--- /dev/null
+/* The first part specifies the robot specific information such as
+ * which sensor is plugged in which port. */
+Name MartNatanael
+Acceleration 10000
+Speed 200
+LeftMotor plugged in A
+RightMotor plugged in D
+ColorSensor plugged in S1
+TouchSensor plugged in S2 and S3
+UltrasoneSensor plugged in S4
+/* After the static part you can specify one or more missions
+ * Every mission is a list of behaviours in the order of priority
+ * and a stopping condition.
+ */
+Mission:
+ /* All behaviours have an action and possibly a take control predicate
+ * When the take control predicate is not specified the behaviour will
+ * always try to take control.
+ */
+ Behaviour
+ Name: DontFallOff
+ TakeControl: ColorLimit: Black
+ Action: Avoid
+ Behaviour
+ Name: AvoidLowObjects
+ TakeControl: TouchStatus: Touch
+ Action: Avoid
+ Behaviour
+ Name: AvoidHighObjects
+ TakeControl: Distance: "0.5" meter
+ Action: Avoid
+ Behaviour
+ Name: Wandering
+ TakeControl:
+ Action: Wander
+ stops when
+ Collected Colors: Red Yellow Blue
+
\ No newline at end of file
--- /dev/null
+module robots.missions.GenerateTaskDSL
+
+import org.eclipse.emf.mwe.utils.*
+import org.eclipse.xtext.generator.*
+import org.eclipse.xtext.ui.generator.*
+
+var grammarURI = "classpath:/robots/missions/TaskDSL.xtext"
+var fileExtensions = "tdsl"
+var projectName = "desdsl"
+var runtimeProject = "../${projectName}"
+var generateXtendStub = true
+var encoding = "UTF-8"
+
+Workflow {
+ bean = StandaloneSetup {
+ scanClassPath = true
+ platformUri = "${runtimeProject}/.."
+ // The following two lines can be removed, if Xbase is not used.
+ registerGeneratedEPackage = "org.eclipse.xtext.xbase.XbasePackage"
+ registerGenModelFile = "platform:/resource/org.eclipse.xtext.xbase/model/Xbase.genmodel"
+ }
+
+ component = DirectoryCleaner {
+ directory = "${runtimeProject}/src-gen"
+ }
+
+ component = DirectoryCleaner {
+ directory = "${runtimeProject}/model/generated"
+ }
+
+ component = DirectoryCleaner {
+ directory = "${runtimeProject}.ui/src-gen"
+ }
+
+ component = DirectoryCleaner {
+ directory = "${runtimeProject}.tests/src-gen"
+ }
+
+ component = Generator {
+ pathRtProject = runtimeProject
+ pathUiProject = "${runtimeProject}.ui"
+ pathTestProject = "${runtimeProject}.tests"
+ projectNameRt = projectName
+ projectNameUi = "${projectName}.ui"
+ encoding = encoding
+ language = auto-inject {
+ uri = grammarURI
+
+ // Java API to access grammar elements (required by several other fragments)
+ fragment = grammarAccess.GrammarAccessFragment auto-inject {}
+
+ // generates Java API for the generated EPackages
+ fragment = ecore.EMFGeneratorFragment auto-inject {}
+
+ // the old serialization component
+ // fragment = parseTreeConstructor.ParseTreeConstructorFragment auto-inject {}
+
+ // serializer 2.0
+ fragment = serializer.SerializerFragment auto-inject {
+ generateStub = false
+ }
+
+ // a custom ResourceFactory for use with EMF
+ fragment = resourceFactory.ResourceFactoryFragment auto-inject {}
+
+ // The antlr parser generator fragment.
