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Commit f93aca60 authored by Maxime Perrotin's avatar Maxime Perrotin
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Use an enumerated type for the floor

parent 085858a6
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Showing with 82 additions and 80 deletions
test/Demo_ABB/DataView.asn
View file @ f93aca60
...@@ -5,14 +5,16 @@ UpDown ::= ENUMERATED { up (1), down (0) } ...@@ -5,14 +5,16 @@ UpDown ::= ENUMERATED { up (1), down (0) }
OnOff ::= ENUMERATED { on (1), off (0) } OnOff ::= ENUMERATED { on (1), off (0) }
OpenClose ::= ENUMERATED { door-open (1), door-close (0) } OpenClose ::= ENUMERATED { door-open (1), door-close (0) }
Position ::= REAL (-100 .. 100.0) Position ::= REAL (-100 .. 100.0)
Floors ::= INTEGER {
-- don't use an integer, because the GUI needs to have real floor names
Floors ::= ENUMERATED {
floor-0 (0), floor-0 (0),
floor-1 (10), floor-1 (10),
floor-2 (20), floor-2 (20),
floor-3 (30), floor-3 (30),
floor-4 (40), floor-4 (40),
floor-5 (50) floor-5 (50)
} (0 | 10 | 20 | 30 | 40 | 50) }
-- Types used for the interfacing with the Simulink model -- Types used for the interfacing with the Simulink model
......
test/Demo_ABB/controller/controller.pr
View file @ f93aca60
...@@ -43,7 +43,7 @@ counter := forever : false ...@@ -43,7 +43,7 @@ counter := forever : false
brake on brake on
}, },
door := door_open; door := door_open;
/* CIF NEXTSTATE (2811, 438), (74, 35) */ /* CIF NEXTSTATE (2810, 438), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
/* CIF ANSWER (3104, 254), (70, 24) */ /* CIF ANSWER (3104, 254), (70, 24) */
(false): (false):
...@@ -60,7 +60,7 @@ door := door_open; ...@@ -60,7 +60,7 @@ door := door_open;
}; };
/* CIF ANSWER (3184, 366), (70, 24) */ /* CIF ANSWER (3184, 366), (70, 24) */
(false): (false):
/* CIF task (3139, 410), (161, 120) */ /* CIF task (3138, 410), (161, 120) */
task cmd := { task cmd := {
direction down, direction down,
motor on, motor on,
...@@ -73,59 +73,59 @@ door := door_open; ...@@ -73,59 +73,59 @@ door := door_open;
enddecision; enddecision;
/* CIF End Label */ /* CIF End Label */
endconnection; endconnection;
/* CIF state (1718, 76), (74, 35) */ /* CIF state (1717, 76), (74, 35) */
state Stopped; state Stopped;
/* CIF input (1278, 131), (196, 35) */ /* CIF input (1277, 131), (196, 35) */
input Floor_Command (floor_cmd) input Floor_Command (floor_cmd)
/* CIF comment (1495, 131), (270, 32) */ /* CIF comment (1495, 131), (270, 32) */
comment 'Someone at floor F pressed UP or DOWN'; comment 'Someone at floor F pressed UP or DOWN';
/* CIF decision (1209, 186), (336, 56) */ /* CIF decision (1208, 186), (336, 56) */
decision floor_cmd = { direction up, floor floor_5 } decision floor_cmd = { direction up, floor floor_5 }
or floor_cmd = { direction down, floor floor_0 } or floor_cmd = { direction down, floor floor_0 }
/* CIF comment (1565, 196), (204, 35) */ /* CIF comment (1565, 196), (204, 35) */
comment 'Discard impossible commands'; comment 'Discard impossible commands';
/* CIF ANSWER (1157, 262), (70, 24) */ /* CIF ANSWER (1139, 262), (70, 24) */
(true): (true):
