X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;fp=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=58e115f97cdc590d945d091d35c1c61947a56d0e;hb=d9e24efc7491c75496d20fbfd1e48954605ea301;hp=9aecf7efc308c944cc6974061746a712340bb046;hpb=d26ca60c0346639b0d93d671906eaf8a4763c10c;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 9aecf7e..58e115f 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -8,10 +8,10 @@ import org.eclipse.emf.ecore.resource.Resource
 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.
@@ -33,14 +33,13 @@ class TaskDSLGenerator implements IGenerator {
 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»
@@ -48,7 +47,7 @@ public class Missions{
 			«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)»;
 				}
@@ -89,6 +88,12 @@ public class Behaviours{
 				«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»
@@ -103,7 +108,7 @@ public class Behaviours{
 	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»
@@ -123,9 +128,17 @@ public class Behaviours{
 	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