# Generated from xDroneParser.g4 by ANTLR 4.9.2
# encoding: utf-8
from antlr4 import *
from io import StringIO
import sys
if sys.version_info[1] > 5:
	from typing import TextIO
else:
	from typing.io import TextIO


def serializedATN():
    with StringIO() as buf:
        buf.write("\3\u608b\ua72a\u8133\ub9ed\u417c\u3be7\u7786\u5964\3J")
        buf.write("\u01c9\4\2\t\2\4\3\t\3\4\4\t\4\4\5\t\5\4\6\t\6\4\7\t\7")
        buf.write("\4\b\t\b\4\t\t\t\4\n\t\n\4\13\t\13\4\f\t\f\4\r\t\r\4\16")
        buf.write("\t\16\3\2\7\2\36\n\2\f\2\16\2!\13\2\3\2\3\2\3\2\3\2\3")
        buf.write("\2\3\2\3\2\3\3\7\3+\n\3\f\3\16\3.\13\3\3\4\3\4\3\4\5\4")
        buf.write("\63\n\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\5\4<\n\4\3\4\3\4\3")
        buf.write("\4\3\4\3\4\3\4\3\4\5\4E\n\4\3\4\3\4\3\4\3\4\3\4\3\4\3")
        buf.write("\4\3\4\3\4\5\4P\n\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3")
        buf.write("\4\5\4[\n\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\5\4f\n")
        buf.write("\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\5\4q\n\4\3\4\3")
        buf.write("\4\3\4\3\4\3\4\3\4\3\4\3\4\3\4\5\4|\n\4\3\4\3\4\3\4\3")
        buf.write("\4\3\4\3\4\3\4\3\4\3\4\5\4\u0087\n\4\3\4\3\4\3\4\3\4\3")
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        buf.write("\2\2\2\u0144\u0142\3\2\2\2\u0145\u0146\7\35\2\2\u0146")
        buf.write("\u0147\5\16\b\2\u0147\u0149\7:\2\2\u0148\u014a\5\26\f")
        buf.write("\2\u0149\u0148\3\2\2\2\u0149\u014a\3\2\2\2\u014a\u014b")
        buf.write("\3\2\2\2\u014b\u014c\7;\2\2\u014c\u014d\7\37\2\2\u014d")
        buf.write("\u014e\5\30\r\2\u014e\u014f\7>\2\2\u014f\u0150\5\4\3\2")
        buf.write("\u0150\u0151\7?\2\2\u0151\u015e\3\2\2\2\u0152\u0153\7")
        buf.write("\36\2\2\u0153\u0154\5\16\b\2\u0154\u0156\7:\2\2\u0155")
        buf.write("\u0157\5\26\f\2\u0156\u0155\3\2\2\2\u0156\u0157\3\2\2")
        buf.write("\2\u0157\u0158\3\2\2\2\u0158\u0159\7;\2\2\u0159\u015a")
        buf.write("\7>\2\2\u015a\u015b\5\4\3\2\u015b\u015c\7?\2\2\u015c\u015e")
        buf.write("\3\2\2\2\u015d\u0145\3\2\2\2\u015d\u0152\3\2\2\2\u015e")
        buf.write("\25\3\2\2\2\u015f\u0160\5\30\r\2\u0160\u0167\5\b\5\2\u0161")
        buf.write("\u0162\7A\2\2\u0162\u0163\5\30\r\2\u0163\u0164\5\b\5\2")
        buf.write("\u0164\u0166\3\2\2\2\u0165\u0161\3\2\2\2\u0166\u0169\3")
        buf.write("\2\2\2\u0167\u0165\3\2\2\2\u0167\u0168\3\2\2\2\u0168\27")
        buf.write("\3\2\2\2\u0169\u0167\3\2\2\2\u016a\u0176\7 \2\2\u016b")
        buf.write("\u0176\7!\2\2\u016c\u0176\7\"\2\2\u016d\u0176\7#\2\2\u016e")
        buf.write("\u0176\7$\2\2\u016f\u0176\7%\2\2\u0170\u0171\7&\2\2\u0171")
        buf.write("\u0172\7<\2\2\u0172\u0173\5\30\r\2\u0173\u0174\7=\2\2")
        buf.write("\u0174\u0176\3\2\2\2\u0175\u016a\3\2\2\2\u0175\u016b\3")
        buf.write("\2\2\2\u0175\u016c\3\2\2\2\u0175\u016d\3\2\2\2\u0175\u016e")
        buf.write("\3\2\2\2\u0175\u016f\3\2\2\2\u0175\u0170\3\2\2\2\u0176")
        buf.write("\31\3\2\2\2\u0177\u0178\b\16\1\2\u0178\u019c\7H\2\2\u0179")
        buf.write("\u019c\7I\2\2\u017a\u019c\7J\2\2\u017b\u019c\7\'\2\2\u017c")
        buf.write("\u019c\7(\2\2\u017d\u019c\5\b\5\2\u017e\u0187\7<\2\2\u017f")
        buf.write("\u0184\5\32\16\2\u0180\u0181\7A\2\2\u0181\u0183\5\32\16")
        buf.write("\2\u0182\u0180\3\2\2\2\u0183\u0186\3\2\2\2\u0184\u0182")
        buf.write("\3\2\2\2\u0184\u0185\3\2\2\2\u0185\u0188\3\2\2\2\u0186")
        buf.write("\u0184\3\2\2\2\u0187\u017f\3\2\2\2\u0187\u0188\3\2\2\2")
        buf.write("\u0188\u0189\3\2\2\2\u0189\u019c\7=\2\2\u018a\u018b\7")
        buf.write(":\2\2\u018b\u018c\5\32\16\2\u018c\u018d\7A\2\2\u018d\u018e")
        buf.write("\5\32\16\2\u018e\u018f\7A\2\2\u018f\u0190\5\32\16\2\u0190")
        buf.write("\u0191\7;\2\2\u0191\u019c\3\2\2\2\u0192\u019c\5\20\t\2")
        buf.write("\u0193\u0194\7:\2\2\u0194\u0195\5\32\16\2\u0195\u0196")
        buf.write("\7;\2\2\u0196\u019c\3\2\2\2\u0197\u0198\t\2\2\2\u0198")
        buf.write("\u019c\5\32\16\13\u0199\u019a\7\67\2\2\u019a\u019c\5\32")
        buf.write("\16\n\u019b\u0177\3\2\2\2\u019b\u0179\3\2\2\2\u019b\u017a")
        buf.write("\3\2\2\2\u019b\u017b\3\2\2\2\u019b\u017c\3\2\2\2\u019b")
        buf.write("\u017d\3\2\2\2\u019b\u017e\3\2\2\2\u019b\u018a\3\2\2\2")
        buf.write("\u019b\u0192\3\2\2\2\u019b\u0193\3\2\2\2\u019b\u0197\3")
        buf.write("\2\2\2\u019b\u0199\3\2\2\2\u019c\u01c5\3\2\2\2\u019d\u019e")
        buf.write("\f\t\2\2\u019e\u019f\t\3\2\2\u019f\u01c4\5\32\16\n\u01a0")
        buf.write("\u01a1\f\b\2\2\u01a1\u01a2\t\2\2\2\u01a2\u01c4\5\32\16")
        buf.write("\t\u01a3\u01a4\f\7\2\2\u01a4\u01a5\7\60\2\2\u01a5\u01c4")
        buf.write("\5\32\16\b\u01a6\u01a7\f\6\2\2\u01a7\u01a8\t\4\2\2\u01a8")
        buf.write("\u01c4\5\32\16\7\u01a9\u01aa\f\5\2\2\u01aa\u01ab\t\5\2")
        buf.write("\2\u01ab\u01c4\5\32\16\6\u01ac\u01ad\f\4\2\2\u01ad\u01ae")
        buf.write("\78\2\2\u01ae\u01c4\5\32\16\5\u01af\u01b0\f\3\2\2\u01b0")
        buf.write("\u01b1\79\2\2\u01b1\u01c4\5\32\16\4\u01b2\u01b3\f\24\2")
        buf.write("\2\u01b3\u01b4\7<\2\2\u01b4\u01b5\5\32\16\2\u01b5\u01b6")
        buf.write("\7=\2\2\u01b6\u01c4\3\2\2\2\u01b7\u01b8\f\23\2\2\u01b8")
        buf.write("\u01b9\7@\2\2\u01b9\u01c4\7)\2\2\u01ba\u01bb\f\22\2\2")
        buf.write("\u01bb\u01bc\7@\2\2\u01bc\u01c4\7*\2\2\u01bd\u01be\f\21")
        buf.write("\2\2\u01be\u01bf\7@\2\2\u01bf\u01c4\7+\2\2\u01c0\u01c1")
        buf.write("\f\r\2\2\u01c1\u01c2\7@\2\2\u01c2\u01c4\7\22\2\2\u01c3")
        buf.write("\u019d\3\2\2\2\u01c3\u01a0\3\2\2\2\u01c3\u01a3\3\2\2\2")
        buf.write("\u01c3\u01a6\3\2\2\2\u01c3\u01a9\3\2\2\2\u01c3\u01ac\3")
        buf.write("\2\2\2\u01c3\u01af\3\2\2\2\u01c3\u01b2\3\2\2\2\u01c3\u01b7")
        buf.write("\3\2\2\2\u01c3\u01ba\3\2\2\2\u01c3\u01bd\3\2\2\2\u01c3")
        buf.write("\u01c0\3\2\2\2\u01c4\u01c7\3\2\2\2\u01c5\u01c3\3\2\2\2")
        buf.write("\u01c5\u01c6\3\2\2\2\u01c6\33\3\2\2\2\u01c7\u01c5\3\2")
        buf.write("\2\2#\37,\62;DOZep{\u0086\u0091\u009c\u00c8\u00d8\u00ed")
        buf.write("\u00fd\u010c\u0119\u011d\u0132\u0139\u0142\u0149\u0156")
        buf.write("\u015d\u0167\u0175\u0184\u0187\u019b\u01c3\u01c5")
        return buf.getvalue()


class xDroneParser ( Parser ):

    grammarFileName = "xDroneParser.g4"

