parser.c

agentspark 机器人模拟代码 适用robocup 机器人步态模拟仿真（机器人动作在NAOGETUP.cpp下修改）

    squoted = cc->squoted;
    val = cc->val;
    vcur = cc->vcur;
    state = cc->state;
    depth = cc->depth;
    qdepth = cc->qdepth;
    stack = cc->stack;
    esc = cc->esc;
    mode = cc->mode;
    s = str;
    if (cc->lastPos != NULL)
      t = cc->lastPos;
    else {
      t = s;
      cc->sbuffer = str;
    }
  } else {
    /* new continuation... */
    cc = (pcont_t *)malloc(sizeof(pcont_t));
    assert(cc != NULL);
    
    cc->mode = mode;

    /* allocate atom buffer */
    cc->val = val = (char *)malloc(sizeof(char)*sexp_val_start_size);
    assert(val != NULL);
    
    cc->val_used = val_used = 0;
    cc->val_allocated = val_allocated = sexp_val_start_size;

    vcur = val;
    
    /* allocate stack */
    cc->stack = stack = make_stack();
    cc->bindata = NULL;
    cc->binread = cc->binexpected = 0;

    /* t is temp pointer into s for current position */
    s = str;
    t = s;
    cc->sbuffer = str;
  }
  
  bufEnd = cc->sbuffer+len;

  /* guard for loop - see end of loop for info.  Put it out here in the
     event that we're restoring state from a continuation and need to
     check before we start up. */
  if (state != 15 && t[0] == '\0') keepgoing = 0;

  /*==================*/
  /* main parser loop */
  /*==================*/
  while (keepgoing == 1 && t != bufEnd)
    {
#ifdef _DEBUG_
      printf("PARSER: STATE=%d CURCHAR=%c (0x%x)\n",state,t[0],t);
      printf("MODE: %d\n",mode);
      printf("        VAL_ALLOCATED=%d VAL_USED=%d\n",val_allocated,val_used);
      fsm_iterations++;
#endif

      /* based on the current state in the FSM, do something */
      switch (state)
	{
	case 1:
	  switch (t[0])
	    {
	      /* space,tab,CR,LF considered white space */
	    case '\n':
	    case ' ':
	    case '\t':
	    case '\r':             
	      t++;
	      break;
              /* semicolon starts a comment that extends until a \n is
                 encountered. */
            case ';':
              t++;
              state = 11;
              break;
	      /* enter state 2 for open paren */
	    case '(':
	      state = 2;
	      t++;
	      break;
	      /* enter state 3 for close paran */
	    case ')':
	      state = 3;
	      break;
	      /* begin quoted string - enter state 5 */
	    case '\"':
	      state = 5;
	      /* set cur pointer to beginning of val buffer */
	      vcur = val;
	      t++;
	      break;
	      /* single quote - enter state 7 */
	    case '\'':
	      state = 7;
	      t++;
	      break;
	      /* other characters are assumed to be atom parts */
	    default:
	      /* set cur pointer to beginning of val buffer */
	      vcur = val;

              /** NOTE: the following code originally required a transition
                  to state 4 before processing the first atom character --
                  this required two iterations for the first character
                  of each atom.  merging this into here allows us to process
                  what we already know to be a valid atom character before
                  entering state 4. **/
	      vcur[0] = t[0];
	      if (t[0] == '\\') esc = 1;
	      else esc = 0;
              val_used++;

              if (val_used == val_allocated) {
                val = (char *)realloc(val,val_allocated+sexp_val_grow_size);
                assert(val != NULL);
                vcur = val + val_used;
                val_allocated += sexp_val_grow_size;
              } else vcur++;

