dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend

   1 /*
   2  * generated by Xtext
   3  */
   4 package robots.missions.generator
   5
   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
  15
  16 /**
  17  * Generates code from your model files on save.
  18  *
  19  * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
  20  */
  21 class TaskDSLGenerator implements IGenerator {
  22
  23         override void doGenerate(Resource resource, IFileSystemAccess fsa) {
  24                 var root = resource.allContents.head as Robot;
  25                 if(root != null){
  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));
  29                 }
  30         }
  31
  32         def CharSequence makeMissions(EList<Mission> list)'''
  33 package nl.ru.des;
  34
  35 import java.util.LinkedList;
  36 import java.util.List;
  37
  38 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  39 import lejos.robotics.subsumption.Behavior;
  40 import nl.ru.des.Behaviours;
  41
  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>();
  46                 «FOR m : list»
  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)
  50                         «ENDFOR»,
  51                         new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
  52                                 @Override public boolean takeControl(){
  53                                         return «printExpression(m.se)»;
  54                                 }
  55                         }}
  56                 «ENDFOR»));
  57                 return missions;
  58         }
  59 }
  60 '''
  61
  62         def CharSequence makeBehaviours(EList<Behaviour> list)'''
  63 package nl.ru.des;
  64
  65 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  66
  67 public class Behaviours{
  68         «FOR b : list»
  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);
  73                 }
  74                 «IF b.tc != null»
  75                 @Override public boolean takeControl(){
  76                         return «printExpression(b.tc)»;
  77                 }
  78                 «ENDIF»
  79
  80                 @Override public void action(){
  81                         super.action();
  82                         «FOR a : b.actions»
  83                                 «IF a.whichMotor != null»
  84                                         «IF a.acc > 0»
  85                                         «a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
  86                                         «a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
  87                                         «ENDIF»
  88                                         «a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
  89                                 «ELSE»
  90                                 time = System.currentTimeMillis();
  91                                 while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
  92                                         Thread.yield();
  93                                 }
  94                                 «ENDIF»
  95                         «ENDFOR»
  96                         reset();
  97                 }
  98         }
  99         «ENDFOR»
 100 }
 101         '''
 102
 103         def CharSequence printExpression(StoppingExpression e)'''
 104         «IF e.scond != null»
 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»
 113                 «ENDIF»
 114         «ELSE»
 115                 «IF e.op.d.equals(OperatorE.AND)»
 116                         «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
 117                 «ELSE»
 118                         «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
 119                 «ENDIF»
 120         «ENDIF»
 121         '''
 122
 123         def CharSequence makeConstants(Robot robot)'''
 124 package nl.ru.des;
 125
 126 public class Constants{
 127         public final static int speed = «robot.spd»;
 128         public final static int acceleration = «robot.acc»;
 129 }'''
 130
 131 }