    atn = ATNDeserializer().deserialize(serializedATN())

    decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]

    sharedContextCache = PredictionContextCache()

    literalNames = [ "<INVALID>", "'main'", "'takeoff'", "'land'", "'up'", 
                     "'down'", "'left'", "'right'", "'forward'", "'backward'", 
                     "'rotate_left'", "'rotate_right'", "'wait'", "'at'", 
                     "'insert'", "'remove'", "'size'", "'if'", "'else'", 
                     "'while'", "'for'", "'from'", "'to'", "'step'", "'repeat'", 
                     "'times'", "'del'", "'function'", "'procedure'", "'return'", 
                     "'int'", "'decimal'", "'string'", "'boolean'", "'vector'", 
                     "'drone'", "'list'", "'true'", "'false'", "'x'", "'y'", 
                     "'z'", "'*'", "'/'", "'+'", "'-'", "'&'", "'>'", "'>='", 
                     "'<'", "'<='", "'=='", "'=/='", "'not'", "'and'", "'or'", 
                     "'('", "')'", "'['", "']'", "'{'", "'}'", "'.'", "','", 
                     "';'", "'<-'", "'||'" ]

    symbolicNames = [ "<INVALID>", "MAIN", "TAKEOFF", "LAND", "UP", "DOWN", 
                      "LEFT", "RIGHT", "FORWARD", "BACKWARD", "ROTATE_LEFT", 
                      "ROTATE_RIGHT", "WAIT", "AT", "INSERT", "REMOVE", 
                      "SIZE", "IF", "ELSE", "WHILE", "FOR", "FROM", "TO", 
                      "STEP", "REPEAT", "TIMES", "DEL", "FUNCTION", "PROCEDURE", 
                      "RETURN", "TYPE_INT", "TYPE_DECIMAL", "TYPE_STRING", 
                      "TYPE_BOOLEAN", "TYPE_VECTOR", "TYPE_DRONE", "TYPE_LIST", 
                      "TRUE", "FALSE", "VEC_X", "VEC_Y", "VEC_Z", "MULTI", 
                      "DIV", "PLUS", "MINUS", "CONCAT", "GREATER", "GREATER_EQ", 
                      "LESS", "LESS_EQ", "EQ", "NOT_EQ", "NOT", "AND", "OR", 
                      "L_PAR", "R_PAR", "L_BRACKET", "R_BRACKET", "L_BRACE", 
                      "R_BRACE", "DOT", "COMMA", "SEMICOLON", "ARROW", "PARALLEL", 
                      "COMMENT", "WS", "IDENT", "INT", "FLOAT", "ESCAPED_STRING" ]

    RULE_prog = 0
    RULE_commands = 1
    RULE_command = 2
    RULE_ident = 3
    RULE_listElem = 4
    RULE_vectorElem = 5
    RULE_funcIdent = 6
    RULE_call = 7
    RULE_argList = 8
    RULE_func = 9
    RULE_paramList = 10
    RULE_type_ = 11
    RULE_expr = 12

    ruleNames =  [ "prog", "commands", "command", "ident", "listElem", "vectorElem", 
                   "funcIdent", "call", "argList", "func", "paramList", 
                   "type_", "expr" ]

    EOF = Token.EOF
    MAIN=1
    TAKEOFF=2
    LAND=3
    UP=4
    DOWN=5
    LEFT=6
    RIGHT=7
    FORWARD=8
    BACKWARD=9
    ROTATE_LEFT=10
    ROTATE_RIGHT=11
    WAIT=12
    AT=13
    INSERT=14
    REMOVE=15
    SIZE=16
    IF=17
    ELSE=18
    WHILE=19
    FOR=20
    FROM=21
    TO=22
    STEP=23
    REPEAT=24
    TIMES=25
    DEL=26
    FUNCTION=27
    PROCEDURE=28
    RETURN=29
    TYPE_INT=30
    TYPE_DECIMAL=31
    TYPE_STRING=32
    TYPE_BOOLEAN=33
    TYPE_VECTOR=34
    TYPE_DRONE=35
    TYPE_LIST=36
    TRUE=37
    FALSE=38
    VEC_X=39
    VEC_Y=40
    VEC_Z=41
    MULTI=42
    DIV=43
    PLUS=44
    MINUS=45
    CONCAT=46
    GREATER=47
    GREATER_EQ=48
    LESS=49
    LESS_EQ=50
    EQ=51
    NOT_EQ=52
    NOT=53
    AND=54
    OR=55
    L_PAR=56
    R_PAR=57
    L_BRACKET=58
    R_BRACKET=59
    L_BRACE=60
    R_BRACE=61
    DOT=62
    COMMA=63
    SEMICOLON=64
    ARROW=65
    PARALLEL=66
    COMMENT=67
    WS=68
    IDENT=69
    INT=70
    FLOAT=71
    ESCAPED_STRING=72

    def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
        super().__init__(input, output)
        self.checkVersion("4.9.2")
        self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
        self._predicates = None




    class ProgContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def MAIN(self):
            return self.getToken(xDroneParser.MAIN, 0)

        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)

        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)

        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)


        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)

        def func(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.FuncContext)
            else:
                return self.getTypedRuleContext(xDroneParser.FuncContext,i)


        def getRuleIndex(self):
            return xDroneParser.RULE_prog

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterProg" ):
                listener.enterProg(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitProg" ):
                listener.exitProg(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitProg" ):
                return visitor.visitProg(self)
            else:
                return visitor.visitChildren(self)




    def prog(self):

        localctx = xDroneParser.ProgContext(self, self._ctx, self.state)
        self.enterRule(localctx, 0, self.RULE_prog)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 29
            self._errHandler.sync(self)
            _la = self._input.LA(1)
            while _la==xDroneParser.FUNCTION or _la==xDroneParser.PROCEDURE:
                self.state = 26
                self.func()
                self.state = 31
                self._errHandler.sync(self)
                _la = self._input.LA(1)

            self.state = 32
            self.match(xDroneParser.MAIN)
            self.state = 33
            self.match(xDroneParser.L_PAR)
            self.state = 34
            self.match(xDroneParser.R_PAR)
            self.state = 35
            self.match(xDroneParser.L_BRACE)
            self.state = 36
            self.commands()
            self.state = 37
            self.match(xDroneParser.R_BRACE)
        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class CommandsContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def command(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.CommandContext)
            else:
                return self.getTypedRuleContext(xDroneParser.CommandContext,i)


        def getRuleIndex(self):
            return xDroneParser.RULE_commands

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterCommands" ):
                listener.enterCommands(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitCommands" ):
                listener.exitCommands(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitCommands" ):
                return visitor.visitCommands(self)
            else:
                return visitor.visitChildren(self)




    def commands(self):

        localctx = xDroneParser.CommandsContext(self, self._ctx, self.state)
        self.enterRule(localctx, 2, self.RULE_commands)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 42
            self._errHandler.sync(self)
            _la = self._input.LA(1)
            while (((_la) & ~0x3f) == 0 and ((1 << _la) & ((1 << xDroneParser.TAKEOFF) | (1 << xDroneParser.LAND) | (1 << xDroneParser.UP) | (1 << xDroneParser.DOWN) | (1 << xDroneParser.LEFT) | (1 << xDroneParser.RIGHT) | (1 << xDroneParser.FORWARD) | (1 << xDroneParser.BACKWARD) | (1 << xDroneParser.ROTATE_LEFT) | (1 << xDroneParser.ROTATE_RIGHT) | (1 << xDroneParser.WAIT) | (1 << xDroneParser.IF) | (1 << xDroneParser.WHILE) | (1 << xDroneParser.FOR) | (1 << xDroneParser.REPEAT) | (1 << xDroneParser.DEL) | (1 << xDroneParser.RETURN) | (1 << xDroneParser.TYPE_INT) | (1 << xDroneParser.TYPE_DECIMAL) | (1 << xDroneParser.TYPE_STRING) | (1 << xDroneParser.TYPE_BOOLEAN) | (1 << xDroneParser.TYPE_VECTOR) | (1 << xDroneParser.TYPE_DRONE) | (1 << xDroneParser.TYPE_LIST) | (1 << xDroneParser.TRUE) | (1 << xDroneParser.FALSE) | (1 << xDroneParser.PLUS) | (1 << xDroneParser.MINUS) | (1 << xDroneParser.NOT) | (1 << xDroneParser.L_PAR) | (1 << xDroneParser.L_BRACKET) | (1 << xDroneParser.L_BRACE))) != 0) or ((((_la - 69)) & ~0x3f) == 0 and ((1 << (_la - 69)) & ((1 << (xDroneParser.IDENT - 69)) | (1 << (xDroneParser.INT - 69)) | (1 << (xDroneParser.FLOAT - 69)) | (1 << (xDroneParser.ESCAPED_STRING - 69)))) != 0):
                self.state = 39
                self.command()
                self.state = 44
                self._errHandler.sync(self)
                _la = self._input.LA(1)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class CommandContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser


        def getRuleIndex(self):
            return xDroneParser.RULE_command

     
        def copyFrom(self, ctx:ParserRuleContext):
            super().copyFrom(ctx)



    class WaitContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def WAIT(self):
            return self.getToken(xDroneParser.WAIT, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterWait" ):
                listener.enterWait(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitWait" ):
                listener.exitWait(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitWait" ):
                return visitor.visitWait(self)
            else:
                return visitor.visitChildren(self)


    class DeclareContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def type_(self):
            return self.getTypedRuleContext(xDroneParser.Type_Context,0)

        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDeclare" ):
                listener.enterDeclare(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDeclare" ):
                listener.exitDeclare(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDeclare" ):
                return visitor.visitDeclare(self)
            else:
                return visitor.visitChildren(self)


    class RotateLeftContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def ROTATE_LEFT(self):
            return self.getToken(xDroneParser.ROTATE_LEFT, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterRotateLeft" ):
                listener.enterRotateLeft(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitRotateLeft" ):
                listener.exitRotateLeft(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitRotateLeft" ):
                return visitor.visitRotateLeft(self)
            else:
                return visitor.visitChildren(self)


    class AssignIdentContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)

        def ARROW(self):
            return self.getToken(xDroneParser.ARROW, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterAssignIdent" ):
                listener.enterAssignIdent(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitAssignIdent" ):
                listener.exitAssignIdent(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitAssignIdent" ):
                return visitor.visitAssignIdent(self)
            else:
                return visitor.visitChildren(self)


    class ForContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def FOR(self):
            return self.getToken(xDroneParser.FOR, 0)
        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)

        def FROM(self):
            return self.getToken(xDroneParser.FROM, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def TO(self):
            return self.getToken(xDroneParser.TO, 0)
        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)
        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)

