+++ /dev/null
-#include <stdio.h>
-#include <stdarg.h>
-#include <assert.h>
-#include <string>
-#include <map>
-#include <stack>
-#include "mparser.h"
-#include "machine.h"
-
-enum ValueType { VAL_NUM, VAL_VEC, VAL_STR };
-struct Value {
- ValueType type;
- std::string s;
- float v[4];
-};
-
-struct ParserState;
-
-typedef bool (*Func)(ParserState*);
-
-struct FuncDesc {
- Func func;
- int arity;
-};
-
-struct ParserState {
- FILE *fp;
- const char *fname;
- int nline, nerrors;
- Machine *mcn;
-
- int nextc;
- int savedc;
-
- std::stack<Value> val;
- std::map<std::string, Value> var;
- std::map<std::string, FuncDesc> func;
-
- std::map<std::string, Gear*> gears;
- std::vector<Gear*> cur_gear;
- Motor *cur_motor;
-};
-
-#define MAX_ID_LEN 31
-
-static bool machine(ParserState *ps);
-static bool expect(ParserState *ps, char c);
-static bool statement(ParserState *ps);
-static bool expression(ParserState *ps);
-static bool term(ParserState *ps);
-static bool vector(ParserState *ps);
-static bool function(ParserState *ps, const char *name);
-
-static char *get_ident(ParserState *ps, char *buf, int bsz);
-static bool get_number(ParserState *ps, float *num);
-static char *get_string(ParserState *ps, char *buf, int bsz);
-
-static bool nextchar(ParserState *ps);
-static void putback(ParserState *ps, char c);
-
-static void errmsg(ParserState *ps, const char *fmt, ...);
-static void expected(ParserState *ps, const char *str);
-
-static void set_var(ParserState *ps, const char *name, const Value &value);
-static bool have_var(ParserState *ps, const char *name);
-static const Value &get_var(ParserState *ps, const char *name);
-
-static void set_func(ParserState *ps, const char *name, Func func, int nargs = 0);
-static bool have_func(ParserState *ps, const char *name);
-static Func get_func(ParserState *ps, const char *name);
-static int get_func_arity(ParserState *ps, const char *name);
-
-static Gear *begin_gear(ParserState *ps);
-static bool end_gear(ParserState *ps);
-static Gear *this_gear(ParserState *ps);
-static Gear *find_gear(ParserState *ps, const char *name);
-static void update_gear_vars(ParserState *ps, Gear *gear);
-static bool set_gear_var(Gear *gear, const char *name, const Value &val);
-
-static void update_motor_vars(ParserState *ps, Motor *motor);
-static bool set_motor_var(ParserState *ps, Motor *motor, const char *name, const Value &val);
-
-// built-in functions
-static bool func_adjacent(ParserState *ps);
-static bool func_coaxial(ParserState *ps);
-
-
-bool parse_machine(Machine *mcn, const char *fname)
-{
- FILE *fp = fopen(fname, "rb");
- if(!fp) return false;
-
- ParserState pstate;
- pstate.fname = fname;
- pstate.nline = 1;
- pstate.nerrors = 0;
- pstate.fp = fp;
- pstate.mcn = mcn;
- pstate.nextc = 0;
- pstate.savedc = -1;
- pstate.cur_motor = 0;
-
- // init built-in function table
- set_func(&pstate, "adjacent", func_adjacent, 2);
- set_func(&pstate, "coaxial", func_coaxial, 2);
-
- nextchar(&pstate);
- bool res = machine(&pstate);
- fclose(fp);
- return res;
-}
-
-static bool machine(ParserState *ps)
-{
- char tok[MAX_ID_LEN + 1];
- if(strcmp(get_ident(ps, tok, sizeof tok), "machine") != 0) {
- expected(ps, "machine");
