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class SteeringController
values
MAX_POINT : Grid`Point = mk_Grid`Point(100,100);
types
public Route= seq of Grid`Point;
instance variables
private routes : seq of Route := [];
public static obsSensors : set of ObstacleSensor := {};
private batCap : int := 1;
private dest: Grid`Point;
private workingGrid : Grid;
busy : bool := true;
-- inv batCap > 1 and len routes > 0 => GetBatUsage()*2 <= batCap;
operations
public SteeringController : () ==> SteeringController
SteeringController() ==
(
skip;
);
-- GET
private GetPointDirection : Grid`Point ==> ObstacleSensor`SensorDirection
GetPointDirection(p) ==
(
let curPos = GetPos() in
if curPos.X > p.X then return <East>
else if curPos.X < p.X then return <West>
else if curPos.Y > p.Y then return <North>
else return <South>
);
pure private GetBatUsage: () ==> nat
GetBatUsage() ==
return len routes(len routes)
pre len routes > 0;
pure private GetPos : () ==> Grid`Point
GetPos() ==
let r = routes(len routes) in
return r(len r);
private GetRoutes : () ==> seq of Route
GetRoutes () ==
return routes;
private GetNeighbourPoints : () ==> set of Grid`Point
GetNeighbourPoints() ==
return
(
let cPos = GetPos()
in
(
{mk_Grid`Point(cPos.X,y)| y in set {cPos.Y+1, cPos.Y-1} & y>=0}
union
{mk_Grid`Point(x,cPos.Y)| x in set {cPos.X+1, cPos.X-1} & x>=0}
) \ {cPos}
)
post RESULT =
(
let cPos = GetPos()
in
(
{mk_Grid`Point(cPos.X,y)| y in set {cPos.Y+1, cPos.Y-1} & y>=0}
union
{mk_Grid`Point(x,cPos.Y)| x in set {cPos.X+1, cPos.X-1} & x>=0}
) \ {cPos}
) and forall p in set RESULT & workingGrid.IsValidGridPoint(p);
private GetNextMove : set of Grid`Point ==> [Grid`Point]
GetNextMove (neighbourPoints) ==
(
let freePts= {p|p in set neighbourPoints
& workingGrid.GetPointAvalibility(p.X,p.Y)=<Free> and
not IsInRoute(p)}
in
if card freePts > 0 then
return Robot`nmc.GetNextPoint(freePts, dest)
else
return nil;
);
-- Other help operations (GET)
private IsDestination : Grid`Point ==> bool
IsDestination(p) ==
return p.X = dest.X and p.Y = dest.Y;
private DoesRouteHaveMoreOptions : () ==> bool
DoesRouteHaveMoreOptions () ==
(
return len routes(len routes) > 1
);
private IsInRoute : Grid`Point ==> bool
IsInRoute(p) ==
(
let r = conc routes in
if card {r(x) | x in set inds r & r(x) = p} > 0
then return true
else return false
);
-- operations moving or changing the location
private StartNewRoute : () ==> ()
StartNewRoute() ==
(
let r = routes(len routes)
in
if len r > 1 then
(
routes := routes ^ [r(1,...,len routes(len routes)-1)];
);
);
public ReturnToBase : () ==> ()
ReturnToBase() ==
skip;
private Move : Grid`Point ==> ()
Move(p) ==
duration(1000)
(
let r = routes(len routes)
in routes(len routes) := r ^ [p]
)
pre GetBatUsage()*2 <= batCap and batCap > 1 and
let cp = routes(len routes)(len routes(len routes))
in p.X <> cp.X or p.Y <> cp.Y
post p = routes(len routes)(len routes(len routes));
private RestartNewRoute : () ==> ()
RestartNewRoute () ==
(
ReturnToBase();
StartNewRoute();
);
private FindRoute : () ==> Grid * seq of Route * Grid`Point * bool
FindRoute() ==
(
if FindRouteToDestination() then
(
Robot`dataReader.Read();
Util`PrintDebug("Succes");
)
else
(
Util`PrintDebug("No route found, has reached dead end");
);
ReturnToBase();
Util`PrintDebug("The End");
return mk_( workingGrid,routes, dest, IsDestination(GetPos()) );
)
pre workingGrid.IsValidGridPoint(dest);
private FindRouteToDestination : () ==> bool
FindRouteToDestination () ==
(
while not IsDestination(GetPos()) and GetBatUsage()*2 <= batCap do
(
let neighbourPoints = {n|n in set GetNeighbourPoints()
& workingGrid.IsValidGridPoint(n)}
in
if card neighbourPoints > 0 then
(
DiscoverUnknownNeighbourPoints(neighbourPoints);
let nextMove = GetNextMove(neighbourPoints)
in
if nextMove <> nil then
(
Move(nextMove);
Util`PrintDebug("Moved to pos:");
Util`PrintValue(GetPos())
)
else
(
if DoesRouteHaveMoreOptions() then
RestartNewRoute()
else
return false;
-- no routes to destination. Dead end
);
)
else
RestartNewRoute();
);
return true; -- route found
);
private DiscoverUnknownNeighbourPoints : set of Grid`Point ==> ()
DiscoverUnknownNeighbourPoints(neighbourPoints) ==
(
let unknownPoints = {p| p in set neighbourPoints
& workingGrid.GetPointAvalibility(p.X,p.Y)=<Unknown>}
in
(
let knownMappings = { p |-> obs.GetPointAvalibility(p)
| obs in set obsSensors, p in set unknownPoints
& obs.GetDirection() = GetPointDirection(p)}
in
workingGrid.SetPointMP(knownMappings)
);
)
pre forall p in set neighbourPoints & workingGrid.IsValidGridPoint(p);
public SetDiscoverInfo: Grid`Point * Grid`Point * int ==> ()
SetDiscoverInfo(startingPoint, destination, batCapacity) ==
(
workingGrid := new Grid(startingPoint, MAX_POINT);
workingGrid.SetPointMP({startingPoint |-> <Free>});
batCap:= batCapacity;
dest:= destination;
routes := [ [startingPoint] ];--first route first point = startingPoint
)
pre ValidatePoint(MAX_POINT,destination) and
ValidatePoint(MAX_POINT, startingPoint) and
batCapacity >=2;
public AddObstacleSensor: ObstacleSensor ==> ()
AddObstacleSensor(obs) ==
obsSensors := obsSensors union {obs};
public isFinished : () ==> ()
isFinished () == skip;
sync
per isFinished => not busy;
thread
while busy do
(
let res = FindRoute()
in
World`env.handleEvent(res.#1, res.#2, res.#3, res.#4);
busy := false;
);
sync
per FindRoute => #fin(SetDiscoverInfo) > #fin(FindRoute);
mutex (FindRoute);
mutex (SetDiscoverInfo, FindRoute);
mutex (SetDiscoverInfo);
mutex (AddObstacleSensor);
functions
ValidatePoint: Grid`Point * Grid`Point -> bool
ValidatePoint(max,point) ==
max.X >= point.X and max.Y >= point.Y and point.X>= 0 and point.Y >=0;
end SteeringController
class SteeringControllerTest is subclass of TestCase
values
sta : Grid`Point = mk_Grid`Point(0,0);
operations
protected SetUp: () ==> ()
SetUp () == skip;
protected RunTest: () ==> ()
RunTest () == skip;
protected TearDown: () ==> ()
TearDown () == skip
end SteeringControllerTest
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