X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=ff72ba425344267d4a4702f13c870df0e4f1f83a;hb=7d9c29a46bae0afbc961e57f3013190b31ae5234;hp=06f96547b76c29495139f4e022cc39b416349072;hpb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 06f9654..ff72ba4 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -9,6 +9,8 @@ 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
 
 /**
@@ -22,32 +24,34 @@ 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));
-			//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
+			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 »;
+					return «printExpression(m.se)»;
 				}
 			}}
 		«ENDFOR»));
@@ -56,50 +60,55 @@ 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,  EV3LargeRegulatedMotor measMotor){
-			super(sensors, rightMotor, leftMotor, measMotor);
-		}
-		«IF b.tc != null»
-		@Override public boolean takeControl(){
-			return ;
-		}
-		«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()»();
-				«ELSEIF a.measureWhat != null»
-				«a.measureWhat.d.toString()»Measure();
-				«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 getSuppressed() == SuppressedState.IN_ACTION || «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»
-			«ENDFOR»
-			reset();
-		}
+				«a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
+			«ELSEIF a.time != null»
+			time = System.currentTimeMillis();
+			while(getSuppressed() != SuppressedState.SUPPRESSED«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+				Thread.yield();	
+			}
+			«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»
+			measure();
+			«ENDIF»
+		«ENDFOR»
+		LCDPrinter.print("Stop: «b.name»");
+		reset();
 	}
-	«ENDFOR»
 }
 	'''
-
 	
 	def CharSequence makeConstants(Robot robot)'''
 package nl.ru.des;
@@ -109,4 +118,24 @@ public class Constants{
 	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.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»
+	«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»'''
 }
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