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%{
#include <iostream>
using namespace std;

#include "grafcet.h"
using namespace Automate;

void
yyerror (const char *s);

int
yylex (void);

Grafcet *input_grafcet;

%}

%defines

%union {
    int num;
    double fl;
    bool boolean;
    string *s;
    Grafcet *grafcet;
    Etape *etape;
    Action *action;
    Receptivite *receptivite;
    Transition *transition;
    Expression *expression;
}

%token <num> NUM
%token <fl> FLOAT
%token <boolean> BOOL
%token <s> STRING
%token ERR GOTO
%token EQ NEQ LEQ GEQ

%token INITIALISATION
%token RECHERCHER
%token ROTATION
%token AVANCER_PALET
%token NB_PALET_PILE
%token NB_PALET_STOCKE
%token MISE_EN_PLACE
%token REPERER_COULEUR
%token RETOURNER
%token AVANCER
%token RECULER
%token PLACER_PINCE
%token PRINT

%token INIT
%token PALETS_TROUVES
%token PALETS
%token STOCKE
%token COULEUR_ADVERSE
%token PINCE_ANGLE
%token PINCE_POS
%token ROBOT_RECULE
%token ROBOT_AVANCE

%type <grafcet> grafcet
%type <etape> etape
%type <action> action
%type <receptivite> receptivite
%type <transition> transition
%type <expression> expression
%type <fl> flnum

%left '|'
%left '&'
%left '!'
%left EQ NEQ LEQ GEQ '<' '>'

%left '+' '-'
%left '*' '/'
%left NEG

%%

input:	  grafcet	{ input_grafcet = $1; }
;

grafcet:
          /* Rien */		{ $$ = new Grafcet (); }
	| grafcet etape		{ $$ = $1; $$->m_grafcet.push_back (Grafcet::Elem ($2)); }
	| grafcet action	{ $$ = $1; $$->m_grafcet.push_back (Grafcet::Elem ($2)); }
	| grafcet receptivite	{ $$ = $1; $$->m_grafcet.push_back (Grafcet::Elem ($2)); }
	| grafcet transition	{ $$ = $1; $$->m_grafcet.push_back (Grafcet::Elem ($2)); }
;

etape:	  '#' NUM		{ $$ = new Etape ($2); }
;

action:	  PRINT STRING		{ $$ = new ActionPrint (*$2); delete $2; }
	| INITIALISATION	{ $$ = new ActionInitialisation ();}
	| RECHERCHER		{ $$ = new ActionRechercher ();}
	| ROTATION		{ $$ = new ActionRotation ();}
	| AVANCER_PALET		{ /*$$ = new ActionAvancerPalet ();*/ }
	| NB_PALET_PILE		{ $$ = new ActionNbPaletPile ();}
	| NB_PALET_STOCKE	{ $$ = new ActionNbPaletStocke ();}
	| MISE_EN_PLACE		{ $$ = new ActionMiseEnPlace ();}
	| REPERER_COULEUR NUM	{ $$ = new ActionRepererCouleur ($2);}
	| RETOURNER		{ $$ = new ActionRetourner ();}
	| AVANCER NUM		{ $$ = new ActionMotorGoDistance ($2); }
	| AVANCER NUM NUM	{ $$ = new ActionMotorGoDistance ($2, $3); }
	| RECULER NUM		{ $$ = new ActionMotorGoDistance (-$2); }
	| RECULER NUM NUM	{ $$ = new ActionMotorGoDistance (-$2, $3); }
	| PLACER_PINCE NUM	{ $$ = new ActionPlacerPince ($2);}
;

receptivite:
	  BOOL			{ $$ = new ReceptiviteBool ($1); }
	| INIT 			{ $$ = new ReceptInit (); }
	| PALETS_TROUVES	{ $$ = new ReceptPaletsTrouves (); }
	| PALETS NUM		{ $$ = new ReceptPalets ($2); }
	| STOCKE NUM		{ $$ = new ReceptStocke ($2); }
	| COULEUR_ADVERSE NUM	{ $$ = new ReceptCouleurAdverse ($2); }
	| PINCE_ANGLE NUM	{ $$ = new ReceptPinceAngle ($2); }
	| PINCE_POS NUM		{ $$ = new ReceptPincePos ($2); }
	| ROBOT_RECULE		{ $$ = new ReceptMotorFinnish; }
	| ROBOT_AVANCE 		{ $$ = new ReceptMotorFinnish; }
	| receptivite '&' receptivite
				{ $$ = new ReceptiviteBoolOp ($1, '&', $3); }
	| receptivite '|' receptivite
				{ $$ = new ReceptiviteBoolOp ($1, '|', $3); }
	| '!' receptivite	{ $$ = new ReceptiviteBoolOp ('!', $2); }
	| '(' receptivite ')'	{ $$ = $2; }
	| expression EQ expression
				{ $$ = new ReceptiviteCmpOp ($1, '=', $3); }
	| expression NEQ expression
				{ $$ = new ReceptiviteCmpOp ($1, 'n', $3); }
	| expression LEQ expression
				{ $$ = new ReceptiviteCmpOp ($1, 'l', $3); }
	| expression GEQ expression
				{ $$ = new ReceptiviteCmpOp ($1, 'g', $3); }
	| expression '<' expression
				{ $$ = new ReceptiviteCmpOp ($1, '<', $3); }
	| expression '>' expression
				{ $$ = new ReceptiviteCmpOp ($1, '>', $3); }
;

expression:
	  NUM			{ $$ = new ExpressionNum ($1); }
	| expression '+' expression
				{ $$ = new ExpressionNumOp ($1, '+', $3); }
	| expression '-' expression
				{ $$ = new ExpressionNumOp ($1, '-', $3); }
	| expression '*' expression
				{ $$ = new ExpressionNumOp ($1, '*', $3); }
	| '-' expression %prec NEG
				{ $$ = new ExpressionNumOp ('n', $2); }
;

transition:
	  GOTO NUM		{ $$ = new Transition ($2); }
;

flnum:	  FLOAT			{ $$ = $1; }
     	| NUM			{ $$ = $1; }
     	| flnum '/' flnum	{ $$ = $1 / $3; }
;

%%

void
yyerror (const char *s)
{
	cerr << "Parse error: " << s << endl;
}

// vim: ft=yacc