def test_eq(self):
expressions1 = [
None,
Expression(Type.int(), 1),
Expression(Type.decimal(), 1.1),
Expression(Type.boolean(), False),
Expression(Type.vector(), [1.1, 2.2, -1.1]),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4]),
Expression(Type.list_of(Type.int()), []),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0]),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]]),
Expression(Type.int(), 1, "a"),
Expression(Type.decimal(), 1.1, "a"),
Expression(Type.boolean(), False, "a"),
Expression(Type.vector(), [1.1, 2.2, -1.1], "a"),
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()),
"a"),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4], "a"),
Expression(Type.list_of(Type.int()), [], "a"),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0],
"a"),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]], "a")
]
expressions2 = [
None,
Expression(Type.int(), 1),
Expression(Type.decimal(), 1.1),
Expression(Type.boolean(), False),
Expression(Type.vector(), [1.1, 2.2, -1.1]),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4]),
Expression(Type.list_of(Type.int()), []),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0]),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]]),
Expression(Type.int(), 1, "a"),
Expression(Type.decimal(), 1.1, "a"),
Expression(Type.boolean(), False, "a"),
Expression(Type.vector(), [1.1, 2.2, -1.1], "a"),
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()),
"a"),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4], "a"),
Expression(Type.list_of(Type.int()), [], "a"),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0],
"a"),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]], "a")
]
for i in range(len(expressions1)):
for j in range(len(expressions2)):
if i == j:
self.assertEqual(expressions1[i], expressions2[j])
else:
self.assertNotEqual(expressions1[i], expressions2[j])
def test_to_expression_should_equal_self(self):
expressions = [
Expression(Type.int(), 1),
Expression(Type.decimal(), 1.1),
Expression(Type.boolean(), False),
Expression(Type.vector(), [1.1, 2.2, -1.1]),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4]),
Expression(Type.list_of(Type.int()), []),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0]),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]]),
Expression(Type.int(), 1, "a"),
Expression(Type.decimal(), 1.1, "a"),
Expression(Type.boolean(), False, "a"),
Expression(Type.vector(), [1.1, 2.2, -1.1], "a"),
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()),
"a"),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4], "a"),
Expression(Type.list_of(Type.int()), [], "a"),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0],
"a"),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]], "a")
]
for expression in expressions:
self.assertEqual(expression, expression.to_expression())
def test_assign_list_elem_with_different_type_should_give_error(self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]
for t1 in types:
for t2 in types:
if t1 == t2:
continue
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
{} b;
list[{}] c <- [a];
c[0] <- b;
}}
""".format(t1, t2, t1))
self.assertTrue(
"Assigned value {} should have type {}, but is {}".format(
Expression(t2, t2.default_value, ident="b"),
t1.type_name, t2.type_name) in str(context.exception))
def test_repeated_declare_and_assign_drone_constant_should_give_error(
self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands(
"""
main () {{
{} a;
{} DRONE <- a;
}}
""".format(type.type_name, type.type_name),
drone_config_map={"DRONE": DefaultDroneConfig()})
self.assertTrue(
"Identifier DRONE already declared" in str(context.exception))
def test_list_elem_assign_with_wrong_index_should_give_error(self):
types = [
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.decimal()),
Type.list_of(Type.list_of(Type.int()))
]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
list[int] b;
b[a] <- 1;
}}
""".format(type))
self.assertTrue(
"Expression {} should have type int, but is {}".format(
Expression(type, type.default_value, ident="a"),
type.type_name) in str(context.exception))
def test_declare_and_assign_with_different_type_should_give_error(self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]
for t1 in types:
for t2 in types:
if t1 == t2:
continue
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
{} b <- a;
}}
""".format(t1, t2))
self.assertTrue(
"Identifier b has been declared as {}, but assigned as {}".
