mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
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Fully implemented the console. Console required the additon of a parser written in .jison api and output as command.js which is linked in html. Tested working sending correct JSON packets.
This commit is contained in:
jc4419
parent
44f9d8ce7b
commit
6c221f6d12
681
Control/data/command.js
Normal file
681
Control/data/command.js
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@ -0,0 +1,681 @@
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/* parser generated by jison 0.4.18 */
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/*
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Returns a Parser object of the following structure:
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Parser: {
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yy: {}
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}
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Parser.prototype: {
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yy: {},
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trace: function(),
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symbols_: {associative list: name ==> number},
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terminals_: {associative list: number ==> name},
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productions_: [...],
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performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate, $$, _$),
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table: [...],
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defaultActions: {...},
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parseError: function(str, hash),
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parse: function(input),
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lexer: {
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EOF: 1,
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parseError: function(str, hash),
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setInput: function(input),
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input: function(),
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unput: function(str),
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more: function(),
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less: function(n),
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pastInput: function(),
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upcomingInput: function(),
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showPosition: function(),
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test_match: function(regex_match_array, rule_index),
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next: function(),
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lex: function(),
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begin: function(condition),
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popState: function(),
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_currentRules: function(),
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topState: function(),
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pushState: function(condition),
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options: {
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ranges: boolean (optional: true ==> token location info will include a .range[] member)
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flex: boolean (optional: true ==> flex-like lexing behaviour where the rules are tested exhaustively to find the longest match)
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backtrack_lexer: boolean (optional: true ==> lexer regexes are tested in order and for each matching regex the action code is invoked; the lexer terminates the scan when a token is returned by the action code)
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},
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performAction: function(yy, yy_, $avoiding_name_collisions, YY_START),
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rules: [...],
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conditions: {associative list: name ==> set},
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}
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}
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token location info (@$, _$, etc.): {
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first_line: n,
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last_line: n,
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first_column: n,
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last_column: n,
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range: [start_number, end_number] (where the numbers are indexes into the input string, regular zero-based)
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}
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the parseError function receives a 'hash' object with these members for lexer and parser errors: {
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text: (matched text)
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token: (the produced terminal token, if any)
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line: (yylineno)
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}
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while parser (grammar) errors will also provide these members, i.e. parser errors deliver a superset of attributes: {
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loc: (yylloc)
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expected: (string describing the set of expected tokens)
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recoverable: (boolean: TRUE when the parser has a error recovery rule available for this particular error)
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}
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*/
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var command = (function(){
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var o=function(k,v,o,l){for(o=o||{},l=k.length;l--;o[k[l]]=v);return o};
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var parser = {trace: function trace () { },
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yy: {},
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symbols_: {"error":2,"command":3,"expr":4,"EOF":5,"MOVE":6,"WHITESPACE":7,"DIST":8,"HEADING":9,"PERCENTAGE":10,"STOP":11,"PSTOP":12,"CHARGETO":13,"TELERST":14,"$accept":0,"$end":1},
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terminals_: {2:"error",5:"EOF",6:"MOVE",7:"WHITESPACE",8:"DIST",9:"HEADING",10:"PERCENTAGE",11:"STOP",12:"PSTOP",13:"CHARGETO",14:"TELERST"},
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productions_: [0,[3,2],[4,7],[4,1],[4,1],[4,3],[4,1]],
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performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate /* action[1] */, $$ /* vstack */, _$ /* lstack */) {
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/* this == yyval */
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var $0 = $$.length - 1;
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switch (yystate) {
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case 2:
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var inDist = String($$[$0-4]).substr(0, ((String($$[$0-4]).length) - 2));
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var inHdg = String($$[$0-2]).substr(0, ((String($$[$0-2]).length) - 3));
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var inSpd = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
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mode = 1;
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reqDistance = Number(inDist);
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reqHeading = Number(inHdg);
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reqSpeed = Number(inSpd);
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reqCharge = 0;
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send_data();
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updateCommandBuffer();
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command_id++;
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break;
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case 3:
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mode = 0;
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reqDistance = 0;
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reqHeading = 0;
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reqSpeed = 0;
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reqCharge = 0;
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send_data();
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command_id = 0;
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updateCommandBuffer()
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break;
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case 4:
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mode = 1;
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reqDistance = 0;
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reqHeading = 0;
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reqSpeed = 0;
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reqCharge = 0;
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send_data();
