Issue #1446: call clap sensor sample each time a "noisy" programming …

…block ends

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edison/action.py

@@ -15,33 +15,46 @@
 def ____drive():
     global ___n, ___b, ___nl
     _diffDrive(Ed.FORWARD, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffDrive(Ed.BACKWARD, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffDrive(Ed.FORWARD, ___n, Ed.DISTANCE_UNLIMITED)
     _diffDrive(Ed.BACKWARD, ___n, Ed.DISTANCE_UNLIMITED)
     Ed.Drive(Ed.STOP, Ed.SPEED_1, 1)
+    Ed.ReadClapSensor()
     _diffTurn(Ed.SPIN_RIGHT, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffTurn(Ed.SPIN_LEFT, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffTurn(Ed.SPIN_RIGHT, ___n, Ed.DISTANCE_UNLIMITED)
     _diffTurn(Ed.SPIN_LEFT, ___n, Ed.DISTANCE_UNLIMITED)
     _diffCurve(Ed.FORWARD, ___n, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffCurve(Ed.BACKWARD, ___n, ___n, ___n)
+    Ed.ReadClapSensor()
     _diffCurve(Ed.FORWARD, ___n, ___n, Ed.DISTANCE_UNLIMITED)
     _diffCurve(Ed.BACKWARD, ___n, ___n, Ed.DISTANCE_UNLIMITED)
 
 def ____sounds():
     global ___n, ___b, ___nl
     Ed.PlayTone(8000000/1000, ___n)
     Ed.TimeWait(___n, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
     Ed.PlayTone(4000000/261, 2000)
     Ed.TimeWait(2000, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
     Ed.PlayTone(4000000/293, 1000)
     Ed.TimeWait(1000, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
     Ed.PlayTone(4000000/329, 500)
     Ed.TimeWait(500, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
     Ed.PlayTone(4000000/349, 250)
     Ed.TimeWait(250, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
     Ed.PlayTone(4000000/391, 125)
     Ed.TimeWait(125, Ed.TIME_MILLISECONDS)
+    Ed.ReadClapSensor()
 
 def ____lights():
     global ___n, ___b, ___nl
@@ -60,30 +73,34 @@ def ____move():
     _motorOn(0, ___n, Ed.DISTANCE_UNLIMITED)
     _motorOn(1, ___n, Ed.DISTANCE_UNLIMITED)
     Ed.DriveLeftMotor(Ed.STOP, Ed.SPEED_1, 1)
+    Ed.ReadClapSensor()
     Ed.DriveRightMotor(Ed.STOP, Ed.SPEED_1, 1)
+    Ed.ReadClapSensor()
 
 ____action()
 ___soundfile1 = Ed.TuneString(7,"c8e8g8z")
 Ed.PlayTune(___soundfile1)
 while (Ed.ReadMusicEnd() == Ed.MUSIC_NOT_FINISHED):
     pass
+Ed.ReadClapSensor()
 ___soundfile2 = Ed.TuneString(7,"g8e8c8z")
 Ed.PlayTune(___soundfile2)
 while (Ed.ReadMusicEnd() == Ed.MUSIC_NOT_FINISHED):
     pass
+Ed.ReadClapSensor()
 
 
 def _diffCurve(direction, leftSpeed, rightSpeed, distance):
-    if (leftSpeed < 0):
+    if (leftSpeed < 0): 
         _leftSpeed = _shorten(-leftSpeed)
         _reverseLeft = True
-    else:
+    else: 
         _leftSpeed = _shorten(leftSpeed)
         _reverseLeft = False
-    if (rightSpeed < 0):
+    if (rightSpeed < 0): 
         _rightSpeed = _shorten(-rightSpeed)
         _reverseRight = True
-    else:
+    else: 
         _rightSpeed = _shorten(rightSpeed)
         _reverseRight = False
     if (_leftSpeed > _rightSpeed):
@@ -93,15 +110,17 @@ def _diffCurve(direction, leftSpeed, rightSpeed, distance):
             Ed.DriveLeftMotor(_getDirection(direction, _reverseLeft), _leftSpeed, Ed.DISTANCE_UNLIMITED)
             Ed.DriveRightMotor(_getDirection(direction, _reverseRight), _rightSpeed, Ed.DISTANCE_UNLIMITED)
         Ed.DriveLeftMotor(_getDirection(direction, _reverseLeft), _leftSpeed, distance)
-        if (distance != Ed.DISTANCE_UNLIMITED): Ed.Drive(Ed.STOP, 1, 1)
+        if (distance != Ed.DISTANCE_UNLIMITED): 
+            Ed.Drive(Ed.STOP, 1, 1)
     elif (_leftSpeed < _rightSpeed):
         if (_leftSpeed == 0):
             Ed.DriveLeftMotor(Ed.STOP, 0, 0)
         else:
             Ed.DriveRightMotor(_getDirection(direction, _reverseRight), _rightSpeed, Ed.DISTANCE_UNLIMITED)
             Ed.DriveLeftMotor(_getDirection(direction, _reverseLeft), _leftSpeed, Ed.DISTANCE_UNLIMITED)
         Ed.DriveRightMotor(_getDirection(direction, _reverseRight), _rightSpeed, distance)
-        if (distance != Ed.DISTANCE_UNLIMITED): Ed.Drive(Ed.STOP, 1, 1)
+        if (distance != Ed.DISTANCE_UNLIMITED): 
+            Ed.Drive(Ed.STOP, 1, 1)
     else:
         if (_leftSpeed == 0):
             Ed.Drive(Ed.STOP, 1, 1)
@@ -113,27 +132,38 @@ def _diffDrive(direction, speed, distance):
     if speed < 0:
         _reverse = True
         _speed = _shorten(-speed)
-    else: _speed = _shorten(speed)
-    if (_speed == 0): Ed.Drive(Ed.STOP, 1, 1)
-    else: Ed.Drive(_getDirection(direction, _reverse), _speed, distance)
+    else: 
+        _speed = _shorten(speed)
+    if (_speed == 0): 
+        Ed.Drive(Ed.STOP, 1, 1)
+    else: 
+        Ed.Drive(_getDirection(direction, _reverse), _speed, distance)
 
