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update language'
author
Mart Lubbers
<mart@martlubbers.net>
Mon, 7 Dec 2015 11:19:07 +0000
(12:19 +0100)
committer
Mart Lubbers
<mart@martlubbers.net>
Mon, 7 Dec 2015 11:19:07 +0000
(12:19 +0100)
dsl/runtime/specs/spec1.tdsl
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|
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dsl/runtime/src/nl/ru/des/BasicBehaviour.java
patch
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dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
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diff --git
a/dsl/runtime/specs/spec1.tdsl
b/dsl/runtime/specs/spec1.tdsl
index
57bd7ba
..
bfa224f
100644
(file)
--- a/
dsl/runtime/specs/spec1.tdsl
+++ b/
dsl/runtime/specs/spec1.tdsl
@@
-6,6
+6,8
@@
Behaviour Wander
left motor forward
right motor forward
wait forever
left motor forward
right motor forward
wait forever
+ measure lake
+ measure rock
Behaviour AvoidLowLeftObjects
take control: Touched on left
action:
Behaviour AvoidLowLeftObjects
take control: Touched on left
action:
diff --git
a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index
5095222
..
c91e613
100644
(file)
--- a/
dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/
dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@
-6,14
+6,15
@@
import nl.ru.des.sensors.SensorCollector;
public abstract class BasicBehaviour implements Behavior{
protected boolean suppressed;
public abstract class BasicBehaviour implements Behavior{
protected boolean suppressed;
- protected EV3LargeRegulatedMotor leftMotor, rightMotor;
+ protected EV3LargeRegulatedMotor leftMotor, rightMotor
, measMotor
;
protected SensorCollector sensors;
protected long time;
public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
protected SensorCollector sensors;
protected long time;
public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
- EV3LargeRegulatedMotor rightMotor){
+ EV3LargeRegulatedMotor rightMotor
, EV3LargeRegulatedMotor measMotor
){
this.leftMotor = leftMotor;
this.rightMotor = rightMotor;
this.leftMotor = leftMotor;
this.rightMotor = rightMotor;
+ this.measMotor = measMotor;
this.sensors = sensors;
}
this.sensors = sensors;
}
@@
-25,6
+26,14
@@
public abstract class BasicBehaviour implements Behavior{
rightMotor.stop(true);
leftMotor.stop(true);
}
rightMotor.stop(true);
leftMotor.stop(true);
}
+
+ protected void rockMeasure(){
+
+ }
+
+ protected void lakeMeasure(){
+
+ }
@Override
public void action() {
@Override
public void action() {
diff --git
a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index
d4f6915
..
06f9654
100644
(file)
--- a/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/
dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@
-22,7
+22,7
@@
class TaskDSLGenerator implements IGenerator {
var root = resource.allContents.head as Robot;
if(root != null){
fsa.generateFile("nl/ru/des/Constants.java", makeConstants(root));
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/Behaviours.java", makeBehaviours(root.behaviour));
//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
}
}
//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
}
}
@@
-60,13
+60,14
@@
public class Missions{
package nl.ru.des;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
package nl.ru.des;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
+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,
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
);
+ EV3LargeRegulatedMotor leftMotor,
EV3LargeRegulatedMotor measMotor
){
+ super(sensors, rightMotor, leftMotor,
measMotor
);
}
«IF b.tc != null»
@Override public boolean takeControl(){
}
«IF b.tc != null»
@Override public boolean takeControl(){
@@
-83,6
+84,8
@@
public class Behaviours{
«a.whichMotor.d.toString()»Motor.setSpeed(«a.spd»);
«ENDIF»
«a.whichMotor.d.toString()»Motor.«a.dir.d.toString()»();
«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»){
«ELSE»
time = System.currentTimeMillis();
while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){