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| /* --- Generated by genom 2.99.36. Do not edit -------------------------- */
/* This module is automatically generated.
Services codels are called with the Hippo engine.
Port Mapping:
Navigation_Pose pom_frame
PotentialField_Scan velodyne_point_cloud
PotentialField_Target Navigation_Target
PotentialField_Pose pom_frame
rmp440_cmd_vel SafetyPilot_Cmd
rmp440_Joystick joystick_device
SafetyPilot_Scan velodyne_point_cloud
SafetyPilot_PFCmd PotentialField_PFCmd
SafetyPilot_Joystick joystick_device
velodyne_robot_pose pom_frame
*/
/* constants & types */
// Code not specific to a particular component
type fcr_activity_status is union /* copy of the genom_activity status */
ACT_VOID_FCR /* nothing */
| ACT_INIT_FCR /* in control task codels */
| ACT_RUN_FCR /* managed by exec task, running */
| ACT_STOP_FCR /* managed by exec task, stopping */
| ACT_ETHER_FCR /* result available for control task */
end
// type genom_sched will be an array of boolean, indexed with:
const GENOM_SCHED_DONE : 0..0 is 0
const GENOM_SCHED_ONE : 1..1 is 1
const GENOM_SCHED_CONT : 2..2 is 2
const GENOM_SCHED_WAKE : 3..3 is 3
type GENOM_SCHED_Type is array 4 of bool
type minnie_genom_event is union // over all components.
genom_ok_fcr
| genom_incompatible_digest_fcr
| genom_bad_transition_fcr
| genom_interrupted_fcr
| genom_serialization_fcr
| genom_too_many_activities_fcr
| genom_disallowed_fcr
| genom_no_such_inport_fcr
| genom_no_such_outport_fcr
| genom_port_io_fcr
| genom_no_such_remote_fcr
| genom_no_such_service_fcr
| genom_remote_io_fcr
| genom_no_such_activity_fcr
| genom_mwerr_fcr
| gps_ether_fcr
| gps_start_fcr
| gps_stop_fcr
| gps_e_sys_fcr
| gps_e_baddev_fcr
| gps_e_nodev_fcr
| gps_e_nofix_fcr
| gps_poll_fcr
| gps_recv_fcr
| gps_rtk_fcr
| gps_err_fcr
| gps_publish_fcr
| gps_avg_fcr
| gps_pause_avg_fcr
| gps_pause_start_fcr
| IMUDriver_ether_fcr
| IMUDriver_start_fcr
| IMUDriver_stop_fcr
| IMUDriver_cant_open_device_fcr
| IMUDriver_cant_set_parameter_fcr
| IMUDriver_measurement_start_error_fcr
| IMUDriver_measurement_error_fcr
| IMUDriver_bad_imu_pose_port_fcr
| IMUDriver_out_of_mem_fcr
| IMUDriver_measure_get_fcr
| IMUDriver_write_port_fcr
| IMUDriver_pause_measure_get_fcr
| joystick_ether_fcr
| joystick_start_fcr
| joystick_stop_fcr
| joystick_e_sdl_fcr
| joystick_e_nomem_fcr
| joystick_e_noent_fcr
| joystick_poll_fcr
| joystick_event_fcr
| Navigation_ether_fcr
| Navigation_start_fcr
| Navigation_stop_fcr
| Navigation_bad_target_port_fcr
| Navigation_bad_pose_port_fcr
| Navigation_bad_file_name_fcr
| Navigation_bad_node_name_fcr
| Navigation_read_init_pose_port_fcr
| Navigation_plan_path_fcr
| Navigation_read_pose_port_fcr
| Navigation_execute_path_fcr
| Navigation_write_target_fcr
| Navigation_pause_read_pose_port_fcr
| Navigation_end_fcr
| pom_ether_fcr
| pom_start_fcr
| pom_stop_fcr
| pom_e_sys_fcr
| pom_read_fcr
| pom_pause_read_fcr
| pom_insert_fcr
| pom_exec_fcr
| pom_pause_exec_fcr
| PotentialField_ether_fcr
| PotentialField_start_fcr
| PotentialField_stop_fcr
| PotentialField_bad_speed_cmd_port_fcr
| PotentialField_bad_scan_port_fcr
| PotentialField_bad_target_port_fcr
| PotentialField_bad_pose_port_fcr
| PotentialField_bad_force_port_fcr
| PotentialField_bad_value_fcr
| PotentialField_bad_og_port_fcr
| PotentialField_out_of_mem_fcr
| PotentialField_pause_start_fcr
| PotentialField_read_ports_fcr
| PotentialField_build_map_fcr
| PotentialField_compute_speed_fcr
| PotentialField_write_cmd_fcr
| PotentialField_pause_read_ports_fcr
| rmp440_ether_fcr
| rmp440_start_fcr
| rmp440_stop_fcr
| rmp440_already_initialized_fcr
| rmp440_not_connected_fcr
| rmp440_malloc_error_fcr
| rmp440_bad_ref_fcr
| rmp440_rmplib_error_fcr
| rmp440_joystick_error_fcr
| rmp440_gyro_error_fcr
| rmp440_motors_off_fcr
| rmp440_emergency_stop_fcr
| rmp440_power_cord_connected_fcr
| rmp440_port_not_found_fcr
| rmp440_cmd_stop_track_fcr
| rmp440_sys_error_fcr
| rmp440_odo_fcr
| rmp440_pause_odo_fcr
| rmp440_end_fcr
| rmp440_init_main_fcr
| rmp440_pause_init_main_fcr
| rmp440_reconnect_main_fcr
| rmp440_pause_reconnect_main_fcr
| rmp440_js_main_fcr
| rmp440_pause_js_main_fcr
| rmp440_inter_fcr
| rmp440_track_main_fcr
| rmp440_pause_track_main_fcr
| SafetyPilot_ether_fcr
| SafetyPilot_start_fcr
| SafetyPilot_stop_fcr
| SafetyPilot_bad_scan_port_fcr
| SafetyPilot_bad_speed_cmd_port_fcr
| SafetyPilot_bad_pf_cmd_port_fcr
| SafetyPilot_bad_joystick_port_fcr
| SafetyPilot_bad_value_fcr
| SafetyPilot_out_of_mem_fcr
| SafetyPilot_choose_speed_fcr
| SafetyPilot_get_laser_scan_fcr
| SafetyPilot_write_cmd_fcr
| SafetyPilot_check_obstacles_fcr
| SafetyPilot_pause_choose_speed_fcr
| SafetyPilot_pause_start_fcr
| velodyne_ether_fcr
| velodyne_start_fcr
| velodyne_stop_fcr
| velodyne_e_sys_fcr
| velodyne_e_mem_fcr
| velodyne_e_params_fcr
| velodyne_e_interface_fcr
| velodyne_e_runtime_fcr
| velodyne_e_not_implemented_fcr
| velodyne_e_grabber_fcr
| velodyne_e_port_fcr
| velodyne_e_timeout_fcr
| velodyne_poll_fcr
| velodyne_main_fcr
| velodyne_end_fcr
| velodyne_copy_packets_fcr
| velodyne_stamp_packets_fcr
| velodyne_pause_stamp_packets_fcr
| velodyne_build_scan_fcr
| velodyne_wait_fcr
| velodyne_pause_wait_fcr
| velodyne_pause_main_fcr
end
/* Global constants & types: ports mutual exclusion */
const gps_state_port: 0..0 is 0
const gps_info_port: 1..1 is 1
const IMUDriver_ImuPose_port: 2..2 is 2
const joystick_device_port: 3..3 is 3
const pom_frame_port: 4..4 is 4
const Navigation_Target_port: 5..5 is 5
const pom_measure_port: 6..6 is 6
const velodyne_point_cloud_port: 7..7 is 7
const PotentialField_PFCmd_port: 8..8 is 8
const PotentialField_PF_Att_port: 9..9 is 9
const PotentialField_PF_Rep_port: 10..10 is 10
const PotentialField_PF_Res_port: 11..11 is 11
const PotentialField_OccupancyGrid_port: 12..12 is 12
const SafetyPilot_Cmd_port: 13..13 is 13
const rmp440_Pose_port: 14..14 is 14
const rmp440_Status_port: 15..15 is 15
const rmp440_StatusGeneric_port: 16..16 is 16
const velodyne_sensor_pose_port: 17..17 is 17
const velodyne_point_cloud2_port: 18..18 is 18
/*** Global extern functions ***/
extern set_hippo_debug(nat) : nat is
set_hippo_debug_c
extern fiacre_c_print_trace(nat) : nat is
print_trace_c
/* all the codels using genom ports */
type codels_using_port is union
gpsio_publish_port_codel |
IMUMeasureStart_port_codel |
WriteImuPort_port_codel |
joystick_main_port_codel |
joystick_rename_port_codel |
SetTargetToCurrentPoseStart_port_codel |
GotoTargetStart_port_codel |
CheckPorts_port_codel |
ReadInitPosePort_port_codel |
ReadPosePort_port_codel |
WriteTarget_port_codel |
pom_io_read_port_codel |
pom_filter_start_port_codel |
pom_filter_exec_port_codel |
InitStructPF_port_codel |
CleanStrucPF_port_codel |
GTPStop_port_codel |
WriteDirectlyCmdPortPF_port_codel |
StartGTPAndCheckPorts_port_codel |
ReadPorts_port_codel |
ComputeSpeed_port_codel |
WriteCmdPortPF_port_codel |
PublishObstacles_port_codel |
initOdoAndAsserv_port_codel |
odoAndAsserv_port_codel |
rmp440JoystickOnStart_port_codel |
rmp440JoystickOnMain_port_codel |
trackStart_port_codel |
pumpReference_port_codel |
InitStructSP_port_codel |
StartSMAAO_port_codel |
ChooseSpeed_port_codel |
SPGetLaserScan_port_codel |
WriteCmdPortSP_port_codel |
StopSMAAO_port_codel |
WriteDirectlyCmdPort_port_codel |
velodyneScanTaskStart_port_codel |
velodyneGetOneScanEnd_port_codel |
velodyneStartPoseProcessingMain_port_codel |
no_codel
end
type ports_array_type is array 19 of bool
type ports_mutex_type is array 19 of codels_using_port
const genom_abort_activity_codel: 1..1 is 1
const genom_connect_port_codel: 2..2 is 2
const genom_connect_remote_codel: 3..3 is 3
const genom_kill_codel: 4..4 is 4
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_gps: 3..3 is 3
/* number of services for io task + one permanent */
const Nb_Serv_Act_gps_io: 11..11 is 11
const Nb_Self_Incomp_gps_io: 1..1 is 1
const Nb_act_inst_gps_io: 29..29 is 29
// may be should be const (with -1 for perm)
type GPS_RQSTID_FCR is union
GPS_abort_activity_RQSTID_FCR |
GPS_connect_port_RQSTID_FCR |
GPS_connect_service_RQSTID_FCR |
GPS_kill_RQSTID_FCR |
GPS_get_param_RQSTID_FCR |
GPS_get_last_fix_RQSTID_FCR |
GPS_set_noise_RQSTID_FCR |
GPS_connect_RQSTID_FCR |
GPS_disconnect_RQSTID_FCR |
GPS_set_rtk_port_RQSTID_FCR |
GPS_connect_rtk_RQSTID_FCR |
GPS_set_reference_RQSTID_FCR |
GPS_get_reference_RQSTID_FCR |
GPS_unfix_RQSTID_FCR |
GPS_fix_RQSTID_FCR |
GPS_fix_here_RQSTID_FCR |
GPS_send_rtcm_RQSTID_FCR |
GPS_cancel_rtcm_RQSTID_FCR |
GPS_enable_rtcm_RQSTID_FCR |
GPS_monitor_fix_RQSTID_FCR |
GPS_rtk_stats_RQSTID_FCR |
GPS_log_RQSTID_FCR |
GPS_log_stop_RQSTID_FCR |
GPS_log_info_RQSTID_FCR |
GPS_NONE
end
const GPS_abort_activity: 0..0 is 0
const GPS_connect_port: 1..1 is 1
const GPS_connect_service: 2..2 is 2
const GPS_kill: 3..3 is 3
const GPS_get_param: 4..4 is 4
const GPS_get_last_fix: 5..5 is 5
const GPS_set_noise: 6..6 is 6
const GPS_connect: 7..7 is 7
const GPS_disconnect: 8..8 is 8
const GPS_set_rtk_port: 9..9 is 9
const GPS_connect_rtk: 10..10 is 10
const GPS_set_reference: 11..11 is 11
const GPS_get_reference: 12..12 is 12
const GPS_unfix: 13..13 is 13
const GPS_fix: 14..14 is 14
const GPS_fix_here: 15..15 is 15
const GPS_send_rtcm: 16..16 is 16
const GPS_cancel_rtcm: 17..17 is 17
const GPS_enable_rtcm: 18..18 is 18
const GPS_monitor_fix: 19..19 is 19
const GPS_rtk_stats: 20..20 is 20
const GPS_log: 21..21 is 21
const GPS_log_stop: 22..22 is 22
const GPS_log_info: 23..23 is 23
type gps_Run_Map_Type is array 24 of bool
// All the possible non common mutex values for gps
const gpsio_start: 5..5 is 5
const gpsio_poll: 6..6 is 6
const gpsio_dev_recv: 7..7 is 7
const gpsio_rtk_recv: 8..8 is 8
const gpsio_publish: 9..9 is 9
const gpsio_close: 10..10 is 10
const gpsio_stop: 11..11 is 11
const gps_connect_start: 12..12 is 12
const gps_disconnect_start: 13..13 is 13
const gps_set_rtk_port: 14..14 is 14
const gps_connect_rtk_start: 15..15 is 15
const gps_set_reference: 16..16 is 16
const gps_unfix_start: 17..17 is 17
const gps_fix_set: 18..18 is 18
const gps_fix_here_start: 19..19 is 19
const gps_fix_here_avg: 20..20 is 20
const gps_fix_done: 21..21 is 21
const gps_send_rtcm: 22..22 is 22
const gps_cancel_rtcm: 23..23 is 23
const gps_enable_rtcm: 24..24 is 24
const gps_monitor_fix_start: 25..25 is 25
const gps_rtk_stats: 26..26 is 26
const gps_log: 27..27 is 27
const gps_log_stop: 28..28 is 28
const gps_log_info: 29..29 is 29
const genom_gps_get_param_controlcb: 30..30 is 30
const genom_gps_get_last_fix_controlcb: 31..31 is 31
const genom_gps_set_noise_controlcb: 32..32 is 32
const genom_gps_get_reference_controlcb: 33..33 is 33
const max_number_mutex_codels_gps :34..34 is 34
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_gps is record
instance: 0..Max_Act_Inst_gps-1, //for compatible services
sid: GPS_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_gps_task_name -1 (the index in the array)
// the value Nb_act_inst_gps_task_name is reserved to say it is the execution task turn
type act_inst_gps_io_turn_type is 0..Nb_act_inst_gps_io
type act_inst_gps_io_index_type is 0..Nb_act_inst_gps_io-1
type Activities_gps_io_Array is array Nb_act_inst_gps_io of fcr_activity_gps
type request_gps is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: GPS_RQSTID_FCR
end
type ffa_reply_gps_io is record
index: act_inst_gps_io_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_gps_io(activities : Activities_gps_io_Array,
rqstid : GPS_RQSTID_FCR) : ffa_reply_gps_io is
var index: act_inst_gps_io_index_type,
res: ffa_reply_gps_io,
a: fcr_activity_gps
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function gps_run_map_index_from_io_activity(a:fcr_activity_gps): 0..24-1 is
begin
if (a.sid = GPS_connect_RQSTID_FCR) then return GPS_connect end;
if (a.sid = GPS_disconnect_RQSTID_FCR) then return GPS_disconnect end;
if (a.sid = GPS_set_rtk_port_RQSTID_FCR) then return GPS_set_rtk_port end;
if (a.sid = GPS_connect_rtk_RQSTID_FCR) then return GPS_connect_rtk end;
if (a.sid = GPS_unfix_RQSTID_FCR) then return GPS_unfix end;
if (a.sid = GPS_fix_RQSTID_FCR) then return GPS_fix end;
if (a.sid = GPS_fix_here_RQSTID_FCR) then return GPS_fix_here end;
if (a.sid = GPS_send_rtcm_RQSTID_FCR) then return GPS_send_rtcm end;
if (a.sid = GPS_cancel_rtcm_RQSTID_FCR) then return GPS_cancel_rtcm end;
if (a.sid = GPS_monitor_fix_RQSTID_FCR) then return GPS_monitor_fix end;
return 0
end
extern Fiacre_gps_io_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_io_genom_bad_transition_c
extern Fiacre_gps_disallowed(): minnie_genom_event is
Fiacre_gps_disallowed_c
extern Fiacre_gps_send_ir_extern(fcr_activity_gps) : minnie_genom_event is
Fiacre_gps_send_ir_c
/*** Task ***/
event gps_Manage_Mbox: request_gps is gps_Manage_Mbox_c
task Fiacre_gps_abort_activity_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_abort_activity_control_c
extern Fiacre_gps_abort_activity_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_abort_activity_activity_report_c
extern Fiacre_gps_abort_activity_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_abort_activity_handle_exception_c
task Fiacre_gps_connect_port_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_connect_port_control_c
extern Fiacre_gps_connect_port_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_port_activity_report_c
extern Fiacre_gps_connect_port_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_port_handle_exception_c
task Fiacre_gps_connect_service_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_connect_service_control_c
extern Fiacre_gps_connect_service_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_service_activity_report_c
extern Fiacre_gps_connect_service_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_service_handle_exception_c
task Fiacre_gps_kill_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_kill_control_c
extern Fiacre_gps_kill_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_kill_activity_report_c
extern Fiacre_gps_kill_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_kill_handle_exception_c
extern Fiacre_gps_get_param_middle(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_get_param_middle_c
extern Fiacre_gps_get_param_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_param_activity_report_c
extern Fiacre_gps_get_param_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_param_handle_exception_c
extern Fiacre_gps_get_last_fix_middle(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_get_last_fix_middle_c
extern Fiacre_gps_get_last_fix_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_last_fix_activity_report_c
extern Fiacre_gps_get_last_fix_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_last_fix_handle_exception_c
extern Fiacre_gps_set_noise_middle(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_set_noise_middle_c
extern Fiacre_gps_set_noise_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_noise_activity_report_c
extern Fiacre_gps_set_noise_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_noise_handle_exception_c
extern Fiacre_gps_connect_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_connect_genom_interrupt_c
extern Fiacre_gps_connect_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_connect_genom_bad_transition_c
extern Fiacre_gps_connect_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_activity_report_c
extern Fiacre_gps_connect_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_handle_exception_c
extern Fiacre_gps_disconnect_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_disconnect_genom_interrupt_c
extern Fiacre_gps_disconnect_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_disconnect_genom_bad_transition_c
extern Fiacre_gps_disconnect_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_disconnect_activity_report_c
extern Fiacre_gps_disconnect_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_disconnect_handle_exception_c
extern Fiacre_gps_set_rtk_port_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_set_rtk_port_genom_interrupt_c
extern Fiacre_gps_set_rtk_port_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_set_rtk_port_genom_bad_transition_c
extern Fiacre_gps_set_rtk_port_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_rtk_port_activity_report_c
extern Fiacre_gps_set_rtk_port_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_rtk_port_handle_exception_c
extern Fiacre_gps_connect_rtk_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_connect_rtk_genom_interrupt_c
extern Fiacre_gps_connect_rtk_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_connect_rtk_genom_bad_transition_c
extern Fiacre_gps_connect_rtk_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_rtk_activity_report_c
extern Fiacre_gps_connect_rtk_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_connect_rtk_handle_exception_c
task Fiacre_gps_set_reference_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_set_reference_control_c
extern Fiacre_gps_set_reference_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_reference_activity_report_c
extern Fiacre_gps_set_reference_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_set_reference_handle_exception_c
extern Fiacre_gps_get_reference_middle(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_get_reference_middle_c
extern Fiacre_gps_get_reference_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_reference_activity_report_c
extern Fiacre_gps_get_reference_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_get_reference_handle_exception_c
extern Fiacre_gps_unfix_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_unfix_genom_interrupt_c
extern Fiacre_gps_unfix_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_unfix_genom_bad_transition_c
extern Fiacre_gps_unfix_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_unfix_activity_report_c
extern Fiacre_gps_unfix_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_unfix_handle_exception_c
extern Fiacre_gps_fix_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_fix_genom_interrupt_c
extern Fiacre_gps_fix_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_fix_genom_bad_transition_c
extern Fiacre_gps_fix_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_fix_activity_report_c
extern Fiacre_gps_fix_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_fix_handle_exception_c
extern Fiacre_gps_fix_here_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_fix_here_genom_interrupt_c
extern Fiacre_gps_fix_here_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_fix_here_genom_bad_transition_c
extern Fiacre_gps_fix_here_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_fix_here_activity_report_c
extern Fiacre_gps_fix_here_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_fix_here_handle_exception_c
extern Fiacre_gps_send_rtcm_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_send_rtcm_genom_interrupt_c
extern Fiacre_gps_send_rtcm_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_send_rtcm_genom_bad_transition_c
extern Fiacre_gps_send_rtcm_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_send_rtcm_activity_report_c
extern Fiacre_gps_send_rtcm_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_send_rtcm_handle_exception_c
extern Fiacre_gps_cancel_rtcm_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_cancel_rtcm_genom_interrupt_c
extern Fiacre_gps_cancel_rtcm_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_cancel_rtcm_genom_bad_transition_c
extern Fiacre_gps_cancel_rtcm_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_cancel_rtcm_activity_report_c
extern Fiacre_gps_cancel_rtcm_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_cancel_rtcm_handle_exception_c
task Fiacre_gps_enable_rtcm_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_enable_rtcm_control_c
extern Fiacre_gps_enable_rtcm_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_enable_rtcm_activity_report_c
extern Fiacre_gps_enable_rtcm_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_enable_rtcm_handle_exception_c
extern Fiacre_gps_monitor_fix_genom_interrupt (fcr_activity_gps) : bool is
Fiacre_gps_monitor_fix_genom_interrupt_c
extern Fiacre_gps_monitor_fix_genom_bad_transition (fcr_activity_gps) : bool is
Fiacre_gps_monitor_fix_genom_bad_transition_c
extern Fiacre_gps_monitor_fix_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_monitor_fix_activity_report_c
extern Fiacre_gps_monitor_fix_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_monitor_fix_handle_exception_c
task Fiacre_gps_rtk_stats_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_rtk_stats_control_c
extern Fiacre_gps_rtk_stats_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_rtk_stats_activity_report_c
extern Fiacre_gps_rtk_stats_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_rtk_stats_handle_exception_c
task Fiacre_gps_log_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_log_control_c
extern Fiacre_gps_log_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_activity_report_c
extern Fiacre_gps_log_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_handle_exception_c
task Fiacre_gps_log_stop_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_log_stop_control_c
extern Fiacre_gps_log_stop_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_stop_activity_report_c
extern Fiacre_gps_log_stop_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_stop_handle_exception_c
task Fiacre_gps_log_info_control_task (fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_log_info_control_c
extern Fiacre_gps_log_info_activity_report_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_info_activity_report_c
extern Fiacre_gps_log_info_handle_exception_extern(fcr_activity_gps, bool) : bool is
Fiacre_gps_log_info_handle_exception_c
function Fiacre_gps_genom_interrupt(a:fcr_activity_gps) :bool is
var res: bool := false
begin
case a.sid of
GPS_abort_activity_RQSTID_FCR -> null
|
GPS_connect_port_RQSTID_FCR -> null
|
GPS_connect_service_RQSTID_FCR -> null
|
GPS_kill_RQSTID_FCR -> null
|
GPS_get_param_RQSTID_FCR -> null
|
GPS_get_last_fix_RQSTID_FCR -> null
|
GPS_set_noise_RQSTID_FCR -> null
|
GPS_connect_RQSTID_FCR -> res := Fiacre_gps_connect_genom_interrupt(a)
|
GPS_disconnect_RQSTID_FCR -> res := Fiacre_gps_disconnect_genom_interrupt(a)
|
GPS_set_rtk_port_RQSTID_FCR -> res := Fiacre_gps_set_rtk_port_genom_interrupt(a)
|
GPS_connect_rtk_RQSTID_FCR -> res := Fiacre_gps_connect_rtk_genom_interrupt(a)
|
GPS_set_reference_RQSTID_FCR -> null
|
GPS_get_reference_RQSTID_FCR -> null
|
GPS_unfix_RQSTID_FCR -> res := Fiacre_gps_unfix_genom_interrupt(a)
|
GPS_fix_RQSTID_FCR -> res := Fiacre_gps_fix_genom_interrupt(a)
|
GPS_fix_here_RQSTID_FCR -> res := Fiacre_gps_fix_here_genom_interrupt(a)
|
GPS_send_rtcm_RQSTID_FCR -> res := Fiacre_gps_send_rtcm_genom_interrupt(a)
|
GPS_cancel_rtcm_RQSTID_FCR -> res := Fiacre_gps_cancel_rtcm_genom_interrupt(a)
|
GPS_enable_rtcm_RQSTID_FCR -> null
|
GPS_monitor_fix_RQSTID_FCR -> res := Fiacre_gps_monitor_fix_genom_interrupt(a)
|
GPS_rtk_stats_RQSTID_FCR -> null
|
GPS_log_RQSTID_FCR -> null
|
GPS_log_stop_RQSTID_FCR -> null
|
GPS_log_info_RQSTID_FCR -> null
|
GPS_NONE -> null
end;
return res
end
function Fiacre_gps_handle_exception(a: fcr_activity_gps, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
GPS_abort_activity_RQSTID_FCR -> res := Fiacre_gps_abort_activity_handle_exception_extern(a, in_ct)
|
GPS_connect_port_RQSTID_FCR -> res := Fiacre_gps_connect_port_handle_exception_extern(a, in_ct)
|
GPS_connect_service_RQSTID_FCR -> res := Fiacre_gps_connect_service_handle_exception_extern(a, in_ct)
|
GPS_kill_RQSTID_FCR -> res := Fiacre_gps_kill_handle_exception_extern(a, in_ct)
|
GPS_get_param_RQSTID_FCR -> res := Fiacre_gps_get_param_handle_exception_extern(a, in_ct)
|
GPS_get_last_fix_RQSTID_FCR -> res := Fiacre_gps_get_last_fix_handle_exception_extern(a, in_ct)
|
GPS_set_noise_RQSTID_FCR -> res := Fiacre_gps_set_noise_handle_exception_extern(a, in_ct)
|
GPS_connect_RQSTID_FCR -> res := Fiacre_gps_connect_handle_exception_extern(a, in_ct)
|
GPS_disconnect_RQSTID_FCR -> res := Fiacre_gps_disconnect_handle_exception_extern(a, in_ct)
|
GPS_set_rtk_port_RQSTID_FCR -> res := Fiacre_gps_set_rtk_port_handle_exception_extern(a, in_ct)
|
GPS_connect_rtk_RQSTID_FCR -> res := Fiacre_gps_connect_rtk_handle_exception_extern(a, in_ct)
|
GPS_set_reference_RQSTID_FCR -> res := Fiacre_gps_set_reference_handle_exception_extern(a, in_ct)
|
GPS_get_reference_RQSTID_FCR -> res := Fiacre_gps_get_reference_handle_exception_extern(a, in_ct)
|
GPS_unfix_RQSTID_FCR -> res := Fiacre_gps_unfix_handle_exception_extern(a, in_ct)
|
GPS_fix_RQSTID_FCR -> res := Fiacre_gps_fix_handle_exception_extern(a, in_ct)
|
GPS_fix_here_RQSTID_FCR -> res := Fiacre_gps_fix_here_handle_exception_extern(a, in_ct)
|
GPS_send_rtcm_RQSTID_FCR -> res := Fiacre_gps_send_rtcm_handle_exception_extern(a, in_ct)
|
GPS_cancel_rtcm_RQSTID_FCR -> res := Fiacre_gps_cancel_rtcm_handle_exception_extern(a, in_ct)
|
GPS_enable_rtcm_RQSTID_FCR -> res := Fiacre_gps_enable_rtcm_handle_exception_extern(a, in_ct)
|
GPS_monitor_fix_RQSTID_FCR -> res := Fiacre_gps_monitor_fix_handle_exception_extern(a, in_ct)
|
GPS_rtk_stats_RQSTID_FCR -> res := Fiacre_gps_rtk_stats_handle_exception_extern(a, in_ct)
|
GPS_log_RQSTID_FCR -> res := Fiacre_gps_log_handle_exception_extern(a, in_ct)
|
GPS_log_stop_RQSTID_FCR -> res := Fiacre_gps_log_stop_handle_exception_extern(a, in_ct)
|
GPS_log_info_RQSTID_FCR -> res := Fiacre_gps_log_info_handle_exception_extern(a, in_ct)
|
GPS_NONE -> null
end;
return res
end
function Fiacre_gps_activity_report(a:fcr_activity_gps) :bool is
var res: bool := false
