105 lines
2.8 KiB
Python
105 lines
2.8 KiB
Python
import os
|
|
import sys
|
|
from antlr4 import *
|
|
|
|
if "." in __name__:
|
|
from .ptmlTranslator import ptmlTranslator
|
|
from .ptmlParser import ptmlParser as Parser
|
|
from .ptmlLexer import ptmlLexer as Lexer
|
|
|
|
else:
|
|
from ptmlTranslator import ptmlTranslator
|
|
from ptmlParser import ptmlParser as Parser
|
|
from ptmlLexer import ptmlLexer as Lexer
|
|
|
|
|
|
def load(scene, 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
|
|
ptml_path = format_trans_to_bracket(ptml_path)
|
|
input_stream = FileStream(ptml_path, encoding="utf-8")
|
|
|
|
lexer = Lexer(input_stream)
|
|
stream = CommonTokenStream(lexer)
|
|
parser = Parser(stream)
|
|
tree = parser.root()
|
|
|
|
walker = ParseTreeWalker()
|
|
|
|
|
|
sys.path.append(os.path.join(behaviour_lib_path,"cond"))
|
|
sys.path.append(os.path.join(behaviour_lib_path,"act"))
|
|
|
|
ptml = ptmlTranslator(scene, behaviour_lib_path) # listener mode
|
|
walker.walk(ptml, tree)
|
|
|
|
return ptml.bt_root
|
|
|
|
|
|
def format_trans_to_bracket(file_path: str) -> str:
|
|
"""_summary_
|
|
|
|
Args:
|
|
file_path (str): _description_
|
|
|
|
Raises:
|
|
FileNotFoundError: _description_
|
|
|
|
Returns:
|
|
str: the path tp temp file with '{}' form.
|
|
"""
|
|
import autopep8
|
|
|
|
if not os.path.exists(file_path):
|
|
raise FileNotFoundError("Given a fault ptml path: {}".format(file_path))
|
|
|
|
def counter_(input:str) -> int:
|
|
length = 0
|
|
for i in range(len(input)):
|
|
if input[i] == ' ':
|
|
length += 1
|
|
else:
|
|
if length % 4 != 0:
|
|
raise TabError('Tab length in ptml file should be 4.')
|
|
return length
|
|
|
|
with open(file_path, 'r') as file:
|
|
ptml_new = ''
|
|
ptml_tab = file.readlines()
|
|
|
|
level = 0
|
|
for i in ptml_tab:
|
|
new_level = counter_(i) // 4
|
|
if new_level == level:
|
|
ptml_new += i
|
|
elif new_level > level:
|
|
ptml_new += '{\n' + i
|
|
elif new_level < level:
|
|
ptml_new += '\n}' + i
|
|
level = new_level
|
|
ptml_new += '}'
|
|
|
|
import re
|
|
new_path = re.sub('/[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml',file_path)
|
|
with open(new_path, 'w+') as file:
|
|
file.write(ptml_new)
|
|
return new_path
|
|
|
|
# format_trans_to_bracket('/home/wu/RoboWaiter/robowaiter/behavior_tree/ptml/test/tab_test.ptml') |