113 lines
3.2 KiB
Python
113 lines
3.2 KiB
Python
import os
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import sys
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import uuid
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project_path = "/home/wu/RoboWaiter/ptml"
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sys.path.append(project_path)
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from antlr4 import *
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from ptmlListener import ptmlListener
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from ptmlParser import ptmlParser
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from ptml.ptmlTranslateAPI import PyTreesAPI
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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) -> None:
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super().__init__()
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self.stack = []
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self.api = PyTreesAPI()
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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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pass
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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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pass
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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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type = str(ctx.children[0])
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match type:
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case 'sequence':
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tag = self.api.newSequenceNode()
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case 'selector':
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tag = self.api.newSelectorNode()
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case 'parallel':
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tag = self.api.newParallelNode(threshold=int(ctx.children[1]))
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case 'decorator':
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tag = self.api.newDecoratorNode()
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case _:
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raise TypeError(
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''
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)
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self.stack.append(tag)
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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 / task
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type = str(ctx.children[0])
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name = str(ctx.Names())
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# if have params
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if len(ctx.children) > 4:
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args = ctx.action_parm()
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print(args.Float())
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else:
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args = []
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#
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if type == 'cond':
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behav_tag = self.api.newBehaviourNode(name, args, isCond=True)
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else:
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behav_tag = self.api.newBehaviourNode(name, args, isCond=False)
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# connect
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parent_tag = self.stack[-1]
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self.api.connect_to_parent(behav_tag, parent_tag)
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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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