              /* if the atom starts with # and we're in inline
                 binary mode, we need to go to state 12 to start
                 checking for the #b# prefix.  otherwise,
                 if it's not a # or we're just in normal mode,
                 proceed to state 4 as usual. */
              if (t[0] == '#' && mode == PARSER_INLINE_BINARY) {
                state = 12;
              } else {
                state = 4;
              }

              t++;
	      break;
	    }
	  break;
	case 2:
	  /* open paren */
	  depth++;

          sx = sexp_t_allocate();
	  assert(sx!=NULL);
	  elts++;
	  sx->ty = SEXP_LIST;
	  sx->next = NULL;
	  sx->list = NULL;
	  
	  if (stack->height < 1)
	    {
              data = pd_allocate();
	      assert(data!=NULL);
	      data->fst = data->lst = sx;
	      push (stack, data);
	    }
	  else
	    {
	      data = (parse_data_t *) top_data (stack);
	      if (data->lst != NULL)
		data->lst->next = sx;
	      else
		data->fst = sx;
	      data->lst = sx;
	    }
	  
          data = pd_allocate();
	  assert(data!=NULL);
	  data->fst = data->lst = NULL;
	  push (stack, data);
	  
	  state = 1;
	  break;
	case 3:
	  /** close paren **/
#ifdef _DEBUG_    
          if (depth > maxdepth) maxdepth = depth;
#endif /* _DEBUG_ */

          /* check for close parens that were never opened. */
          if (depth == 0) {
            fprintf(stderr,"Badly formed s-expression.  Parser exiting.\n");
	    cc->val = val;
            cc->mode = mode;
            cc->val_used = val_used;
            cc->val_allocated = val_allocated;
	    cc->vcur = vcur;
	    cc->lastPos = t;
	    cc->depth = depth;
	    cc->qdepth = qdepth;
	    cc->state = 1;
	    cc->stack = stack;
	    cc->esc = 0;
	    cc->last_sexp = NULL;
            cc->error = 1;

#ifdef _DEBUG_
            fprintf(stderr,"State Machine Iterations: %d\nMaxdepth: %d\n",
                    fsm_iterations,maxdepth);
#endif /* debug */

	    return cc;
          }

	  t++;
	  depth--;

	  lvl = pop (stack);
	  data = (parse_data_t *) lvl->data;
	  sx = data->fst;
	  /* free (data); */
          pd_deallocate(data);
          lvl->data = NULL;

	  if (stack->top != NULL)
	    {
	      data = (parse_data_t *) top_data (stack);
	      data->lst->list = sx;
	    }
	  else
	    {
	      fprintf (stderr, "Hmmm. Stack->top is null.\n");
	    }

	  state = 1;

	  /** if depth = 0 then we finished a sexpr, and we return **/
	  if (depth == 0) {
            cc->error = 0;
            cc->mode = mode;
	    cc->val = val;
            cc->val_allocated = val_allocated;
            cc->val_used = val_used;
	    cc->vcur = vcur;
	    cc->lastPos = t;
	    cc->depth = depth;
	    cc->qdepth = qdepth;
	    cc->state = 1;
	    cc->stack = stack;
	    cc->esc = 0;
	    while (stack->top != NULL)
	      {
		lvl = pop (stack);
		data = (parse_data_t *) lvl->data;
		sx = data->fst;
		/* free (data); */
                pd_deallocate(data);
                lvl->data = NULL;
	      }
	    cc->last_sexp = sx;

#ifdef _DEBUG_
            fprintf(stderr,"State Machine Iterations: %d\nMaxdepth: %d\n",
                    fsm_iterations,maxdepth);
#endif /* debug */

	    return cc;
	  }
	  break;
	case 4: /** parsing atom **/
	  if (esc == 1 && (t[0] == '\"' || t[0] == '(' ||
			   t[0] == ')' || t[0] == '\'' ||
			   t[0] == '\\')) {
	    vcur--; /* back up to overwrite the \ */
	    vcur[0] = t[0];
	    vcur++;
	    t++;
	    esc = 0;
	    break;
	  }

