X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2FTaskDSL.xtext;h=641e3c31588df1391bac706c5e62489935a4f266;hb=095cdf6fc0cbad75c6057a401cbab23c18931a3d;hp=afefa5df1a8758752b7ea82ea66ba0ddd9cc9f50;hpb=3a12cfb82749c7ca2cec2d31da1b4d62ffe9e7e2;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index afefa5d..641e3c3 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -13,7 +13,7 @@ Mission:
 
 StoppingExpression:
 	'(' op=Operator s+=StoppingExpression s+=StoppingExpression+ ')' |
-	'not ' negscond=StoppingCondition |
+	'not ' negscond=StoppingExpression |
 	scond=StoppingCondition;
 
 StoppingCondition:
@@ -21,7 +21,8 @@ StoppingCondition:
 	'Touched on' touch=LeftRight |
 	'Light on' light=LeftRight |
 	'Distance dangerous at ' dist=BackFront |
-	'Color is' color=Color;
+	'Color is' color=Color |
+	{StoppingCondition} 'Never';
 
 Behaviour: 'Behaviour' name=ID 
 	'take control:' tc=StoppingExpression?
@@ -29,14 +30,19 @@ 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)? |
-	{Action} 'measure'|
+	'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
+	'measure' rl=RockLake|
 	'wait' time=Time;
+	
+Turn:
+	turnDir=LeftRight 'exactly' degrees=INT 'degrees'|
+	'randomly' start=INT 'to' end=INT 'degrees'
+;
 
 Time: time=INT 'ms' | {Time} 'forever';
  
 RockLake: d=RockLakeE;
-enum RockLakeE: ROCK='rock' | LAKE='lake';
+enum RockLakeE: ROCK='Rock' | LAKE='Lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;