Quelle aah.vdmsl Sprache: VDM

\begin{vdm_al}

module AAH

imports from AUX all,
        from HCM all

exports all

definitions

state AAH of
      active_axes : set of AUX`RotAxis
      ignore_hcm  : set of AUX`RotAxis
      toggle      : EngageState
      timeout     : nat
init s ==
  s = mk_AAH({},{},<AAH_off>,0)
end

types

  EngageState = <AAH_off> | <AAH_started> | <AAH_on> | <pressed_once> |
                <AAH_closing> | <pressed_twice>;

values

  click_timeout: nat = 10 -- was 100, changed for test purposes

operations

  Transition: HCM`ControlButton * AUX`SixDofCommand * nat ==> ()
  Transition(button_pos,hcm_cmd,clock) ==
    let
      engage = ButtonTransition(toggle,button_pos,active_axes,clock,timeout),
      starting = (toggle = <AAH_off>) and (engage = <AAH_started>)
    in
      (active_axes:= {a | a in set AUX`rot_axis_set &
                          starting or
                          (engage <> <AAH_off> and a in set active_axes and
                           (hcm_cmd.rot(a) = <Zero> or a in set ignore_hcm))};
       ignore_hcm:= {a | a in set AUX`rot_axis_set &
                         (starting and hcm_cmd.rot(a) <> <Zero>) or
                         (not starting and a in set ignore_hcm)};
       timeout:= if toggle = <AAH_on> and engage = <pressed_once>
                 then clock + click_timeout
                 else timeout;
       toggle:= engage);

  ActiveAxes: () ==> set of AUX`RotAxis
  ActiveAxes() == return active_axes;

  IgnoreHcm: () ==> set of AUX`RotAxis
  IgnoreHcm() == return ignore_hcm;

  Toggle: () ==> EngageState
  Toggle() == return toggle

functions

  AllAxesOff: set of AUX`RotAxis +> bool
  AllAxesOff(active) == active = {};

  ButtonTransition: EngageState * HCM`ControlButton * set of AUX`RotAxis *
                    nat * nat +> EngageState
  ButtonTransition(estate,button,active,clock,timeout) ==
    cases mk_(estate,button) :
      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(active)
                                     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(active)
                                     then <AAH_off>
                                     elseif clock > 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}

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Beweissystem der NASA

Beweissystem Isabelle

NIST Cobol Testsuite

Cephes Mathematical Library

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