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updateCommandBuffer();
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command_id++;
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break;
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case 5:
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mode = 1;
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reqDistance = 0;
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reqHeading = 0;
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reqSpeed = 0;
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var inChrg = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
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reqCharge = Number(inChrg);
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send_data();
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updateCommandBuffer();
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command_id++;
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break;
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case 6:
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mode = 1;
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reqDistance = 0;
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reqHeading = 0;
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reqSpeed = 0;
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reqCharge = 0;
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send_data();
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updateCommandBuffer();
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command_id++;
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break;
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}
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},
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table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],13:[1,6],14:[1,7]},{1:[3]},{5:[1,8]},{7:[1,9]},{5:[2,3]},{5:[2,4]},{7:[1,10]},{5:[2,6]},{1:[2,1]},{8:[1,11]},{10:[1,12]},{7:[1,13]},{5:[2,5]},{9:[1,14]},{7:[1,15]},{10:[1,16]},{5:[2,2]}],
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defaultActions: {4:[2,3],5:[2,4],7:[2,6],8:[2,1],12:[2,5],16:[2,2]},
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parseError: function parseError (str, hash) {
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if (hash.recoverable) {
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this.trace(str);
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} else {
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var error = new Error(str);
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error.hash = hash;
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throw error;
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}
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},
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parse: function parse(input) {
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var self = this, stack = [0], tstack = [], vstack = [null], lstack = [], table = this.table, yytext = '', yylineno = 0, yyleng = 0, recovering = 0, TERROR = 2, EOF = 1;
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var args = lstack.slice.call(arguments, 1);
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var lexer = Object.create(this.lexer);
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var sharedState = { yy: {} };
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for (var k in this.yy) {
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if (Object.prototype.hasOwnProperty.call(this.yy, k)) {
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sharedState.yy[k] = this.yy[k];
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}
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}
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lexer.setInput(input, sharedState.yy);
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sharedState.yy.lexer = lexer;
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sharedState.yy.parser = this;
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if (typeof lexer.yylloc == 'undefined') {
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lexer.yylloc = {};
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}
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var yyloc = lexer.yylloc;
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lstack.push(yyloc);
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var ranges = lexer.options && lexer.options.ranges;
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if (typeof sharedState.yy.parseError === 'function') {
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this.parseError = sharedState.yy.parseError;
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} else {
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this.parseError = Object.getPrototypeOf(this).parseError;
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}
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function popStack(n) {
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stack.length = stack.length - 2 * n;
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vstack.length = vstack.length - n;
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lstack.length = lstack.length - n;
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}
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_token_stack:
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var lex = function () {
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var token;
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token = lexer.lex() || EOF;
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if (typeof token !== 'number') {
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token = self.symbols_[token] || token;
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}
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return token;
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};
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var symbol, preErrorSymbol, state, action, a, r, yyval = {}, p, len, newState, expected;
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while (true) {
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state = stack[stack.length - 1];
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if (this.defaultActions[state]) {
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action = this.defaultActions[state];
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} else {
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if (symbol === null || typeof symbol == 'undefined') {
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symbol = lex();
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}
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action = table[state] && table[state][symbol];
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}
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if (typeof action === 'undefined' || !action.length || !action[0]) {
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var errStr = '';
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expected = [];
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for (p in table[state]) {
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if (this.terminals_[p] && p > TERROR) {
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expected.push('\'' + this.terminals_[p] + '\'');
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}
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}
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if (lexer.showPosition) {
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errStr = 'Parse error on line ' + (yylineno + 1) + ':\n' + lexer.showPosition() + '\nExpecting ' + expected.join(', ') + ', got \'' + (this.terminals_[symbol] || symbol) + '\'';
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} else {
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errStr = 'Parse error on line ' + (yylineno + 1) + ': Unexpected ' + (symbol == EOF ? 'end of input' : '\'' + (this.terminals_[symbol] || symbol) + '\'');
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}
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this.parseError(errStr, {
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text: lexer.match,
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token: this.terminals_[symbol] || symbol,
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line: lexer.yylineno,
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loc: yyloc,
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expected: expected
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});
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}
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if (action[0] instanceof Array && action.length > 1) {
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throw new Error('Parse Error: multiple actions possible at state: ' + state + ', token: ' + symbol);
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}
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switch (action[0]) {
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case 1:
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stack.push(symbol);
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vstack.push(lexer.yytext);
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lstack.push(lexer.yylloc);
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stack.push(action[1]);
