X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=b4c56aea131ca10046cce54c8a932344d4c8eb70;hb=16aef029cf49685c60c422d36b54d459355e832c;hp=84a12611d1503bf5e1ec788274ebe5b2648d195f;hpb=476c651adb42cd9be8758e4f6ef2fe9ee2519fd5;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 84a1261..b4c56ae 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -10,8 +10,8 @@ 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
+import robots.missions.taskDSL.Robot
 
 /**
  * Generates code from your model files on save.
@@ -27,31 +27,31 @@ class TaskDSLGenerator implements IGenerator {
 			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));
+			fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
 		}
 	}
 	
-	def CharSequence makeMissions(EList<Mission> list)'''
+	def CharSequence makeMissions(EList<Mission> mission)'''
 package nl.ru.des;
 
 import java.util.LinkedList;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.robotics.subsumption.Behavior;
-import nl.ru.des.Behaviours;
+import lejos.robotics.RegulatedMotor;
+
+import nl.ru.des.sensors.SensorCollector;
 
 public class Missions{
-	public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
-			EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+	public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
+			RegulatedMotor leftMotor, RegulatedMotor measMotor){
 		LinkedList<Mission> missions = new LinkedList<Mission>();
-		«FOR m : list»
+		«FOR m : mission»
 		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){
+			«FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
+			«ENDFOR»
+			new ShutdownBehaviour(){
 				@Override public boolean takeControl(){
-					return »;
+					return «printExpression(m.se)»;
 				}
 			}}
 		«ENDFOR»));
@@ -73,8 +73,8 @@ public class «b.name»Behaviour extends BasicBehaviour {
 	}
 	«IF b.tc != null»
 	@Override public boolean takeControl(){
-		return «printExpression(b.tc)»;
-		}
+		return suppressed == 1 || «printExpression(b.tc)»;
+	}
 	«ENDIF»
 	
 	@Override public void action(){
@@ -88,9 +88,17 @@ public class «b.name»Behaviour extends BasicBehaviour {
 				«a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
 			«ELSEIF a.measureWhat != null»
 			«a.measureWhat.d.toString()»Measure();
+			«ELSEIF a.turnDir != null»
+				«IF a.acc > 0»
+					leftMotor.setAcceleration(«a.acc»);
+					leftMotor.setSpeed(«a.spd»);
+					rightMotor.setAcceleration(«a.acc»);
+					rightMotor.setSpeed(«a.spd»);
+				«ENDIF»
+			«a.turnDir.d.toString()»Turn(«a.degrees»);
 			«ELSE»
 			time = System.currentTimeMillis();
-			while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+			while(suppressed != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
 				Thread.yield();	
 			}
 			«ENDIF»
@@ -114,8 +122,10 @@ public class Constants{
 		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.light != null»
+		sensors.«e.scond.light.d.toString()»Light()
 		«ELSEIF e.scond.dist != null»
-		sensors.distance() «e.scond.dist.d.toString()» «e.scond.dist»
+		sensors.«e.scond.dist.d.toString()»Distance()
 		«ELSEIF e.scond.color != null»
 		sensors.color() == «e.scond.color.d.ordinal»
 		«ENDIF»
@@ -123,8 +133,7 @@ public class Constants{
 		«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»
+			«FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
 		«ENDIF»	
-	«ENDIF»
-	'''
+	«ENDIF»'''
 }
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