/**
* Parses the keyword "namespace" from the given token stack
*/
int CodeParser::parseKeyword_NameSpace( Scope* scope, TokenStack* stack ) {
const char* name;
Token* t;
// validate incoming scope
if( scope->getScopeType() != NAMESPACE_SCOPE ) {
SYNTAX_ERROR( "Namespaces cannot be defined in this scope", stack->last() );
return -1;
}
// the next token must be the identifier
if( !( name = state->getIdentifierName( stack, "namespace" ) ) ) {
return -1;
}
// create the name space
NameSpace* ns = new NameSpace( name, scope );
// add the name space to the state
if( !state->addNameSpace( ns ) ) {
printf( "Namespace '%s' already exists\n", name );
return -4;
}
// the next element must be a code block
if( !stack->hasNext() || !( t = stack->peek() ) || ( t->getType() != tok::CODE_BLOCK ) ) {
SYNTAX_ERROR( "unexpected token", t );
return -5;
}
// process the code block
return parse( ns, ((ComplexToken*)t)->getChildren() );
}
RobotInterface::Robot& RobotInterface::XMLReader::Private::readRobotFile(const std::string &fileName)
{
filename = fileName;
#ifdef WIN32
std::replace(filename.begin(), filename.end(), '/', '\\');
#endif
curr_filename = fileName;
#ifdef WIN32
path = filename.substr(0, filename.rfind("\\"));
#else // WIN32
path = filename.substr(0, filename.rfind("/"));
#endif //WIN32
yDebug() << "Reading file" << filename.c_str();
TiXmlDocument *doc = new TiXmlDocument(filename.c_str());
if (!doc->LoadFile()) {
SYNTAX_ERROR(doc->ErrorRow()) << doc->ErrorDesc();
}
if (!doc->RootElement()) {
SYNTAX_ERROR(doc->Row()) << "No root element.";
}
for (TiXmlNode* childNode = doc->FirstChild(); childNode != 0; childNode = childNode->NextSibling()) {
if (childNode->Type() == TiXmlNode::TINYXML_UNKNOWN) {
if(dtd.parse(childNode->ToUnknown(), curr_filename)) {
break;
}
}
}
if (!dtd.valid()) {
SYNTAX_WARNING(doc->Row()) << "No DTD found. Assuming version robotInterfaceV1.0";
dtd.setDefault();
dtd.type = RobotInterfaceDTD::DocTypeRobot;
}
if(dtd.type != RobotInterfaceDTD::DocTypeRobot) {
SYNTAX_WARNING(doc->Row()) << "Expected document of type" << DocTypeToString(RobotInterfaceDTD::DocTypeRobot)
<< ". Found" << DocTypeToString(dtd.type);
}
if(dtd.majorVersion != 1 || dtd.minorVersion != 0) {
SYNTAX_WARNING(doc->Row()) << "Only robotInterface DTD version 1.0 is supported";
}
readRobotTag(doc->RootElement());
delete doc;
// yDebug() << robot;
return robot;
}
/**
* Parses the keyword "class" from the given token stack
*/
int CodeParser::parseKeyword_Class( Scope* scope, TokenStack* stack ) {
Class* classdef;
const char* name;
Token* t;
// validate incoming scope
if( scope->getScopeType() != NAMESPACE_SCOPE ) {
SYNTAX_ERROR( "Classes cannot be defined in this scope", stack->last() );
return -1;
}
// the next token must be the identifier
if( !( name = state->getIdentifierName( stack, "class" ) ) ) {
return -2;
}
// get the name space
NameSpace* ns = (NameSpace*)scope;
printf( "class '%s' in namespace '%s' modifiers = %s\n", name, ns->getName(), toBinary( modifiers ) );
// TODO check for inheritance! multiple inheritance?