/* CIF NEXTSTATE (1155, 306), (74, 35) */ /* CIF NEXTSTATE (1137, 306), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
/* CIF ANSWER (1547, 262), (70, 24) */ /* CIF ANSWER (1547, 262), (70, 24) */
(false): (false):
/* CIF task (1461, 306), (241, 35) */ /* CIF task (1443, 306), (276, 35) */
task target_pos := float (floor_cmd.floor); task target_pos := float (num(floor_cmd.floor));
/* CIF decision (1506, 356), (151, 50) */ /* CIF decision (1506, 356), (151, 50) */
decision round(sensors.pos_x); decision round(sensors.pos_x);
/* CIF ANSWER (1239, 426), (166, 24) */ /* CIF ANSWER (1221, 426), (201, 24) */
(= float(floor_cmd.floor)): (= float(num(floor_cmd.floor))):
/* CIF task (1241, 470), (163, 24) */ /* CIF task (1240, 470), (163, 24) */
task cmd.door := door_open task cmd.door := door_open
/* CIF comment (1425, 464), (138, 40) */ /* CIF comment (1425, 464), (138, 40) */
comment 'Lift is there comment 'Lift is there
Just open the door'; Just open the door';
/* CIF task (1255, 514), (134, 35) */ /* CIF task (1254, 514), (134, 35) */
task door := door_open; task door := door_open;
/* CIF NEXTSTATE (1285, 564), (74, 35) */ /* CIF NEXTSTATE (1284, 564), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
/* CIF ANSWER (1676, 426), (54, 40) */ /* CIF ANSWER (1675, 426), (54, 40) */
ELSE: ELSE:
/* CIF task (1636, 486), (134, 35) */ /* CIF task (1635, 486), (134, 35) */
task door := door_close; task door := door_close;
/* CIF join (1686, 541), (35, 35) */ /* CIF join (1685, 541), (35, 35) */
join move; join move;
enddecision; enddecision;
enddecision; enddecision;
/* CIF input (2007, 132), (200, 35) */ /* CIF input (2006, 132), (200, 35) */
input Cabin_Command (cabin_cmd) input Cabin_Command (cabin_cmd)
/* CIF comment (2230, 132), (239, 56) */ /* CIF comment (2230, 132), (239, 56) */
comment 'Someone selected a target floor comment 'Someone selected a target floor
from inside the cabin, or someone from inside the cabin, or someone
pressed the emergency stop button'; pressed the emergency stop button';
/* CIF decision (2035, 187), (145, 50) */ /* CIF decision (2034, 187), (145, 50) */
decision present(cabin_cmd); decision present(cabin_cmd);
/* CIF ANSWER (1975, 257), (70, 24) */ /* CIF ANSWER (1975, 257), (70, 24) */
(floor): (floor):
/* CIF decision (1896, 301), (227, 71) */ /* CIF decision (1896, 301), (227, 71) */
decision round(sensors.pos_x) decision round(sensors.pos_x)
= float(cabin_cmd.floor); = float(num(cabin_cmd.floor));
/* CIF ANSWER (1869, 396), (70, 24) */ /* CIF ANSWER (1869, 396), (70, 24) */
(true): (true):
/* CIF task (1822, 435), (163, 24) */ /* CIF task (1822, 435), (163, 24) */
...@@ -135,23 +135,23 @@ pressed the emergency stop button'; ...@@ -135,23 +135,23 @@ pressed the emergency stop button';
Just open the door'; Just open the door';
/* CIF task (1836, 479), (134, 35) */ /* CIF task (1836, 479), (134, 35) */
task door := door_open; task door := door_open;
/* CIF NEXTSTATE (1867, 534), (74, 35) */ /* CIF NEXTSTATE (1866, 534), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
/* CIF ANSWER (2267, 396), (70, 24) */ /* CIF ANSWER (2267, 396), (70, 24) */
(false): (false):