        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)
        def STEP(self):
            return self.getToken(xDroneParser.STEP, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterFor" ):
                listener.enterFor(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitFor" ):
                listener.exitFor(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitFor" ):
                return visitor.visitFor(self)
            else:
                return visitor.visitChildren(self)


    class DeclareAssignContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def type_(self):
            return self.getTypedRuleContext(xDroneParser.Type_Context,0)

        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)

        def ARROW(self):
            return self.getToken(xDroneParser.ARROW, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDeclareAssign" ):
                listener.enterDeclareAssign(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDeclareAssign" ):
                listener.exitDeclareAssign(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDeclareAssign" ):
                return visitor.visitDeclareAssign(self)
            else:
                return visitor.visitChildren(self)


    class InsertContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def DOT(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.DOT)
            else:
                return self.getToken(xDroneParser.DOT, i)
        def INSERT(self):
            return self.getToken(xDroneParser.INSERT, 0)
        def L_PAR(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.L_PAR)
            else:
                return self.getToken(xDroneParser.L_PAR, i)
        def R_PAR(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.R_PAR)
            else:
                return self.getToken(xDroneParser.R_PAR, i)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def AT(self):
            return self.getToken(xDroneParser.AT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterInsert" ):
                listener.enterInsert(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitInsert" ):
                listener.exitInsert(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitInsert" ):
                return visitor.visitInsert(self)
            else:
                return visitor.visitChildren(self)


    class DelContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def DEL(self):
            return self.getToken(xDroneParser.DEL, 0)
        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDel" ):
                listener.enterDel(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDel" ):
                listener.exitDel(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDel" ):
                return visitor.visitDel(self)
            else:
                return visitor.visitChildren(self)


    class WhileContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def WHILE(self):
            return self.getToken(xDroneParser.WHILE, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)
        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)

        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterWhile" ):
                listener.enterWhile(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitWhile" ):
                listener.exitWhile(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitWhile" ):
                return visitor.visitWhile(self)
            else:
                return visitor.visitChildren(self)


    class DownContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def DOWN(self):
            return self.getToken(xDroneParser.DOWN, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDown" ):
                listener.enterDown(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDown" ):
                listener.exitDown(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDown" ):
                return visitor.visitDown(self)
            else:
                return visitor.visitChildren(self)


    class RemoveContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def DOT(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.DOT)
            else:
                return self.getToken(xDroneParser.DOT, i)
        def REMOVE(self):
            return self.getToken(xDroneParser.REMOVE, 0)
        def L_PAR(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.L_PAR)
            else:
                return self.getToken(xDroneParser.L_PAR, i)
        def R_PAR(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.R_PAR)
            else:
                return self.getToken(xDroneParser.R_PAR, i)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def AT(self):
            return self.getToken(xDroneParser.AT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterRemove" ):
                listener.enterRemove(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitRemove" ):
                listener.exitRemove(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitRemove" ):
                return visitor.visitRemove(self)
            else:
                return visitor.visitChildren(self)


    class ParallelContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def L_BRACE(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.L_BRACE)
            else:
                return self.getToken(xDroneParser.L_BRACE, i)
        def commands(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.CommandsContext)
            else:
                return self.getTypedRuleContext(xDroneParser.CommandsContext,i)

        def R_BRACE(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.R_BRACE)
            else:
                return self.getToken(xDroneParser.R_BRACE, i)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def PARALLEL(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.PARALLEL)
            else:
                return self.getToken(xDroneParser.PARALLEL, i)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterParallel" ):
                listener.enterParallel(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitParallel" ):
                listener.exitParallel(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitParallel" ):
                return visitor.visitParallel(self)
            else:
                return visitor.visitChildren(self)


    class AssignVectorElemContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def vectorElem(self):
            return self.getTypedRuleContext(xDroneParser.VectorElemContext,0)

        def ARROW(self):
            return self.getToken(xDroneParser.ARROW, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterAssignVectorElem" ):
                listener.enterAssignVectorElem(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitAssignVectorElem" ):
                listener.exitAssignVectorElem(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitAssignVectorElem" ):
                return visitor.visitAssignVectorElem(self)
            else:
                return visitor.visitChildren(self)


    class RepeatContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def REPEAT(self):
            return self.getToken(xDroneParser.REPEAT, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def TIMES(self):
            return self.getToken(xDroneParser.TIMES, 0)
        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)
        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)

        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterRepeat" ):
                listener.enterRepeat(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitRepeat" ):
                listener.exitRepeat(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitRepeat" ):
                return visitor.visitRepeat(self)
            else:
                return visitor.visitChildren(self)


    class LandContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def LAND(self):
            return self.getToken(xDroneParser.LAND, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterLand" ):
                listener.enterLand(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitLand" ):
                listener.exitLand(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitLand" ):
                return visitor.visitLand(self)
            else:
                return visitor.visitChildren(self)


    class BackwardContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def BACKWARD(self):
            return self.getToken(xDroneParser.BACKWARD, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterBackward" ):
                listener.enterBackward(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitBackward" ):
                listener.exitBackward(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitBackward" ):
                return visitor.visitBackward(self)
            else:
                return visitor.visitChildren(self)


    class UpContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def UP(self):
            return self.getToken(xDroneParser.UP, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterUp" ):
                listener.enterUp(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitUp" ):
                listener.exitUp(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitUp" ):
                return visitor.visitUp(self)
            else:
                return visitor.visitChildren(self)


    class IfContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def IF(self):
            return self.getToken(xDroneParser.IF, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def L_BRACE(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.L_BRACE)
            else:
                return self.getToken(xDroneParser.L_BRACE, i)
        def commands(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.CommandsContext)
            else:
                return self.getTypedRuleContext(xDroneParser.CommandsContext,i)

        def R_BRACE(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.R_BRACE)
            else:
                return self.getToken(xDroneParser.R_BRACE, i)
        def ELSE(self):
            return self.getToken(xDroneParser.ELSE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterIf" ):
                listener.enterIf(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitIf" ):
                listener.exitIf(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitIf" ):
                return visitor.visitIf(self)
            else:
                return visitor.visitChildren(self)


    class AssignListElemContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def listElem(self):
            return self.getTypedRuleContext(xDroneParser.ListElemContext,0)

        def ARROW(self):
            return self.getToken(xDroneParser.ARROW, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterAssignListElem" ):
                listener.enterAssignListElem(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitAssignListElem" ):
                listener.exitAssignListElem(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitAssignListElem" ):
                return visitor.visitAssignListElem(self)
            else:
                return visitor.visitChildren(self)


    class TakeoffContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def TAKEOFF(self):
            return self.getToken(xDroneParser.TAKEOFF, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterTakeoff" ):
                listener.enterTakeoff(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitTakeoff" ):
                listener.exitTakeoff(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitTakeoff" ):
                return visitor.visitTakeoff(self)
            else:
                return visitor.visitChildren(self)


    class RotateRightContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def ROTATE_RIGHT(self):
            return self.getToken(xDroneParser.ROTATE_RIGHT, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterRotateRight" ):
                listener.enterRotateRight(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitRotateRight" ):
                listener.exitRotateRight(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitRotateRight" ):
                return visitor.visitRotateRight(self)
            else:
                return visitor.visitChildren(self)


    class ForwardContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def FORWARD(self):
            return self.getToken(xDroneParser.FORWARD, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterForward" ):
                listener.enterForward(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitForward" ):
                listener.exitForward(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitForward" ):
                return visitor.visitForward(self)
            else:
                return visitor.visitChildren(self)


    class RightContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def RIGHT(self):
            return self.getToken(xDroneParser.RIGHT, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterRight" ):
                listener.enterRight(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitRight" ):
                listener.exitRight(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitRight" ):
                return visitor.visitRight(self)
            else:
                return visitor.visitChildren(self)


    class LeftContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def LEFT(self):
            return self.getToken(xDroneParser.LEFT, 0)
        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterLeft" ):
                listener.enterLeft(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitLeft" ):
                listener.exitLeft(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitLeft" ):
                return visitor.visitLeft(self)
            else:
                return visitor.visitChildren(self)


    class ProcedureCallContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def call(self):
            return self.getTypedRuleContext(xDroneParser.CallContext,0)