+ fragment = parser.antlr.XtextAntlrGeneratorFragment auto-inject {
+ // options = {
+ // backtrack = true
+ // }
+ }
+
+ // Xtend-based API for validation
+ fragment = validation.ValidatorFragment auto-inject {
+ // composedCheck = "org.eclipse.xtext.validation.ImportUriValidator"
+ // composedCheck = "org.eclipse.xtext.validation.NamesAreUniqueValidator"
+ }
+
+ // old scoping and exporting API
+ // fragment = scoping.ImportURIScopingFragment auto-inject {}
+ // fragment = exporting.SimpleNamesFragment auto-inject {}
+
+ // scoping and exporting API
+ fragment = scoping.ImportNamespacesScopingFragment auto-inject {}
+ fragment = exporting.QualifiedNamesFragment auto-inject {}
+ fragment = builder.BuilderIntegrationFragment auto-inject {}
+
+ // generator API
+ fragment = generator.GeneratorFragment auto-inject {}
+
+ // formatter API
+ fragment = formatting.FormatterFragment auto-inject {}
+
+ // labeling API
+ fragment = labeling.LabelProviderFragment auto-inject {}
+
+ // outline API
+ fragment = outline.OutlineTreeProviderFragment auto-inject {}
+ fragment = outline.QuickOutlineFragment auto-inject {}
+
+ // quickfix API
+ fragment = quickfix.QuickfixProviderFragment auto-inject {}
+
+ // content assist API
+ fragment = contentAssist.ContentAssistFragment auto-inject {}
+
+ // generates a more lightweight Antlr parser and lexer tailored for content assist
+ fragment = parser.antlr.XtextAntlrUiGeneratorFragment auto-inject {}
+
+ // generates junit test support classes into Generator#pathTestProject
+ fragment = junit.Junit4Fragment auto-inject {}
+
+ // rename refactoring
+ fragment = refactoring.RefactorElementNameFragment auto-inject {}
+
+ // provides the necessary bindings for java types integration
+ fragment = types.TypesGeneratorFragment auto-inject {}
+
+ // generates the required bindings only if the grammar inherits from Xbase
+ fragment = xbase.XbaseGeneratorFragment auto-inject {}
+
+ // generates the required bindings only if the grammar inherits from Xtype
+ fragment = xbase.XtypeGeneratorFragment auto-inject {}
+
+ // provides a preference page for template proposals
+ fragment = templates.CodetemplatesGeneratorFragment auto-inject {}
+
+ // provides a compare view
+ fragment = compare.CompareFragment auto-inject {}
+ }
+ }
+}
+
--- /dev/null
+grammar robots.missions.TaskDSL with org.eclipse.xtext.common.Terminals
+
+generate taskDSL "http://www.missions.robots/TaskDSL"
+
+Robot:
+ 'Name' name=ID
+ 'Acceleration' acc=INT
+ 'Speed' spd=INT
+ 'LeftMotor plugged in' leftMotorPort=MotorPort
+ 'RightMotor plugged in' righMotorPort=MotorPort
+ ('ColorSensor plugged in' colorSensorPort=SensorPort)?
+ ('TouchSensor plugged in' leftTouchSensorPort=SensorPort 'and' rightTouchSensorPort=SensorPort)?
+ ('UltrasoneSensor plugged in' ultrasoneSensorPort=SensorPort)?
+ ('Mission:' mission+=Mission)+;
+
+Mission:
+ behaviours+=Behaviour+ 'stops when' stoppingCondition=StoppingCondition
+;
+
+StoppingCondition:
+ SensorLimitReached | CollectedColors;
+
+CollectedColors:
+ 'Collected Colors:' colors+=ColorValue+
+;
+
+SensorLimitReached:
+ TouchLimit | ColorLimit | DistanceLimit;
+
+ColorLimit:
+ 'ColorLimit: ' lim=ColorValue
+;
+
+TouchLimit:
+ 'TouchStatus: ' lim=Touch
+;
+
+Touch:
+ 'Touch' | 'NoTouch'
+;
+
+DistanceLimit:
+ 'Distance:' dist=STRING 'meter'
+;
+
+ColorValue:
+ 'Black' | 'Blue' | 'Brown' | 'Cyan' | 'DarkGray' | 'Gray' | 'Green' | 'LightGray' | 'Magenta' | 'Orange' | 'Pink' | 'Red' | 'White' | 'Yellow'
+;
+
+Behaviour:
+ 'Behaviour'
+ 'Name:' name=ID
+ 'TakeControl:' takeControl=SensorLimitReached?
+ 'Action:' action=Action
+;
+
+Action:
+ 'Avoid' | 'Wander' | 'Nothing'
+;
+
+SensorPort:
+ 'S1' | 'S2' | 'S3' | 'S4';
+
+MotorPort:
+ 'A' | 'B' | 'C' | 'D';
\ No newline at end of file
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions;
+
+/**
+ * Use this class to register components to be used at runtime / without the Equinox extension registry.