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symbol = null;
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if (!preErrorSymbol) {
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yyleng = lexer.yyleng;
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yytext = lexer.yytext;
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yylineno = lexer.yylineno;
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yyloc = lexer.yylloc;
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if (recovering > 0) {
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recovering--;
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}
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} else {
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symbol = preErrorSymbol;
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preErrorSymbol = null;
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}
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break;
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case 2:
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len = this.productions_[action[1]][1];
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yyval.$ = vstack[vstack.length - len];
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yyval._$ = {
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first_line: lstack[lstack.length - (len || 1)].first_line,
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last_line: lstack[lstack.length - 1].last_line,
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first_column: lstack[lstack.length - (len || 1)].first_column,
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last_column: lstack[lstack.length - 1].last_column
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};
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if (ranges) {
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yyval._$.range = [
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lstack[lstack.length - (len || 1)].range[0],
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lstack[lstack.length - 1].range[1]
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];
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}
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r = this.performAction.apply(yyval, [
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yytext,
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yyleng,
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yylineno,
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sharedState.yy,
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action[1],
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vstack,
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lstack
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].concat(args));
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if (typeof r !== 'undefined') {
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return r;
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}
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if (len) {
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stack = stack.slice(0, -1 * len * 2);
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vstack = vstack.slice(0, -1 * len);
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lstack = lstack.slice(0, -1 * len);
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}
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stack.push(this.productions_[action[1]][0]);
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vstack.push(yyval.$);
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lstack.push(yyval._$);
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newState = table[stack[stack.length - 2]][stack[stack.length - 1]];
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stack.push(newState);
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break;
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case 3:
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return true;
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}
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}
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return true;
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}};
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/* generated by jison-lex 0.3.4 */
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var lexer = (function(){
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var lexer = ({
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EOF:1,
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parseError:function parseError(str, hash) {
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if (this.yy.parser) {
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this.yy.parser.parseError(str, hash);
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} else {
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throw new Error(str);
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}
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},
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// resets the lexer, sets new input
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setInput:function (input, yy) {
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this.yy = yy || this.yy || {};
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this._input = input;
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this._more = this._backtrack = this.done = false;
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this.yylineno = this.yyleng = 0;
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this.yytext = this.matched = this.match = '';
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this.conditionStack = ['INITIAL'];
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this.yylloc = {
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first_line: 1,
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first_column: 0,
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last_line: 1,
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last_column: 0
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};
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if (this.options.ranges) {
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this.yylloc.range = [0,0];
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}
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this.offset = 0;
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return this;
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},
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// consumes and returns one char from the input
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input:function () {
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var ch = this._input[0];
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this.yytext += ch;
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this.yyleng++;
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this.offset++;
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this.match += ch;
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this.matched += ch;
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var lines = ch.match(/(?:\r\n?|\n).*/g);
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if (lines) {
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this.yylineno++;
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this.yylloc.last_line++;
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} else {
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this.yylloc.last_column++;
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}
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if (this.options.ranges) {
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this.yylloc.range[1]++;
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}
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this._input = this._input.slice(1);
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return ch;
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},
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// unshifts one char (or a string) into the input
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unput:function (ch) {
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var len = ch.length;
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var lines = ch.split(/(?:\r\n?|\n)/g);
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this._input = ch + this._input;
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this.yytext = this.yytext.substr(0, this.yytext.length - len);
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//this.yyleng -= len;
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this.offset -= len;
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var oldLines = this.match.split(/(?:\r\n?|\n)/g);
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this.match = this.match.substr(0, this.match.length - 1);
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this.matched = this.matched.substr(0, this.matched.length - 1);
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|
|
||||||
|
if (lines.length - 1) {
|
||||||
|
this.yylineno -= lines.length - 1;
|
||||||
|
}
|
||||||
|
var r = this.yylloc.range;
|
||||||
|
|
||||||
|
this.yylloc = {
|
||||||
|
first_line: this.yylloc.first_line,
|
||||||
|
last_line: this.yylineno + 1,
|
||||||
|
first_column: this.yylloc.first_column,
|
||||||
|
last_column: lines ?
