Added a C version of the motion file parser.

src/parser/Makefile

+LEXOR = motion_file
+PARSER = motion_file
+ 
+all:   $(PARSER) 
+ 
+$(PARSER): $(PARSER).tab.c  $(LEXOR).yy.c
+	gcc -o $(PARSER) $(PARSER).tab.c $(LEXOR).yy.c -ly -ll -lm 
+
+$(PARSER).tab.c: $(PARSER).y
+	bison -vd $(PARSER).y
+ 
+$(LEXOR).yy.c: $(LEXOR).l
+	flex -o $(LEXOR).yy.c $(LEXOR).l
+
+clean:
+	rm -f $(LEXOR).yy.c
+	rm -f $(PARSER).output
+	rm -f $(PARSER).tab.*
+	rm -f $(PARSER)

src/parser/motion_file.l

+%{
+#include "motion_file.tab.h"
+/* Here we recoginze the various letters that are part of your language.
+*/
+void yyerror(char *s)
+{
+  printf("Parse error: %s\n",s);
+  // might as well halt now:
+  exit(-1);
+}
+%}
+%%
+[ \t] ;
+type { return TYPE; }
+version { return VERSION; }
+enable { return ENABLE; }
+motor_type { return MOTOR_TYPE; }
+page_begin { return BEGIN_PAGE; }
+name { return NAME; }
+compliance { return COMPLIANCE; }
+play_param { return PLAY_PARAMS; }
+step { return STEP; }
+page_end { return END_PAGE; }
+= { return EQUAL; }
+[0-9]+\.[0-9]+ { yylval.fval=atof(yytext); return FLOAT; }
+[0-9]+ { yylval.ival=atoi(yytext); return INT; }
+[a-zA-Z0-9]+ { char *res=(char *)malloc(strlen(yytext)+1);
+               strcpy(res,yytext);
+               yylval.sval=res;
+               return STRING; }
+. ;
+%%
+

src/parser/motion_file.y

+%{
+#include <stdio.h>
+
+int num_servos=0;
+int num_pages=0;
+int num_steps=0;
+%}
+%token TYPE VERSION ENABLE MOTOR_TYPE BEGIN_PAGE END_PAGE
+%token NAME COMPLIANCE PLAY_PARAMS STEP
+%token EQUAL
+
+%union {
+  int ival;
+  float fval;
+  char *sval;
+}
+
+%token <ival> INT
+%token <fval> FLOAT
+%token <sval> STRING
+%%
+motion_file: type version enables motor_types pages { printf("Processed %d pages\n",num_pages); }
+             ;
+
+type: TYPE EQUAL STRING { printf("Type: %s\n",$3); }
+      ;
+
+version: VERSION EQUAL FLOAT { printf("version: %f\n",$3); }
+         ;
+
+enables: ENABLE EQUAL enable { printf("num servos (enable): %d\n",num_servos);
+                               num_servos=0; }
+         ;
+
+enable: enable INT { num_servos++; }
+        | INT { num_servos++; }
+        ;
+
+motor_types: 
+             | MOTOR_TYPE EQUAL motor_type { printf("num servos (motor_type): %d\n",num_servos);
+                                             num_servos=0; }
+             ;
+
+motor_type: motor_type INT { num_servos++; }
+            | INT { num_servos++; }
+            ;
+
+pages: pages page { num_pages++; }
+       | page { num_pages++; }
+       ;
+
+page: BEGIN_PAGE name compliances params steps END_PAGE { printf("page %d num steps %d\n",num_pages,num_steps);
+                                                          num_steps=0; 
+                                                          num_servos=0; }
+      | BEGIN_PAGE name compliances params END_PAGE { printf("page %d with no steps\n",num_pages);
+                                                     num_steps=0;
+                                                     num_servos=0; } 
+      ;
+
+name: NAME EQUAL { printf("page %d has no name\n",num_pages); }
+      | NAME EQUAL strings { printf("page %d name:\n", num_pages); }
+      ;
+
+strings: strings STRING
+         | STRING
+         ;
+
+compliances: COMPLIANCE EQUAL compliance { printf("page %d num servos (compliance): %d\n",num_pages,num_servos);
+                                           num_servos++; }
+             ;
+
+compliance: compliance INT { num_servos++; } 
+            | INT { num_servos++; }
+            ;
+
+params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { printf("page %d next motion: %d\n",num_pages,$3);
+                                                  printf("page %d exit motion: %d\n",num_pages,$4);
+                                                  printf("page %d repetitions: %d\n",num_pages,$5);
+                                                  printf("page %d speed rate: %f\n",num_pages,$6);
+                                                  printf("page %d inertial force: %d\n",num_pages,$7); }
+        ;
+
+steps: steps step { num_steps++; }
+       | step { num_steps++; }
+       ;
+
+
+step: STEP EQUAL angles FLOAT FLOAT { printf("page %d step %d pause time: %f\n",num_pages,num_steps,$4);
+                                      printf("page %d step %d step time: %f\n",num_pages,num_steps,$5); }
+      ;
+
+angles: angles INT 
+        | INT
+        ;
+%%
+extern FILE *yyin;
+
+int main(int argc, char *argv[]) 
+{
+  FILE *file;
+
+  printf("parsing example.\n");
+  if(argc!=2)
+  {
+    printf("A motion file mist be provided as an argument.\n");
+    return -1;
+  }
+  file=fopen(argv[1],"r");
+  if(file==NULL)
+  {
+    printf("Impossible to open the file %s\n",argv[1]);
+    return -1;
+  }
+  yyin=file;
+  do {
+    yyparse ();
+  }while(!feof(yyin));
+  return 0;
+}
+