// - class MyChild extends MyParent { ... }
// - class StrobeLamp extends Lamp, Strobe { ... }
// create the class
classdef = new Class( name, ns->getName(), ns, modifiers );
this->modifiers = 0;
// add the name space to the state
if( !ns->addClass( classdef ) ) {
char* error = new char[256];
sprintf( error, "Class '%s' already exists in namespace '%s'\n", name, ns->getName() );
SYNTAX_ERROR( error, stack->last() );
delete error;
return -4;
}
// the next element must be a code block
if( !stack->hasNext() || !( t = stack->peek() ) || ( t->getType() != tok::CODE_BLOCK ) ) {
SYNTAX_ERROR( "unexpected token", t );
return -5;
}
// process the code block
int errorCode = parse( classdef, ((ComplexToken*)t)->getChildren() );
// register the class
state->addClass( classdef );
// reset the class-level counters
state->resetCounters();
return errorCode;
}
RobotInterface::Robot& RobotInterface::XMLReader::Private::readRobotTag(TiXmlElement *robotElem)
{
if (robotElem->ValueStr().compare("robot") != 0) {
SYNTAX_ERROR(robotElem->Row()) << "Root element should be \"robot\". Found" << robotElem->ValueStr();
}
if (robotElem->QueryStringAttribute("name", &robot.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(robotElem->Row()) << "\"robot\" element should contain the \"name\" attribute";
}
#if TINYXML_UNSIGNED_INT_BUG
if (robotElem->QueryUnsignedAttribute("build", &robot.build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (robotElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
robot.build() = (unsigned)tmp;
#endif
if (robotElem->QueryStringAttribute("portprefix", &robot.portprefix()) != TIXML_SUCCESS) {
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"portprefix\" attribute. Using \"name\" attribute";
robot.portprefix() = robot.name();
}
// yDebug() << "Found robot [" << robot.name() << "] build [" << robot.build() << "] portprefix [" << robot.portprefix() << "]";
for (TiXmlElement* childElem = robotElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
if (childElem->ValueStr().compare("device") == 0 || childElem->ValueStr().compare("devices") == 0) {
DeviceList childDevices = readDevices(childElem);
for (DeviceList::const_iterator it = childDevices.begin(); it != childDevices.end(); ++it) {
robot.devices().push_back(*it);
}
} else {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
robot.params().push_back(*it);
}
}
}
return robot;
}
/**
* Parses the text contained within the given token stack
*/
int CodeParser::parseKeyword( Scope* scope, TokenStack* stack, const char* keyword ) {
int errorCode = 0;
// TODO delete, do-while, for, foreach
// TODO if-else, try-catch, throw, while
// handle the keyword
switch( state->lookupKeyword( keyword ) ) {
case KW_ABSTRACT: errorCode = updateModifiers( ABSTRACT, stack ); break;
case KW_CLASS: errorCode = parseKeyword_Class( scope, stack ); break;
case KW_FINAL: errorCode = updateModifiers( FINAL, stack ); break;
case KW_IMPORT: errorCode = parseKeyword_Import( scope, stack ); break;
case KW_NAMESPACE: errorCode = parseKeyword_NameSpace( scope, stack ); break;
case KW_NEW: errorCode = parseKeyword_New( scope, stack ); break;
case KW_PACKAGED: errorCode = updateModifiers( PACKAGE, stack ); break;
case KW_PRIVATE: errorCode = updateModifiers( PRIVATE, stack ); break;
case KW_PROTECTED: errorCode = updateModifiers( PROTECTED, stack ); break;
case KW_PUBLIC: errorCode = updateModifiers( PUBLIC, stack ); break;
case KW_RETURN: errorCode = parseKeyword_Return( scope, stack ); break;
case KW_STATIC: errorCode = updateModifiers( STATIC, stack ); break;
case KW_VIRTUAL: errorCode = updateModifiers( VIRTUAL, stack ); break;
default:
char *message = new char[256];
sprintf( message, "Keyword '%s' was not handled", keyword );
SYNTAX_ERROR( message, stack->last() );
delete message;
errorCode = -1;
}
// success
return errorCode;
}
extern cv_t c_eval(obj_t cont, obj_t values)
{
assert(is_cont4(cont));
obj_t expr = cont4_arg(cont);
EVAL_LOG("expr=%O", expr);
COULD_RETRY();
if (is_self_evaluating(expr))
return cv(cont_cont(cont), CONS(expr, values));
else if (is_symbol(expr)) {
obj_t env = cont_env(cont);
obj_t val = env_lookup(env, expr);
return cv(cont_cont(cont), CONS(val, values));
#if !OLD_ENV
} else if (is_env_ref(expr)) {
return cv(cont_cont(cont),
CONS(env_ref_lookup(cont_env(cont), expr), values));
#endif
} else if (is_application(expr)) {
obj_t operator = application_operator(expr);
obj_t env = cont_env(cont);
obj_t second = make_cont4(c_eval_operator,
cont_cont(cont),
env,
expr);
obj_t first = make_cont4(c_eval, second, env, operator);
return cv(first, values);
}
SYNTAX_ERROR(expr, expr, "must be expression");
}
RobotInterface::ParamList RobotInterface::XMLReader::Private::readParams(TiXmlElement* paramsElem)
{
const std::string &valueStr = paramsElem->ValueStr();
if (valueStr.compare("param") != 0 &&
valueStr.compare("group") != 0 &&
valueStr.compare("paramlist") != 0 &&
valueStr.compare("subdevice") != 0 &&
valueStr.compare("params") != 0)
{
SYNTAX_ERROR(paramsElem->Row()) << "Expected \"param\", \"group\", \"paramlist\","
<< "\"subdevice\", or \"params\". Found" << valueStr;
}
if (valueStr.compare("param") == 0) {
ParamList params;
params.push_back(readParamTag(paramsElem));
return params;
} else if (valueStr.compare("group") == 0) {
ParamList params;
params.push_back(readGroupTag(paramsElem));
return params;
} else if (valueStr.compare("paramlist") == 0) {
return readParamListTag(paramsElem);
} else if (valueStr.compare("subdevice") == 0) {
