X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=b4c56aea131ca10046cce54c8a932344d4c8eb70;hb=16aef029cf49685c60c422d36b54d459355e832c;hp=d7ee2ed973351be8dac401cb1912fb981b91d371;hpb=55df69a5d4941d45bd3d860e6cea9b1357e09f98;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index d7ee2ed..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.
@@ -24,30 +24,32 @@ class TaskDSLGenerator implements IGenerator {
 		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));
+			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> 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 «printExpression(m.se)»;
 				}
@@ -58,55 +60,72 @@ public class Missions{
 }	
 '''
 	
-	def CharSequence makeBehaviours(EList<Behaviour> list)'''
+	def CharSequence makeBehaviour(Behaviour b)'''
 package nl.ru.des;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.RegulatedMotor;
+import nl.ru.des.sensors.SensorCollector;
 
-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»){
-					Thread.yield();	
-				}
+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 suppressed == 1 || «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»
-			«ENDFOR»
-			reset();
-		}
+				«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 != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+				Thread.yield();	
+			}
+			«ENDIF»
+		«ENDFOR»
+		reset();
 	}
-	«ENDFOR»
 }
 	'''
 	
+	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.colors.nullOrEmpty»
 		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»
-		sensors.distance() «e.scond.op.d.toString()» «e.scond.dist»
+		«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»
 		«ENDIF»
@@ -114,17 +133,7 @@ public class Behaviours{
 		«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»
-	'''
-	
-	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»;
-}'''
-	
+	«ENDIF»'''
 }
\ No newline at end of file