| Quellcodebibliothek Statistik Leitseite products/Sources/formale Sprachen/VDM/VDMPP/SAFERPP/ (Wiener Entwicklungsmethode ©) Datei vom 13.4.2020 mit Größe 3 kB |
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Quelle AAH.vdmpp Sprache: VDM |
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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: 0.11 Sekunden (vorverarbeitet) ¤*© Formatika GbR, Deutschland |
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2026-03-28