	  /* look at an ascii table - these ranges are the non-whitespace, non
	     paren and quote characters that are legal in atoms */
	  if (!((t[0] >= '*' && t[0] <= '~') ||
		((unsigned char)(t[0]) > 127) || 
		(t[0] == '!') ||
		(t[0] >= '#' && t[0] <= '&')))
	    {
	      vcur[0] = '\0';
              val_used++;

              sx = sexp_t_allocate();
	      assert(sx!=NULL);
	      elts++;
	      sx->ty = SEXP_VALUE;
              sx->val = val;
              sx->val_allocated = val_allocated;
              sx->val_used = val_used;
	      sx->next = NULL;
              if (squoted != 0)
                sx->aty = SEXP_SQUOTE;
              else
                sx->aty = SEXP_BASIC;

              val = (char *)malloc(sizeof(char)*sexp_val_start_size);
              assert(val != NULL);
              val_allocated = sexp_val_start_size;
              val_used = 0;
              vcur = val;
	      
	      if (!empty_stack (stack))
		{
		  data = (parse_data_t *) top_data (stack);
		  if (data->fst == NULL)
		    {
		      data->fst = data->lst = sx;
		    }
		  else
		    {
		      data->lst->next = sx;
		      data->lst = sx;
		    }
		}
	      else
		{
                  /* looks like this expression was just a basic atom - so
                     return it. */
                  cc->mode = mode;
                  cc->error = 0;
                  cc->val = val;
                  cc->val_used = val_used;
                  cc->val_allocated = val_allocated;
                  cc->vcur = vcur;
                  cc->squoted = 0;
                  cc->lastPos = t;
                  cc->depth = depth;
                  cc->qdepth = qdepth;
                  cc->state = 1;
                  cc->stack = stack;
                  cc->esc = 0;
                  cc->last_sexp = sx;
                  assert(sx != NULL);

#ifdef _DEBUG_
                  fprintf(stderr,"STATE 4: CURCHAR=%c\n",vcur);
#endif /* _DEBUG_ */

                  return cc;
		}

	      switch (t[0]) {
              case ' ':
              case '\t':
              case '\n':
              case '\r':
                /** NOTE: we know whitespace following atom, so spin ahead
                    one and let state 1 do what it needs to for the next
                    character. **/
                state = 1;
                t++;
                squoted = 0;
                break;
              case ')':
                squoted = 0;
                state = 3;
                break;
              default:
                squoted = 0;
                state = 1;
              }
	    }
	  else
	    {
	      vcur[0] = t[0];
	      if (t[0] == '\\') esc = 1;
	      else esc = 0;
              val_used++;

              if (val_used == val_allocated) {
                val = (char *)realloc(val,val_allocated+sexp_val_grow_size);
                assert(val != NULL);
                vcur = val + val_used;
                val_allocated += sexp_val_grow_size;
              } else vcur++;

	      t++;
	    }
	  break;
	case 5:
	  if (esc == 1 && (t[0] == '\"' ||
			   t[0] == '\'' ||
			   t[0] == '(' ||
			   t[0] == ')' ||
			   t[0] == '\\')) {
	    vcur--;
	    vcur[0] = t[0];
	    vcur++;
            /** NO NEED TO UPDATE VAL COUNTS **/
	    t++;
	    esc = 0;
	  }

	  if (t[0] == '\"')
	    {
	      state = 6;

              if (squoted == 1) {
                vcur[0] = '\"';
                val_used++;
                
                if (val_used == val_allocated) {
                  val = (char *)realloc(val,val_allocated+sexp_val_grow_size);
                  assert(val != NULL);
                  vcur = val + val_used;
                  val_allocated += sexp_val_grow_size;
                } else vcur++;
              }

              vcur[0] = '\0';

              val_used++;
              sx = sexp_t_allocate();
	      assert(sx!=NULL);
	      elts++;
	      sx->ty = SEXP_VALUE;
              sx->val = val;