlParser#root.
|
||||
def enterRoot(self, ctx:ptmlParser.RootContext):
|
||||
|
|
@ -34,32 +30,42 @@ class ptmlTranslator(ptmlListener):
|
|||
|
||||
# Enter a parse tree produced by ptmlParser#tree.
|
||||
def enterTree(self, ctx:ptmlParser.TreeContext):
|
||||
pass
|
||||
type = str(ctx.internal_node().children[0])
|
||||
|
||||
match type:
|
||||
case 'sequence':
|
||||
tag = 'sequence_' + short_uuid()
|
||||
node = ptree.composites.Sequence(name=tag, memory=False)
|
||||
case 'selector':
|
||||
tag = 'selector_' + short_uuid()
|
||||
node = ptree.composites.Selector(name=tag, memory=False)
|
||||
case 'parallel':
|
||||
tag = 'parallel_' + short_uuid()
|
||||
# threshold = int(ctx.children[1])
|
||||
# default policy, success on all
|
||||
node = ptree.composites.Parallel(
|
||||
name=tag,
|
||||
policy=ptree.common.ParallelPolicy.SuccessOnAll
|
||||
)
|
||||
case _:
|
||||
raise TypeError(
|
||||
'Unknown Composite Type: {}'.format(type)
|
||||
)
|
||||
|
||||
self.stack.append(node)
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#tree.
|
||||
def exitTree(self, ctx:ptmlParser.TreeContext):
|
||||
pass
|
||||
if len(self.stack) >= 2:
|
||||
child = self.stack.pop()
|
||||
self.stack[-1].add_child(child)
|
||||
else:
|
||||
self.bt_root = self.stack[0]
|
||||
|
||||
|
||||
# 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)
|
||||
|
||||
pass
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#internal_node.
|
||||
def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
|
||||
|
|
@ -69,25 +75,35 @@ class ptmlTranslator(ptmlListener):
|
|||
# Enter a parse tree produced by ptmlParser#action_sign.
|
||||
def enterAction_sign(self, ctx:ptmlParser.Action_signContext):
|
||||
# cond / task
|
||||
type = str(ctx.children[0])
|
||||
node_type = str(ctx.children[0])
|
||||
name = str(ctx.Names())
|
||||
|
||||
# if have params
|
||||
args = []
|
||||
if len(ctx.children) > 4:
|
||||
args = ctx.action_parm()
|
||||
print(args.Float())
|
||||
else:
|
||||
args = []
|
||||
params = ctx.action_parm()
|
||||
|
||||
for i in params.children:
|
||||
if isinstance(i, ptmlParser.BooleanContext):
|
||||
args.append(str(i.children[0]))
|
||||
else:
|
||||
args.append(str(i))
|
||||
|
||||
args = ''.join(args)
|
||||
|
||||
# dynamic import
|
||||
behaviour_lib_config = './behaviour_lib'
|
||||
import sys
|
||||
sys.path.append(behaviour_lib_config)
|
||||
exec('from {} import {}'.format(name, name))
|
||||
#
|
||||
if type == 'cond':
|
||||
behav_tag = self.api.newBehaviourNode(name, args, isCond=True)
|
||||
else:
|
||||
behav_tag = self.api.newBehaviourNode(name, args, isCond=False)
|
||||
tag = 'cond_' + short_uuid() if node_type == 'cond' else 'task_' + short_uuid()
|
||||
node = None
|
||||
node = eval('{}(\'{}\', {})'.format(name, tag, args))
|
||||
|
||||
# connect
|
||||
parent_tag = self.stack[-1]
|
||||
self.api.connect_to_parent(behav_tag, parent_tag)
|
||||
|
||||
self.stack[-1].add_child(node)
