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 14a834f..641e3c3 100644 (file)
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -21,7 +21,8 @@ StoppingCondition:
        'Touched on' touch=LeftRight |
        'Light on' light=LeftRight |
        'Distance dangerous at ' dist=BackFront |
-       'Color is' color=Color;
+       'Color is' color=Color |
+       {StoppingCondition} 'Never';
 
 Behaviour: 'Behaviour' name=ID 
        'take control:' tc=StoppingExpression?
@@ -30,7 +31,7 @@ Behaviour: 'Behaviour' name=ID
 Action:
        whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
        'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
-       {Action} 'measure'|
+       'measure' rl=RockLake|
        'wait' time=Time;
        
 Turn:
@@ -41,7 +42,7 @@ Turn:
 Time: time=INT 'ms' | {Time} 'forever';
  
 RockLake: d=RockLakeE;
-enum RockLakeE: ROCK='rock' | LAKE='lake';
+enum RockLakeE: ROCK='Rock' | LAKE='Lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;