X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;fp=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=06f96547b76c29495139f4e022cc39b416349072;hb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;hp=d4f6915b3b3b6d6e1bdaf43549e61ccda8ae7558;hpb=426ca40778af548128b5d5f37705fffcf1cc9c7b;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index d4f6915..06f9654 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -22,7 +22,7 @@ class TaskDSLGenerator implements IGenerator {
 		var root = resource.allContents.head as Robot;
 		if(root != null){
 			fsa.generateFile("nl/ru/des/Constants.java", makeConstants(root));
-			//fsa.generateFile("nl/ru/des/Behaviours.java", makeBehaviours(root.behaviour));
+			fsa.generateFile("nl/ru/des/Behaviours.java", makeBehaviours(root.behaviour));
 			//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
 		}
 	}
@@ -60,13 +60,14 @@ public class Missions{
 package nl.ru.des;
 
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import nl.ru.des.sensors.SensorCollector;
 
 public class Behaviours{
 	«FOR b : list»
 	public static class «b.name»Behaviour extends BasicBehaviour {
 		public «b.name»Behaviour(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
-				EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
-			super(sensors, rightMotor, leftMotor, colors);
+				EV3LargeRegulatedMotor leftMotor,  EV3LargeRegulatedMotor measMotor){
+			super(sensors, rightMotor, leftMotor, measMotor);
 		}
 		«IF b.tc != null»
 		@Override public boolean takeControl(){
@@ -83,6 +84,8 @@ public class Behaviours{
 					«a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
 					«ENDIF»
 					«a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
+				«ELSEIF a.measureWhat != null»
+				«a.measureWhat.d.toString()»Measure();
 				«ELSE»
 				time = System.currentTimeMillis();
 				while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){