dsl/xtend/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         'Acceleration' acc=INT
   7         'Speed' spd=INT
   8         behaviour+=Behaviour+
   9         mission+=Mission+;
  10
  11 Mission:
  12         'Mission' name=ID 'using' behaviours+=[Behaviour]+ 'and stops when' se=StoppingExpression;
  13
  14 StoppingExpression:
  15         '(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
  16         'not ' negscond=StoppingCondition |
  17         scond=StoppingCondition;
  18
  19 StoppingCondition:
  20         'Collected at least' colors+=Color+ |
  21         'Touched on' touch=LeftRight |
  22         'Light on' light=LeftRight |
  23         'No object in sight on ' dist=BackFront |
  24         'Color is' color=Color;
  25
  26 Behaviour: 'Behaviour' name=ID
  27         'take control:' tc=StoppingExpression?
  28         'action:' actions+=Action+;
  29
  30 Action:
  31         whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
  32         'turn' turnDir=LeftRight degrees=INT ('with speed' spd=INT 'acceleration' acc=INT)? |
  33         'measure' measureWhat=RockLake |
  34         'wait' time=Time;
  35
  36 Time: time=INT 'ms' | {Time} 'forever';
  37
  38 RockLake: d=RockLakeE;
  39 enum RockLakeE: ROCK='rock' | LAKE='lake';
  40 Direction: d=DirectionE;
  41 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
  42 Operator: d=OperatorE;
  43 enum OperatorE: AND = 'and' | OR = 'or';
  44 BackFront: d=BackFrontE;
  45 enum BackFrontE: BACK = 'back' | FRONT = 'front';
  46 Comparison: d=ComparisonE;
  47 enum ComparisonE: GE='>' | LE='<';
  48 LeftRight: d=LeftRightE;
  49 enum LeftRightE: LEFT='left' | RIGHT='right';
  50 Color: d=ColorE;
  51 enum ColorE:
  52         RED='Red' | GREEN='Green' | BLUE='Blue' | YELLOW='Yellow' |
  53         MAGENTA='Magenta'| ORANGE='Orange'|     WHITE='White' | BLACK='Black' |
  54         PINK='Pink' | GRAY='Gray' | LIGHTGRAY='LightGray' |
  55         DARKGRAY='DarkGray' | CYAN='Cyan' | BROWN='Brown';