同步KDL工程源码到云仓库
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wangdequan
380
kdl-wasm/web/src/grl/semantic/compileIo.ts
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380
kdl-wasm/web/src/grl/semantic/compileIo.ts
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import { KdlStructuredError } from "../../kdl/rpc.js";
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import type { MotionSourceMap } from "../../kdl/types.js";
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import type {
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IoFlowInstruction,
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IoReference,
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IoWriteInstruction,
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OperationActionInstruction,
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PathEventInstruction,
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PulseInstruction,
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WaitInstruction
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} from "../ir/index.js";
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import { lexGrl, type GrlToken } from "../lexer/index.js";
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export interface IoMap {
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aliases?: Record<string, IoReference>;
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allowedRanges?: Partial<Record<IoReference["domain"], { min: number; max: number }>>;
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}
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export function parseIoFlowStatements(tokens: GrlToken[], ioMap: IoMap = {}): IoFlowInstruction[] {
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const parser = new IoStatementParser(tokens, ioMap);
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return parser.parseAll();
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}
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export function compilePathEventIo(event: PathEventInstruction, ioMap: IoMap = {}): IoFlowInstruction[] {
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const tokens = event.data?.tokens;
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if (Array.isArray(tokens)) {
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return parseIoFlowStatements(tokens as GrlToken[], ioMap);
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}
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const statement = event.data?.statement;
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if (typeof statement !== "string") {
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return [];
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}
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return compileStatementString(statement, event.sourceMap, ioMap);
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}
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export function compileOperationActionIo(
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action: OperationActionInstruction,
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ioMap: IoMap = {}
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): IoFlowInstruction[] {
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if (Array.isArray(action.tokens)) {
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return parseIoFlowStatements(action.tokens as GrlToken[], ioMap);
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}
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return compileStatementString(action.statement, action.sourceMap, ioMap);
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}
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class IoStatementParser {
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private current = 0;
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constructor(
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private readonly tokens: GrlToken[],
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private readonly ioMap: IoMap
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) {}
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parseAll(): IoFlowInstruction[] {
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const instructions: IoFlowInstruction[] = [];
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while (!this.isAtEnd()) {
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if (this.checkKeyword("wait")) {
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instructions.push(this.finishWait(this.advance()));
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continue;
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}
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if (this.checkKeyword("pulse")) {
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instructions.push(this.finishPulse(this.advance()));
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continue;
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}
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if (this.checkIoStart()) {
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instructions.push(this.finishIoWrite(this.peek()));
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continue;
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}
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this.advance();
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}
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return instructions;
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}
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private finishIoWrite(start: GrlToken): IoWriteInstruction {
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const target = this.parseIoReference();
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this.consumeOperator("=", "Expected = in IO assignment");
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const value = this.parseValue();
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return {
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kind: "IO_WRITE",
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target,
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value,
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sourceMap: tokenSourceMap(start)
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};
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}
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private finishWait(start: GrlToken): WaitInstruction {
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const conditionTokens = this.collectUntilKeyword(["timeout", "on_timeout"]);
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if (conditionTokens.length === 0) {
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throw ioError("GRL_WAIT_CONDITION_MISSING", "wait requires a condition");
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}
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let timeout: number | undefined;
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let onTimeout: WaitInstruction["onTimeout"];
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if (this.matchKeyword("timeout")) {
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timeout = this.parseDuration();
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}
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if (this.matchKeyword("on_timeout")) {
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const kind = this.consumeIdentifier("Expected on_timeout action").raw;
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if (kind === "alarm") {
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const message = this.consumeString("Expected alarm message");
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onTimeout = { kind: "alarm", value: message.value };
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} else if (kind === "call") {
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onTimeout = { kind: "call", value: this.collectRest().map((token) => token.raw).join(" ") };
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} else {
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throw ioError("GRL_WAIT_TIMEOUT_ACTION_INVALID", `Unsupported on_timeout action ${kind}`);
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}
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}
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return {
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kind: "WAIT",
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condition: conditionTokens.map((token) => token.raw).join(" "),
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...(timeout !== undefined ? { timeout } : {}),
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...(onTimeout ? { onTimeout } : {}),
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sourceMap: tokenSourceMap(start)
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};
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}
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private finishPulse(start: GrlToken): PulseInstruction {
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const target = this.parseIoReference();
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this.consumeKeyword("duration", "Expected duration in pulse");
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const duration = this.parseDuration();
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return {