begin
case a.sid of
GPS_abort_activity_RQSTID_FCR -> res := Fiacre_gps_abort_activity_activity_report_extern(a, false)
|
GPS_connect_port_RQSTID_FCR -> res := Fiacre_gps_connect_port_activity_report_extern(a, false)
|
GPS_connect_service_RQSTID_FCR -> res := Fiacre_gps_connect_service_activity_report_extern(a, false)
|
GPS_kill_RQSTID_FCR -> res := Fiacre_gps_kill_activity_report_extern(a, false)
|
GPS_get_param_RQSTID_FCR -> res := Fiacre_gps_get_param_activity_report_extern(a, false)
|
GPS_get_last_fix_RQSTID_FCR -> res := Fiacre_gps_get_last_fix_activity_report_extern(a, false)
|
GPS_set_noise_RQSTID_FCR -> res := Fiacre_gps_set_noise_activity_report_extern(a, false)
|
GPS_connect_RQSTID_FCR -> res := Fiacre_gps_connect_activity_report_extern(a, false)
|
GPS_disconnect_RQSTID_FCR -> res := Fiacre_gps_disconnect_activity_report_extern(a, false)
|
GPS_set_rtk_port_RQSTID_FCR -> res := Fiacre_gps_set_rtk_port_activity_report_extern(a, false)
|
GPS_connect_rtk_RQSTID_FCR -> res := Fiacre_gps_connect_rtk_activity_report_extern(a, false)
|
GPS_set_reference_RQSTID_FCR -> res := Fiacre_gps_set_reference_activity_report_extern(a, false)
|
GPS_get_reference_RQSTID_FCR -> res := Fiacre_gps_get_reference_activity_report_extern(a, false)
|
GPS_unfix_RQSTID_FCR -> res := Fiacre_gps_unfix_activity_report_extern(a, false)
|
GPS_fix_RQSTID_FCR -> res := Fiacre_gps_fix_activity_report_extern(a, false)
|
GPS_fix_here_RQSTID_FCR -> res := Fiacre_gps_fix_here_activity_report_extern(a, false)
|
GPS_send_rtcm_RQSTID_FCR -> res := Fiacre_gps_send_rtcm_activity_report_extern(a, false)
|
GPS_cancel_rtcm_RQSTID_FCR -> res := Fiacre_gps_cancel_rtcm_activity_report_extern(a, false)
|
GPS_enable_rtcm_RQSTID_FCR -> res := Fiacre_gps_enable_rtcm_activity_report_extern(a, false)
|
GPS_monitor_fix_RQSTID_FCR -> res := Fiacre_gps_monitor_fix_activity_report_extern(a, false)
|
GPS_rtk_stats_RQSTID_FCR -> res := Fiacre_gps_rtk_stats_activity_report_extern(a, false)
|
GPS_log_RQSTID_FCR -> res := Fiacre_gps_log_activity_report_extern(a, false)
|
GPS_log_stop_RQSTID_FCR -> res := Fiacre_gps_log_stop_activity_report_extern(a, false)
|
GPS_log_info_RQSTID_FCR -> res := Fiacre_gps_log_info_activity_report_extern(a, false)
|
GPS_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task io ---------------------------------------------------------- */
task Fiacre_gps_codel_task_io_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_start_c
task Fiacre_gps_codel_task_io_poll_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_poll_c
task Fiacre_gps_codel_task_io_recv_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_recv_c
task Fiacre_gps_codel_task_io_rtk_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_rtk_c
task Fiacre_gps_codel_task_io_publish_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_publish_c
task Fiacre_gps_codel_task_io_err_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_err_c
task Fiacre_gps_codel_task_io_stop_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_task_io_stop_c
/* --- service connect -------------------------------------------------- */
task Fiacre_gps_codel_service_connect_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_connect_start_c
/* --- service disconnect ----------------------------------------------- */
task Fiacre_gps_codel_service_disconnect_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_disconnect_start_c
/* --- service set_rtk_port --------------------------------------------- */
task Fiacre_gps_codel_service_set_rtk_port_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_set_rtk_port_start_c
/* --- service connect_rtk ---------------------------------------------- */
task Fiacre_gps_codel_service_connect_rtk_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_connect_rtk_start_c
/* --- service unfix ---------------------------------------------------- */
task Fiacre_gps_codel_service_unfix_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_unfix_start_c
/* --- service fix ------------------------------------------------------ */
task Fiacre_gps_codel_service_fix_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_fix_start_c
/* --- service fix_here ------------------------------------------------- */
task Fiacre_gps_codel_service_fix_here_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_fix_here_start_c
task Fiacre_gps_codel_service_fix_here_avg_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_fix_here_avg_c
task Fiacre_gps_codel_service_fix_here_stop_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_fix_here_stop_c
/* --- service send_rtcm ------------------------------------------------ */
task Fiacre_gps_codel_service_send_rtcm_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_send_rtcm_start_c
/* --- service cancel_rtcm ---------------------------------------------- */
task Fiacre_gps_codel_service_cancel_rtcm_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_cancel_rtcm_start_c
/* --- service monitor_fix ---------------------------------------------- */
task Fiacre_gps_codel_service_monitor_fix_start_task(fcr_activity_gps) :minnie_genom_event is
Fiacre_gps_codel_service_monitor_fix_start_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_IMUDriver: 3..3 is 3
/* number of services for update task + one permanent */
const Nb_Serv_Act_IMUDriver_update: 2..2 is 2
const Nb_Self_Incomp_IMUDriver_update: 1..1 is 1
const Nb_act_inst_IMUDriver_update: 2..2 is 2
// may be should be const (with -1 for perm)
type IMUDRIVER_RQSTID_FCR is union
IMUDRIVER_abort_activity_RQSTID_FCR |
IMUDRIVER_connect_port_RQSTID_FCR |
IMUDRIVER_connect_service_RQSTID_FCR |
IMUDRIVER_kill_RQSTID_FCR |
IMUDRIVER_SetDevice_RQSTID_FCR |
IMUDRIVER_SetPublishOrientation_RQSTID_FCR |
IMUDRIVER_SetBaudrate_RQSTID_FCR |
IMUDRIVER_SetVerbose_RQSTID_FCR |
IMUDRIVER_Stop_RQSTID_FCR |
IMUDRIVER_ConnectDevice_RQSTID_FCR |
IMUDRIVER_GetHeading_RQSTID_FCR |
IMUDRIVER_Measure_RQSTID_FCR |
IMUDRIVER_NONE
end
const IMUDRIVER_abort_activity: 0..0 is 0
const IMUDRIVER_connect_port: 1..1 is 1
const IMUDRIVER_connect_service: 2..2 is 2
const IMUDRIVER_kill: 3..3 is 3
const IMUDRIVER_SetDevice: 4..4 is 4
const IMUDRIVER_SetPublishOrientation: 5..5 is 5
const IMUDRIVER_SetBaudrate: 6..6 is 6
const IMUDRIVER_SetVerbose: 7..7 is 7
const IMUDRIVER_Stop: 8..8 is 8
const IMUDRIVER_ConnectDevice: 9..9 is 9
const IMUDRIVER_GetHeading: 10..10 is 10
const IMUDRIVER_Measure: 11..11 is 11
type IMUDriver_Run_Map_Type is array 12 of bool
// All the possible non common mutex values for IMUDriver
const IMUInitStruct: 5..5 is 5
const IMUCleanStruct: 6..6 is 6
const IMUSetVerboseLevel: 7..7 is 7
const open_and_configure_device: 8..8 is 8
const get_heading: 9..9 is 9
const IMUMeasureStart: 10..10 is 10
const GetImu: 11..11 is 11
const WriteImuPort: 12..12 is 12
const MeasureStop: 13..13 is 13
const genom_IMUDriver_SetDevice_controlcb: 14..14 is 14
const genom_IMUDriver_SetPublishOrientation_controlcb: 15..15 is 15
const genom_IMUDriver_SetBaudrate_controlcb: 16..16 is 16
const max_number_mutex_codels_IMUDriver :17..17 is 17
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_IMUDriver is record
instance: 0..Max_Act_Inst_IMUDriver-1, //for compatible services
sid: IMUDRIVER_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_IMUDriver_task_name -1 (the index in the array)
// the value Nb_act_inst_IMUDriver_task_name is reserved to say it is the execution task turn
type act_inst_IMUDriver_update_turn_type is 0..Nb_act_inst_IMUDriver_update
type act_inst_IMUDriver_update_index_type is 0..Nb_act_inst_IMUDriver_update-1
type Activities_IMUDriver_update_Array is array Nb_act_inst_IMUDriver_update of fcr_activity_IMUDriver
type request_IMUDriver is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: IMUDRIVER_RQSTID_FCR
end
type ffa_reply_IMUDriver_update is record
index: act_inst_IMUDriver_update_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_IMUDriver_update(activities : Activities_IMUDriver_update_Array,
rqstid : IMUDRIVER_RQSTID_FCR) : ffa_reply_IMUDriver_update is
var index: act_inst_IMUDriver_update_index_type,
res: ffa_reply_IMUDriver_update,
a: fcr_activity_IMUDriver
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function IMUDriver_run_map_index_from_update_activity(a:fcr_activity_IMUDriver): 0..12-1 is
begin
if (a.sid = IMUDRIVER_Measure_RQSTID_FCR) then return IMUDRIVER_Measure end;
return 0
end
extern Fiacre_IMUDriver_update_genom_bad_transition (fcr_activity_IMUDriver) : bool is
Fiacre_IMUDriver_update_genom_bad_transition_c
extern Fiacre_IMUDriver_disallowed(): minnie_genom_event is
Fiacre_IMUDriver_disallowed_c
extern Fiacre_IMUDriver_send_ir_extern(fcr_activity_IMUDriver) : minnie_genom_event is
Fiacre_IMUDriver_send_ir_c
/*** Task ***/
event IMUDriver_Manage_Mbox: request_IMUDriver is IMUDriver_Manage_Mbox_c
task Fiacre_IMUDriver_abort_activity_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_abort_activity_control_c
extern Fiacre_IMUDriver_abort_activity_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_abort_activity_activity_report_c
extern Fiacre_IMUDriver_abort_activity_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_abort_activity_handle_exception_c
task Fiacre_IMUDriver_connect_port_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_connect_port_control_c
extern Fiacre_IMUDriver_connect_port_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_connect_port_activity_report_c
extern Fiacre_IMUDriver_connect_port_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_connect_port_handle_exception_c
task Fiacre_IMUDriver_connect_service_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_connect_service_control_c
extern Fiacre_IMUDriver_connect_service_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_connect_service_activity_report_c
extern Fiacre_IMUDriver_connect_service_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_connect_service_handle_exception_c
task Fiacre_IMUDriver_kill_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_kill_control_c
extern Fiacre_IMUDriver_kill_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_kill_activity_report_c
extern Fiacre_IMUDriver_kill_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_kill_handle_exception_c
extern Fiacre_IMUDriver_SetDevice_middle(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_SetDevice_middle_c
extern Fiacre_IMUDriver_SetDevice_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetDevice_activity_report_c
extern Fiacre_IMUDriver_SetDevice_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetDevice_handle_exception_c
extern Fiacre_IMUDriver_SetPublishOrientation_middle(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_SetPublishOrientation_middle_c
extern Fiacre_IMUDriver_SetPublishOrientation_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetPublishOrientation_activity_report_c
extern Fiacre_IMUDriver_SetPublishOrientation_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetPublishOrientation_handle_exception_c
extern Fiacre_IMUDriver_SetBaudrate_middle(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_SetBaudrate_middle_c
extern Fiacre_IMUDriver_SetBaudrate_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetBaudrate_activity_report_c
extern Fiacre_IMUDriver_SetBaudrate_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetBaudrate_handle_exception_c
task Fiacre_IMUDriver_SetVerbose_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_SetVerbose_control_c
extern Fiacre_IMUDriver_SetVerbose_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetVerbose_activity_report_c
extern Fiacre_IMUDriver_SetVerbose_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_SetVerbose_handle_exception_c
extern Fiacre_IMUDriver_Stop_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_Stop_activity_report_c
extern Fiacre_IMUDriver_Stop_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_Stop_handle_exception_c
task Fiacre_IMUDriver_ConnectDevice_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_ConnectDevice_control_c
extern Fiacre_IMUDriver_ConnectDevice_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_ConnectDevice_activity_report_c
extern Fiacre_IMUDriver_ConnectDevice_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_ConnectDevice_handle_exception_c
task Fiacre_IMUDriver_GetHeading_control_task (fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_GetHeading_control_c
extern Fiacre_IMUDriver_GetHeading_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_GetHeading_activity_report_c
extern Fiacre_IMUDriver_GetHeading_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_GetHeading_handle_exception_c
extern Fiacre_IMUDriver_Measure_genom_interrupt (fcr_activity_IMUDriver) : bool is
Fiacre_IMUDriver_Measure_genom_interrupt_c
extern Fiacre_IMUDriver_Measure_genom_bad_transition (fcr_activity_IMUDriver) : bool is
Fiacre_IMUDriver_Measure_genom_bad_transition_c
extern Fiacre_IMUDriver_Measure_activity_report_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_Measure_activity_report_c
extern Fiacre_IMUDriver_Measure_handle_exception_extern(fcr_activity_IMUDriver, bool) : bool is
Fiacre_IMUDriver_Measure_handle_exception_c
function Fiacre_IMUDriver_genom_interrupt(a:fcr_activity_IMUDriver) :bool is
var res: bool := false
begin
case a.sid of
IMUDRIVER_abort_activity_RQSTID_FCR -> null
|
IMUDRIVER_connect_port_RQSTID_FCR -> null
|
IMUDRIVER_connect_service_RQSTID_FCR -> null
|
IMUDRIVER_kill_RQSTID_FCR -> null
|
IMUDRIVER_SetDevice_RQSTID_FCR -> null
|
IMUDRIVER_SetPublishOrientation_RQSTID_FCR -> null
|
IMUDRIVER_SetBaudrate_RQSTID_FCR -> null
|
IMUDRIVER_SetVerbose_RQSTID_FCR -> null
|
IMUDRIVER_Stop_RQSTID_FCR -> null
|
IMUDRIVER_ConnectDevice_RQSTID_FCR -> null
|
IMUDRIVER_GetHeading_RQSTID_FCR -> null
|
IMUDRIVER_Measure_RQSTID_FCR -> res := Fiacre_IMUDriver_Measure_genom_interrupt(a)
|
IMUDRIVER_NONE -> null
end;
return res
end
function Fiacre_IMUDriver_handle_exception(a: fcr_activity_IMUDriver, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
IMUDRIVER_abort_activity_RQSTID_FCR -> res := Fiacre_IMUDriver_abort_activity_handle_exception_extern(a, in_ct)
|
IMUDRIVER_connect_port_RQSTID_FCR -> res := Fiacre_IMUDriver_connect_port_handle_exception_extern(a, in_ct)
|
IMUDRIVER_connect_service_RQSTID_FCR -> res := Fiacre_IMUDriver_connect_service_handle_exception_extern(a, in_ct)
|
IMUDRIVER_kill_RQSTID_FCR -> res := Fiacre_IMUDriver_kill_handle_exception_extern(a, in_ct)
|
IMUDRIVER_SetDevice_RQSTID_FCR -> res := Fiacre_IMUDriver_SetDevice_handle_exception_extern(a, in_ct)
|
IMUDRIVER_SetPublishOrientation_RQSTID_FCR -> res := Fiacre_IMUDriver_SetPublishOrientation_handle_exception_extern(a, in_ct)
|
IMUDRIVER_SetBaudrate_RQSTID_FCR -> res := Fiacre_IMUDriver_SetBaudrate_handle_exception_extern(a, in_ct)
|
IMUDRIVER_SetVerbose_RQSTID_FCR -> res := Fiacre_IMUDriver_SetVerbose_handle_exception_extern(a, in_ct)
|
IMUDRIVER_Stop_RQSTID_FCR -> res := Fiacre_IMUDriver_Stop_handle_exception_extern(a, in_ct)
|
IMUDRIVER_ConnectDevice_RQSTID_FCR -> res := Fiacre_IMUDriver_ConnectDevice_handle_exception_extern(a, in_ct)
|
IMUDRIVER_GetHeading_RQSTID_FCR -> res := Fiacre_IMUDriver_GetHeading_handle_exception_extern(a, in_ct)
|
IMUDRIVER_Measure_RQSTID_FCR -> res := Fiacre_IMUDriver_Measure_handle_exception_extern(a, in_ct)
|
IMUDRIVER_NONE -> null
end;
return res
end
function Fiacre_IMUDriver_activity_report(a:fcr_activity_IMUDriver) :bool is
var res: bool := false
begin
case a.sid of
IMUDRIVER_abort_activity_RQSTID_FCR -> res := Fiacre_IMUDriver_abort_activity_activity_report_extern(a, false)
|
IMUDRIVER_connect_port_RQSTID_FCR -> res := Fiacre_IMUDriver_connect_port_activity_report_extern(a, false)
|
IMUDRIVER_connect_service_RQSTID_FCR -> res := Fiacre_IMUDriver_connect_service_activity_report_extern(a, false)
|
IMUDRIVER_kill_RQSTID_FCR -> res := Fiacre_IMUDriver_kill_activity_report_extern(a, false)
|
IMUDRIVER_SetDevice_RQSTID_FCR -> res := Fiacre_IMUDriver_SetDevice_activity_report_extern(a, false)
|
IMUDRIVER_SetPublishOrientation_RQSTID_FCR -> res := Fiacre_IMUDriver_SetPublishOrientation_activity_report_extern(a, false)
|
IMUDRIVER_SetBaudrate_RQSTID_FCR -> res := Fiacre_IMUDriver_SetBaudrate_activity_report_extern(a, false)
|
IMUDRIVER_SetVerbose_RQSTID_FCR -> res := Fiacre_IMUDriver_SetVerbose_activity_report_extern(a, false)
|
IMUDRIVER_Stop_RQSTID_FCR -> res := Fiacre_IMUDriver_Stop_activity_report_extern(a, false)
|
IMUDRIVER_ConnectDevice_RQSTID_FCR -> res := Fiacre_IMUDriver_ConnectDevice_activity_report_extern(a, false)
|
IMUDRIVER_GetHeading_RQSTID_FCR -> res := Fiacre_IMUDriver_GetHeading_activity_report_extern(a, false)
|
IMUDRIVER_Measure_RQSTID_FCR -> res := Fiacre_IMUDriver_Measure_activity_report_extern(a, false)
|
IMUDRIVER_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task update ------------------------------------------------------ */
task Fiacre_IMUDriver_codel_task_update_start_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_task_update_start_c
task Fiacre_IMUDriver_codel_task_update_stop_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_task_update_stop_c
/* --- service Measure -------------------------------------------------- */
task Fiacre_IMUDriver_codel_service_Measure_start_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_service_Measure_start_c
task Fiacre_IMUDriver_codel_service_Measure_measure_get_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_service_Measure_measure_get_c
task Fiacre_IMUDriver_codel_service_Measure_write_port_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_service_Measure_write_port_c
task Fiacre_IMUDriver_codel_service_Measure_stop_task(fcr_activity_IMUDriver) :minnie_genom_event is
Fiacre_IMUDriver_codel_service_Measure_stop_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_joystick: 3..3 is 3
/* number of services for publish task + one permanent */
const Nb_Serv_Act_joystick_publish: 2..2 is 2
const Nb_Self_Incomp_joystick_publish: 0..0 is 0
const Nb_act_inst_joystick_publish: 4..4 is 4
// may be should be const (with -1 for perm)
type JOYSTICK_RQSTID_FCR is union
JOYSTICK_abort_activity_RQSTID_FCR |
JOYSTICK_connect_port_RQSTID_FCR |
JOYSTICK_connect_service_RQSTID_FCR |
JOYSTICK_kill_RQSTID_FCR |
JOYSTICK_device_list_RQSTID_FCR |
JOYSTICK_rename_RQSTID_FCR |
JOYSTICK_NONE
end
const JOYSTICK_abort_activity: 0..0 is 0
const JOYSTICK_connect_port: 1..1 is 1
const JOYSTICK_connect_service: 2..2 is 2
const JOYSTICK_kill: 3..3 is 3
const JOYSTICK_device_list: 4..4 is 4
const JOYSTICK_rename: 5..5 is 5
type joystick_Run_Map_Type is array 6 of bool
// All the possible non common mutex values for joystick
const joystick_init: 5..5 is 5
const joystick_fini: 6..6 is 6
const joystick_wait_event: 7..7 is 7
const joystick_main: 8..8 is 8
const joystick_device_list: 9..9 is 9
const joystick_rename: 10..10 is 10
const max_number_mutex_codels_joystick :11..11 is 11
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_joystick is record
instance: 0..Max_Act_Inst_joystick-1, //for compatible services
sid: JOYSTICK_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_joystick_task_name -1 (the index in the array)
// the value Nb_act_inst_joystick_task_name is reserved to say it is the execution task turn
type act_inst_joystick_publish_turn_type is 0..Nb_act_inst_joystick_publish
type act_inst_joystick_publish_index_type is 0..Nb_act_inst_joystick_publish-1
type Activities_joystick_publish_Array is array Nb_act_inst_joystick_publish of fcr_activity_joystick
type request_joystick is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: JOYSTICK_RQSTID_FCR
end
type ffa_reply_joystick_publish is record
index: act_inst_joystick_publish_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_joystick_publish(activities : Activities_joystick_publish_Array,
rqstid : JOYSTICK_RQSTID_FCR) : ffa_reply_joystick_publish is
var index: act_inst_joystick_publish_index_type,
res: ffa_reply_joystick_publish,
a: fcr_activity_joystick
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function joystick_run_map_index_from_publish_activity(a:fcr_activity_joystick): 0..6-1 is
begin
if (a.sid = JOYSTICK_rename_RQSTID_FCR) then return JOYSTICK_rename end;
return 0
end
extern Fiacre_joystick_publish_genom_bad_transition (fcr_activity_joystick) : bool is
Fiacre_joystick_publish_genom_bad_transition_c
extern Fiacre_joystick_disallowed(): minnie_genom_event is
Fiacre_joystick_disallowed_c
extern Fiacre_joystick_send_ir_extern(fcr_activity_joystick) : minnie_genom_event is
Fiacre_joystick_send_ir_c
/*** Task ***/
event joystick_Manage_Mbox: request_joystick is joystick_Manage_Mbox_c
task Fiacre_joystick_abort_activity_control_task (fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_abort_activity_control_c
extern Fiacre_joystick_abort_activity_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_abort_activity_activity_report_c
extern Fiacre_joystick_abort_activity_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_abort_activity_handle_exception_c
task Fiacre_joystick_connect_port_control_task (fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_connect_port_control_c
extern Fiacre_joystick_connect_port_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_connect_port_activity_report_c
extern Fiacre_joystick_connect_port_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_connect_port_handle_exception_c
task Fiacre_joystick_connect_service_control_task (fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_connect_service_control_c
extern Fiacre_joystick_connect_service_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_connect_service_activity_report_c
extern Fiacre_joystick_connect_service_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_connect_service_handle_exception_c
task Fiacre_joystick_kill_control_task (fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_kill_control_c
extern Fiacre_joystick_kill_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_kill_activity_report_c
extern Fiacre_joystick_kill_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_kill_handle_exception_c
task Fiacre_joystick_device_list_control_task (fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_device_list_control_c
extern Fiacre_joystick_device_list_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_device_list_activity_report_c
extern Fiacre_joystick_device_list_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_device_list_handle_exception_c
extern Fiacre_joystick_rename_genom_interrupt (fcr_activity_joystick) : bool is
Fiacre_joystick_rename_genom_interrupt_c
extern Fiacre_joystick_rename_genom_bad_transition (fcr_activity_joystick) : bool is
Fiacre_joystick_rename_genom_bad_transition_c
extern Fiacre_joystick_rename_activity_report_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_rename_activity_report_c
extern Fiacre_joystick_rename_handle_exception_extern(fcr_activity_joystick, bool) : bool is
Fiacre_joystick_rename_handle_exception_c
function Fiacre_joystick_genom_interrupt(a:fcr_activity_joystick) :bool is
var res: bool := false
begin
case a.sid of
JOYSTICK_abort_activity_RQSTID_FCR -> null
|
JOYSTICK_connect_port_RQSTID_FCR -> null
|
JOYSTICK_connect_service_RQSTID_FCR -> null
|
JOYSTICK_kill_RQSTID_FCR -> null
|
JOYSTICK_device_list_RQSTID_FCR -> null
|
JOYSTICK_rename_RQSTID_FCR -> res := Fiacre_joystick_rename_genom_interrupt(a)
|
JOYSTICK_NONE -> null
end;
return res
end
function Fiacre_joystick_handle_exception(a: fcr_activity_joystick, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
JOYSTICK_abort_activity_RQSTID_FCR -> res := Fiacre_joystick_abort_activity_handle_exception_extern(a, in_ct)
|
JOYSTICK_connect_port_RQSTID_FCR -> res := Fiacre_joystick_connect_port_handle_exception_extern(a, in_ct)
|
JOYSTICK_connect_service_RQSTID_FCR -> res := Fiacre_joystick_connect_service_handle_exception_extern(a, in_ct)
|
JOYSTICK_kill_RQSTID_FCR -> res := Fiacre_joystick_kill_handle_exception_extern(a, in_ct)
|
JOYSTICK_device_list_RQSTID_FCR -> res := Fiacre_joystick_device_list_handle_exception_extern(a, in_ct)
|
JOYSTICK_rename_RQSTID_FCR -> res := Fiacre_joystick_rename_handle_exception_extern(a, in_ct)
|
JOYSTICK_NONE -> null
end;
return res
end
function Fiacre_joystick_activity_report(a:fcr_activity_joystick) :bool is
var res: bool := false
begin
case a.sid of
JOYSTICK_abort_activity_RQSTID_FCR -> res := Fiacre_joystick_abort_activity_activity_report_extern(a, false)
|
JOYSTICK_connect_port_RQSTID_FCR -> res := Fiacre_joystick_connect_port_activity_report_extern(a, false)
|
JOYSTICK_connect_service_RQSTID_FCR -> res := Fiacre_joystick_connect_service_activity_report_extern(a, false)
|
JOYSTICK_kill_RQSTID_FCR -> res := Fiacre_joystick_kill_activity_report_extern(a, false)
|
JOYSTICK_device_list_RQSTID_FCR -> res := Fiacre_joystick_device_list_activity_report_extern(a, false)
|
JOYSTICK_rename_RQSTID_FCR -> res := Fiacre_joystick_rename_activity_report_extern(a, false)
|
JOYSTICK_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task publish ----------------------------------------------------- */
task Fiacre_joystick_codel_task_publish_start_task(fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_codel_task_publish_start_c
task Fiacre_joystick_codel_task_publish_stop_task(fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_codel_task_publish_stop_c
task Fiacre_joystick_codel_task_publish_poll_task(fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_codel_task_publish_poll_c
task Fiacre_joystick_codel_task_publish_event_task(fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_codel_task_publish_event_c
/* --- service rename --------------------------------------------------- */