|
||||||
|
(lines.length === oldLines.length ? this.yylloc.first_column : 0)
|
||||||
|
+ oldLines[oldLines.length - lines.length].length - lines[0].length :
|
||||||
|
this.yylloc.first_column - len
|
||||||
|
};
|
||||||
|
|
||||||
|
if (this.options.ranges) {
|
||||||
|
this.yylloc.range = [r[0], r[0] + this.yyleng - len];
|
||||||
|
}
|
||||||
|
this.yyleng = this.yytext.length;
|
||||||
|
return this;
|
||||||
|
},
|
||||||
|
|
||||||
|
// When called from action, caches matched text and appends it on next action
|
||||||
|
more:function () {
|
||||||
|
this._more = true;
|
||||||
|
return this;
|
||||||
|
},
|
||||||
|
|
||||||
|
// When called from action, signals the lexer that this rule fails to match the input, so the next matching rule (regex) should be tested instead.
|
||||||
|
reject:function () {
|
||||||
|
if (this.options.backtrack_lexer) {
|
||||||
|
this._backtrack = true;
|
||||||
|
} else {
|
||||||
|
return this.parseError('Lexical error on line ' + (this.yylineno + 1) + '. You can only invoke reject() in the lexer when the lexer is of the backtracking persuasion (options.backtrack_lexer = true).\n' + this.showPosition(), {
|
||||||
|
text: "",
|
||||||
|
token: null,
|
||||||
|
line: this.yylineno
|
||||||
|
});
|
||||||
|
|
||||||
|
}
|
||||||
|
return this;
|
||||||
|
},
|
||||||
|
|
||||||
|
// retain first n characters of the match
|
||||||
|
less:function (n) {
|
||||||
|
this.unput(this.match.slice(n));
|
||||||
|
},
|
||||||
|
|
||||||
|
// displays already matched input, i.e. for error messages
|
||||||
|
pastInput:function () {
|
||||||
|
var past = this.matched.substr(0, this.matched.length - this.match.length);
|
||||||
|
return (past.length > 20 ? '...':'') + past.substr(-20).replace(/\n/g, "");
|
||||||
|
},
|
||||||
|
|
||||||
|
// displays upcoming input, i.e. for error messages
|
||||||
|
upcomingInput:function () {
|
||||||
|
var next = this.match;
|
||||||
|
if (next.length < 20) {
|
||||||
|
next += this._input.substr(0, 20-next.length);
|
||||||
|
}
|
||||||
|
return (next.substr(0,20) + (next.length > 20 ? '...' : '')).replace(/\n/g, "");
|
||||||
|
},
|
||||||
|
|
||||||
|
// displays the character position where the lexing error occurred, i.e. for error messages
|
||||||
|
showPosition:function () {
|
||||||
|
var pre = this.pastInput();
|
||||||
|
var c = new Array(pre.length + 1).join("-");
|
||||||
|
return pre + this.upcomingInput() + "\n" + c + "^";
|
||||||
|
},
|
||||||
|
|
||||||
|
// test the lexed token: return FALSE when not a match, otherwise return token
|
||||||
|
test_match:function(match, indexed_rule) {
|
||||||
|
var token,
|
||||||
|
lines,
|
||||||
|
backup;
|
||||||
|
|
||||||
|
if (this.options.backtrack_lexer) {
|
||||||
|
// save context
|
||||||
|
backup = {
|
||||||
|
yylineno: this.yylineno,
|
||||||
|
yylloc: {
|
||||||
|
first_line: this.yylloc.first_line,
|
||||||
|
last_line: this.last_line,
|
||||||
|
first_column: this.yylloc.first_column,
|
||||||
|
last_column: this.yylloc.last_column
|
||||||
|
},
|
||||||
|
yytext: this.yytext,
|
||||||
|
match: this.match,
|
||||||
|
matches: this.matches,
|
||||||
|
matched: this.matched,
|
||||||
|
yyleng: this.yyleng,
|
||||||
|
offset: this.offset,
|
||||||
|
_more: this._more,
|
||||||
|
_input: this._input,
|
||||||
|
yy: this.yy,
|
||||||
|
conditionStack: this.conditionStack.slice(0),
|
||||||
|
done: this.done
|
||||||
|
};
|
||||||
|
if (this.options.ranges) {
|
||||||
|
backup.yylloc.range = this.yylloc.range.slice(0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
lines = match[0].match(/(?:\r\n?|\n).*/g);
|
||||||
|
if (lines) {
|
||||||
|
this.yylineno += lines.length;
|
||||||
|
}
|
||||||
|
this.yylloc = {
|
||||||
|
first_line: this.yylloc.last_line,
|
||||||
|
last_line: this.yylineno + 1,
|
||||||
|
first_column: this.yylloc.last_column,
|
||||||
|
last_column: lines ?
