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.Mission
  12 import robots.missions.taskDSL.OperatorE
  13 import robots.missions.taskDSL.StoppingExpression
  14 import robots.missions.taskDSL.Robot
  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                         for(Behaviour b : root.behaviour){
  28                                 fsa.generateFile("nl/ru/des/" + b.name + "Behaviour.java", makeBehaviour(b));
  29                         }
  30                         fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
  31                 }
  32         }
  33
  34         def CharSequence makeMissions(EList<Mission> mission)'''
  35 package nl.ru.des;
  36
  37 import java.util.LinkedList;
  38
  39 import lejos.robotics.subsumption.Behavior;
  40 import lejos.robotics.RegulatedMotor;
  41
  42 import nl.ru.des.sensors.SensorCollector;
  43
  44 public class Missions{
  45         public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
  46                         RegulatedMotor leftMotor, RegulatedMotor measMotor){
  47                 LinkedList<Mission> missions = new LinkedList<Mission>();
  48                 «FOR m : mission»
  49                 missions.add(new Mission("«m.name»", new Behavior[]{
  50                         «FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
  51                         «ENDFOR»
  52                         new ShutdownBehaviour(){
  53                                 @Override public boolean takeControl(){
  54                                         return «printExpression(m.se)»;
  55                                 }
  56                         }}
  57                 «ENDFOR»));
  58                 return missions;
  59         }
  60 }
  61 '''
  62
  63         def CharSequence makeBehaviour(Behaviour b)'''
  64 package nl.ru.des;
  65
  66 import lejos.robotics.RegulatedMotor;
  67 import nl.ru.des.sensors.SensorCollector;
  68
  69 public class «b.name»Behaviour extends BasicBehaviour {
  70         public «b.name»Behaviour(SensorCollector sensors, RegulatedMotor rightMotor,
  71                         RegulatedMotor leftMotor,  RegulatedMotor measMotor){
  72                 super(sensors, rightMotor, leftMotor, measMotor);
  73         }
  74         «IF b.tc != null»
  75         @Override public boolean takeControl(){
  76                 return suppressed == 1 || «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.moveDir.d.toString()»();
  89                         «ELSEIF a.measureWhat != null»
  90                         «a.measureWhat.d.toString()»Measure();
  91                         «ELSEIF a.turnDir != null»
  92                                 «IF a.acc > 0»
  93                                         leftMotor.setAcceleration(«a.acc»);
  94                                         leftMotor.setSpeed(«a.spd»);
  95                                         rightMotor.setAcceleration(«a.acc»);
  96                                         rightMotor.setSpeed(«a.spd»);
  97                                 «ENDIF»
  98                         «a.turnDir.d.toString()»Turn(«a.degrees»);
  99                         «ELSE»
 100                         time = System.currentTimeMillis();
 101                         while(suppressed != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
 102                                 Thread.yield();
 103                         }
 104                         «ENDIF»
 105                 «ENDFOR»
 106                 reset();
 107         }
 108 }
 109         '''
 110
 111         def CharSequence makeConstants(Robot robot)'''
 112 package nl.ru.des;
 113
 114 public class Constants{
 115         public final static int speed = «robot.spd»;
 116         public final static int acceleration = «robot.acc»;
 117 }'''
 118
 119         def CharSequence printExpression(StoppingExpression e)'''
 120         «IF e.scond != null»
 121                 «IF !e.scond.colors.nullOrEmpty»
 122                 sensors.collected(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
 123                 «ELSEIF e.scond.touch != null»
 124                 sensors.«e.scond.touch.d.toString()»Touch()
 125                 «ELSEIF e.scond.light != null»
 126                 sensors.«e.scond.light.d.toString()»Light()
 127                 «ELSEIF e.scond.dist != null»
 128                 sensors.«e.scond.dist.d.toString()»Distance()
 129                 «ELSEIF e.scond.color != null»
 130                 sensors.color() == «e.scond.color.d.ordinal»
 131                 «ENDIF»
 132         «ELSE»
 133                 «IF e.op.d.equals(OperatorE.AND)»
 134                         «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
 135                 «ELSE»
 136                         «FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
 137                 «ENDIF»
 138         «ENDIF»'''
 139 }