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Allow assignment guards to bind an object literal #279

Closed jefft0 closed 1 year ago

jefft0 commented 1 year ago

We want to be able to make a model like this:

mdl_displace_hand:(mdl [H: P0: (ti T0: T1:)] []
   (fact (cmd move [H: DeltaP:] :) T2: T1_cmd: : :)
   (|fact (mk.val H: position P0: :) T1_RHS: T3: : :)
[]
   T1_RHS:(+ T0 100ms)
   T3:(+ T1 100ms)
[]
   T2:(- T1_RHS 80ms)
   T1_cmd:(- T3 100ms)
   T0:(- T1_RHS 100ms)
   T1:(- T3 100ms)
   DeltaP:(vec3 -0.5 0 0))

Notice that the value of an assignment guard is usually an operator like (- T3 100ms) in the assignment for T1. But notice that the value of the assignment for DeltaP is the literal (vec3 -0.5 0 0). Currently, the AERA code assumes that the value of an assignment guard is always the result of evaluating an operator. But we want to allow an object literal.

This pull request updates BindingMap::bind_variable to allow the value to be a structured object like (vec3 -0.5 0 0) .

NOTE: There also could be the case that a literal is a simple number like DeltaP:5 . Right now the syntax of Replicode doesn't allow this, so we would have to update the code parser and possibly other places to support this. The workaround is to use an operator like DeltaP:(+ 5 0) .