From d66c5c319eb15f45086d6d0f6bda34b7ebedc42e Mon Sep 17 00:00:00 2001
From: Mart Lubbers <mart@martlubbers.net>
Date: Mon, 7 Dec 2015 12:19:07 +0100
Subject: [PATCH] update language'

---
 dsl/runtime/specs/spec1.tdsl                        |  2 ++
 dsl/runtime/src/nl/ru/des/BasicBehaviour.java       | 13 +++++++++++--
 .../missions/generator/TaskDSLGenerator.xtend       |  9 ++++++---
 3 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/dsl/runtime/specs/spec1.tdsl b/dsl/runtime/specs/spec1.tdsl
index 57bd7ba..bfa224f 100644
--- 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
+		measure lake
+		measure rock
 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
--- 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;
-	protected EV3LargeRegulatedMotor leftMotor, rightMotor;
+	protected EV3LargeRegulatedMotor leftMotor, rightMotor, measMotor;
 	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.measMotor = measMotor;
 		this.sensors = sensors;
 	}
 	
@@ -25,6 +26,14 @@ public abstract class BasicBehaviour implements Behavior{
 		rightMotor.stop(true);
 		leftMotor.stop(true);
 	}
+
+	protected void rockMeasure(){
+		
+	}
+	
+	protected void lakeMeasure(){
+		
+	}
 	
 	@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
--- 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));
-			//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));
 		}
 	}
@@ -60,13 +60,14 @@ public class Missions{
 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,
-				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(){
@@ -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()»();
+				«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»){
-- 
2.20.1