task Fiacre_joystick_codel_service_rename_start_task(fcr_activity_joystick) :minnie_genom_event is
Fiacre_joystick_codel_service_rename_start_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_Navigation: 3..3 is 3
/* number of services for navigate task + one permanent */
const Nb_Serv_Act_Navigation_navigate: 6..6 is 6
const Nb_Self_Incomp_Navigation_navigate: 3..3 is 3
const Nb_act_inst_Navigation_navigate: 10..10 is 10
// may be should be const (with -1 for perm)
type NAVIGATION_RQSTID_FCR is union
NAVIGATION_abort_activity_RQSTID_FCR |
NAVIGATION_connect_port_RQSTID_FCR |
NAVIGATION_connect_service_RQSTID_FCR |
NAVIGATION_kill_RQSTID_FCR |
NAVIGATION_GetIDS_RQSTID_FCR |
NAVIGATION_SetTarget_RQSTID_FCR |
NAVIGATION_SetThreshold_RQSTID_FCR |
NAVIGATION_Stop_RQSTID_FCR |
NAVIGATION_SetVerbose_RQSTID_FCR |
NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR |
NAVIGATION_ReadMapGraph_RQSTID_FCR |
NAVIGATION_GotoTarget_RQSTID_FCR |
NAVIGATION_GotoPosition_RQSTID_FCR |
NAVIGATION_GotoNode_RQSTID_FCR |
NAVIGATION_NONE
end
const NAVIGATION_abort_activity: 0..0 is 0
const NAVIGATION_connect_port: 1..1 is 1
const NAVIGATION_connect_service: 2..2 is 2
const NAVIGATION_kill: 3..3 is 3
const NAVIGATION_GetIDS: 4..4 is 4
const NAVIGATION_SetTarget: 5..5 is 5
const NAVIGATION_SetThreshold: 6..6 is 6
const NAVIGATION_Stop: 7..7 is 7
const NAVIGATION_SetVerbose: 8..8 is 8
const NAVIGATION_SetTargetToCurrentPose: 9..9 is 9
const NAVIGATION_ReadMapGraph: 10..10 is 10
const NAVIGATION_GotoTarget: 11..11 is 11
const NAVIGATION_GotoPosition: 12..12 is 12
const NAVIGATION_GotoNode: 13..13 is 13
type Navigation_Run_Map_Type is array 14 of bool
// All the possible non common mutex values for Navigation
const InitStructNavig: 5..5 is 5
const NVSetVerboseLevel: 6..6 is 6
const SetTargetToCurrentPoseStart: 7..7 is 7
const ReadMapGraph: 8..8 is 8
const GotoTargetStart: 9..9 is 9
const CheckPorts: 10..10 is 10
const ReadInitPosePort: 11..11 is 11
const PlanPath: 12..12 is 12
const ReadPosePort: 13..13 is 13
const ExecutePath: 14..14 is 14
const WriteTarget: 15..15 is 15
const PlanPathToNode: 16..16 is 16
const genom_Navigation_GetIDS_controlcb: 17..17 is 17
const genom_Navigation_SetTarget_controlcb: 18..18 is 18
const genom_Navigation_SetThreshold_controlcb: 19..19 is 19
const max_number_mutex_codels_Navigation :20..20 is 20
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_Navigation is record
instance: 0..Max_Act_Inst_Navigation-1, //for compatible services
sid: NAVIGATION_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_Navigation_task_name -1 (the index in the array)
// the value Nb_act_inst_Navigation_task_name is reserved to say it is the execution task turn
type act_inst_Navigation_navigate_turn_type is 0..Nb_act_inst_Navigation_navigate
type act_inst_Navigation_navigate_index_type is 0..Nb_act_inst_Navigation_navigate-1
type Activities_Navigation_navigate_Array is array Nb_act_inst_Navigation_navigate of fcr_activity_Navigation
type request_Navigation is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: NAVIGATION_RQSTID_FCR
end
type ffa_reply_Navigation_navigate is record
index: act_inst_Navigation_navigate_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_Navigation_navigate(activities : Activities_Navigation_navigate_Array,
rqstid : NAVIGATION_RQSTID_FCR) : ffa_reply_Navigation_navigate is
var index: act_inst_Navigation_navigate_index_type,
res: ffa_reply_Navigation_navigate,
a: fcr_activity_Navigation
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function Navigation_run_map_index_from_navigate_activity(a:fcr_activity_Navigation): 0..14-1 is
begin
if (a.sid = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR) then return NAVIGATION_SetTargetToCurrentPose end;
if (a.sid = NAVIGATION_ReadMapGraph_RQSTID_FCR) then return NAVIGATION_ReadMapGraph end;
if (a.sid = NAVIGATION_GotoTarget_RQSTID_FCR) then return NAVIGATION_GotoTarget end;
if (a.sid = NAVIGATION_GotoPosition_RQSTID_FCR) then return NAVIGATION_GotoPosition end;
if (a.sid = NAVIGATION_GotoNode_RQSTID_FCR) then return NAVIGATION_GotoNode end;
return 0
end
extern Fiacre_Navigation_navigate_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_navigate_genom_bad_transition_c
extern Fiacre_Navigation_disallowed(): minnie_genom_event is
Fiacre_Navigation_disallowed_c
extern Fiacre_Navigation_send_ir_extern(fcr_activity_Navigation) : minnie_genom_event is
Fiacre_Navigation_send_ir_c
/*** Task ***/
event Navigation_Manage_Mbox: request_Navigation is Navigation_Manage_Mbox_c
task Fiacre_Navigation_abort_activity_control_task (fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_abort_activity_control_c
extern Fiacre_Navigation_abort_activity_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_abort_activity_activity_report_c
extern Fiacre_Navigation_abort_activity_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_abort_activity_handle_exception_c
task Fiacre_Navigation_connect_port_control_task (fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_connect_port_control_c
extern Fiacre_Navigation_connect_port_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_connect_port_activity_report_c
extern Fiacre_Navigation_connect_port_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_connect_port_handle_exception_c
task Fiacre_Navigation_connect_service_control_task (fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_connect_service_control_c
extern Fiacre_Navigation_connect_service_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_connect_service_activity_report_c
extern Fiacre_Navigation_connect_service_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_connect_service_handle_exception_c
task Fiacre_Navigation_kill_control_task (fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_kill_control_c
extern Fiacre_Navigation_kill_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_kill_activity_report_c
extern Fiacre_Navigation_kill_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_kill_handle_exception_c
extern Fiacre_Navigation_GetIDS_middle(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_GetIDS_middle_c
extern Fiacre_Navigation_GetIDS_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GetIDS_activity_report_c
extern Fiacre_Navigation_GetIDS_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GetIDS_handle_exception_c
extern Fiacre_Navigation_SetTarget_middle(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_SetTarget_middle_c
extern Fiacre_Navigation_SetTarget_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetTarget_activity_report_c
extern Fiacre_Navigation_SetTarget_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetTarget_handle_exception_c
extern Fiacre_Navigation_SetThreshold_middle(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_SetThreshold_middle_c
extern Fiacre_Navigation_SetThreshold_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetThreshold_activity_report_c
extern Fiacre_Navigation_SetThreshold_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetThreshold_handle_exception_c
extern Fiacre_Navigation_Stop_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_Stop_activity_report_c
extern Fiacre_Navigation_Stop_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_Stop_handle_exception_c
task Fiacre_Navigation_SetVerbose_control_task (fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_SetVerbose_control_c
extern Fiacre_Navigation_SetVerbose_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetVerbose_activity_report_c
extern Fiacre_Navigation_SetVerbose_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetVerbose_handle_exception_c
extern Fiacre_Navigation_SetTargetToCurrentPose_genom_interrupt (fcr_activity_Navigation) : bool is
Fiacre_Navigation_SetTargetToCurrentPose_genom_interrupt_c
extern Fiacre_Navigation_SetTargetToCurrentPose_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_SetTargetToCurrentPose_genom_bad_transition_c
extern Fiacre_Navigation_SetTargetToCurrentPose_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetTargetToCurrentPose_activity_report_c
extern Fiacre_Navigation_SetTargetToCurrentPose_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_SetTargetToCurrentPose_handle_exception_c
extern Fiacre_Navigation_ReadMapGraph_genom_interrupt (fcr_activity_Navigation) : bool is
Fiacre_Navigation_ReadMapGraph_genom_interrupt_c
extern Fiacre_Navigation_ReadMapGraph_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_ReadMapGraph_genom_bad_transition_c
extern Fiacre_Navigation_ReadMapGraph_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_ReadMapGraph_activity_report_c
extern Fiacre_Navigation_ReadMapGraph_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_ReadMapGraph_handle_exception_c
extern Fiacre_Navigation_GotoTarget_genom_interrupt (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoTarget_genom_interrupt_c
extern Fiacre_Navigation_GotoTarget_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoTarget_genom_bad_transition_c
extern Fiacre_Navigation_GotoTarget_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoTarget_activity_report_c
extern Fiacre_Navigation_GotoTarget_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoTarget_handle_exception_c
extern Fiacre_Navigation_GotoPosition_genom_interrupt (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoPosition_genom_interrupt_c
extern Fiacre_Navigation_GotoPosition_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoPosition_genom_bad_transition_c
extern Fiacre_Navigation_GotoPosition_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoPosition_activity_report_c
extern Fiacre_Navigation_GotoPosition_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoPosition_handle_exception_c
extern Fiacre_Navigation_GotoNode_genom_interrupt (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoNode_genom_interrupt_c
extern Fiacre_Navigation_GotoNode_genom_bad_transition (fcr_activity_Navigation) : bool is
Fiacre_Navigation_GotoNode_genom_bad_transition_c
extern Fiacre_Navigation_GotoNode_activity_report_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoNode_activity_report_c
extern Fiacre_Navigation_GotoNode_handle_exception_extern(fcr_activity_Navigation, bool) : bool is
Fiacre_Navigation_GotoNode_handle_exception_c
function Fiacre_Navigation_genom_interrupt(a:fcr_activity_Navigation) :bool is
var res: bool := false
begin
case a.sid of
NAVIGATION_abort_activity_RQSTID_FCR -> null
|
NAVIGATION_connect_port_RQSTID_FCR -> null
|
NAVIGATION_connect_service_RQSTID_FCR -> null
|
NAVIGATION_kill_RQSTID_FCR -> null
|
NAVIGATION_GetIDS_RQSTID_FCR -> null
|
NAVIGATION_SetTarget_RQSTID_FCR -> null
|
NAVIGATION_SetThreshold_RQSTID_FCR -> null
|
NAVIGATION_Stop_RQSTID_FCR -> null
|
NAVIGATION_SetVerbose_RQSTID_FCR -> null
|
NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR -> res := Fiacre_Navigation_SetTargetToCurrentPose_genom_interrupt(a)
|
NAVIGATION_ReadMapGraph_RQSTID_FCR -> res := Fiacre_Navigation_ReadMapGraph_genom_interrupt(a)
|
NAVIGATION_GotoTarget_RQSTID_FCR -> res := Fiacre_Navigation_GotoTarget_genom_interrupt(a)
|
NAVIGATION_GotoPosition_RQSTID_FCR -> res := Fiacre_Navigation_GotoPosition_genom_interrupt(a)
|
NAVIGATION_GotoNode_RQSTID_FCR -> res := Fiacre_Navigation_GotoNode_genom_interrupt(a)
|
NAVIGATION_NONE -> null
end;
return res
end
function Fiacre_Navigation_handle_exception(a: fcr_activity_Navigation, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
NAVIGATION_abort_activity_RQSTID_FCR -> res := Fiacre_Navigation_abort_activity_handle_exception_extern(a, in_ct)
|
NAVIGATION_connect_port_RQSTID_FCR -> res := Fiacre_Navigation_connect_port_handle_exception_extern(a, in_ct)
|
NAVIGATION_connect_service_RQSTID_FCR -> res := Fiacre_Navigation_connect_service_handle_exception_extern(a, in_ct)
|
NAVIGATION_kill_RQSTID_FCR -> res := Fiacre_Navigation_kill_handle_exception_extern(a, in_ct)
|
NAVIGATION_GetIDS_RQSTID_FCR -> res := Fiacre_Navigation_GetIDS_handle_exception_extern(a, in_ct)
|
NAVIGATION_SetTarget_RQSTID_FCR -> res := Fiacre_Navigation_SetTarget_handle_exception_extern(a, in_ct)
|
NAVIGATION_SetThreshold_RQSTID_FCR -> res := Fiacre_Navigation_SetThreshold_handle_exception_extern(a, in_ct)
|
NAVIGATION_Stop_RQSTID_FCR -> res := Fiacre_Navigation_Stop_handle_exception_extern(a, in_ct)
|
NAVIGATION_SetVerbose_RQSTID_FCR -> res := Fiacre_Navigation_SetVerbose_handle_exception_extern(a, in_ct)
|
NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR -> res := Fiacre_Navigation_SetTargetToCurrentPose_handle_exception_extern(a, in_ct)
|
NAVIGATION_ReadMapGraph_RQSTID_FCR -> res := Fiacre_Navigation_ReadMapGraph_handle_exception_extern(a, in_ct)
|
NAVIGATION_GotoTarget_RQSTID_FCR -> res := Fiacre_Navigation_GotoTarget_handle_exception_extern(a, in_ct)
|
NAVIGATION_GotoPosition_RQSTID_FCR -> res := Fiacre_Navigation_GotoPosition_handle_exception_extern(a, in_ct)
|
NAVIGATION_GotoNode_RQSTID_FCR -> res := Fiacre_Navigation_GotoNode_handle_exception_extern(a, in_ct)
|
NAVIGATION_NONE -> null
end;
return res
end
function Fiacre_Navigation_activity_report(a:fcr_activity_Navigation) :bool is
var res: bool := false
begin
case a.sid of
NAVIGATION_abort_activity_RQSTID_FCR -> res := Fiacre_Navigation_abort_activity_activity_report_extern(a, false)
|
NAVIGATION_connect_port_RQSTID_FCR -> res := Fiacre_Navigation_connect_port_activity_report_extern(a, false)
|
NAVIGATION_connect_service_RQSTID_FCR -> res := Fiacre_Navigation_connect_service_activity_report_extern(a, false)
|
NAVIGATION_kill_RQSTID_FCR -> res := Fiacre_Navigation_kill_activity_report_extern(a, false)
|
NAVIGATION_GetIDS_RQSTID_FCR -> res := Fiacre_Navigation_GetIDS_activity_report_extern(a, false)
|
NAVIGATION_SetTarget_RQSTID_FCR -> res := Fiacre_Navigation_SetTarget_activity_report_extern(a, false)
|
NAVIGATION_SetThreshold_RQSTID_FCR -> res := Fiacre_Navigation_SetThreshold_activity_report_extern(a, false)
|
NAVIGATION_Stop_RQSTID_FCR -> res := Fiacre_Navigation_Stop_activity_report_extern(a, false)
|
NAVIGATION_SetVerbose_RQSTID_FCR -> res := Fiacre_Navigation_SetVerbose_activity_report_extern(a, false)
|
NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR -> res := Fiacre_Navigation_SetTargetToCurrentPose_activity_report_extern(a, false)
|
NAVIGATION_ReadMapGraph_RQSTID_FCR -> res := Fiacre_Navigation_ReadMapGraph_activity_report_extern(a, false)
|
NAVIGATION_GotoTarget_RQSTID_FCR -> res := Fiacre_Navigation_GotoTarget_activity_report_extern(a, false)
|
NAVIGATION_GotoPosition_RQSTID_FCR -> res := Fiacre_Navigation_GotoPosition_activity_report_extern(a, false)
|
NAVIGATION_GotoNode_RQSTID_FCR -> res := Fiacre_Navigation_GotoNode_activity_report_extern(a, false)
|
NAVIGATION_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task navigate ---------------------------------------------------- */
task Fiacre_Navigation_codel_task_navigate_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_task_navigate_start_c
/* --- service SetTargetToCurrentPose ----------------------------------- */
task Fiacre_Navigation_codel_service_SetTargetToCurrentPose_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_SetTargetToCurrentPose_start_c
/* --- service ReadMapGraph --------------------------------------------- */
task Fiacre_Navigation_codel_service_ReadMapGraph_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_ReadMapGraph_start_c
/* --- service GotoTarget ----------------------------------------------- */
task Fiacre_Navigation_codel_service_GotoTarget_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoTarget_start_c
/* --- service GotoPosition --------------------------------------------- */
task Fiacre_Navigation_codel_service_GotoPosition_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_start_c
task Fiacre_Navigation_codel_service_GotoPosition_read_init_pose_port_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_read_init_pose_port_c
task Fiacre_Navigation_codel_service_GotoPosition_plan_path_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_plan_path_c
task Fiacre_Navigation_codel_service_GotoPosition_read_pose_port_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_read_pose_port_c
task Fiacre_Navigation_codel_service_GotoPosition_execute_path_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_execute_path_c
task Fiacre_Navigation_codel_service_GotoPosition_write_target_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_write_target_c
task Fiacre_Navigation_codel_service_GotoPosition_end_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_end_c
task Fiacre_Navigation_codel_service_GotoPosition_stop_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoPosition_stop_c
/* --- service GotoNode ------------------------------------------------- */
task Fiacre_Navigation_codel_service_GotoNode_start_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_start_c
task Fiacre_Navigation_codel_service_GotoNode_read_init_pose_port_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_read_init_pose_port_c
task Fiacre_Navigation_codel_service_GotoNode_plan_path_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_plan_path_c
task Fiacre_Navigation_codel_service_GotoNode_read_pose_port_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_read_pose_port_c
task Fiacre_Navigation_codel_service_GotoNode_execute_path_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_execute_path_c
task Fiacre_Navigation_codel_service_GotoNode_write_target_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_write_target_c
task Fiacre_Navigation_codel_service_GotoNode_end_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_end_c
task Fiacre_Navigation_codel_service_GotoNode_stop_task(fcr_activity_Navigation) :minnie_genom_event is
Fiacre_Navigation_codel_service_GotoNode_stop_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_pom: 3..3 is 3
/* number of services for io task + one permanent */
const Nb_Serv_Act_pom_io: 3..3 is 3
const Nb_Self_Incomp_pom_io: 1..1 is 1
const Nb_act_inst_pom_io: 5..5 is 5
/* number of services for filter task + one permanent */
const Nb_Serv_Act_pom_filter: 1..1 is 1
const Nb_Self_Incomp_pom_filter: 0..0 is 0
const Nb_act_inst_pom_filter: 1..1 is 1
// may be should be const (with -1 for perm)
type POM_RQSTID_FCR is union
POM_abort_activity_RQSTID_FCR |
POM_connect_port_RQSTID_FCR |
POM_connect_service_RQSTID_FCR |
POM_kill_RQSTID_FCR |
POM_get_history_length_RQSTID_FCR |
POM_set_history_length_RQSTID_FCR |
POM_get_prediction_model_RQSTID_FCR |
POM_set_prediction_model_RQSTID_FCR |
POM_get_process_noise_RQSTID_FCR |
POM_set_process_noise_RQSTID_FCR |
POM_add_measurement_RQSTID_FCR |
POM_replay_RQSTID_FCR |
POM_set_position_RQSTID_FCR |
POM_log_state_RQSTID_FCR |
POM_log_measurements_RQSTID_FCR |
POM_log_stop_RQSTID_FCR |
POM_log_info_RQSTID_FCR |
POM_NONE
end
const POM_abort_activity: 0..0 is 0
const POM_connect_port: 1..1 is 1
const POM_connect_service: 2..2 is 2
const POM_kill: 3..3 is 3
const POM_get_history_length: 4..4 is 4
const POM_set_history_length: 5..5 is 5
const POM_get_prediction_model: 6..6 is 6
const POM_set_prediction_model: 7..7 is 7
const POM_get_process_noise: 8..8 is 8
const POM_set_process_noise: 9..9 is 9
const POM_add_measurement: 10..10 is 10
const POM_replay: 11..11 is 11
const POM_set_position: 12..12 is 12
const POM_log_state: 13..13 is 13
const POM_log_measurements: 14..14 is 14
const POM_log_stop: 15..15 is 15
const POM_log_info: 16..16 is 16
type pom_Run_Map_Type is array 17 of bool
// All the possible non common mutex values for pom
const pom_io_start: 5..5 is 5
const pom_io_read: 6..6 is 6
const pom_io_insert: 7..7 is 7
const pom_io_stop: 8..8 is 8
const pom_filter_start: 9..9 is 9
const pom_filter_exec: 10..10 is 10
const set_prediction_model: 11..11 is 11
const set_process_noise: 12..12 is 12
const pom_add_measurement: 13..13 is 13
const pom_replay_start: 14..14 is 14
const pom_replay_read: 15..15 is 15
const pom_replay_stop: 16..16 is 16
const pom_set_position: 17..17 is 17
const pom_log_state: 18..18 is 18
const pom_log_measurements: 19..19 is 19
const pom_log_stop: 20..20 is 20
const pom_log_info: 21..21 is 21
const genom_pom_get_history_length_controlcb: 22..22 is 22
const genom_pom_set_history_length_controlcb: 23..23 is 23
const genom_pom_get_prediction_model_controlcb: 24..24 is 24
const genom_pom_set_prediction_model_controlcb: 25..25 is 25
const genom_pom_get_process_noise_controlcb: 26..26 is 26
const genom_pom_set_process_noise_controlcb: 27..27 is 27
const max_number_mutex_codels_pom :28..28 is 28
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_pom is record
instance: 0..Max_Act_Inst_pom-1, //for compatible services
sid: POM_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_pom_task_name -1 (the index in the array)
// the value Nb_act_inst_pom_task_name is reserved to say it is the execution task turn
type act_inst_pom_io_turn_type is 0..Nb_act_inst_pom_io
type act_inst_pom_io_index_type is 0..Nb_act_inst_pom_io-1
type Activities_pom_io_Array is array Nb_act_inst_pom_io of fcr_activity_pom
type act_inst_pom_filter_turn_type is 0..Nb_act_inst_pom_filter
type act_inst_pom_filter_index_type is 0..Nb_act_inst_pom_filter-1
type Activities_pom_filter_Array is array Nb_act_inst_pom_filter of fcr_activity_pom
type request_pom is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: POM_RQSTID_FCR
end
type ffa_reply_pom_io is record
index: act_inst_pom_io_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_pom_io(activities : Activities_pom_io_Array,
rqstid : POM_RQSTID_FCR) : ffa_reply_pom_io is
var index: act_inst_pom_io_index_type,
res: ffa_reply_pom_io,
a: fcr_activity_pom
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function pom_run_map_index_from_io_activity(a:fcr_activity_pom): 0..17-1 is
begin
if (a.sid = POM_add_measurement_RQSTID_FCR) then return POM_add_measurement end;
if (a.sid = POM_replay_RQSTID_FCR) then return POM_replay end;
return 0
end
extern Fiacre_pom_io_genom_bad_transition (fcr_activity_pom) : bool is
Fiacre_pom_io_genom_bad_transition_c
type ffa_reply_pom_filter is record
index: act_inst_pom_filter_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_pom_filter(activities : Activities_pom_filter_Array,
rqstid : POM_RQSTID_FCR) : ffa_reply_pom_filter is
var index: act_inst_pom_filter_index_type,
res: ffa_reply_pom_filter,
a: fcr_activity_pom
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function pom_run_map_index_from_filter_activity(a:fcr_activity_pom): 0..17-1 is
begin
if (a.sid = POM_add_measurement_RQSTID_FCR) then return POM_add_measurement end;
if (a.sid = POM_replay_RQSTID_FCR) then return POM_replay end;
return 0
end
extern Fiacre_pom_filter_genom_bad_transition (fcr_activity_pom) : bool is
Fiacre_pom_filter_genom_bad_transition_c
extern Fiacre_pom_disallowed(): minnie_genom_event is
Fiacre_pom_disallowed_c
extern Fiacre_pom_send_ir_extern(fcr_activity_pom) : minnie_genom_event is
Fiacre_pom_send_ir_c
/*** Task ***/
event pom_Manage_Mbox: request_pom is pom_Manage_Mbox_c
task Fiacre_pom_abort_activity_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_abort_activity_control_c
extern Fiacre_pom_abort_activity_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_abort_activity_activity_report_c
extern Fiacre_pom_abort_activity_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_abort_activity_handle_exception_c
task Fiacre_pom_connect_port_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_connect_port_control_c
extern Fiacre_pom_connect_port_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_connect_port_activity_report_c
extern Fiacre_pom_connect_port_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_connect_port_handle_exception_c
task Fiacre_pom_connect_service_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_connect_service_control_c
extern Fiacre_pom_connect_service_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_connect_service_activity_report_c
extern Fiacre_pom_connect_service_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_connect_service_handle_exception_c
task Fiacre_pom_kill_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_kill_control_c
extern Fiacre_pom_kill_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_kill_activity_report_c
extern Fiacre_pom_kill_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_kill_handle_exception_c
extern Fiacre_pom_get_history_length_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_get_history_length_middle_c
extern Fiacre_pom_get_history_length_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_history_length_activity_report_c
extern Fiacre_pom_get_history_length_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_history_length_handle_exception_c
extern Fiacre_pom_set_history_length_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_history_length_middle_c
extern Fiacre_pom_set_history_length_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_history_length_activity_report_c
extern Fiacre_pom_set_history_length_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_history_length_handle_exception_c
extern Fiacre_pom_get_prediction_model_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_get_prediction_model_middle_c
extern Fiacre_pom_get_prediction_model_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_prediction_model_activity_report_c
extern Fiacre_pom_get_prediction_model_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_prediction_model_handle_exception_c
task Fiacre_pom_set_prediction_model_validate_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_prediction_model_validate_c
