Token *Parser::reduceR21(TokenStack &stack)
{
if (stack.size() < 6)
return 0;
Token *optArgList = stack.takeLastToken();
delete stack.takeLastToken();
Token *funcName = stack.takeLastToken();
delete stack.takeLastToken();
Token *specFuncName = stack.takeLastToken();
delete stack.takeLastToken();
Token *func = new Token(Token::Function_Token);
Function_TokenData *data = DATA_CAST(Function, func);
data->setName(DATA_CAST(String, specFuncName)->value());
delete specFuncName;
Token *subprogram = new Token(Token::Subprogram_Token);
Token *statement = new Token(Token::Statement_Token);
DATA_CAST(Statement, statement)->setString(DATA_CAST(String, funcName)->value());
delete funcName;
DATA_CAST(Subprogram, subprogram)->prependStatement(DATA_CAST(Statement, statement));
delete statement;
Token *obligArgList = new Token(Token::ObligArgList_Token);
DATA_CAST(ArgList, obligArgList)->prependArgument(DATA_CAST(Subprogram, subprogram));
delete subprogram;
data->setObligatoryArguments(DATA_CAST(ArgList, obligArgList));
delete obligArgList;
data->setOptionalArguments(DATA_CAST(ArgList, optArgList));
delete optArgList;
return func;
}
Token *Parser::reduceR14(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *f = stack.takeLastToken();
Token *s = new Token(Token::Statement_Token);
DATA_CAST(Statement, s)->setFunction(DATA_CAST(Function, f));
delete f;
return s;
}
Token *Parser::reduceR13(TokenStack &stack)
{
if (stack.size() < 2)
return 0;
Token *p = stack.takeLastToken();
Token *s = stack.takeLastToken();
DATA_CAST(Subprogram, p)->prependStatement(DATA_CAST(Statement, s));
delete s;
return p;
}
Token *Parser::reduceR9(TokenStack &stack)
{
if (stack.size() < 2)
return 0;
Token *argList = stack.takeLastToken();
Token *arg = stack.takeLastToken();
DATA_CAST(ArgList, argList)->prependArgument(DATA_CAST(Subprogram, arg));
delete arg;
return argList;
}
Token *Parser::reduceR8(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *arg = stack.takeLastToken();
Token *argList = new Token(Token::OptArgListNE_Token);
DATA_CAST(ArgList, argList)->appendArgument(DATA_CAST(Subprogram, arg));
delete arg;
return argList;
}
Token *Parser::reduceR7(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *argListNE = stack.takeLastToken();
Token *argList = new Token(Token::OptArgList_Token);
DATA_CAST(ArgList, argList)->copyArguments(DATA_CAST(ArgList, argListNE));
delete argListNE;
return argList;
}
Token *Parser::reduceR15(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *an = stack.takeLastToken();
Token *s = new Token(Token::Statement_Token);
DATA_CAST(Statement, s)->setArgumentNo(DATA_CAST(ArgumentNo, an));
delete an;
return s;
}
Token *Parser::reduceR16(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *string = stack.takeLastToken();
Token *s = new Token(Token::Statement_Token);
DATA_CAST(Statement, s)->setString(DATA_CAST(String, string)->value());
delete string;
return s;
}
Token *Parser::reduceR1(TokenStack &stack)
{
if (stack.size() < 2)
return 0;
Token *program = stack.takeLastToken();
Token *func = stack.takeLastToken();
DATA_CAST(Program, program)->prependFunction(DATA_CAST(Function, func));
delete func;
return program;
}
Token *Parser::reduceR18(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *real = stack.takeLastToken();
Token *s = new Token(Token::Statement_Token);
DATA_CAST(Statement, s)->setReal(DATA_CAST(Real, real)->value());
delete real;
return s;
}
Token *Parser::reduceR17(TokenStack &stack)
{
if (stack.size() < 1)
return 0;
Token *integer = stack.takeLastToken();
Token *s = new Token(Token::Statement_Token);
DATA_CAST(Statement, s)->setInteger(DATA_CAST(Integer, integer)->value());
delete integer;
return s;
}
Token *Parser::reduceR20(TokenStack &stack)
{
if (stack.size() < 2)
return 0;
Token *f = stack.takeLastToken();
delete stack.takeLastToken();
Token *an = new Token(Token::ArgumentNo_Token);
DATA_CAST(ArgumentNo, an)->setFunction(DATA_CAST(Function, f));
delete f;
return an;
}
Token *Parser::reduceR19(TokenStack &stack)
{
if (stack.size() < 2)
return 0;
Token *integer = stack.takeLastToken();
delete stack.takeLastToken();
Token *an = new Token(Token::ArgumentNo_Token);
DATA_CAST(ArgumentNo, an)->setInteger(DATA_CAST(Integer, integer)->value());