        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterProcedureCall" ):
                listener.enterProcedureCall(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitProcedureCall" ):
                listener.exitProcedureCall(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitProcedureCall" ):
                return visitor.visitProcedureCall(self)
            else:
                return visitor.visitChildren(self)


    class ReturnContext(CommandContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.CommandContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def RETURN(self):
            return self.getToken(xDroneParser.RETURN, 0)
        def SEMICOLON(self):
            return self.getToken(xDroneParser.SEMICOLON, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterReturn" ):
                listener.enterReturn(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitReturn" ):
                listener.exitReturn(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitReturn" ):
                return visitor.visitReturn(self)
            else:
                return visitor.visitChildren(self)



    def command(self):

        localctx = xDroneParser.CommandContext(self, self._ctx, self.state)
        self.enterRule(localctx, 4, self.RULE_command)
        self._la = 0 # Token type
        try:
            self.state = 283
            self._errHandler.sync(self)
            la_ = self._interp.adaptivePredict(self._input,19,self._ctx)
            if la_ == 1:
                localctx = xDroneParser.TakeoffContext(self, localctx)
                self.enterOuterAlt(localctx, 1)
                self.state = 48
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 45
                    self.expr(0)
                    self.state = 46
                    self.match(xDroneParser.DOT)


                self.state = 50
                self.match(xDroneParser.TAKEOFF)
                self.state = 51
                self.match(xDroneParser.L_PAR)
                self.state = 52
                self.match(xDroneParser.R_PAR)
                self.state = 53
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 2:
                localctx = xDroneParser.LandContext(self, localctx)
                self.enterOuterAlt(localctx, 2)
                self.state = 57
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 54
                    self.expr(0)
                    self.state = 55
                    self.match(xDroneParser.DOT)


                self.state = 59
                self.match(xDroneParser.LAND)
                self.state = 60
                self.match(xDroneParser.L_PAR)
                self.state = 61
                self.match(xDroneParser.R_PAR)
                self.state = 62
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 3:
                localctx = xDroneParser.UpContext(self, localctx)
                self.enterOuterAlt(localctx, 3)
                self.state = 66
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 63
                    self.expr(0)
                    self.state = 64
                    self.match(xDroneParser.DOT)


                self.state = 68
                self.match(xDroneParser.UP)
                self.state = 69
                self.match(xDroneParser.L_PAR)
                self.state = 70
                self.expr(0)
                self.state = 71
                self.match(xDroneParser.R_PAR)
                self.state = 72
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 4:
                localctx = xDroneParser.DownContext(self, localctx)
                self.enterOuterAlt(localctx, 4)
                self.state = 77
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 74
                    self.expr(0)
                    self.state = 75
                    self.match(xDroneParser.DOT)


                self.state = 79
                self.match(xDroneParser.DOWN)
                self.state = 80
                self.match(xDroneParser.L_PAR)
                self.state = 81
                self.expr(0)
                self.state = 82
                self.match(xDroneParser.R_PAR)
                self.state = 83
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 5:
                localctx = xDroneParser.LeftContext(self, localctx)
                self.enterOuterAlt(localctx, 5)
                self.state = 88
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 85
                    self.expr(0)
                    self.state = 86
                    self.match(xDroneParser.DOT)


                self.state = 90
                self.match(xDroneParser.LEFT)
                self.state = 91
                self.match(xDroneParser.L_PAR)
                self.state = 92
                self.expr(0)
                self.state = 93
                self.match(xDroneParser.R_PAR)
                self.state = 94
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 6:
                localctx = xDroneParser.RightContext(self, localctx)
                self.enterOuterAlt(localctx, 6)
                self.state = 99
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 96
                    self.expr(0)
                    self.state = 97
                    self.match(xDroneParser.DOT)


                self.state = 101
                self.match(xDroneParser.RIGHT)
                self.state = 102
                self.match(xDroneParser.L_PAR)
                self.state = 103
                self.expr(0)
                self.state = 104
                self.match(xDroneParser.R_PAR)
                self.state = 105
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 7:
                localctx = xDroneParser.ForwardContext(self, localctx)
                self.enterOuterAlt(localctx, 7)
                self.state = 110
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 107
                    self.expr(0)
                    self.state = 108
                    self.match(xDroneParser.DOT)


                self.state = 112
                self.match(xDroneParser.FORWARD)
                self.state = 113
                self.match(xDroneParser.L_PAR)
                self.state = 114
                self.expr(0)
                self.state = 115
                self.match(xDroneParser.R_PAR)
                self.state = 116
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 8:
                localctx = xDroneParser.BackwardContext(self, localctx)
                self.enterOuterAlt(localctx, 8)
                self.state = 121
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 118
                    self.expr(0)
                    self.state = 119
                    self.match(xDroneParser.DOT)


                self.state = 123
                self.match(xDroneParser.BACKWARD)
                self.state = 124
                self.match(xDroneParser.L_PAR)
                self.state = 125
                self.expr(0)
                self.state = 126
                self.match(xDroneParser.R_PAR)
                self.state = 127
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 9:
                localctx = xDroneParser.RotateLeftContext(self, localctx)
                self.enterOuterAlt(localctx, 9)
                self.state = 132
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 129
                    self.expr(0)
                    self.state = 130
                    self.match(xDroneParser.DOT)


                self.state = 134
                self.match(xDroneParser.ROTATE_LEFT)
                self.state = 135
                self.match(xDroneParser.L_PAR)
                self.state = 136
                self.expr(0)
                self.state = 137
                self.match(xDroneParser.R_PAR)
                self.state = 138
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 10:
                localctx = xDroneParser.RotateRightContext(self, localctx)
                self.enterOuterAlt(localctx, 10)
                self.state = 143
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 140
                    self.expr(0)
                    self.state = 141
                    self.match(xDroneParser.DOT)


                self.state = 145
                self.match(xDroneParser.ROTATE_RIGHT)
                self.state = 146
                self.match(xDroneParser.L_PAR)
                self.state = 147
                self.expr(0)
                self.state = 148
                self.match(xDroneParser.R_PAR)
                self.state = 149
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 11:
                localctx = xDroneParser.WaitContext(self, localctx)
                self.enterOuterAlt(localctx, 11)
                self.state = 154
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 151
                    self.expr(0)
                    self.state = 152
                    self.match(xDroneParser.DOT)


                self.state = 156
                self.match(xDroneParser.WAIT)
                self.state = 157
                self.match(xDroneParser.L_PAR)
                self.state = 158
                self.expr(0)
                self.state = 159
                self.match(xDroneParser.R_PAR)
                self.state = 160
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 12:
                localctx = xDroneParser.DeclareContext(self, localctx)
                self.enterOuterAlt(localctx, 12)
                self.state = 162
                self.type_()
                self.state = 163
                self.ident()
                self.state = 164
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 13:
                localctx = xDroneParser.DeclareAssignContext(self, localctx)
                self.enterOuterAlt(localctx, 13)
                self.state = 166
                self.type_()
                self.state = 167
                self.ident()
                self.state = 168
                self.match(xDroneParser.ARROW)
                self.state = 169
                self.expr(0)
                self.state = 170
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 14:
                localctx = xDroneParser.AssignVectorElemContext(self, localctx)
                self.enterOuterAlt(localctx, 14)
                self.state = 172
                self.vectorElem()
                self.state = 173
                self.match(xDroneParser.ARROW)
                self.state = 174
                self.expr(0)
                self.state = 175
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 15:
                localctx = xDroneParser.AssignListElemContext(self, localctx)
                self.enterOuterAlt(localctx, 15)
                self.state = 177
                self.listElem()
                self.state = 178
                self.match(xDroneParser.ARROW)
                self.state = 179
                self.expr(0)
                self.state = 180
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 16:
                localctx = xDroneParser.AssignIdentContext(self, localctx)
                self.enterOuterAlt(localctx, 16)
                self.state = 182
                self.ident()
                self.state = 183
                self.match(xDroneParser.ARROW)
                self.state = 184
                self.expr(0)
                self.state = 185
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 17:
                localctx = xDroneParser.DelContext(self, localctx)
                self.enterOuterAlt(localctx, 17)
                self.state = 187
                self.match(xDroneParser.DEL)
                self.state = 188
                self.ident()
                self.state = 189
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 18:
                localctx = xDroneParser.InsertContext(self, localctx)
                self.enterOuterAlt(localctx, 18)
                self.state = 191
                self.expr(0)
                self.state = 198
                self._errHandler.sync(self)
                la_ = self._interp.adaptivePredict(self._input,13,self._ctx)
                if la_ == 1:
                    self.state = 192
                    self.match(xDroneParser.DOT)
                    self.state = 193
                    self.match(xDroneParser.AT)
                    self.state = 194
                    self.match(xDroneParser.L_PAR)
                    self.state = 195
                    self.expr(0)
                    self.state = 196
                    self.match(xDroneParser.R_PAR)


                self.state = 200
                self.match(xDroneParser.DOT)
                self.state = 201
                self.match(xDroneParser.INSERT)
                self.state = 202
                self.match(xDroneParser.L_PAR)
                self.state = 203
                self.expr(0)
                self.state = 204
                self.match(xDroneParser.R_PAR)
                self.state = 205
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 19:
                localctx = xDroneParser.RemoveContext(self, localctx)
                self.enterOuterAlt(localctx, 19)
                self.state = 207
                self.expr(0)
                self.state = 214
                self._errHandler.sync(self)
                la_ = self._interp.adaptivePredict(self._input,14,self._ctx)
                if la_ == 1:
                    self.state = 208
                    self.match(xDroneParser.DOT)
                    self.state = 209
                    self.match(xDroneParser.AT)
                    self.state = 210
                    self.match(xDroneParser.L_PAR)
                    self.state = 211
                    self.expr(0)
                    self.state = 212
                    self.match(xDroneParser.R_PAR)


                self.state = 216
                self.match(xDroneParser.DOT)
                self.state = 217
                self.match(xDroneParser.REMOVE)
                self.state = 218
                self.match(xDroneParser.L_PAR)
                self.state = 219
                self.match(xDroneParser.R_PAR)
                self.state = 220
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 20:
                localctx = xDroneParser.ProcedureCallContext(self, localctx)
                self.enterOuterAlt(localctx, 20)
                self.state = 222
                self.call()
                self.state = 223
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 21:
                localctx = xDroneParser.IfContext(self, localctx)
                self.enterOuterAlt(localctx, 21)
                self.state = 225
                self.match(xDroneParser.IF)
                self.state = 226
                self.expr(0)
                self.state = 227
                self.match(xDroneParser.L_BRACE)
                self.state = 228
                self.commands()
                self.state = 229
                self.match(xDroneParser.R_BRACE)
                self.state = 235
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if _la==xDroneParser.ELSE:
                    self.state = 230
                    self.match(xDroneParser.ELSE)
                    self.state = 231
                    self.match(xDroneParser.L_BRACE)
                    self.state = 232
                    self.commands()
                    self.state = 233
                    self.match(xDroneParser.R_BRACE)


                pass

            elif la_ == 22:
                localctx = xDroneParser.WhileContext(self, localctx)
                self.enterOuterAlt(localctx, 22)
                self.state = 237
                self.match(xDroneParser.WHILE)
                self.state = 238
                self.expr(0)
                self.state = 239
                self.match(xDroneParser.L_BRACE)
                self.state = 240
                self.commands()
                self.state = 241
                self.match(xDroneParser.R_BRACE)
                pass

