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.Robot
  13
  14 /**
  15  * Generates code from your model files on save.
  16  *
  17  * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
  18  */
  19 class TaskDSLGenerator implements IGenerator {
  20
  21         override void doGenerate(Resource resource, IFileSystemAccess fsa) {
  22                 var root = resource.allContents.head as Robot;
  23                 if(root != null){
  24                         fsa.generateFile("nl/ru/des/Constants.java", makeConstants(root));
  25                         //fsa.generateFile("nl/ru/des/Behaviours.java", makeBehaviours(root.behaviour));
  26                         //fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
  27                 }
  28         }
  29
  30         def CharSequence makeMissions(EList<Mission> list)'''
  31 package nl.ru.des;
  32
  33 import java.util.LinkedList;
  34
  35 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  36 import lejos.robotics.subsumption.Behavior;
  37 import nl.ru.des.Behaviours;
  38
  39 public class Missions{
  40         public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
  41                         EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
  42                 LinkedList<Mission> missions = new LinkedList<Mission>();
  43                 «FOR m : list»
  44                 missions.add(new Mission("«m.name»", new Behavior[]{
  45                         «FOR b : m.behaviours SEPARATOR ","»
  46                         new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
  47                         «ENDFOR»,
  48                         new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
  49                                 @Override public boolean takeControl(){
  50                                         return »;
  51                                 }
  52                         }}
  53                 «ENDFOR»));
  54                 return missions;
  55         }
  56 }
  57 '''
  58
  59         def CharSequence makeBehaviours(EList<Behaviour> list)'''
  60 package nl.ru.des;
  61
  62 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  63
  64 public class Behaviours{
  65         «FOR b : list»
  66         public static class «b.name»Behaviour extends BasicBehaviour {
  67                 public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
  68                                 EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
  69                         super(sensors, rightMotor, leftMotor, colors);
  70                 }
  71                 «IF b.tc != null»
  72                 @Override public boolean takeControl(){
  73                         return ;
  74                 }
  75                 «ENDIF»
  76
  77                 @Override public void action(){
  78                         super.action();
  79                         «FOR a : b.actions»
  80                                 «IF a.whichMotor != null»
  81                                         «IF a.acc > 0»
  82                                         «a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
  83                                         «a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
  84                                         «ENDIF»
  85                                         «a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
  86                                 «ELSE»
  87                                 time = System.currentTimeMillis();
  88                                 while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
  89                                         Thread.yield();
  90                                 }
  91                                 «ENDIF»
  92                         «ENDFOR»
  93                         reset();
  94                 }
  95         }
  96         «ENDFOR»
  97 }
  98         '''
  99
 100
 101         def CharSequence makeConstants(Robot robot)'''
 102 package nl.ru.des;
 103
 104 public class Constants{
 105         public final static int speed = «robot.spd»;
 106         public final static int acceleration = «robot.acc»;
 107 }'''
 108
 109 }