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.Mission
12 import robots.missions.taskDSL.Robot
15 * Generates code from your model files on save.
17 * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
19 class TaskDSLGenerator implements IGenerator {
21 override void doGenerate(Resource resource, IFileSystemAccess fsa) {
22 var root = resource.allContents.head as Robot;
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));
30 def CharSequence makeMissions(EList<Mission> list)'''
33 import java.util.LinkedList;
35 import lejos.hardware.motor.EV3LargeRegulatedMotor;
36 import lejos.robotics.subsumption.Behavior;
37 import nl.ru.des.Behaviours;
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>();
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)
48 new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
49 @Override public boolean takeControl(){
59 def CharSequence makeBehaviours(EList<Behaviour> list)'''
62 import lejos.hardware.motor.EV3LargeRegulatedMotor;
64 public class Behaviours{
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);
72 @Override public boolean takeControl(){
77 @Override public void action(){
80 «IF a.whichMotor != null»
82 «a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
83 «a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
85 «a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
87 time = System.currentTimeMillis();
88 while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
101 def CharSequence makeConstants(Robot robot)'''
104 public class Constants{
105 public final static int speed = «robot.spd»;
106 public final static int acceleration = «robot.acc»;