return readSubDeviceTag(paramsElem);
}
// "params"
return readParamsTag(paramsElem);
}
/**
* Parses a type definition
*/
TypeReference* CodeParser::parseType( Scope* scope, TokenStack* stack ) {
const char* typeName;
TypeReference* type;
Token *t;
// the next element must be alphanumeric
if( !( t = stack->next() ) ||
( t->getType() != tok::ALPHA_NUMERIC ) ||
!( typeName = t->getText() ) ||
!state->isClass( typeName ) ) {
SYNTAX_ERROR( "type identifier expected", stack->last() );
return NULL;
}
// create the type
type = new TypeReference( typeName );
// is the type an array? (e.g. "int[] field")
if( stack->hasNext() &&
( stack->peek()->getType() == tok::BRACKET_BLOCK ) &&
( t = stack->next() ) ) {
// TODO finish adding logic here
type->setArray( true );
printf( "array = '%s'\n", t->getText() );
}
// return the class reference
return type;
}
static cv_t c_eval_operator(obj_t cont, obj_t values)
{
assert(is_cont4(cont));
obj_t appl = cont4_arg(cont);
obj_t operator = CAR(values);
EVAL_LOG("appl=%O operator=%O", appl, operator);
COULD_RETRY();
if (!is_procedure(operator))
SYNTAX_ERROR(operator, operator, "must be procedure");
if (!procedure_args_evaluated(operator)) {
assert(procedure_is_C(operator) && "implement Scheme special forms");
if (procedure_is_raw(operator)) {
return ((cont_proc_t)procedure_code(operator))(cont, values);
} else {
// N.B., call proc after all other allocations.
obj_t arg_list = application_operands(appl);
obj_t new_values = CONS(make_uninitialized(), CDR(values));
pair_set_car(new_values, apply_proc(operator, arg_list));
return cv(cont_cont(cont), new_values);
}
}
obj_t arg_list = reverse_list(application_operands(appl));
cont = make_cont5(c_apply_proc,
cont_cont(cont),
cont_env(cont),
operator,
CDR(values));
while (!is_null(arg_list)) {
cont = make_cont4(c_eval, cont, cont_env(cont), CAR(arg_list));
arg_list = CDR(arg_list);
}
return cv(cont, EMPTY_LIST);
}
RobotInterface::ActionList RobotInterface::XMLReader::Private::readActionsTag(TiXmlElement *actionsElem)
{
const std::string &valueStr = actionsElem->ValueStr();
if (valueStr.compare("actions") != 0) {
SYNTAX_ERROR(actionsElem->Row()) << "Expected \"actions\". Found" << valueStr;
}
std::string filename;
if (actionsElem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS) {
// yDebug() << "Found actions file [" << filename << "]";
#ifdef WIN32
std::replace(filename.begin(), filename.end(), '/', '\\');
filename = path + "\\" + filename;
#else // WIN32
filename = path + "/" + filename;
#endif //WIN32
return readActionsFile(filename);
}
std::string robotName;
if (actionsElem->QueryStringAttribute("robot", &robotName) != TIXML_SUCCESS) {
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"robot\" attribute";
}
if (robotName != robot.name()) {
SYNTAX_WARNING(actionsElem->Row()) << "Trying to import a file for the wrong robot. Found" << robotName << "instead of" << robot.name();
}
unsigned int build;
#if TINYXML_UNSIGNED_INT_BUG
if (actionsElem->QueryUnsignedAttribute("build", &build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (actionsElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
build = (unsigned)tmp;
#endif
if (build != robot.build()) {
SYNTAX_WARNING(actionsElem->Row()) << "Import a file for a different robot build. Found" << build << "instead of" << robot.build();
}
ActionList actions;
for (TiXmlElement* childElem = actionsElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ActionList childActions = readActions(childElem);
for (ActionList::const_iterator it = childActions.begin(); it != childActions.end(); ++it) {
actions.push_back(*it);
}
}
return actions;
}
AST* QueryParser::parse(std::string str,
AST* ast,
const int level)
{
if(NULL == ast)
ast = new AST();
#ifdef DEBUG_PARSING_LEVELS
if(level < 1)
std::cout << "Parsing:" << std::endl << str;
#endif
if(str.size() < 2) return NULL;
size_t beg = std::string::npos,
end = std::string::npos;
removeComments(str);
str = StringUtils::trim(str);
std::string header,
body;
header = StringUtils::extract(str,
beg,
end,
HEADER_BEGIN,
HEADER_END);
if(header.size() < 2 || beg != 0)
{
SYNTAX_ERROR("No header in query", header);
return NULL;
}
std::cout << "\nParsing header: " << header;
Header* h = subParse(header, 1);
Body* b = NULL;
body = str.substr(end);
if(body.size() < 2)
{
WARNING("Body is empty");
}
else
b = subParse(body, 1);
ASSERT(b != 0);
if(h != NULL)
{
ast->setHeader(h);
ast->setBody(b);
}
else
return NULL;
return ast;
}
/**
* Parses the class member (field or method) contained within the given token stack
*/
int CodeParser::parseClassMember( Scope* scope, TokenStack* stack ) {
int errorCode = 0;
TypeReference* type;
const char* name;
// the following types are parsed:
// method layout: "[static] [final] type|[]| methodName(...) { ... }"
// field layout: "[static] [final] type|[]| fieldName| = ....|"
int step = 0;
bool done = false;
while( !done && stack->hasNext() ) {
switch( ++step ) {
// step 1: get the type of the class member (e.g. "string" or "string[]")
case 1:
// extract the name of the identifier
if( !( type = parseType( scope, stack ) ) ) {
return -1;
}
break;
// step 2: get the class member name
case 2:
// get the type name
if( !( name = state->getIdentifierName( stack, "class member" ) ) ) {
return -2;
}
break;
// step 3: get the class member instance (field or method)
// method layout: "[static] [final] type methodName(...) { ... }"
// field layout: "[static] [final] type fieldName[ = ....]"