- return false;
- }
- expect(ps, '{');
-
- while(ps->nextc != '}') {
- if(!statement(ps)) {
- return false;
- }
- }
- expect(ps, '}');
- return true;
-}
-
-static bool expect(ParserState *ps, char c)
-{
- if(c != ps->nextc) {
- char buf[2] = {0, 0};
- buf[0] = c;
- expected(ps, buf);
- return false;
- }
- nextchar(ps);
- return true;
-}
-
-static bool statement(ParserState *ps)
-{
- char id[MAX_ID_LEN + 1];
- if(!get_ident(ps, id, sizeof id)) {
- return false;
- }
-
- if(strcmp(id, "gear") == 0) {
- if(!expect(ps, '{')) {
- return false;
- }
-
- Gear *gear = begin_gear(ps);
- if(!gear) return false;
-
- update_gear_vars(ps, gear);
-
- while(ps->nextc != '}') {
- if(!statement(ps)) {
- return false;
- }
- }
- expect(ps, '}');
-
- if(!end_gear(ps)) {
- return false;
- }
- return true;
- }
-
- if(strcmp(id, "motor") == 0) {
- if(!expect(ps, '{')) {
- return false;
- }
- if(ps->cur_motor) {
- errmsg(ps, "nested motors not allowed");
- return false;
- }
-
- ps->cur_motor = new Motor;
- update_motor_vars(ps, ps->cur_motor);
-
- while(ps->nextc != '}') {
- if(!statement(ps)) {
- return false;
- }
- }
- expect(ps, '}');
-
- ps->mcn->add_motor(ps->cur_motor->drive, ps->cur_motor->speed);
- delete ps->cur_motor;
- ps->cur_motor = 0;
- return true;
- }
-
- if(ps->nextc == '=') {
- expect(ps, '=');
- if(!expression(ps)) {
- return false;
- }
- expect(ps, ';');
-
- set_var(ps, id, ps->val.top());
- ps->val.pop();
- return true;
- }
-
- expected(ps, "expression");
- return false;
-}
-
-static bool expression(ParserState *ps)
-{
- return term(ps); // TODO expand
-}
-
-static bool term(ParserState *ps)
-{
- if(ps->nextc == '+') {
- expect(ps, '+');
- return expression(ps);
- }
- if(ps->nextc == '-') {
- expect(ps, '-');
- if(!expression(ps)) {
- return false;
- }
-
- Value &v = ps->val.top();
- switch(v.type) {
- case VAL_VEC:
- v.v[3] = -v.v[3];
- v.v[2] = -v.v[2];
- v.v[1] = -v.v[1];
- case VAL_NUM:
- v.v[0] = -v.v[0];
- break;
-
- default:
- expected(ps, "number or vector after an unary -");
- return false;
- }
- return true;
- }
- if(isalpha(ps->nextc)) {
- char buf[MAX_ID_LEN];
- if(!get_ident(ps, buf, sizeof buf)) {
- return false;
- }
-
- if(ps->nextc == '(') {
- if(!function(ps, buf)) {
- return false;
- }
- } else if(have_var(ps, buf)) {
- ps->val.push(get_var(ps, buf));
- } else {
- errmsg(ps, "unknown identifier: %s", buf);
- return false;
- }
- return true;
- }
- if(isdigit(ps->nextc)) {
- float num;
- if(!get_number(ps, &num)) {
- return false;
- }
-
- Value v;
- v.type = VAL_NUM;
- v.v[0] = num;
- ps->val.push(v);
- return true;
- }
- if(ps->nextc == '[') {
- return vector(ps);
- }
- if(ps->nextc == '"') {
- char buf[MAX_ID_LEN];
- if(!get_string(ps, buf, sizeof buf)) {
- return false;
- }
-
- Value v;
- v.type = VAL_STR;
- v.s = buf;
- ps->val.push(v);
- return true;
- }
-
- expected(ps, "term");
- return false;
-}
-
-static bool vector(ParserState *ps)
-{
- int nelem;
- if(!expect(ps, '[') ||
- !expression(ps) ||
- !expect(ps, ',') ||
- !expression(ps) ||
- !expect(ps, ',') ||
- !expression(ps)) {
- return false;
- }
-
- if(ps->nextc == ']') {
- expect(ps, ']');
- nelem = 3;
- } else {