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kind: "PULSE",
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target,
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duration,
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trace: [
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{ time: 0, action: "set", target, value: true },
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{ time: duration, action: "reset", target, value: false }
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],
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sourceMap: tokenSourceMap(start)
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};
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}
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private parseIoReference(): IoReference {
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const io = this.consumeKeyword("io", "Expected io reference");
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this.consumePunctuation(".", "Expected . after io");
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const domain = this.consumeIdentifier("Expected IO domain").raw as IoReference["domain"];
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if (!["di", "do", "ai", "ao", "gi", "go", "ri", "ro", "alias"].includes(domain)) {
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throw ioError("GRL_IO_DOMAIN_INVALID", `Unsupported IO domain ${domain}`);
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}
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if (domain === "alias") {
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this.consumePunctuation(".", "Expected . after io.alias");
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const alias = this.consumeIdentifier("Expected IO alias").raw;
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const mapped = this.ioMap.aliases?.[alias];
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return mapped ?? { domain, alias, raw: `io.alias.${alias}` };
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}
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this.consumePunctuation("[", "Expected [ after IO domain");
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const indexToken = this.consumeNumber("Expected IO index");
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this.consumePunctuation("]", "Expected ] after IO index");
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const index = indexToken.value;
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this.validateIoIndex(domain, index, io);
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return {
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domain,
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index,
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raw: `io.${domain}[${index}]`
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};
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}
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private validateIoIndex(domain: IoReference["domain"], index: number, token: GrlToken): void {
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if (!Number.isInteger(index) || index < 0) {
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throw ioError("GRL_IO_INDEX_INVALID", `Invalid IO index ${index}`);
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}
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const range = this.ioMap.allowedRanges?.[domain];
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if (range && (index < range.min || index > range.max)) {
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throw new KdlStructuredError(
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"GRL_IO_ADDRESS_NOT_FOUND",
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`IO address io.${domain}[${index}] is outside [${range.min}, ${range.max}]`,
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[
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{
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severity: "error",
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code: "GRL_IO_ADDRESS_NOT_FOUND",
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message: `IO address io.${domain}[${index}] is outside [${range.min}, ${range.max}]`,
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sourceMap: tokenSourceMap(token)
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}
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]
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);
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}
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}
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private parseValue(): boolean | number | string {
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const token = this.advance();
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if (token.kind === "keyword" && (token.raw === "true" || token.raw === "false")) {
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return token.raw === "true";
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}
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if (token.kind === "number") {
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return normalizedNumber(token);
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}
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if (token.kind === "string") {
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return token.value;
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}
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if (token.kind === "identifier" || token.kind === "keyword") {
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return token.raw;
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}
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throw ioError("GRL_IO_VALUE_INVALID", "Unsupported IO assignment value");
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}
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private parseDuration(): number {
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const token = this.consumeNumber("Expected duration");
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return normalizedNumber(token);
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}
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private collectUntilKeyword(keywords: string[]): GrlToken[] {
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const tokens: GrlToken[] = [];
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let parenDepth = 0;
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while (!this.isAtEnd()) {
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const token = this.peek();
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if (parenDepth === 0) {
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if ((token.kind === "keyword" || token.kind === "identifier") && keywords.includes(token.raw)) {
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break;
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}
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if (tokens.length > 0 && this.isCurrentStatementStartAfter(tokens)) {
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break;
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}
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}
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const consumed = this.advance();
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tokens.push(consumed);
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if (consumed.kind === "punctuation" && consumed.raw === "(") {
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parenDepth += 1;
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} else if (consumed.kind === "punctuation" && consumed.raw === ")") {
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parenDepth = Math.max(0, parenDepth - 1);
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}
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}
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return tokens;
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}
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private collectRest(): GrlToken[] {
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const tokens: GrlToken[] = [];
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while (!this.isAtEnd()) {
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if (tokens.length > 0 && this.isCurrentStatementStartAfter(tokens)) {
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break;
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}
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tokens.push(this.advance());
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}
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return tokens;
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}
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private checkIoStart(): boolean {
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return this.isIoStartAtCurrent();
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}
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private isCurrentStatementStartAfter(tokens: GrlToken[]): boolean {
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const token = this.peek();
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if (this.isKeywordLike(token, "wait") || this.isKeywordLike(token, "pulse")) {
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return true;
