mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 02:53:15 +08:00
Antoine Drouin
91 lines
2.2 KiB
OCaml
91 lines
2.2 KiB
OCaml
(*
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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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