|
||||||
|
lines[lines.length - 1].length - lines[lines.length - 1].match(/\r?\n?/)[0].length :
|
||||||
|
this.yylloc.last_column + match[0].length
|
||||||
|
};
|
||||||
|
this.yytext += match[0];
|
||||||
|
this.match += match[0];
|
||||||
|
this.matches = match;
|
||||||
|
this.yyleng = this.yytext.length;
|
||||||
|
if (this.options.ranges) {
|
||||||
|
this.yylloc.range = [this.offset, this.offset += this.yyleng];
|
||||||
|
}
|
||||||
|
this._more = false;
|
||||||
|
this._backtrack = false;
|
||||||
|
this._input = this._input.slice(match[0].length);
|
||||||
|
this.matched += match[0];
|
||||||
|
token = this.performAction.call(this, this.yy, this, indexed_rule, this.conditionStack[this.conditionStack.length - 1]);
|
||||||
|
if (this.done && this._input) {
|
||||||
|
this.done = false;
|
||||||
|
}
|
||||||
|
if (token) {
|
||||||
|
return token;
|
||||||
|
} else if (this._backtrack) {
|
||||||
|
// recover context
|
||||||
|
for (var k in backup) {
|
||||||
|
this[k] = backup[k];
|
||||||
|
}
|
||||||
|
return false; // rule action called reject() implying the next rule should be tested instead.
|
||||||
|
}
|
||||||
|
return false;
|
||||||
|
},
|
||||||
|
|
||||||
|
// return next match in input
|
||||||
|
next:function () {
|
||||||
|
if (this.done) {
|
||||||
|
return this.EOF;
|
||||||
|
}
|
||||||
|
if (!this._input) {
|
||||||
|
this.done = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
var token,
|
||||||
|
match,
|
||||||
|
tempMatch,
|
||||||
|
index;
|
||||||
|
if (!this._more) {
|
||||||
|
this.yytext = '';
|
||||||
|
this.match = '';
|
||||||
|
}
|
||||||
|
var rules = this._currentRules();
|
||||||
|
for (var i = 0; i < rules.length; i++) {
|
||||||
|
tempMatch = this._input.match(this.rules[rules[i]]);
|
||||||
|
if (tempMatch && (!match || tempMatch[0].length > match[0].length)) {
|
||||||
|
match = tempMatch;
|
||||||
|
index = i;
|
||||||
|
if (this.options.backtrack_lexer) {
|
||||||
|
token = this.test_match(tempMatch, rules[i]);
|
||||||
|
if (token !== false) {
|
||||||
|
return token;
|
||||||
|
} else if (this._backtrack) {
|
||||||
|
match = false;
|
||||||
|
continue; // rule action called reject() implying a rule MISmatch.
