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[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 0e85304..b4c56ae 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -10,8 +10,8 @@ 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.Robot
 
 /**
  * Generates code from your model files on save.
@@ -24,32 +24,34 @@ class TaskDSLGenerator implements IGenerator {
                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));
+                       for(Behaviour b : root.behaviour){
+                               fsa.generateFile("nl/ru/des/" + b.name + "Behaviour.java", makeBehaviour(b));
+                       }
+                       fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
                }
        }
        
-       def CharSequence makeMissions(EList<Mission> list)'''
+       def CharSequence makeMissions(EList<Mission> mission)'''
 package nl.ru.des;
 
 import java.util.LinkedList;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.robotics.subsumption.Behavior;
-import nl.ru.des.Behaviours;
+import lejos.robotics.RegulatedMotor;
+
+import nl.ru.des.sensors.SensorCollector;
 
 public class Missions{
-       public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
-                       EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+       public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
+                       RegulatedMotor leftMotor, RegulatedMotor measMotor){
                LinkedList<Mission> missions = new LinkedList<Mission>();
-               «FOR m : list»
+               «FOR m : mission»
                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){
+                       «FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
+                       «ENDFOR»
+                       new ShutdownBehaviour(){
                                @Override public boolean takeControl(){
-                                       return »;
+                                       return «printExpression(m.se)»;
                                }
                        }}
                «ENDFOR»));
@@ -58,47 +60,51 @@ public class Missions{
 }      
 '''
        
-       def CharSequence makeBehaviours(EList<Behaviour> list)'''
+       def CharSequence makeBehaviour(Behaviour b)'''
 package nl.ru.des;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.RegulatedMotor;
 import nl.ru.des.sensors.SensorCollector;
 
-public class Behaviours{
-       «FOR b : list»
-       public static class «b.name»Behaviour extends BasicBehaviour {
-               public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
-                               EV3LargeRegulatedMotor leftMotor,  EV3LargeRegulatedMotor measMotor){
-                       super(sensors, rightMotor, leftMotor, measMotor);
-               }
-               «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()»();
-                               «ELSEIF a.measureWhat != null»
-                               «a.measureWhat.d.toString()»Measure();
-                               «ELSE»
-                               time = System.currentTimeMillis();
-                               while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
-                                       Thread.yield(); 
-                               }
+public class «b.name»Behaviour extends BasicBehaviour {
+       public «b.name»Behaviour(SensorCollector sensors, RegulatedMotor rightMotor,
+                       RegulatedMotor leftMotor,  RegulatedMotor measMotor){
+               super(sensors, rightMotor, leftMotor, measMotor);
+       }
+       «IF b.tc != null»
+       @Override public boolean takeControl(){
+               return suppressed == 1 || «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»
-                       «ENDFOR»
-                       reset();
-               }
+                               «a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
+                       «ELSEIF a.measureWhat != null»
+                       «a.measureWhat.d.toString()»Measure();
+                       «ELSEIF a.turnDir != null»
+                               «IF a.acc > 0»
+                                       leftMotor.setAcceleration(«a.acc»);
+                                       leftMotor.setSpeed(«a.spd»);
+                                       rightMotor.setAcceleration(«a.acc»);
+                                       rightMotor.setSpeed(«a.spd»);
+                               «ENDIF»
+                       «a.turnDir.d.toString()»Turn(«a.degrees»);
+                       «ELSE»
+                       time = System.currentTimeMillis();
+                       while(suppressed != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+                               Thread.yield(); 
+                       }
+                       «ENDIF»
+               «ENDFOR»
+               reset();
        }
-       «ENDFOR»
 }
        '''
        
@@ -116,8 +122,10 @@ public class Constants{
                sensors.collected(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
                «ELSEIF e.scond.touch != null»
                sensors.«e.scond.touch.d.toString()»Touch()
+               «ELSEIF e.scond.light != null»
+               sensors.«e.scond.light.d.toString()»Light()
                «ELSEIF e.scond.dist != null»
-               sensors.distance() «e.scond.dist.d.toString()» «e.scond.dist»
+               sensors.«e.scond.dist.d.toString()»Distance()
                «ELSEIF e.scond.color != null»
                sensors.color() == «e.scond.color.d.ordinal»
                «ENDIF»
@@ -125,8 +133,7 @@ public class Constants{
                «IF e.op.d.equals(OperatorE.AND)»
                        «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
                «ELSE»
-                       «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
+                       «FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
                «ENDIF»       
-       «ENDIF»
-       '''
+       «ENDIF»'''
 }
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