X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2FTaskDSL.xtext;h=14a834f42bf0cb8ad6cd42115d46bbbb167634fd;hb=1b13ccb59263b66abc763fb8f298b14bdebc9582;hp=65351f933c68e1cf45a27bfe1aecbd9b7e49814f;hpb=476c651adb42cd9be8758e4f6ef2fe9ee2519fd5;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 65351f9..14a834f 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -13,14 +13,14 @@ Mission:
 
 StoppingExpression:
 	'(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
-	'not ' negscond=StoppingCondition |
+	'not ' negscond=StoppingExpression |
 	scond=StoppingCondition;
 
 StoppingCondition:
 	'Collected at least' colors+=Color+ |
 	'Touched on' touch=LeftRight |
 	'Light on' light=LeftRight |
-	'No object in sight on ' dist=BackFront |
+	'Distance dangerous at ' dist=BackFront |
 	'Color is' color=Color;
 
 Behaviour: 'Behaviour' name=ID 
@@ -29,9 +29,14 @@ Behaviour: 'Behaviour' name=ID
 
 Action:
 	whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
-	'turn' turnDir=LeftRight degrees=INT ('with speed' spd=INT 'acceleration' acc=INT)? |
-	'measure' measureWhat=RockLake |
+	'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
+	{Action} 'measure'|
 	'wait' time=Time;
+	
+Turn:
+	turnDir=LeftRight 'exactly' degrees=INT 'degrees'|
+	'randomly' start=INT 'to' end=INT 'degrees'
+;
 
 Time: time=INT 'ms' | {Time} 'forever';
  
@@ -40,11 +45,9 @@ enum RockLakeE: ROCK='rock' | LAKE='lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;
-enum OperatorE: AND = 'and' | OR = 'or';
+enum OperatorE: AND = '&&' | OR = '||';
 BackFront: d=BackFrontE;
 enum BackFrontE: BACK = 'back' | FRONT = 'front';
-Comparison: d=ComparisonE;
-enum ComparisonE: GE='>' | LE='<';
 LeftRight: d=LeftRightE;
 enum LeftRightE: LEFT='left' | RIGHT='right';
 Color: d=ColorE;