+ 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, "«m.name»"){
+ @Override public boolean takeControl(){
+ return «printExpression(m.se)»;
+ }
+ }}
+ «ENDFOR»));
+ return missions;
+ }
+}
+'''
+
+ def CharSequence makeBehaviours(EList<Behaviour> list)'''
+package nl.ru.des;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+
+public class Behaviours{
+ «FOR b : list»
+ public static class «b.name»Behaviour extends BasicBehaviour {
+ public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
+ EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+ super(sensors, rightMotor, leftMotor, colors);
+ }
+ «IF b.tc != null»
+ @Override public boolean takeControl(){
+ return «printExpression(b.tc)»;
+ }
+ «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()»();
+ «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»
+ «ENDFOR»
+ reset();
+ }