case 3:
// each child should be a method (e.g. "type methodName(...)") or field (e.g. "type fieldName")
// if there is a parenthesis block, it's likely to be a method
errorCode = ( stack->peek()->getType() == tok::PARENTHESIS_BLOCK )
? parseMethod( scope, name, type, stack )
: parseField( scope, name, type, stack );
// was there an error?
if( errorCode ) {
return errorCode;
}
done = true;
break;
}
}
// did it complete?
if( !done ) {
SYNTAX_ERROR( "unexpected end of statement", stack->last() );
return -4;
}
// return the error code
return 0;
}
RobotInterface::ActionList RobotInterface::XMLReader::Private::readActionsFile(const std::string &fileName)
{
std::string old_filename = curr_filename;
curr_filename = fileName;
yDebug() << "Reading file" << fileName.c_str();
TiXmlDocument *doc = new TiXmlDocument(fileName.c_str());
if (!doc->LoadFile()) {
SYNTAX_ERROR(doc->ErrorRow()) << doc->ErrorDesc();
}
if (!doc->RootElement()) {
SYNTAX_ERROR(doc->Row()) << "No root element.";
}
RobotInterfaceDTD actionsFileDTD;
for (TiXmlNode* childNode = doc->FirstChild(); childNode != 0; childNode = childNode->NextSibling()) {
if (childNode->Type() == TiXmlNode::TINYXML_UNKNOWN) {
if(actionsFileDTD.parse(childNode->ToUnknown(), curr_filename)) {
break;
}
}
}
if (!actionsFileDTD.valid()) {
SYNTAX_WARNING(doc->Row()) << "No DTD found. Assuming version robotInterfaceV1.0";
actionsFileDTD.setDefault();
actionsFileDTD.type = RobotInterfaceDTD::DocTypeActions;
}
if (actionsFileDTD.type != RobotInterfaceDTD::DocTypeActions) {
SYNTAX_ERROR(doc->Row()) << "Expected document of type" << DocTypeToString(RobotInterfaceDTD::DocTypeActions)
<< ". Found" << DocTypeToString(actionsFileDTD.type);
}
if (actionsFileDTD.majorVersion != dtd.majorVersion) {
SYNTAX_ERROR(doc->Row()) << "Trying to import a file with a different robotInterface DTD version";
}
RobotInterface::ActionList actions = readActionsTag(doc->RootElement());
delete doc;
curr_filename = old_filename;
return actions;
}
RobotInterface::ParamList RobotInterface::XMLReader::Private::readParamsTag(TiXmlElement *paramsElem)
{
const std::string &valueStr = paramsElem->ValueStr();
if (valueStr.compare("params") != 0) {
SYNTAX_ERROR(paramsElem->Row()) << "Expected \"params\". Found" << valueStr;
}
std::string filename;
if (paramsElem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS) {
// yDebug() << "Found params file [" << filename << "]";
filename=rf.findFileByName(filename);
return readParamsFile(filename);
}
std::string robotName;
if (paramsElem->QueryStringAttribute("robot", &robotName) != TIXML_SUCCESS) {
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"robot\" attribute";
}
if (robotName != robot.name()) {
SYNTAX_WARNING(paramsElem->Row()) << "Trying to import a file for the wrong robot. Found" << robotName << "instead of" << robot.name();
}
unsigned int build;
#if TINYXML_UNSIGNED_INT_BUG
if (paramsElem->QueryUnsignedAttribute("build", &build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (paramsElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
build = (unsigned)tmp;
#endif
if (build != robot.build()) {
SYNTAX_WARNING(paramsElem->Row()) << "Import a file for a different robot build. Found" << build << "instead of" << robot.build();
}
ParamList params;
for (TiXmlElement* childElem = paramsElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
params.push_back(*it);
}
}
return params;
}
RobotInterface::Action RobotInterface::XMLReader::Private::readActionTag(TiXmlElement* actionElem)
{
if (actionElem->ValueStr().compare("action") != 0) {
SYNTAX_ERROR(actionElem->Row()) << "Expected \"action\". Found" << actionElem->ValueStr();
}
Action action;
if (actionElem->QueryValueAttribute<ActionPhase>("phase", &action.phase()) != TIXML_SUCCESS || action.phase() == ActionPhaseUnknown) {
SYNTAX_ERROR(actionElem->Row()) << "\"action\" element should contain the \"phase\" attribute [startup|interrupt{1,2,3}|shutdown]";
}
if (actionElem->QueryValueAttribute<ActionType>("type", &action.type()) != TIXML_SUCCESS || action.type() == ActionTypeUnknown) {