            elif la_ == 23:
                localctx = xDroneParser.ForContext(self, localctx)
                self.enterOuterAlt(localctx, 23)
                self.state = 243
                self.match(xDroneParser.FOR)
                self.state = 244
                self.ident()
                self.state = 245
                self.match(xDroneParser.FROM)
                self.state = 246
                self.expr(0)
                self.state = 247
                self.match(xDroneParser.TO)
                self.state = 248
                self.expr(0)
                self.state = 251
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if _la==xDroneParser.STEP:
                    self.state = 249
                    self.match(xDroneParser.STEP)
                    self.state = 250
                    self.expr(0)


                self.state = 253
                self.match(xDroneParser.L_BRACE)
                self.state = 254
                self.commands()
                self.state = 255
                self.match(xDroneParser.R_BRACE)
                pass

            elif la_ == 24:
                localctx = xDroneParser.RepeatContext(self, localctx)
                self.enterOuterAlt(localctx, 24)
                self.state = 257
                self.match(xDroneParser.REPEAT)
                self.state = 258
                self.expr(0)
                self.state = 259
                self.match(xDroneParser.TIMES)
                self.state = 260
                self.match(xDroneParser.L_BRACE)
                self.state = 261
                self.commands()
                self.state = 262
                self.match(xDroneParser.R_BRACE)
                pass

            elif la_ == 25:
                localctx = xDroneParser.ReturnContext(self, localctx)
                self.enterOuterAlt(localctx, 25)
                self.state = 264
                self.match(xDroneParser.RETURN)
                self.state = 266
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 265
                    self.expr(0)


                self.state = 268
                self.match(xDroneParser.SEMICOLON)
                pass

            elif la_ == 26:
                localctx = xDroneParser.ParallelContext(self, localctx)
                self.enterOuterAlt(localctx, 26)
                self.state = 269
                self.match(xDroneParser.L_BRACE)
                self.state = 270
                self.commands()
                self.state = 271
                self.match(xDroneParser.R_BRACE)
                self.state = 277 
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                while True:
                    self.state = 272
                    self.match(xDroneParser.PARALLEL)
                    self.state = 273
                    self.match(xDroneParser.L_BRACE)
                    self.state = 274
                    self.commands()
                    self.state = 275
                    self.match(xDroneParser.R_BRACE)
                    self.state = 279 
                    self._errHandler.sync(self)
                    _la = self._input.LA(1)
                    if not (_la==xDroneParser.PARALLEL):
                        break

                self.state = 281
                self.match(xDroneParser.SEMICOLON)
                pass


        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class IdentContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def IDENT(self):
            return self.getToken(xDroneParser.IDENT, 0)

        def getRuleIndex(self):
            return xDroneParser.RULE_ident

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterIdent" ):
                listener.enterIdent(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitIdent" ):
                listener.exitIdent(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitIdent" ):
                return visitor.visitIdent(self)
            else:
                return visitor.visitChildren(self)




    def ident(self):

        localctx = xDroneParser.IdentContext(self, self._ctx, self.state)
        self.enterRule(localctx, 6, self.RULE_ident)
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 285
            self.match(xDroneParser.IDENT)
        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class ListElemContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)


        def L_BRACKET(self):
            return self.getToken(xDroneParser.L_BRACKET, 0)

        def R_BRACKET(self):
            return self.getToken(xDroneParser.R_BRACKET, 0)

        def getRuleIndex(self):
            return xDroneParser.RULE_listElem

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterListElem" ):
                listener.enterListElem(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitListElem" ):
                listener.exitListElem(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitListElem" ):
                return visitor.visitListElem(self)
            else:
                return visitor.visitChildren(self)




    def listElem(self):

        localctx = xDroneParser.ListElemContext(self, self._ctx, self.state)
        self.enterRule(localctx, 8, self.RULE_listElem)
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 287
            self.expr(0)
            self.state = 288
            self.match(xDroneParser.L_BRACKET)
            self.state = 289
            self.expr(0)
            self.state = 290
            self.match(xDroneParser.R_BRACKET)
        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class VectorElemContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser


        def getRuleIndex(self):
            return xDroneParser.RULE_vectorElem

     
        def copyFrom(self, ctx:ParserRuleContext):
            super().copyFrom(ctx)



    class VectorYContext(VectorElemContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.VectorElemContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_Y(self):
            return self.getToken(xDroneParser.VEC_Y, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorY" ):
                listener.enterVectorY(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorY" ):
                listener.exitVectorY(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorY" ):
                return visitor.visitVectorY(self)
            else:
                return visitor.visitChildren(self)


    class VectorZContext(VectorElemContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.VectorElemContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_Z(self):
            return self.getToken(xDroneParser.VEC_Z, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorZ" ):
                listener.enterVectorZ(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorZ" ):
                listener.exitVectorZ(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorZ" ):
                return visitor.visitVectorZ(self)
            else:
                return visitor.visitChildren(self)


    class VectorXContext(VectorElemContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.VectorElemContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_X(self):
            return self.getToken(xDroneParser.VEC_X, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorX" ):
                listener.enterVectorX(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorX" ):
                listener.exitVectorX(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorX" ):
                return visitor.visitVectorX(self)
            else:
                return visitor.visitChildren(self)



    def vectorElem(self):

        localctx = xDroneParser.VectorElemContext(self, self._ctx, self.state)
        self.enterRule(localctx, 10, self.RULE_vectorElem)
        try:
            self.state = 304
            self._errHandler.sync(self)
            la_ = self._interp.adaptivePredict(self._input,20,self._ctx)
            if la_ == 1:
                localctx = xDroneParser.VectorXContext(self, localctx)
                self.enterOuterAlt(localctx, 1)
                self.state = 292
                self.expr(0)
                self.state = 293
                self.match(xDroneParser.DOT)
                self.state = 294
                self.match(xDroneParser.VEC_X)
                pass

            elif la_ == 2:
                localctx = xDroneParser.VectorYContext(self, localctx)
                self.enterOuterAlt(localctx, 2)
                self.state = 296
                self.expr(0)
                self.state = 297
                self.match(xDroneParser.DOT)
                self.state = 298
                self.match(xDroneParser.VEC_Y)
                pass

            elif la_ == 3:
                localctx = xDroneParser.VectorZContext(self, localctx)
                self.enterOuterAlt(localctx, 3)
                self.state = 300
                self.expr(0)
                self.state = 301
                self.match(xDroneParser.DOT)
                self.state = 302
                self.match(xDroneParser.VEC_Z)
                pass


        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class FuncIdentContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def IDENT(self):
            return self.getToken(xDroneParser.IDENT, 0)

        def getRuleIndex(self):
            return xDroneParser.RULE_funcIdent

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterFuncIdent" ):
                listener.enterFuncIdent(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitFuncIdent" ):
                listener.exitFuncIdent(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitFuncIdent" ):
                return visitor.visitFuncIdent(self)
            else:
                return visitor.visitChildren(self)




    def funcIdent(self):

        localctx = xDroneParser.FuncIdentContext(self, self._ctx, self.state)
        self.enterRule(localctx, 12, self.RULE_funcIdent)
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 306
            self.match(xDroneParser.IDENT)
        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class CallContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def funcIdent(self):
            return self.getTypedRuleContext(xDroneParser.FuncIdentContext,0)


        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)

        def argList(self):
            return self.getTypedRuleContext(xDroneParser.ArgListContext,0)


        def getRuleIndex(self):
            return xDroneParser.RULE_call

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterCall" ):
                listener.enterCall(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitCall" ):
                listener.exitCall(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitCall" ):
                return visitor.visitCall(self)
            else:
                return visitor.visitChildren(self)




    def call(self):

        localctx = xDroneParser.CallContext(self, self._ctx, self.state)
        self.enterRule(localctx, 14, self.RULE_call)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 308
            self.funcIdent()
            self.state = 309
            self.match(xDroneParser.L_PAR)
            self.state = 311
            self._errHandler.sync(self)
            _la = self._input.LA(1)
            if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                self.state = 310
                self.argList()


            self.state = 313
            self.match(xDroneParser.R_PAR)
        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class ArgListContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)


        def COMMA(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.COMMA)
            else:
                return self.getToken(xDroneParser.COMMA, i)

        def getRuleIndex(self):
            return xDroneParser.RULE_argList

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterArgList" ):
                listener.enterArgList(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitArgList" ):
                listener.exitArgList(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitArgList" ):
                return visitor.visitArgList(self)
            else:
                return visitor.visitChildren(self)




    def argList(self):

        localctx = xDroneParser.ArgListContext(self, self._ctx, self.state)
        self.enterRule(localctx, 16, self.RULE_argList)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 315
            self.expr(0)
            self.state = 320
            self._errHandler.sync(self)
            _la = self._input.LA(1)
            while _la==xDroneParser.COMMA:
                self.state = 316
                self.match(xDroneParser.COMMA)
                self.state = 317
                self.expr(0)
                self.state = 322
                self._errHandler.sync(self)
                _la = self._input.LA(1)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class FuncContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser


        def getRuleIndex(self):
            return xDroneParser.RULE_func

     
        def copyFrom(self, ctx:ParserRuleContext):
            super().copyFrom(ctx)



    class FunctionContext(FuncContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.FuncContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def FUNCTION(self):
            return self.getToken(xDroneParser.FUNCTION, 0)
        def funcIdent(self):
            return self.getTypedRuleContext(xDroneParser.FuncIdentContext,0)

        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def RETURN(self):
            return self.getToken(xDroneParser.RETURN, 0)
        def type_(self):
            return self.getTypedRuleContext(xDroneParser.Type_Context,0)

        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)
        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)

        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)
        def paramList(self):
            return self.getTypedRuleContext(xDroneParser.ParamListContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterFunction" ):
                listener.enterFunction(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitFunction" ):
                listener.exitFunction(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitFunction" ):
                return visitor.visitFunction(self)
            else:
                return visitor.visitChildren(self)


    class ProcedureContext(FuncContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.FuncContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def PROCEDURE(self):
            return self.getToken(xDroneParser.PROCEDURE, 0)
        def funcIdent(self):
            return self.getTypedRuleContext(xDroneParser.FuncIdentContext,0)

