/*
 * generated by Xtext
 */
package robots.missions.generator

import org.eclipse.emf.common.util.EList
import org.eclipse.emf.ecore.resource.Resource
import org.eclipse.xtext.generator.IFileSystemAccess
import org.eclipse.xtext.generator.IGenerator
import robots.missions.taskDSL.Behaviour
import robots.missions.taskDSL.Mission
import robots.missions.taskDSL.Robot

/**
 * Generates code from your model files on save.
 * 
 * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
 */
class TaskDSLGenerator implements IGenerator {
	
	override void doGenerate(Resource resource, IFileSystemAccess fsa) {
		var root = resource.allContents.head as Robot;
		if(root != null){
			fsa.generateFile("nl/ru/des/Constants.java", makeConstants(root));
			fsa.generateFile("nl/ru/des/Behaviours.java", makeBehaviours(root.behaviour));
			//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
		}
	}
	
	def CharSequence makeMissions(EList<Mission> list)'''
package nl.ru.des;

import java.util.LinkedList;

import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.robotics.subsumption.Behavior;
import nl.ru.des.Behaviours;

public class Missions{
	public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
			EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
		LinkedList<Mission> missions = new LinkedList<Mission>();
		«FOR m : list»
		missions.add(new Mission("«m.name»", new Behavior[]{
			«FOR b : m.behaviours SEPARATOR ","»
			new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
			«ENDFOR»,
			new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
				@Override public boolean takeControl(){
					return »;
				}
			}}
		«ENDFOR»));
		return missions;
	}
}	
'''
	
	def CharSequence makeBehaviours(EList<Behaviour> list)'''
package nl.ru.des;

import lejos.hardware.motor.EV3LargeRegulatedMotor;
import nl.ru.des.sensors.SensorCollector;

public class Behaviours{
	«FOR b : list»
	public static class «b.name»Behaviour extends BasicBehaviour {
		public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
				EV3LargeRegulatedMotor leftMotor,  EV3LargeRegulatedMotor measMotor){
			super(sensors, rightMotor, leftMotor, measMotor);
		}
		«IF b.tc != null»
		@Override public boolean takeControl(){
			return ;
		}
		«ENDIF»
		
		@Override public void action(){
			super.action();
			«FOR a : b.actions»
				«IF a.whichMotor != null»
					«IF a.acc > 0»
					«a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
					«a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
					«ENDIF»
					«a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
				«ELSEIF a.measureWhat != null»
				«a.measureWhat.d.toString()»Measure();
				«ELSE»
				time = System.currentTimeMillis();
				while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
					Thread.yield();	
				}
				«ENDIF»
			«ENDFOR»
			reset();
		}
	}
	«ENDFOR»
}
	'''

	
	def CharSequence makeConstants(Robot robot)'''
package nl.ru.des;

public class Constants{
	public final static int speed = «robot.spd»;
	public final static int acceleration = «robot.acc»;
}'''
	
}