- if(!expect(ps, ',') || !expression(ps) || !expect(ps, ']')) {
- return false;
- }
- nelem = 4;
- }
-
- Value vec;
- vec.type = VAL_VEC;
- vec.v[3] = 1.0f;
-
- for(int i=0; i<nelem; i++) {
- const Value &tmp = ps->val.top();
- if(tmp.type != VAL_NUM) {
- expected(ps, "numbers as vector elements");
- return false;
- }
- vec.v[nelem - i - 1] = tmp.v[0];
- ps->val.pop();
- }
-
- ps->val.push(vec);
- return true;
-}
-
-static bool function(ParserState *ps, const char *name)
-{
- if(!expect(ps, '(')) {
- return false;
- }
-
- if(!have_func(ps, name)) {
- errmsg(ps, "unknown function: %s", name);
- return false;
- }
-
- int nargs = 0;
- while(ps->nextc != ')') {
- if(nargs && !expect(ps, ',')) {
- return false;
- }
- if(!expression(ps)) {
- return false;
- }
- ++nargs;
- }
- expect(ps, ')');
-
- int arity = get_func_arity(ps, name);
- if(arity != nargs) {
- errmsg(ps, "function %s expects %d arguments", name, arity);
- return false;
- }
- Func func = get_func(ps, name);
- assert(func);
-
- if(!func(ps)) {
- errmsg(ps, "function %s failed", name);
- return false;
- }
- return true;
-}
-
-static char *get_ident(ParserState *ps, char *buf, int bsz)
-{
- char *ptr = buf;
- if(!isalpha(ps->nextc)) {
- expected(ps, "identifier");
- return 0;
- }
- while(isalnum(ps->nextc) || ps->nextc == '_') {
- if(bsz > 1) {
- *ptr++ = ps->nextc;
- --bsz;
- }
- nextchar(ps);
- }
- *ptr = 0;
- printf("get_ident -> \"%s\"\n", buf);
- return buf;
-}
-
-static bool get_number(ParserState *ps, float *num)
-{
- char buf[256], *ptr = buf, *end = buf + sizeof buf;
- bool found_point = false;
-
- if(!isdigit(ps->nextc)) {
- expected(ps, "number");
- return false;
- }
-
- while(isdigit(ps->nextc) || (ps->nextc == '.' && !found_point)) {
- if(ptr < end) {
- *ptr++ = ps->nextc;
- }
- if(ps->nextc == '.') {
- found_point = true;
- }
- nextchar(ps);
- }
- *ptr = 0;
-
- *num = atof(buf);
- printf("get_number -> %f\n", *num);
- return true;
-}
-
-static char *get_string(ParserState *ps, char *buf, int bsz)
-{
- char *ptr = buf;
- if(!expect(ps, '"')) {
- return 0;
- }
-
- while(ps->nextc != -1 && ps->nextc != '"') {
- if(bsz > 1) {
- *ptr++ = ps->nextc;
- --bsz;
- }
- if((ps->nextc = fgetc(ps->fp)) == '\n') {
- ++ps->nline;
- }
- }
- *ptr = 0;
-
- if(ps->nextc == -1) {
- return 0;
- }
- nextchar(ps);
-
- printf("get_string -> \"%s\"\n", buf);
- return buf;
-}
-
-static bool skip_line(ParserState *ps)
-{
- int c;
- while((c = fgetc(ps->fp)) != -1 && c != '\n');
- if(c != -1) {
- ps->nextc = fgetc(ps->fp);
- return true;
- }
- return false;
-}
-
-static bool nextchar(ParserState *ps)
-{
- if(ps->savedc != -1) {
- ps->nextc = ps->savedc;
- ps->savedc = -1;
- return true;
- }
-
- while((ps->nextc = fgetc(ps->fp)) != -1) {
- if(ps->nextc == '#') {
- if(!skip_line(ps)) {
- return false;
- }
- ++ps->nline;
- }
- if(!isspace(ps->nextc)) {
- break;
- }
- if(ps->nextc == '\n') {
- ++ps->nline;
- }
- }
-
- /*if(ps->nextc != -1) {
- printf("DBG: nextchar -> %c\n", ps->nextc);
- } else {
- printf("DBG: nextchar -> EOF\n");
- }*/
- return ps->nextc != -1;
-}
-
-static void putback(ParserState *ps, char c)
-{
- ps->savedc = ps->nextc;
- ps->nextc = c;
-}
-
-static void errmsg(ParserState *ps, const char *fmt, ...)
