missions started, todo: color collecting, mission switching

[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 ec286e9..9aecf7e 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -11,6 +11,7 @@ import robots.missions.taskDSL.Behaviour
 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.
@@ -22,12 +23,43 @@ class TaskDSLGenerator implements IGenerator {
        override void doGenerate(Resource resource, IFileSystemAccess fsa) {
                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/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 makeBehaviours(EList<Behaviour> list)'''
+       def CharSequence makeMissions(EList<Mission> list)'''
+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,
+                       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){
+                               @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;