format(t2.type_name, t1.type_name) in str(
context.exception))
def test_list_insert_with_wrong_type_value_should_give_error(self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.decimal()),
Type.list_of(Type.list_of(Type.int()))
]
for t1 in types:
for t2 in types:
if t1 == t2:
continue
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
list[{}] b;
b.insert(a);
}}
""".format(t1, t2))
self.assertTrue(
"List {} has been declared as {}, but inserted with element type {}"
.format(Expression(Type.list_of(t2), [], ident="b"),
Type.list_of(t2), t1) in str(context.exception))
def test_declare_drone_should_change_symbol_table(self):
actual = SymbolTable()
generate_commands("""
main () { drone a; }
""",
symbol_table=actual)
expected = SymbolTable()
expected.store("a", Expression(Type.drone(), NullDrone(), ident="a"))
self.assertEqual(expected, actual)
def test_eq(self):
types1 = [
None,
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.decimal()),
Type.list_of(Type.list_of(Type.int())),
Type.list_of(Type.list_of(Type.decimal()))
]
types2 = [
None,
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.decimal()),
Type.list_of(Type.list_of(Type.int())),
Type.list_of(Type.list_of(Type.decimal()))
]
for i in range(len(types1)):
for j in range(len(types2)):
if i == j:
self.assertEqual(types1[i], types2[j])
else:
self.assertNotEqual(types1[i], types2[j])
self.assertEqual(Type.empty_list(), Type.empty_list())
for type in types1:
if isinstance(type, ListType):
self.assertEqual(Type.empty_list(), type)
self.assertEqual(type, Type.empty_list())
else:
self.assertNotEqual(Type.empty_list(), type)
self.assertNotEqual(type, Type.empty_list())
def visitIdent(self, ctx: xDroneParser.IdentContext) -> Identifier:
ident = ctx.IDENT().getText()
# ident in symbol table will shadow drone constant
if ident in self._get_latest_symbol_table():
return Identifier(
str(ident),
self._get_latest_symbol_table().get_expression(ident))
if ident in self.drones:
return Identifier(str(ident),
Expression(Type.drone(), self.drones[ident]))
return Identifier(str(ident), None)
def test_container_not_list_should_give_error(self):
none_list_exprs = [
Expression(Type.int(), 1, "a"),
Expression(Type.decimal(), 1.0, "a"),
Expression(Type.boolean(), True, "a"),
Expression(Type.string(), "abc", "a"),
Expression(Type.vector(), [1.0, 1.0, 1.0], "a"),
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()), "a")
]
for none_list_expr in none_list_exprs:
with self.assertRaises(AssertionError) as context:
ListElem("a", none_list_expr, 0)
def test_str(self):
self.assertEqual("Expression: { type: int, value: 1, ident: None }",
str(Expression(Type.int(), 1)))
self.assertEqual(
"Expression: { type: decimal, value: 1.1, ident: None }",
str(Expression(Type.decimal(), 1.1)))
self.assertEqual(
"Expression: { type: boolean, value: False, ident: None }",
str(Expression(Type.boolean(), False)))
self.assertEqual(
"Expression: { type: vector, value: [1.1, 2.2, -1.1], ident: None }",
str(Expression(Type.vector(), [1.1, 2.2, -1.1])))
self.assertEqual(
"Expression: { type: list[int], value: [1, 2, 3, 4], ident: None }",
str(Expression(Type.list_of(Type.int()), [1, 2, 3, 4])))
self.assertEqual(
"Expression: { type: list[int], value: [], ident: None }",
str(Expression(Type.list_of(Type.int()), [])))
self.assertEqual(
"Expression: { type: list[list[vector]], value: [[[1.1, 2.2, -1.1], [1, 2, -1]]], ident: None }",
str(
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]])))
self.assertEqual("Expression: { type: int, value: 1, ident: a }",
str(Expression(Type.int(), 1, "a")))
self.assertEqual("Expression: { type: decimal, value: 1.1, ident: a }",
