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standard missions done
[des2015.git]
/
dsl
/
xtend
/
src
/
robots
/
missions
/
TaskDSL.xtext
diff --git
a/dsl/xtend/src/robots/missions/TaskDSL.xtext
b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index
1dd8afd
..
641e3c3
100644
(file)
--- a/
dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/
dsl/xtend/src/robots/missions/TaskDSL.xtext
@@
-13,37
+13,42
@@
Mission:
StoppingExpression:
'(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
StoppingExpression:
'(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
- 'not ' negscond=Stopping
Condit
ion |
+ 'not ' negscond=Stopping
Express
ion |
scond=StoppingCondition;
StoppingCondition:
'Collected at least' colors+=Color+ |
'Touched on' touch=LeftRight |
'Light on' light=LeftRight |
scond=StoppingCondition;
StoppingCondition:
'Collected at least' colors+=Color+ |
'Touched on' touch=LeftRight |
'Light on' light=LeftRight |
- 'No object in sight on ' dist=BackFront |
- 'Color is' color=Color;
+ 'Distance dangerous at ' dist=BackFront |
+ 'Color is' color=Color |
+ {StoppingCondition} 'Never';
Behaviour: 'Behaviour' name=ID
'take control:' tc=StoppingExpression?
'action:' actions+=Action+;
Action:
Behaviour: 'Behaviour' name=ID
'take control:' tc=StoppingExpression?
'action:' actions+=Action+;
Action:
- whichMotor=LeftRight 'motor' dir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
- 'measure' measureWhat=RockLake |
+ whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+ 'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
+ 'measure' rl=RockLake|
'wait' time=Time;
'wait' time=Time;
+
+Turn:
+ turnDir=LeftRight 'exactly' degrees=INT 'degrees'|
+ 'randomly' start=INT 'to' end=INT 'degrees'
+;
Time: time=INT 'ms' | {Time} 'forever';
Time: time=INT 'ms' | {Time} 'forever';
-
+
RockLake: d=RockLakeE;
RockLake: d=RockLakeE;
-enum RockLakeE: ROCK='
rock' | LAKE='l
ake';
+enum RockLakeE: ROCK='
Rock' | LAKE='L
ake';
Direction: d=DirectionE;
enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
Operator: d=OperatorE;
Direction: d=DirectionE;
enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
Operator: d=OperatorE;
-enum OperatorE: AND = '
and' | OR = 'or
';
+enum OperatorE: AND = '
&&' | OR = '||
';
BackFront: d=BackFrontE;
enum BackFrontE: BACK = 'back' | FRONT = 'front';
BackFront: d=BackFrontE;
enum BackFrontE: BACK = 'back' | FRONT = 'front';
-Comparison: d=ComparisonE;
-enum ComparisonE: GE='>' | LE='<';
LeftRight: d=LeftRightE;
enum LeftRightE: LEFT='left' | RIGHT='right';
Color: d=ColorE;
LeftRight: d=LeftRightE;
enum LeftRightE: LEFT='left' | RIGHT='right';
Color: d=ColorE;