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}
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if (!this.isIoStartAtCurrent()) {
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return false;
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}
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const previous = tokens.at(-1);
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return previous ? token.range.start.line > previous.range.end.line : true;
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}
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private isIoStartAtCurrent(): boolean {
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return this.peek().raw === "io" && this.maybePeek(1)?.raw === ".";
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}
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private isKeywordLike(token: GrlToken, keyword: string): boolean {
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return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
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}
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private matchKeyword(keyword: string): boolean {
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const token = this.peek();
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if ((token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword) {
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this.advance();
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return true;
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}
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return false;
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}
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private checkKeyword(keyword: string): boolean {
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const token = this.peek();
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return (token.kind === "keyword" || token.kind === "identifier") && token.raw === keyword;
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}
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private consumeKeyword(keyword: string, message: string): GrlToken {
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if (this.checkKeyword(keyword)) {
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return this.advance();
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}
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throw ioError("GRL_KEYWORD_EXPECTED", message);
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}
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private consumeIdentifier(message: string): GrlToken {
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const token = this.peek();
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if (token.kind === "identifier" || token.kind === "keyword") {
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return this.advance();
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}
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throw ioError("GRL_IDENTIFIER_EXPECTED", message);
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}
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private consumePunctuation(value: string, message: string): GrlToken {
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const token = this.peek();
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if (token.kind === "punctuation" && token.raw === value) {
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return this.advance();
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}
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throw ioError("GRL_PUNCTUATION_EXPECTED", message);
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}
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private consumeOperator(value: string, message: string): GrlToken {
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const token = this.peek();
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if (token.kind === "operator" && token.raw === value) {
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return this.advance();
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}
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throw ioError("GRL_OPERATOR_EXPECTED", message);
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}
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private consume(kind: GrlToken["kind"], message: string): GrlToken {
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if (this.peek().kind === kind) {
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return this.advance();
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}
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throw ioError("GRL_TOKEN_EXPECTED", message);
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}
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private consumeNumber(message: string): Extract<GrlToken, { kind: "number" }> {
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const token = this.peek();
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if (token.kind === "number") {
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return this.advance() as Extract<GrlToken, { kind: "number" }>;
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}
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throw ioError("GRL_TOKEN_EXPECTED", message);
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}
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private consumeString(message: string): Extract<GrlToken, { kind: "string" }> {
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const token = this.peek();
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if (token.kind === "string") {
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return this.advance() as Extract<GrlToken, { kind: "string" }>;
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}
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throw ioError("GRL_TOKEN_EXPECTED", message);
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}
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private advance(): GrlToken {
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this.current += 1;
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return this.previous();
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}
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private previous(): GrlToken {
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return this.tokens[this.current - 1]!;
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}
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private peek(): GrlToken {
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return this.tokens[this.current]!;
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}
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private maybePeek(distance = 0): GrlToken | undefined {
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return this.tokens[this.current + distance];
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}
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private isAtEnd(): boolean {
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return this.current >= this.tokens.length;
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}
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}
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function compileStatementString(
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statement: string,
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_sourceMap: MotionSourceMap | undefined,
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ioMap: IoMap
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): IoFlowInstruction[] {
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const tokens = lexGrl(statement, { preserveComments: false }).filter(
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(token) => token.kind !== "eof" && token.kind !== "comment"
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);
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return parseIoFlowStatements(tokens, ioMap);
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}
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function normalizedNumber(token: GrlToken): number {
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if (token.kind !== "number") {
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throw ioError("GRL_NUMBER_EXPECTED", "Expected number");
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}
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return token.unit?.normalizedValue ?? token.value;
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}
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function tokenSourceMap(token: GrlToken): MotionSourceMap {
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return {
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line: token.range.start.line,
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column: token.range.start.column
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};
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}
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function ioError(code: string, message: string): KdlStructuredError {
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return new KdlStructuredError(code, message);
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}
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