*/
package robots.missions.generator
+import org.eclipse.emf.common.util.EList
import org.eclipse.emf.ecore.resource.Resource
-import org.eclipse.xtext.generator.IGenerator
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.Robot
/**
* Generates code from your model files on save.
class TaskDSLGenerator implements IGenerator {
override void doGenerate(Resource resource, IFileSystemAccess fsa) {
-// fsa.generateFile('greetings.txt', 'People to greet: ' +
-// resource.allContents
-// .filter(typeof(Greeting))
-// .map[name]
-// .join(', '))
+ 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));
+ }
+ }
+
+ def CharSequence makeMissions(EList<Mission> list)'''
+package nl.ru.des;
+
+import java.util.LinkedList;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.subsumption.Behavior;
+import nl.ru.des.Behaviours;
+
+public class Missions{
+ public static LinkedList<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 »;
+ }
+ }}
+ «ENDFOR»));
+ return missions;
}
+}
+'''
+
+ def CharSequence makeBehaviours(EList<Behaviour> list)'''
+package nl.ru.des;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+
+public class Behaviours{
+ «FOR b : list»
+ public static class «b.name»Behaviour extends BasicBehaviour {
+ public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
+ EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+ super(sensors, rightMotor, leftMotor, colors);
+ }
+ «IF b.tc != null»
+ @Override public boolean takeControl(){
+ return ;
+ }
+ «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()»();
+ «ELSE»
+ time = System.currentTimeMillis();
+ while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+ Thread.yield();
+ }
+ «ENDIF»
+ «ENDFOR»
+ reset();
+ }
+ }
+ «ENDFOR»
}
+ '''
+
+
+ def CharSequence makeConstants(Robot robot)'''
+package nl.ru.des;
+
+public class Constants{
+ public final static int speed = «robot.spd»;
+ public final static int acceleration = «robot.acc»;
+}'''
+
+}
\ No newline at end of file