X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=58e115f97cdc590d945d091d35c1c61947a56d0e;hb=d9e24efc7491c75496d20fbfd1e48954605ea301;hp=ec286e9a6bfd0abbf8adeb1a0ba2313b2daac0b5;hpb=82d6b6dc9f3f9dbcaa9f8320649df29359c83279;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index ec286e9..58e115f 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -8,6 +8,7 @@ import org.eclipse.emf.ecore.resource.Resource
 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
@@ -22,12 +23,42 @@ class TaskDSLGenerator implements IGenerator {
 	override void doGenerate(Resource resource, IFileSystemAccess fsa) {
 		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/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 makeBehaviours(EList<Behaviour> list)'''
+	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;
@@ -57,6 +88,12 @@ 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»
@@ -71,7 +108,7 @@ public class Behaviours{
 	def CharSequence printExpression(StoppingExpression e)'''
 	«IF e.scond != null»
 		«IF !e.scond.colors.nullOrEmpty»
-		colors.containsAll(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
+		colors.containsAll(Constants.colorsToFind)
 		«ELSEIF e.scond.touch != null»
 		sensors.«e.scond.touch.d.toString()»Touch()
 		«ELSEIF e.scond.op != null»
@@ -91,9 +128,17 @@ 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