        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)
        def L_BRACE(self):
            return self.getToken(xDroneParser.L_BRACE, 0)
        def commands(self):
            return self.getTypedRuleContext(xDroneParser.CommandsContext,0)

        def R_BRACE(self):
            return self.getToken(xDroneParser.R_BRACE, 0)
        def paramList(self):
            return self.getTypedRuleContext(xDroneParser.ParamListContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterProcedure" ):
                listener.enterProcedure(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitProcedure" ):
                listener.exitProcedure(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitProcedure" ):
                return visitor.visitProcedure(self)
            else:
                return visitor.visitChildren(self)



    def func(self):

        localctx = xDroneParser.FuncContext(self, self._ctx, self.state)
        self.enterRule(localctx, 18, self.RULE_func)
        self._la = 0 # Token type
        try:
            self.state = 347
            self._errHandler.sync(self)
            token = self._input.LA(1)
            if token in [xDroneParser.FUNCTION]:
                localctx = xDroneParser.FunctionContext(self, localctx)
                self.enterOuterAlt(localctx, 1)
                self.state = 323
                self.match(xDroneParser.FUNCTION)
                self.state = 324
                self.funcIdent()
                self.state = 325
                self.match(xDroneParser.L_PAR)
                self.state = 327
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if (((_la) & ~0x3f) == 0 and ((1 << _la) & ((1 << xDroneParser.TYPE_INT) | (1 << xDroneParser.TYPE_DECIMAL) | (1 << xDroneParser.TYPE_STRING) | (1 << xDroneParser.TYPE_BOOLEAN) | (1 << xDroneParser.TYPE_VECTOR) | (1 << xDroneParser.TYPE_DRONE) | (1 << xDroneParser.TYPE_LIST))) != 0):
                    self.state = 326
                    self.paramList()


                self.state = 329
                self.match(xDroneParser.R_PAR)
                self.state = 330
                self.match(xDroneParser.RETURN)
                self.state = 331
                self.type_()
                self.state = 332
                self.match(xDroneParser.L_BRACE)
                self.state = 333
                self.commands()
                self.state = 334
                self.match(xDroneParser.R_BRACE)
                pass
            elif token in [xDroneParser.PROCEDURE]:
                localctx = xDroneParser.ProcedureContext(self, localctx)
                self.enterOuterAlt(localctx, 2)
                self.state = 336
                self.match(xDroneParser.PROCEDURE)
                self.state = 337
                self.funcIdent()
                self.state = 338
                self.match(xDroneParser.L_PAR)
                self.state = 340
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if (((_la) & ~0x3f) == 0 and ((1 << _la) & ((1 << xDroneParser.TYPE_INT) | (1 << xDroneParser.TYPE_DECIMAL) | (1 << xDroneParser.TYPE_STRING) | (1 << xDroneParser.TYPE_BOOLEAN) | (1 << xDroneParser.TYPE_VECTOR) | (1 << xDroneParser.TYPE_DRONE) | (1 << xDroneParser.TYPE_LIST))) != 0):
                    self.state = 339
                    self.paramList()


                self.state = 342
                self.match(xDroneParser.R_PAR)
                self.state = 343
                self.match(xDroneParser.L_BRACE)
                self.state = 344
                self.commands()
                self.state = 345
                self.match(xDroneParser.R_BRACE)
                pass
            else:
                raise NoViableAltException(self)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class ParamListContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser

        def type_(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.Type_Context)
            else:
                return self.getTypedRuleContext(xDroneParser.Type_Context,i)


        def ident(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.IdentContext)
            else:
                return self.getTypedRuleContext(xDroneParser.IdentContext,i)


        def COMMA(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.COMMA)
            else:
                return self.getToken(xDroneParser.COMMA, i)

        def getRuleIndex(self):
            return xDroneParser.RULE_paramList

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterParamList" ):
                listener.enterParamList(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitParamList" ):
                listener.exitParamList(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitParamList" ):
                return visitor.visitParamList(self)
            else:
                return visitor.visitChildren(self)




    def paramList(self):

        localctx = xDroneParser.ParamListContext(self, self._ctx, self.state)
        self.enterRule(localctx, 20, self.RULE_paramList)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 349
            self.type_()
            self.state = 350
            self.ident()
            self.state = 357
            self._errHandler.sync(self)
            _la = self._input.LA(1)
            while _la==xDroneParser.COMMA:
                self.state = 351
                self.match(xDroneParser.COMMA)
                self.state = 352
                self.type_()
                self.state = 353
                self.ident()
                self.state = 359
                self._errHandler.sync(self)
                _la = self._input.LA(1)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class Type_Context(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser


        def getRuleIndex(self):
            return xDroneParser.RULE_type_

     
        def copyFrom(self, ctx:ParserRuleContext):
            super().copyFrom(ctx)



    class DecimalTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_DECIMAL(self):
            return self.getToken(xDroneParser.TYPE_DECIMAL, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDecimalType" ):
                listener.enterDecimalType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDecimalType" ):
                listener.exitDecimalType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDecimalType" ):
                return visitor.visitDecimalType(self)
            else:
                return visitor.visitChildren(self)


    class BooleanTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_BOOLEAN(self):
            return self.getToken(xDroneParser.TYPE_BOOLEAN, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterBooleanType" ):
                listener.enterBooleanType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitBooleanType" ):
                listener.exitBooleanType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitBooleanType" ):
                return visitor.visitBooleanType(self)
            else:
                return visitor.visitChildren(self)


    class DroneTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_DRONE(self):
            return self.getToken(xDroneParser.TYPE_DRONE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDroneType" ):
                listener.enterDroneType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDroneType" ):
                listener.exitDroneType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDroneType" ):
                return visitor.visitDroneType(self)
            else:
                return visitor.visitChildren(self)


    class VectorTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_VECTOR(self):
            return self.getToken(xDroneParser.TYPE_VECTOR, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorType" ):
                listener.enterVectorType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorType" ):
                listener.exitVectorType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorType" ):
                return visitor.visitVectorType(self)
            else:
                return visitor.visitChildren(self)


    class IntTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_INT(self):
            return self.getToken(xDroneParser.TYPE_INT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterIntType" ):
                listener.enterIntType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitIntType" ):
                listener.exitIntType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitIntType" ):
                return visitor.visitIntType(self)
            else:
                return visitor.visitChildren(self)


    class StringTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_STRING(self):
            return self.getToken(xDroneParser.TYPE_STRING, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterStringType" ):
                listener.enterStringType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitStringType" ):
                listener.exitStringType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitStringType" ):
                return visitor.visitStringType(self)
            else:
                return visitor.visitChildren(self)


    class ListTypeContext(Type_Context):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.Type_Context
            super().__init__(parser)
            self.copyFrom(ctx)

        def TYPE_LIST(self):
            return self.getToken(xDroneParser.TYPE_LIST, 0)
        def L_BRACKET(self):
            return self.getToken(xDroneParser.L_BRACKET, 0)
        def type_(self):
            return self.getTypedRuleContext(xDroneParser.Type_Context,0)

        def R_BRACKET(self):
            return self.getToken(xDroneParser.R_BRACKET, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterListType" ):
                listener.enterListType(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitListType" ):
                listener.exitListType(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitListType" ):
                return visitor.visitListType(self)
            else:
                return visitor.visitChildren(self)



    def type_(self):

        localctx = xDroneParser.Type_Context(self, self._ctx, self.state)
        self.enterRule(localctx, 22, self.RULE_type_)
        try:
            self.state = 371
            self._errHandler.sync(self)
            token = self._input.LA(1)
            if token in [xDroneParser.TYPE_INT]:
                localctx = xDroneParser.IntTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 1)
                self.state = 360
                self.match(xDroneParser.TYPE_INT)
                pass
            elif token in [xDroneParser.TYPE_DECIMAL]:
                localctx = xDroneParser.DecimalTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 2)
                self.state = 361
                self.match(xDroneParser.TYPE_DECIMAL)
                pass
            elif token in [xDroneParser.TYPE_STRING]:
                localctx = xDroneParser.StringTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 3)
                self.state = 362
                self.match(xDroneParser.TYPE_STRING)
                pass
            elif token in [xDroneParser.TYPE_BOOLEAN]:
                localctx = xDroneParser.BooleanTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 4)
                self.state = 363
                self.match(xDroneParser.TYPE_BOOLEAN)
                pass
            elif token in [xDroneParser.TYPE_VECTOR]:
                localctx = xDroneParser.VectorTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 5)
                self.state = 364
                self.match(xDroneParser.TYPE_VECTOR)
                pass
            elif token in [xDroneParser.TYPE_DRONE]:
                localctx = xDroneParser.DroneTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 6)
                self.state = 365
                self.match(xDroneParser.TYPE_DRONE)
                pass
            elif token in [xDroneParser.TYPE_LIST]:
                localctx = xDroneParser.ListTypeContext(self, localctx)
                self.enterOuterAlt(localctx, 7)
                self.state = 366
                self.match(xDroneParser.TYPE_LIST)
                self.state = 367
                self.match(xDroneParser.L_BRACKET)
                self.state = 368
                self.type_()
                self.state = 369
                self.match(xDroneParser.R_BRACKET)
                pass
            else:
                raise NoViableAltException(self)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.exitRule()
        return localctx


    class ExprContext(ParserRuleContext):
        __slots__ = 'parser'

