standard missions done

diff --git a/dsl/runtime/specs/spec1.tdsl b/dsl/runtime/specs/spec1.tdsl
deleted file mode 100644 (file)
index ce35b55..0000000
--- a/dsl/runtime/specs/spec1.tdsl
+++ /dev/null
@@ -1,53 +0,0 @@
--Acceleration 1000
-Speed 200
-Behaviour Wander 
-       take control:
-       action:
-               left motor forward
-               right motor forward
-               wait forever
-               measure lake
-               measure rock
-Behaviour AvoidLowLeftObjects
-       take control: Touched on left
-       action:
-               left motor backward
-               right motor backward
-               wait 250 ms
-               right motor backward
-               left motor forward
-               wait 250 ms
-Behaviour AvoidLowRightObjects
-       take control: Touched on right
-       action:
-               left motor backward
-               right motor backward
-               wait 250 ms
-               right motor forward
-               left motor backward
-               wait 250 ms
-Behaviour AvoidHighObjects
-       take control: 
-       action:
-               right motor forward
-               wait 250 ms
-Behaviour StayInLine
-       take control: Color is Black
-       action:
-               right motor forward
-               left motor backward
-               wait 250 ms
-Behaviour Measure
-       take control: 
-       action:
-               measure rock
-               wait 250 ms
-Mission Assignment 
-using 
-       Wander 
-       AvoidLowLeftObjects
-       AvoidLowRightObjects
-       AvoidHighObjects
-       StayInLine
-and stops when
-       Collected at least Blue Green Yellow
\ No newline at end of file

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index be30d5a..5b9c1a0 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,6 +1,12 @@
 Acceleration 1000
 Speed 150
 
+Behaviour Drive
+       take control:
+       action:
+               left motor forward
+               right motor forward
+               wait forever
 Behaviour Wander
        take control:
        action:
@@ -34,7 +40,34 @@ Behaviour StayInFieldB
 Behaviour MeasureLake
        take control: (|| Color is Green Color is Blue Color is Red)
        action:
-               measure
+               measure Lake
+               
+Behaviour LocateL
+       take control: Touched on left
+       action:
+               right motor forward
+               left motor backward
+               wait 500 ms
+               right motor forward
+               left motor forward
+               wait 1000 ms
+               
+Behaviour LocateR
+       take control: Touched on right
+       action:
+               left motor forward
+               right motor backward
+               wait 500 ms
+               right motor forward
+               left motor forward
+               wait 1000 ms
+
+Behaviour Push
+       take control: (&& Touched on left Touched on right)
+       action:
+               left motor forward
+               right motor forward
+               wait 1000 ms
                
 Behaviour BumpL
        take control: Touched on left
@@ -49,10 +82,21 @@ Behaviour BumpR
                right motor backward with speed 50 acceleration 1000
                left motor backward
                wait 2000 ms
+
+Behaviour AvoidHigh
+       take control: Distance dangerous at front
+       action: 
+               turn randomly 10 to 11 degrees
                
-Mission findBlueLakeWhileAvoidingRocks
-       using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
-Mission findAllLakesAndMeasureThem
-       using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
-Mission justWander 
-       using Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file
+//Mission pushRock
+//     using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
+Mission avoidHighRocks
+       using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
+//Mission measureLake
+//     using Drive MeasureLake and stops when Never
+//Mission findBlueLakeWhileAvoidingRocks
+//     using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
+//Mission findAllLakesAndMeasureThem
+//     using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
+//Mission justWander 
+//     using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2a6240e..2de5ab3 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -31,7 +31,27 @@ public abstract class BasicBehaviour implements Behavior{
                leftMotor.stop(true);
        }
 
-       protected void measure(){
+       protected void measureLake(){
+               long time = System.currentTimeMillis();
+               rightMotor.backward();
+               leftMotor.backward();
+               while(System.currentTimeMillis()-time<500){
+                       Thread.yield();
+               }
+               
+               rightMotor.stop(true);
+               leftMotor.stop(true);
+               rightMotor.setSpeed(25);
+               leftMotor.setSpeed(25);
+               if(sensors.leftLight() && !sensors.rightLight()){
+                       leftTurn(15);
+               } else if (sensors.rightLight() && !sensors.leftLight()){
+                       rightTurn(15);
+               }
+               
+               rightMotor.stop(true);
+               leftMotor.stop(true);
+               
                measMotor.backward();
                while(!suppressed && !measMotor.isStalled()){
                        Thread.yield();
@@ -41,7 +61,8 @@ public abstract class BasicBehaviour implements Behavior{
                        Thread.yield();
                }
                measMotor.stop(true);
-               rightTurn(90);
+               reset();
+               rightTurn(45);
        }
        
        protected void turnRandom(int from, int to){
@@ -85,12 +106,24 @@ public abstract class BasicBehaviour implements Behavior{
        public void action() {
                suppressed = false;
                finished = false;
+               rightMotor.setSpeed(Constants.speed);
+               rightMotor.setAcceleration(Constants.acceleration);
+               leftMotor.setSpeed(Constants.speed);
+               leftMotor.setAcceleration(Constants.acceleration);
+               rightMotor.stop(true);
+               leftMotor.stop(true);
        }
 
