X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2FTaskDSL.xtext;h=1dd8afd47d524508fb33666f448f5dd361180a0f;hb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;hp=7a2de03fd4b6ac55e0ee9ecd22103025ebb1cb02;hpb=55df69a5d4941d45bd3d860e6cea9b1357e09f98;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 7a2de03..1dd8afd 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -3,22 +3,24 @@ grammar robots.missions.TaskDSL with org.eclipse.xtext.common.Terminals
 generate taskDSL "http://www.missions.robots/TaskDSL"
 
 Robot:
-	'Name' name=ID
 	'Acceleration' acc=INT
 	'Speed' spd=INT
 	behaviour+=Behaviour+
 	mission+=Mission+;
 
-Mission: 'Mission' name=ID 'using' behaviours+=[Behaviour]+ 'and stops when' se=StoppingExpression;
+Mission: 
+	'Mission' name=ID 'using' behaviours+=[Behaviour]+ 'and stops when' se=StoppingExpression;
 
 StoppingExpression:
 	'(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
+	'not ' negscond=StoppingCondition |
 	scond=StoppingCondition;
 
 StoppingCondition:
 	'Collected at least' colors+=Color+ |
 	'Touched on' touch=LeftRight |
-	'Distance' op=Comparison dist=INT 'cm' |
+	'Light on' light=LeftRight |
+	'No object in sight on ' dist=BackFront |
 	'Color is' color=Color;
 
 Behaviour: 'Behaviour' name=ID 
@@ -27,14 +29,19 @@ Behaviour: 'Behaviour' name=ID
 
 Action:
 	whichMotor=LeftRight 'motor' dir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+	'measure' measureWhat=RockLake |
 	'wait' time=Time;
 
 Time: time=INT 'ms' | {Time} 'forever';
 
+RockLake: d=RockLakeE;
+enum RockLakeE: ROCK='rock' | LAKE='lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;
 enum OperatorE: AND = 'and' | OR = 'or';
+BackFront: d=BackFrontE;
+enum BackFrontE: BACK = 'back' | FRONT = 'front';
 Comparison: d=ComparisonE;
 enum ComparisonE: GE='>' | LE='<';
 LeftRight: d=LeftRightE;