-{
- fprintf(stderr, "%s line %d error: ", ps->fname, ps->nline);
-
- va_list ap;
- va_start(ap, fmt);
- vfprintf(stderr, fmt, ap);
- va_end(ap);
-
- fputc('\n', stderr);
-}
-
-static void expected(ParserState *ps, const char *str)
-{
- errmsg(ps, "expected: %s", str);
- ++ps->nerrors;
-}
-
-static void set_var(ParserState *ps, const char *name, const Value &value)
-{
- ps->var[name] = value;
-
- Gear *gear = this_gear(ps);
- if(gear) {
- set_gear_var(gear, name, value);
- }
-
- if(ps->cur_motor) {
- set_motor_var(ps, ps->cur_motor, name, value);
- }
-}
-
-static bool have_var(ParserState *ps, const char *name)
-{
- return ps->var.find(name) != ps->var.end();
-}
-
-static const Value &get_var(ParserState *ps, const char *name)
-{
- return ps->var[name];
-}
-
-static void set_func(ParserState *ps, const char *name, Func func, int nargs)
-{
- FuncDesc fdesc;
- fdesc.func = func;
- fdesc.arity = nargs;
- ps->func[name] = fdesc;
-}
-
-static bool have_func(ParserState *ps, const char *name)
-{
- return ps->func.find(name) != ps->func.end();
-}
-
-static Func get_func(ParserState *ps, const char *name)
-{
- return ps->func[name].func;
-}
-
-static int get_func_arity(ParserState *ps, const char *name)
-{
- return ps->func[name].arity;
-}
-
-static void print_value(const Value &val, FILE *fp)
-{
- switch(val.type) {
- case VAL_NUM:
- fprintf(fp, "%f", val.v[0]);
- break;
-
- case VAL_VEC:
- fprintf(fp, "[%f %f %f %f]", val.v[0], val.v[1], val.v[2], val.v[3]);
- break;
-
- case VAL_STR:
- fprintf(fp, "\"%s\"", val.s.c_str());
- break;
-
- default:
- fprintf(fp, "<invalid>");
- }
-}
-
-// Gear-specific stuff
-
-static Gear *begin_gear(ParserState *ps)
-{
- Gear *res = new Gear;
- ps->cur_gear.push_back(res);
- return res;
-}
-
-static bool end_gear(ParserState *ps)
-{
- if(ps->cur_gear.empty()) {
- errmsg(ps, "parser error: unbalanced end_gear");
- return false;
- }
- Gear *gear = ps->cur_gear.back();
- ps->cur_gear.pop_back();
-
- printf("DBG: end_gear: %s\n", gear->name.c_str());
-
- if(gear->name.empty() || ps->gears[gear->name]) {
- char buf[32];
- sprintf(buf, "gear%04d", (int)ps->gears.size());
- gear->name = buf;
- }
- printf("DBG: adding gear: %s\n", gear->name.c_str());
- ps->gears[gear->name] = gear;
- ps->mcn->add_gear(gear);
-
- if(!ps->cur_gear.empty()) {
- ps->cur_gear.back()->attach(gear);
- }
- return true;
-}
-
-static Gear *this_gear(ParserState *ps)
-{
- return ps->cur_gear.empty() ? 0 : ps->cur_gear.back();
-}
-
-static Gear *find_gear(ParserState *ps, const char *name)
-{
- // search progressively wider lexical scopes
- std::vector<Gear*>::const_reverse_iterator it = ps->cur_gear.rbegin();
- while(it != ps->cur_gear.rend()) {
- Gear *g = *it++;
- if(g->name == std::string(name)) {
- return g;
- }
- }
-
- return ps->gears[name];
-}
-
-static void update_gear_vars(ParserState *ps, Gear *gear)
-{
- std::map<std::string, Value>::const_iterator it = ps->var.begin();
- while(it != ps->var.end()) {
- set_gear_var(gear, it->first.c_str(), it->second);
- ++it;
- }
-}
-
-#define ASSERT_TYPE(v, t) \
- do { \
- if((v).type != (t)) { \
- fprintf(stderr, "type mismatch while trying to set %s to value: ", name); \
- print_value(val, stderr); \
- fputc('\n', stderr); \
- return false; \
- } \
- } while(0)
-
-#define VVEC3(val) Vec3((val).v[0], (val).v[1], (val).v[2])
-#define VVEC4(val) Vec4((val).v[0], (val).v[1], (val).v[2], (val).v[3])
-
-static bool set_gear_var(Gear *gear, const char *name, const Value &val)
-{
- if(strcmp(name, "name") == 0) {
- ASSERT_TYPE(val, VAL_STR);
- gear->name = val.s;
-
- } else if(strcmp(name, "position") == 0) {
- ASSERT_TYPE(val, VAL_VEC);
- gear->pos = VVEC3(val);
-
- } else if(strcmp(name, "plane") == 0) {
- ASSERT_TYPE(val, VAL_VEC);
- gear->axis = VVEC3(val);
- gear->pdist = val.v[3];
