|
class NextMoveController
instance variables
obs : map Grid`Point to Grid`PointAvalibility;
mobs : set of MovingObstacle := {};
thread
-- periodic (period,jitter,delay,offset) (operation
periodic(2500E6,1,0,0)( LocateMovingObstacles);
sync
--check before move
mutex (SetObs, IsPointBlocked);
-- no simultanious calls
mutex (SetObs);
mutex (WaitForAvalibility);
mutex (LocateMovingObstacles);
mutex (GetNextPoint);
per GetNextPoint => #fin(LocateMovingObstacles) > #fin(GetNextPoint);
per IsPointBlocked => #fin(SetObs) > #fin(IsPointBlocked);
operations
public NextMoveController: () ==> NextMoveController
NextMoveController () ==
(
skip;
);
public AddMovingObsticle : MovingObstacle ==> ()
AddMovingObsticle(mo) ==
mobs := mobs union {mo};
private LocateMovingObstacles : () ==>()
LocateMovingObstacles() ==
duration(100)
(
let m = { mo.GetPos()|-><Occupied> | mo in set mobs} in
SetObs(m);
);
private SetObs: map Grid`Point to Grid`PointAvalibility ==> ()
SetObs(mp) ==
(
obs := { |->};
-- remove old data could be replaced by using the thread
-- id of the thread
obs := obs ++ mp
);
private WaitForAvalibility: Grid`Point ==> ()
WaitForAvalibility(p) ==
while IsPointBlocked(p) do
(
Util`PrintDebug("Waiting for obstacle on pos:");
Util`PrintValue(p);
Util`PrintInt(time);
skip;
);
private IsPointBlocked: Grid`Point ==> bool
IsPointBlocked(p) ==
(
Util`PrintDebug("Requesting Pos");
Util`PrintValue(p);
Util`PrintDebug("Mobs");
for all mo in set dom obs do
Util`PrintValue(mo);
if p in set dom obs then
Util`PrintDebug("in")
else
Util`PrintDebug("not");
return p in set dom obs;
);
public GetNextPoint : set of Grid`Point * Grid`Point ==> [Grid`Point]
GetNextPoint(neighbours, dest) ==
let tmp : set1 of Grid`Point ={p| p in set neighbours
& not exists q in set neighbours &
Distance(p, dest) > Distance(q, dest)}
in
for all p in set tmp
do
(
WaitForAvalibility(p);
return p
)
pre card neighbours > 0;
functions
Distance: Grid`Point * Grid`Point -> nat
Distance(p1, p2) ==
def a = (p2.X-p1.X)* (p2.X-p1.X) + (p2.Y-p1.Y)* (p2.Y-p1.Y)
in
if 0<= a then
floor(MATH`sqrt(a))
else
0;
end NextMoveController
class NextMoveControllerTest is subclass of TestCase
values
operations
protected SetUp: () ==> ()
SetUp () == skip;
protected RunTest: () ==> ()
RunTest () == skip;
protected TearDown: () ==> ()
TearDown () == skip
end NextMoveControllerTest
¤ Dauer der Verarbeitung: 0.1 Sekunden
(vorverarbeitet)
¤
|
Haftungshinweis
Die Informationen auf dieser Webseite wurden
nach bestem Wissen sorgfältig zusammengestellt. Es wird jedoch weder Vollständigkeit, noch Richtigkeit,
noch Qualität der bereit gestellten Informationen zugesichert.
Bemerkung:
Die farbliche Syntaxdarstellung ist noch experimentell.
|
