X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2FTaskDSL.xtext;h=35ed5b0b6e799c111ea3853d59ce2889785c97b8;hb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;hp=456ac4c099263563a1a16188fb56500857cb04e3;hpb=d9e24efc7491c75496d20fbfd1e48954605ea301;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 456ac4c..35ed5b0 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -3,40 +3,46 @@ 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 |
+	'Distance dangerous at ' dist=BackFront |
 	'Color is' color=Color;
 
 Behaviour: 'Behaviour' name=ID 
 	'take control:' tc=StoppingExpression?
-	'action:' actions+=Action+ (clcColor='collect color')?;
+	'action:' actions+=Action+;
 
 Action:
-	whichMotor=LeftRight 'motor' dir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+	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 |
 	'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';
-Comparison: d=ComparisonE;
-enum ComparisonE: GE='>' | LE='<';
+enum OperatorE: AND = '&&' | OR = '||';
+BackFront: d=BackFrontE;
+enum BackFrontE: BACK = 'back' | FRONT = 'front';
 LeftRight: d=LeftRightE;
 enum LeftRightE: LEFT='left' | RIGHT='right';
 Color: d=ColorE;