str(Expression(Type.decimal(), 1.1, "a")))
self.assertEqual(
"Expression: { type: boolean, value: False, ident: a }",
str(Expression(Type.boolean(), False, "a")))
self.assertEqual(
"Expression: { type: vector, value: [1.1, 2.2, -1.1], ident: a }",
str(Expression(Type.vector(), [1.1, 2.2, -1.1], "a")))
self.assertEqual(
"Expression: { type: drone, value: Drone: { name: DRONE, config: DroneConfig: "
"{ init_position: (0, 0, 0), speed_mps: 1, rotate_speed_dps: 90, takeoff_height_meters: 1 } "
"}, ident: a }",
str(
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()),
"a")))
self.assertEqual(
"Expression: { type: list[int], value: [1, 2, 3, 4], ident: a }",
str(Expression(Type.list_of(Type.int()), [1, 2, 3, 4], "a")))
self.assertEqual(
"Expression: { type: list[int], value: [], ident: a }",
str(Expression(Type.list_of(Type.int()), [], "a")))
self.assertEqual(
"Expression: { type: list[list[vector]], value: [[[1.1, 2.2, -1.1], [1, 2, -1]]], ident: a }",
str(
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]], "a")))
def test_declare_and_assign_drone_should_change_symbol_table(self):
actual = SymbolTable()
generate_commands("""
main () { drone a <- DRONE1; }
""",
drone_config_map={"DRONE1": DefaultDroneConfig()},
symbol_table=actual)
expected = SymbolTable()
expected.store(
"a",
Expression(Type.drone(),
Drone("DRONE1", DefaultDroneConfig()),
ident="a"))
self.assertEqual(expected, actual)
def test_for_with_wrong_type_ident_should_give_error(self):
types = [Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} i;
for i from 0 to 9 step 2 {{
}}
}}
""".format(type))
self.assertTrue("Identifier i has been declared as {}, but assigned as int"
.format(type)
in str(context.exception))
def test_for_with_wrong_type_step_expr_should_give_error(self):
types = [Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
int i;
{} a;
for i from 0 to 9 step a {{
}}
}}
""".format(type))
self.assertTrue("Expression {} should have type int, but is {}"
.format(Expression(type, type.default_value, ident="a"), type.type_name)
in str(context.exception))
def _get_drone_name(self, expr: Optional[Expression]):
if expr is not None:
if expr.type != Type.drone():
raise CompileError(
"Expression {} should have type drone, but is {}".format(
expr, expr.type))
if isinstance(expr.value, NullDrone):
raise CompileError("Drone has not been assigned".format(
expr, expr.type))
drone_name = expr.value.name
elif expr is None and len(self.drones) == 1:
drone_name = list(self.drones.keys())[0]
else:
raise CompileError(
"Drone should be specified if there are multiple drones in config"
)
return drone_name
def test_to_expression_should_return_correct_value(self):
expressions = [
None,
Expression(Type.int(), 1, "a"),
Expression(Type.decimal(), 1.1, "a"),
Expression(Type.boolean(), False, "a"),
Expression(Type.vector(), [1.1, 2.2, -1.1], "a"),
Expression(Type.drone(), Drone("DRONE", DefaultDroneConfig()),
"a"),
Expression(Type.list_of(Type.int()), [1, 2, 3, 4], "a"),
Expression(Type.list_of(Type.int()), [], "a"),
Expression(Type.list_of(Type.decimal()), [1.0, 2.0, 3.0, 4.0],
"a"),
Expression(Type.list_of(Type.list_of(Type.vector())),
[[[1.1, 2.2, -1.1], [1, 2, -1]]], "a")
]
for expression in expressions:
self.assertEqual(expression,
Identifier("a", expression).to_expression())
def test_wait_with_incorrect_parameter_should_give_error(self):
types = [
Type.boolean(),
Type.string(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main() {{
{} a;
wait(a);
}}
""".format(type.type_name))
self.assertTrue(
"Expression {} should have type int or decimal, but is {}".