|
||||
# print(self.stack)
|
||||
|
||||
# Exit a parse tree produced by ptmlParser#action_sign.
|
||||
def exitAction_sign(self, ctx:ptmlParser.Action_signContext):
|
||||
|
|
|
|||
|
|
@ -1,25 +1,18 @@
|
|||
import os
|
||||
import sys
|
||||
project_path = "/home/wu/RoboWaiter/ptml"
|
||||
sys.path.append(project_path)
|
||||
import py_trees as ptree
|
||||
|
||||
from antlr4 import *
|
||||
from ptmlTranslator import ptmlTranslator
|
||||
from ptmlParser import ptmlParser as Parser
|
||||
from ptmlLexer import ptmlLexer as Lexer
|
||||
from ptmlCompiler import load
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
project_path = "/home/wu/RoboWaiter/ptml"
|
||||
|
||||
text_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
|
||||
input_stream = FileStream(text_path, encoding='utf-8')
|
||||
|
||||
# testing lexer & parser
|
||||
lexer = Lexer(input_stream)
|
||||
stream = CommonTokenStream(lexer)
|
||||
parser = Parser(stream)
|
||||
tree = parser.root()
|
||||
|
||||
walker = ParseTreeWalker()
|
||||
ptml = ptmlTranslator() # listener mode
|
||||
walker.walk(ptml, tree)
|
||||
ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
|
||||
behavior_lib_path = os.path.join(project_path, 'behaviour_lib')
|
||||
# load
|
||||
bt = load(ptml_path, behavior_lib_path)
|
||||
# ptree.display.render_dot_tree(bt)
|
||||
# build and tick
|
||||
bt = ptree.trees.BehaviourTree(bt)
|
||||
# todo: tick this bt
|
||||
|
|
|
|||
|
|
@ -0,0 +1,45 @@
|
|||
digraph pastafarianism {
|
||||
ordering=out;
|
||||
graph [fontname="times-roman"];
|
||||
node [fontname="times-roman"];
|
||||
edge [fontname="times-roman"];
|
||||
sequence_oUFBg8fG [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_oUFBg8fG, shape=box, style=filled];
|
||||
selector_mPAUGPy3 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_mPAUGPy3, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_mPAUGPy3;
|
||||
cond_G7w6nx8B [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_G7w6nx8B, shape=ellipse, style=filled];
|
||||
selector_mPAUGPy3 -> cond_G7w6nx8B;
|
||||
task_XjF4V8bW [fillcolor=gray, fontcolor=black, fontsize=9, label=task_XjF4V8bW, shape=ellipse, style=filled];
|
||||
selector_mPAUGPy3 -> task_XjF4V8bW;
|
||||
sequence_n3nzZvgz [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_n3nzZvgz, shape=box, style=filled];
|
||||
selector_mPAUGPy3 -> sequence_n3nzZvgz;
|
||||
cond_KCt2aubU [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_KCt2aubU, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> cond_KCt2aubU;
|
||||
task_a8inFHcZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_a8inFHcZ, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> task_a8inFHcZ;
|
||||
task_YF2aiEPZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_YF2aiEPZ, shape=ellipse, style=filled];
|
||||
sequence_n3nzZvgz -> task_YF2aiEPZ;
|
||||
parallel_WEe6n4ym [fillcolor=gold, fontcolor=black, fontsize=9, label="parallel_WEe6n4ym\ntype", shape=parallelogram, style=filled];
|
||||
sequence_n3nzZvgz -> parallel_WEe6n4ym;
|
||||
cond_mRQoZb2w [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_mRQoZb2w, shape=ellipse, style=filled];
|
||||
parallel_WEe6n4ym -> cond_mRQoZb2w;
|
||||
task_MW4BQ2XF [fillcolor=gray, fontcolor=black, fontsize=9, label=task_MW4BQ2XF, shape=ellipse, style=filled];
|
||||
parallel_WEe6n4ym -> task_MW4BQ2XF;
|
||||
selector_tU6G7YK6 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_tU6G7YK6, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_tU6G7YK6;
|
||||
cond_UMTzm9kK [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_UMTzm9kK, shape=ellipse, style=filled];
|
||||
selector_tU6G7YK6 -> cond_UMTzm9kK;
|
||||
task_fnpwP2Lu [fillcolor=gray, fontcolor=black, fontsize=9, label=task_fnpwP2Lu, shape=ellipse, style=filled];
|
||||
selector_tU6G7YK6 -> task_fnpwP2Lu;
|
||||
selector_qm8Zexyr [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_qm8Zexyr, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_qm8Zexyr;
|
||||
cond_g2umcjH4 [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_g2umcjH4, shape=ellipse, style=filled];
|
||||
selector_qm8Zexyr -> cond_g2umcjH4;
|
||||
task_H5nwyj3V [fillcolor=gray, fontcolor=black, fontsize=9, label=task_H5nwyj3V, shape=ellipse, style=filled];
|
||||
selector_qm8Zexyr -> task_H5nwyj3V;
|
||||
selector_9SJMhckE [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_9SJMhckE, shape=octagon, style=filled];
|
||||
sequence_oUFBg8fG -> selector_9SJMhckE;
|
||||
cond_D8fqA35b [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_D8fqA35b, shape=ellipse, style=filled];
|
||||
selector_9SJMhckE -> cond_D8fqA35b;
|
||||
task_EikNgjy4 [fillcolor=gray, fontcolor=black, fontsize=9, label=task_EikNgjy4, shape=ellipse, style=filled];
|
||||
selector_9SJMhckE -> task_EikNgjy4;
|
||||
}
|
||||
Loading…
Reference in New Issue