Quelle ChessWay.vdmrt Sprache: VDM

% ChessWay.vdmrt

\subsubsection{Constructing the system model -- the \texttt{ChessWay} class}

The \texttt{ChessWay} system class defines the distributed architecture on which
the embedded controller software is deployed. The system is composed of two CPUs
connected by a BUS. The BUS is used in case the controllers deployed on either
processor need to communicate, for example to exchange information relating to
their internal state.

\begin{vdm_al}
system ChessWay

instance variables
  -- architecture definition (two CPUs at 10 MIPS)
  fpga1 : CPU := new CPU(<FP>, 10E6);
  fpga2 : CPU := new CPU(<FP>, 10E6);

  -- communication infrastructure (one BUS at 100 kpbs)
  bus : BUS := new BUS(<FCFS>, 100E3, {fpga1, fpga2});
\end{vdm_al}

\begin{vdm_al}
instance variables
  -- sensors (co-simulation variables)
  public static acc_in: [ISensorReal] := nil;
  public static vel_in: [ISensorReal] := nil;

  -- actuators (co-simulation variables)
  public static acc_out: [IActuatorReal] := nil;
  public static vel_out: [IActuatorReal] := nil
\end{vdm_al}

\begin{vdm_al}
instance variables
  -- deployable objects (two controllers)
  static public lctrl : LeftController := new LeftController();
  static public rctrl : RightController := new RightController();

  -- flag to enable debugging logging in system classes
  static public debug : bool := true
\end{vdm_al}

The system constructor deploys the instances of the \texttt{LeftController} and
the \texttt{RightController}, one to each CPU, which are named \texttt{LeftCtrl}
and \texttt{RightCtrl} respectively.

\begin{vdm_al}
operations
  -- construct the system class
  public ChessWay : () ==> ChessWay
  ChessWay () ==
    ( -- deploy the controllers on the CPUs
      fpga1.deploy(lctrl,"LeftCtrl");
      fpga2.deploy(rctrl,"RightCtrl") );

end ChessWay
\end{vdm_al}

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