        @Override
        public void suppress() {
                suppressed = true;
                finished = true;
+               rightMotor.setSpeed(Constants.speed);
+               rightMotor.setAcceleration(Constants.acceleration);
+               leftMotor.setSpeed(Constants.speed);
+               leftMotor.setAcceleration(Constants.acceleration);
+               rightMotor.stop(true);
+               leftMotor.stop(true);
        }
        
        @Override public boolean takeControl(){

diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index 59fe6cd..4597d92 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -10,9 +10,9 @@ import lejos.robotics.SampleProvider;
 public class SensorCollector implements MessageHandler{
        public static final int DELAY = 200;
 
-       private static final float DANGER_DISTANCE_FRONT = 0.15f;
+       private static final float DANGER_DISTANCE_FRONT = 0.175f;
        private static final float DANGER_DISTANCE_BACK = 0.035f;
-       private static final float DANGER_LIGHT = 0.45f;
+       private static final float DANGER_LIGHT = 0.40f;
        
        private Set<Integer> collectedColors;
        
@@ -45,6 +45,10 @@ public class SensorCollector implements MessageHandler{
                rightLightTime = System.currentTimeMillis();
                gyroTime = System.currentTimeMillis();
                
+               color = -1;
+               leftTouch = false;
+               rightTouch = false;
+               frontUltra = Float.MAX_VALUE;
                collectedColors = new HashSet<Integer>();
        }
        

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 14a834f..641e3c3 100644 (file)
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -21,7 +21,8 @@ StoppingCondition:
        'Touched on' touch=LeftRight |
        'Light on' light=LeftRight |
        'Distance dangerous at ' dist=BackFront |
-       'Color is' color=Color;
+       'Color is' color=Color |
+       {StoppingCondition} 'Never';
 
 Behaviour: 'Behaviour' name=ID 
        'take control:' tc=StoppingExpression?
@@ -30,7 +31,7 @@ Behaviour: 'Behaviour' name=ID
 Action:
        whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
        'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
-       {Action} 'measure'|
+       'measure' rl=RockLake|
        'wait' time=Time;
        
 Turn:
@@ -41,7 +42,7 @@ Turn:
 Time: time=INT 'ms' | {Time} 'forever';
  
 RockLake: d=RockLakeE;
-enum RockLakeE: ROCK='rock' | LAKE='lake';
+enum RockLakeE: ROCK='Rock' | LAKE='Lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index f413af6..c11ade8 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -105,11 +105,10 @@ public class «b.name»Behaviour extends BasicBehaviour {
                                        turnRandom(«a.turnType.start», «a.turnType.end»);
                                «ENDIF»
                        «ELSE»
-                       measure();
+                       measure«a.rl.d.toString()»();
                        «ENDIF»
                «ENDFOR»
                LCDPrinter.print("Stop: «b.name»");
-               reset();
        }
 }
        '''
@@ -134,6 +133,8 @@ public class Constants{
                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)»)
@@ -142,6 +143,6 @@ public class Constants{
                        «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
                «ELSE»
                        «FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
-               «ENDIF»       
+               «ENDIF»
        «ENDIF»'''
 }
\ No newline at end of file

diff --git a/dsl/xtend/src/robots/missions/validation/TaskDSLValidator.xtend b/dsl/xtend/src/robots/missions/validation/TaskDSLValidator.xtend
index 96fe5ac..f3926b5 100644 (file)
--- a/dsl/xtend/src/robots/missions/validation/TaskDSLValidator.xtend
+++ b/dsl/xtend/src/robots/missions/validation/TaskDSLValidator.xtend
@@ -10,30 +10,23 @@ package robots.missions.validation
  * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#validation
  */
 class TaskDSLValidator extends AbstractTaskDSLValidator {
-
-//  public static val INVALID_NAME = 'invalidName'
-//
 //     @Check
-//     def checkGreetingStartsWithCapital(Greeting greeting) {
-//             if (!Character.isUpperCase(greeting.name.charAt(0))) {
-//                     warning('Name should start with a capital', 
-//                                     MyDslPackage.Literals.GREETING__NAME,
-//                                     INVALID_NAME)
+//     def checkOnlyOneBehaviourPerMissionEmptyTakeControl(Mission m) {
+//             var List<String> empty = new LinkedList<String>();
+//             var List<String> all = new LinkedList<String>();
+//             for(Behaviour b : m.behaviours){
+//                     if(b.tc == null){
+//                             empty.add(b.name);
+//                     }
+//                     all.add(b.name);
+//             }
+//             if(empty.size > 1){
+//                             warning("Multiple behaviours without takeControl predicate. You might want to remove some of: " + empty.toString(), m.eContainingFeature);
+//             }
+//             if(all.toSet().size() < all.size()){
+//                     warning("You have duplicate behaviours.", m, TaskDSLPackage.Literals::MISSION__BEHAVIOURS);
 //             }
 //     }
-/*     @Check
-       def checkStoppingExpressionShouldHaveOneBehaviourToCollectColor(Mission mission) {
-               var isCollectColorExist = false;
-               if (!mission.se.scond.colors.nullOrEmpty) {
-                       var blist = mission.behaviours;
-                       for (var j = 0; j < blist.size; j++) {
-                               if (!blist.get(j).clcColor.nullOrEmpty) {
-                                       isCollectColorExist = true;
-                               }
-                       }
-               }
-               if (!isCollectColorExist) {
-                       error("Must specify one behaviour to collect color", null)
-               }
-       }*/
+
+//Validate if the random degrees are correct
 }