From: Mart Lubbers <mart@martlubbers.net>
Date: Wed, 6 Jan 2016 13:59:17 +0000 (+0100)
Subject: add sound
X-Git-Url: https://git.martlubbers.net/?a=commitdiff_plain;h=f92a71770aa8fc8abe3a60660df2965ec18cb479;p=des2015.git

add sound
---

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 5b9c1a0..d592a25 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -37,10 +37,21 @@ Behaviour StayInFieldB
 		right motor forward
 		wait 1000 ms
 		
-Behaviour MeasureLake
-	take control: (|| Color is Green Color is Blue Color is Red)
+Behaviour MeasureGreenLake
+	take control: (&& Color is Green not flag set GreenMeasured)
 	action:
 		measure Lake
+		set flag GreenMeasured
+Behaviour MeasureBlueLake
+	take control: (&& Color is Blue not flag set BlueMeasured)
+	action:
+		measure Lake
+		set flag BlueMeasured
+Behaviour MeasureRedLake
+	take control: (&& Color is Red not flag set RedMeasured)
+	action:
+		measure Lake
+		set flag RedMeasured
 		
 Behaviour LocateL
 	take control: Touched on left
@@ -90,10 +101,10 @@ Behaviour AvoidHigh
 		
 //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 avoidHighRocks
+//	using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
+Mission measureLakes
+	using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
 //Mission findBlueLakeWhileAvoidingRocks
 //	using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
 //Mission findAllLakesAndMeasureThem
diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 81ee5f6..0a48bc1 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,8 +1,13 @@
 package nl.ru.des;
 
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
 import java.util.LinkedList;
 import java.util.Random;
 
+import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -53,6 +58,18 @@ public class Marster {
 			BTController.startSlave();
 			rs.start(BTController.buf);
 		} else {
+			try {
+				InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
+				FileOutputStream out = new FileOutputStream("rick.wav");
+				byte buffer[] = new byte[2048];
+				while(inp.read(buffer)>0){
+					out.write(buffer);
+				}
+				inp.close();
+				out.close();
+			} catch (IOException e) {
+				e.printStackTrace();
+			}
 			String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 			LCDPrinter.print("Starting as as master...");
 			LCDPrinter.print("My name is " + brick.getName());
@@ -85,10 +102,11 @@ public class Marster {
 			for(Mission m : missions){
 				LCDPrinter.print("Start " + m.name + " mission...");
 				arb = new Arbitrator(m.behaviours);
-				sc.resetColors();
+				sc.reset();
 				arb.start();
 				LCDPrinter.print(m.name + " finished!!1one!");
 			}
+			Sound.playSample(new File("rick.wav"));
 		}
 	}
 }
\ No newline at end of file
diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index 4597d92..db10870 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,6 +1,5 @@
 package nl.ru.des.sensors;
 
-import java.util.Arrays;
 import java.util.HashSet;
 import java.util.Set;
 
@@ -14,7 +13,7 @@ public class SensorCollector implements MessageHandler{
 	private static final float DANGER_DISTANCE_BACK = 0.035f;
 	private static final float DANGER_LIGHT = 0.40f;
 	
-	private Set<Integer> collectedColors;
+	private Set<String> variables;
 	
 	//Local sensors
 	private EV3GyroSensor gyroSensor;
@@ -49,7 +48,7 @@ public class SensorCollector implements MessageHandler{
 		leftTouch = false;
 		rightTouch = false;
 		frontUltra = Float.MAX_VALUE;
-		collectedColors = new HashSet<Integer>();
+		variables = new HashSet<String>();
 	}
 	
 	//Local sensors
@@ -90,12 +89,16 @@ public class SensorCollector implements MessageHandler{
 	}
 	
 	//Remote sensors
-	public void resetColors(){
-		collectedColors.clear();
+	public void reset(){
+		variables.clear();
 	}
 	
-	public boolean collected(int[] colors){
-		return collectedColors.containsAll(Arrays.asList(colors));
+	public boolean collected(String var){
+		return variables.contains(var);
+	}
+
+	public void saveVar(String var) {
+		variables.add(var);
 	}
 	
 	public int color(){
@@ -120,7 +123,6 @@ public class SensorCollector implements MessageHandler{
 		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 		case COLOR:
 			color = Integer.valueOf(s);
-			collectedColors.add(color);
 			break;
 		case LEFT:
 			leftTouch = Integer.valueOf(s)==1;
diff --git a/mart/ev3/ex1/nl/ru/des/sounds/rick.wav b/dsl/runtime/src/nl/ru/des/sound/rick.wav
similarity index 100%
rename from mart/ev3/ex1/nl/ru/des/sounds/rick.wav
rename to dsl/runtime/src/nl/ru/des/sound/rick.wav
diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 641e3c3..7fb398a 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -17,22 +17,24 @@ StoppingExpression:
 	scond=StoppingCondition;
 
 StoppingCondition:
-	'Collected at least' colors+=Color+ |
+	'flag set' varName=ID |
 	'Touched on' touch=LeftRight |
 	'Light on' light=LeftRight |
 	'Distance dangerous at ' dist=BackFront |
 	'Color is' color=Color |
 	{StoppingCondition} 'Never';
 
-Behaviour: 'Behaviour' name=ID 
+Behaviour: 'Behaviour' name=ID
 	'take control:' tc=StoppingExpression?
-	'action:' actions+=Action+;
+	'action:' actions+=Action+
+	;
 
 Action:
 	whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
 	'turn' turnType=Turn ('with speed' spd=INT 'acceleration' acc=INT)? |
 	'measure' rl=RockLake|
-	'wait' time=Time;
+	'wait' time=Time |
+	'set flag' varName=ID;
 	
 Turn:
 	turnDir=LeftRight 'exactly' degrees=INT 'degrees'|
diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index c11ade8..3baaa06 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -104,8 +104,10 @@ public class «b.name»Behaviour extends BasicBehaviour {
 				«ELSE»
 					turnRandom(«a.turnType.start», «a.turnType.end»);
 				«ENDIF»
-			«ELSE»
+			«ELSEIF a.rl != null»
 			measure«a.rl.d.toString()»();
+			«ELSE»
+			sensors.saveVar("«a.varName.toString()»");
 			«ENDIF»
 		«ENDFOR»
 		LCDPrinter.print("Stop: «b.name»");
@@ -123,8 +125,8 @@ public class Constants{
 	
 	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»})
+		«IF e.scond.varName != null»
+		sensors.collected("«e.scond.varName.toString()»")
 		«ELSEIF e.scond.touch != null»
 		sensors.«e.scond.touch.d.toString()»Touch()
 		«ELSEIF e.scond.light != null»