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Add int cast to code generation of motor blocks for Spike #1545

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Add int cast to code generation of motor blocks for Spike #1545

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24 changes: 12 additions & 12 deletions ...ources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionDiffDrive.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,29 +7,29 @@

def run():
# drive
diff_drive.move(10, 'cm', 0, 30)
diff_drive.move(10, 'cm', 0, -(30))
diff_drive.start(0, 30)
diff_drive.move(10, 'cm', 0, int(30))
diff_drive.move(10, 'cm', 0, int(-(30)))
diff_drive.start(0, int(30))
wait_for_seconds(500/1000)
diff_drive.start_at_power(-(30), 0)
diff_drive.start_at_power(int(-(30)), 0)
wait_for_seconds(500/1000)
diff_drive.set_stop_action('brake')
diff_drive.stop()
# turn
diff_drive.move(20 * math.pi / 360 * TRACKWIDTH, 'cm', 100, 30)
diff_drive.move(20 * math.pi / 360 * TRACKWIDTH, 'cm', -100, 30)
diff_drive.start(100, 30)
diff_drive.move(20 * math.pi / 360 * TRACKWIDTH, 'cm', 100, int(30))
diff_drive.move(20 * math.pi / 360 * TRACKWIDTH, 'cm', -100, int(30))
diff_drive.start(100, int(30))
wait_for_seconds(500/1000)
diff_drive.start_at_power(30, -100)
diff_drive.start_at_power(int(30), -100)
wait_for_seconds(500/1000)
diff_drive.set_stop_action('coast')
diff_drive.stop()
# steer
diff_drive.move_tank(20, 'cm', 10, 30)
diff_drive.move_tank(-(20), 'cm', 10, 30)
diff_drive.start_tank(10, 30)
diff_drive.move_tank(20, 'cm', int(10), int(30))
diff_drive.move_tank(-(20), 'cm', int(10), int(30))
diff_drive.start_tank(int(10), int(30))
wait_for_seconds(500/1000)
diff_drive.start_tank_at_power(-(10), -(30))
diff_drive.start_tank_at_power(int(-(10)), int(-(30)))
wait_for_seconds(500/1000)
diff_drive.set_stop_action('coast')
diff_drive.stop()
Expand Down
8 changes: 4 additions & 4 deletions .../resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionMotor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,13 +6,13 @@

def run():
# motor
motorB.run_for_rotations(1, 30)
motorA.run_for_degrees(360, 30)
motorB.start(30)
motorB.run_for_rotations(1, int(30))
motorA.run_for_degrees(360, int(30))
motorB.start(int(30))
wait_for_seconds(500/1000)
motorB.set_stop_action('coast')
motorB.stop()
motorA.start_at_power(-30)
motorA.start_at_power(int(-30))
wait_for_seconds(500/1000)
motorA.set_stop_action('brake')
motorA.stop()
Expand Down
35 changes: 20 additions & 15 deletions RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/SpikePythonVisitor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ public Void visitMainTask(MainTask mainTask) {
public Void visitMotorDiffOnForAction(MotorDiffOnForAction motorDiffOnForAction) {
src.add("diff_drive.move(");
motorDiffOnForAction.distance.accept(this);
src.add(", 'cm', 0, ");
src.add(", 'cm', 0, int(");
switch ( motorDiffOnForAction.direction ) {
case "BACKWARD":
src.add("-(");
Expand All @@ -118,7 +118,7 @@ public Void visitMotorDiffOnForAction(MotorDiffOnForAction motorDiffOnForAction)
default:
throw new DbcException("Invalid drive direction: " + motorDiffOnForAction.direction);
}
src.add(")");
src.add("))");
return null;
}

Expand All @@ -137,8 +137,9 @@ public Void visitMotorDiffTurnForAction(MotorDiffTurnForAction motorDiffTurnForA
default:
throw new DbcException("Invalid turn direction: " + motorDiffTurnForAction.direction);
}
src.add("int(");
motorDiffTurnForAction.power.accept(this);
src.add(")");
src.add("))");
return null;
}

Expand All @@ -152,6 +153,7 @@ public Void visitMotorDiffOnAction(MotorDiffOnAction motorDiffOnAction) {
src.add("diff_drive.start_at_power(");
end = ", 0)";
}
src.add("int(");
switch ( motorDiffOnAction.direction ) {
case "BACKWARD":
src.add("-(");
Expand All @@ -164,7 +166,7 @@ public Void visitMotorDiffOnAction(MotorDiffOnAction motorDiffOnAction) {
default:
throw new DbcException("Invalid drive direction: " + motorDiffOnAction.direction);
}
src.add(end);
src.add(")", end);
return null;
}

Expand All @@ -189,8 +191,9 @@ public Void visitMotorDiffTurnAction(MotorDiffTurnAction motorDiffTurnAction) {
src.add("diff_drive.start_at_power(");
end = ", " + String.valueOf(turn) + ")";
}
src.add("int(");
motorDiffTurnAction.power.accept(this);
src.add(end);
src.add(")", end);
return null;
}

Expand All @@ -209,11 +212,11 @@ public Void visitMotorDiffCurveForAction(MotorDiffCurveForAction motorDiffCurveF
default:
throw new DbcException("Invalid curve direction: " + motorDiffCurveForAction.direction);
}
src.add(", 'cm', ");
src.add(", 'cm', int(");
motorDiffCurveForAction.powerLeft.accept(this);
src.add(", ");
src.add("), int(");
motorDiffCurveForAction.powerRight.accept(this);
src.add(")");
src.add("))");
return null;
}

Expand Down Expand Up @@ -350,21 +353,22 @@ public Void visitMotorDiffCurveAction(MotorDiffCurveAction motorDiffCurveAction)
}
switch ( motorDiffCurveAction.direction ) {
case "BACKWARD":
src.add("-(");
src.add("int(-(");
motorDiffCurveAction.powerLeft.accept(this);
src.add("), -(");
src.add(")), int(-(");
motorDiffCurveAction.powerRight.accept(this);
src.add(")");
break;
case "FORWARD":
src.add("int(");
motorDiffCurveAction.powerLeft.accept(this);
src.add(", ");
src.add("), int(");
motorDiffCurveAction.powerRight.accept(this);
break;
default:
throw new DbcException("Invalid curve direction: " + motorDiffCurveAction.direction);
}
src.add(")");
src.add("))");
return null;
}

Expand Down Expand Up @@ -403,9 +407,9 @@ public Void visitMotorOnForAction(MotorOnForAction motorOnForAction) {

}
motorOnForAction.value.accept(this);
this.src.add(", ");
this.src.add(", int(");
motorOnForAction.power.accept(this);
this.src.add(")");
this.src.add("))");
return null;
}

Expand All @@ -417,8 +421,9 @@ public Void visitMotorOnAction(MotorOnAction motorOnAction) {
} else {
src.add(".start_at_power(");
}
src.add("int(");
motorOnAction.power.accept(this);
src.add(")");
src.add("))");
return null;
}

Expand Down