format(Expression(type, type.default_value, ident="a"),
type.type_name) in str(context.exception))
def test_list_remove_from_non_list_should_give_error(self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone()
]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
a.remove();
}}
""".format(type))
self.assertTrue(
"Expression {} should have type list, but is {}".format(
Expression(type, type.default_value, ident="a"),
type.type_name) in str(context.exception))
def test_declare_and_assign_ident_empty_list_should_update_symbol_table(
self):
types = [
Type.int(),
Type.decimal(),
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]
for type in types:
actual = SymbolTable()
generate_commands("""
main () {{
list[{}] a <- [];
}}
""".format(type.type_name),
symbol_table=actual)
expected = SymbolTable()
expected.store("a", Expression(Type.list_of(type), [], ident="a"))
self.assertEqual(expected, actual)
def test_declare_and_then_assign_vector_elem_with_different_type_should_give_error(
self):
for type in [
Type.string(),
Type.boolean(),
Type.vector(),
Type.drone(),
Type.list_of(Type.int()),
Type.list_of(Type.list_of(Type.int()))
]:
for index in ["x", "y", "z"]:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
vector a;
{} b;
a.{} <- b;
}}
""".format(type.type_name, index))
self.assertTrue(
"Assigned value {} should have type int or decimal, but is {}"
.format(Expression(type, type.default_value, ident="b"),
type.type_name) in str(context.exception))
def test_return_wrong_type_in_function_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for t1 in types:
for t2 in types:
if t1 == t2:
continue
with self.assertRaises(CompileError) as context:
generate_commands("""
function func() return {} {{
{} a;
return a;
}}
main () {{
{} a <- func();
}}
""".format(t1, t2, t1))
self.assertTrue("Function func has returned type {}, but {} is returned"
.format(t1, t2)
in str(context.exception))
def test_return_correct_type_in_function_should_return_correct_value(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
actual = SymbolTable()
generate_commands("""
function func() return {} {{
{} a;
return a;
}}
main () {{
{} a <- func();
}}
""".format(type, type, type), symbol_table=actual)
expected = SymbolTable()
expected.store("a", Expression(type, type.default_value, ident="a"))
self.assertEqual(expected, actual)
def test_define_functions_with_duplicated_parameter_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type1 in types:
for type2 in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
function func({} a, {} a) return int {{}}
main () {{}}
""".format(type1, type2, type1, type2))
self.assertTrue("Parameter names are duplicated in ['a', 'a']" in str(context.exception))
with self.assertRaises(CompileError) as context:
generate_commands("""
procedure proc({} a, {} a) {{}}
main () {{}}
""".format(type1, type2, type1, type2))
self.assertTrue("Parameter names are duplicated in ['a', 'a']" in str(context.exception))
def test_call_function_with_wrong_type_argument_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for t1 in types:
for t2 in types:
if t1 == t2:
continue
with self.assertRaises(CompileError) as context:
generate_commands("""
function func({} i) return {} {{
return(i);
}}
main () {{
{} a;
{} b <- func(a);
}}
""".format(t1, t1, t2, t1))
self.assertTrue("Arguments when calling function or procedure func should have types ['{}'], "
"but is ['{}']".format(t1, t2)
in str(context.exception))
def test_define_functions_with_parameter_should_change_function_table(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type1 in types:
for type2 in types:
actual = FunctionTable()
generate_commands("""
function func({} a, {} b) return int {{}}
procedure proc({} a, {} b) {{}}
main () {{}}
""".format(type1, type2, type1, type2), function_table=actual)
expected = FunctionTable()
expected.store("func", Function("func", [Parameter("a", type1), Parameter("b", type2)], Type.int(), []))
expected.store("proc", Function("proc", [Parameter("a", type1), Parameter("b", type2)], None, []))
self.assertEqual(expected, actual)
def test_return_in_main_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
main () {{
{} a;
return a;
}}
""".format(type))
self.assertTrue("Cannot return in the Main function" in str(context.exception))
def test_return_value_in_procedure_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
procedure proc() {{
{} a;
return a;
}}
main () {{
proc();
}}
""".format(type))
self.assertTrue("Procedure proc should not return anything, but {} is returned"
.format(Expression(type, type.default_value, ident=None))
in str(context.exception))
def test_return_not_exist_in_function_should_give_error(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
with self.assertRaises(CompileError) as context:
generate_commands("""
function func() return {} {{
}}
main () {{
{} a <- func();
}}
""".format(type, type))
self.assertTrue("Function func has returned type {}, but nothing is returned"
.format(type)
in str(context.exception))
def test_define_functions_should_change_function_table(self):
types = [Type.int(), Type.decimal(), Type.string(), Type.boolean(), Type.vector(), Type.drone(),
Type.list_of(Type.int()), Type.list_of(Type.decimal()), Type.list_of(Type.list_of(Type.int()))]
for type in types:
actual = FunctionTable()
generate_commands("""
function func() return {} {{}}
procedure proc() {{}}
main () {{}}
""".format(type), function_table=actual)
expected = FunctionTable()
expected.store("func", Function("func", [], type, []))
expected.store("proc", Function("proc", [], None, []))
self.assertEqual(expected, actual)