SYNTAX_ERROR(actionElem->Row()) << "\"action\" element should contain the \"type\" attribute [configure|calibrate|attach|abort|detach|park|custom]";
}
// yDebug() << "Found action [ ]";
#if TINYXML_UNSIGNED_INT_BUG
if (actionElem->QueryUnsignedAttribute("level", &action.level()) != TIXML_SUCCESS) {
SYNTAX_ERROR(actionElem->Row()) << "\"action\" element should contain the \"level\" attribute [unsigned int]";
}
#else
int tmp;
if (actionElem->QueryIntAttribute("level", &tmp) != TIXML_SUCCESS || tmp < 0) {
SYNTAX_ERROR(actionElem->Row()) << "\"action\" element should contain the \"level\" attribute [unsigned int]";
}
action.level() = (unsigned)tmp;
#endif
for (TiXmlElement* childElem = actionElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
action.params().push_back(*it);
}
}
// yDebug() << action;
return action;
}
/**
* Parses the expression from the given token stack
*/
int CodeParser::parseExpression( Scope* scope, TokenStack* stack ) {
int errorCode = 0;
Token* t;
// gather the arguments up to the end of the statement
TokenStack* substack = getStackToEndOfStatement( stack );
// get the argument list
while( !errorCode && substack->hasNext() && ( t = substack->next() ) ) {
printf( "CodeParser::parseExpression: '%s' [%s]\n", t->getText(), t->getTypeName() );
// handle the token by type
switch( t->getType() ) {
case tok::ALPHA_NUMERIC:
// is the argument a field?
if( scope->lookupField( t->getText() ) ) {
printf( "CodeParser::parseExpression: Field - [%s]\n", t->getText() );
}
// is it a method call?
else if( substack->hasNext() && substack->peek()->getType() == tok::PARENTHESIS_BLOCK ) {
errorCode = parseExpression_MethodCall( t->getText(), scope, substack );
}
break;
case tok::DECIMAL:
case tok::INTEGER:
break;
case tok::DQUOTE_TEXT:
break;
case tok::SQUOTE_TEXT:
break;
case tok::OPERATOR:
break;
case tok::PARENTHESIS_BLOCK:
break;
default:
errorCode = -1;
SYNTAX_ERROR( "unexpected token", substack->last() );
}
}
// delete the stack
delete substack;
// return the error code
return errorCode;
}
RobotInterface::Device RobotInterface::XMLReader::Private::readDeviceTag(TiXmlElement *deviceElem)
{
const std::string &valueStr = deviceElem->ValueStr();
if (valueStr.compare("device") != 0) {
SYNTAX_ERROR(deviceElem->Row()) << "Expected \"device\". Found" << valueStr;
}
Device device;
if (deviceElem->QueryStringAttribute("name", &device.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(deviceElem->Row()) << "\"device\" element should contain the \"name\" attribute";
}
// yDebug() << "Found device [" << device.name() << "]";
if (deviceElem->QueryStringAttribute("type", &device.type()) != TIXML_SUCCESS) {
SYNTAX_ERROR(deviceElem->Row()) << "\"device\" element should contain the \"type\" attribute";
}
device.params().push_back(Param("robotName", robot.portprefix().c_str()));
for (TiXmlElement* childElem = deviceElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
if (childElem->ValueStr().compare("action") == 0 ||
childElem->ValueStr().compare("actions") == 0) {
ActionList childActions = readActions(childElem);
for (ActionList::const_iterator it = childActions.begin(); it != childActions.end(); ++it) {
device.actions().push_back(*it);
}
} else {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
device.params().push_back(*it);
}
}
}
// yDebug() << device;
return device;
}
/**
* Parses the source code
*/
int CodeParser::parse( Scope* scope, TokenStack* stack ) {
int errorCode = 0;
Token *t;
// get the command arguments
while( !errorCode && stack->hasNext() && ( t = stack->peek() ) ) {
//printf( "t = %s[%s]\n", t->getTypeName(), t->getText() );
// check situationally
switch( t->getType() ) {
case tok::CODE_BLOCK:
errorCode = parseAnonymuousCodeBlock( scope, ( t = stack->next() ) );
break;
case tok::ASSEMBLY_BLOCK:
errorCode = assemblyParser->parse( scope, stack );
break;
case tok::END_OF_STATEMENT:
t = stack->next();
this->modifiers = 0;
break;
case tok::ALPHA_NUMERIC:
// is the token a keyword?
