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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 84a1261..e57aea6 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -27,31 +27,31 @@ class TaskDSLGenerator implements IGenerator {
                        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));
+                       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»));
@@ -73,8 +73,8 @@ public class «b.name»Behaviour extends BasicBehaviour {
        }
        «IF b.tc != null»
        @Override public boolean takeControl(){
-               return «printExpression(b.tc)»;
-               }
+               return !suppressed || «printExpression(b.tc)»;
+       }
        «ENDIF»
        
        @Override public void action(){
@@ -88,6 +88,8 @@ public class «b.name»Behaviour extends BasicBehaviour {
                                «a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
                        «ELSEIF a.measureWhat != null»
                        «a.measureWhat.d.toString()»Measure();
+                       «ELSEIF a.turnDir != null»
+                       «a.turnDir.d.toString()»Turn(«a.degrees»);
                        «ELSE»
                        time = System.currentTimeMillis();
                        while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
@@ -114,8 +116,10 @@ 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»
@@ -123,8 +127,7 @@ 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»'''
 }
\ No newline at end of file