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=d7ee2ed973351be8dac401cb1912fb981b91d371;hb=55df69a5d4941d45bd3d860e6cea9b1357e09f98;hp=58e115f97cdc590d945d091d35c1c61947a56d0e;hpb=d9e24efc7491c75496d20fbfd1e48954605ea301;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 58e115f..d7ee2ed 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -47,7 +47,7 @@ public class Missions{
 			«FOR b : m.behaviours SEPARATOR ","»
 			new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
 			«ENDFOR»,
-			new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors, "«m.name»"){
+			new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
 				@Override public boolean takeControl(){
 					return «printExpression(m.se)»;
 				}
@@ -88,12 +88,6 @@ public class Behaviours{
 				«ELSE»
 				time = System.currentTimeMillis();
 				while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
-					«IF !b.clcColor.nullOrEmpty»
-					int currentColor = sensors.color();
-					if (Constants.colorsToFind.contains(currentColor)) {
-						colors.addColor(currentColor);
-					}
-					«ENDIF»
 					Thread.yield();	
 				}
 				«ENDIF»
@@ -108,7 +102,7 @@ public class Behaviours{
 	def CharSequence printExpression(StoppingExpression e)'''
 	«IF e.scond != null»
 		«IF !e.scond.colors.nullOrEmpty»
-		colors.containsAll(Constants.colorsToFind)
+		sensors.collected(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
 		«ELSEIF e.scond.touch != null»
 		sensors.«e.scond.touch.d.toString()»Touch()
 		«ELSEIF e.scond.op != null»
@@ -128,17 +122,9 @@ public class Behaviours{
 	def CharSequence makeConstants(Robot robot)'''
 package nl.ru.des;
 
-import java.util.Arrays;
-import java.util.List;
-
 public class Constants{
 	public final static int speed = «robot.spd»;
 	public final static int acceleration = «robot.acc»;
-	«FOR m : robot.mission»
-		«IF !m.se.scond.colors.nullOrEmpty»
-			public final static List<Integer> colorsToFind = Arrays.asList(new Integer[] {«FOR c : m.se.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»});
-		«ENDIF»
-	«ENDFOR»
 }'''
 	
 }
\ No newline at end of file