X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=58e115f97cdc590d945d091d35c1c61947a56d0e;hb=d9e24efc7491c75496d20fbfd1e48954605ea301;hp=2139ca540afbab241ad0153141138990a46c1d7e;hpb=e880e959fed2d3506a790d3b361a2ed4aa49a95f;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 2139ca5..58e115f 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -3,9 +3,15 @@
  */
 package robots.missions.generator
 
+import org.eclipse.emf.common.util.EList
 import org.eclipse.emf.ecore.resource.Resource
-import org.eclipse.xtext.generator.IGenerator
 import org.eclipse.xtext.generator.IFileSystemAccess
+import org.eclipse.xtext.generator.IGenerator
+import robots.missions.taskDSL.Behaviour
+import robots.missions.taskDSL.Mission
+import robots.missions.taskDSL.OperatorE
+import robots.missions.taskDSL.Robot
+import robots.missions.taskDSL.StoppingExpression
 
 /**
  * Generates code from your model files on save.
@@ -15,10 +21,124 @@ import org.eclipse.xtext.generator.IFileSystemAccess
 class TaskDSLGenerator implements IGenerator {
 	
 	override void doGenerate(Resource resource, IFileSystemAccess fsa) {
-//		fsa.generateFile('greetings.txt', 'People to greet: ' + 
-//			resource.allContents
-//				.filter(typeof(Greeting))
-//				.map[name]
-//				.join(', '))
+		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/Missions.java", makeMissions(root.mission));
+		}
+	}
+	
+	def CharSequence makeMissions(EList<Mission> list)'''
+package nl.ru.des;
+
+import java.util.LinkedList;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.subsumption.Behavior;
+import nl.ru.des.Behaviours;
+
+public class Missions{
+	public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
+			EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+		LinkedList<Mission> missions = new LinkedList<Mission>();
+		«FOR m : list»
+		missions.add(new Mission("«m.name»", new Behavior[]{
+			«FOR b : m.behaviours SEPARATOR ","»
+			new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
+			«ENDFOR»,
+			new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors, "«m.name»"){
+				@Override public boolean takeControl(){
+					return «printExpression(m.se)»;
+				}
+			}}
+		«ENDFOR»));
+		return missions;
+	}
+}	
+'''
+	
+	def CharSequence makeBehaviours(EList<Behaviour> list)'''
+package nl.ru.des;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+
+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);
+		}
+		«IF b.tc != null»
+		@Override public boolean takeControl(){
+			return «printExpression(b.tc)»;
+		}
+		«ENDIF»
+		
+		@Override public void action(){
+			super.action();
+			«FOR a : b.actions»
+				«IF a.whichMotor != null»
+					«IF a.acc > 0»
+					«a.whichMotor.d.toString()»Motor.setAcceleration(«a.acc»);
+					«a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
+					«ENDIF»
+					«a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
+				«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»
+			«ENDFOR»
+			reset();
+		}
 	}
+	«ENDFOR»
 }
+	'''
+	
+	def CharSequence printExpression(StoppingExpression e)'''
+	«IF e.scond != null»
+		«IF !e.scond.colors.nullOrEmpty»
+		colors.containsAll(Constants.colorsToFind)
+		«ELSEIF e.scond.touch != null»
+		sensors.«e.scond.touch.d.toString()»Touch()
+		«ELSEIF e.scond.op != null»
+		sensors.distance() «e.scond.op.d.toString()» «e.scond.dist»
+		«ELSEIF e.scond.color != null»
+		sensors.color() == «e.scond.color.d.ordinal»
+		«ENDIF»
+	«ELSE»
+		«IF e.op.d.equals(OperatorE.AND)»
+			«FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
+		«ELSE»
+			«FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
+		«ENDIF»	
+	«ENDIF»
+	'''
+	
+	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