lazy_canonical.sa 2.2 KB

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  1. semantic adaptation reactive moore LazySA lazy_sa
  2. at "./path/to/LazySA.fmu"
  3. for inner fmu Controller controller
  4. at "test_input/single_folder_spec/lazy/Controller.fmu"
  5. with input ports obj_detected, passenger_up, passenger_down, passenger_stop, driver_up, driver_down, driver_stop
  6. with output ports up, down, stop
  7. input ports obj_detected -> controller.obj_detected,
  8. passenger_up -> controller.passenger_up,
  9. passenger_down -> controller.passenger_down,
  10. passenger_stop -> controller.passenger_stop,
  11. driver_up -> controller.driver_up,
  12. driver_down -> controller.driver_down,
  13. driver_stop -> controller.driver_stop
  14. output ports up, down, stop
  15. param INIT_OBJ_DETECTED := false,
  16. INIT_PASSENGER_UP := false,
  17. INIT_PASSENGER_DOWN := false,
  18. INIT_PASSENGER_STOP := false,
  19. INIT_DRIVER_UP := false,
  20. INIT_DRIVER_DOWN := false,
  21. INIT_DRIVER_STOP := false;
  22. control var tn := -1.0,
  23. tl := -1.0,
  24. prev_obj_detected := INIT_OBJ_DETECTED,
  25. prev_passenger_up := INIT_PASSENGER_UP,
  26. prev_passenger_down := INIT_PASSENGER_DOWN,
  27. prev_passenger_stop := INIT_PASSENGER_STOP,
  28. prev_driver_up := INIT_DRIVER_UP,
  29. prev_driver_down := INIT_DRIVER_DOWN,
  30. prev_driver_stop := INIT_DRIVER_STOP;
  31. control rules {
  32. if (tl < 0.0){
  33. tl := t;
  34. }
  35. var step_size := min(H, tn - t);
  36. if (lazy_sa.obj_detected != prev_obj_detected or
  37. lazy_sa.passenger_up != prev_passenger_up or
  38. lazy_sa.passenger_down != prev_passenger_down or
  39. lazy_sa.passenger_stop != prev_passenger_stop or
  40. lazy_sa.driver_up != prev_driver_up or
  41. lazy_sa.driver_down != prev_driver_down or
  42. lazy_sa.driver_stop != prev_driver_stop or
  43. (t+H) >= tn
  44. ){
  45. var step_to_be_done := (t+H-tl);
  46. var step_done := do_step(controller, t, step_to_be_done);
  47. tn := tl + step_done + get_next_time_step(controller);
  48. step_size := tl + step_done - t;
  49. tl := tl + step_done;
  50. }
  51. prev_obj_detected := lazy_sa.obj_detected;
  52. prev_passenger_up := lazy_sa.passenger_up;
  53. prev_passenger_down := lazy_sa.passenger_down;
  54. prev_passenger_stop := lazy_sa.passenger_stop;
  55. prev_driver_up := lazy_sa.driver_up;
  56. prev_driver_down := lazy_sa.driver_down;
  57. prev_driver_stop := lazy_sa.driver_stop;
  58. return step_size;
  59. }
  60. in var