 def _diffTurn(direction, speed, degree):
     _reverse = False
     if speed < 0:
         _reverse = True
         _speed = _shorten(-speed)
-    else: _speed = _shorten(speed)
-    if (_speed == 0): Ed.Drive(Ed.STOP, 1, 1)
+    else: 
+        _speed = _shorten(speed)
+    if (_speed == 0): 
+        Ed.Drive(Ed.STOP, 1, 1)
     elif _reverse:
-        if direction == Ed.SPIN_RIGHT: Ed.Drive(Ed.SPIN_LEFT, _speed, degree)
-        else: Ed.Drive(Ed.SPIN_RIGHT, _speed, degree)
-    else: Ed.Drive(direction, _speed, degree)
+        if direction == Ed.SPIN_RIGHT: 
+            Ed.Drive(Ed.SPIN_LEFT, _speed, degree)
+        else: 
+            Ed.Drive(Ed.SPIN_RIGHT, _speed, degree)
+    else: 
+        Ed.Drive(direction, _speed, degree)
 
 def _getDirection(dir, reverse):
     if reverse:
-       if (dir == Ed.FORWARD): return Ed.BACKWARD
-       else: return Ed.FORWARD
-    else: return dir
+        if (dir == Ed.FORWARD): 
+            return Ed.BACKWARD
+        else: 
+            return Ed.FORWARD
+    else: 
+        return dir
 
 def _motorOn(motor, power, distance):
     _dir = Ed.FORWARD
@@ -143,10 +173,15 @@ def _motorOn(motor, power, distance):
         _reverse = True
     else: _power = _shorten(power)
     if (motor == Ed.MOTOR_LEFT):
-        if (_power == 0): Ed.DriveLeftMotor(Ed.STOP, 0, 0)
-        else: Ed.DriveLeftMotor(_getDirection(_dir, _reverse), _power, distance)
+        if (_power == 0): 
+            Ed.DriveLeftMotor(Ed.STOP, 0, 0)
+        else: 
+            Ed.DriveLeftMotor(_getDirection(_dir, _reverse), _power, distance)
     if (motor == Ed.MOTOR_RIGHT):
-        if (_power == 0): Ed.DriveRightMotor(Ed.STOP, 0, 0)
-        else: Ed.DriveRightMotor(_getDirection(_dir, _reverse), _power, distance)
+        if (_power == 0): 
+            Ed.DriveRightMotor(Ed.STOP, 0, 0)
+        else: 
+            Ed.DriveRightMotor(_getDirection(_dir, _reverse), _power, distance)
 
-def _shorten(num): return ((num+5)/10)
+def _shorten(num): 
+    return ((num+5)/10)

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edison/math_lists.py

@@ -50,8 +50,10 @@ def ____lists():
 
 
 def _abs(num):
-    if (num < 0): return -num
-    else: return num
+    if (num < 0): 
+        return -num
+    else: 
+        return num
 
 def max(list):
     listMax = list[0]
@@ -77,15 +79,18 @@ def _pow(base, exp):
     return result
 
 def _isPrime(num):
-    if num <= 1: return False
+    if num <= 1: 
+        return False
     newNum = num - 2
     for x in range(newNum):
         y = (x + 2)
-        if (num % y) == 0: return False
+        if (num % y) == 0: 
+            return False
     return True
 
 def sum(list):
     listSum = 0
     listLength = len(list)
-    for i in range(listLength): listSum = (listSum + list[i])
+    for i in range(listLength): 
+        listSum = (listSum + list[i])
     return listSum