        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
            super().__init__(parent, invokingState)
            self.parser = parser


        def getRuleIndex(self):
            return xDroneParser.RULE_expr

     
        def copyFrom(self, ctx:ParserRuleContext):
            super().copyFrom(ctx)


    class ParenthesesContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterParentheses" ):
                listener.enterParentheses(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitParentheses" ):
                listener.exitParentheses(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitParentheses" ):
                return visitor.visitParentheses(self)
            else:
                return visitor.visitChildren(self)


    class PlusMinusContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def PLUS(self):
            return self.getToken(xDroneParser.PLUS, 0)
        def MINUS(self):
            return self.getToken(xDroneParser.MINUS, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterPlusMinus" ):
                listener.enterPlusMinus(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitPlusMinus" ):
                listener.exitPlusMinus(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitPlusMinus" ):
                return visitor.visitPlusMinus(self)
            else:
                return visitor.visitChildren(self)


    class CompareContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def GREATER(self):
            return self.getToken(xDroneParser.GREATER, 0)
        def GREATER_EQ(self):
            return self.getToken(xDroneParser.GREATER_EQ, 0)
        def LESS(self):
            return self.getToken(xDroneParser.LESS, 0)
        def LESS_EQ(self):
            return self.getToken(xDroneParser.LESS_EQ, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterCompare" ):
                listener.enterCompare(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitCompare" ):
                listener.exitCompare(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitCompare" ):
                return visitor.visitCompare(self)
            else:
                return visitor.visitChildren(self)


    class IntExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def INT(self):
            return self.getToken(xDroneParser.INT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterIntExpr" ):
                listener.enterIntExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitIntExpr" ):
                listener.exitIntExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitIntExpr" ):
                return visitor.visitIntExpr(self)
            else:
                return visitor.visitChildren(self)


    class OrContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def OR(self):
            return self.getToken(xDroneParser.OR, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterOr" ):
                listener.enterOr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitOr" ):
                listener.exitOr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitOr" ):
                return visitor.visitOr(self)
            else:
                return visitor.visitChildren(self)


    class DecimalExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def FLOAT(self):
            return self.getToken(xDroneParser.FLOAT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterDecimalExpr" ):
                listener.enterDecimalExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitDecimalExpr" ):
                listener.exitDecimalExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitDecimalExpr" ):
                return visitor.visitDecimalExpr(self)
            else:
                return visitor.visitChildren(self)


    class TrueExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def TRUE(self):
            return self.getToken(xDroneParser.TRUE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterTrueExpr" ):
                listener.enterTrueExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitTrueExpr" ):
                listener.exitTrueExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitTrueExpr" ):
                return visitor.visitTrueExpr(self)
            else:
                return visitor.visitChildren(self)


    class ListElemExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def L_BRACKET(self):
            return self.getToken(xDroneParser.L_BRACKET, 0)
        def R_BRACKET(self):
            return self.getToken(xDroneParser.R_BRACKET, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterListElemExpr" ):
                listener.enterListElemExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitListElemExpr" ):
                listener.exitListElemExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitListElemExpr" ):
                return visitor.visitListElemExpr(self)
            else:
                return visitor.visitChildren(self)


    class PositNegateContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def PLUS(self):
            return self.getToken(xDroneParser.PLUS, 0)
        def MINUS(self):
            return self.getToken(xDroneParser.MINUS, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterPositNegate" ):
                listener.enterPositNegate(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitPositNegate" ):
                listener.exitPositNegate(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitPositNegate" ):
                return visitor.visitPositNegate(self)
            else:
                return visitor.visitChildren(self)


    class ConcatContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def CONCAT(self):
            return self.getToken(xDroneParser.CONCAT, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterConcat" ):
                listener.enterConcat(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitConcat" ):
                listener.exitConcat(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitConcat" ):
                return visitor.visitConcat(self)
            else:
                return visitor.visitChildren(self)


    class ListContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def L_BRACKET(self):
            return self.getToken(xDroneParser.L_BRACKET, 0)
        def R_BRACKET(self):
            return self.getToken(xDroneParser.R_BRACKET, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def COMMA(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.COMMA)
            else:
                return self.getToken(xDroneParser.COMMA, i)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterList" ):
                listener.enterList(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitList" ):
                listener.exitList(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitList" ):
                return visitor.visitList(self)
            else:
                return visitor.visitChildren(self)


    class VectorYExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_Y(self):
            return self.getToken(xDroneParser.VEC_Y, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorYExpr" ):
                listener.enterVectorYExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorYExpr" ):
                listener.exitVectorYExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorYExpr" ):
                return visitor.visitVectorYExpr(self)
            else:
                return visitor.visitChildren(self)


    class StringExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def ESCAPED_STRING(self):
            return self.getToken(xDroneParser.ESCAPED_STRING, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterStringExpr" ):
                listener.enterStringExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitStringExpr" ):
                listener.exitStringExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitStringExpr" ):
                return visitor.visitStringExpr(self)
            else:
                return visitor.visitChildren(self)


    class IdentExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def ident(self):
            return self.getTypedRuleContext(xDroneParser.IdentContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterIdentExpr" ):
                listener.enterIdentExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitIdentExpr" ):
                listener.exitIdentExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitIdentExpr" ):
                return visitor.visitIdentExpr(self)
            else:
                return visitor.visitChildren(self)


    class NotContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def NOT(self):
            return self.getToken(xDroneParser.NOT, 0)
        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterNot" ):
                listener.enterNot(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitNot" ):
                listener.exitNot(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitNot" ):
                return visitor.visitNot(self)
            else:
                return visitor.visitChildren(self)


    class VectorXExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_X(self):
            return self.getToken(xDroneParser.VEC_X, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorXExpr" ):
                listener.enterVectorXExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorXExpr" ):
                listener.exitVectorXExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorXExpr" ):
                return visitor.visitVectorXExpr(self)
            else:
                return visitor.visitChildren(self)


    class SizeContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def SIZE(self):
            return self.getToken(xDroneParser.SIZE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterSize" ):
                listener.enterSize(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitSize" ):
                listener.exitSize(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitSize" ):
                return visitor.visitSize(self)
            else:
                return visitor.visitChildren(self)


    class AndContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def AND(self):
            return self.getToken(xDroneParser.AND, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterAnd" ):
                listener.enterAnd(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitAnd" ):
                listener.exitAnd(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitAnd" ):
                return visitor.visitAnd(self)
            else:
                return visitor.visitChildren(self)


    class FunctionCallContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def call(self):
            return self.getTypedRuleContext(xDroneParser.CallContext,0)


        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterFunctionCall" ):
                listener.enterFunctionCall(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitFunctionCall" ):
                listener.exitFunctionCall(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitFunctionCall" ):
                return visitor.visitFunctionCall(self)
            else:
                return visitor.visitChildren(self)


    class VectorZExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self):
            return self.getTypedRuleContext(xDroneParser.ExprContext,0)

        def DOT(self):
            return self.getToken(xDroneParser.DOT, 0)
        def VEC_Z(self):
            return self.getToken(xDroneParser.VEC_Z, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVectorZExpr" ):
                listener.enterVectorZExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVectorZExpr" ):
                listener.exitVectorZExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVectorZExpr" ):
                return visitor.visitVectorZExpr(self)
            else:
                return visitor.visitChildren(self)


    class VectorContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def L_PAR(self):
            return self.getToken(xDroneParser.L_PAR, 0)
        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def COMMA(self, i:int=None):
            if i is None:
                return self.getTokens(xDroneParser.COMMA)
            else:
                return self.getToken(xDroneParser.COMMA, i)
        def R_PAR(self):
            return self.getToken(xDroneParser.R_PAR, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterVector" ):
                listener.enterVector(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitVector" ):
                listener.exitVector(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitVector" ):
                return visitor.visitVector(self)
            else:
                return visitor.visitChildren(self)


    class FalseExprContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def FALSE(self):
            return self.getToken(xDroneParser.FALSE, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterFalseExpr" ):
                listener.enterFalseExpr(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitFalseExpr" ):
                listener.exitFalseExpr(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitFalseExpr" ):
                return visitor.visitFalseExpr(self)
            else:
                return visitor.visitChildren(self)


    class MultiDivideContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def MULTI(self):
            return self.getToken(xDroneParser.MULTI, 0)
        def DIV(self):
            return self.getToken(xDroneParser.DIV, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterMultiDivide" ):
                listener.enterMultiDivide(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitMultiDivide" ):
                listener.exitMultiDivide(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitMultiDivide" ):
                return visitor.visitMultiDivide(self)
            else:
                return visitor.visitChildren(self)


    class EqualityContext(ExprContext):

        def __init__(self, parser, ctx:ParserRuleContext): # actually a xDroneParser.ExprContext
            super().__init__(parser)
            self.copyFrom(ctx)

        def expr(self, i:int=None):
            if i is None:
                return self.getTypedRuleContexts(xDroneParser.ExprContext)
            else:
                return self.getTypedRuleContext(xDroneParser.ExprContext,i)

        def EQ(self):
            return self.getToken(xDroneParser.EQ, 0)
        def NOT_EQ(self):
            return self.getToken(xDroneParser.NOT_EQ, 0)

        def enterRule(self, listener:ParseTreeListener):
            if hasattr( listener, "enterEquality" ):
                listener.enterEquality(self)

        def exitRule(self, listener:ParseTreeListener):
            if hasattr( listener, "exitEquality" ):
                listener.exitEquality(self)

        def accept(self, visitor:ParseTreeVisitor):
            if hasattr( visitor, "visitEquality" ):
                return visitor.visitEquality(self)
            else:
                return visitor.visitChildren(self)



    def expr(self, _p:int=0):
        _parentctx = self._ctx
        _parentState = self.state
        localctx = xDroneParser.ExprContext(self, self._ctx, _parentState)
        _prevctx = localctx
        _startState = 24
        self.enterRecursionRule(localctx, 24, self.RULE_expr, _p)
        self._la = 0 # Token type
        try:
            self.enterOuterAlt(localctx, 1)
            self.state = 409
            self._errHandler.sync(self)
            la_ = self._interp.adaptivePredict(self._input,30,self._ctx)
            if la_ == 1:
                localctx = xDroneParser.IntExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx

                self.state = 374
                self.match(xDroneParser.INT)
                pass

            elif la_ == 2:
                localctx = xDroneParser.DecimalExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 375
                self.match(xDroneParser.FLOAT)
                pass

            elif la_ == 3:
                localctx = xDroneParser.StringExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 376
                self.match(xDroneParser.ESCAPED_STRING)
                pass

            elif la_ == 4:
                localctx = xDroneParser.TrueExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 377
                self.match(xDroneParser.TRUE)
                pass

