4 package robots.missions.generator
6 import org.eclipse.emf.common.util.EList
7 import org.eclipse.emf.ecore.resource.Resource
8 import org.eclipse.xtext.generator.IFileSystemAccess
9 import org.eclipse.xtext.generator.IGenerator
10 import robots.missions.taskDSL.Behaviour
11 import robots.missions.taskDSL.OperatorE
12 import robots.missions.taskDSL.Robot
13 import robots.missions.taskDSL.StoppingExpression
14 import robots.missions.taskDSL.Mission
17 * Generates code from your model files on save.
19 * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
21 class TaskDSLGenerator implements IGenerator {
23 override void doGenerate(Resource resource, IFileSystemAccess fsa) {
24 var root = resource.allContents.head as Robot;
26 fsa.generateFile("nl/ru/des/Constants.java", makeConstants(root));
27 fsa.generateFile("nl/ru/des/Behaviours.java", makeBehaviours(root.behaviour));
28 fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
32 def CharSequence makeMissions(EList<Mission> list)'''
35 import java.util.LinkedList;
36 import java.util.List;
38 import lejos.hardware.motor.EV3LargeRegulatedMotor;
39 import lejos.robotics.subsumption.Behavior;
40 import nl.ru.des.Behaviours;
42 public class Missions{
43 public static List<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
44 EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
45 LinkedList<Mission> missions = new LinkedList<Mission>();
47 missions.add(new Mission("«m.name»", new Behavior[]{
48 «FOR b : m.behaviours SEPARATOR ","»
49 new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
51 new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
52 @Override public boolean takeControl(){
53 return «printExpression(m.se)»;
62 def CharSequence makeBehaviours(EList<Behaviour> list)'''
65 import lejos.hardware.motor.EV3LargeRegulatedMotor;
67 public class Behaviours{
69 public static class «b.name»Behaviour extends BasicBehaviour {
70 public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
71 EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
72 super(sensors, rightMotor, leftMotor, colors);
75 @Override public boolean takeControl(){
76 return «printExpression(b.tc)»;
80 @Override public void action(){
83 «IF a.whichMotor != null»
85 «a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
86 «a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
88 «a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
90 time = System.currentTimeMillis();
91 while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
103 def CharSequence printExpression(StoppingExpression e)'''
105 «IF !e.scond.colors.nullOrEmpty»
106 colors.containsAll(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
107 «ELSEIF e.scond.touch != null»
108 sensors.«e.scond.touch.d.toString()»Touch()
109 «ELSEIF e.scond.op != null»
110 sensors.distance() «e.scond.op.d.toString()» «e.scond.dist»
111 «ELSEIF e.scond.color != null»
112 sensors.color() == «e.scond.color.d.ordinal»
115 «IF e.op.d.equals(OperatorE.AND)»
116 «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
118 «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
123 def CharSequence makeConstants(Robot robot)'''
126 public class Constants{
127 public final static int speed = «robot.spd»;
128 public final static int acceleration = «robot.acc»;