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edison/sensors.py

@@ -87,8 +87,10 @@ def _irSeek(mode):
     if (obstacleDetectionOn == True):
         Ed.ObstacleDetectionBeam(Ed.OFF)
         obstacleDetectionOn = False
-    if (mode == 0): return Ed.ReadIRData()
-    elif (mode == 1): return Ed.ReadRemote()
+    if (mode == 0): 
+        return Ed.ReadIRData()
+    elif (mode == 1): 
+        return Ed.ReadRemote()
 
 def _obstacleDetection(mode):
     global obstacleDetectionOn

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edison/text_messages_functions.py

@@ -50,8 +50,10 @@ def _irSeek(mode):
     if (obstacleDetectionOn == True):
         Ed.ObstacleDetectionBeam(Ed.OFF)
         obstacleDetectionOn = False
-    if (mode == 0): return Ed.ReadIRData()
-    elif (mode == 1): return Ed.ReadRemote()
+    if (mode == 0): 
+        return Ed.ReadIRData()
+    elif (mode == 1): 
+        return Ed.ReadRemote()
 
 def _irSend(payload):
     global obstacleDetectionOn

RobotEdison/src/main/java/de/fhg/iais/roberta/visitor/codegen/EdisonPythonVisitor.java

@@ -258,7 +258,6 @@ public Void visitDriveAction(DriveAction driveAction) {
                 direction = "Ed.BACKWARD";
                 break;
         }
-
         this.sb.append(this.getBean(CodeGeneratorSetupBean.class)
             .getHelperMethodGenerator()
             .getHelperMethodName(EdisonMethods.DIFFDRIVE));
@@ -270,9 +269,11 @@ public Void visitDriveAction(DriveAction driveAction) {
         } else {
             this.sb.append("Ed.DISTANCE_UNLIMITED");
         }
-
         this.sb.append(")");
-
+        if ( driveAction.param.getDuration() != null ) {
+            nlIndent();
+            this.sb.append("Ed.ReadClapSensor()");
+        }
         return null;
     }
 
@@ -401,6 +402,10 @@ public Void visitCurveAction(CurveAction curveAction) {
             curveAction.paramLeft.getDuration().getValue().accept(this);
         }
         this.sb.append(")");
+        if ( curveAction.paramLeft.getDuration() != null ) {
+            nlIndent();
+            this.sb.append("Ed.ReadClapSensor()");
+        }
         return null;
     }
 
@@ -421,7 +426,10 @@ public Void visitTurnAction(TurnAction turnAction) {
             this.sb.append("Ed.DISTANCE_UNLIMITED");
         }
         this.sb.append(")");
-
+        if ( turnAction.param.getDuration() != null ) {
+            nlIndent();
+            this.sb.append("Ed.ReadClapSensor()");
+        }
         return null;
     }
 
@@ -476,6 +484,8 @@ public Void visitMotorStopAction(MotorStopAction motorStopAction) {
             default:
                 break;
         }
+        nlIndent();
+        this.sb.append("Ed.ReadClapSensor()");
         return null;
     }
 
@@ -494,6 +504,8 @@ public Void visitBinary(Binary binary) {
     @Override
     public Void visitMotorDriveStopAction(MotorDriveStopAction stopAction) {
         this.sb.append("Ed.Drive(Ed.STOP, Ed.SPEED_1, 1)");
+        nlIndent();
+        this.sb.append("Ed.ReadClapSensor()");
         return null;
     }
 
@@ -629,6 +641,8 @@ public Void visitToneAction(ToneAction toneAction) {
         this.sb.append("Ed.TimeWait(");
         toneAction.duration.accept(this);
         this.sb.append(", Ed.TIME_MILLISECONDS)");
+        nlIndent();
+        this.sb.append("Ed.ReadClapSensor()");
         return null;
     }
 
@@ -639,6 +653,8 @@ public Void visitPlayNoteAction(PlayNoteAction playNoteAction) {
         this.sb.append(", ").append(playNoteAction.duration).append(")");
         nlIndent();
         this.sb.append("Ed.TimeWait(").append(playNoteAction.duration).append(", Ed.TIME_MILLISECONDS)");
+        nlIndent();
+        this.sb.append("Ed.ReadClapSensor()");
         return null;
     }
 
@@ -688,7 +704,8 @@ public Void visitPlayFileAction(PlayFileAction playFileAction) {
         nlIndent();
         this.sb.append("pass");
         decrIndentation();
-
+        nlIndent();
+        this.sb.append("Ed.ReadClapSensor()");
         return null;
     }