better klang

CONTRIBUTING.md

@@ -0,0 +1,55 @@
+# Contributing to Klang
+
+Thank you for your interest in contributing to Klang! We welcome contributions from everyone. This document provides guidelines and instructions for contributing to the project.
+
+## Development Setup
+
+1. Ensure you have Rust and Cargo installed. If not, follow the instructions [here](https://www.rust-lang.org/tools/install).
+
+2. Build the project:
+
+```
+cargo build
+```
+
+3. Run the tests:
+
+```
+cargo test
+```
+
+## Development Workflow
+
+1. Create a new branch for your feature or bug fix:
+
+```
+git checkout -b feature-or-fix-name
+```
+
+2. Make your changes and commit them with a clear commit message.
+
+3. Push your changes to your fork:
+
+```
+git push origin feature-or-fix-name
+```
+
+4. Open a pull request against the main repository.
+
+## Coding Standards
+
+- Follow the Rust style guide. You can use `rustfmt` to automatically format your code:
+
+```
+cargo fmt
+```
+
+- Run `clippy` to catch common mistakes and improve your code:
+
+```
+cargo clippy
+```
+
+## Running Klang
+
+To run the Klang interpreter:

README.md

@@ -16,3 +16,11 @@
 # klang
 
 `klang` is a domain-specific language (DSL) for programming robots. It is used to program robots running the K-Scale operating system.
+
+## Running the Parser
+
+To run the parser on the example file, use the following command:
+
+```bash
+cargo run -- examples/clean_up_cans.k
+```

examples/clean_up_cans.k

@@ -1,51 +1,40 @@
-# This program is designed to get a robot to clean up soda cans.
+from robot import move, ppo_standing, nn
 
-action <Find {item}> {
-    notes {
-        prefer [Move quickly]
-        avoid [Bumping into other objects]
-        avoid [Moving too hastily]
-        avoid [Moving slowly or staying in the same place for a long time]
-    }
-
-    outcomes {
-        success [Found {item}]
-        failure [Haven't moved in a while]
-        retry [Actively looking for {item}]
-    }
+fn pick_up_apple_manual() : "Pick up an apple manually" {
+    x = 30deg;
+    y = 30deg;
+    *move(limb="left_arm", joint=2, pos=x + y);
 }
 
-action <Pick up {item}> {
-    outcomes {
-        success [Holding {item}]
-        failure [Knocked over {item}]
-        retry [Not holding {item}]
-    }
+fn pick_up_apple() : "Pick up an apple" {
+    *nn(
+        "Pick up the apple",
+        pos=["Move hand close to the apple"],
+        neg=["Move quickly"],
+        on_failure=pick_up_apple_manual,
+    );
 }
 
-action <Put {item} into {container}> {
-    outcomes {
-        success [{item} is inside {container} and we are not holding it]
-        failure [Dropped {item} outside the {container}]
-        retry [Still holding {item}]
+fn random_arm_movement() : "Move the arm in a random manner" {
+    for i : [1, 2, 3] {
+        *(
+            move(limb="right_arm", joint=2, pos=30deg + i * 0.1rad),
+            move(limb="right_arm", joint=3, pos=30deg + i * 0.5rad),
+        );
     }
-}
 
-action <Empty the soda can into the sink> {
-    outcomes {
-        success [Successfully emptied the soda can into the sink]
-        failure [Spilled soda outside the sink]
-        retry [There is still soda in the can]
+    counter = 0;
+    flag = true;
+    while counter < 5 {
+        *(
+            move("right_arm", joint=2, pos=30deg + (flag ? 0.1rad : -0.1rad)),
+            move("right_arm", joint=3, pos=30deg + (flag ? 0.5rad : -0.5rad)),
+        );
+        flag = !flag;
+        counter += 1;
     }
 }
 
-loop {
-    <Find a soda can>
-    <Pick up the soda can>
-    <Find the sink>
-    <Empty the soda can into the sink>
-    <Find the recycling bin>
-    <Put the soda can into the recycling bin>
-} until {
-    [No more soda cans]
+fn main() {
+    *(pick_up_apple(), ppo_standing(), random_arm_movement());
 }

klang/Cargo.toml

@@ -7,11 +7,20 @@ edition = "2021"
 
 [dependencies]
 
-pest = "2.6"
-pest_derive = "2.6"
+pest = "2.5"
+pest_derive = "2.5"
 thiserror = "1.0"
+lazy_static = "1.4.0"
 
 [[bin]]
 
 name = "klang"
 path = "src/main.rs"
+
+[[test]]
+name = "integration_test"
+path = "src/test.rs"
+
+[lib]
+name = "klang"
+path = "src/lib.rs"