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Datei: Controller.vdmrt Sprache: VDM

Original von: VDM^©

\section{Controller Class}

\begin{vdm_al}
-----------------------------------------------
-- Class: Controller
-- Description: Controller is main class in
-- every independent VeMo unit
-----------------------------------------------

--
-- class definition
--
class Controller

--
-- instance variables
--
instance variables
-- traffic data issued by this controller, that will be passed on
-- other controllers.
private internalTrafficData : seq of TrafficData := [];
inv len internalTrafficData <=  Config`TrafficDataKeeptNumber;
-- traffic data from other controllers moving in the opposite direction,
private externalTrafficData : seq of TrafficData := [];
-- this will not be passes on as it makes no sense with the current
-- warning types.
inv len externalTrafficData <= Config`TrafficDataKeeptNumber;

--keep track of whom we have communicated with.
private communicatedWith : seq of nat := [];
inv len communicatedWith <= Config`TrafficDataKeeptNumber;

private traffic : Traffic;
-- the vehicle the VeMo system Controller is placed in.
private vemoVehicle : Vehicle;

private canRun : bool := true;
--
-- Types definition section
--
types

--
-- Operations definition section
--
operations

public Controller : Vehicle ==> Controller
Controller (vehicle) ==
(
vemoVehicle := vehicle;
traffic := new Traffic();
);

async public AddOncomingVehicle: VehicleData ==> ()
AddOncomingVehicle(vd) ==
(
if not traffic.ExistVehicleData(vd)
then
let v = new Vehicle(vd) in
traffic.AddVehicle(v);
);

public AddTrafficData:  nat * seq of TrafficData ==> ()
AddTrafficData(vemoUnitID, data) ==
(
--we cant use empty data
if data = []
then
return;

--did we already exchange information?
if vemoUnitID in set elems communicatedWith
then
return;

--keep track of who we have communicated with
if len communicatedWith < Config`TrafficDataKeeptNumber
then
communicatedWith := communicatedWith ^ [vemoUnitID]
else
communicatedWith := tl communicatedWith ^ [vemoUnitID];

-- add traffic
if(len externalTrafficData < Config`TrafficDataKeeptNumber)
then
externalTrafficData := externalTrafficData ^ data
else
externalTrafficData :=  tl externalTrafficData ^ data;

for d in data do
(
  World`env.handleEvent("Vehicle: " ^ Printer`natToString(GetVehicleID()) ^
       " received " ^  d.ToString());
);

VeMoController`graphics.receivedMessage(GetVehicleID());
);

private AddInternalTrafficData: TrafficData ==> ()
AddInternalTrafficData(data) ==
(
if(len internalTrafficData < Config`TrafficDataKeeptNumber)
then
internalTrafficData := internalTrafficData ^ [data]
else
internalTrafficData :=  tl internalTrafficData ^ [data];
);

public GetTrafficData: () ==> [seq of TrafficData]
GetTrafficData() ==
-- deep copy
return [ new TrafficData(internalTrafficData(i).GetMessage(),
       internalTrafficData(i).GetPosition(),
        internalTrafficData(i).GetDirection())
      | i in set inds internalTrafficData ];


pure public GetVehicleID : () ==> nat
GetVehicleID()== return vemoVehicle.GetID();

pure public GetPosition : () ==> [Position]
GetPosition() ==
return vemoVehicle.GetPosition();

pure public GetDirection: () ==> [Types`Direction]
GetDirection() ==
return vemoVehicle.GetDirection();

public getVehicle : () ==> [Vehicle]
getVehicle() ==
return  vemoVehicle;

public getVehicleDTO : () ==> [VehicleData]
getVehicleDTO() == vemoVehicle.getDTO();

public EnvironmentReady: () ==> ()
EnvironmentReady() == if(canRun = false) then canRun := true;

public Step: () ==> ()
Step() ==
(
  vemoVehicle.Move();

--check expired internal data
for all td in set elems internalTrafficData do
(
  if td.Expired()
  then
  (
  --remove td
  internalTrafficData := [internalTrafficData(i)
       | i in set inds internalTrafficData
       & internalTrafficData(i) <> td];
  )
);

--check for lowgrip, and check if already set at position.
if vemoVehicle.getLowGrip() = true
then
(
--The position check will only be relevant if the car has speed 0
if vemoVehicle.GetSpeed() = 0 =>
not exists data in set elems internalTrafficData
     & Position`Compare(data.GetPosition(), GetPosition()) and
                data.GetPosition() <>  GetPosition()and
                data.GetMessage() = <LowGrip>
then
let lowGripMsg = new TrafficData(<LowGrip>, GetPosition().deepCopy()
          , GetDirection())
in
AddInternalTrafficData(lowGripMsg);
);

--check for turnindicator, and check if already set at position.
if vemoVehicle.TurnIndicator() = <LEFT>
then
(
--The position check will only be relevant if the car has speed 0
if vemoVehicle.GetSpeed() = 0 =>
not exists data in set elems internalTrafficData
     & Position`Compare(data.GetPosition(), GetPosition())
     and  data.GetMessage() = <LeftTurn>
then
let turnMsg = new TrafficData(<LeftTurn>, GetPosition().deepCopy()
         ,GetDirection())
in
AddInternalTrafficData(turnMsg);
);

  --check for congestion, and check if already set at position.
if traffic.Congestion() = true
then
(
--The position check will only be relevant if the car has speed 0
if vemoVehicle.GetSpeed() = 0 =>
not exists data in set elems internalTrafficData
     & Position`Compare(data.GetPosition(), GetPosition())
       and  data.GetMessage() = <Congestion>
  then
  (
  let congMsg = new TrafficData(<Congestion>, GetPosition().deepCopy()
          , GetDirection())
   in
   (
    AddInternalTrafficData(congMsg);
   )
  )
);

);

async public run : () ==> ()
run() == start(self)

--
-- Functions definition section
--
functions

--
-- Values definition section
--
values

--
-- Thread definition section
--
thread
while true do
duration(500)
(
  Step();
  canRun := false;
)

--
-- sync definition section
--
sync
per Step => canRun;
mutex(AddInternalTrafficData,GetTrafficData);
mutex(AddInternalTrafficData);
mutex(Step)

end Controller

\end{vdm_al}

\begin{rtinfo}
[TotalxCoverage]{vdm.tc}[Controller]
\end{rtinfo}

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