From 940cc6f23a21cc11e8216333f5ae4b4a07090d39 Mon Sep 17 00:00:00 2001
From: Natanael Adityasatria <nata.adit@gmail.com>
Date: Mon, 7 Dec 2015 13:28:08 +0100
Subject: [PATCH] Fixed shutdown behaviour and added print expression

---
 dsl/runtime/specs/spec1.tdsl                  |  7 +++++-
 .../src/nl/ru/des/ShutdownBehaviour.java      |  4 ++--
 .../missions/generator/TaskDSLGenerator.xtend | 24 +++++++++++++++++--
 3 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/dsl/runtime/specs/spec1.tdsl b/dsl/runtime/specs/spec1.tdsl
index bfa224f..d3271c0 100644
--- a/dsl/runtime/specs/spec1.tdsl
+++ b/dsl/runtime/specs/spec1.tdsl
@@ -32,11 +32,16 @@ Behaviour AvoidHighObjects
 		right motor forward
 		wait 250 ms
 Behaviour StayInLine
-	take control: (or Color is Black Color is DarkGray)
+	take control: Color is Black
 	action:
 		right motor forward
 		left motor backward
 		wait 250 ms
+Behaviour Meassure
+	take control: 
+	action:
+		measure rock
+		wait 250 ms
 Mission Assignment 
 using 
 	Wander 
diff --git a/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java b/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
index 4e9e5aa..ae75647 100644
--- a/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
@@ -5,8 +5,8 @@ import nl.ru.des.sensors.SensorCollector;
 
 public class ShutdownBehaviour extends BasicBehaviour{
 	public ShutdownBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
-			EV3LargeRegulatedMotor rightMotor) {
-		super(sensors, leftMotor, rightMotor);
+			EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor) {
+		super(sensors, leftMotor, rightMotor, measMotor);
 	}
 	
 	@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 06f9654..0e85304 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -9,7 +9,9 @@ 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.Robot
+import robots.missions.taskDSL.StoppingExpression
 
 /**
  * Generates code from your model files on save.
@@ -71,7 +73,7 @@ public class Behaviours{
 		}
 		«IF b.tc != null»
 		@Override public boolean takeControl(){
-			return ;
+			return «printExpression(b.tc)»;
 		}
 		«ENDIF»
 		
@@ -99,7 +101,6 @@ public class Behaviours{
 	«ENDFOR»
 }
 	'''
-
 	
 	def CharSequence makeConstants(Robot robot)'''
 package nl.ru.des;
@@ -109,4 +110,23 @@ 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.dist != null»
+		sensors.distance() «e.scond.dist.d.toString()» «e.scond.dist»
+		«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»
+	'''
 }
\ No newline at end of file
-- 
2.20.1