/* CIF task (2234, 440), (134, 35) */ /* CIF task (2234, 440), (134, 35) */
task door := door_close; task door := door_close;
/* CIF task (2180, 490), (243, 35) */ /* CIF task (2162, 490), (279, 35) */
task target_pos := float (cabin_cmd.floor); task target_pos := float (num(cabin_cmd.floor));
/* CIF join (2284, 545), (35, 35) */ /* CIF join (2284, 545), (35, 35) */
join move; join move;
enddecision; enddecision;
/* CIF ANSWER (2437, 257), (123, 24) */ /* CIF ANSWER (2454, 257), (123, 24) */
(emergency_stop): (emergency_stop):
/* CIF task (2434, 301), (129, 43) */ /* CIF task (2451, 301), (129, 43) */
task cmd .motor := off, task cmd .motor := off,
cmd.brake := on; cmd.brake := on;
/* CIF NEXTSTATE (2461, 364), (74, 35) */ /* CIF NEXTSTATE (2479, 364), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
enddecision; enddecision;
/* CIF input (846, 131), (70, 35) */ /* CIF input (846, 131), (70, 35) */
...@@ -173,12 +173,12 @@ command'; ...@@ -173,12 +173,12 @@ command';
(forever): (forever):
/* CIF NEXTSTATE (750, 470), (74, 35) */ /* CIF NEXTSTATE (750, 470), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
/* CIF ANSWER (922, 426), (94, 24) */ /* CIF ANSWER (921, 426), (94, 24) */
(nb_of_cycle): (nb_of_cycle):
/* CIF task (882, 470), (175, 40) */ /* CIF task (881, 470), (175, 40) */
task counter := nb_of_cycle : task counter := nb_of_cycle :
counter.nb_of_cycle - 1; counter.nb_of_cycle - 1;
/* CIF decision (887, 530), (165, 50) */ /* CIF decision (886, 530), (165, 50) */
decision counter.nb_of_cycle > 0; decision counter.nb_of_cycle > 0;
/* CIF ANSWER (891, 600), (70, 24) */ /* CIF ANSWER (891, 600), (70, 24) */
(true): (true):
...@@ -191,18 +191,56 @@ counter.nb_of_cycle - 1; ...@@ -191,18 +191,56 @@ counter.nb_of_cycle - 1;
enddecision; enddecision;
enddecision; enddecision;
endstate; endstate;
/* CIF state (317, 394), (91, 56) */ /* CIF state (3593, 92), (70, 35) */
state Moving;
/* CIF input (3594, 147), (67, 35) */
input Pulse;
/* CIF PROCEDURECALL (3572, 202), (109, 40) */
call Operate_Lift
(cmd, sensors)
/* CIF comment (3691, 198), (123, 40) */
comment 'Call the Simulink
model';
/* CIF task (3529, 262), (197, 35) */
task hk := {lift sensors, door door};
/* CIF output (3559, 317), (135, 40) */
output Housekeeping (hk);
/* CIF decision (3533, 377), (189, 50) */
decision present(counter);
/* CIF ANSWER (3500, 447), (68, 24) */
(forever):
/* CIF join (3517, 491), (35, 35) */
join move;
/* CIF ANSWER (3668, 447), (94, 24) */
(nb_of_cycle):
/* CIF task (3628, 491), (175, 40) */
task counter := nb_of_cycle :
counter.nb_of_cycle - 1;
/* CIF decision (3633, 551), (165, 50) */
decision counter.nb_of_cycle > 0;
/* CIF ANSWER (3633, 621), (70, 24) */
(true):
/* CIF join (3650, 665), (35, 35) */
join move;
/* CIF ANSWER (3723, 621), (70, 24) */
(false):
/* CIF NEXTSTATE (3712, 665), (90, 35) */
NEXTSTATE Power_Off;
enddecision;
enddecision;
endstate;
/* CIF state (316, 394), (91, 56) */
state Power_Off, state Power_Off,
Stopped, Stopped,
Moving; Moving;
/* CIF input (152, 470), (122, 40) */ /* CIF input (151, 470), (122, 40) */
input Start_Controller input Start_Controller
(counter); (counter);