delete integer;
return an;
}
Token *Parser::reduceR11(TokenStack &stack)
{
if (stack.size() < 3)
return 0;
delete stack.takeLastToken();
Token *p = stack.takeLastToken();
delete stack.takeLastToken();
Token *arg = new Token(Token::OptArg_Token);
DATA_CAST(Subprogram, arg)->copyStatements(DATA_CAST(Subprogram, p));
delete p;
return arg;
}
Token *Parser::reduceR2(TokenStack &stack)
{
if (stack.size() < 4)
return 0;
Token *optArgList = stack.takeLastToken();
Token *obligArgList = stack.takeLastToken();
Token *funcName = stack.takeLastToken();
delete stack.takeLastToken();
Token *func = new Token(Token::Function_Token);
Function_TokenData *data = DATA_CAST(Function, func);
data->setName(DATA_CAST(String, funcName)->value());
delete funcName;
data->setObligatoryArguments(DATA_CAST(ArgList, obligArgList));
delete obligArgList;
data->setOptionalArguments(DATA_CAST(ArgList, optArgList));
delete optArgList;
return func;
}
bool PretexFunction::execute(ExecutionContext *context, Function_TokenData *f, QString *err)
{
if (!isValid())
return bRet(err, tr("Attempted to execute invalid function", "error"), false);
int oblArgCount = obligatoryArgumentCount();
if (f->obligatoryArgumentCount() != oblArgCount)
return bRet(err, tr("Argument count mismatch:", "error") + " " + name(), false);
int optArgCount = optionalArgumentCount();
if (optArgCount >= 0 && f->optionalArgumentCount() > optArgCount)
return bRet(err, tr("Argument count mismatch:", "error") + " " + name(), false);
QList<PretexVariant> oblArgs;
foreach (int i, bRangeD(0, f->obligatoryArgumentCount() - 1))
{
bool b = false;
PretexVariant a = ExecutionModule::executeSubprogram(context, f->obligatoryArgument(i), "", &b, err);
if (!b)
return false;
oblArgs << a;
}
QList<PretexVariant> optArgs;
foreach (int i, bRangeD(0, f->optionalArgumentCount() - 1))
{
bool b = false;
PretexVariant a = ExecutionModule::executeSubprogram(context, f->optionalArgument(i), "", &b, err);
if (!b)
return false;
optArgs << a;
}
ExecutionContext s(oblArgs, optArgs, name(), context);
bool b = false;
PretexVariant v = ExecutionModule::executeSubprogram(&s, DATA_CAST(Subprogram, &mbody), f->name(), &b, err);
if (!b)
return false;
context->setReturnValue(v);
return bRet(err, QString(), true);
}
void init_global_data(void)
{
/* Vehicle information */
set_global_data_value(VEHICLE_TYPE, UINT8, DATA_CAST((uint8_t)QUADCOPTER));
/* Flight status */
set_global_data_value(SAFTY_BUTTON, UINT8, DATA_CAST((uint8_t)QUADCOPTER));
set_global_data_value(MODE_BUTTON, UINT8, DATA_CAST((uint8_t)QUADCOPTER));
/* Attitude PID Gain */
set_global_data_value(ROLL_KP, FLOAT, DATA_CAST((float)0.20f));
set_global_data_value(ROLL_KI, FLOAT, DATA_CAST((float)0.045f));
set_global_data_value(ROLL_KD, FLOAT, DATA_CAST((float)0.07f));
set_global_data_value(PITCH_KP, FLOAT, DATA_CAST((float)0.20f));
set_global_data_value(PITCH_KI, FLOAT, DATA_CAST((float)0.045));
set_global_data_value(PITCH_KD, FLOAT, DATA_CAST((float)0.07f));
set_global_data_value(YAW_KP, FLOAT, DATA_CAST((float)0.65));
set_global_data_value(YAW_KI, FLOAT, DATA_CAST((float)0));
set_global_data_value(YAW_KD, FLOAT, DATA_CAST((float)0));
set_global_data_value(YAW_KP, FLOAT, DATA_CAST((float)0.65));
set_global_data_value(YAW_KI, FLOAT, DATA_CAST((float)0));
set_global_data_value(YAW_KD, FLOAT, DATA_CAST((float)0));
set_global_data_value(HEADING_KP, FLOAT, DATA_CAST((float)2.5));
set_global_data_value(HEADING_KI, FLOAT, DATA_CAST((float)0));
set_global_data_value(HEADING_KD, FLOAT, DATA_CAST((float)0));
set_global_data_value(ZD_KP, FLOAT, DATA_CAST((float)0.3));
set_global_data_value(ZD_KI, FLOAT, DATA_CAST((float)0.03));
set_global_data_value(ZD_KD, FLOAT, DATA_CAST((float)0));
set_global_data_value(Z_KP, FLOAT, DATA_CAST((float)1.4));
set_global_data_value(Z_KI, FLOAT, DATA_CAST((float)0));
set_global_data_value(Z_KD, FLOAT, DATA_CAST((float)0));
int i;
for(i = 0; i < get_global_data_count(); i++) {
bool parameter_config;
get_global_data_parameter_config_status(i, ¶meter_config);
if(parameter_config == true)
modifiable_data_cnt++;
}
}
bool PretexFunction::isEmpty() const
{
return !isValid() || !DATA_CAST(Subprogram, &mbody)->statementCount();
}
