grammar robots.missions.TaskDSL with org.eclipse.xtext.common.Terminals

generate taskDSL "http://www.missions.robots/TaskDSL"

Robot:
	'Name' name=ID
	'Acceleration' acc=INT
	'Speed' spd=INT
	'LeftMotor plugged in' leftMotorPort=MotorPort
	'RightMotor plugged in' righMotorPort=MotorPort
	('ColorSensor plugged in' colorSensorPort=SensorPort)?
	('TouchSensor plugged in' leftTouchSensorPort=SensorPort 'and' rightTouchSensorPort=SensorPort)?
	('UltrasoneSensor plugged in' ultrasoneSensorPort=SensorPort)?
	('Mission:' mission+=Mission)+;

Mission:
	behaviours+=Behaviour+ 'stops when' stoppingCondition=StoppingCondition
;

StoppingCondition:
	SensorLimitReached | CollectedColors;
	
CollectedColors:
	'Collected Colors:' colors+=ColorValue+
;

SensorLimitReached:
	TouchLimit | ColorLimit | DistanceLimit;

ColorLimit:
	'ColorLimit: ' lim=ColorValue
;

TouchLimit:
	'TouchStatus: ' lim=Touch
;

Touch:
	'Touch' | 'NoTouch'
;

DistanceLimit:
	'Distance:' dist=STRING 'meter'
;

ColorValue:
	'Black' | 'Blue' | 'Brown' | 'Cyan' | 'DarkGray' | 'Gray' | 'Green' | 'LightGray' | 'Magenta' | 'Orange' | 'Pink' | 'Red' | 'White' | 'Yellow'
;

Behaviour:
	'Behaviour'
	'Name:' name=ID
	'TakeControl:' takeControl=SensorLimitReached?
	'Action:' action=Action 
;

Action:
	'Avoid' | 'Wander' | 'Nothing'
;

SensorPort:
	'S1' | 'S2' | 'S3' | 'S4';

MotorPort:
	'A' | 'B' | 'C' | 'D';