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Datei: autor.ico Sprache: VDM

Original von: VDM^©

class NextMoveController

instance variables
obs : map Grid`Point to Grid`PointAvalibility;
mobs : set of MovingObstacle := {};
thread
-- periodic (period,jitter,delay,offset) (operation
periodic(2500E6,1,0,0)( LocateMovingObstacles);

sync
--check before move
mutex (SetObs, IsPointBlocked);

-- no simultanious calls
mutex (SetObs);
mutex (WaitForAvalibility);

mutex (LocateMovingObstacles);
mutex (GetNextPoint);
per GetNextPoint => #fin(LocateMovingObstacles) > #fin(GetNextPoint);
per IsPointBlocked => #fin(SetObs) > #fin(IsPointBlocked);

operations

public NextMoveController: () ==> NextMoveController
NextMoveController () ==
(
   skip;
);

public AddMovingObsticle : MovingObstacle ==> ()
AddMovingObsticle(mo) ==
   mobs := mobs union {mo};

private LocateMovingObstacles : () ==>()
LocateMovingObstacles() ==
duration(100)
(

    let m = { mo.GetPos()|-><Occupied> | mo in set mobs} in
     SetObs(m);
);

private SetObs: map Grid`Point to Grid`PointAvalibility ==> ()
SetObs(mp) ==
  (
   obs := { |->};
   -- remove old data could be replaced by using the thread
   -- id of the thread
   obs := obs ++ mp
);

private WaitForAvalibility: Grid`Point ==> ()
WaitForAvalibility(p) ==
   while IsPointBlocked(p) do
    (
     Util`PrintDebug("Waiting for obstacle on pos:");
     Util`PrintValue(p);
     Util`PrintInt(time);

     skip;
   );

private IsPointBlocked: Grid`Point ==> bool
IsPointBlocked(p) ==
(

          Util`PrintDebug("Requesting Pos");
          Util`PrintValue(p);
          Util`PrintDebug("Mobs");
          for all mo in set dom obs do
            Util`PrintValue(mo);

if p in set dom obs then
Util`PrintDebug("in")
else
Util`PrintDebug("not");

   return p in set dom obs;
);

public GetNextPoint : set of Grid`Point * Grid`Point ==> [Grid`Point]
GetNextPoint(neighbours, dest) ==
   let tmp : set1 of Grid`Point ={p| p in set neighbours
             & not exists q in set neighbours &
                      Distance(p, dest) > Distance(q, dest)}
    in
      for all p in set tmp
        do
        (

          WaitForAvalibility(p);


           return p
        )
pre card neighbours > 0;

functions

  Distance: Grid`Point * Grid`Point -> nat
  Distance(p1, p2) ==
    def a = (p2.X-p1.X)* (p2.X-p1.X) + (p2.Y-p1.Y)* (p2.Y-p1.Y)
      in
        if 0<= a then
          floor(MATH`sqrt(a))
        else
           0;

end NextMoveController

class NextMoveControllerTest is subclass of TestCase
values

operations
protected SetUp: () ==> ()
SetUp () == skip;

protected RunTest: () ==> ()
RunTest () == skip;

  protected TearDown: () ==> ()
TearDown () == skip

end NextMoveControllerTest

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