|
||||||
|
} else {
|
||||||
|
// else: this is a lexer rule which consumes input without producing a token (e.g. whitespace)
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
} else if (!this.options.flex) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (match) {
|
||||||
|
token = this.test_match(match, rules[index]);
|
||||||
|
if (token !== false) {
|
||||||
|
return token;
|
||||||
|
}
|
||||||
|
// else: this is a lexer rule which consumes input without producing a token (e.g. whitespace)
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
if (this._input === "") {
|
||||||
|
return this.EOF;
|
||||||
|
} else {
|
||||||
|
return this.parseError('Lexical error on line ' + (this.yylineno + 1) + '. Unrecognized text.\n' + this.showPosition(), {
|
||||||
|
text: "",
|
||||||
|
token: null,
|
||||||
|
line: this.yylineno
|
||||||
|
});
|
||||||
|
}
|
||||||
|
},
|
||||||
|
|
||||||
|
// return next match that has a token
|
||||||
|
lex:function lex () {
|
||||||
|
var r = this.next();
|
||||||
|
if (r) {
|
||||||
|
return r;
|
||||||
|
} else {
|
||||||
|
return this.lex();
|
||||||
|
}
|
||||||
|
},
|
||||||
|
|
||||||
|
// activates a new lexer condition state (pushes the new lexer condition state onto the condition stack)
|
||||||
|
begin:function begin (condition) {
|
||||||
|
this.conditionStack.push(condition);
|
||||||
|
},
|
||||||
|
|
||||||
|
// pop the previously active lexer condition state off the condition stack
|
||||||
|
popState:function popState () {
|
||||||
|
var n = this.conditionStack.length - 1;
|
||||||
|
if (n > 0) {
|
||||||
|
return this.conditionStack.pop();
|
||||||
|
} else {
|
||||||
|
return this.conditionStack[0];
|
||||||
|
}
|
||||||
|
},
|
||||||
|
|
||||||
|
// produce the lexer rule set which is active for the currently active lexer condition state
|
||||||
|
_currentRules:function _currentRules () {
|
||||||
|
if (this.conditionStack.length && this.conditionStack[this.conditionStack.length - 1]) {
|
||||||
|
return this.conditions[this.conditionStack[this.conditionStack.length - 1]].rules;
|
||||||
|
} else {
|
||||||
|
return this.conditions["INITIAL"].rules;
|
||||||
|
}
|
||||||
|
},
|
||||||
|
|
||||||
|
// return the currently active lexer condition state; when an index argument is provided it produces the N-th previous condition state, if available
|
||||||
|
topState:function topState (n) {
|
||||||
|
n = this.conditionStack.length - 1 - Math.abs(n || 0);
|
||||||
|
if (n >= 0) {
|
||||||
|
return this.conditionStack[n];
|
||||||
|
} else {
|
||||||
|
return "INITIAL";
|
||||||
|
}
|
||||||
|
},
|
||||||
|
|
||||||
|
// alias for begin(condition)
|
||||||
|
pushState:function pushState (condition) {
|
||||||
|
this.begin(condition);
|
||||||
|
},
|
||||||
|
|
||||||
|
// return the number of states currently on the stack
|
||||||
|
stateStackSize:function stateStackSize() {
|
||||||
|
return this.conditionStack.length;
|
||||||
|
},
|
||||||
|
options: {},
|
||||||
|
performAction: function anonymous(yy,yy_,$avoiding_name_collisions,YY_START) {
|
||||||
|
var YYSTATE=YY_START;
|
||||||
|
switch($avoiding_name_collisions) {
|
||||||
|
case 0:return 7
|
||||||
|
break;
|
||||||
|
case 1:return 8
|
||||||
|
break;
|
||||||
|
case 2:return 9
|
||||||
|
break;
|
||||||
|
case 3:return 10
|
||||||
|
break;
|
||||||
|
case 4:return 6
|
||||||
|
break;
|
||||||
|
case 5:return 12
|
||||||
|
break;
|
||||||
|
case 6:return 11
|
||||||
|
break;
|
||||||
|
case 7:return 13
|
||||||
|
break;
|
||||||
|
case 8:return 14
|
||||||
|
break;
|
||||||
|
case 9:return 5
|
||||||
|
break;
|
||||||
|
case 10:return 'INVALID'
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
},
|
||||||
|
rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
|
||||||
|
conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10],"inclusive":true}}
|