extern Fiacre_pom_set_prediction_model_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_prediction_model_middle_c
extern Fiacre_pom_set_prediction_model_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_prediction_model_activity_report_c
extern Fiacre_pom_set_prediction_model_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_prediction_model_handle_exception_c
extern Fiacre_pom_get_process_noise_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_get_process_noise_middle_c
extern Fiacre_pom_get_process_noise_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_process_noise_activity_report_c
extern Fiacre_pom_get_process_noise_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_get_process_noise_handle_exception_c
task Fiacre_pom_set_process_noise_validate_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_process_noise_validate_c
extern Fiacre_pom_set_process_noise_middle(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_process_noise_middle_c
extern Fiacre_pom_set_process_noise_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_process_noise_activity_report_c
extern Fiacre_pom_set_process_noise_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_process_noise_handle_exception_c
extern Fiacre_pom_add_measurement_genom_interrupt (fcr_activity_pom) : bool is
Fiacre_pom_add_measurement_genom_interrupt_c
extern Fiacre_pom_add_measurement_genom_bad_transition (fcr_activity_pom) : bool is
Fiacre_pom_add_measurement_genom_bad_transition_c
extern Fiacre_pom_add_measurement_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_add_measurement_activity_report_c
extern Fiacre_pom_add_measurement_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_add_measurement_handle_exception_c
extern Fiacre_pom_replay_genom_interrupt (fcr_activity_pom) : bool is
Fiacre_pom_replay_genom_interrupt_c
extern Fiacre_pom_replay_genom_bad_transition (fcr_activity_pom) : bool is
Fiacre_pom_replay_genom_bad_transition_c
extern Fiacre_pom_replay_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_replay_activity_report_c
extern Fiacre_pom_replay_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_replay_handle_exception_c
task Fiacre_pom_set_position_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_set_position_control_c
extern Fiacre_pom_set_position_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_position_activity_report_c
extern Fiacre_pom_set_position_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_set_position_handle_exception_c
task Fiacre_pom_log_state_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_log_state_control_c
extern Fiacre_pom_log_state_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_state_activity_report_c
extern Fiacre_pom_log_state_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_state_handle_exception_c
task Fiacre_pom_log_measurements_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_log_measurements_control_c
extern Fiacre_pom_log_measurements_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_measurements_activity_report_c
extern Fiacre_pom_log_measurements_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_measurements_handle_exception_c
task Fiacre_pom_log_stop_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_log_stop_control_c
extern Fiacre_pom_log_stop_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_stop_activity_report_c
extern Fiacre_pom_log_stop_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_stop_handle_exception_c
task Fiacre_pom_log_info_control_task (fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_log_info_control_c
extern Fiacre_pom_log_info_activity_report_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_info_activity_report_c
extern Fiacre_pom_log_info_handle_exception_extern(fcr_activity_pom, bool) : bool is
Fiacre_pom_log_info_handle_exception_c
function Fiacre_pom_genom_interrupt(a:fcr_activity_pom) :bool is
var res: bool := false
begin
case a.sid of
POM_abort_activity_RQSTID_FCR -> null
|
POM_connect_port_RQSTID_FCR -> null
|
POM_connect_service_RQSTID_FCR -> null
|
POM_kill_RQSTID_FCR -> null
|
POM_get_history_length_RQSTID_FCR -> null
|
POM_set_history_length_RQSTID_FCR -> null
|
POM_get_prediction_model_RQSTID_FCR -> null
|
POM_set_prediction_model_RQSTID_FCR -> null
|
POM_get_process_noise_RQSTID_FCR -> null
|
POM_set_process_noise_RQSTID_FCR -> null
|
POM_add_measurement_RQSTID_FCR -> res := Fiacre_pom_add_measurement_genom_interrupt(a)
|
POM_replay_RQSTID_FCR -> res := Fiacre_pom_replay_genom_interrupt(a)
|
POM_set_position_RQSTID_FCR -> null
|
POM_log_state_RQSTID_FCR -> null
|
POM_log_measurements_RQSTID_FCR -> null
|
POM_log_stop_RQSTID_FCR -> null
|
POM_log_info_RQSTID_FCR -> null
|
POM_NONE -> null
end;
return res
end
function Fiacre_pom_handle_exception(a: fcr_activity_pom, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
POM_abort_activity_RQSTID_FCR -> res := Fiacre_pom_abort_activity_handle_exception_extern(a, in_ct)
|
POM_connect_port_RQSTID_FCR -> res := Fiacre_pom_connect_port_handle_exception_extern(a, in_ct)
|
POM_connect_service_RQSTID_FCR -> res := Fiacre_pom_connect_service_handle_exception_extern(a, in_ct)
|
POM_kill_RQSTID_FCR -> res := Fiacre_pom_kill_handle_exception_extern(a, in_ct)
|
POM_get_history_length_RQSTID_FCR -> res := Fiacre_pom_get_history_length_handle_exception_extern(a, in_ct)
|
POM_set_history_length_RQSTID_FCR -> res := Fiacre_pom_set_history_length_handle_exception_extern(a, in_ct)
|
POM_get_prediction_model_RQSTID_FCR -> res := Fiacre_pom_get_prediction_model_handle_exception_extern(a, in_ct)
|
POM_set_prediction_model_RQSTID_FCR -> res := Fiacre_pom_set_prediction_model_handle_exception_extern(a, in_ct)
|
POM_get_process_noise_RQSTID_FCR -> res := Fiacre_pom_get_process_noise_handle_exception_extern(a, in_ct)
|
POM_set_process_noise_RQSTID_FCR -> res := Fiacre_pom_set_process_noise_handle_exception_extern(a, in_ct)
|
POM_add_measurement_RQSTID_FCR -> res := Fiacre_pom_add_measurement_handle_exception_extern(a, in_ct)
|
POM_replay_RQSTID_FCR -> res := Fiacre_pom_replay_handle_exception_extern(a, in_ct)
|
POM_set_position_RQSTID_FCR -> res := Fiacre_pom_set_position_handle_exception_extern(a, in_ct)
|
POM_log_state_RQSTID_FCR -> res := Fiacre_pom_log_state_handle_exception_extern(a, in_ct)
|
POM_log_measurements_RQSTID_FCR -> res := Fiacre_pom_log_measurements_handle_exception_extern(a, in_ct)
|
POM_log_stop_RQSTID_FCR -> res := Fiacre_pom_log_stop_handle_exception_extern(a, in_ct)
|
POM_log_info_RQSTID_FCR -> res := Fiacre_pom_log_info_handle_exception_extern(a, in_ct)
|
POM_NONE -> null
end;
return res
end
function Fiacre_pom_activity_report(a:fcr_activity_pom) :bool is
var res: bool := false
begin
case a.sid of
POM_abort_activity_RQSTID_FCR -> res := Fiacre_pom_abort_activity_activity_report_extern(a, false)
|
POM_connect_port_RQSTID_FCR -> res := Fiacre_pom_connect_port_activity_report_extern(a, false)
|
POM_connect_service_RQSTID_FCR -> res := Fiacre_pom_connect_service_activity_report_extern(a, false)
|
POM_kill_RQSTID_FCR -> res := Fiacre_pom_kill_activity_report_extern(a, false)
|
POM_get_history_length_RQSTID_FCR -> res := Fiacre_pom_get_history_length_activity_report_extern(a, false)
|
POM_set_history_length_RQSTID_FCR -> res := Fiacre_pom_set_history_length_activity_report_extern(a, false)
|
POM_get_prediction_model_RQSTID_FCR -> res := Fiacre_pom_get_prediction_model_activity_report_extern(a, false)
|
POM_set_prediction_model_RQSTID_FCR -> res := Fiacre_pom_set_prediction_model_activity_report_extern(a, false)
|
POM_get_process_noise_RQSTID_FCR -> res := Fiacre_pom_get_process_noise_activity_report_extern(a, false)
|
POM_set_process_noise_RQSTID_FCR -> res := Fiacre_pom_set_process_noise_activity_report_extern(a, false)
|
POM_add_measurement_RQSTID_FCR -> res := Fiacre_pom_add_measurement_activity_report_extern(a, false)
|
POM_replay_RQSTID_FCR -> res := Fiacre_pom_replay_activity_report_extern(a, false)
|
POM_set_position_RQSTID_FCR -> res := Fiacre_pom_set_position_activity_report_extern(a, false)
|
POM_log_state_RQSTID_FCR -> res := Fiacre_pom_log_state_activity_report_extern(a, false)
|
POM_log_measurements_RQSTID_FCR -> res := Fiacre_pom_log_measurements_activity_report_extern(a, false)
|
POM_log_stop_RQSTID_FCR -> res := Fiacre_pom_log_stop_activity_report_extern(a, false)
|
POM_log_info_RQSTID_FCR -> res := Fiacre_pom_log_info_activity_report_extern(a, false)
|
POM_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task io ---------------------------------------------------------- */
task Fiacre_pom_codel_task_io_start_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_io_start_c
task Fiacre_pom_codel_task_io_read_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_io_read_c
task Fiacre_pom_codel_task_io_insert_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_io_insert_c
task Fiacre_pom_codel_task_io_stop_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_io_stop_c
/* --- service add_measurement ------------------------------------------ */
task Fiacre_pom_codel_service_add_measurement_start_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_service_add_measurement_start_c
/* --- service replay --------------------------------------------------- */
task Fiacre_pom_codel_service_replay_start_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_service_replay_start_c
task Fiacre_pom_codel_service_replay_read_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_service_replay_read_c
task Fiacre_pom_codel_service_replay_insert_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_service_replay_insert_c
task Fiacre_pom_codel_service_replay_stop_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_service_replay_stop_c
/* --- task filter ------------------------------------------------------ */
task Fiacre_pom_codel_task_filter_start_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_filter_start_c
task Fiacre_pom_codel_task_filter_exec_task(fcr_activity_pom) :minnie_genom_event is
Fiacre_pom_codel_task_filter_exec_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_PotentialField: 3..3 is 3
/* number of services for plan task + one permanent */
const Nb_Serv_Act_PotentialField_plan: 5..5 is 5
const Nb_Self_Incomp_PotentialField_plan: 3..3 is 3
const Nb_act_inst_PotentialField_plan: 7..7 is 7
// may be should be const (with -1 for perm)
type POTENTIALFIELD_RQSTID_FCR is union
POTENTIALFIELD_abort_activity_RQSTID_FCR |
POTENTIALFIELD_connect_port_RQSTID_FCR |
POTENTIALFIELD_connect_service_RQSTID_FCR |
POTENTIALFIELD_kill_RQSTID_FCR |
POTENTIALFIELD_GetIDS_RQSTID_FCR |
POTENTIALFIELD_SetDistanceToGoal_RQSTID_FCR |
POTENTIALFIELD_SetHitMaxDistance_RQSTID_FCR |
POTENTIALFIELD_SetHitMinDistance_RQSTID_FCR |
POTENTIALFIELD_SetHitMinZ_RQSTID_FCR |
POTENTIALFIELD_SetHitMaxZ_RQSTID_FCR |
POTENTIALFIELD_SetRepForceDistance_RQSTID_FCR |
POTENTIALFIELD_SetNu_RQSTID_FCR |
POTENTIALFIELD_SetPsi_RQSTID_FCR |
POTENTIALFIELD_SetAlpha_RQSTID_FCR |
POTENTIALFIELD_SetEpsilon_RQSTID_FCR |
POTENTIALFIELD_SetMaxSpeed_RQSTID_FCR |
POTENTIALFIELD_Stop_RQSTID_FCR |
POTENTIALFIELD_StopPublishOccupancyGrid_RQSTID_FCR |
POTENTIALFIELD_SetVerbose_RQSTID_FCR |
POTENTIALFIELD_PrintObstaclesMap_RQSTID_FCR |
POTENTIALFIELD_Init_RQSTID_FCR |
POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR |
POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR |
POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR |
POTENTIALFIELD_NONE
end
const POTENTIALFIELD_abort_activity: 0..0 is 0
const POTENTIALFIELD_connect_port: 1..1 is 1
const POTENTIALFIELD_connect_service: 2..2 is 2
const POTENTIALFIELD_kill: 3..3 is 3
const POTENTIALFIELD_GetIDS: 4..4 is 4
const POTENTIALFIELD_SetDistanceToGoal: 5..5 is 5
const POTENTIALFIELD_SetHitMaxDistance: 6..6 is 6
const POTENTIALFIELD_SetHitMinDistance: 7..7 is 7
const POTENTIALFIELD_SetHitMinZ: 8..8 is 8
const POTENTIALFIELD_SetHitMaxZ: 9..9 is 9
const POTENTIALFIELD_SetRepForceDistance: 10..10 is 10
const POTENTIALFIELD_SetNu: 11..11 is 11
const POTENTIALFIELD_SetPsi: 12..12 is 12
const POTENTIALFIELD_SetAlpha: 13..13 is 13
const POTENTIALFIELD_SetEpsilon: 14..14 is 14
const POTENTIALFIELD_SetMaxSpeed: 15..15 is 15
const POTENTIALFIELD_Stop: 16..16 is 16
const POTENTIALFIELD_StopPublishOccupancyGrid: 17..17 is 17
const POTENTIALFIELD_SetVerbose: 18..18 is 18
const POTENTIALFIELD_PrintObstaclesMap: 19..19 is 19
const POTENTIALFIELD_Init: 20..20 is 20
const POTENTIALFIELD_WriteSpeedInPort: 21..21 is 21
const POTENTIALFIELD_StartTrackTargetPort: 22..22 is 22
const POTENTIALFIELD_PublishOccupancyGrid: 23..23 is 23
type PotentialField_Run_Map_Type is array 24 of bool
// All the possible non common mutex values for PotentialField
const InitStructPF: 5..5 is 5
const CleanStrucPF: 6..6 is 6
const PFSetMaxSpeedValidate: 7..7 is 7
const PFSetVerboseLevel: 8..8 is 8
const PrintObstacles: 9..9 is 9
const GTPStop: 10..10 is 10
const WriteDirectlyCmdPortPF: 11..11 is 11
const StartGTPAndCheckPorts: 12..12 is 12
const ReadPorts: 13..13 is 13
const BuildMap: 14..14 is 14
const ComputeSpeed: 15..15 is 15
const WriteCmdPortPF: 16..16 is 16
const PublishObstacles: 17..17 is 17
const genom_PotentialField_GetIDS_controlcb: 18..18 is 18
const genom_PotentialField_SetDistanceToGoal_controlcb: 19..19 is 19
const genom_PotentialField_SetHitMaxDistance_controlcb: 20..20 is 20
const genom_PotentialField_SetHitMinDistance_controlcb: 21..21 is 21
const genom_PotentialField_SetHitMinZ_controlcb: 22..22 is 22
const genom_PotentialField_SetHitMaxZ_controlcb: 23..23 is 23
const genom_PotentialField_SetRepForceDistance_controlcb: 24..24 is 24
const genom_PotentialField_SetNu_controlcb: 25..25 is 25
const genom_PotentialField_SetPsi_controlcb: 26..26 is 26
const genom_PotentialField_SetAlpha_controlcb: 27..27 is 27
const genom_PotentialField_SetEpsilon_controlcb: 28..28 is 28
const genom_PotentialField_SetMaxSpeed_controlcb: 29..29 is 29
const max_number_mutex_codels_PotentialField :30..30 is 30
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_PotentialField is record
instance: 0..Max_Act_Inst_PotentialField-1, //for compatible services
sid: POTENTIALFIELD_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_PotentialField_task_name -1 (the index in the array)
// the value Nb_act_inst_PotentialField_task_name is reserved to say it is the execution task turn
type act_inst_PotentialField_plan_turn_type is 0..Nb_act_inst_PotentialField_plan
type act_inst_PotentialField_plan_index_type is 0..Nb_act_inst_PotentialField_plan-1
type Activities_PotentialField_plan_Array is array Nb_act_inst_PotentialField_plan of fcr_activity_PotentialField
type request_PotentialField is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: POTENTIALFIELD_RQSTID_FCR
end
type ffa_reply_PotentialField_plan is record
index: act_inst_PotentialField_plan_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_PotentialField_plan(activities : Activities_PotentialField_plan_Array,
rqstid : POTENTIALFIELD_RQSTID_FCR) : ffa_reply_PotentialField_plan is
var index: act_inst_PotentialField_plan_index_type,
res: ffa_reply_PotentialField_plan,
a: fcr_activity_PotentialField
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function PotentialField_run_map_index_from_plan_activity(a:fcr_activity_PotentialField): 0..24-1 is
begin
if (a.sid = POTENTIALFIELD_Init_RQSTID_FCR) then return POTENTIALFIELD_Init end;
if (a.sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR) then return POTENTIALFIELD_WriteSpeedInPort end;
if (a.sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR) then return POTENTIALFIELD_StartTrackTargetPort end;
if (a.sid = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR) then return POTENTIALFIELD_PublishOccupancyGrid end;
return 0
end
extern Fiacre_PotentialField_plan_genom_bad_transition (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_plan_genom_bad_transition_c
extern Fiacre_PotentialField_disallowed(): minnie_genom_event is
Fiacre_PotentialField_disallowed_c
extern Fiacre_PotentialField_send_ir_extern(fcr_activity_PotentialField) : minnie_genom_event is
Fiacre_PotentialField_send_ir_c
/*** Task ***/
event PotentialField_Manage_Mbox: request_PotentialField is PotentialField_Manage_Mbox_c
task Fiacre_PotentialField_abort_activity_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_abort_activity_control_c
extern Fiacre_PotentialField_abort_activity_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_abort_activity_activity_report_c
extern Fiacre_PotentialField_abort_activity_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_abort_activity_handle_exception_c
task Fiacre_PotentialField_connect_port_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_connect_port_control_c
extern Fiacre_PotentialField_connect_port_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_connect_port_activity_report_c
extern Fiacre_PotentialField_connect_port_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_connect_port_handle_exception_c
task Fiacre_PotentialField_connect_service_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_connect_service_control_c
extern Fiacre_PotentialField_connect_service_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_connect_service_activity_report_c
extern Fiacre_PotentialField_connect_service_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_connect_service_handle_exception_c
task Fiacre_PotentialField_kill_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_kill_control_c
extern Fiacre_PotentialField_kill_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_kill_activity_report_c
extern Fiacre_PotentialField_kill_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_kill_handle_exception_c
extern Fiacre_PotentialField_GetIDS_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_GetIDS_middle_c
extern Fiacre_PotentialField_GetIDS_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_GetIDS_activity_report_c
extern Fiacre_PotentialField_GetIDS_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_GetIDS_handle_exception_c
extern Fiacre_PotentialField_SetDistanceToGoal_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetDistanceToGoal_middle_c
extern Fiacre_PotentialField_SetDistanceToGoal_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetDistanceToGoal_activity_report_c
extern Fiacre_PotentialField_SetDistanceToGoal_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetDistanceToGoal_handle_exception_c
extern Fiacre_PotentialField_SetHitMaxDistance_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetHitMaxDistance_middle_c
extern Fiacre_PotentialField_SetHitMaxDistance_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMaxDistance_activity_report_c
extern Fiacre_PotentialField_SetHitMaxDistance_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMaxDistance_handle_exception_c
extern Fiacre_PotentialField_SetHitMinDistance_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetHitMinDistance_middle_c
extern Fiacre_PotentialField_SetHitMinDistance_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMinDistance_activity_report_c
extern Fiacre_PotentialField_SetHitMinDistance_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMinDistance_handle_exception_c
extern Fiacre_PotentialField_SetHitMinZ_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetHitMinZ_middle_c
extern Fiacre_PotentialField_SetHitMinZ_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMinZ_activity_report_c
extern Fiacre_PotentialField_SetHitMinZ_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMinZ_handle_exception_c
extern Fiacre_PotentialField_SetHitMaxZ_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetHitMaxZ_middle_c
extern Fiacre_PotentialField_SetHitMaxZ_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMaxZ_activity_report_c
extern Fiacre_PotentialField_SetHitMaxZ_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetHitMaxZ_handle_exception_c
extern Fiacre_PotentialField_SetRepForceDistance_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetRepForceDistance_middle_c
extern Fiacre_PotentialField_SetRepForceDistance_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetRepForceDistance_activity_report_c
extern Fiacre_PotentialField_SetRepForceDistance_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetRepForceDistance_handle_exception_c
extern Fiacre_PotentialField_SetNu_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetNu_middle_c
extern Fiacre_PotentialField_SetNu_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetNu_activity_report_c
extern Fiacre_PotentialField_SetNu_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetNu_handle_exception_c
extern Fiacre_PotentialField_SetPsi_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetPsi_middle_c
extern Fiacre_PotentialField_SetPsi_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetPsi_activity_report_c
extern Fiacre_PotentialField_SetPsi_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetPsi_handle_exception_c
extern Fiacre_PotentialField_SetAlpha_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetAlpha_middle_c
extern Fiacre_PotentialField_SetAlpha_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetAlpha_activity_report_c
extern Fiacre_PotentialField_SetAlpha_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetAlpha_handle_exception_c
extern Fiacre_PotentialField_SetEpsilon_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetEpsilon_middle_c
extern Fiacre_PotentialField_SetEpsilon_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetEpsilon_activity_report_c
extern Fiacre_PotentialField_SetEpsilon_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetEpsilon_handle_exception_c
task Fiacre_PotentialField_SetMaxSpeed_validate_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetMaxSpeed_validate_c
extern Fiacre_PotentialField_SetMaxSpeed_middle(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetMaxSpeed_middle_c
extern Fiacre_PotentialField_SetMaxSpeed_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetMaxSpeed_activity_report_c
extern Fiacre_PotentialField_SetMaxSpeed_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetMaxSpeed_handle_exception_c
extern Fiacre_PotentialField_Stop_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_Stop_activity_report_c
extern Fiacre_PotentialField_Stop_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_Stop_handle_exception_c
extern Fiacre_PotentialField_StopPublishOccupancyGrid_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_StopPublishOccupancyGrid_activity_report_c
extern Fiacre_PotentialField_StopPublishOccupancyGrid_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_StopPublishOccupancyGrid_handle_exception_c
task Fiacre_PotentialField_SetVerbose_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_SetVerbose_control_c
extern Fiacre_PotentialField_SetVerbose_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetVerbose_activity_report_c
extern Fiacre_PotentialField_SetVerbose_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_SetVerbose_handle_exception_c
task Fiacre_PotentialField_PrintObstaclesMap_control_task (fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_PrintObstaclesMap_control_c
extern Fiacre_PotentialField_PrintObstaclesMap_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_PrintObstaclesMap_activity_report_c
extern Fiacre_PotentialField_PrintObstaclesMap_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_PrintObstaclesMap_handle_exception_c
extern Fiacre_PotentialField_Init_genom_interrupt (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_Init_genom_interrupt_c
extern Fiacre_PotentialField_Init_genom_bad_transition (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_Init_genom_bad_transition_c
extern Fiacre_PotentialField_Init_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_Init_activity_report_c
extern Fiacre_PotentialField_Init_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_Init_handle_exception_c
extern Fiacre_PotentialField_WriteSpeedInPort_genom_interrupt (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_WriteSpeedInPort_genom_interrupt_c
extern Fiacre_PotentialField_WriteSpeedInPort_genom_bad_transition (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_WriteSpeedInPort_genom_bad_transition_c
extern Fiacre_PotentialField_WriteSpeedInPort_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_WriteSpeedInPort_activity_report_c
extern Fiacre_PotentialField_WriteSpeedInPort_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_WriteSpeedInPort_handle_exception_c
extern Fiacre_PotentialField_StartTrackTargetPort_genom_interrupt (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_StartTrackTargetPort_genom_interrupt_c
extern Fiacre_PotentialField_StartTrackTargetPort_genom_bad_transition (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_StartTrackTargetPort_genom_bad_transition_c
extern Fiacre_PotentialField_StartTrackTargetPort_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_StartTrackTargetPort_activity_report_c
extern Fiacre_PotentialField_StartTrackTargetPort_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_StartTrackTargetPort_handle_exception_c
extern Fiacre_PotentialField_PublishOccupancyGrid_genom_interrupt (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_PublishOccupancyGrid_genom_interrupt_c
extern Fiacre_PotentialField_PublishOccupancyGrid_genom_bad_transition (fcr_activity_PotentialField) : bool is
Fiacre_PotentialField_PublishOccupancyGrid_genom_bad_transition_c
extern Fiacre_PotentialField_PublishOccupancyGrid_activity_report_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_PublishOccupancyGrid_activity_report_c