/* CIF decision (149, 530), (128, 50) */ /* CIF decision (148, 530), (128, 50) */
decision present(counter); decision present(counter);
/* CIF ANSWER (98, 600), (73, 24) */ /* CIF ANSWER (98, 600), (73, 24) */
(forever): (forever):
/* CIF decision (76, 644), (118, 50) */ /* CIF decision (75, 644), (118, 50) */
decision counter.forever; decision counter.forever;
/* CIF ANSWER (56, 714), (70, 24) */ /* CIF ANSWER (56, 714), (70, 24) */
(true): (true):
...@@ -214,17 +252,17 @@ Moving; ...@@ -214,17 +252,17 @@ Moving;
NEXTSTATE Moving; NEXTSTATE Moving;
/* CIF ANSWER (101, 828), (70, 24) */ /* CIF ANSWER (101, 828), (70, 24) */
(off): (off):
/* CIF NEXTSTATE (99, 872), (74, 35) */ /* CIF NEXTSTATE (98, 872), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
enddecision; enddecision;
/* CIF ANSWER (191, 714), (70, 24) */ /* CIF ANSWER (191, 714), (70, 24) */
(false): (false):
/* CIF NEXTSTATE (181, 758), (90, 35) */ /* CIF NEXTSTATE (180, 758), (90, 35) */
NEXTSTATE Power_Off; NEXTSTATE Power_Off;
enddecision; enddecision;
/* CIF ANSWER (312, 600), (94, 24) */ /* CIF ANSWER (311, 600), (94, 24) */
(nb_of_cycle): (nb_of_cycle):
/* CIF decision (314, 644), (90, 50) */ /* CIF decision (313, 644), (90, 50) */
decision cmd.motor; decision cmd.motor;
/* CIF ANSWER (281, 714), (70, 24) */ /* CIF ANSWER (281, 714), (70, 24) */
(on): (on):
...@@ -232,52 +270,14 @@ Moving; ...@@ -232,52 +270,14 @@ Moving;
NEXTSTATE Moving; NEXTSTATE Moving;
/* CIF ANSWER (371, 714), (70, 24) */ /* CIF ANSWER (371, 714), (70, 24) */
(off): (off):
/* CIF NEXTSTATE (369, 758), (74, 35) */ /* CIF NEXTSTATE (368, 758), (74, 35) */
NEXTSTATE Stopped; NEXTSTATE Stopped;
enddecision; enddecision;
enddecision; enddecision;
/* CIF input (453, 470), (119, 40) */ /* CIF input (452, 470), (119, 40) */
input Manual_Control input Manual_Control
(cmd); (cmd);
/* CIF NEXTSTATE (478, 530), (70, 35) */ /* CIF NEXTSTATE (477, 530), (70, 35) */
NEXTSTATE -; NEXTSTATE -;
endstate; endstate;
/* CIF state (3593, 92), (70, 35) */
state Moving;
/* CIF input (3594, 147), (67, 35) */
input Pulse;
/* CIF PROCEDURECALL (3573, 202), (109, 40) */
call Operate_Lift
(cmd, sensors)
/* CIF comment (3691, 198), (123, 40) */
comment 'Call the Simulink
model';
/* CIF task (3529, 262), (197, 35) */
task hk := {lift sensors, door door};
/* CIF output (3560, 317), (135, 40) */
output Housekeeping (hk);
/* CIF decision (3533, 377), (189, 50) */
decision present(counter);
/* CIF ANSWER (3501, 447), (68, 24) */
(forever):
/* CIF join (3518, 491), (35, 35) */
join move;
/* CIF ANSWER (3669, 447), (94, 24) */
(nb_of_cycle):
/* CIF task (3629, 491), (175, 40) */
task counter := nb_of_cycle :
counter.nb_of_cycle - 1;
/* CIF decision (3633, 551), (165, 50) */
decision counter.nb_of_cycle > 0;
/* CIF ANSWER (3633, 621), (70, 24) */
(true):
/* CIF join (3651, 665), (35, 35) */
join move;
/* CIF ANSWER (3723, 621), (70, 24) */
(false):
/* CIF NEXTSTATE (3713, 665), (90, 35) */
NEXTSTATE Power_Off;
enddecision;
enddecision;
endstate;
endprocess Controller; endprocess Controller;
\ No newline at end of file
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