120 lines
3.8 KiB
Python
120 lines
3.8 KiB
Python
import shortuuid
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import py_trees as ptree
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from EXP.behavior_lib._base import Selector, Sequence
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from antlr4 import *
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if "." in __name__:
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from .ptmlListener import ptmlListener
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from .ptmlParser import ptmlParser
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else:
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from ptmlListener import ptmlListener
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from ptmlParser import ptmlParser
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short_uuid = lambda: shortuuid.ShortUUID().random(length=8)
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class ptmlTranslator(ptmlListener):
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"""Translate the ptml language to BT.
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Args:
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ptmlListener (_type_): _description_
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"""
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def __init__(self, scene, behaviour_lib_path) -> None:
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super().__init__()
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self.bt_root = None
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self.stack = []
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self.scene = scene
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self.behaviour_lib_path = behaviour_lib_path
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# Enter a parse tree produced by ptmlParser#root.
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def enterRoot(self, ctx: ptmlParser.RootContext):
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pass
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# Exit a parse tree produced by ptmlParser#root.
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def exitRoot(self, ctx: ptmlParser.RootContext):
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pass
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# Enter a parse tree produced by ptmlParser#tree.
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def enterTree(self, ctx: ptmlParser.TreeContext):
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type = str(ctx.internal_node().children[0])
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if type== "sequence":
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node = Sequence(name="Sequence", memory=False)
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elif type=="selector":
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node = Selector(name="Selector", memory=False)
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elif type== "parallel":
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tag = "parallel_" + short_uuid()
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# threshold = int(ctx.children[1])
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# default policy, success on all
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node = ptree.composites.Parallel(
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name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll
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)
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else:
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raise TypeError("Unknown Composite Type: {}".format(type))
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self.stack.append(node)
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# Exit a parse tree produced by ptmlParser#tree.
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def exitTree(self, ctx: ptmlParser.TreeContext):
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if len(self.stack) >= 2:
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child = self.stack.pop()
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self.stack[-1].add_child(child)
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else:
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self.bt_root = self.stack[0]
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# Enter a parse tree produced by ptmlParser#internal_node.
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def enterInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
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pass
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# Exit a parse tree produced by ptmlParser#internal_node.
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def exitInternal_node(self, ctx: ptmlParser.Internal_nodeContext):
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pass
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# Enter a parse tree produced by ptmlParser#action_sign.
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def enterAction_sign(self, ctx: ptmlParser.Action_signContext):
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# cond / act
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node_type = str(ctx.children[0])
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name = str(ctx.String())
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# if have params
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args = []
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if len(ctx.children) > 4:
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params = ctx.action_parm()
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for i in params.children:
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if isinstance(i, ptmlParser.BooleanContext):
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args.append(str(i.children[0]))
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elif str(i) == ',':
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args.append(',')
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else:
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args.append(f"'{i}'")
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args = "".join(args)
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exec(f"from {name} import {name}")
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# tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
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node = eval(f"{name}({args})")
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node.set_scene(self.scene)
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# connect
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self.stack[-1].add_child(node)
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# Exit a parse tree produced by ptmlParser#action_sign.
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def exitAction_sign(self, ctx: ptmlParser.Action_signContext):
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pass
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# Enter a parse tree produced by ptmlParser#action_parm.
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def enterAction_parm(self, ctx: ptmlParser.Action_parmContext):
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pass
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# Exit a parse tree produced by ptmlParser#action_parm.
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def exitAction_parm(self, ctx: ptmlParser.Action_parmContext):
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pass
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# Enter a parse tree produced by ptmlParser#boolean.
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def enterBoolean(self, ctx: ptmlParser.BooleanContext):
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pass
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# Exit a parse tree produced by ptmlParser#boolean.
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def exitBoolean(self, ctx: ptmlParser.BooleanContext):
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pass
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