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[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
e57aea6
..
b4c56ae
100644
(file)
--- a/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@
-10,8
+10,8
@@
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.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.StoppingExpression
+import robots.missions.taskDSL.Robot
/**
* Generates code from your model files on save.
/**
* Generates code from your model files on save.
@@
-73,7
+73,7
@@
public class «b.name»Behaviour extends BasicBehaviour {
}
«IF b.tc != null»
@Override public boolean takeControl(){
}
«IF b.tc != null»
@Override public boolean takeControl(){
- return
!suppressed
|| «printExpression(b.tc)»;
+ return
suppressed == 1
|| «printExpression(b.tc)»;
}
«ENDIF»
}
«ENDIF»
@@
-89,10
+89,16
@@
public class «b.name»Behaviour extends BasicBehaviour {
«ELSEIF a.measureWhat != null»
«a.measureWhat.d.toString()»Measure();
«ELSEIF a.turnDir != null»
«ELSEIF a.measureWhat != null»
«a.measureWhat.d.toString()»Measure();
«ELSEIF a.turnDir != null»
+ «IF a.acc > 0»
+ leftMotor.setAcceleration(«a.acc»);
+ leftMotor.setSpeed(«a.spd»);
+ rightMotor.setAcceleration(«a.acc»);
+ rightMotor.setSpeed(«a.spd»);
+ «ENDIF»
«a.turnDir.d.toString()»Turn(«a.degrees»);
«ELSE»
time = System.currentTimeMillis();
«a.turnDir.d.toString()»Turn(«a.degrees»);
«ELSE»
time = System.currentTimeMillis();
- while(
!suppressed
«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+ while(
suppressed != 2
«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
Thread.yield();
}
«ENDIF»
Thread.yield();
}
«ENDIF»