            elif la_ == 5:
                localctx = xDroneParser.FalseExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 378
                self.match(xDroneParser.FALSE)
                pass

            elif la_ == 6:
                localctx = xDroneParser.IdentExprContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 379
                self.ident()
                pass

            elif la_ == 7:
                localctx = xDroneParser.ListContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 380
                self.match(xDroneParser.L_BRACKET)
                self.state = 389
                self._errHandler.sync(self)
                _la = self._input.LA(1)
                if ((((_la - 37)) & ~0x3f) == 0 and ((1 << (_la - 37)) & ((1 << (xDroneParser.TRUE - 37)) | (1 << (xDroneParser.FALSE - 37)) | (1 << (xDroneParser.PLUS - 37)) | (1 << (xDroneParser.MINUS - 37)) | (1 << (xDroneParser.NOT - 37)) | (1 << (xDroneParser.L_PAR - 37)) | (1 << (xDroneParser.L_BRACKET - 37)) | (1 << (xDroneParser.IDENT - 37)) | (1 << (xDroneParser.INT - 37)) | (1 << (xDroneParser.FLOAT - 37)) | (1 << (xDroneParser.ESCAPED_STRING - 37)))) != 0):
                    self.state = 381
                    self.expr(0)
                    self.state = 386
                    self._errHandler.sync(self)
                    _la = self._input.LA(1)
                    while _la==xDroneParser.COMMA:
                        self.state = 382
                        self.match(xDroneParser.COMMA)
                        self.state = 383
                        self.expr(0)
                        self.state = 388
                        self._errHandler.sync(self)
                        _la = self._input.LA(1)



                self.state = 391
                self.match(xDroneParser.R_BRACKET)
                pass

            elif la_ == 8:
                localctx = xDroneParser.VectorContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 392
                self.match(xDroneParser.L_PAR)
                self.state = 393
                self.expr(0)
                self.state = 394
                self.match(xDroneParser.COMMA)
                self.state = 395
                self.expr(0)
                self.state = 396
                self.match(xDroneParser.COMMA)
                self.state = 397
                self.expr(0)
                self.state = 398
                self.match(xDroneParser.R_PAR)
                pass

            elif la_ == 9:
                localctx = xDroneParser.FunctionCallContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 400
                self.call()
                pass

            elif la_ == 10:
                localctx = xDroneParser.ParenthesesContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 401
                self.match(xDroneParser.L_PAR)
                self.state = 402
                self.expr(0)
                self.state = 403
                self.match(xDroneParser.R_PAR)
                pass

            elif la_ == 11:
                localctx = xDroneParser.PositNegateContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 405
                _la = self._input.LA(1)
                if not(_la==xDroneParser.PLUS or _la==xDroneParser.MINUS):
                    self._errHandler.recoverInline(self)
                else:
                    self._errHandler.reportMatch(self)
                    self.consume()
                self.state = 406
                self.expr(9)
                pass

            elif la_ == 12:
                localctx = xDroneParser.NotContext(self, localctx)
                self._ctx = localctx
                _prevctx = localctx
                self.state = 407
                self.match(xDroneParser.NOT)
                self.state = 408
                self.expr(8)
                pass


            self._ctx.stop = self._input.LT(-1)
            self.state = 451
            self._errHandler.sync(self)
            _alt = self._interp.adaptivePredict(self._input,32,self._ctx)
            while _alt!=2 and _alt!=ATN.INVALID_ALT_NUMBER:
                if _alt==1:
                    if self._parseListeners is not None:
                        self.triggerExitRuleEvent()
                    _prevctx = localctx
                    self.state = 449
                    self._errHandler.sync(self)
                    la_ = self._interp.adaptivePredict(self._input,31,self._ctx)
                    if la_ == 1:
                        localctx = xDroneParser.MultiDivideContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 411
                        if not self.precpred(self._ctx, 7):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 7)")
                        self.state = 412
                        _la = self._input.LA(1)
                        if not(_la==xDroneParser.MULTI or _la==xDroneParser.DIV):
                            self._errHandler.recoverInline(self)
                        else:
                            self._errHandler.reportMatch(self)
                            self.consume()
                        self.state = 413
                        self.expr(8)
                        pass

                    elif la_ == 2:
                        localctx = xDroneParser.PlusMinusContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 414
                        if not self.precpred(self._ctx, 6):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 6)")
                        self.state = 415
                        _la = self._input.LA(1)
                        if not(_la==xDroneParser.PLUS or _la==xDroneParser.MINUS):
                            self._errHandler.recoverInline(self)
                        else:
                            self._errHandler.reportMatch(self)
                            self.consume()
                        self.state = 416
                        self.expr(7)
                        pass

                    elif la_ == 3:
                        localctx = xDroneParser.ConcatContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 417
                        if not self.precpred(self._ctx, 5):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 5)")
                        self.state = 418
                        self.match(xDroneParser.CONCAT)
                        self.state = 419
                        self.expr(6)
                        pass

                    elif la_ == 4:
                        localctx = xDroneParser.CompareContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 420
                        if not self.precpred(self._ctx, 4):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 4)")
                        self.state = 421
                        _la = self._input.LA(1)
                        if not((((_la) & ~0x3f) == 0 and ((1 << _la) & ((1 << xDroneParser.GREATER) | (1 << xDroneParser.GREATER_EQ) | (1 << xDroneParser.LESS) | (1 << xDroneParser.LESS_EQ))) != 0)):
                            self._errHandler.recoverInline(self)
                        else:
                            self._errHandler.reportMatch(self)
                            self.consume()
                        self.state = 422
                        self.expr(5)
                        pass

                    elif la_ == 5:
                        localctx = xDroneParser.EqualityContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 423
                        if not self.precpred(self._ctx, 3):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 3)")
                        self.state = 424
                        _la = self._input.LA(1)
                        if not(_la==xDroneParser.EQ or _la==xDroneParser.NOT_EQ):
                            self._errHandler.recoverInline(self)
                        else:
                            self._errHandler.reportMatch(self)
                            self.consume()
                        self.state = 425
                        self.expr(4)
                        pass

                    elif la_ == 6:
                        localctx = xDroneParser.AndContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 426
                        if not self.precpred(self._ctx, 2):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 2)")
                        self.state = 427
                        self.match(xDroneParser.AND)
                        self.state = 428
                        self.expr(3)
                        pass

                    elif la_ == 7:
                        localctx = xDroneParser.OrContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 429
                        if not self.precpred(self._ctx, 1):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 1)")
                        self.state = 430
                        self.match(xDroneParser.OR)
                        self.state = 431
                        self.expr(2)
                        pass

                    elif la_ == 8:
                        localctx = xDroneParser.ListElemExprContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 432
                        if not self.precpred(self._ctx, 18):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 18)")
                        self.state = 433
                        self.match(xDroneParser.L_BRACKET)
                        self.state = 434
                        self.expr(0)
                        self.state = 435
                        self.match(xDroneParser.R_BRACKET)
                        pass

                    elif la_ == 9:
                        localctx = xDroneParser.VectorXExprContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 437
                        if not self.precpred(self._ctx, 17):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 17)")
                        self.state = 438
                        self.match(xDroneParser.DOT)
                        self.state = 439
                        self.match(xDroneParser.VEC_X)
                        pass

                    elif la_ == 10:
                        localctx = xDroneParser.VectorYExprContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 440
                        if not self.precpred(self._ctx, 16):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 16)")
                        self.state = 441
                        self.match(xDroneParser.DOT)
                        self.state = 442
                        self.match(xDroneParser.VEC_Y)
                        pass

                    elif la_ == 11:
                        localctx = xDroneParser.VectorZExprContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 443
                        if not self.precpred(self._ctx, 15):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 15)")
                        self.state = 444
                        self.match(xDroneParser.DOT)
                        self.state = 445
                        self.match(xDroneParser.VEC_Z)
                        pass

                    elif la_ == 12:
                        localctx = xDroneParser.SizeContext(self, xDroneParser.ExprContext(self, _parentctx, _parentState))
                        self.pushNewRecursionContext(localctx, _startState, self.RULE_expr)
                        self.state = 446
                        if not self.precpred(self._ctx, 11):
                            from antlr4.error.Errors import FailedPredicateException
                            raise FailedPredicateException(self, "self.precpred(self._ctx, 11)")
                        self.state = 447
                        self.match(xDroneParser.DOT)
                        self.state = 448
                        self.match(xDroneParser.SIZE)
                        pass

             
                self.state = 453
                self._errHandler.sync(self)
                _alt = self._interp.adaptivePredict(self._input,32,self._ctx)

        except RecognitionException as re:
            localctx.exception = re
            self._errHandler.reportError(self, re)
            self._errHandler.recover(self, re)
        finally:
            self.unrollRecursionContexts(_parentctx)
        return localctx



    def sempred(self, localctx:RuleContext, ruleIndex:int, predIndex:int):
        if self._predicates == None:
            self._predicates = dict()
        self._predicates[12] = self.expr_sempred
        pred = self._predicates.get(ruleIndex, None)
        if pred is None:
            raise Exception("No predicate with index:" + str(ruleIndex))
        else:
            return pred(localctx, predIndex)

    def expr_sempred(self, localctx:ExprContext, predIndex:int):
            if predIndex == 0:
                return self.precpred(self._ctx, 7)
         

            if predIndex == 1:
                return self.precpred(self._ctx, 6)
         

            if predIndex == 2:
                return self.precpred(self._ctx, 5)
         

            if predIndex == 3:
                return self.precpred(self._ctx, 4)
         

            if predIndex == 4:
                return self.precpred(self._ctx, 3)
         

            if predIndex == 5:
                return self.precpred(self._ctx, 2)
         

            if predIndex == 6:
                return self.precpred(self._ctx, 1)
         

            if predIndex == 7:
                return self.precpred(self._ctx, 18)
         

            if predIndex == 8:
                return self.precpred(self._ctx, 17)
         

            if predIndex == 9:
                return self.precpred(self._ctx, 16)
         

            if predIndex == 10:
                return self.precpred(self._ctx, 15)
         

            if predIndex == 11:
                return self.precpred(self._ctx, 11)
         




