mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
move expression's parsing to sw/lib/ocaml
This commit is contained in:
Pascal Brisset
+4
-8
@@ -32,20 +32,16 @@ OCAMLYACC=ocamlyacc
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all: gen_aircraft.out gen_airframe.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out gen_conf_radio_control_ppm.out find_free_msg_id.out
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FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.cmo
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FP_CMO = fp_proc.cmo gen_flight_plan.cmo
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ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
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gen_flight_plan.out : $(FP_CMO) ../lib/ocaml/lib-pprz.cma
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@echo OL $@
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$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma $^
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fp_parser.cmo : fp_parser.cmi fp_syntax.cmi
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fp_proc.cmo : fp_lexer.cmi fp_parser.cmi fp_proc.cmi
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fp_parser.cmi : fp_parser.ml fp_syntax.cmi
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fp_lexer.cmi : fp_syntax.cmi
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fp_lexer.cmo : fp_lexer.cmi
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gen_flight_plan.cmo : fp_parser.cmi fp_proc.cmi
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fp_syntax.cmo : fp_syntax.cmi
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fp_proc.cmo : fp_proc.cmi
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gen_flight_plan.cmo : fp_proc.cmi
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%.out : %.ml Makefile
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@@ -1,36 +0,0 @@
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(*
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$Id$
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*)
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{
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open Fp_parser
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}
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rule token = parse
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[' ' '\t' '\n'] { token lexbuf}
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| "/*"([^'*']|'*'[^'/'])*'*'*'/' { token lexbuf}
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| ['0'-'9']+ { INT (int_of_string (Lexing.lexeme lexbuf)) }
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| ['0'-'9']+'.'['0'-'9']* { FLOAT (float_of_string (Lexing.lexeme lexbuf)) }
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| '$'?['a'-'z' '_' 'A'-'Z'] (['a'-'z' 'A'-'Z' '_' '.' '0'-'9']*) { IDENT (Lexing.lexeme lexbuf) }
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| '\''[^'\'']+'\'' { let s = Lexing.lexeme lexbuf in IDENT (String.sub s 1 (String.length s - 2)) }
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| ',' { COMMA }
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| ';' { SEMICOLON }
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| ':' { COLON }
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| '(' { LP }
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| ')' { RP }
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| '{' { LC }
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| '}' { RC }
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| '[' { LB }
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| ']' { RB }
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| "==" { EQ }
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| "&&" { AND }
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| "||" { OR }
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| ">" { GT }
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| "%" { MOD }
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| ">=" { GEQ }
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| "+" { PLUS }
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| "=" { ASSIGN }
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| "-" { MINUS }
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| "*" { MULT }
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| "/" { DIV }
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| "!" { NOT }
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| eof { EOF }
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@@ -1,53 +0,0 @@
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/* $Id$ */
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%{
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open Fp_syntax
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%}
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%token <int> INT
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%token <float> FLOAT
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%token <string> IDENT
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%token EOF
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%token COMMA SEMICOLON LP RP LC RC LB RB AND COLON OR
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%token EQ GT ASSIGN GEQ NOT
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%token PLUS MINUS
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%token MULT DIV MOD
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%left AND OR /* lowest precedence */
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%left EQ GT ASSIGN GEQ
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%left PLUS MINUS
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%left MULT DIV MOD
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%nonassoc NOT
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%nonassoc UMINUS /* highest precedence */
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%start expression /* the entry point */
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%type <Fp_syntax.expression> expression
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%%
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expression:
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expression GT expression { CallOperator (">",[$1;$3]) }
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| expression GEQ expression { CallOperator (">=",[$1;$3]) }
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| expression EQ expression { CallOperator ("==",[$1;$3]) }
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| expression AND expression { CallOperator ("&&",[$1;$3]) }
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| expression OR expression { CallOperator ("||",[$1;$3]) }
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| expression PLUS expression { CallOperator ("+",[$1;$3]) }
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| expression MINUS expression { CallOperator ("-",[$1;$3]) }
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| expression MULT expression { CallOperator ("*",[$1;$3]) }
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| expression DIV expression { CallOperator ("/",[$1;$3]) }
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| expression MOD expression { CallOperator ("%",[$1;$3]) }
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| MINUS expression %prec UMINUS { CallOperator ("-",[$2]) }
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| NOT expression { CallOperator ("!",[$2]) }
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| INT { Int $1 }
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| FLOAT { Float $1 }
