Generator of programs for CULET. http://www.comunidad.escom.ipn.mx/ALIROB/CULET

compiler.cpp

/**
 * compiler.cpp
 * Generator of programs for the head (rotator cube).
 * CULET: a Turing machine with Cubelets and Lego.
 *
 * Dependencies:
 * + jsoncpp: https://github.com/open-source-parsers/jsoncpp
 */

#include <fstream>
#include <iostream>
#include <json/value.h>
#include <json/reader.h>
#include <map>
#include <string>

using namespace std;
using namespace Json;

/**
 * Main function. Receives as arguments:
 * 1. .json file with the machine description.
 * 2. .c name of destiny file.
 */

int main (int num_args, char **args)
{
  /* Read file with description of the machine. */
  ifstream file_with_rules {string{args[1]}};
  string contents, line;
  while(getline(file_with_rules, line))
    contents += line;
  file_with_rules.close();
  Value root;
  Reader lector;
  lector.parse(contents, root);

  ofstream destiny_file {string{args[2]}};
  map<string, int> states;
  for (int i = 0; i < root["states"].size(); i++)
    states.insert(make_pair(root["states"][i].asString(), i));

  /* Firs block of program. */
  destiny_file << "#include \"cubelet.h\"" << endl << endl
    << "#define DOWN_SENSOR 83755" << endl
    << "#define UP_SENSOR 88467" << endl
    << "#define THRESHOLD_CERCANY 250" << endl
    << "#define DESCENT_TIME_ONE 1200" << endl
    << "#define DESCENT_TIME_CERO 700" << endl
    << "#define POWER_ROTATOR 76" << endl
    << "#define POWER_ROTATOR_RISE 75" << endl << endl
    << "int state;" << endl
    << "int state_machine;" << endl
    << "int direction;" << endl << endl
    << "#define RIGHT 1" << endl
    << "#define LEFT 2" << endl << endl
    << "void setup()" << endl
    << "{" << endl
    << "  block_value = 0;" << endl
    << "  state = 0;" << endl
    << "  state_machine = " << states[root["initial_state"].asString()]
    << ";" << endl
    << "}" << endl << endl
    << "void loop()" << endl
    << "{" << endl
    << "  switch (state){" << endl
    << "    case 0:" << endl
    << "      wait(2000);" << endl
    << "      state = 1;" << endl
    << "      break;" << endl
    << "    case 1:" << endl
    << "      if (get_block_value(DOWN_SENSOR) < 128) {" << endl
    << "        switch (state_machine) {" << endl;

  /* First set of rules. */
  for (auto rule : root["rules"])
    if (rule["symbol"].asString() == "1")
      destiny_file
        << "          case " << states[rule["state"].asString()]
        << ":" << endl
        << "            state_machine = "
        << states[rule["new_state"].asString()]
        << ";" << endl
        << "            state = "
        << (rule["new_symbol"].asString() == "1" ? "40" : "60")
        << ";" << endl
        << "            direction = "
        << (rule["direction"].asString() == "R" ? "RIGHT" : "LEFT")
        << ";" << endl
        << "            break;" << endl;

  /* Second block of program. */
  destiny_file << "        }" << endl
    << "      } else {" << endl
    << "        switch (state_machine) {" << endl;

  /* Second set of rules. */
  for (auto rule : root["rules"])
    if (rule["symbol"].asString() == "0")
      destiny_file
        << "          case " << states[rule["state"].asString()]
        << ":" << endl
        << "            state_machine = "
        << states[rule["new_state"].asString()]
        << ";" << endl
        << "            state = "
        << (rule["new_symbol"].asString() == "0" ? "40" : "50")
        << ";" << endl
        << "            direction = "
        << (rule["direction"].asString() == "R" ? "RIGHT" : "LEFT")
        << ";" << endl
        << "            break;" << endl;

  /* Third block of program. */
  destiny_file << "        }" << endl
    << "      }" << endl
    << "    break;" << endl
    << "  case 40: " << endl
    << "    if (direction == RIGHT) { " << endl
    << "      state = 41; " << endl
    << "    } else { " << endl
    << "      state = 42; " << endl
    << "    } " << endl
    << "    break; " << endl
    << "  case 41: " << endl
    << "    block_value = 1; " << endl
    << "    if (get_block_value(DOWN_SENSOR) >= THRESHOLD_CERCANY) { " << endl
    << "      state = 43; " << endl
    << "    } " << endl
    << "    break; " << endl
    << "  case 42: " << endl
    << "    block_value = 2; " << endl
    << "    if (get_block_value(DOWN_SENSOR) >= THRESHOLD_CERCANY) { " << endl
    << "      state = 43; " << endl
    << "    } " << endl
    << "    break; " << endl
    << "  case 43: " << endl
    << "    if (get_block_value(DOWN_SENSOR) < THRESHOLD_CERCANY) { " << endl
    << "      if (direction == LEFT)" << endl
    << "        wait(200);" << endl
    << "      else" << endl
    << "        wait(100);" << endl
    << "      block_value = 0; " << endl
    << "      wait(200); " << endl
    << "      state = 1; " << endl
    << "    } " << endl
    << "    break; " << endl
    << "  case 50:" << endl
    << "    set_rotate_direction(FORWARD);" << endl
    << "    set_rotate(POWER_ROTATOR);" << endl
    << "    wait(DESCENT_TIME_ONE);" << endl
    << "    set_rotate(0);" << endl
    << "    wait(500);" << endl
    << "    state = 51;" << endl
    << "    break;" << endl
    << "  case 51:" << endl
    << "    set_rotate_direction(BACKWARD);" << endl
    << "    set_rotate(POWER_ROTATOR_RISE);" << endl
    << "    if (get_block_value(UP_SENSOR) > 128) {" << endl
    << "      set_rotate(0);" << endl
    << "      wait(500);" << endl
    << "      state = 40;" << endl
    << "    }" << endl
    << "    break;" << endl
    << "  case 60:" << endl
    << "    set_rotate_direction(BACKWARD);" << endl
    << "    set_rotate(POWER_ROTATOR);" << endl
    << "    wait(DESCENT_TIME_CERO);" << endl
    << "    set_rotate(0);" << endl
    << "    wait(500);" << endl
    << "    state = 61;" << endl
    << "    break;" << endl
    << "  case 61:" << endl
    << "    set_rotate_direction(FORWARD);" << endl
    << "    set_rotate(POWER_ROTATOR_RISE);" << endl
    << "    if (get_block_value(UP_SENSOR) > 128) {" << endl
    << "      set_rotate(0);" << endl
    << "      wait(500);" << endl
    << "      state = 40;" << endl
    << "    }" << endl
    << "    break;" << endl
    << "  }" << endl
    << "}" << endl;

  destiny_file.close();
  return 0;
}