if( state->isKeyword( t->getText() ) ) {
const char *keyword = stack->next()->getText();
errorCode = parseKeyword( scope, stack, keyword );
}
// is it a field/method declaration?
else if( state->isClass( t->getText() ) ) {
errorCode = parseClassMember( scope, stack );
}
// must be an assignment or method invocation ...
else {
errorCode = parseExpression( scope, stack );
}
break;
// anything else ...
default:
SYNTAX_ERROR( "unrecognized command", t );
errorCode = -1;
break;
}
}
return errorCode;
}
struct Statement* parse_statement(const struct Symbol** symbols, int symbolCount, int* symbolsConsumed)
{
struct Statement* statement;
// Make sure there are symbols left
if (symbolCount <= 0)
{
SYNTAX_ERROR("Unexpected EOF when looking for statement");
}
// First try to identify a print statement
if (symbols[0]->type == SYMBOL_PRINT)
{
struct PrintStatement* printstatement = (struct PrintStatement*)calloc(1, sizeof(struct PrintStatement));
statement = &printstatement->base;
PRINTF_AST("PRINTSTATEMENT");
PRINTF_AST_ENTER();
printstatement->base.type = STATEMENT_TYPE_PRINT;
printstatement->expression = parse_expression(symbols + 1, symbolCount - 1, symbolsConsumed);
*symbolsConsumed += 1; // add print keyword
PRINTF_AST_LEAVE();
}
// Second try to identify an assignment statement
else if (symbols[0]->type == SYMBOL_IDENTIFIER && symbols[1]->type == SYMBOL_EQUALS)
{
struct AssignmentStatement* assignmentstatement = (struct AssignmentStatement*)calloc(1, sizeof(struct AssignmentStatement));
statement = &assignmentstatement->base;
PRINTF_AST("ASSIGNSTATEMENT");
PRINTF_AST_ENTER();
assignmentstatement->base.type = STATEMENT_TYPE_ASSIGNMENT;
assignmentstatement->identifier = ((struct IdentifierSymbol*)symbols[0])->name;
assignmentstatement->expression = parse_expression(symbols + 2, symbolCount - 2, symbolsConsumed);
*symbolsConsumed += 2; // add identifier and equals
PRINTF_AST_LEAVE();
}
// parse error otherwise
else
{
SYNTAX_ERROR_AT(symbols[0], "Invalid beginning of statement");
}
return statement;
}
RobotInterface::Param RobotInterface::XMLReader::Private::readParamTag(TiXmlElement *paramElem)
{
if (paramElem->ValueStr().compare("param") != 0) {
SYNTAX_ERROR(paramElem->Row()) << "Expected \"param\". Found" << paramElem->ValueStr();
}
Param param;
if (paramElem->QueryStringAttribute("name", ¶m.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(paramElem->Row()) << "\"param\" element should contain the \"name\" attribute";
}
// yDebug() << "Found param [" << param.name() << "]";
const char *valueText = paramElem->GetText();
if (!valueText) {
SYNTAX_ERROR(paramElem->Row()) << "\"param\" element should have a value [ \"name\" = " << param.name() << "]";
}
param.value() = valueText;
// yDebug() << param;
return param;
}
RobotInterface::Param RobotInterface::XMLReader::Private::readGroupTag(TiXmlElement* groupElem)
{
if (groupElem->ValueStr().compare("group") != 0) {
SYNTAX_ERROR(groupElem->Row()) << "Expected \"group\". Found" << groupElem->ValueStr();
}
Param group(true);
if (groupElem->QueryStringAttribute("name", &group.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(groupElem->Row()) << "\"group\" element should contain the \"name\" attribute";
}
// yDebug() << "Found group [" << group.name() << "]";
ParamList params;
for (TiXmlElement* childElem = groupElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
params.push_back(*it);
}
}
if (params.empty()) {
SYNTAX_ERROR(groupElem->Row()) << "\"group\" cannot be empty";
}
std::string groupString;
for (ParamList::iterator it = params.begin(); it != params.end(); ++it) {
if (!groupString.empty()) {
groupString += " ";
}
groupString += "(" + it->name() + " " + it->value() + ")";
}
group.value() = groupString;
return group;
}
RobotInterface::ParamList RobotInterface::XMLReader::Private::readSubDeviceTag(TiXmlElement *subDeviceElem)
{
if (subDeviceElem->ValueStr().compare("subdevice") != 0) {
SYNTAX_ERROR(subDeviceElem->Row()) << "Expected \"subdevice\". Found" << subDeviceElem->ValueStr();
}
ParamList params;
//FIXME Param featIdParam;
Param subDeviceParam;
