#1173 includes dcmotor libray and adds block to toolbox

OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/components/ConfigurationAst.java

@@ -2,12 +2,17 @@
 
 import java.util.ArrayList;
 import java.util.Collection;
+import java.util.Comparator;
 import java.util.HashMap;
 import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
 
+import org.apache.commons.lang3.StringUtils;
+
+import com.ibm.icu.text.UTF16.StringComparator;
+
 import de.fhg.iais.roberta.syntax.configuration.ConfigurationComponent;
 import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.util.dbc.DbcException;
@@ -170,6 +175,16 @@ public ConfigurationComponent optConfigurationComponentByType(String type) {
     public Collection<ConfigurationComponent> getActors() {
         return new HashMap<>(this.configurationComponents).values().stream().filter(ConfigurationComponent::isActor).collect(Collectors.toList());
     }
+
+    public Collection<ConfigurationComponent> getActors(String type) {
+        return configurationComponents
+            .values()
+            .stream()
+            .filter(ConfigurationComponent::isActor)
+            .filter(actor -> type.equals(actor.componentType))
+            .sorted((actor1, actor2) -> StringUtils.compare(actor1.internalPortName, actor2.internalPortName))
+            .collect(Collectors.toList());
+    }
 
     /**
      * Returns all sensors in the configuration component map. While insertion order is preserved internally, it is unnecessary for code generation and similar

OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/syntax/SC.java

@@ -138,5 +138,7 @@ public interface SC {
     String HTS221 = "HTS221";
 
     String OLEDSSD1306I2C = "OLEDSSD1306I2C";
+
+    String DCMOTOR = "DCMOTOR";
 
 }

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/astGenerated/calliope2016/actors_dcmotor.ast

@@ -0,0 +1,18 @@
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 120]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: -50]]
+DcMotorSetAction [DCM0, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Forward, NumConst[value: 100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: -100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 0]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 80]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Numeric, NumConst[value: 200]]
+DcMotorSetAction [DCM0, Binary [ADD, Var [motor2], NumConst[value: 1]], Numeric, Var [speed]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Forward, NumConst[value: 75]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Stop, NumConst[value: 80]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Forward, NumConst[value: 80]]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/astGenerated/calliope2017/actors_dcmotor.ast

@@ -0,0 +1,18 @@
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 120]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: -50]]
+DcMotorSetAction [DCM0, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Forward, NumConst[value: 100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: -100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 0]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 80]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Numeric, NumConst[value: 200]]
+DcMotorSetAction [DCM0, Binary [ADD, Var [motor2], NumConst[value: 1]], Numeric, Var [speed]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Forward, NumConst[value: 75]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Stop, NumConst[value: 80]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Forward, NumConst[value: 80]]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/astGenerated/calliope2017NoBlue/actors_dcmotor.ast

@@ -0,0 +1,18 @@
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: 120]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Backward, NumConst[value: -50]]
+DcMotorSetAction [DCM0, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Forward, NumConst[value: 100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: -100]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 0]]
+DcMotorSetAction [DCM0, NumConst[value: 3], Numeric, NumConst[value: 80]]
+DcMotorSetAction [DCM0, NumConst[value: 1], Numeric, NumConst[value: 200]]
+DcMotorSetAction [DCM0, Binary [ADD, Var [motor2], NumConst[value: 1]], Numeric, Var [speed]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Stop, NumConst[value: 75]]
+DcMotorSetAction [DCM1, NumConst[value: 2], Forward, NumConst[value: 75]]
+WaitTimeStmt[time: NumConst[value: 500]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Backward, NumConst[value: 50]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Stop, NumConst[value: 80]]
+DcMotorSetAction [DCM2, NumConst[value: 3], Forward, NumConst[value: 80]]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/actors_dcmotor.txt

@@ -0,0 +1,6 @@
+Sensors: 
+[]
+Actors: 
+[UsedActor [, DCMOTOR]]
+Methods: 
+[]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/actors_dcmotor.txt

@@ -0,0 +1,6 @@
+Sensors: 
+[]
+Actors: 
+[UsedActor [, DCMOTOR]]
+Methods: 
+[]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/actors_dcmotor.txt

@@ -0,0 +1,6 @@
+Sensors: 
+[]
+Actors: 
+[UsedActor [, DCMOTOR]]
+Methods: 
+[]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/actors_dcmotor.cpp