||||||
|
});
|
||||||
|
return lexer;
|
||||||
|
})();
|
||||||
|
parser.lexer = lexer;
|
||||||
|
function Parser () {
|
||||||
|
this.yy = {};
|
||||||
|
}
|
||||||
|
Parser.prototype = parser;parser.Parser = Parser;
|
||||||
|
return new Parser;
|
||||||
|
})();
|
||||||
|
|
||||||
|
|
||||||
|
if (typeof require !== 'undefined' && typeof exports !== 'undefined') {
|
||||||
|
exports.parser = command;
|
||||||
|
exports.Parser = command.Parser;
|
||||||
|
exports.parse = function () { return command.parse.apply(command, arguments); };
|
||||||
|
exports.main = function commonjsMain (args) {
|
||||||
|
if (!args[1]) {
|
||||||
|
console.log('Usage: '+args[0]+' FILE');
|
||||||
|
process.exit(1);
|
||||||
|
}
|
||||||
|
var source = require('fs').readFileSync(require('path').normalize(args[1]), "utf8");
|
||||||
|
return exports.parser.parse(source);
|
||||||
|
};
|
||||||
|
if (typeof module !== 'undefined' && require.main === module) {
|
||||||
|
exports.main(process.argv.slice(1));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -80,25 +80,28 @@
|
||||||
display: table;
|
display: table;
|
||||||
}
|
}
|
||||||
</style>
|
</style>
|
||||||
|
<script src="command.js"></script>
|
||||||
<script>
|
<script>
|
||||||
|
|
||||||
var connection = new WebSocket('ws://' + location.hostname + ':81/');
|
var connection = new WebSocket('ws://' + location.hostname + ':81/');
|
||||||
|
|
||||||
var command_id = 0;
|
var command_id = 1;
|
||||||
var mode = 0;
|
var mode = 0;
|
||||||
var reqHeading = 0;
|
var reqHeading = 0;
|
||||||
var reqDistance = 0;
|
var reqDistance = 0;
|
||||||
var reqSpeed = 0;
|
var reqSpeed = 0;
|
||||||
var reqCharge = 0;
|
var reqCharge = 0;
|
||||||
|
|
||||||
|
var state = 0;
|
||||||
var batteryVoltage = 0;
|
var batteryVoltage = 0;
|
||||||
|
var batteryLevel = 0;
|
||||||
var totalTripDistance = 0;
|
var totalTripDistance = 0;
|
||||||
var currentHeading = rdoc["cH"];
|
var currentHeading = 0;
|
||||||
var current_pos = [,];
|
var current_pos = [,];
|
||||||
var current_x = 0;
|
var current_x = 0;
|
||||||
var current_y = 0;
|
var current_y = 0;
|
||||||
var signal_strength = 0;
|
var signal_strength = 0;
|
||||||
var lastCompletedCommand_id = rdoc["LCCid"];
|
var lastCompletedCommand_id = 0;
|
||||||
var ChargeStatus = 0;
|
var ChargeStatus = 0;
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -107,6 +110,8 @@
|
||||||
console.log(raw_data);
|
console.log(raw_data);
|
||||||
var data = JSON.parse(raw_data);
|
var data = JSON.parse(raw_data);
|
||||||
|
|
||||||
|
state = data.st;
|
||||||
|
batteryLevel = data.bV;
|
||||||
batteryVoltage = data.bV;
|
batteryVoltage = data.bV;
|
||||||
totalTripDistance = data.tD;
|
totalTripDistance = data.tD;
|
||||||
currentHeading = data.cH;
|
currentHeading = data.cH;
|
||||||
|
|
@ -134,22 +139,27 @@
|
||||||
console.log(raw_data);
|
console.log(raw_data);
|
||||||
}
|
}
|
||||||
|
|
||||||
function echoCommandbuf() {
|
function updateCommandBuffer(){
|
||||||
document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + document.getElementById("commandInput").value + "<br>";
|
if((mode == 1) || (mode == -1) || (mode == 2)){
|
||||||
cIdIncrement();
|
document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + document.getElementById("commandInput").value + "<br>";
|
||||||
document.getElementById("commandInput").value = "";
|
}else if(mode == 0){
|
||||||
console.log('test');
|
document.getElementById("comand_buffer").innerHTML = "Rover Emergency Stop.\n Command buffer cleared. ";
|
||||||
|
document.getElementById("commandInput").value = "";
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
function cIdIncrement() {
|
function commandError(){
|
||||||
command_id++;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
function RunParser(){
|
||||||
|
var commandstring = document.getElementById("commandInput").value;
