dsl/runtime/src/robots/missions/TaskDSL.xtext

   1 grammar robots.missions.TaskDSL with org.eclipse.xtext.common.Terminals
   2
   3 generate taskDSL "http://www.missions.robots/TaskDSL"
   4
   5 Robot:
   6         'Name' name=ID
   7         'Acceleration' acc=INT
   8         'Speed' spd=INT
   9         'LeftMotor plugged in' leftMotorPort=MotorPort
  10         'RightMotor plugged in' righMotorPort=MotorPort
  11         ('ColorSensor plugged in' colorSensorPort=SensorPort)?
  12         ('TouchSensor plugged in' leftTouchSensorPort=SensorPort 'and' rightTouchSensorPort=SensorPort)?
  13         ('UltrasoneSensor plugged in' ultrasoneSensorPort=SensorPort)?
  14         ('Mission:' mission+=Mission)+;
  15
  16 Mission:
  17         behaviours+=Behaviour+ 'stops when' stoppingCondition=StoppingCondition
  18 ;
  19
  20 StoppingCondition:
  21         SensorLimitReached | CollectedColors;
  22
  23 CollectedColors:
  24         'Collected Colors:' colors+=ColorValue+
  25 ;
  26
  27 SensorLimitReached:
  28         TouchLimit | ColorLimit | DistanceLimit;
  29
  30 ColorLimit:
  31         'ColorLimit: ' lim=ColorValue
  32 ;
  33
  34 TouchLimit:
  35         'TouchStatus: ' lim=Touch
  36 ;
  37
  38 Touch:
  39         'Touch' | 'NoTouch'
  40 ;
  41
  42 DistanceLimit:
  43         'Distance:' dist=STRING 'meter'
  44 ;
  45
  46 ColorValue:
  47         'Black' | 'Blue' | 'Brown' | 'Cyan' | 'DarkGray' | 'Gray' | 'Green' | 'LightGray' | 'Magenta' | 'Orange' | 'Pink' | 'Red' | 'White' | 'Yellow'
  48 ;
  49
  50 Behaviour:
  51         'Behaviour'
  52         'Name:' name=ID
  53         'TakeControl:' takeControl=SensorLimitReached?
  54         'Action:' action=Action
  55 ;
  56
  57 Action:
  58         'Avoid' | 'Wander' | 'Nothing'
  59 ;
  60
  61 SensorPort:
  62         'S1' | 'S2' | 'S3' | 'S4';
  63
  64 MotorPort:
  65         'A' | 'B' | 'C' | 'D';