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kdl-wasm/web/src/grl/semantic/compileIo.ts

@@ -10,6 +10,9 @@ import type {
   WaitInstruction
 } from "../ir/index.js";
 import { lexGrl, type GrlToken } from "../lexer/index.js";
+import { parseGrlExpression } from "../parser/index.js";
+import { evaluateNumberExpression } from "./constantExpression.js";
+import type { GrlNumberLiteral } from "../ast/index.js";
 
 export interface IoMap {
   aliases?: Record<string, IoReference>;
@@ -185,7 +188,7 @@ class IoStatementParser {
       return token.raw === "true";
     }
     if (token.kind === "number") {
-      return normalizedNumber(token);
+      return evaluateNumberExpression(numberLiteralFromToken(token));
     }
     if (token.kind === "string") {
       return token.value;
@@ -197,8 +200,40 @@ class IoStatementParser {
   }
 
   private parseDuration(): number {
-    const token = this.consumeNumber("Expected duration");
-    return normalizedNumber(token);
+    const tokens = this.collectDurationExpressionTokens();
+    return evaluateNumberExpression(parseGrlExpression(tokens), { expectedKind: "time", defaultUnit: "s" });
+  }
+
+  private collectDurationExpressionTokens(): GrlToken[] {
+    const tokens: GrlToken[] = [];
+    let parenDepth = 0;
+    let bracketDepth = 0;
+    while (!this.isAtEnd()) {
+      const token = this.peek();
+      if (
+        tokens.length > 0 &&
+        parenDepth === 0 &&
+        bracketDepth === 0 &&
+        (this.isKeywordLike(token, "on_timeout") || this.isCurrentStatementStartAfter(tokens))
+      ) {
+        break;
+      }
+      const consumed = this.advance();
+      tokens.push(consumed);
+      if (consumed.kind === "punctuation" && consumed.raw === "(") {
+        parenDepth += 1;
+      } else if (consumed.kind === "punctuation" && consumed.raw === ")") {
+        parenDepth = Math.max(0, parenDepth - 1);
+      } else if (consumed.kind === "punctuation" && consumed.raw === "[") {
+        bracketDepth += 1;
+      } else if (consumed.kind === "punctuation" && consumed.raw === "]") {
+        bracketDepth = Math.max(0, bracketDepth - 1);
+      }
+    }
+    if (tokens.length === 0) {
+      throw ioError("GRL_TOKEN_EXPECTED", "Expected duration");
+    }
+    return tokens;
   }
 
   private collectUntilKeyword(keywords: string[]): GrlToken[] {
@@ -242,20 +277,63 @@ class IoStatementParser {
 
   private isCurrentStatementStartAfter(tokens: GrlToken[]): boolean {
     const token = this.peek();
-    if (this.isKeywordLike(token, "wait") || this.isKeywordLike(token, "pulse")) {
+    const previous = tokens.at(-1);
+    if (!previous || token.range.start.line <= previous.range.end.line) {
+      return false;
+    }
+    if (this.isStatementStart(token)) {
       return true;
     }
     if (!this.isIoStartAtCurrent()) {
       return false;
     }
-    const previous = tokens.at(-1);
-    return previous ? token.range.start.line > previous.range.end.line : true;
+    return true;
   }
 
   private isIoStartAtCurrent(): boolean {
     return this.peek().raw === "io" && this.maybePeek(1)?.raw === ".";
   }
 
+  private isStatementStart(token: GrlToken): boolean {
+    return (
+      (token.kind === "keyword" || token.kind === "identifier") &&
+      [
+        "io",
+        "wait",
+        "pulse",
+        "movej",
+        "movel",
+        "movec",
+        "set_tool",
+        "set_frame",
+        "set_speed",
+        "set_zone",
+        "run_path",
+        "run_operation",
+        "if",
+        "elseif",
+        "else",
+        "while",
+        "for",
+        "switch",
+        "case",
+        "default",
+        "break",
+        "continue",
+        "label",
+        "jump",
+        "call",
+        "return",
+        "alarm",
+        "raise",
+        "try",
+        "catch",
+        "finally",
+        "end"
+      ].includes(token.raw)
+    );
+  }
+
   private isKeywordLike(token: GrlToken, keyword: string): boolean {
     return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
   }
@@ -361,13 +439,6 @@ function compileStatementString(
   return parseIoFlowStatements(tokens, ioMap);
 }
 
-function normalizedNumber(token: GrlToken): number {
-  if (token.kind !== "number") {
-    throw ioError("GRL_NUMBER_EXPECTED", "Expected number");
-  }
-  return token.unit?.normalizedValue ?? token.value;
-}
-
 function tokenSourceMap(token: GrlToken): MotionSourceMap {
   return {
     line: token.range.start.line,
@@ -375,6 +446,25 @@ function tokenSourceMap(token: GrlToken): MotionSourceMap {
   };
 }
 
+function numberLiteralFromToken(token: Extract<GrlToken, { kind: "number" }>): GrlNumberLiteral {
+  return {
+    kind: "NumberLiteral",
+    value: token.value,
+    raw: token.raw,
+    ...(token.unit
+      ? {
+          unit: {
+            raw: token.unit.raw,
+            kind: token.unit.kind,
+            siUnit: token.unit.siUnit,
+            normalizedValue: token.unit.normalizedValue
+          }
+        }
+      : {}),
+    range: token.range
+  };
+}
+
 function ioError(code: string, message: string): KdlStructuredError {
   return new KdlStructuredError(code, message);
 }