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Implementing colors collection and mission exit
[des2015.git]
/
dsl
/
xtend
/
src
/
robots
/
missions
/
generator
/
TaskDSLGenerator.xtend
diff --git
a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index
9aecf7e
..
58e115f
100644
(file)
--- a/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@
-8,10
+8,10
@@
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 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.OperatorE
import robots.missions.taskDSL.Robot
import robots.missions.taskDSL.StoppingExpression
import robots.missions.taskDSL.OperatorE
import robots.missions.taskDSL.Robot
import robots.missions.taskDSL.StoppingExpression
-import robots.missions.taskDSL.Mission
/**
* Generates code from your model files on save.
/**
* Generates code from your model files on save.
@@
-33,14
+33,13
@@
class TaskDSLGenerator implements IGenerator {
package nl.ru.des;
import java.util.LinkedList;
package nl.ru.des;
import java.util.LinkedList;
-import java.util.List;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.robotics.subsumption.Behavior;
import nl.ru.des.Behaviours;
public class Missions{
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.robotics.subsumption.Behavior;
import nl.ru.des.Behaviours;
public class Missions{
- public static List<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
+ public static Li
nkedLi
st<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
LinkedList<Mission> missions = new LinkedList<Mission>();
«FOR m : list»
EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
LinkedList<Mission> missions = new LinkedList<Mission>();
«FOR m : list»
@@
-48,7
+47,7
@@
public class Missions{
«FOR b : m.behaviours SEPARATOR ","»
new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
«ENDFOR»,
«FOR b : m.behaviours SEPARATOR ","»
new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
«ENDFOR»,
- new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
+ new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors
, "«m.name»"
){
@Override public boolean takeControl(){
return «printExpression(m.se)»;
}
@Override public boolean takeControl(){
return «printExpression(m.se)»;
}
@@
-89,6
+88,12
@@
public class Behaviours{
«ELSE»
time = System.currentTimeMillis();
while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
«ELSE»
time = System.currentTimeMillis();
while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+ «IF !b.clcColor.nullOrEmpty»
+ int currentColor = sensors.color();
+ if (Constants.colorsToFind.contains(currentColor)) {
+ colors.addColor(currentColor);
+ }
+ «ENDIF»
Thread.yield();
}
«ENDIF»
Thread.yield();
}
«ENDIF»
@@
-103,7
+108,7
@@
public class Behaviours{
def CharSequence printExpression(StoppingExpression e)'''
«IF e.scond != null»
«IF !e.scond.colors.nullOrEmpty»
def CharSequence printExpression(StoppingExpression e)'''
«IF e.scond != null»
«IF !e.scond.colors.nullOrEmpty»
- colors.containsAll(
new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»}
)
+ colors.containsAll(
Constants.colorsToFind
)
«ELSEIF e.scond.touch != null»
sensors.«e.scond.touch.d.toString()»Touch()
«ELSEIF e.scond.op != null»
«ELSEIF e.scond.touch != null»
sensors.«e.scond.touch.d.toString()»Touch()
«ELSEIF e.scond.op != null»
@@
-123,9
+128,17
@@
public class Behaviours{
def CharSequence makeConstants(Robot robot)'''
package nl.ru.des;
def CharSequence makeConstants(Robot robot)'''
package nl.ru.des;
+import java.util.Arrays;
+import java.util.List;
+
public class Constants{
public final static int speed = «robot.spd»;
public final static int acceleration = «robot.acc»;
public class Constants{
public final static int speed = «robot.spd»;
public final static int acceleration = «robot.acc»;
+ «FOR m : robot.mission»
+ «IF !m.se.scond.colors.nullOrEmpty»
+ public final static List<Integer> colorsToFind = Arrays.asList(new Integer[] {«FOR c : m.se.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»});
+ «ENDIF»
+ «ENDFOR»
}'''
}'''
-}
+}
\ No newline at end of file