@@ -0,0 +1,53 @@
+#define _GNU_SOURCE
+
+#include "MicroBit.h"
+#include "NEPODefs.h"
+#include <list>
+#include <array>
+#include <stdlib.h>
+MicroBit _uBit;
+
+#include "DcMotor.h"
+DcMotor dcMotor_DCM0(0x60);
+DcMotor dcMotor_DCM1(0x61);
+DcMotor dcMotor_DCM2(0x62);
+
+
+double ___speed;
+double ___motor2;
+
+int main()
+{
+    _uBit.init();
+    ___speed = 9.5;
+    ___motor2 = 4;
+
+    dcMotor_DCM0.init();
+    dcMotor_DCM1.init();
+    dcMotor_DCM2.init();
+
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 50);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 120);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, -50);
+    dcMotor_DCM0.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM0.setPercent(3, Direction::Forward, 100);
+    dcMotor_DCM0.setPercent(3, -100);
+    dcMotor_DCM0.setPercent(3, 0);
+    dcMotor_DCM0.setPercent(3, 80);
+    dcMotor_DCM0.setPercent(1, 200);
+    dcMotor_DCM0.setPercent(___motor2 + 1, ___speed);
+    _uBit.sleep(500);
+    dcMotor_DCM1.setPercent(2, Direction::Backward, 50);
+    dcMotor_DCM1.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM1.setPercent(2, Direction::Forward, 75);
+    _uBit.sleep(500);
+    dcMotor_DCM2.setPercent(3, Direction::Backward, 50);
+    dcMotor_DCM2.setPercent(3, Direction::Stop, 0);
+    dcMotor_DCM2.setPercent(3, Direction::Forward, 80);
+
+    dcMotor_DCM0.release();
+    dcMotor_DCM1.release();
+    dcMotor_DCM2.release();
+
+    release_fiber();
+}

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/actors_dcmotor.cpp

@@ -0,0 +1,53 @@
+#define _GNU_SOURCE
+
+#include "MicroBit.h"
+#include "NEPODefs.h"
+#include <list>
+#include <array>
+#include <stdlib.h>
+MicroBit _uBit;
+
+#include "DcMotor.h"
+DcMotor dcMotor_DCM0(0x60);
+DcMotor dcMotor_DCM1(0x61);
+DcMotor dcMotor_DCM2(0x62);
+
+
+double ___speed;
+double ___motor2;
+
+int main()
+{
+    _uBit.init();
+    ___speed = 9.5;
+    ___motor2 = 4;
+
+    dcMotor_DCM0.init();
+    dcMotor_DCM1.init();
+    dcMotor_DCM2.init();
+
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 50);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 120);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, -50);
+    dcMotor_DCM0.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM0.setPercent(3, Direction::Forward, 100);
+    dcMotor_DCM0.setPercent(3, -100);
+    dcMotor_DCM0.setPercent(3, 0);
+    dcMotor_DCM0.setPercent(3, 80);
+    dcMotor_DCM0.setPercent(1, 200);
+    dcMotor_DCM0.setPercent(___motor2 + 1, ___speed);
+    _uBit.sleep(500);
+    dcMotor_DCM1.setPercent(2, Direction::Backward, 50);
+    dcMotor_DCM1.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM1.setPercent(2, Direction::Forward, 75);
+    _uBit.sleep(500);
+    dcMotor_DCM2.setPercent(3, Direction::Backward, 50);
+    dcMotor_DCM2.setPercent(3, Direction::Stop, 0);
+    dcMotor_DCM2.setPercent(3, Direction::Forward, 80);
+
+    dcMotor_DCM0.release();
+    dcMotor_DCM1.release();
+    dcMotor_DCM2.release();
+
+    release_fiber();
+}

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/actors_dcmotor.cpp

@@ -0,0 +1,53 @@
+#define _GNU_SOURCE
+
+#include "MicroBit.h"
+#include "NEPODefs.h"
+#include <list>
+#include <array>
+#include <stdlib.h>
+MicroBit _uBit;
+
+#include "DcMotor.h"
+DcMotor dcMotor_DCM0(0x60);
+DcMotor dcMotor_DCM1(0x61);
+DcMotor dcMotor_DCM2(0x62);
+
+
+double ___speed;
+double ___motor2;
+
+int main()
+{
+    _uBit.init();
+    ___speed = 9.5;
+    ___motor2 = 4;
+
+    dcMotor_DCM0.init();
+    dcMotor_DCM1.init();
+    dcMotor_DCM2.init();
+
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 50);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, 120);
+    dcMotor_DCM0.setPercent(1, Direction::Backward, -50);
+    dcMotor_DCM0.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM0.setPercent(3, Direction::Forward, 100);
+    dcMotor_DCM0.setPercent(3, -100);
+    dcMotor_DCM0.setPercent(3, 0);
+    dcMotor_DCM0.setPercent(3, 80);
+    dcMotor_DCM0.setPercent(1, 200);
+    dcMotor_DCM0.setPercent(___motor2 + 1, ___speed);
+    _uBit.sleep(500);
+    dcMotor_DCM1.setPercent(2, Direction::Backward, 50);
+    dcMotor_DCM1.setPercent(2, Direction::Stop, 0);
+    dcMotor_DCM1.setPercent(2, Direction::Forward, 75);
+    _uBit.sleep(500);
+    dcMotor_DCM2.setPercent(3, Direction::Backward, 50);
+    dcMotor_DCM2.setPercent(3, Direction::Stop, 0);
+    dcMotor_DCM2.setPercent(3, Direction::Forward, 80);
+
+    dcMotor_DCM0.release();
+    dcMotor_DCM1.release();
+    dcMotor_DCM2.release();
+
+    release_fiber();
+}