extern Fiacre_PotentialField_PublishOccupancyGrid_handle_exception_extern(fcr_activity_PotentialField, bool) : bool is
Fiacre_PotentialField_PublishOccupancyGrid_handle_exception_c
function Fiacre_PotentialField_genom_interrupt(a:fcr_activity_PotentialField) :bool is
var res: bool := false
begin
case a.sid of
POTENTIALFIELD_abort_activity_RQSTID_FCR -> null
|
POTENTIALFIELD_connect_port_RQSTID_FCR -> null
|
POTENTIALFIELD_connect_service_RQSTID_FCR -> null
|
POTENTIALFIELD_kill_RQSTID_FCR -> null
|
POTENTIALFIELD_GetIDS_RQSTID_FCR -> null
|
POTENTIALFIELD_SetDistanceToGoal_RQSTID_FCR -> null
|
POTENTIALFIELD_SetHitMaxDistance_RQSTID_FCR -> null
|
POTENTIALFIELD_SetHitMinDistance_RQSTID_FCR -> null
|
POTENTIALFIELD_SetHitMinZ_RQSTID_FCR -> null
|
POTENTIALFIELD_SetHitMaxZ_RQSTID_FCR -> null
|
POTENTIALFIELD_SetRepForceDistance_RQSTID_FCR -> null
|
POTENTIALFIELD_SetNu_RQSTID_FCR -> null
|
POTENTIALFIELD_SetPsi_RQSTID_FCR -> null
|
POTENTIALFIELD_SetAlpha_RQSTID_FCR -> null
|
POTENTIALFIELD_SetEpsilon_RQSTID_FCR -> null
|
POTENTIALFIELD_SetMaxSpeed_RQSTID_FCR -> null
|
POTENTIALFIELD_Stop_RQSTID_FCR -> null
|
POTENTIALFIELD_StopPublishOccupancyGrid_RQSTID_FCR -> null
|
POTENTIALFIELD_SetVerbose_RQSTID_FCR -> null
|
POTENTIALFIELD_PrintObstaclesMap_RQSTID_FCR -> null
|
POTENTIALFIELD_Init_RQSTID_FCR -> res := Fiacre_PotentialField_Init_genom_interrupt(a)
|
POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_PotentialField_WriteSpeedInPort_genom_interrupt(a)
|
POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR -> res := Fiacre_PotentialField_StartTrackTargetPort_genom_interrupt(a)
|
POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR -> res := Fiacre_PotentialField_PublishOccupancyGrid_genom_interrupt(a)
|
POTENTIALFIELD_NONE -> null
end;
return res
end
function Fiacre_PotentialField_handle_exception(a: fcr_activity_PotentialField, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
POTENTIALFIELD_abort_activity_RQSTID_FCR -> res := Fiacre_PotentialField_abort_activity_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_connect_port_RQSTID_FCR -> res := Fiacre_PotentialField_connect_port_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_connect_service_RQSTID_FCR -> res := Fiacre_PotentialField_connect_service_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_kill_RQSTID_FCR -> res := Fiacre_PotentialField_kill_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_GetIDS_RQSTID_FCR -> res := Fiacre_PotentialField_GetIDS_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetDistanceToGoal_RQSTID_FCR -> res := Fiacre_PotentialField_SetDistanceToGoal_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetHitMaxDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMaxDistance_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetHitMinDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMinDistance_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetHitMinZ_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMinZ_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetHitMaxZ_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMaxZ_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetRepForceDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetRepForceDistance_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetNu_RQSTID_FCR -> res := Fiacre_PotentialField_SetNu_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetPsi_RQSTID_FCR -> res := Fiacre_PotentialField_SetPsi_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetAlpha_RQSTID_FCR -> res := Fiacre_PotentialField_SetAlpha_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetEpsilon_RQSTID_FCR -> res := Fiacre_PotentialField_SetEpsilon_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetMaxSpeed_RQSTID_FCR -> res := Fiacre_PotentialField_SetMaxSpeed_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_Stop_RQSTID_FCR -> res := Fiacre_PotentialField_Stop_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_StopPublishOccupancyGrid_RQSTID_FCR -> res := Fiacre_PotentialField_StopPublishOccupancyGrid_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_SetVerbose_RQSTID_FCR -> res := Fiacre_PotentialField_SetVerbose_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_PrintObstaclesMap_RQSTID_FCR -> res := Fiacre_PotentialField_PrintObstaclesMap_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_Init_RQSTID_FCR -> res := Fiacre_PotentialField_Init_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_PotentialField_WriteSpeedInPort_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR -> res := Fiacre_PotentialField_StartTrackTargetPort_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR -> res := Fiacre_PotentialField_PublishOccupancyGrid_handle_exception_extern(a, in_ct)
|
POTENTIALFIELD_NONE -> null
end;
return res
end
function Fiacre_PotentialField_activity_report(a:fcr_activity_PotentialField) :bool is
var res: bool := false
begin
case a.sid of
POTENTIALFIELD_abort_activity_RQSTID_FCR -> res := Fiacre_PotentialField_abort_activity_activity_report_extern(a, false)
|
POTENTIALFIELD_connect_port_RQSTID_FCR -> res := Fiacre_PotentialField_connect_port_activity_report_extern(a, false)
|
POTENTIALFIELD_connect_service_RQSTID_FCR -> res := Fiacre_PotentialField_connect_service_activity_report_extern(a, false)
|
POTENTIALFIELD_kill_RQSTID_FCR -> res := Fiacre_PotentialField_kill_activity_report_extern(a, false)
|
POTENTIALFIELD_GetIDS_RQSTID_FCR -> res := Fiacre_PotentialField_GetIDS_activity_report_extern(a, false)
|
POTENTIALFIELD_SetDistanceToGoal_RQSTID_FCR -> res := Fiacre_PotentialField_SetDistanceToGoal_activity_report_extern(a, false)
|
POTENTIALFIELD_SetHitMaxDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMaxDistance_activity_report_extern(a, false)
|
POTENTIALFIELD_SetHitMinDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMinDistance_activity_report_extern(a, false)
|
POTENTIALFIELD_SetHitMinZ_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMinZ_activity_report_extern(a, false)
|
POTENTIALFIELD_SetHitMaxZ_RQSTID_FCR -> res := Fiacre_PotentialField_SetHitMaxZ_activity_report_extern(a, false)
|
POTENTIALFIELD_SetRepForceDistance_RQSTID_FCR -> res := Fiacre_PotentialField_SetRepForceDistance_activity_report_extern(a, false)
|
POTENTIALFIELD_SetNu_RQSTID_FCR -> res := Fiacre_PotentialField_SetNu_activity_report_extern(a, false)
|
POTENTIALFIELD_SetPsi_RQSTID_FCR -> res := Fiacre_PotentialField_SetPsi_activity_report_extern(a, false)
|
POTENTIALFIELD_SetAlpha_RQSTID_FCR -> res := Fiacre_PotentialField_SetAlpha_activity_report_extern(a, false)
|
POTENTIALFIELD_SetEpsilon_RQSTID_FCR -> res := Fiacre_PotentialField_SetEpsilon_activity_report_extern(a, false)
|
POTENTIALFIELD_SetMaxSpeed_RQSTID_FCR -> res := Fiacre_PotentialField_SetMaxSpeed_activity_report_extern(a, false)
|
POTENTIALFIELD_Stop_RQSTID_FCR -> res := Fiacre_PotentialField_Stop_activity_report_extern(a, false)
|
POTENTIALFIELD_StopPublishOccupancyGrid_RQSTID_FCR -> res := Fiacre_PotentialField_StopPublishOccupancyGrid_activity_report_extern(a, false)
|
POTENTIALFIELD_SetVerbose_RQSTID_FCR -> res := Fiacre_PotentialField_SetVerbose_activity_report_extern(a, false)
|
POTENTIALFIELD_PrintObstaclesMap_RQSTID_FCR -> res := Fiacre_PotentialField_PrintObstaclesMap_activity_report_extern(a, false)
|
POTENTIALFIELD_Init_RQSTID_FCR -> res := Fiacre_PotentialField_Init_activity_report_extern(a, false)
|
POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_PotentialField_WriteSpeedInPort_activity_report_extern(a, false)
|
POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR -> res := Fiacre_PotentialField_StartTrackTargetPort_activity_report_extern(a, false)
|
POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR -> res := Fiacre_PotentialField_PublishOccupancyGrid_activity_report_extern(a, false)
|
POTENTIALFIELD_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task plan -------------------------------------------------------- */
task Fiacre_PotentialField_codel_task_plan_start_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_task_plan_start_c
task Fiacre_PotentialField_codel_task_plan_stop_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_task_plan_stop_c
/* --- service Init ----------------------------------------------------- */
task Fiacre_PotentialField_codel_service_Init_start_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_Init_start_c
/* --- service WriteSpeedInPort ----------------------------------------- */
task Fiacre_PotentialField_codel_service_WriteSpeedInPort_start_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_WriteSpeedInPort_start_c
task Fiacre_PotentialField_codel_service_WriteSpeedInPort_stop_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_WriteSpeedInPort_stop_c
/* --- service StartTrackTargetPort ------------------------------------- */
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_start_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_start_c
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_read_ports_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_read_ports_c
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_build_map_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_build_map_c
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_compute_speed_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_compute_speed_c
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_write_cmd_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_write_cmd_c
task Fiacre_PotentialField_codel_service_StartTrackTargetPort_stop_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_StartTrackTargetPort_stop_c
/* --- service PublishOccupancyGrid ------------------------------------- */
task Fiacre_PotentialField_codel_service_PublishOccupancyGrid_start_task(fcr_activity_PotentialField) :minnie_genom_event is
Fiacre_PotentialField_codel_service_PublishOccupancyGrid_start_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_rmp440: 3..3 is 3
/* number of services for MotionTask task + one permanent */
const Nb_Serv_Act_rmp440_MotionTask: 6..6 is 6
const Nb_Self_Incomp_rmp440_MotionTask: 2..2 is 2
const Nb_act_inst_rmp440_MotionTask: 12..12 is 12
/* number of services for TrackTask task + one permanent */
const Nb_Serv_Act_rmp440_TrackTask: 2..2 is 2
const Nb_Self_Incomp_rmp440_TrackTask: 1..1 is 1
const Nb_act_inst_rmp440_TrackTask: 2..2 is 2
// may be should be const (with -1 for perm)
type RMP440_RQSTID_FCR is union
RMP440_abort_activity_RQSTID_FCR |
RMP440_connect_port_RQSTID_FCR |
RMP440_connect_service_RQSTID_FCR |
RMP440_kill_RQSTID_FCR |
RMP440_set_var_params_RQSTID_FCR |
RMP440_set_soft_accel_decel_limit_RQSTID_FCR |
RMP440_Init_RQSTID_FCR |
RMP440_Reconnect_RQSTID_FCR |
RMP440_JoystickOn_RQSTID_FCR |
RMP440_Track_RQSTID_FCR |
RMP440_Stop_RQSTID_FCR |
RMP440_Gyro_RQSTID_FCR |
RMP440_SetRobotYaw_RQSTID_FCR |
RMP440_log_RQSTID_FCR |
RMP440_log_stop_RQSTID_FCR |
RMP440_NONE
end
const RMP440_abort_activity: 0..0 is 0
const RMP440_connect_port: 1..1 is 1
const RMP440_connect_service: 2..2 is 2
const RMP440_kill: 3..3 is 3
const RMP440_set_var_params: 4..4 is 4
const RMP440_set_soft_accel_decel_limit: 5..5 is 5
const RMP440_Init: 6..6 is 6
const RMP440_Reconnect: 7..7 is 7
const RMP440_JoystickOn: 8..8 is 8
const RMP440_Track: 9..9 is 9
const RMP440_Stop: 10..10 is 10
const RMP440_Gyro: 11..11 is 11
const RMP440_SetRobotYaw: 12..12 is 12
const RMP440_log: 13..13 is 13
const RMP440_log_stop: 14..14 is 14
type rmp440_Run_Map_Type is array 15 of bool
// All the possible non common mutex values for rmp440
const initOdoAndAsserv: 5..5 is 5
const odoAndAsserv: 6..6 is 6
const endOdoAndAsserv: 7..7 is 7
const initTrackTask: 8..8 is 8
const rmp440InitStart: 9..9 is 9
const rmp440InitMain: 10..10 is 10
const trackControl: 11..11 is 11
const rmp440ReconnectStart: 12..12 is 12
const rmp440ReconnectMain: 13..13 is 13
const rmp440JoystickOnStart: 14..14 is 14
const rmp440JoystickOnMain: 15..15 is 15
const rmp440JoystickOnInter: 16..16 is 16
const trackStart: 17..17 is 17
const pumpReference: 18..18 is 18
const stopTrack: 19..19 is 19
const rmp440GyroExec: 20..20 is 20
const set_robot_yaw: 21..21 is 21
const log_start: 22..22 is 22
const log_stop: 23..23 is 23
const genom_rmp440_set_var_params_controlcb: 24..24 is 24
const genom_rmp440_set_soft_accel_decel_limit_controlcb: 25..25 is 25
const max_number_mutex_codels_rmp440 :26..26 is 26
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_rmp440 is record
instance: 0..Max_Act_Inst_rmp440-1, //for compatible services
sid: RMP440_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_rmp440_task_name -1 (the index in the array)
// the value Nb_act_inst_rmp440_task_name is reserved to say it is the execution task turn
type act_inst_rmp440_MotionTask_turn_type is 0..Nb_act_inst_rmp440_MotionTask
type act_inst_rmp440_MotionTask_index_type is 0..Nb_act_inst_rmp440_MotionTask-1
type Activities_rmp440_MotionTask_Array is array Nb_act_inst_rmp440_MotionTask of fcr_activity_rmp440
type act_inst_rmp440_TrackTask_turn_type is 0..Nb_act_inst_rmp440_TrackTask
type act_inst_rmp440_TrackTask_index_type is 0..Nb_act_inst_rmp440_TrackTask-1
type Activities_rmp440_TrackTask_Array is array Nb_act_inst_rmp440_TrackTask of fcr_activity_rmp440
type request_rmp440 is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: RMP440_RQSTID_FCR
end
type ffa_reply_rmp440_MotionTask is record
index: act_inst_rmp440_MotionTask_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_rmp440_MotionTask(activities : Activities_rmp440_MotionTask_Array,
rqstid : RMP440_RQSTID_FCR) : ffa_reply_rmp440_MotionTask is
var index: act_inst_rmp440_MotionTask_index_type,
res: ffa_reply_rmp440_MotionTask,
a: fcr_activity_rmp440
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function rmp440_run_map_index_from_MotionTask_activity(a:fcr_activity_rmp440): 0..15-1 is
begin
if (a.sid = RMP440_Init_RQSTID_FCR) then return RMP440_Init end;
if (a.sid = RMP440_Reconnect_RQSTID_FCR) then return RMP440_Reconnect end;
if (a.sid = RMP440_JoystickOn_RQSTID_FCR) then return RMP440_JoystickOn end;
if (a.sid = RMP440_Track_RQSTID_FCR) then return RMP440_Track end;
if (a.sid = RMP440_Gyro_RQSTID_FCR) then return RMP440_Gyro end;
if (a.sid = RMP440_SetRobotYaw_RQSTID_FCR) then return RMP440_SetRobotYaw end;
return 0
end
extern Fiacre_rmp440_MotionTask_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_MotionTask_genom_bad_transition_c
type ffa_reply_rmp440_TrackTask is record
index: act_inst_rmp440_TrackTask_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_rmp440_TrackTask(activities : Activities_rmp440_TrackTask_Array,
rqstid : RMP440_RQSTID_FCR) : ffa_reply_rmp440_TrackTask is
var index: act_inst_rmp440_TrackTask_index_type,
res: ffa_reply_rmp440_TrackTask,
a: fcr_activity_rmp440
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function rmp440_run_map_index_from_TrackTask_activity(a:fcr_activity_rmp440): 0..15-1 is
begin
if (a.sid = RMP440_Init_RQSTID_FCR) then return RMP440_Init end;
if (a.sid = RMP440_Reconnect_RQSTID_FCR) then return RMP440_Reconnect end;
if (a.sid = RMP440_JoystickOn_RQSTID_FCR) then return RMP440_JoystickOn end;
if (a.sid = RMP440_Track_RQSTID_FCR) then return RMP440_Track end;
if (a.sid = RMP440_Gyro_RQSTID_FCR) then return RMP440_Gyro end;
if (a.sid = RMP440_SetRobotYaw_RQSTID_FCR) then return RMP440_SetRobotYaw end;
return 0
end
extern Fiacre_rmp440_TrackTask_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_TrackTask_genom_bad_transition_c
extern Fiacre_rmp440_disallowed(): minnie_genom_event is
Fiacre_rmp440_disallowed_c
extern Fiacre_rmp440_send_ir_extern(fcr_activity_rmp440) : minnie_genom_event is
Fiacre_rmp440_send_ir_c
/*** Task ***/
event rmp440_Manage_Mbox: request_rmp440 is rmp440_Manage_Mbox_c
task Fiacre_rmp440_abort_activity_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_abort_activity_control_c
extern Fiacre_rmp440_abort_activity_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_abort_activity_activity_report_c
extern Fiacre_rmp440_abort_activity_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_abort_activity_handle_exception_c
task Fiacre_rmp440_connect_port_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_connect_port_control_c
extern Fiacre_rmp440_connect_port_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_connect_port_activity_report_c
extern Fiacre_rmp440_connect_port_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_connect_port_handle_exception_c
task Fiacre_rmp440_connect_service_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_connect_service_control_c
extern Fiacre_rmp440_connect_service_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_connect_service_activity_report_c
extern Fiacre_rmp440_connect_service_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_connect_service_handle_exception_c
task Fiacre_rmp440_kill_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_kill_control_c
extern Fiacre_rmp440_kill_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_kill_activity_report_c
extern Fiacre_rmp440_kill_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_kill_handle_exception_c
extern Fiacre_rmp440_set_var_params_middle(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_set_var_params_middle_c
extern Fiacre_rmp440_set_var_params_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_set_var_params_activity_report_c
extern Fiacre_rmp440_set_var_params_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_set_var_params_handle_exception_c
extern Fiacre_rmp440_set_soft_accel_decel_limit_middle(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_set_soft_accel_decel_limit_middle_c
extern Fiacre_rmp440_set_soft_accel_decel_limit_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_set_soft_accel_decel_limit_activity_report_c
extern Fiacre_rmp440_set_soft_accel_decel_limit_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_set_soft_accel_decel_limit_handle_exception_c
extern Fiacre_rmp440_Init_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Init_genom_interrupt_c
extern Fiacre_rmp440_Init_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Init_genom_bad_transition_c
extern Fiacre_rmp440_Init_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Init_activity_report_c
extern Fiacre_rmp440_Init_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Init_handle_exception_c
task Fiacre_rmp440_Reconnect_validate_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_Reconnect_validate_c
extern Fiacre_rmp440_Reconnect_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Reconnect_genom_interrupt_c
extern Fiacre_rmp440_Reconnect_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Reconnect_genom_bad_transition_c
extern Fiacre_rmp440_Reconnect_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Reconnect_activity_report_c
extern Fiacre_rmp440_Reconnect_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Reconnect_handle_exception_c
extern Fiacre_rmp440_JoystickOn_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_JoystickOn_genom_interrupt_c
extern Fiacre_rmp440_JoystickOn_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_JoystickOn_genom_bad_transition_c
extern Fiacre_rmp440_JoystickOn_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_JoystickOn_activity_report_c
extern Fiacre_rmp440_JoystickOn_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_JoystickOn_handle_exception_c
task Fiacre_rmp440_Track_validate_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_Track_validate_c
extern Fiacre_rmp440_Track_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Track_genom_interrupt_c
extern Fiacre_rmp440_Track_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Track_genom_bad_transition_c
extern Fiacre_rmp440_Track_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Track_activity_report_c
extern Fiacre_rmp440_Track_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Track_handle_exception_c
extern Fiacre_rmp440_Stop_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Stop_activity_report_c
extern Fiacre_rmp440_Stop_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Stop_handle_exception_c
extern Fiacre_rmp440_Gyro_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Gyro_genom_interrupt_c
extern Fiacre_rmp440_Gyro_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_Gyro_genom_bad_transition_c
extern Fiacre_rmp440_Gyro_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Gyro_activity_report_c
extern Fiacre_rmp440_Gyro_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_Gyro_handle_exception_c
extern Fiacre_rmp440_SetRobotYaw_genom_interrupt (fcr_activity_rmp440) : bool is
Fiacre_rmp440_SetRobotYaw_genom_interrupt_c
extern Fiacre_rmp440_SetRobotYaw_genom_bad_transition (fcr_activity_rmp440) : bool is
Fiacre_rmp440_SetRobotYaw_genom_bad_transition_c
extern Fiacre_rmp440_SetRobotYaw_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_SetRobotYaw_activity_report_c
extern Fiacre_rmp440_SetRobotYaw_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_SetRobotYaw_handle_exception_c
task Fiacre_rmp440_log_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_log_control_c
extern Fiacre_rmp440_log_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_log_activity_report_c
extern Fiacre_rmp440_log_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_log_handle_exception_c
task Fiacre_rmp440_log_stop_control_task (fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_log_stop_control_c
extern Fiacre_rmp440_log_stop_activity_report_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_log_stop_activity_report_c
extern Fiacre_rmp440_log_stop_handle_exception_extern(fcr_activity_rmp440, bool) : bool is
Fiacre_rmp440_log_stop_handle_exception_c
function Fiacre_rmp440_genom_interrupt(a:fcr_activity_rmp440) :bool is
var res: bool := false
begin
case a.sid of
RMP440_abort_activity_RQSTID_FCR -> null
|
RMP440_connect_port_RQSTID_FCR -> null
|
RMP440_connect_service_RQSTID_FCR -> null
|
RMP440_kill_RQSTID_FCR -> null
|
RMP440_set_var_params_RQSTID_FCR -> null
|
RMP440_set_soft_accel_decel_limit_RQSTID_FCR -> null
|
RMP440_Init_RQSTID_FCR -> res := Fiacre_rmp440_Init_genom_interrupt(a)
|
RMP440_Reconnect_RQSTID_FCR -> res := Fiacre_rmp440_Reconnect_genom_interrupt(a)
|
RMP440_JoystickOn_RQSTID_FCR -> res := Fiacre_rmp440_JoystickOn_genom_interrupt(a)
|
RMP440_Track_RQSTID_FCR -> res := Fiacre_rmp440_Track_genom_interrupt(a)
|
RMP440_Stop_RQSTID_FCR -> null
|
RMP440_Gyro_RQSTID_FCR -> res := Fiacre_rmp440_Gyro_genom_interrupt(a)
|
RMP440_SetRobotYaw_RQSTID_FCR -> res := Fiacre_rmp440_SetRobotYaw_genom_interrupt(a)
|
RMP440_log_RQSTID_FCR -> null
|
RMP440_log_stop_RQSTID_FCR -> null
|
RMP440_NONE -> null
end;
return res
end
function Fiacre_rmp440_handle_exception(a: fcr_activity_rmp440, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
RMP440_abort_activity_RQSTID_FCR -> res := Fiacre_rmp440_abort_activity_handle_exception_extern(a, in_ct)
|
RMP440_connect_port_RQSTID_FCR -> res := Fiacre_rmp440_connect_port_handle_exception_extern(a, in_ct)
|
RMP440_connect_service_RQSTID_FCR -> res := Fiacre_rmp440_connect_service_handle_exception_extern(a, in_ct)
|
RMP440_kill_RQSTID_FCR -> res := Fiacre_rmp440_kill_handle_exception_extern(a, in_ct)
|
RMP440_set_var_params_RQSTID_FCR -> res := Fiacre_rmp440_set_var_params_handle_exception_extern(a, in_ct)
|
RMP440_set_soft_accel_decel_limit_RQSTID_FCR -> res := Fiacre_rmp440_set_soft_accel_decel_limit_handle_exception_extern(a, in_ct)
|
RMP440_Init_RQSTID_FCR -> res := Fiacre_rmp440_Init_handle_exception_extern(a, in_ct)
|
RMP440_Reconnect_RQSTID_FCR -> res := Fiacre_rmp440_Reconnect_handle_exception_extern(a, in_ct)
|
RMP440_JoystickOn_RQSTID_FCR -> res := Fiacre_rmp440_JoystickOn_handle_exception_extern(a, in_ct)
|
RMP440_Track_RQSTID_FCR -> res := Fiacre_rmp440_Track_handle_exception_extern(a, in_ct)
|
RMP440_Stop_RQSTID_FCR -> res := Fiacre_rmp440_Stop_handle_exception_extern(a, in_ct)
|
RMP440_Gyro_RQSTID_FCR -> res := Fiacre_rmp440_Gyro_handle_exception_extern(a, in_ct)
|
RMP440_SetRobotYaw_RQSTID_FCR -> res := Fiacre_rmp440_SetRobotYaw_handle_exception_extern(a, in_ct)
|
RMP440_log_RQSTID_FCR -> res := Fiacre_rmp440_log_handle_exception_extern(a, in_ct)
|
RMP440_log_stop_RQSTID_FCR -> res := Fiacre_rmp440_log_stop_handle_exception_extern(a, in_ct)
|
RMP440_NONE -> null
end;
return res
end
function Fiacre_rmp440_activity_report(a:fcr_activity_rmp440) :bool is
var res: bool := false
begin
case a.sid of
RMP440_abort_activity_RQSTID_FCR -> res := Fiacre_rmp440_abort_activity_activity_report_extern(a, false)
|
RMP440_connect_port_RQSTID_FCR -> res := Fiacre_rmp440_connect_port_activity_report_extern(a, false)
|
RMP440_connect_service_RQSTID_FCR -> res := Fiacre_rmp440_connect_service_activity_report_extern(a, false)
|
RMP440_kill_RQSTID_FCR -> res := Fiacre_rmp440_kill_activity_report_extern(a, false)
|
RMP440_set_var_params_RQSTID_FCR -> res := Fiacre_rmp440_set_var_params_activity_report_extern(a, false)
|
RMP440_set_soft_accel_decel_limit_RQSTID_FCR -> res := Fiacre_rmp440_set_soft_accel_decel_limit_activity_report_extern(a, false)
|
RMP440_Init_RQSTID_FCR -> res := Fiacre_rmp440_Init_activity_report_extern(a, false)
|
RMP440_Reconnect_RQSTID_FCR -> res := Fiacre_rmp440_Reconnect_activity_report_extern(a, false)
|
RMP440_JoystickOn_RQSTID_FCR -> res := Fiacre_rmp440_JoystickOn_activity_report_extern(a, false)
|
RMP440_Track_RQSTID_FCR -> res := Fiacre_rmp440_Track_activity_report_extern(a, false)
|
RMP440_Stop_RQSTID_FCR -> res := Fiacre_rmp440_Stop_activity_report_extern(a, false)
|
RMP440_Gyro_RQSTID_FCR -> res := Fiacre_rmp440_Gyro_activity_report_extern(a, false)
|
