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\section{AAH Class}
\begin{vdm_al}
class AAH
types
public
EngageState = <AAH_off> | <AAH_started> | <AAH_on> | <pressed_once> |
<AAH_closing> | <pressed_twice>;
values
click_timeout : nat = 10;
instance variables
hcu : HandControlUnit;
clock : Clock;
rotcmd : RotationCommand := new RotationCommand();
toggle : EngageState := <AAH_off>;
gripcmd : SixDOfCommand;
timeout : nat := 0;
ignore_hcm_rot : set of Command`Axis := {};
active_rot_axes : set of Command`Axis := {};
operations
public
Update : () ==> ()
Update() ==
let engage = ButtonTransition(hcu.ReadAAH(), clock.ReadTime()),
starting = (toggle = <AAH_off>) and (engage = <AAH_started>),
mk_(-, rot) = gripcmd.GetCommand()
in (active_rot_axes := {a | a in set Command`allaxes & starting or
(engage <> <AAH_off> and
a in set active_rot_axes and
(rot(a) = <Zero> or
a in set ignore_hcm_rot))};
ignore_hcm_rot := {a | a in set Command`allaxes &
(starting and rot(a) <> <Zero>) or
(not starting and a in set ignore_hcm_rot)};
timeout := if toggle = <AAH_on> and engage = <pressed_once>
then clock.ReadTime() + click_timeout
else timeout;
toggle := engage);
public
GetRotcmd : () ==> Command`AxisMap
GetRotcmd() ==
return rotcmd.GetAxesdir();
public
SetRotcmd : Command`AxisMap ==> ()
SetRotcmd(m) ==
rotcmd.SetAxesdir(m);
public
AllAxesOff : () ==> bool
AllAxesOff() ==
return (active_rot_axes = {});
public
SetHCULink : HandControlUnit ==> ()
SetHCULink(h) ==
hcu := h;
public
SetClockLink : Clock ==> ()
SetClockLink(c) ==
clock := c;
public
GetIgnore_hcm : () ==> set of Command`Axis
GetIgnore_hcm() ==
return ignore_hcm_rot;
public
SetSixDOfLink : SixDOfCommand ==> ()
SetSixDOfLink(s) ==
gripcmd := s;
public
GetActive_axes : () ==> set of Command`Axis
GetActive_axes() ==
return active_rot_axes;
ButtonTransition : HandControlUnit`Button * nat ==> EngageState
ButtonTransition(button_pos, count) ==
return
(cases mk_(toggle,button_pos) :
mk_(<AAH_off>,<Up>) -> <AAH_off>,
mk_(<AAH_off>,<Down>) -> <AAH_started>,
mk_(<AAH_started>,<Up>) -> <AAH_on>,
mk_(<AAH_started>,<Down>) -> <AAH_started>,
mk_(<AAH_on>,<Up>) -> if AllAxesOff()
then <AAH_off>
else <AAH_on>,
mk_(<AAH_on>,<Down>) -> <pressed_once>,
mk_(<pressed_once>,<Up>) -> <AAH_closing>,
mk_(<pressed_once>,<Down>) -> <pressed_once>,
mk_(<AAH_closing>,<Up>) -> if AllAxesOff()
then <AAH_off>
elseif count > timeout
then <AAH_on>
else <AAH_closing>,
mk_(<AAH_closing>,<Down>) -> <pressed_twice>,
mk_(<pressed_twice>,<Up>) -> <AAH_off>,
mk_(<pressed_twice>,<Down>) -> <pressed_twice>
end);
end AAH
\end{vdm_al}
The test coverage table for the AAH class looks like:
\begin{rtinfo}{vdm.tc}[AAH]
\end{rtinfo}
¤ Dauer der Verarbeitung: 0.20 Sekunden
(vorverarbeitet)
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