added gracefull shutdown

[des2015.git] / dsl / runtime / specs / wander.tdsl

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 0f764d3..30081c8 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -7,6 +7,7 @@ Behaviour Drive
                left motor forward
                right motor forward
                wait forever
+               
 Behaviour Wander
        take control:
        action:
@@ -37,106 +38,70 @@ Behaviour StayInFieldB
                right motor forward
                wait 1000 ms
                
-Behaviour MeasureGreenLake
+Behaviour GreenLake
        take control: (&& Color is Green not flag set GreenMeasured)
        action:
                measure Lake
-               set flag GreenMeasured
-Behaviour MeasureBlueLake
+               set flag GreenLake
+               
+Behaviour BlueLake
        take control: (&& Color is Blue not flag set BlueMeasured)
        action:
                measure Lake
-               set flag BlueMeasured
-Behaviour MeasureRedLake
+               set flag BlueLake
+               
+Behaviour RedLake
        take control: (&& Color is Red not flag set RedMeasured)
        action:
                measure Lake
-               set flag RedMeasured
+               set flag RedLake
                
-Behaviour LocateL
+Behaviour MeasureRock
+       take control: (&& Distance dangerous at front not flag set Measured)
+       action:
+               measure Rock
+               set flag Measured
+                               
+Behaviour PushL
        take control: Touched on left
        action:
                right motor forward
                left motor backward
-               wait 500 ms
+               /*wait 500 ms
                right motor forward
                left motor forward
-               wait 1000 ms
+               wait 500ms*/
                
-Behaviour LocateR
+Behaviour PushR
        take control: Touched on right
        action:
                left motor forward
                right motor backward
-               wait 500 ms
+               /*wait 500 ms
                right motor forward
                left motor forward
-               wait 1000 ms
+               wait 1000 ms*/
 
-Behaviour Push
+Behaviour PushB
        take control: (&& Touched on left Touched on right)
        action:
+               set flag Pushing
                left motor forward
                right motor forward
-               wait 1000 ms
-               
-Behaviour BumpL
-       take control: Touched on left
-       action:
-               left motor backward with speed 50 acceleration 1000
-               right motor backward
-               wait 2000 ms
-               
-Behaviour BumpR
-       take control: Touched on right
-       action:
-               right motor backward with speed 50 acceleration 1000
-               left motor backward
-               wait 2000 ms
-
-Behaviour AvoidHigh
-       take control: Distance dangerous at front
-       action: 
-               turn randomly 10 to 11 degrees
+               wait 10000 ms
 
-Behaviour MeasureRock
-       take control: (&& Distance dangerous at front not flag set RockMeasured)
+Behaviour StopPushing
+       take control: (&& not Touched on left not Touched on right flag set Pushing)
        action:
-               measure Rock
-               set flag RockMeasured
-
-Behaviour FindParkingL
-       take control: Light on left
-       action:
-               turn left exactly 10 degrees with speed 20 acceleration 1000
-
-Behaviour FindParkingR
-       take control: Light on right
-       action:
-               turn right exactly 10 degrees with speed 20 acceleration 1000
-
-Behaviour FindParkingSpace
-       take control: (&& Light on right Light on left)
-       action:
-               right motor backward with speed 80 acceleration 1000
-               left motor backward with speed 80 acceleration 1000
-               wait 1000 ms
-               turn right exactly 180 degrees
-               set flag Parked
+               set flag Pushed
+               
+/*Mission FindAndMeasureLakes
+       using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
+       and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 
-//Mission pushRock
-//     using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
-//Mission avoidHighRocks
-//     using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
-Mission MeasureRocks
-       using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
-Mission FindParkingSpaceInTheCorner
-       using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
-//Mission measureLakes
-//     using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
-//Mission findBlueLakeWhileAvoidingRocks
-//     using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
-//Mission findAllLakesAndMeasureThem
-//     using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
-//Mission justWander 
-//     using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file
+Mission FindAndMeasureRocks
+       using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
+       and stops when flag set Measured */
+Mission PushRocks
+       using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
+       and stops when flag set Pushed
\ No newline at end of file