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| IDENT { Ident $1 }
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| IDENT LP Args RP { Call ($1, $3) }
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| LP expression RP { $2 }
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| IDENT LB expression RB { Index ($1, $3) }
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;
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Args: { [] }
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| expression NextArgs { $1::$2 }
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;
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NextArgs: { [] }
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| COMMA expression NextArgs { $2::$3 }
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;
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+5
-5
@@ -28,7 +28,7 @@ open Printf
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module G2D = Geometry_2d
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open Fp_syntax
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open Expr_syntax
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let rec list_split3 = function
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[] -> ([], [], [])
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@@ -38,7 +38,7 @@ let rec list_split3 = function
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let parse_expression = fun s ->
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let lexbuf = Lexing.from_string s in
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try
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Fp_parser.expression Fp_lexer.token lexbuf
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Expr_parser.expression Expr_lexer.token lexbuf
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with
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Failure("lexing: empty token") ->
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fprintf stderr "Lexing error in '%s': unexpected char: '%c' \n"
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@@ -56,7 +56,7 @@ let subst_expression = fun env e ->
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let rec sub = fun e ->
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match e with
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Ident i -> Ident (try List.assoc i env with Not_found -> i)
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| Int _ | Float _ -> e
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| Int _ | Float _ | Field _ -> e
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| Call (i, es) -> Call (i, List.map sub es)
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| CallOperator (i, es) -> CallOperator (i, List.map sub es)
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| Index (i,e) -> Index (i,sub e) in
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@@ -65,7 +65,7 @@ let subst_expression = fun env e ->
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let transform_expression = fun env e ->
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let e' = subst_expression env e in
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Fp_syntax.sprint_expression e'
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Expr_syntax.sprint e'
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let transform_values = fun attribs_not_modified env attribs ->
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@@ -204,7 +204,7 @@ let parse_include = fun dir flight_plan include_xml ->
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and args_assocs = build_assocs "arg" "name" "value" include_xml in
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try
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let proc = ExtXml.parse_file f in
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let proc = ExtXml.parse_file ~noprovedtd:true f in
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let params = List.filter
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(fun x -> ExtXml.tag_is x "param")
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(Xml.children proc) in
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@@ -24,7 +24,7 @@
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*
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*)
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val parse_expression : string -> Fp_syntax.expression
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val parse_expression : string -> Expr_syntax.expression
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val process_paths : Xml.xml -> Xml.xml
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(** [process_paths flight_plan] *)
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@@ -1,90 +0,0 @@
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(*
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$Id$
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Syntax of flight plan expressions
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*)
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open Printf
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type ident = string
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type operator = string
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type expression =
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| Ident of ident
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| Int of int
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| Float of float
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| Call of ident * (expression list)
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| CallOperator of ident * (expression list)
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| Index of ident * expression
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let c_var_of_ident = fun x -> "_var_" ^ x
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let rec sprint_expression = function
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Ident i when i.[0] = '$' -> sprintf "%s" (c_var_of_ident (String.sub i 1 (String.length i - 1)))
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| Ident i -> sprintf "%s" i
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| Int i -> sprintf "%d" i
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| Float i -> sprintf "%f" i
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| CallOperator (op, [e1;e2]) ->
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sprintf "(" ^ sprint_expression e1 ^ op ^ sprint_expression e2 ^ ")"
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| CallOperator (op, [e1]) ->
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sprintf "%s(%s)" op (sprint_expression e1)
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| CallOperator (_,_) -> failwith "Operator should be binary or unary"
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| Call (i, es) ->
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let ses = List.map sprint_expression es in
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sprintf "%s(" i ^ String.concat "," ses ^ ")"
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| Index (i,e) -> sprintf "%s[" i ^ sprint_expression e ^ "]"
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(* Valid functions : FIXME *)
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let functions = [
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"Qdr";
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"And";
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"Or";
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"RcRoll";
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"RcEvent1";
