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Started work on new SA

Casper Thule 3 years ago
parent
commit
e15d20925a

+ 69 - 0
DSL_SemanticAdaptation/be.uantwerpen.ansymo.semanticadaptation.cg.cpp.tests/test_input/single_folder_spec/lazy/lazy.sa

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+semantic adaptation reactive moore LazySA lazy_sa
+at "./path/to/LazySA.fmu"
+
+	for inner fmu Controller controller
+	at "./path/to/Controller.fmu"
+	with input ports obj_detected, passenger_up, passenger_down, passenger_stop, driver_up, driver_down, driver_stop
+	with output ports up, down, stop
+
+input ports obj_detected -> controller.obj_detected,
+			passenger_up -> controller.passenger_up,
+			passenger_down -> controller.passenger_down,
+			passenger_stop -> controller.passenger_stop,
+			driver_up -> controller.driver_up,
+			driver_down -> controller.driver_down,
+			driver_stop -> controller.driver_stop
+
+output ports up, down, stop
+
+param 	INIT_OBJ_DETECTED := false,
+		INIT_PASSENGER_UP := false,
+		INIT_PASSENGER_DOWN := false,
+		INIT_PASSENGER_STOP := false,
+		INIT_DRIVER_UP := false,
+		INIT_DRIVER_DOWN := false,
+		INIT_DRIVER_STOP := false;
+
+control var	tn := -1.0,
+			tl := -1.0,
+			prev_obj_detected := INIT_OBJ_DETECTED,
+			prev_passenger_up := INIT_PASSENGER_UP,
+			prev_passenger_down := INIT_PASSENGER_DOWN,
+			prev_passenger_stop := INIT_PASSENGER_STOP,
+			prev_driver_up := INIT_DRIVER_UP,
+			prev_driver_down := INIT_DRIVER_DOWN,
+			prev_driver_stop := INIT_DRIVER_STOP;
+
+control rules {
+	if (tl < 0.0){
+		tl := t;
+	}
+	
+	var step_size := min(H, tn - t); 
+	if (lazy_sa.obj_detected != prev_obj_detected or
+		lazy_sa.passenger_up != prev_passenger_up or
+		lazy_sa.passenger_down != prev_passenger_down or
+		lazy_sa.passenger_stop != prev_passenger_stop or
+		lazy_sa.driver_up != prev_driver_up or
+		lazy_sa.driver_down != prev_driver_down or
+		lazy_sa.driver_stop != prev_driver_stop or
+		(t+H) >= tn
+	){
+		var step_to_be_done := (t+H-tl);
+		var step_done := do_step(controller, t, step_to_be_done); 
+		tn := tl + step_done + get_next_time_step(controller); 
+		step_size := tl + step_done - t; 
+		tl := tl + step_done; 
+	}
+	
+	prev_obj_detected := lazy_sa.obj_detected;
+	prev_passenger_up := lazy_sa.passenger_up;
+	prev_passenger_down := lazy_sa.passenger_down;
+	prev_passenger_stop := lazy_sa.passenger_stop;
+	prev_driver_up := lazy_sa.driver_up;
+	prev_driver_down := lazy_sa.driver_down;
+	prev_driver_stop := lazy_sa.driver_stop;
+	
+	return step_size;
+}
+