X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=5af781fe826671e80efcd4716afe74398734559b;hb=ac44621696b120a5aec35edff6b7181a4aafa383;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..5af781f 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.StoppingExpression
+import robots.missions.taskDSL.Robot
 
 /**
  * Generates code from your model files on save.
@@ -15,10 +21,132 @@ 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));
+			for(Behaviour b : root.behaviour){
+				fsa.generateFile("nl/ru/des/" + b.name + "Behaviour.java", makeBehaviour(b));
+			}
+			fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
+		}
+	}
+	
+	def CharSequence makeMissions(EList<Mission> mission)'''
+package nl.ru.des;
+
+import java.util.LinkedList;
+
+import lejos.robotics.subsumption.Behavior;
+import lejos.robotics.RegulatedMotor;
+
+import nl.ru.des.sensors.SensorCollector;
+
+public class Missions{
+	public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
+			RegulatedMotor leftMotor, RegulatedMotor measMotor){
+		LinkedList<Mission> missions = new LinkedList<Mission>();
+		«FOR m : mission SEPARATOR "));" AFTER "));"»
+		missions.add(new Mission("«m.name»", new Behavior[]{
+			«FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
+			«ENDFOR»
+			new ShutdownBehaviour(){
+				@Override public boolean takeControl(){
+					return «printExpression(m.se)»;
+				}
+			}}
+		«ENDFOR»
+		return missions;
+	}
+}	
+'''
+	
+	def CharSequence makeBehaviour(Behaviour b)'''
+package nl.ru.des;
+
+import lejos.robotics.RegulatedMotor;
+import nl.ru.des.sensors.SensorCollector;
+
+public class «b.name»Behaviour extends BasicBehaviour {
+	public «b.name»Behaviour(SensorCollector sensors, RegulatedMotor rightMotor,
+			RegulatedMotor leftMotor,  RegulatedMotor measMotor){
+		super(sensors, rightMotor, leftMotor, measMotor);
+	}
+	«IF b.tc != null»
+	@Override public boolean takeControl(){
+		return «printExpression(b.tc)»;
+	}
+	«ENDIF»
+	
+	@Override public void action(){
+		LCDPrinter.print("Start: «b.name»");
+		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.moveDir.d.toString()»();
+			«ELSEIF a.time != null»
+			time = System.currentTimeMillis();
+			while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time<«a.time.time»«ENDIF»){
+				Thread.yield();	
+			}
+			«ELSEIF a.turnType != null»
+				«IF a.acc > 0»
+					leftMotor.setAcceleration(«a.acc»);
+					leftMotor.setSpeed(«a.spd»);
+					rightMotor.setAcceleration(«a.acc»);
+					rightMotor.setSpeed(«a.spd»);
+				«ENDIF»
+				«IF a.turnType.turnDir != null»
+					«a.turnType.turnDir.d.toString()»Turn(«a.turnType.degrees»);
+				«ELSE»
+					turnRandom(«a.turnType.start», «a.turnType.end»);
+				«ENDIF»
+			«ELSEIF a.rl != null»
+			measure«a.rl.d.toString()»();
+			«ELSE»
+			if(!suppressed){
+				sensors.saveVar("«a.varName.toString()»");
+			}
+			«ENDIF»
+		«ENDFOR»
+		LCDPrinter.print("Stop: «b.name»");
 	}
 }
+	'''
+	
+	def CharSequence makeConstants(Robot robot)'''
+package nl.ru.des;
+
+public class Constants{
+	public final static int speed = «robot.spd»;
+	public final static int acceleration = «robot.acc»;
+}'''
+	
+	def CharSequence printExpression(StoppingExpression e)'''
+	«IF e.scond != null»
+		«IF e.scond.varName != null»
+		sensors.collected("«e.scond.varName.toString()»")
+		«ELSEIF e.scond.touch != null»
+		sensors.«e.scond.touch.d.toString()»Touch()
+		«ELSEIF e.scond.light != null»
+		sensors.«e.scond.light.d.toString()»Light()
+		«ELSEIF e.scond.dist != null»
+		sensors.«e.scond.dist.d.toString()»Distance()
+		«ELSEIF e.scond.color != null»
+		sensors.color() == «e.scond.color.d.ordinal»
+		«ELSE»
+		false
+		«ENDIF»
+	«ELSEIF e.negscond != null»
+		!(«printExpression(e.negscond)»)
+	«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»'''
+}
\ No newline at end of file