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grammar Autolev;
options {
language = Python3;
}
prog: stat+;
stat: varDecl
| functionCall
| codeCommands
| massDecl
| inertiaDecl
| assignment
| settings
;
assignment: vec equals expr #vecAssign
| ID '[' index ']' equals expr #indexAssign
| ID diff? equals expr #regularAssign;
equals: ('='|'+='|'-='|':='|'*='|'/='|'^=');
index: expr (',' expr)* ;
diff: ('\'')+;
functionCall: ID '(' (expr (',' expr)*)? ')'
| (Mass|Inertia) '(' (ID (',' ID)*)? ')';
varDecl: varType varDecl2 (',' varDecl2)*;
varType: Newtonian|Frames|Bodies|Particles|Points|Constants
| Specifieds|Imaginary|Variables ('\'')*|MotionVariables ('\'')*;
varDecl2: ID ('{' INT ',' INT '}')? (('{' INT ':' INT (',' INT ':' INT)* '}'))? ('{' INT '}')? ('+'|'-')? ('\'')* ('=' expr)?;
ranges: ('{' INT ':' INT (',' INT ':' INT)* '}');
massDecl: Mass massDecl2 (',' massDecl2)*;
massDecl2: ID '=' expr;
inertiaDecl: Inertia ID ('(' ID ')')? (',' expr)+;
matrix: '[' expr ((','|';') expr)* ']';
matrixInOutput: (ID (ID '=' (FLOAT|INT)?))|FLOAT|INT;
codeCommands: units
| inputs
| outputs
| codegen
| commands;
settings: ID (EXP|ID|FLOAT|INT)?;
units: UnitSystem ID (',' ID)*;
inputs: Input inputs2 (',' inputs2)*;
id_diff: ID diff?;
inputs2: id_diff '=' expr expr?;
outputs: Output outputs2 (',' outputs2)*;
outputs2: expr expr?;
codegen: ID functionCall ('['matrixInOutput (',' matrixInOutput)*']')? ID'.'ID;
commands: Save ID'.'ID
| Encode ID (',' ID)*;
vec: ID ('>')+
| '0>'
| '1>>';
expr: expr '^'<assoc=right> expr # Exponent
| expr ('*'|'/') expr # MulDiv
| expr ('+'|'-') expr # AddSub
| EXP # exp
| '-' expr # negativeOne
| FLOAT # float
| INT # int
| ID('\'')* # id
| vec # VectorOrDyadic
| ID '['expr (',' expr)* ']' # Indexing
| functionCall # function
| matrix # matrices
| '(' expr ')' # parens
| expr '=' expr # idEqualsExpr
| expr ':' expr # colon
| ID? ranges ('\'')* # rangess
;
// These are to take care of the case insensitivity of Autolev.
Mass: ('M'|'m')('A'|'a')('S'|'s')('S'|'s');
Inertia: ('I'|'i')('N'|'n')('E'|'e')('R'|'r')('T'|'t')('I'|'i')('A'|'a');
Input: ('I'|'i')('N'|'n')('P'|'p')('U'|'u')('T'|'t')('S'|'s')?;
Output: ('O'|'o')('U'|'u')('T'|'t')('P'|'p')('U'|'u')('T'|'t');
Save: ('S'|'s')('A'|'a')('V'|'v')('E'|'e');
UnitSystem: ('U'|'u')('N'|'n')('I'|'i')('T'|'t')('S'|'s')('Y'|'y')('S'|'s')('T'|'t')('E'|'e')('M'|'m');
Encode: ('E'|'e')('N'|'n')('C'|'c')('O'|'o')('D'|'d')('E'|'e');
Newtonian: ('N'|'n')('E'|'e')('W'|'w')('T'|'t')('O'|'o')('N'|'n')('I'|'i')('A'|'a')('N'|'n');
Frames: ('F'|'f')('R'|'r')('A'|'a')('M'|'m')('E'|'e')('S'|'s')?;
Bodies: ('B'|'b')('O'|'o')('D'|'d')('I'|'i')('E'|'e')('S'|'s')?;
Particles: ('P'|'p')('A'|'a')('R'|'r')('T'|'t')('I'|'i')('C'|'c')('L'|'l')('E'|'e')('S'|'s')?;
Points: ('P'|'p')('O'|'o')('I'|'i')('N'|'n')('T'|'t')('S'|'s')?;
Constants: ('C'|'c')('O'|'o')('N'|'n')('S'|'s')('T'|'t')('A'|'a')('N'|'n')('T'|'t')('S'|'s')?;
Specifieds: ('S'|'s')('P'|'p')('E'|'e')('C'|'c')('I'|'i')('F'|'f')('I'|'i')('E'|'e')('D'|'d')('S'|'s')?;
Imaginary: ('I'|'i')('M'|'m')('A'|'a')('G'|'g')('I'|'i')('N'|'n')('A'|'a')('R'|'r')('Y'|'y');
Variables: ('V'|'v')('A'|'a')('R'|'r')('I'|'i')('A'|'a')('B'|'b')('L'|'l')('E'|'e')('S'|'s')?;
MotionVariables: ('M'|'m')('O'|'o')('T'|'t')('I'|'i')('O'|'o')('N'|'n')('V'|'v')('A'|'a')('R'|'r')('I'|'i')('A'|'a')('B'|'b')('L'|'l')('E'|'e')('S'|'s')?;
fragment DIFF: ('\'')*;
fragment DIGIT: [0-9];
INT: [0-9]+ ; // match integers
FLOAT: DIGIT+ '.' DIGIT*
| '.' DIGIT+;
EXP: FLOAT 'E' INT
| FLOAT 'E' '-' INT;
LINE_COMMENT : '%' .*? '\r'? '\n' -> skip ;
ID: [a-zA-Z][a-zA-Z0-9_]*;
WS: [ \t\r\n&]+ -> skip ; // toss out whitespace
|