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"RcEvent2";
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"RadOfDeg"]
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(* Valid identifiers : FIXME *)
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let variables = [
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"launch";
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"estimator_z";
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"estimator_flight_time";
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"estimator_hspeed_mod";
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"estimator_theta";
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"circle_count";
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"vsupply";
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"stage_time";
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"stage_time_ds";
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"block_time";
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"SECURITY_ALT";
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"ground_alt"; "GROUND_ALT";
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"TRUE";
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"FALSE";
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"QFU";
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"gps_mode"; "gps_utm_east"; "gps_utm_north"; "gps_utm_zone";
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"nav_utm_east0"; "nav_utm_north0"; "nav_utm_zone0"; "cruise_throttle"; "gps_lost"
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]
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exception Unknown_ident of string
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exception Unknown_operator of string
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exception Unknown_function of string
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let unexpected = fun kind x ->
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fprintf stderr "Warning: unexpected %s in expression: '%s' \n" kind x
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let rec check_expression = fun e ->
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match e with
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Ident i when i.[0] = '$' -> ()
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| Ident i ->
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if not (List.mem i variables) then
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unexpected "ident" i
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| Int _ | Float _ | CallOperator _ -> ()
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| Call (i, es) ->
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if not (List.mem i functions) then
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unexpected "function" i;
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List.iter check_expression es
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| Index (i,e) ->
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if not (List.mem i variables) then
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unexpected "ident" i;
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check_expression e
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@@ -1,48 +0,0 @@
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(*
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* $Id$
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*
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* Syntax of flight plan parsed expressions
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*
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* Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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type ident = string
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type operator = string
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type expression =
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| Ident of ident
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| Int of int
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| Float of float
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| Call of ident * expression list
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| CallOperator of ident * expression list
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| Index of ident * expression
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val c_var_of_ident : ident -> string
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(** Encapsulate a user ident into a C variable *)
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val sprint_expression : expression -> string
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exception Unknown_ident of string
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exception Unknown_operator of string
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exception Unknown_function of string
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val check_expression : expression -> unit
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(** May raise [Unknown_ident], [Unknown_operator] or [Unknown_function]
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exceptions *)
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@@ -50,14 +50,14 @@ let parse = fun s ->
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exit 1 in
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begin
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try
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Fp_syntax.check_expression e
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Expr_syntax.check_expression e
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with
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Fp_syntax.Unknown_operator x -> unexpected "operator" x
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| Fp_syntax.Unknown_ident x -> unexpected "ident" x
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| Fp_syntax.Unknown_function x -> unexpected "function" x
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Expr_syntax.Unknown_operator x -> unexpected "operator" x
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| Expr_syntax.Unknown_ident x -> unexpected "ident" x
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| Expr_syntax.Unknown_function x -> unexpected "function" x
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end
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end;
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Fp_syntax.sprint_expression e
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Expr_syntax.sprint e
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let parsed_attrib = fun xml a ->
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parse (ExtXml.attrib xml a)
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@@ -304,7 +304,7 @@ let rec print_stage = fun index_of_waypoints x ->
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| "for" ->
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let f = gen_label "for" in
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let e = gen_label "endfor" in
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let v = Fp_syntax.c_var_of_ident (ExtXml.attrib x "var")
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let v = Expr_syntax.c_var_of_ident (ExtXml.attrib x "var")
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and from_ = parsed_attrib x "from"
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and to_expr = parsed_attrib x "to" in
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let to_var = v ^ "_to" in
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Block a user