//FIXME featIdParam.name() = "FeatId";
subDeviceParam.name() = "subdevice";
//FIXME if (subDeviceElem->QueryStringAttribute("name", &featIdParam.value()) != TIXML_SUCCESS) {
// SYNTAX_ERROR(subDeviceElem->Row()) << "\"subdevice\" element should contain the \"name\" attribute";
// }
if (subDeviceElem->QueryStringAttribute("type", &subDeviceParam.value()) != TIXML_SUCCESS) {
SYNTAX_ERROR(subDeviceElem->Row()) << "\"subdevice\" element should contain the \"type\" attribute";
}
//FIXME params.push_back(featIdParam);
params.push_back(subDeviceParam);
// yDebug() << "Found subdevice [" << params.at(0).value() << "]";
for (TiXmlElement* childElem = subDeviceElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
params.push_back(Param(it->name(), it->value()));
}
}
// yDebug() << params;
return params;
}
/**
* Updates the current access modifier
*/
int CodeParser::updateModifiers( char newModifier, TokenStack* stack ) {
// capture the unmodified state
const char oldModifier = modifiers;
// update the modifiers
modifiers |= newModifier;
// error if no change
if( ( newModifier != 0 ) && ( modifiers == oldModifier ) ) {
SYNTAX_ERROR( "duplicate modifier", stack->last() );
return -1;
}
return 0;
}
struct StatementList* parse_statementlist(const struct Symbol** symbols, int symbolCount, int* symbolsConsumed)
{
struct StatementList* statementlist = (struct StatementList*)calloc(1, sizeof(struct StatementList));
// Make sure there are symbols left
if (symbolCount <= 0)
{
SYNTAX_ERROR("Unexpected EOF when looking for statement list");
}
PRINTF_AST("STATEMENTLIST");
PRINTF_AST_ENTER();
// Start by pulling out the next statement
int symbolsInStatement = 0;
statementlist->statement = parse_statement(symbols, symbolCount, &symbolsInStatement);
// If that is not the end of the symbols, parse more statements
if (symbols[symbolsInStatement]->type != SYMBOL_EOF)
{
if (symbols[symbolsInStatement]->type == SYMBOL_EOL)
{
int symbolsInStatementList = 0;
statementlist->statementlist =
parse_statementlist(
&symbols[symbolsInStatement+1],
(symbolCount - 1) - symbolsInStatement,
&symbolsInStatementList);
*symbolsConsumed = symbolsInStatement + 1 /* newline */ + symbolsInStatementList;
}
else
{
SYNTAX_ERROR_AT(symbols[symbolCount-1], "Expected newline or EOF at end of statement");
}
}
// If that is the end of the symbols, the list is complete
else
{
*symbolsConsumed = symbolsInStatement;
}
PRINTF_AST_LEAVE();
return statementlist;
}
/**
* Parses the method call within an expression
*/
int CodeParser::parseExpression_MethodCall( const char* methodName, Scope* scope, TokenStack* stack ) {
int errorCode = 0;
list<Parameter*> params;
// parse the method parameters
if( ( errorCode = parseMethodParameters( scope, stack, params ) ) ) {
return errorCode;
}
// generate the method signature
const char* signature = generateSignature( methodName, params );
// lookup the method
Method* method = lookupMethod( scope, signature );
if( method == NULL ) {
// generate the error message
char* errorMessage = new char[256];
sprintf( errorMessage, "Method '%s' could not be found", signature );
// display the error message
SYNTAX_ERROR( errorMessage, stack->last() );
delete errorMessage;
return -1;
}
else {
printf( "CodeParser::parseExpression: Method call - [%s]\n", signature );
// get the code buffer
CodeBuffer* cb = scope->getCodeBuffer();
// parse the method parameter
// setup the method call
// instruction: PARAMS methodParams
// instruction: INVOKE methodSig
OFFSET_T offset1 = cb->putInstruction( PARAMS << A_OP );
OFFSET_T offset2 = cb->putInstruction( INVOKE << A_OP );
// add the parameter and reference data
scope->addParameterData( new ParameterData( state->nextParamId(), params, offset1 ) );
scope->addReferenceData( new ReferenceData( state->nextDataRefId(), signature, offset2 ) );
return 0;
}
}
/**
* Parses the keyword "return" from the given token stack
*/
int CodeParser::parseKeyword_Return( Scope* scope, TokenStack* stack ) {
// get the scope type
ScopeType type = scope->getScopeType();
if( type != METHOD_SCOPE ) {
SYNTAX_ERROR( "Statement is only permissible within a method block", stack->last() );
