Implemented finding park space

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index d592a25..0f764d3 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -98,13 +98,42 @@ Behaviour AvoidHigh
        take control: Distance dangerous at front
        action: 
                turn randomly 10 to 11 degrees
-               
+
+Behaviour MeasureRock
+       take control: (&& Distance dangerous at front not flag set RockMeasured)
+       action:
+               measure Rock
+               set flag RockMeasured
+
+Behaviour FindParkingL
+       take control: Light on left
+       action:
+               turn left exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingR
+       take control: Light on right
+       action:
+               turn right exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingSpace
+       take control: (&& Light on right Light on left)
+       action:
+               right motor backward with speed 80 acceleration 1000
+               left motor backward with speed 80 acceleration 1000
+               wait 1000 ms
+               turn right exactly 180 degrees
+               set flag Parked
+
 //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 measureLakes
-       using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
+Mission MeasureRocks
+       using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
+Mission FindParkingSpaceInTheCorner
+       using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
+//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/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2de5ab3..44fcbe2 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -61,8 +61,32 @@ public abstract class BasicBehaviour implements Behavior{
                        Thread.yield();
                }
                measMotor.stop(true);
-               reset();
-               rightTurn(45);
+               
+               turnRandom(30, 45);
+       }
+       
+       protected void measureRock(){
+               long time = System.currentTimeMillis();
+               rightMotor.forward();
+               leftMotor.forward();
+               while(System.currentTimeMillis()-time<1500){
+                       Thread.yield();
+               }
+               
+               rightMotor.stop(true);
+               leftMotor.stop(true);
+               
+               measMotor.backward();
+               while(!suppressed && !measMotor.isStalled()){
+                       Thread.yield();
+               }
+               measMotor.forward();
+               while(!suppressed && !measMotor.isStalled()){
+                       Thread.yield();
+               }
+               measMotor.stop(true);
+               
+               turnRandom(30, 45);
        }
        
        protected void turnRandom(int from, int to){

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 0a48bc1..83bc184 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -58,18 +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();
-                       }
+//                     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());
@@ -106,7 +106,7 @@ public class Marster {
                                arb.start();
                                LCDPrinter.print(m.name + " finished!!1one!");
                        }
-                       Sound.playSample(new File("rick.wav"));
+//                     Sound.playSample(new File("rick.wav"));
                }
        }
 }
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