From 229f544d347a52c3e4ec0c12c1e0f67f48eb6800 Mon Sep 17 00:00:00 2001
From: wallefan <saworley39@yahoo.com>
Date: Mon, 26 Mar 2018 12:11:52 -0700
Subject: [PATCH] Document the AutoParser

Migrating to this format will take some serious refactoring, but it's better than what we've got now, at least.
---
 .../Robot2018/autonomous/AutoParser.java      | 121 ++++++++++++++++--
 1 file changed, 113 insertions(+), 8 deletions(-)

diff --git a/Robot2018/src/org/usfirst/frc2813/Robot2018/autonomous/AutoParser.java b/Robot2018/src/org/usfirst/frc2813/Robot2018/autonomous/AutoParser.java
index 38e45670..045469eb 100644
--- a/Robot2018/src/org/usfirst/frc2813/Robot2018/autonomous/AutoParser.java
+++ b/Robot2018/src/org/usfirst/frc2813/Robot2018/autonomous/AutoParser.java
@@ -15,7 +15,27 @@
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
- *
+ *  Not yet complete lexer for this little lanuage I thought up (it's case insensitive):
+ * <p><code>
+ * OPEN JAWS
+ * RUN INTAKE IN FOREVER
+ * DRIVE FORWARD 1 FEET
+ * CLOSE JAWS
+ * WAIT 0.1 SECONDS
+ * STOP INTAKE
+ * ASYNC MOVE ELEVATOR TO 54 INCHES
+ * ASYNC MOVE ARM TO 45 DEGREES
+ * DRIVE FORWARD 5 FEET RADIUS 5 CLOCKWISE
+ * AWAIT ;; wait for all commands started with async to finish
+ * DRIVE FORWARD 6 INCHES RADIUS 5 CLOCKWISE
+ * RUN INTAKE OUT FOR 2 SECONDS
+ * </code></p><p>
+ * So it's basically COBOL.
+ * <p/><p/><p/><p/>
+ * Which is at least better than Java.
+ * <p><code>
+ * autoCmdList.drive.drive(Direction.FORWARD, LengthUOM.FEET.create(1);
+ * autoCmdList.intake.moveSync(Direction.FORWARD, 
  */
 public class AutoParser extends CommandGroup {
 
@@ -36,6 +56,8 @@ public AutoParser() {
 		// e.g. if Command1 requires chassis, and Command2 requires arm,
 		// a CommandGroup containing them would require both the chassis and the
 		// arm.
+		if(!initialized)
+			initialize();
 	}
 
 	public AutoParser(File f) throws FileNotFoundException {
@@ -52,6 +74,21 @@ public void parse(File f) throws FileNotFoundException {
 	private boolean async;
 	private double speed;
 	private double startSpeedFactor = 1, endSpeedFactor = 1;
+	private HashMap<String, Command> vars = new HashMap<String, Command>();
+	private String assigningVariable;
+	
+	private static final HashMap<String, Motor> motorSubsystems;
+	private static final HashMap<String, Solenoid> solenoidSubsystems;
+	private static boolean initialized=false;
+	
+	private static void initialize() {
+		initialized=true;
+		motorSubsystems.put("arm", Robot.arm);
+		motorSubsystems.put("elevator", Robot.elevator);
+		motorSubsystems.put("intake", Robot.intake);
+		solenoidSubsystems.put("gripper", Robot.jaws); // alias for the jaws
+		solenoidSubsystems.put("jaws", Robot.jaws);
+	}
 
 	private void parse(Scanner s) {
 		Direction direction;
@@ -86,22 +123,90 @@ private void parse(Scanner s) {
 			case "gripper":
 				String token = s.next().toUpperCase();
 				if (token.equals("TOGGLE"))
-					add(new SolenoidToggleStateInstant(Robot.jaws));
-				else {
-					add(new SolenoidSetStateInstant(Robot.jaws, Direction.valueOf(token)));
-				}
+					addInstant(new SolenoidToggleStateInstant(Robot.jaws));
+				else
+					addInstant(new SolenoidSetStateInstant(Robot.jaws, Direction.valueOf(token)));
 				break;
 			case "intake":
-				
+				add(new MotorRunInDirectionSync(Robot.intake, Direction.valueOf(s.next().toUpperCase()));
+				break;
+			case "elevator":
+				String token = s.next().toUpperCase();
+				if(token.equals("goto")) {
+					double pos = s.nextDouble();
+					add(new MotorMoveToPositionSync(Robot.elevator, LengthUOM.valueOf(s.next().toUpperCase()).create(pos));
+				} else {
+					add(new MotorMoveInDirectionAsync());
+				}
+				break;  
+			
+			// TODO ADD MORE CASES
+			
+			// command architecture		    
+			case "move":		    
+				Motor motor = motorSubsystems.get(s.next().toLower());
+				String action = s.next().toUpperCase();
+				if(action.equals("TO"))
+					if(s.hasNextDouble()) {
+						// it's a position
+						double position  = s.nextDouble();
+						LengthUOM unit = LengthUOM.valueOf(s.next().toUpperCase());
+						addInstant(new MotorMoveToPositionAsync(motor, unit.create(position));
+					}
+					else {
+						String position = s.next().toLowerCase();
+						if(position.equals("bottom"))
+			case "cancel":
+				Command cmdToCancel = 
+			// variables
+			default:
+				String varname = s.next();
+				if(!s.next().equals("="))
+					throw new IllegalArgumentException("Unknown command "+varname);
+				assigningVariable = varname;
+				break;
 			}
 		}
 	}
 
 	private void add(Command cmd) {
-		if (async)
+		if (async) {
 			addParallel(cmd);
-		else
+			if(assigningVariable != null) {
+				variables.put(assigningVariable, cmd);
+				assigningVariable=null;
+			}
+		} else {
+			assert assigningVariable == null : "Cannot assign a non-async command to a variable";
 			addSequential(cmd);
+		}
 		async = false;
+		
 	}
+					    
+	private void addInstant(InstantCommand cmd) {
+		assert !async : "Cannot async an instant command";
+		assert assigningVariable==null : "Cannot assign instant commands to variables (they complete instantly, what would be the point?)";
+		addSequential(cmd);
 }
+							   
+							   
+/* DRIVE FORWARD 2 FEET RADIUS 1 CLOCKWISE
+ * MOVE INTAKE OUT FOR 1 SECOND
+ * DRIVE BACKWARD 1 FEET
+ * ASYNC MOVE ELEVATOR TO BOTTOM
+ * ASYNC MOVE ARM TO LEVEL_POSITION
+ * DRIVE BACKWARD 1 FEET
+ * AWAIT           ; wait for all commands started with ASYNC to complete
+ * OPEN JAWS
+ * RUN INTAKE IN FOREVER
+ * DRIVE FORWARD 1 FEET
+ * CLOSE JAWS
+ * STOP INTAKE
+ * ASYNC MOVE ELEVATOR TO 54 INCHES
+ * DRIVE BACKWARD 5 FEET RADIUS 1 COUNTERCLOCKWISE
+ * DRIVE FORWARD 30 FEET RADIUS 5 CLOCKWISE
+ * AWAIT
+ * DRIVE FORWARD 2 FEET RADIUS 5 CLOCKWISE
+ * OPEN JAWS
+ */