RMP440_SetRobotYaw_RQSTID_FCR -> res := Fiacre_rmp440_SetRobotYaw_activity_report_extern(a, false)
|
RMP440_log_RQSTID_FCR -> res := Fiacre_rmp440_log_activity_report_extern(a, false)
|
RMP440_log_stop_RQSTID_FCR -> res := Fiacre_rmp440_log_stop_activity_report_extern(a, false)
|
RMP440_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task MotionTask -------------------------------------------------- */
task Fiacre_rmp440_codel_task_MotionTask_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_task_MotionTask_start_c
task Fiacre_rmp440_codel_task_MotionTask_odo_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_task_MotionTask_odo_c
task Fiacre_rmp440_codel_task_MotionTask_end_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_task_MotionTask_end_c
/* --- service Init ----------------------------------------------------- */
task Fiacre_rmp440_codel_service_Init_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Init_start_c
task Fiacre_rmp440_codel_service_Init_init_main_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Init_init_main_c
/* --- service Reconnect ------------------------------------------------ */
task Fiacre_rmp440_codel_service_Reconnect_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Reconnect_start_c
task Fiacre_rmp440_codel_service_Reconnect_reconnect_main_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Reconnect_reconnect_main_c
/* --- service JoystickOn ----------------------------------------------- */
task Fiacre_rmp440_codel_service_JoystickOn_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_JoystickOn_start_c
task Fiacre_rmp440_codel_service_JoystickOn_js_main_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_JoystickOn_js_main_c
task Fiacre_rmp440_codel_service_JoystickOn_stop_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_JoystickOn_stop_c
task Fiacre_rmp440_codel_service_JoystickOn_inter_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_JoystickOn_inter_c
/* --- service Gyro ----------------------------------------------------- */
task Fiacre_rmp440_codel_service_Gyro_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Gyro_start_c
/* --- service SetRobotYaw ---------------------------------------------- */
task Fiacre_rmp440_codel_service_SetRobotYaw_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_SetRobotYaw_start_c
/* --- task TrackTask --------------------------------------------------- */
task Fiacre_rmp440_codel_task_TrackTask_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_task_TrackTask_start_c
/* --- service Track ---------------------------------------------------- */
task Fiacre_rmp440_codel_service_Track_start_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Track_start_c
task Fiacre_rmp440_codel_service_Track_track_main_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Track_track_main_c
task Fiacre_rmp440_codel_service_Track_end_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Track_end_c
task Fiacre_rmp440_codel_service_Track_stop_task(fcr_activity_rmp440) :minnie_genom_event is
Fiacre_rmp440_codel_service_Track_stop_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_SafetyPilot: 3..3 is 3
/* number of services for pilot task + one permanent */
const Nb_Serv_Act_SafetyPilot_pilot: 3..3 is 3
const Nb_Self_Incomp_SafetyPilot_pilot: 2..2 is 2
const Nb_act_inst_SafetyPilot_pilot: 3..3 is 3
// may be should be const (with -1 for perm)
type SAFETYPILOT_RQSTID_FCR is union
SAFETYPILOT_abort_activity_RQSTID_FCR |
SAFETYPILOT_connect_port_RQSTID_FCR |
SAFETYPILOT_connect_service_RQSTID_FCR |
SAFETYPILOT_kill_RQSTID_FCR |
SAFETYPILOT_GetIDS_RQSTID_FCR |
SAFETYPILOT_SetHitMinDistance_RQSTID_FCR |
SAFETYPILOT_SetStopDistance_RQSTID_FCR |
SAFETYPILOT_SetStopLateralDistance_RQSTID_FCR |
SAFETYPILOT_SetMaxSpeed_RQSTID_FCR |
SAFETYPILOT_SetMinPCLHit_RQSTID_FCR |
SAFETYPILOT_SentMinHit_RQSTID_FCR |
SAFETYPILOT_Stop_RQSTID_FCR |
SAFETYPILOT_SetVerbose_RQSTID_FCR |
SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR |
SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR |
SAFETYPILOT_NONE
end
const SAFETYPILOT_abort_activity: 0..0 is 0
const SAFETYPILOT_connect_port: 1..1 is 1
const SAFETYPILOT_connect_service: 2..2 is 2
const SAFETYPILOT_kill: 3..3 is 3
const SAFETYPILOT_GetIDS: 4..4 is 4
const SAFETYPILOT_SetHitMinDistance: 5..5 is 5
const SAFETYPILOT_SetStopDistance: 6..6 is 6
const SAFETYPILOT_SetStopLateralDistance: 7..7 is 7
const SAFETYPILOT_SetMaxSpeed: 8..8 is 8
const SAFETYPILOT_SetMinPCLHit: 9..9 is 9
const SAFETYPILOT_SentMinHit: 10..10 is 10
const SAFETYPILOT_Stop: 11..11 is 11
const SAFETYPILOT_SetVerbose: 12..12 is 12
const SAFETYPILOT_SpeedMergeAndStopIfObstacle: 13..13 is 13
const SAFETYPILOT_WriteSpeedInPort: 14..14 is 14
type SafetyPilot_Run_Map_Type is array 15 of bool
// All the possible non common mutex values for SafetyPilot
const InitStructSP: 5..5 is 5
const CleanStrucSP: 6..6 is 6
const SPSetMaxSpeedValidate: 7..7 is 7
const SPSetVerboseLevel: 8..8 is 8
const StartSMAAO: 9..9 is 9
const ChooseSpeed: 10..10 is 10
const SPGetLaserScan: 11..11 is 11
const CheckObstacles: 12..12 is 12
const WriteCmdPortSP: 13..13 is 13
const StopSMAAO: 14..14 is 14
const WriteDirectlyCmdPort: 15..15 is 15
const genom_SafetyPilot_GetIDS_controlcb: 16..16 is 16
const genom_SafetyPilot_SetHitMinDistance_controlcb: 17..17 is 17
const genom_SafetyPilot_SetStopDistance_controlcb: 18..18 is 18
const genom_SafetyPilot_SetStopLateralDistance_controlcb: 19..19 is 19
const genom_SafetyPilot_SetMaxSpeed_controlcb: 20..20 is 20
const genom_SafetyPilot_SetMinPCLHit_controlcb: 21..21 is 21
const genom_SafetyPilot_SentMinHit_controlcb: 22..22 is 22
const max_number_mutex_codels_SafetyPilot :23..23 is 23
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_SafetyPilot is record
instance: 0..Max_Act_Inst_SafetyPilot-1, //for compatible services
sid: SAFETYPILOT_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_SafetyPilot_task_name -1 (the index in the array)
// the value Nb_act_inst_SafetyPilot_task_name is reserved to say it is the execution task turn
type act_inst_SafetyPilot_pilot_turn_type is 0..Nb_act_inst_SafetyPilot_pilot
type act_inst_SafetyPilot_pilot_index_type is 0..Nb_act_inst_SafetyPilot_pilot-1
type Activities_SafetyPilot_pilot_Array is array Nb_act_inst_SafetyPilot_pilot of fcr_activity_SafetyPilot
type request_SafetyPilot is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: SAFETYPILOT_RQSTID_FCR
end
type ffa_reply_SafetyPilot_pilot is record
index: act_inst_SafetyPilot_pilot_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_SafetyPilot_pilot(activities : Activities_SafetyPilot_pilot_Array,
rqstid : SAFETYPILOT_RQSTID_FCR) : ffa_reply_SafetyPilot_pilot is
var index: act_inst_SafetyPilot_pilot_index_type,
res: ffa_reply_SafetyPilot_pilot,
a: fcr_activity_SafetyPilot
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function SafetyPilot_run_map_index_from_pilot_activity(a:fcr_activity_SafetyPilot): 0..15-1 is
begin
if (a.sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR) then return SAFETYPILOT_SpeedMergeAndStopIfObstacle end;
if (a.sid = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR) then return SAFETYPILOT_WriteSpeedInPort end;
return 0
end
extern Fiacre_SafetyPilot_pilot_genom_bad_transition (fcr_activity_SafetyPilot) : bool is
Fiacre_SafetyPilot_pilot_genom_bad_transition_c
extern Fiacre_SafetyPilot_disallowed(): minnie_genom_event is
Fiacre_SafetyPilot_disallowed_c
extern Fiacre_SafetyPilot_send_ir_extern(fcr_activity_SafetyPilot) : minnie_genom_event is
Fiacre_SafetyPilot_send_ir_c
/*** Task ***/
event SafetyPilot_Manage_Mbox: request_SafetyPilot is SafetyPilot_Manage_Mbox_c
task Fiacre_SafetyPilot_abort_activity_control_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_abort_activity_control_c
extern Fiacre_SafetyPilot_abort_activity_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_abort_activity_activity_report_c
extern Fiacre_SafetyPilot_abort_activity_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_abort_activity_handle_exception_c
task Fiacre_SafetyPilot_connect_port_control_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_connect_port_control_c
extern Fiacre_SafetyPilot_connect_port_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_connect_port_activity_report_c
extern Fiacre_SafetyPilot_connect_port_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_connect_port_handle_exception_c
task Fiacre_SafetyPilot_connect_service_control_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_connect_service_control_c
extern Fiacre_SafetyPilot_connect_service_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_connect_service_activity_report_c
extern Fiacre_SafetyPilot_connect_service_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_connect_service_handle_exception_c
task Fiacre_SafetyPilot_kill_control_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_kill_control_c
extern Fiacre_SafetyPilot_kill_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_kill_activity_report_c
extern Fiacre_SafetyPilot_kill_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_kill_handle_exception_c
extern Fiacre_SafetyPilot_GetIDS_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_GetIDS_middle_c
extern Fiacre_SafetyPilot_GetIDS_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_GetIDS_activity_report_c
extern Fiacre_SafetyPilot_GetIDS_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_GetIDS_handle_exception_c
extern Fiacre_SafetyPilot_SetHitMinDistance_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetHitMinDistance_middle_c
extern Fiacre_SafetyPilot_SetHitMinDistance_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetHitMinDistance_activity_report_c
extern Fiacre_SafetyPilot_SetHitMinDistance_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetHitMinDistance_handle_exception_c
extern Fiacre_SafetyPilot_SetStopDistance_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetStopDistance_middle_c
extern Fiacre_SafetyPilot_SetStopDistance_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetStopDistance_activity_report_c
extern Fiacre_SafetyPilot_SetStopDistance_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetStopDistance_handle_exception_c
extern Fiacre_SafetyPilot_SetStopLateralDistance_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetStopLateralDistance_middle_c
extern Fiacre_SafetyPilot_SetStopLateralDistance_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetStopLateralDistance_activity_report_c
extern Fiacre_SafetyPilot_SetStopLateralDistance_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetStopLateralDistance_handle_exception_c
task Fiacre_SafetyPilot_SetMaxSpeed_validate_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetMaxSpeed_validate_c
extern Fiacre_SafetyPilot_SetMaxSpeed_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetMaxSpeed_middle_c
extern Fiacre_SafetyPilot_SetMaxSpeed_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetMaxSpeed_activity_report_c
extern Fiacre_SafetyPilot_SetMaxSpeed_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetMaxSpeed_handle_exception_c
extern Fiacre_SafetyPilot_SetMinPCLHit_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetMinPCLHit_middle_c
extern Fiacre_SafetyPilot_SetMinPCLHit_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetMinPCLHit_activity_report_c
extern Fiacre_SafetyPilot_SetMinPCLHit_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetMinPCLHit_handle_exception_c
extern Fiacre_SafetyPilot_SentMinHit_middle(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SentMinHit_middle_c
extern Fiacre_SafetyPilot_SentMinHit_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SentMinHit_activity_report_c
extern Fiacre_SafetyPilot_SentMinHit_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SentMinHit_handle_exception_c
extern Fiacre_SafetyPilot_Stop_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_Stop_activity_report_c
extern Fiacre_SafetyPilot_Stop_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_Stop_handle_exception_c
task Fiacre_SafetyPilot_SetVerbose_control_task (fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_SetVerbose_control_c
extern Fiacre_SafetyPilot_SetVerbose_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetVerbose_activity_report_c
extern Fiacre_SafetyPilot_SetVerbose_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SetVerbose_handle_exception_c
extern Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_interrupt (fcr_activity_SafetyPilot) : bool is
Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_interrupt_c
extern Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_bad_transition (fcr_activity_SafetyPilot) : bool is
Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_bad_transition_c
extern Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_activity_report_c
extern Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_handle_exception_c
extern Fiacre_SafetyPilot_WriteSpeedInPort_genom_interrupt (fcr_activity_SafetyPilot) : bool is
Fiacre_SafetyPilot_WriteSpeedInPort_genom_interrupt_c
extern Fiacre_SafetyPilot_WriteSpeedInPort_genom_bad_transition (fcr_activity_SafetyPilot) : bool is
Fiacre_SafetyPilot_WriteSpeedInPort_genom_bad_transition_c
extern Fiacre_SafetyPilot_WriteSpeedInPort_activity_report_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_WriteSpeedInPort_activity_report_c
extern Fiacre_SafetyPilot_WriteSpeedInPort_handle_exception_extern(fcr_activity_SafetyPilot, bool) : bool is
Fiacre_SafetyPilot_WriteSpeedInPort_handle_exception_c
function Fiacre_SafetyPilot_genom_interrupt(a:fcr_activity_SafetyPilot) :bool is
var res: bool := false
begin
case a.sid of
SAFETYPILOT_abort_activity_RQSTID_FCR -> null
|
SAFETYPILOT_connect_port_RQSTID_FCR -> null
|
SAFETYPILOT_connect_service_RQSTID_FCR -> null
|
SAFETYPILOT_kill_RQSTID_FCR -> null
|
SAFETYPILOT_GetIDS_RQSTID_FCR -> null
|
SAFETYPILOT_SetHitMinDistance_RQSTID_FCR -> null
|
SAFETYPILOT_SetStopDistance_RQSTID_FCR -> null
|
SAFETYPILOT_SetStopLateralDistance_RQSTID_FCR -> null
|
SAFETYPILOT_SetMaxSpeed_RQSTID_FCR -> null
|
SAFETYPILOT_SetMinPCLHit_RQSTID_FCR -> null
|
SAFETYPILOT_SentMinHit_RQSTID_FCR -> null
|
SAFETYPILOT_Stop_RQSTID_FCR -> null
|
SAFETYPILOT_SetVerbose_RQSTID_FCR -> null
|
SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR -> res := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_interrupt(a)
|
SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_SafetyPilot_WriteSpeedInPort_genom_interrupt(a)
|
SAFETYPILOT_NONE -> null
end;
return res
end
function Fiacre_SafetyPilot_handle_exception(a: fcr_activity_SafetyPilot, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
SAFETYPILOT_abort_activity_RQSTID_FCR -> res := Fiacre_SafetyPilot_abort_activity_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_connect_port_RQSTID_FCR -> res := Fiacre_SafetyPilot_connect_port_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_connect_service_RQSTID_FCR -> res := Fiacre_SafetyPilot_connect_service_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_kill_RQSTID_FCR -> res := Fiacre_SafetyPilot_kill_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_GetIDS_RQSTID_FCR -> res := Fiacre_SafetyPilot_GetIDS_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetHitMinDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetHitMinDistance_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetStopDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetStopDistance_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetStopLateralDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetStopLateralDistance_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetMaxSpeed_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetMaxSpeed_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetMinPCLHit_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetMinPCLHit_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SentMinHit_RQSTID_FCR -> res := Fiacre_SafetyPilot_SentMinHit_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_Stop_RQSTID_FCR -> res := Fiacre_SafetyPilot_Stop_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SetVerbose_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetVerbose_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR -> res := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_SafetyPilot_WriteSpeedInPort_handle_exception_extern(a, in_ct)
|
SAFETYPILOT_NONE -> null
end;
return res
end
function Fiacre_SafetyPilot_activity_report(a:fcr_activity_SafetyPilot) :bool is
var res: bool := false
begin
case a.sid of
SAFETYPILOT_abort_activity_RQSTID_FCR -> res := Fiacre_SafetyPilot_abort_activity_activity_report_extern(a, false)
|
SAFETYPILOT_connect_port_RQSTID_FCR -> res := Fiacre_SafetyPilot_connect_port_activity_report_extern(a, false)
|
SAFETYPILOT_connect_service_RQSTID_FCR -> res := Fiacre_SafetyPilot_connect_service_activity_report_extern(a, false)
|
SAFETYPILOT_kill_RQSTID_FCR -> res := Fiacre_SafetyPilot_kill_activity_report_extern(a, false)
|
SAFETYPILOT_GetIDS_RQSTID_FCR -> res := Fiacre_SafetyPilot_GetIDS_activity_report_extern(a, false)
|
SAFETYPILOT_SetHitMinDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetHitMinDistance_activity_report_extern(a, false)
|
SAFETYPILOT_SetStopDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetStopDistance_activity_report_extern(a, false)
|
SAFETYPILOT_SetStopLateralDistance_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetStopLateralDistance_activity_report_extern(a, false)
|
SAFETYPILOT_SetMaxSpeed_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetMaxSpeed_activity_report_extern(a, false)
|
SAFETYPILOT_SetMinPCLHit_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetMinPCLHit_activity_report_extern(a, false)
|
SAFETYPILOT_SentMinHit_RQSTID_FCR -> res := Fiacre_SafetyPilot_SentMinHit_activity_report_extern(a, false)
|
SAFETYPILOT_Stop_RQSTID_FCR -> res := Fiacre_SafetyPilot_Stop_activity_report_extern(a, false)
|
SAFETYPILOT_SetVerbose_RQSTID_FCR -> res := Fiacre_SafetyPilot_SetVerbose_activity_report_extern(a, false)
|
SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR -> res := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_activity_report_extern(a, false)
|
SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR -> res := Fiacre_SafetyPilot_WriteSpeedInPort_activity_report_extern(a, false)
|
SAFETYPILOT_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task pilot ------------------------------------------------------- */
task Fiacre_SafetyPilot_codel_task_pilot_start_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_task_pilot_start_c
task Fiacre_SafetyPilot_codel_task_pilot_stop_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_task_pilot_stop_c
/* --- service SpeedMergeAndStopIfObstacle ------------------------------ */
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_start_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_start_c
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_choose_speed_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_choose_speed_c
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_get_laser_scan_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_get_laser_scan_c
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_check_obstacles_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_check_obstacles_c
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_write_cmd_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_write_cmd_c
task Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_stop_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_stop_c
/* --- service WriteSpeedInPort ----------------------------------------- */
task Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_start_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_start_c
task Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_stop_task(fcr_activity_SafetyPilot) :minnie_genom_event is
Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_stop_c
/* maximum of instances allowed per one self-compatible service, freely changeable */
const Max_Act_Inst_velodyne: 3..3 is 3
/* number of services for acquisition task + one permanent */
const Nb_Serv_Act_velodyne_acquisition: 2..2 is 2
const Nb_Self_Incomp_velodyne_acquisition: 0..0 is 0
const Nb_act_inst_velodyne_acquisition: 4..4 is 4
/* number of services for scan task + one permanent */
const Nb_Serv_Act_velodyne_scan: 5..5 is 5
const Nb_Self_Incomp_velodyne_scan: 3..3 is 3
const Nb_act_inst_velodyne_scan: 7..7 is 7
/* number of services for pose task + one permanent */
const Nb_Serv_Act_velodyne_pose: 3..3 is 3
const Nb_Self_Incomp_velodyne_pose: 1..1 is 1
const Nb_act_inst_velodyne_pose: 5..5 is 5
// may be should be const (with -1 for perm)
type VELODYNE_RQSTID_FCR is union
VELODYNE_abort_activity_RQSTID_FCR |
VELODYNE_connect_port_RQSTID_FCR |
VELODYNE_connect_service_RQSTID_FCR |
VELODYNE_kill_RQSTID_FCR |
VELODYNE_SetVerbose_RQSTID_FCR |
VELODYNE_SetDelay_RQSTID_FCR |
VELODYNE_SetPCL2PubCyle_RQSTID_FCR |
VELODYNE_StartAcquisition_RQSTID_FCR |
VELODYNE_StopAcquisition_RQSTID_FCR |
VELODYNE_Init_RQSTID_FCR |
VELODYNE_GetOneScan_RQSTID_FCR |
VELODYNE_GetScans_RQSTID_FCR |
VELODYNE_EnableScanAutoSaving_RQSTID_FCR |
VELODYNE_DisableScanAutoSaving_RQSTID_FCR |
VELODYNE_StopGetScans_RQSTID_FCR |
VELODYNE_SavePCD_RQSTID_FCR |
VELODYNE_SetupPoseProcessing_RQSTID_FCR |
VELODYNE_StartPoseProcessing_RQSTID_FCR |
VELODYNE_StopPoseProcessing_RQSTID_FCR |
VELODYNE_SetFixedSensorPose_RQSTID_FCR |
VELODYNE_NONE
end
const VELODYNE_abort_activity: 0..0 is 0
const VELODYNE_connect_port: 1..1 is 1
const VELODYNE_connect_service: 2..2 is 2
const VELODYNE_kill: 3..3 is 3
const VELODYNE_SetVerbose: 4..4 is 4
const VELODYNE_SetDelay: 5..5 is 5
const VELODYNE_SetPCL2PubCyle: 6..6 is 6
const VELODYNE_StartAcquisition: 7..7 is 7
const VELODYNE_StopAcquisition: 8..8 is 8
const VELODYNE_Init: 9..9 is 9
const VELODYNE_GetOneScan: 10..10 is 10
const VELODYNE_GetScans: 11..11 is 11
const VELODYNE_EnableScanAutoSaving: 12..12 is 12
const VELODYNE_DisableScanAutoSaving: 13..13 is 13
const VELODYNE_StopGetScans: 14..14 is 14
const VELODYNE_SavePCD: 15..15 is 15
const VELODYNE_SetupPoseProcessing: 16..16 is 16
const VELODYNE_StartPoseProcessing: 17..17 is 17
const VELODYNE_StopPoseProcessing: 18..18 is 18
const VELODYNE_SetFixedSensorPose: 19..19 is 19
type velodyne_Run_Map_Type is array 20 of bool
// All the possible non common mutex values for velodyne
const velodyneAcquisitionTaskStart: 5..5 is 5
const velodyneAcquisitionTaskStop: 6..6 is 6
const velodyneScanTaskStart: 7..7 is 7
const velodyneScanTaskStop: 8..8 is 8
const velodynePoseTaskStart: 9..9 is 9
const VLDSetVerboseLevel: 10..10 is 10
const velodyneStartAcquisitionStart: 11..11 is 11
const velodyneStartAcquisitionPoll: 12..12 is 12
const velodyneStartAcquisitionMain: 13..13 is 13
const velodyneStartAcquisitionEnd: 14..14 is 14
const velodyneStopAcquisition: 15..15 is 15
const velodyneInit: 16..16 is 16
const velodyneGetOneScanStart: 17..17 is 17
const velodyneGetOneScanCopyPackets: 18..18 is 18
const velodyneGetOneScanStampPackets: 19..19 is 19
const velodyneGetOneScanBuildScan: 20..20 is 20
const velodyneGetOneScanEnd: 21..21 is 21
const velodyneGetScansStart: 22..22 is 22
const velodyneGetScansWait: 23..23 is 23
const velodyneEnableScanAutoSaving: 24..24 is 24
const velodyneDisableScanAutoSaving: 25..25 is 25
const velodyneSavePCD: 26..26 is 26
const velodyneSetupPoseProcessing: 27..27 is 27
const velodyneStartPoseProcessingStart: 28..28 is 28
const velodyneStartPoseProcessingMain: 29..29 is 29
const velodyneSetFixedSensorPoseStart: 30..30 is 30
const genom_velodyne_SetDelay_controlcb: 31..31 is 31
const genom_velodyne_SetPCL2PubCyle_controlcb: 32..32 is 32
const max_number_mutex_codels_velodyne :33..33 is 33
/* The GenoM activity type (to populate an execution task specific array pointed by turn). */
type fcr_activity_velodyne is record
instance: 0..Max_Act_Inst_velodyne-1, //for compatible services
sid: VELODYNE_RQSTID_FCR,
status: fcr_activity_status,
state: minnie_genom_event,
start_: bool, // keyword start is reserved
stop: bool,
pause: bool,
gaid: nat, // activity id... for intermediate reply
grid: nat, // pocolibs rid... for intermediate reply and request identification
gid: nat // the index in the genom task activities array
end
// one activities array per task
// from 0 to Nb_act_inst_velodyne_task_name -1 (the index in the array)
// the value Nb_act_inst_velodyne_task_name is reserved to say it is the execution task turn
type act_inst_velodyne_acquisition_turn_type is 0..Nb_act_inst_velodyne_acquisition
type act_inst_velodyne_acquisition_index_type is 0..Nb_act_inst_velodyne_acquisition-1
type Activities_velodyne_acquisition_Array is array Nb_act_inst_velodyne_acquisition of fcr_activity_velodyne
type act_inst_velodyne_scan_turn_type is 0..Nb_act_inst_velodyne_scan
type act_inst_velodyne_scan_index_type is 0..Nb_act_inst_velodyne_scan-1
type Activities_velodyne_scan_Array is array Nb_act_inst_velodyne_scan of fcr_activity_velodyne
type act_inst_velodyne_pose_turn_type is 0..Nb_act_inst_velodyne_pose
type act_inst_velodyne_pose_index_type is 0..Nb_act_inst_velodyne_pose-1
type Activities_velodyne_pose_Array is array Nb_act_inst_velodyne_pose of fcr_activity_velodyne
type request_velodyne is record
res: bool, // if res true, all is fine, otherwise... an error
message: bool, // if mess is true, we got a message indexed in genom_index
genom_index: nat, // an index in the genom activities tables (one for each exec task).
gaid: nat, // The activity id (for ir).
grid: nat, // The pocolibs rid (for ir).
