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system Robot
instance variables
-- cpu speed has only influence on the model if cycles is used
cpu1 : CPU := new CPU( <FP>, 1E9);
cpu2 : CPU := new CPU( <FP>, 1E9);
cpu3 : CPU := new CPU( <FP>, 1E9);
cpu4 : CPU := new CPU( <FP>, 1E9);
cpu5 : CPU := new CPU( <FP>, 1E9);
-- BUS speed does only have effect if large amount of data
-- is transfered between CPUs
bus1 : BUS := new BUS( <FCFS>, 1E9, {cpu1});
-- steering and obs sensor
bus2 : BUS := new BUS( <FCFS>, 1E6, {cpu1,cpu2});
--sterring and mo observer
bus3 : BUS := new BUS( <FCFS>, 1E6, {cpu5,cpu1});
--sterring and datareader
bus4 : BUS := new BUS( <FCFS>, 1E6, {cpu3,cpu2});
--mo and move observer
bus5 : BUS := new BUS( <FCFS>, 1E6, {cpu4,cpu2});
--mo and move observer
private name : set of char;
public static obsSensorNorth : ObstacleSensor := new ObstacleSensor(<North>);
public static obsSensorSouth : ObstacleSensor := new ObstacleSensor(<South>);
public static obsSensorEast : ObstacleSensor := new ObstacleSensor(<East>);
public static obsSensorWest : ObstacleSensor := new ObstacleSensor(<West>);
public static dataReader : DataReader := new DataReader();
public static steering : SteeringController := new SteeringController();
public static mobs1 : MovingObstacle
:= new MovingObstacle(mk_Grid`Point(5,0),<West>);
public static mobs2 : MovingObstacle
:= new MovingObstacle(mk_Grid`Point(7,0),<West>);
public static mobs3 : MovingObstacle
:= new MovingObstacle(mk_Grid`Point(20,20),<West>);
public static mobs4 : MovingObstacle
:= new MovingObstacle(mk_Grid`Point(10,10),<South>);
public static nmc : NextMoveController := new NextMoveController();
operations
public Robot : () ==> Robot
Robot() ==
(
cpu1.deploy(obsSensorNorth);
cpu1.deploy(obsSensorSouth);
cpu1.deploy(obsSensorEast);
cpu1.deploy(obsSensorWest);
cpu5.deploy(dataReader);
cpu1.deploy(steering);
cpu1.setPriority(SteeringController`SetDiscoverInfo,80);
cpu3.deploy(mobs1);
cpu3.setPriority(MovingObstacle`Step,15);
cpu3.deploy(mobs2);
cpu3.setPriority(MovingObstacle`Step,15);
cpu4.deploy(mobs3);
cpu4.setPriority(MovingObstacle`Step,15);
cpu4.deploy(mobs4);
cpu4.setPriority(MovingObstacle`Step,15);
cpu2.deploy(nmc);
cpu2.setPriority(NextMoveController`LocateMovingObstacles,80);
);
end Robot
¤ Dauer der Verarbeitung: 0.13 Sekunden
(vorverarbeitet)
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