X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2FTaskDSL.xtext;h=7fb398a0cee692cb23bfc72d6c9d485c0661d389;hb=8ac11d4775c780e307727b0e5dc865cf64517a59;hp=9c14fa3bcce943ceb11549c1730888890918103e;hpb=d26ca60c0346639b0d93d671906eaf8a4763c10c;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 9c14fa3..7fb398a 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -3,46 +3,59 @@ 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+ ')' |
-	scond=StoppingCondition
-;
+	'not ' negscond=StoppingExpression |
+	scond=StoppingCondition;
 
 StoppingCondition:
-	'Collected at least' colors+=Color+ |
+	'flag set' varName=ID |
 	'Touched on' touch=LeftRight |
-	'Distance' op=Comparison dist=INT 'cm' |
-	'Color is' color=Color;
+	'Light on' light=LeftRight |
+	'Distance dangerous at ' dist=BackFront |
+	'Color is' color=Color |
+	{StoppingCondition} 'Never';
 
-Behaviour: 'Behaviour' name=ID 
+Behaviour: 'Behaviour' name=ID
 	'take control:' tc=StoppingExpression?
-	'action:' actions+=Action+;
+	'action:' actions+=Action+
+	;
 
 Action:
-	whichMotor=LeftRight 'motor' dir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
-	'wait' time=Time;
+	whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+	'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
+	'measure' rl=RockLake|
+	'wait' time=Time |
+	'set flag' varName=ID;
+	
+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';
 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;
 enum ColorE:
-	BLACK='Black' | BLUE='Blue' | BROWN='Brown' | CYAN='Cyan' |
-	DARKGRAY='DarkGray' | GRAY='Gray' | GREEN='Green' | 
-	LIGHTGRAY='LightGray' | MAGENTA='Magenta' | ORANGE='Orange' | PINK='Pink' |
-	RED='Red' | WHITE='White' | YELLOW='Yellow';
\ No newline at end of file
+	RED='Red' | GREEN='Green' | BLUE='Blue' | YELLOW='Yellow' | 
+	MAGENTA='Magenta'| ORANGE='Orange'|	WHITE='White' | BLACK='Black' | 
+	PINK='Pink' | GRAY='Gray' | LIGHTGRAY='LightGray' |
+	DARKGRAY='DarkGray' | CYAN='Cyan' | BROWN='Brown';
\ No newline at end of file