rqid: VELODYNE_RQSTID_FCR
end
type ffa_reply_velodyne_acquisition is record
index: act_inst_velodyne_acquisition_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_velodyne_acquisition(activities : Activities_velodyne_acquisition_Array,
rqstid : VELODYNE_RQSTID_FCR) : ffa_reply_velodyne_acquisition is
var index: act_inst_velodyne_acquisition_index_type,
res: ffa_reply_velodyne_acquisition,
a: fcr_activity_velodyne
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function velodyne_run_map_index_from_acquisition_activity(a:fcr_activity_velodyne): 0..20-1 is
begin
if (a.sid = VELODYNE_StartAcquisition_RQSTID_FCR) then return VELODYNE_StartAcquisition end;
if (a.sid = VELODYNE_Init_RQSTID_FCR) then return VELODYNE_Init end;
if (a.sid = VELODYNE_GetOneScan_RQSTID_FCR) then return VELODYNE_GetOneScan end;
if (a.sid = VELODYNE_GetScans_RQSTID_FCR) then return VELODYNE_GetScans end;
if (a.sid = VELODYNE_SavePCD_RQSTID_FCR) then return VELODYNE_SavePCD end;
if (a.sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) then return VELODYNE_StartPoseProcessing end;
if (a.sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR) then return VELODYNE_SetFixedSensorPose end;
return 0
end
extern Fiacre_velodyne_acquisition_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_acquisition_genom_bad_transition_c
type ffa_reply_velodyne_scan is record
index: act_inst_velodyne_scan_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_velodyne_scan(activities : Activities_velodyne_scan_Array,
rqstid : VELODYNE_RQSTID_FCR) : ffa_reply_velodyne_scan is
var index: act_inst_velodyne_scan_index_type,
res: ffa_reply_velodyne_scan,
a: fcr_activity_velodyne
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function velodyne_run_map_index_from_scan_activity(a:fcr_activity_velodyne): 0..20-1 is
begin
if (a.sid = VELODYNE_StartAcquisition_RQSTID_FCR) then return VELODYNE_StartAcquisition end;
if (a.sid = VELODYNE_Init_RQSTID_FCR) then return VELODYNE_Init end;
if (a.sid = VELODYNE_GetOneScan_RQSTID_FCR) then return VELODYNE_GetOneScan end;
if (a.sid = VELODYNE_GetScans_RQSTID_FCR) then return VELODYNE_GetScans end;
if (a.sid = VELODYNE_SavePCD_RQSTID_FCR) then return VELODYNE_SavePCD end;
if (a.sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) then return VELODYNE_StartPoseProcessing end;
if (a.sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR) then return VELODYNE_SetFixedSensorPose end;
return 0
end
extern Fiacre_velodyne_scan_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_scan_genom_bad_transition_c
type ffa_reply_velodyne_pose is record
index: act_inst_velodyne_pose_index_type,
available: bool, // can be used right now
stopping: bool // stopping, will be available when stopped.
end
function find_free_activity_velodyne_pose(activities : Activities_velodyne_pose_Array,
rqstid : VELODYNE_RQSTID_FCR) : ffa_reply_velodyne_pose is
var index: act_inst_velodyne_pose_index_type,
res: ffa_reply_velodyne_pose,
a: fcr_activity_velodyne
begin
res.available := false;
res.stopping := false;
res.index := 0;
foreach index do
a := activities[index];
if (a.sid = rqstid) then
if (a.status = ACT_VOID_FCR) then
res.index := index;
res.available := true;
res.stopping := false;
return res // no need to loop more
end;
if (a.status = ACT_ETHER_FCR or a.status = ACT_STOP_FCR) then // _ETHER is expected
res.index := index;
res.available := true;
res.stopping := true // keep looping if we find something better
end
end
end;
return res
end
/* hippo function declarations */
function velodyne_run_map_index_from_pose_activity(a:fcr_activity_velodyne): 0..20-1 is
begin
if (a.sid = VELODYNE_StartAcquisition_RQSTID_FCR) then return VELODYNE_StartAcquisition end;
if (a.sid = VELODYNE_Init_RQSTID_FCR) then return VELODYNE_Init end;
if (a.sid = VELODYNE_GetOneScan_RQSTID_FCR) then return VELODYNE_GetOneScan end;
if (a.sid = VELODYNE_GetScans_RQSTID_FCR) then return VELODYNE_GetScans end;
if (a.sid = VELODYNE_SavePCD_RQSTID_FCR) then return VELODYNE_SavePCD end;
if (a.sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) then return VELODYNE_StartPoseProcessing end;
if (a.sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR) then return VELODYNE_SetFixedSensorPose end;
return 0
end
extern Fiacre_velodyne_pose_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_pose_genom_bad_transition_c
extern Fiacre_velodyne_disallowed(): minnie_genom_event is
Fiacre_velodyne_disallowed_c
extern Fiacre_velodyne_send_ir_extern(fcr_activity_velodyne) : minnie_genom_event is
Fiacre_velodyne_send_ir_c
/*** Task ***/
event velodyne_Manage_Mbox: request_velodyne is velodyne_Manage_Mbox_c
task Fiacre_velodyne_abort_activity_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_abort_activity_control_c
extern Fiacre_velodyne_abort_activity_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_abort_activity_activity_report_c
extern Fiacre_velodyne_abort_activity_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_abort_activity_handle_exception_c
task Fiacre_velodyne_connect_port_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_connect_port_control_c
extern Fiacre_velodyne_connect_port_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_connect_port_activity_report_c
extern Fiacre_velodyne_connect_port_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_connect_port_handle_exception_c
task Fiacre_velodyne_connect_service_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_connect_service_control_c
extern Fiacre_velodyne_connect_service_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_connect_service_activity_report_c
extern Fiacre_velodyne_connect_service_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_connect_service_handle_exception_c
task Fiacre_velodyne_kill_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_kill_control_c
extern Fiacre_velodyne_kill_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_kill_activity_report_c
extern Fiacre_velodyne_kill_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_kill_handle_exception_c
task Fiacre_velodyne_SetVerbose_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_SetVerbose_control_c
extern Fiacre_velodyne_SetVerbose_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetVerbose_activity_report_c
extern Fiacre_velodyne_SetVerbose_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetVerbose_handle_exception_c
extern Fiacre_velodyne_SetDelay_middle(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_SetDelay_middle_c
extern Fiacre_velodyne_SetDelay_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetDelay_activity_report_c
extern Fiacre_velodyne_SetDelay_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetDelay_handle_exception_c
extern Fiacre_velodyne_SetPCL2PubCyle_middle(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_SetPCL2PubCyle_middle_c
extern Fiacre_velodyne_SetPCL2PubCyle_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetPCL2PubCyle_activity_report_c
extern Fiacre_velodyne_SetPCL2PubCyle_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetPCL2PubCyle_handle_exception_c
extern Fiacre_velodyne_StartAcquisition_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_StartAcquisition_genom_interrupt_c
extern Fiacre_velodyne_StartAcquisition_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_StartAcquisition_genom_bad_transition_c
extern Fiacre_velodyne_StartAcquisition_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StartAcquisition_activity_report_c
extern Fiacre_velodyne_StartAcquisition_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StartAcquisition_handle_exception_c
task Fiacre_velodyne_StopAcquisition_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_StopAcquisition_control_c
extern Fiacre_velodyne_StopAcquisition_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopAcquisition_activity_report_c
extern Fiacre_velodyne_StopAcquisition_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopAcquisition_handle_exception_c
extern Fiacre_velodyne_Init_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_Init_genom_interrupt_c
extern Fiacre_velodyne_Init_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_Init_genom_bad_transition_c
extern Fiacre_velodyne_Init_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_Init_activity_report_c
extern Fiacre_velodyne_Init_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_Init_handle_exception_c
extern Fiacre_velodyne_GetOneScan_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_GetOneScan_genom_interrupt_c
extern Fiacre_velodyne_GetOneScan_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_GetOneScan_genom_bad_transition_c
extern Fiacre_velodyne_GetOneScan_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_GetOneScan_activity_report_c
extern Fiacre_velodyne_GetOneScan_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_GetOneScan_handle_exception_c
extern Fiacre_velodyne_GetScans_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_GetScans_genom_interrupt_c
extern Fiacre_velodyne_GetScans_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_GetScans_genom_bad_transition_c
extern Fiacre_velodyne_GetScans_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_GetScans_activity_report_c
extern Fiacre_velodyne_GetScans_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_GetScans_handle_exception_c
task Fiacre_velodyne_EnableScanAutoSaving_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_EnableScanAutoSaving_control_c
extern Fiacre_velodyne_EnableScanAutoSaving_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_EnableScanAutoSaving_activity_report_c
extern Fiacre_velodyne_EnableScanAutoSaving_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_EnableScanAutoSaving_handle_exception_c
task Fiacre_velodyne_DisableScanAutoSaving_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_DisableScanAutoSaving_control_c
extern Fiacre_velodyne_DisableScanAutoSaving_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_DisableScanAutoSaving_activity_report_c
extern Fiacre_velodyne_DisableScanAutoSaving_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_DisableScanAutoSaving_handle_exception_c
extern Fiacre_velodyne_StopGetScans_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopGetScans_activity_report_c
extern Fiacre_velodyne_StopGetScans_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopGetScans_handle_exception_c
extern Fiacre_velodyne_SavePCD_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_SavePCD_genom_interrupt_c
extern Fiacre_velodyne_SavePCD_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_SavePCD_genom_bad_transition_c
extern Fiacre_velodyne_SavePCD_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SavePCD_activity_report_c
extern Fiacre_velodyne_SavePCD_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SavePCD_handle_exception_c
task Fiacre_velodyne_SetupPoseProcessing_control_task (fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_SetupPoseProcessing_control_c
extern Fiacre_velodyne_SetupPoseProcessing_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetupPoseProcessing_activity_report_c
extern Fiacre_velodyne_SetupPoseProcessing_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetupPoseProcessing_handle_exception_c
extern Fiacre_velodyne_StartPoseProcessing_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_StartPoseProcessing_genom_interrupt_c
extern Fiacre_velodyne_StartPoseProcessing_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_StartPoseProcessing_genom_bad_transition_c
extern Fiacre_velodyne_StartPoseProcessing_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StartPoseProcessing_activity_report_c
extern Fiacre_velodyne_StartPoseProcessing_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StartPoseProcessing_handle_exception_c
extern Fiacre_velodyne_StopPoseProcessing_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopPoseProcessing_activity_report_c
extern Fiacre_velodyne_StopPoseProcessing_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_StopPoseProcessing_handle_exception_c
extern Fiacre_velodyne_SetFixedSensorPose_genom_interrupt (fcr_activity_velodyne) : bool is
Fiacre_velodyne_SetFixedSensorPose_genom_interrupt_c
extern Fiacre_velodyne_SetFixedSensorPose_genom_bad_transition (fcr_activity_velodyne) : bool is
Fiacre_velodyne_SetFixedSensorPose_genom_bad_transition_c
extern Fiacre_velodyne_SetFixedSensorPose_activity_report_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetFixedSensorPose_activity_report_c
extern Fiacre_velodyne_SetFixedSensorPose_handle_exception_extern(fcr_activity_velodyne, bool) : bool is
Fiacre_velodyne_SetFixedSensorPose_handle_exception_c
function Fiacre_velodyne_genom_interrupt(a:fcr_activity_velodyne) :bool is
var res: bool := false
begin
case a.sid of
VELODYNE_abort_activity_RQSTID_FCR -> null
|
VELODYNE_connect_port_RQSTID_FCR -> null
|
VELODYNE_connect_service_RQSTID_FCR -> null
|
VELODYNE_kill_RQSTID_FCR -> null
|
VELODYNE_SetVerbose_RQSTID_FCR -> null
|
VELODYNE_SetDelay_RQSTID_FCR -> null
|
VELODYNE_SetPCL2PubCyle_RQSTID_FCR -> null
|
VELODYNE_StartAcquisition_RQSTID_FCR -> res := Fiacre_velodyne_StartAcquisition_genom_interrupt(a)
|
VELODYNE_StopAcquisition_RQSTID_FCR -> null
|
VELODYNE_Init_RQSTID_FCR -> res := Fiacre_velodyne_Init_genom_interrupt(a)
|
VELODYNE_GetOneScan_RQSTID_FCR -> res := Fiacre_velodyne_GetOneScan_genom_interrupt(a)
|
VELODYNE_GetScans_RQSTID_FCR -> res := Fiacre_velodyne_GetScans_genom_interrupt(a)
|
VELODYNE_EnableScanAutoSaving_RQSTID_FCR -> null
|
VELODYNE_DisableScanAutoSaving_RQSTID_FCR -> null
|
VELODYNE_StopGetScans_RQSTID_FCR -> null
|
VELODYNE_SavePCD_RQSTID_FCR -> res := Fiacre_velodyne_SavePCD_genom_interrupt(a)
|
VELODYNE_SetupPoseProcessing_RQSTID_FCR -> null
|
VELODYNE_StartPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_StartPoseProcessing_genom_interrupt(a)
|
VELODYNE_StopPoseProcessing_RQSTID_FCR -> null
|
VELODYNE_SetFixedSensorPose_RQSTID_FCR -> res := Fiacre_velodyne_SetFixedSensorPose_genom_interrupt(a)
|
VELODYNE_NONE -> null
end;
return res
end
function Fiacre_velodyne_handle_exception(a: fcr_activity_velodyne, in_ct: bool) :bool is
var res: bool := false
begin
case a.sid of
VELODYNE_abort_activity_RQSTID_FCR -> res := Fiacre_velodyne_abort_activity_handle_exception_extern(a, in_ct)
|
VELODYNE_connect_port_RQSTID_FCR -> res := Fiacre_velodyne_connect_port_handle_exception_extern(a, in_ct)
|
VELODYNE_connect_service_RQSTID_FCR -> res := Fiacre_velodyne_connect_service_handle_exception_extern(a, in_ct)
|
VELODYNE_kill_RQSTID_FCR -> res := Fiacre_velodyne_kill_handle_exception_extern(a, in_ct)
|
VELODYNE_SetVerbose_RQSTID_FCR -> res := Fiacre_velodyne_SetVerbose_handle_exception_extern(a, in_ct)
|
VELODYNE_SetDelay_RQSTID_FCR -> res := Fiacre_velodyne_SetDelay_handle_exception_extern(a, in_ct)
|
VELODYNE_SetPCL2PubCyle_RQSTID_FCR -> res := Fiacre_velodyne_SetPCL2PubCyle_handle_exception_extern(a, in_ct)
|
VELODYNE_StartAcquisition_RQSTID_FCR -> res := Fiacre_velodyne_StartAcquisition_handle_exception_extern(a, in_ct)
|
VELODYNE_StopAcquisition_RQSTID_FCR -> res := Fiacre_velodyne_StopAcquisition_handle_exception_extern(a, in_ct)
|
VELODYNE_Init_RQSTID_FCR -> res := Fiacre_velodyne_Init_handle_exception_extern(a, in_ct)
|
VELODYNE_GetOneScan_RQSTID_FCR -> res := Fiacre_velodyne_GetOneScan_handle_exception_extern(a, in_ct)
|
VELODYNE_GetScans_RQSTID_FCR -> res := Fiacre_velodyne_GetScans_handle_exception_extern(a, in_ct)
|
VELODYNE_EnableScanAutoSaving_RQSTID_FCR -> res := Fiacre_velodyne_EnableScanAutoSaving_handle_exception_extern(a, in_ct)
|
VELODYNE_DisableScanAutoSaving_RQSTID_FCR -> res := Fiacre_velodyne_DisableScanAutoSaving_handle_exception_extern(a, in_ct)
|
VELODYNE_StopGetScans_RQSTID_FCR -> res := Fiacre_velodyne_StopGetScans_handle_exception_extern(a, in_ct)
|
VELODYNE_SavePCD_RQSTID_FCR -> res := Fiacre_velodyne_SavePCD_handle_exception_extern(a, in_ct)
|
VELODYNE_SetupPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_SetupPoseProcessing_handle_exception_extern(a, in_ct)
|
VELODYNE_StartPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_StartPoseProcessing_handle_exception_extern(a, in_ct)
|
VELODYNE_StopPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_StopPoseProcessing_handle_exception_extern(a, in_ct)
|
VELODYNE_SetFixedSensorPose_RQSTID_FCR -> res := Fiacre_velodyne_SetFixedSensorPose_handle_exception_extern(a, in_ct)
|
VELODYNE_NONE -> null
end;
return res
end
function Fiacre_velodyne_activity_report(a:fcr_activity_velodyne) :bool is
var res: bool := false
begin
case a.sid of
VELODYNE_abort_activity_RQSTID_FCR -> res := Fiacre_velodyne_abort_activity_activity_report_extern(a, false)
|
VELODYNE_connect_port_RQSTID_FCR -> res := Fiacre_velodyne_connect_port_activity_report_extern(a, false)
|
VELODYNE_connect_service_RQSTID_FCR -> res := Fiacre_velodyne_connect_service_activity_report_extern(a, false)
|
VELODYNE_kill_RQSTID_FCR -> res := Fiacre_velodyne_kill_activity_report_extern(a, false)
|
VELODYNE_SetVerbose_RQSTID_FCR -> res := Fiacre_velodyne_SetVerbose_activity_report_extern(a, false)
|
VELODYNE_SetDelay_RQSTID_FCR -> res := Fiacre_velodyne_SetDelay_activity_report_extern(a, false)
|
VELODYNE_SetPCL2PubCyle_RQSTID_FCR -> res := Fiacre_velodyne_SetPCL2PubCyle_activity_report_extern(a, false)
|
VELODYNE_StartAcquisition_RQSTID_FCR -> res := Fiacre_velodyne_StartAcquisition_activity_report_extern(a, false)
|
VELODYNE_StopAcquisition_RQSTID_FCR -> res := Fiacre_velodyne_StopAcquisition_activity_report_extern(a, false)
|
VELODYNE_Init_RQSTID_FCR -> res := Fiacre_velodyne_Init_activity_report_extern(a, false)
|
VELODYNE_GetOneScan_RQSTID_FCR -> res := Fiacre_velodyne_GetOneScan_activity_report_extern(a, false)
|
VELODYNE_GetScans_RQSTID_FCR -> res := Fiacre_velodyne_GetScans_activity_report_extern(a, false)
|
VELODYNE_EnableScanAutoSaving_RQSTID_FCR -> res := Fiacre_velodyne_EnableScanAutoSaving_activity_report_extern(a, false)
|
VELODYNE_DisableScanAutoSaving_RQSTID_FCR -> res := Fiacre_velodyne_DisableScanAutoSaving_activity_report_extern(a, false)
|
VELODYNE_StopGetScans_RQSTID_FCR -> res := Fiacre_velodyne_StopGetScans_activity_report_extern(a, false)
|
VELODYNE_SavePCD_RQSTID_FCR -> res := Fiacre_velodyne_SavePCD_activity_report_extern(a, false)
|
VELODYNE_SetupPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_SetupPoseProcessing_activity_report_extern(a, false)
|
VELODYNE_StartPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_StartPoseProcessing_activity_report_extern(a, false)
|
VELODYNE_StopPoseProcessing_RQSTID_FCR -> res := Fiacre_velodyne_StopPoseProcessing_activity_report_extern(a, false)
|
VELODYNE_SetFixedSensorPose_RQSTID_FCR -> res := Fiacre_velodyne_SetFixedSensorPose_activity_report_extern(a, false)
|
VELODYNE_NONE -> null
end;
return res
end
/* "exec tasks" codels */
/* --- task acquisition ------------------------------------------------- */
task Fiacre_velodyne_codel_task_acquisition_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_task_acquisition_start_c
task Fiacre_velodyne_codel_task_acquisition_stop_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_task_acquisition_stop_c
/* --- service StartAcquisition ----------------------------------------- */
task Fiacre_velodyne_codel_service_StartAcquisition_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartAcquisition_start_c
task Fiacre_velodyne_codel_service_StartAcquisition_poll_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartAcquisition_poll_c
task Fiacre_velodyne_codel_service_StartAcquisition_main_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartAcquisition_main_c
task Fiacre_velodyne_codel_service_StartAcquisition_stop_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartAcquisition_stop_c
task Fiacre_velodyne_codel_service_StartAcquisition_end_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartAcquisition_end_c
/* --- task scan -------------------------------------------------------- */
task Fiacre_velodyne_codel_task_scan_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_task_scan_start_c
task Fiacre_velodyne_codel_task_scan_stop_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_task_scan_stop_c
/* --- service Init ----------------------------------------------------- */
task Fiacre_velodyne_codel_service_Init_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_Init_start_c
/* --- service GetOneScan ----------------------------------------------- */
task Fiacre_velodyne_codel_service_GetOneScan_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetOneScan_start_c
task Fiacre_velodyne_codel_service_GetOneScan_copy_packets_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetOneScan_copy_packets_c
task Fiacre_velodyne_codel_service_GetOneScan_stamp_packets_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetOneScan_stamp_packets_c
task Fiacre_velodyne_codel_service_GetOneScan_build_scan_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetOneScan_build_scan_c
task Fiacre_velodyne_codel_service_GetOneScan_end_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetOneScan_end_c
/* --- service GetScans ------------------------------------------------- */
task Fiacre_velodyne_codel_service_GetScans_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_start_c
task Fiacre_velodyne_codel_service_GetScans_copy_packets_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_copy_packets_c
task Fiacre_velodyne_codel_service_GetScans_stamp_packets_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_stamp_packets_c
task Fiacre_velodyne_codel_service_GetScans_build_scan_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_build_scan_c
task Fiacre_velodyne_codel_service_GetScans_end_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_end_c
task Fiacre_velodyne_codel_service_GetScans_wait_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_GetScans_wait_c
/* --- service SavePCD -------------------------------------------------- */
task Fiacre_velodyne_codel_service_SavePCD_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_SavePCD_start_c
/* --- task pose -------------------------------------------------------- */
task Fiacre_velodyne_codel_task_pose_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_task_pose_start_c
/* --- service StartPoseProcessing -------------------------------------- */
task Fiacre_velodyne_codel_service_StartPoseProcessing_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartPoseProcessing_start_c
task Fiacre_velodyne_codel_service_StartPoseProcessing_main_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_StartPoseProcessing_main_c
/* --- service SetFixedSensorPose --------------------------------------- */
task Fiacre_velodyne_codel_service_SetFixedSensorPose_start_task(fcr_activity_velodyne) :minnie_genom_event is
Fiacre_velodyne_codel_service_SetFixedSensorPose_start_c
//extern fiacre_c_print_ge(nat, minnie_genom_event) : nat is
// print_ge_c
/********************************************/
/* beginning of gps process section */
/********************************************/
/**********************************************/
/* gps abort_activity services control task part */
/**********************************************/
process gps_abort_activity_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(0) /* (1) gps CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1) /* (1) gps CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2) /* (0) gps CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(3) /* (2) gps CT abort_activity control codel. */;
start Fiacre_gps_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(4) /* (2) gps CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(5) /* (1) gps CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(6) /* (3) gps CT abort_activity updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_abort_activity]:= true;
ignorep := fiacre_c_print_trace(7) /* (1) gps CT abort_activity ctrl activity report */;
ignoreb := Fiacre_gps_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(8) /* (1) gps CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(9) /* (4) gps CT abort_activity for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(10) /* (3) gps CT abort_activity giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps abort_activity services control task part */
/**********************************************/
/**********************************************/
/* gps connect_port services control task part */
/**********************************************/
process gps_connect_port_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(11) /* (1) gps CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(12) /* (1) gps CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(13) /* (0) gps CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(14) /* (2) gps CT connect_port control codel. */;
start Fiacre_gps_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(15) /* (2) gps CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(16) /* (1) gps CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(17) /* (3) gps CT connect_port updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_connect_port]:= true;
ignorep := fiacre_c_print_trace(18) /* (1) gps CT connect_port ctrl activity report */;
ignoreb := Fiacre_gps_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(19) /* (1) gps CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(20) /* (4) gps CT connect_port for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(21) /* (3) gps CT connect_port giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps connect_port services control task part */
/**********************************************/
/**********************************************/
/* gps connect_service services control task part */
/**********************************************/
process gps_connect_service_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(22) /* (1) gps CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(23) /* (1) gps CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(24) /* (0) gps CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(25) /* (2) gps CT connect_service control codel. */;
start Fiacre_gps_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(26) /* (2) gps CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(27) /* (1) gps CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(28) /* (3) gps CT connect_service updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_connect_service]:= true;
ignorep := fiacre_c_print_trace(29) /* (1) gps CT connect_service ctrl activity report */;
ignoreb := Fiacre_gps_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(30) /* (1) gps CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(31) /* (4) gps CT connect_service for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(32) /* (3) gps CT connect_service giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps connect_service services control task part */
/**********************************************/
/**********************************************/
/* gps kill services control task part */
/**********************************************/
process gps_kill_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(33) /* (1) gps CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(34) /* (1) gps CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(35) /* (0) gps CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(36) /* (2) gps CT kill control codel. */;
start Fiacre_gps_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(37) /* (2) gps CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(38) /* (1) gps CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_io := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = GPS_connect_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_disconnect_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_set_rtk_port_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_connect_rtk_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_unfix_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_fix_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_fix_here_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_send_rtcm_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_cancel_rtcm_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_monitor_fix_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(39) /* (1) gps CT kill interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(40) /* (3) gps CT kill interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_gps_io-1) then
to inter_task_
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(41) /* (3) gps CT kill updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_kill]:= true;
ignorep := fiacre_c_print_trace(42) /* (1) gps CT kill ctrl activity report */;
ignoreb := Fiacre_gps_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(43) /* (1) gps CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(44) /* (4) gps CT kill for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(45) /* (3) gps CT kill giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps kill services control task part */
/**********************************************/
/**********************************************/
/* gps get_param services control task part */
/**********************************************/
process gps_get_param_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_get_param_RQSTID_FCR);
ignorep := fiacre_c_print_trace(46) /* (1) gps CT get_param request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(47) /* (1) gps CT get_param is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(48) /* (0) gps CT get_param ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_close)) and
(not (io_running_codel = gpsio_stop)) and
(not (io_running_codel = gps_connect_start)) and
(not (io_running_codel = gps_disconnect_start)) and
true);
//REMOVE ME control_running_codel := genom_gps_get_param_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(49) /* (3) gps CT get_param middle */;
genom_event := Fiacre_gps_get_param_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(50) /* (3) gps CT get_param updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_get_param]:= true;
ignorep := fiacre_c_print_trace(51) /* (1) gps CT get_param ctrl activity report */;
ignoreb := Fiacre_gps_get_param_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(52) /* (4) gps CT get_param for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(53) /* (3) gps CT get_param giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps get_param services control task part */
/**********************************************/
/**********************************************/
/* gps get_last_fix services control task part */
/**********************************************/
process gps_get_last_fix_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_get_last_fix_RQSTID_FCR);
ignorep := fiacre_c_print_trace(54) /* (1) gps CT get_last_fix request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(55) /* (1) gps CT get_last_fix is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(56) /* (0) gps CT get_last_fix ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gps_fix_here_start)) and
(not (io_running_codel = gps_fix_here_avg)) and
(not (io_running_codel = gps_fix_done)) and
true);
//REMOVE ME control_running_codel := genom_gps_get_last_fix_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(57) /* (3) gps CT get_last_fix middle */;
genom_event := Fiacre_gps_get_last_fix_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(58) /* (3) gps CT get_last_fix updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_get_last_fix]:= true;
ignorep := fiacre_c_print_trace(59) /* (1) gps CT get_last_fix ctrl activity report */;
ignoreb := Fiacre_gps_get_last_fix_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(60) /* (4) gps CT get_last_fix for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(61) /* (3) gps CT get_last_fix giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps get_last_fix services control task part */
/**********************************************/
/**********************************************/
/* gps set_noise services control task part */
/**********************************************/
process gps_set_noise_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_set_noise_RQSTID_FCR);
ignorep := fiacre_c_print_trace(62) /* (1) gps CT set_noise request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(63) /* (1) gps CT set_noise is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(64) /* (0) gps CT set_noise ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_publish)) and
(not (io_running_codel = gpsio_close)) and
(not (io_running_codel = gpsio_stop)) and
(not (io_running_codel = gps_connect_start)) and
(not (io_running_codel = gps_disconnect_start)) and
true);
//REMOVE ME control_running_codel := genom_gps_set_noise_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(65) /* (3) gps CT set_noise middle */;
genom_event := Fiacre_gps_set_noise_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(66) /* (3) gps CT set_noise updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_set_noise]:= true;
ignorep := fiacre_c_print_trace(67) /* (1) gps CT set_noise ctrl activity report */;
ignoreb := Fiacre_gps_set_noise_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(68) /* (4) gps CT set_noise for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(69) /* (3) gps CT set_noise giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps set_noise services control task part */
/**********************************************/
/**********************************************/
/* gps connect services control task part */
/**********************************************/
process gps_connect_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_connect_RQSTID_FCR);
ignorep := fiacre_c_print_trace(70) /* (1) gps CT connect request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(71) /* (1) gps CT connect is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(72) /* (0) gps CT connect ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_connect_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(73) /* (0) gps CT connect ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(74) /* (0) gps CT connect ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(75) /* (2) gps CT connect is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(76) /* (1) gps CT connect report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_connect_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_connect_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(77) /* (4) gps CT connect for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(78) /* (3) gps CT connect giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps connect services control task part */
/**********************************************/
/**********************************************/
/* gps disconnect services control task part */
/**********************************************/
process gps_disconnect_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_disconnect_RQSTID_FCR);
ignorep := fiacre_c_print_trace(79) /* (1) gps CT disconnect request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(80) /* (1) gps CT disconnect is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(81) /* (0) gps CT disconnect ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_disconnect_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(82) /* (0) gps CT disconnect ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(83) /* (0) gps CT disconnect ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(84) /* (2) gps CT disconnect is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(85) /* (1) gps CT disconnect report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_disconnect_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_disconnect_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(86) /* (4) gps CT disconnect for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(87) /* (3) gps CT disconnect giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps disconnect services control task part */