|
||||||
|
try{
|
||||||
|
command.parse(commandstring);
|
||||||
|
} catch(err){
|
||||||
|
alert(err);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
</script>
|
</script>
|
||||||
</head>
|
</head>
|
||||||
|
|
@ -253,7 +263,7 @@
|
||||||
<tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
|
<tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
|
||||||
<tr>
|
<tr>
|
||||||
<td><input type="text" placeholder="Type a command or 'help'." id="commandInput" value="" onkeyup="if(event.keyCode == 13){document.getElementById('commandEnter').click();}" style="width: 100%; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></td>
|
<td><input type="text" placeholder="Type a command or 'help'." id="commandInput" value="" onkeyup="if(event.keyCode == 13){document.getElementById('commandEnter').click();}" style="width: 100%; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></td>
|
||||||
<td style="width: 7%; "><button onclick="echoCommandbuf()" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">↵</button></td>
|
<td style="width: 7%; "><button onclick="RunParser()" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">↵</button></td>
|
||||||
</tr>
|
</tr>
|
||||||
</table>
|
</table>
|
||||||
|
|
||||||
|
|
|
||||||
87
Control/lib/command.jison
Normal file
87
Control/lib/command.jison
Normal file
|
|
@ -0,0 +1,87 @@
|
||||||
|
%lex
|
||||||
|
%%
|
||||||
|
|
||||||
|
\s return 'WHITESPACE'
|
||||||
|
\b[0-9]+"mm"\b return 'DIST'
|
||||||
|
\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])"deg"\b return 'HEADING'
|
||||||
|
\b([0-9]|[1-8][0-9]|9[0-9]|100)"%" return 'PERCENTAGE'
|
||||||
|
\bmove\b return 'MOVE'
|
||||||
|
\bpstop\b return 'PSTOP'
|
||||||
|
\bstop\b return 'STOP'
|
||||||
|
\bcharge\sto\b return 'CHARGETO'
|
||||||
|
\btelemetry\sreset\b return 'TELERST'
|
||||||
|
<<EOF>> return 'EOF'
|
||||||
|
. return 'INVALID'
|
||||||
|
|
||||||
|
/lex
|
||||||
|
|
||||||
|
%start command
|
||||||
|
|
||||||
|
%%
|
||||||
|
|
||||||
|
command
|
||||||
|
: expr EOF
|
||||||
|
;
|
||||||
|
|
||||||
|
expr
|
||||||
|
: MOVE WHITESPACE DIST WHITESPACE HEADING WHITESPACE PERCENTAGE
|
||||||
|
{
|
||||||
|
var inDist = String($3).substr(0, ((String($3).length) - 2));
|
||||||
|
var inHdg = String($5).substr(0, ((String($5).length) - 3));
|
||||||
|
var inSpd = String($7).substr(0, ((String($7).length) - 1));
|
||||||
|
mode = 1;
|
||||||
|
reqDistance = Number(inDist);
|
||||||
|
reqHeading = Number(inHdg);
|
||||||
|
reqSpeed = Number(inSpd);
|
||||||
|
reqCharge = 0;
|
||||||
|
send_data();
|
||||||
|
updateCommandBuffer();
|
||||||
|
command_id++;
|
||||||
|
}
|
||||||
|
| STOP
|
||||||
|
{
|
||||||
|
mode = 0;
|
||||||
|
reqDistance = 0;
|
||||||
|
reqHeading = 0;
|
||||||
|
reqSpeed = 0;
|
||||||
|
reqCharge = 0;
|
||||||
|
send_data();
|
||||||
|
command_id = 0;
|
||||||
|
updateCommandBuffer()
|
||||||
|
}
|
||||||
|
| PSTOP
|
||||||
|
{
|
||||||
|
mode = 1;
|
||||||
|
reqDistance = 0;
|
||||||
|
reqHeading = 0;
|
||||||
|
reqSpeed = 0;
|
||||||
|
reqCharge = 0;
|
||||||
|
send_data();
|
||||||
|
updateCommandBuffer();
|
||||||
|
command_id++;
|
||||||
|
}
|
||||||
|
| CHARGETO WHITESPACE PERCENTAGE
|
||||||
|
{
|
||||||
|
mode = 1;
|
||||||
|
reqDistance = 0;
|
||||||
|
reqHeading = 0;
|
||||||
|
reqSpeed = 0;
|
||||||
|
|
||||||
|
var inChrg = String($3).substr(0, ((String($3).length) - 1));
|
||||||
|
reqCharge = Number(inChrg);
|
||||||
|
|
||||||
|
send_data();
|
||||||
|
updateCommandBuffer();
|
||||||
|
command_id++;
|
||||||
|
}
|
||||||
|
| TELERST
|
||||||
|
{mode = 1;
|
||||||
|
reqDistance = 0;
|
||||||
|
reqHeading = 0;
|
||||||
|
reqSpeed = 0;
|
||||||
|
reqCharge = 0;
|
||||||
|
send_data();
|
||||||
|
updateCommandBuffer();
|
||||||
|
command_id++;}
|
||||||
|
;
|
||||||
|
|
||||||
Loading…
Reference in a new issue