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.Mission
/**
* Generates code from your model files on save.
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{
- public static List<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
+ public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
LinkedList<Mission> missions = new LinkedList<Mission>();
«FOR m : list»
«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)»;
}
«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»
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»
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»;
+ «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