return -1;
}
// get the method instance
Method* method = (Method*)scope;
// TODO support "return value" syntax
// add the instruction
INSTRUCTION_T instruction = RET << A_OP;
method->getCodeBuffer()->putInstruction( instruction );
return 0;
}
RobotInterface::ActionList RobotInterface::XMLReader::Private::readActions(TiXmlElement *actionsElem)
{
const std::string &valueStr = actionsElem->ValueStr();
if (valueStr.compare("action") != 0 &&
valueStr.compare("actions") != 0)
{
SYNTAX_ERROR(actionsElem->Row()) << "Expected \"action\" or \"actions\". Found" << valueStr;
}
if (valueStr.compare("action") == 0) {
ActionList actionList;
actionList.push_back(readActionTag(actionsElem));
return actionList;
}
// "actions"
return readActionsTag(actionsElem);
}
RobotInterface::ParamList RobotInterface::XMLReader::Private::readParamListTag(TiXmlElement* paramListElem)
{
if (paramListElem->ValueStr().compare("paramlist") != 0) {
SYNTAX_ERROR(paramListElem->Row()) << "Expected \"paramlist\". Found" << paramListElem->ValueStr();
}
ParamList params;
Param mainparam;
if (paramListElem->QueryStringAttribute("name", &mainparam.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(paramListElem->Row()) << "\"paramlist\" element should contain the \"name\" attribute";
}
params.push_back(mainparam);
// yDebug() << "Found paramlist [" << params.at(0).name() << "]";
for (TiXmlElement* childElem = paramListElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
if (childElem->ValueStr().compare("elem") != 0) {
SYNTAX_ERROR(childElem->Row()) << "Expected \"elem\". Found" << childElem->ValueStr();
}
Param childParam;
if (childElem->QueryStringAttribute("name", &childParam.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(childElem->Row()) << "\"elem\" element should contain the \"name\" attribute";
}
const char *valueText = childElem->GetText();
if (!valueText) {
SYNTAX_ERROR(childElem->Row()) << "\"elem\" element should have a value [ \"name\" = " << childParam.name() << "]";
}
childParam.value() = valueText;
params.push_back(childParam);
}
if (params.empty()) {
SYNTAX_ERROR(paramListElem->Row()) << "\"paramlist\" cannot be empty";
}
// +1 skips the first element, that is the main param
for (ParamList::iterator it = params.begin() + 1; it != params.end(); ++it) {
Param ¶m = *it;
params.at(0).value() += (params.at(0).value().empty() ? "(" : " ") + param.name();
}
params.at(0).value() += ")";
// yDebug() << params;
return params;
}
/**
* Compiles a field declaration
*/
int CodeParser::parseField( Scope* scope, const char* name, TypeReference* type, TokenStack* stack ) {
int errorCode = 0;
Token *t1, *t2;
const char* data;
// create the field, and attach it to the class
Field* field = new Field( name, type, this->modifiers );
printf( "field '%s' type='%s' modifiers = %s\n", name, type->getName(), toBinary( this->modifiers ) );
// reset the modifier for the current scope
this->modifiers = 0;
// is there also an assignment?
if( stack->hasNext() && !strcmp( stack->peek()->getText(), "=" ) ) {
// capture the
t1 = stack->next();
// there must be another token
if( !( t2 = stack->next() ) ) {
SYNTAX_ERROR( "Unexpected end of statement", t1 );
return NULL;
}
switch( t2->getType() ) {
case tok::SQUOTE_TEXT:;
case tok::DQUOTE_TEXT:
data = t2->getText();
setupAssignment( scope, field, data );
break;
default:
parseExpression( scope, stack );
}
}
// add the field to the scope
if( !errorCode ) {
scope->addField( field );
}
// TODO there may be an expression: int x = 5 * y + 1;
return errorCode;
}
RobotInterface::DeviceList RobotInterface::XMLReader::Private::readDevices(TiXmlElement *devicesElem)
{
const std::string &valueStr = devicesElem->ValueStr();
if (valueStr.compare("device") != 0 &&
valueStr.compare("devices") != 0)
{
SYNTAX_ERROR(devicesElem->Row()) << "Expected \"device\" or \"devices\". Found" << valueStr;
}
if (valueStr.compare("device") == 0) {
// yDebug() << valueStr;
DeviceList deviceList;
deviceList.push_back(readDeviceTag(devicesElem));
return deviceList;
}
// "devices"
return readDevicesTag(devicesElem);
}