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grammar Autolev |
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options { |
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language = Python3 |
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} |
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prog: stat+ |
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stat: varDecl |
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| functionCall |
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| codeCommands |
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| massDecl |
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| inertiaDecl |
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| assignment |
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| settings |
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assignment: vec equals expr #vecAssign |
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| ID '[' index ']' equals expr #indexAssign |
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| ID diff? equals expr #regularAssign; |
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equals: ('='|'+='|'-='|':='|'*='|'/='|'^=') |
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index: expr (',' expr)* |
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diff: ('\'')+ |
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functionCall: ID '(' (expr (',' expr)*)? ')' |
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| (Mass|Inertia) '(' (ID (',' ID)*)? ')' |
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varDecl: varType varDecl2 (',' varDecl2)* |
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varType: Newtonian|Frames|Bodies|Particles|Points|Constants |
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| Specifieds|Imaginary|Variables ('\'')*|MotionVariables ('\'')* |
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varDecl2: ID ('{' INT ',' INT '}')? (('{' INT ':' INT (',' INT ':' INT)* '}'))? ('{' INT '}')? ('+'|'-')? ('\'')* ('=' expr)? |
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ranges: ('{' INT ':' INT (',' INT ':' INT)* '}') |
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massDecl: Mass massDecl2 (',' massDecl2)* |
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massDecl2: ID '=' expr |
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inertiaDecl: Inertia ID ('(' ID ')')? (',' expr)+ |
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matrix: '[' expr ((','|';') expr)* ']' |
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matrixInOutput: (ID (ID '=' (FLOAT|INT)?))|FLOAT|INT |
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codeCommands: units |
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| inputs |
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| outputs |
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| codegen |
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| commands |
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settings: ID (EXP|ID|FLOAT|INT)? |
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units: UnitSystem ID (',' ID)* |
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inputs: Input inputs2 (',' inputs2)* |
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id_diff: ID diff? |
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inputs2: id_diff '=' expr expr? |
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outputs: Output outputs2 (',' outputs2)* |
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outputs2: expr expr? |
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codegen: ID functionCall ('['matrixInOutput (',' matrixInOutput)*']')? ID'.'ID |
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commands: Save ID'.'ID |
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| Encode ID (',' ID)* |
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vec: ID ('>')+ |
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| '0>' |
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| '1>>' |
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expr: expr '^'<assoc=right> expr # Exponent |
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| expr ('*'|'/') expr # MulDiv |
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| expr ('+'|'-') expr # AddSub |
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| EXP # exp |
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| '-' expr # negativeOne |
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| FLOAT # float |
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| INT # int |
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| ID('\'')* # id |
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| vec # VectorOrDyadic |
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| ID '['expr (',' expr)* ']' # Indexing |
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| functionCall # function |
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| matrix # matrices |
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| '(' expr ')' # parens |
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| expr '=' expr # idEqualsExpr |
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| expr ':' expr # colon |
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| ID? ranges ('\'')* # rangess |
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Mass: ('M'|'m')('A'|'a')('S'|'s')('S'|'s') |
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Inertia: ('I'|'i')('N'|'n')('E'|'e')('R'|'r')('T'|'t')('I'|'i')('A'|'a') |
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Input: ('I'|'i')('N'|'n')('P'|'p')('U'|'u')('T'|'t')('S'|'s')? |
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Output: ('O'|'o')('U'|'u')('T'|'t')('P'|'p')('U'|'u')('T'|'t') |
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Save: ('S'|'s')('A'|'a')('V'|'v')('E'|'e') |
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UnitSystem: ('U'|'u')('N'|'n')('I'|'i')('T'|'t')('S'|'s')('Y'|'y')('S'|'s')('T'|'t')('E'|'e')('M'|'m') |
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Encode: ('E'|'e')('N'|'n')('C'|'c')('O'|'o')('D'|'d')('E'|'e') |
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Newtonian: ('N'|'n')('E'|'e')('W'|'w')('T'|'t')('O'|'o')('N'|'n')('I'|'i')('A'|'a')('N'|'n') |
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Frames: ('F'|'f')('R'|'r')('A'|'a')('M'|'m')('E'|'e')('S'|'s')? |
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Bodies: ('B'|'b')('O'|'o')('D'|'d')('I'|'i')('E'|'e')('S'|'s')? |
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Particles: ('P'|'p')('A'|'a')('R'|'r')('T'|'t')('I'|'i')('C'|'c')('L'|'l')('E'|'e')('S'|'s')? |
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Points: ('P'|'p')('O'|'o')('I'|'i')('N'|'n')('T'|'t')('S'|'s')? |
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Constants: ('C'|'c')('O'|'o')('N'|'n')('S'|'s')('T'|'t')('A'|'a')('N'|'n')('T'|'t')('S'|'s')? |
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Specifieds: ('S'|'s')('P'|'p')('E'|'e')('C'|'c')('I'|'i')('F'|'f')('I'|'i')('E'|'e')('D'|'d')('S'|'s')? |
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Imaginary: ('I'|'i')('M'|'m')('A'|'a')('G'|'g')('I'|'i')('N'|'n')('A'|'a')('R'|'r')('Y'|'y') |
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Variables: ('V'|'v')('A'|'a')('R'|'r')('I'|'i')('A'|'a')('B'|'b')('L'|'l')('E'|'e')('S'|'s')? |
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MotionVariables: ('M'|'m')('O'|'o')('T'|'t')('I'|'i')('O'|'o')('N'|'n')('V'|'v')('A'|'a')('R'|'r')('I'|'i')('A'|'a')('B'|'b')('L'|'l')('E'|'e')('S'|'s')? |
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fragment DIFF: ('\'')* |
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fragment DIGIT: [0-9] |
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INT: [0-9]+ |
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FLOAT: DIGIT+ '.' DIGIT* |
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| '.' DIGIT+ |
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EXP: FLOAT 'E' INT |
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| FLOAT 'E' '-' INT |
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LINE_COMMENT : '%' .*? '\r'? '\n' -> skip |
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ID: [a-zA-Z][a-zA-Z0-9_]* |
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WS: [ \t\r\n&]+ -> skip |
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