+ */
+public class TaskDSLRuntimeModule extends robots.missions.AbstractTaskDSLRuntimeModule {
+
+}
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions;
+
+/**
+ * Initialization support for running Xtext languages
+ * without equinox extension registry
+ */
+public class TaskDSLStandaloneSetup extends TaskDSLStandaloneSetupGenerated{
+
+ public static void doSetup() {
+ new TaskDSLStandaloneSetup().createInjectorAndDoEMFRegistration();
+ }
+}
+
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions.formatting
+
+import org.eclipse.xtext.formatting.impl.AbstractDeclarativeFormatter
+import org.eclipse.xtext.formatting.impl.FormattingConfig
+// import com.google.inject.Inject;
+// import robots.missions.services.TaskDSLGrammarAccess
+
+/**
+ * This class contains custom formatting declarations.
+ *
+ * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#formatting
+ * on how and when to use it.
+ *
+ * Also see {@link org.eclipse.xtext.xtext.XtextFormattingTokenSerializer} as an example
+ */
+class TaskDSLFormatter extends AbstractDeclarativeFormatter {
+
+// @Inject extension TaskDSLGrammarAccess
+
+ override protected void configureFormatting(FormattingConfig c) {
+// It's usually a good idea to activate the following three statements.
+// They will add and preserve newlines around comments
+// c.setLinewrap(0, 1, 2).before(SL_COMMENTRule)
+// c.setLinewrap(0, 1, 2).before(ML_COMMENTRule)
+// c.setLinewrap(0, 1, 1).after(ML_COMMENTRule)
+ }
+}
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions.generator
+
+import org.eclipse.emf.ecore.resource.Resource
+import org.eclipse.xtext.generator.IGenerator
+import org.eclipse.xtext.generator.IFileSystemAccess
+
+/**
+ * Generates code from your model files on save.
+ *
+ * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
+ */
+class TaskDSLGenerator implements IGenerator {
+
+ override void doGenerate(Resource resource, IFileSystemAccess fsa) {
+// fsa.generateFile('greetings.txt', 'People to greet: ' +
+// resource.allContents
+// .filter(typeof(Greeting))
+// .map[name]
+// .join(', '))
+ }
+}
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions.scoping
+
+/**
+ * This class contains custom scoping description.
+ *
+ * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#scoping
+ * on how and when to use it.
+ *
+ */
+class TaskDSLScopeProvider extends org.eclipse.xtext.scoping.impl.AbstractDeclarativeScopeProvider {
+
+}
--- /dev/null
+/*
+ * generated by Xtext
+ */
+package robots.missions.validation
+
+//import org.eclipse.xtext.validation.Check
+
+/**
+ * This class contains custom validation rules.
+ *
+ * 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)
+// }
+// }
+}
LCDPrinter.print("Trying to pair");
BTController btController;
- btController = BTController.getBTMaster("Rover1", mh); // Master
- //btController = BTController.getBTSlave(mh); // Slave
+ //btController = BTController.getBTMaster("Rover1", mh); // Master
+ btController = BTController.getBTSlave(mh); // Slave
btController.start();
LCDPrinter.print("Loading keylistener...");
+++ /dev/null
-RobotName Rover1
-
-LefMotor Acceleration 100 Speed 200
-RightMotor Acceleration 100 Speed 200
-
-Sensor touchSensor SensorType TouchSensor "S3" "S4"
-Sensor ultrasonicSensor SensorType UltrasonicSensor "S2" limit "0.512"
-Sensor colorSensor SensorType ColorSensor "S1"
- Color RED ColorID "RED"
- Color BLUE ColorID "BLUE"
- Color YELLOW ColorID "YELLOW"
- Color WHITE ColorID "WHITE"
- Color BLACK ColorID "BLACK"
-
-Behaviour Wander
-Behaviour StayInsideBlackLine
-Behaviour DetectColor
-Behaviour AvoidHighObject
-Behaviour AvoidLowObject
\ No newline at end of file
repositories / des2015.git / commitdiff