- printf("setting plane eqn: %f %f %f %f\n", val.v[0], val.v[1], val.v[2], val.v[3]);
-
- } else if(strcmp(name, "thickness") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- gear->thickness = val.v[0];
-
- } else if(strcmp(name, "teeth") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- gear->set_teeth(val.v[0]); // set teeth and recalc radius
-
- } else if(strcmp(name, "teeth_length") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- gear->teeth_length = val.v[0];
-
- } else if(strcmp(name, "pitch") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- gear->set_teeth(gear->nteeth, val.v[0]); // set pitch and recalc radius
-
- } else if(strcmp(name, "color") == 0) {
- ASSERT_TYPE(val, VAL_VEC);
- gear->color = VVEC3(val);
-
- } else if(strcmp(name, "roughness") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- gear->roughness = val.v[0];
-
- } else {
- return false;
- }
-
- return true;
-}
-
-
-// motor stuff
-
-static void update_motor_vars(ParserState *ps, Motor *motor)
-{
- std::map<std::string, Value>::const_iterator it = ps->var.begin();
- while(it != ps->var.end()) {
- set_motor_var(ps, motor, it->first.c_str(), it->second);
- ++it;
- }
-}
-
-static bool set_motor_var(ParserState *ps, Motor *motor, const char *name, const Value &val)
-{
- if(strcmp(name, "drive") == 0) {
- ASSERT_TYPE(val, VAL_STR);
- Gear *gear = ps->gears[val.s];
- if(!gear) {
- errmsg(ps, "undefined gear: %s", val.s.c_str());
- return false;
- }
- int idx = ps->mcn->get_gear_index(gear);
- assert(idx >= 0);
- motor->drive = idx;
-
- } else if(strcmp(name, "speed") == 0) {
- ASSERT_TYPE(val, VAL_NUM);
- motor->speed = val.v[0];
-
- } else {
- return false;
- }
- return true;
-}
-
-
-// built-in functions
-static bool func_adjacent(ParserState *ps)
-{
- Value val_angle = ps->val.top(); ps->val.pop();
- Value val_gear_name = ps->val.top(); ps->val.pop();
-
- if(val_gear_name.type != VAL_STR) {
- expected(ps, "gear name (string) as 1st arg to adjacent");
- return false;
- }
- if(val_angle.type != VAL_NUM) {
- expected(ps, "angle as 2nd arg to adjacent");
- return false;
- }
-
- Gear *gthis = this_gear(ps);
- if(!gthis) {
- errmsg(ps, "adjacent: called outside of a gear block");
- return false;
- }
-
- Gear *gother = ps->gears[val_gear_name.s];
- if(!gother) {
- errmsg(ps, "adjacent: gear \"%s\" not found", val_gear_name.s.c_str());
- return false;
- }
-
- Mat4 xform;
- xform.rotation(deg_to_rad(val_angle.v[0]), gother->axis);
- Vec3 dir = xform * Vec3(0, 1, 0);
-
- float sum_radii = gthis->radius + gother->radius;
- float avg_teeth_len = (gthis->teeth_length + gother->teeth_length) * 0.5;
- Vec3 pos = gother->pos + dir * (sum_radii - avg_teeth_len * 0.75);
-
- Value res;
- res.type = VAL_VEC;
- res.v[0] = pos.x;
- res.v[1] = pos.y;
- res.v[2] = pos.z;
- ps->val.push(res);
- return true;
-}
-
-static bool func_coaxial(ParserState *ps)
-{
- Value val_dist = ps->val.top(); ps->val.pop();
- Value val_gear_name = ps->val.top(); ps->val.pop();
-
- if(val_gear_name.type != VAL_STR) {
- expected(ps, "gear name (string) as 1st arg to func_coaxial");
- return false;
- }
- if(val_dist.type != VAL_NUM) {
- expected(ps, "stacking distance as 2nd arg to func_coaxial");
- return false;
- }
-
- Gear *gthis = this_gear(ps);
- if(!gthis) {
- errmsg(ps, "coaxial: called outside of a gear block");
- return false;
- }
-
- Gear *gother = find_gear(ps, val_gear_name.s.c_str());
- if(!gother) {
- errmsg(ps, "coaxial: gear \"%s\" not found", val_gear_name.s.c_str());
- return false;
- }
-
- float avg_thickness = (gthis->thickness + gother->thickness) * 0.5;
- Vec3 pos = gother->pos + gother->axis * val_dist.v[0] * avg_thickness;
-
- Value res;
- res.type = VAL_VEC;
- res.v[0] = pos.x;
- res.v[1] = pos.y;
- res.v[2] = pos.z;
- ps->val.push(res);
- return true;
-}
projects / laserbrain_demo / blobdiff