/**********************************************/
/**********************************************/
/* gps set_rtk_port services control task part */
/**********************************************/
process gps_set_rtk_port_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_set_rtk_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(88) /* (1) gps CT set_rtk_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(89) /* (1) gps CT set_rtk_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(90) /* (0) gps CT set_rtk_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_set_rtk_port_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(91) /* (0) gps CT set_rtk_port ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(92) /* (0) gps CT set_rtk_port ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(93) /* (2) gps CT set_rtk_port is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(94) /* (1) gps CT set_rtk_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_set_rtk_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_set_rtk_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(95) /* (4) gps CT set_rtk_port for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(96) /* (3) gps CT set_rtk_port giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps set_rtk_port services control task part */
/**********************************************/
/**********************************************/
/* gps connect_rtk services control task part */
/**********************************************/
process gps_connect_rtk_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_connect_rtk_RQSTID_FCR);
ignorep := fiacre_c_print_trace(97) /* (1) gps CT connect_rtk request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(98) /* (1) gps CT connect_rtk is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(99) /* (0) gps CT connect_rtk ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_connect_rtk_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(100) /* (0) gps CT connect_rtk ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(101) /* (0) gps CT connect_rtk ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(102) /* (2) gps CT connect_rtk is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(103) /* (1) gps CT connect_rtk report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_connect_rtk_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_connect_rtk_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(104) /* (4) gps CT connect_rtk for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(105) /* (3) gps CT connect_rtk giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps connect_rtk services control task part */
/**********************************************/
/**********************************************/
/* gps set_reference services control task part */
/**********************************************/
process gps_set_reference_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_set_reference_RQSTID_FCR);
ignorep := fiacre_c_print_trace(106) /* (1) gps CT set_reference request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(107) /* (1) gps CT set_reference is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(108) /* (0) gps CT set_reference ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gps_fix_set)) and
(not (io_running_codel = gps_fix_done)) and
true);
control_running_codel := gps_set_reference;
//REMOVE ME
ignorep := fiacre_c_print_trace(109) /* (2) gps CT set_reference control codel. */;
start Fiacre_gps_set_reference_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_set_reference_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(110) /* (2) gps CT set_reference control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(111) /* (1) gps CT set_reference control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(112) /* (3) gps CT set_reference updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_set_reference]:= true;
ignorep := fiacre_c_print_trace(113) /* (1) gps CT set_reference ctrl activity report */;
ignoreb := Fiacre_gps_set_reference_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(114) /* (1) gps CT set_reference report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_set_reference_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_set_reference_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(115) /* (4) gps CT set_reference for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(116) /* (3) gps CT set_reference giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps set_reference services control task part */
/**********************************************/
/**********************************************/
/* gps get_reference services control task part */
/**********************************************/
process gps_get_reference_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_get_reference_RQSTID_FCR);
ignorep := fiacre_c_print_trace(117) /* (1) gps CT get_reference request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(118) /* (1) gps CT get_reference is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(119) /* (0) gps CT get_reference ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gps_fix_set)) and
(not (io_running_codel = gps_fix_done)) and
true);
//REMOVE ME control_running_codel := genom_gps_get_reference_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(120) /* (3) gps CT get_reference middle */;
genom_event := Fiacre_gps_get_reference_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(121) /* (3) gps CT get_reference updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_get_reference]:= true;
ignorep := fiacre_c_print_trace(122) /* (1) gps CT get_reference ctrl activity report */;
ignoreb := Fiacre_gps_get_reference_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(123) /* (4) gps CT get_reference for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(124) /* (3) gps CT get_reference giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps get_reference services control task part */
/**********************************************/
/**********************************************/
/* gps unfix services control task part */
/**********************************************/
process gps_unfix_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_unfix_RQSTID_FCR);
ignorep := fiacre_c_print_trace(125) /* (1) gps CT unfix request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(126) /* (1) gps CT unfix is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(127) /* (0) gps CT unfix ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_io := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = GPS_fix_RQSTID_FCR) or
(io_activities[index_io].sid = GPS_fix_here_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(128) /* (1) gps CT unfix interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(129) /* (3) gps CT unfix interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_gps_io-1) then
to inter_task_
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_unfix_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(130) /* (0) gps CT unfix ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(131) /* (0) gps CT unfix ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(132) /* (2) gps CT unfix is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(133) /* (1) gps CT unfix report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_unfix_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_unfix_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(134) /* (4) gps CT unfix for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(135) /* (3) gps CT unfix giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps unfix services control task part */
/**********************************************/
/**********************************************/
/* gps fix services control task part */
/**********************************************/
process gps_fix_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_fix_RQSTID_FCR);
ignorep := fiacre_c_print_trace(136) /* (1) gps CT fix request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(137) /* (1) gps CT fix is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(138) /* (0) gps CT fix ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_io := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = GPS_fix_here_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(139) /* (1) gps CT fix interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(140) /* (3) gps CT fix interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_gps_io-1) then
to inter_task_
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_fix_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(141) /* (0) gps CT fix ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(142) /* (0) gps CT fix ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(143) /* (2) gps CT fix is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(144) /* (1) gps CT fix report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_fix_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_fix_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(145) /* (4) gps CT fix for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(146) /* (3) gps CT fix giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps fix services control task part */
/**********************************************/
/**********************************************/
/* gps fix_here services control task part */
/**********************************************/
process gps_fix_here_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_fix_here_RQSTID_FCR);
ignorep := fiacre_c_print_trace(147) /* (1) gps CT fix_here request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(148) /* (1) gps CT fix_here is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(149) /* (0) gps CT fix_here ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_io := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = GPS_fix_here_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(150) /* (1) gps CT fix_here interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(151) /* (3) gps CT fix_here interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_gps_io-1) then
to inter_task_
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_fix_here_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(152) /* (0) gps CT fix_here ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(153) /* (0) gps CT fix_here ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(154) /* (2) gps CT fix_here is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(155) /* (1) gps CT fix_here report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_fix_here_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_fix_here_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(156) /* (4) gps CT fix_here for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(157) /* (3) gps CT fix_here giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps fix_here services control task part */
/**********************************************/
/**********************************************/
/* gps send_rtcm services control task part */
/**********************************************/
process gps_send_rtcm_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_send_rtcm_RQSTID_FCR);
ignorep := fiacre_c_print_trace(158) /* (1) gps CT send_rtcm request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(159) /* (1) gps CT send_rtcm is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(160) /* (0) gps CT send_rtcm ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_send_rtcm_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(161) /* (0) gps CT send_rtcm ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(162) /* (0) gps CT send_rtcm ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(163) /* (2) gps CT send_rtcm is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(164) /* (1) gps CT send_rtcm report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_send_rtcm_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_send_rtcm_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(165) /* (4) gps CT send_rtcm for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(166) /* (3) gps CT send_rtcm giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps send_rtcm services control task part */
/**********************************************/
/**********************************************/
/* gps cancel_rtcm services control task part */
/**********************************************/
process gps_cancel_rtcm_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_cancel_rtcm_RQSTID_FCR);
ignorep := fiacre_c_print_trace(167) /* (1) gps CT cancel_rtcm request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(168) /* (1) gps CT cancel_rtcm is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(169) /* (0) gps CT cancel_rtcm ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_cancel_rtcm_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(170) /* (0) gps CT cancel_rtcm ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(171) /* (0) gps CT cancel_rtcm ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(172) /* (2) gps CT cancel_rtcm is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(173) /* (1) gps CT cancel_rtcm report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_cancel_rtcm_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_cancel_rtcm_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(174) /* (4) gps CT cancel_rtcm for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(175) /* (3) gps CT cancel_rtcm giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps cancel_rtcm services control task part */
/**********************************************/
/**********************************************/
/* gps enable_rtcm services control task part */
/**********************************************/
process gps_enable_rtcm_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_enable_rtcm_RQSTID_FCR);
ignorep := fiacre_c_print_trace(176) /* (1) gps CT enable_rtcm request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(177) /* (1) gps CT enable_rtcm is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(178) /* (0) gps CT enable_rtcm ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_rtk_recv)) and
(not (io_running_codel = gps_send_rtcm)) and
(not (io_running_codel = gps_cancel_rtcm)) and
true);
control_running_codel := gps_enable_rtcm;
//REMOVE ME
ignorep := fiacre_c_print_trace(179) /* (2) gps CT enable_rtcm control codel. */;
start Fiacre_gps_enable_rtcm_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_enable_rtcm_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(180) /* (2) gps CT enable_rtcm control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(181) /* (1) gps CT enable_rtcm control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(182) /* (3) gps CT enable_rtcm updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_enable_rtcm]:= true;
ignorep := fiacre_c_print_trace(183) /* (1) gps CT enable_rtcm ctrl activity report */;
ignoreb := Fiacre_gps_enable_rtcm_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(184) /* (1) gps CT enable_rtcm report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_enable_rtcm_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_enable_rtcm_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(185) /* (4) gps CT enable_rtcm for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(186) /* (3) gps CT enable_rtcm giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps enable_rtcm services control task part */
/**********************************************/
/**********************************************/
/* gps monitor_fix services control task part */
/**********************************************/
process gps_monitor_fix_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
ffa_reply_io: ffa_reply_gps_io,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_monitor_fix_RQSTID_FCR);
ignorep := fiacre_c_print_trace(187) /* (1) gps CT monitor_fix request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(188) /* (1) gps CT monitor_fix is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(189) /* (0) gps CT monitor_fix ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_gps_io(io_activities, GPS_monitor_fix_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(190) /* (0) gps CT monitor_fix ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(191) /* (0) gps CT monitor_fix ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(192) /* (2) gps CT monitor_fix is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_gps_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(193) /* (1) gps CT monitor_fix report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_monitor_fix_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_monitor_fix_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(194) /* (4) gps CT monitor_fix for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(195) /* (3) gps CT monitor_fix giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps monitor_fix services control task part */
/**********************************************/
/**********************************************/
/* gps rtk_stats services control task part */
/**********************************************/
process gps_rtk_stats_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_rtk_stats_RQSTID_FCR);
ignorep := fiacre_c_print_trace(196) /* (1) gps CT rtk_stats request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(197) /* (1) gps CT rtk_stats is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(198) /* (0) gps CT rtk_stats ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_dev_recv)) and
(not (io_running_codel = gpsio_rtk_recv)) and
(not (io_running_codel = gpsio_close)) and
(not (io_running_codel = gpsio_stop)) and
(not (io_running_codel = gps_connect_start)) and
(not (io_running_codel = gps_disconnect_start)) and
(not (io_running_codel = gps_unfix_start)) and
(not (io_running_codel = gps_fix_set)) and
(not (io_running_codel = gps_fix_here_start)) and
(not (io_running_codel = gps_fix_done)) and
(not (io_running_codel = gps_send_rtcm)) and
(not (io_running_codel = gps_cancel_rtcm)) and
true);
control_running_codel := gps_rtk_stats;
//REMOVE ME
ignorep := fiacre_c_print_trace(199) /* (2) gps CT rtk_stats control codel. */;
start Fiacre_gps_rtk_stats_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_rtk_stats_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(200) /* (2) gps CT rtk_stats control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(201) /* (1) gps CT rtk_stats control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(202) /* (3) gps CT rtk_stats updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_rtk_stats]:= true;
ignorep := fiacre_c_print_trace(203) /* (1) gps CT rtk_stats ctrl activity report */;
ignoreb := Fiacre_gps_rtk_stats_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(204) /* (1) gps CT rtk_stats report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_rtk_stats_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_rtk_stats_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(205) /* (4) gps CT rtk_stats for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(206) /* (3) gps CT rtk_stats giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps rtk_stats services control task part */
/**********************************************/
/**********************************************/
/* gps log services control task part */
/**********************************************/
process gps_log_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_log_RQSTID_FCR);
ignorep := fiacre_c_print_trace(207) /* (1) gps CT log request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(208) /* (1) gps CT log is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(209) /* (0) gps CT log ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_publish)) and
true);
control_running_codel := gps_log;
//REMOVE ME
ignorep := fiacre_c_print_trace(210) /* (2) gps CT log control codel. */;
start Fiacre_gps_log_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_log_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(211) /* (2) gps CT log control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(212) /* (1) gps CT log control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(213) /* (3) gps CT log updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_log]:= true;
ignorep := fiacre_c_print_trace(214) /* (1) gps CT log ctrl activity report */;
ignoreb := Fiacre_gps_log_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(215) /* (1) gps CT log report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_log_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_log_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(216) /* (4) gps CT log for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(217) /* (3) gps CT log giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps log services control task part */
/**********************************************/
/**********************************************/
/* gps log_stop services control task part */
/**********************************************/
process gps_log_stop_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_log_stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(218) /* (1) gps CT log_stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(219) /* (1) gps CT log_stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(220) /* (0) gps CT log_stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_publish)) and
true);
control_running_codel := gps_log_stop;
//REMOVE ME
ignorep := fiacre_c_print_trace(221) /* (2) gps CT log_stop control codel. */;
start Fiacre_gps_log_stop_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_log_stop_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(222) /* (2) gps CT log_stop control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(223) /* (1) gps CT log_stop control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(224) /* (3) gps CT log_stop updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_log_stop]:= true;
ignorep := fiacre_c_print_trace(225) /* (1) gps CT log_stop ctrl activity report */;
ignoreb := Fiacre_gps_log_stop_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(226) /* (1) gps CT log_stop report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_log_stop_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_log_stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(227) /* (4) gps CT log_stop for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(228) /* (3) gps CT log_stop giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps log_stop services control task part */
/**********************************************/
/**********************************************/
/* gps log_info services control task part */
/**********************************************/
process gps_log_info_CT (
&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&io_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&run_map: gps_Run_Map_Type,
&control_turn: GPS_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = GPS_log_info_RQSTID_FCR);
ignorep := fiacre_c_print_trace(229) /* (1) gps CT log_info request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(230) /* (1) gps CT log_info is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(231) /* (0) gps CT log_info ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = gpsio_start)) and
(not (io_running_codel = gpsio_publish)) and
true);
control_running_codel := gps_log_info;
//REMOVE ME
ignorep := fiacre_c_print_trace(232) /* (2) gps CT log_info control codel. */;
start Fiacre_gps_log_info_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_gps_log_info_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(233) /* (2) gps CT log_info control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(234) /* (1) gps CT log_info control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(235) /* (3) gps CT log_info updating run map */;
control_activity.state := gps_ether_fcr;
run_map[GPS_log_info]:= true;
ignorep := fiacre_c_print_trace(236) /* (1) gps CT log_info ctrl activity report */;
ignoreb := Fiacre_gps_log_info_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(237) /* (1) gps CT log_info report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_gps_log_info_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_gps_log_info_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(238) /* (4) gps CT log_info for all ET, setting runnable to true. */;
io_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(239) /* (3) gps CT log_info giving control back */;
control_turn := GPS_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of gps log_info services control task part */
/**********************************************/
/************************/
/* gps control task process */
/************************/
process control_task_gps
(&control_activity: fcr_activity_gps,
&io_activities: Activities_gps_io_Array,
&io_runnable: bool,
&control_turn: GPS_RQSTID_FCR,
&run_map: gps_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_io,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_gps,
index_io: act_inst_gps_io_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(240) /* (1) gps CT init Mbox */;
gps_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(241) /* (0) gps CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = GPS_NONE);
ignorep := fiacre_c_print_trace(242) /* (3) gps CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(243) /* (1) gps CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(244) /* (3) gps CT going to sleep */;
select
gps_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(245) /* (2) gps CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(246) /* (0) gps CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(247) /* (0) gps CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(248) /* (2) gps CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(249) /* (2) gps CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = GPS_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_io := 0;
to process_exec_task_io
from process_exec_task_io
ignorep := fiacre_c_print_trace(250) /* (3) gps CT processes io activities. */;
if (io_activities[index_io].status = ACT_INIT_FCR) then
if (not io_activities[index_io].start_) then
ignorep := fiacre_c_print_trace(251) /* (4) gps CT setting ET io runnable to true. */;
io_runnable := true;
io_activities[index_io].start_:=true // check the pocolibs template
end
end;
if (io_activities[index_io].status = ACT_ETHER_FCR) then // we are done for this one
// io_activities[index_io].status := ACT_VOID_FCR;
if (not (io_activities[index_io].sid = GPS_NONE)) then //not the perm activity
if (io_activities[index_io].state = gps_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(252) /* (3) gps CT processes io activities, updating run_map. */;
run_map[gps_run_map_index_from_io_activity(io_activities[index_io])]:= true
else
ignorep := fiacre_c_print_trace(253) /* (1) gps CT processes io activities, handle exception. */;
ignoreb := Fiacre_gps_handle_exception(io_activities[index_io], false)
end;
ignorep := fiacre_c_print_trace(254) /* (1) gps CT processes io activities, activity report. */;
ignoreb := Fiacre_gps_activity_report(io_activities[index_io])
else
ignorep := fiacre_c_print_trace(255) /* (1) gps CT processes io permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
io_activities[index_io].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_io = Nb_act_inst_gps_io-1) then
to process_exec_task_
else
index_io := index_io + 1;
to process_exec_task_io
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of gps control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task gps io . */
/******************************************************/
/****************************************/
/* gps io is aperiodic, no timer */
/****************************************/
/******************************************/
/* gps io execution task main loop */
/******************************************/
process exec_task_gps_io (
&io_turn : act_inst_gps_io_turn_type,
&io_runnable: bool,
&io_activities: Activities_gps_io_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_io: act_inst_gps_io_index_type,
index: act_inst_gps_io_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(256) /* (4) gps ET io, waiting to be runnable. */;
on io_runnable
else
ignorep := fiacre_c_print_trace(257) /* (4) gps ET io GENOM_SCHED_CONT. */;
null
end;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(258) /* (3) gps ET io parsing activities status. */;
sched := [false, false, false, false];
foreach index_io do
if (io_activities[index_io].status = ACT_INIT_FCR) then
if (io_activities[index_io].start_ and
io_runnable) then
io_activities[index_io].status := ACT_RUN_FCR;
io_activities[index_io].state := gps_start_fcr;
io_activities[index_io].start_ := false;
io_activities[index_io].pause := false
end;
if io_activities[index_io].stop then
if (io_activities[index_io].sid = GPS_NONE) then /* permanent activity */
io_activities[index_io].status := ACT_STOP_FCR;
io_activities[index_io].state := gps_stop_fcr;
io_activities[index_io].stop := false;
io_activities[index_io].pause := false
else
io_activities[index_io].status := ACT_ETHER_FCR;
io_activities[index_io].stop := false;
io_activities[index_io].state := genom_interrupted_fcr;
ignoreb := Fiacre_gps_genom_interrupt(io_activities[index_io]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (io_activities[index_io].status = ACT_RUN_FCR) then
if io_activities[index_io].stop then
io_activities[index_io].status := ACT_STOP_FCR;
io_activities[index_io].state := gps_stop_fcr;
io_activities[index_io].stop := false;
io_activities[index_io].pause := false
end;
if (io_activities[index_io].pause and
io_runnable) then
io_activities[index_io].pause := false
end
elsif (io_activities[index_io].status = ACT_STOP_FCR) then
if (io_activities[index_io].pause and
io_runnable) then
io_activities[index_io].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(259) /* (3) gps ET io, setting runnable to false. */;
io_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(260) /* (3) gps ET io executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (io_activities[index].status = ACT_RUN_FCR) and (not (io_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (io_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(261) /* (3) gps ET io gives control to service. */;
io_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (io_turn = Nb_act_inst_gps_io); //control comming back
ignorep := fiacre_c_print_trace(262) /* (3) gps ET io getting control back. */;
status := io_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(263) /* (2) gps ET io activity returned ACT_RUN. */;
if (not io_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(264) /* (1) gps ET io activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(265) /* (0) gps ET io ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_gps_io-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(266) /* (4) gps ET io, for all ET, setting runnable to true. */;
io_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_gps_io */
/*************************************************/
/****************************************************************************/
/* gps io fiacre process... there will be one for each instance. */
/****************************************************************************/
process io_gps_io (
instance: 0..Max_Act_Inst_gps-1,
io_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
gps_poll_fcr, gps_poll_sync_fcr_, gps_poll_dispatch_fcr_,
gps_recv_fcr, gps_recv_sync_fcr_, gps_recv_dispatch_fcr_,
gps_rtk_fcr, gps_rtk_sync_fcr_, gps_rtk_dispatch_fcr_,
gps_publish_fcr, gps_publish_sync_fcr_, gps_publish_dispatch_fcr_,
gps_err_fcr, gps_err_sync_fcr_, gps_err_dispatch_fcr_,
gps_stop_fcr, gps_stop_sync_fcr_, gps_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(267) /* (2) gps Activity io is getting control in state gps_start. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_set_reference)) and
(not (control_running_codel = gps_enable_rtcm)) and
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = gps_log)) and
(not (control_running_codel = gps_log_stop)) and
(not (control_running_codel = gps_log_info)) and
(not (control_running_codel = genom_gps_get_param_controlcb)) and
(not (control_running_codel = genom_gps_get_last_fix_controlcb)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
(not (control_running_codel = genom_gps_get_reference_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(268) /* (2) gps Activity io calling codel gpsio_start. */;
//REMOVE ME
io_running_codel := gpsio_start;
start Fiacre_gps_codel_task_io_start_task(io_activities[io_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_task_io_start_task state;
ignorep := fiacre_c_print_trace(269) /* (2) gps Activity io returned from codel gpsio_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(270) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(271) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_poll_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(272) /* (2) gps Activity io is getting control in state gps_poll. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(273) /* (2) gps Activity io calling codel gpsio_poll. */;
//REMOVE ME
io_running_codel := gpsio_poll;
start Fiacre_gps_codel_task_io_poll_task(io_activities[io_index]);
to gps_poll_sync_fcr_
from gps_poll_sync_fcr_
sync Fiacre_gps_codel_task_io_poll_task state;
ignorep := fiacre_c_print_trace(274) /* (2) gps Activity io returned from codel gpsio_poll. */;
//REMOVE ME
io_running_codel := 0;
to gps_poll_dispatch_fcr_
from gps_poll_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
state = gps_recv_fcr or
state = gps_rtk_fcr or
state = gps_err_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(275) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
if (state = gps_recv_fcr) then
to gps_recv_fcr
end;
if (state = gps_rtk_fcr) then
to gps_rtk_fcr
end;
if (state = gps_err_fcr) then
to gps_err_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(276) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_recv_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(277) /* (2) gps Activity io is getting control in state gps_recv. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
true
);
ignorep := fiacre_c_print_trace(278) /* (2) gps Activity io calling codel gpsio_dev_recv. */;
//REMOVE ME
io_running_codel := gpsio_dev_recv;
start Fiacre_gps_codel_task_io_recv_task(io_activities[io_index]);
to gps_recv_sync_fcr_
from gps_recv_sync_fcr_
sync Fiacre_gps_codel_task_io_recv_task state;
ignorep := fiacre_c_print_trace(279) /* (2) gps Activity io returned from codel gpsio_dev_recv. */;
//REMOVE ME
io_running_codel := 0;
to gps_recv_dispatch_fcr_
from gps_recv_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
state = gps_publish_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(280) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
if (state = gps_publish_fcr) then
to gps_publish_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(281) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_rtk_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(282) /* (2) gps Activity io is getting control in state gps_rtk. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_enable_rtcm)) and
(not (control_running_codel = gps_rtk_stats)) and
true
);
ignorep := fiacre_c_print_trace(283) /* (2) gps Activity io calling codel gpsio_rtk_recv. */;
//REMOVE ME
io_running_codel := gpsio_rtk_recv;
start Fiacre_gps_codel_task_io_rtk_task(io_activities[io_index]);
to gps_rtk_sync_fcr_
from gps_rtk_sync_fcr_
sync Fiacre_gps_codel_task_io_rtk_task state;
ignorep := fiacre_c_print_trace(284) /* (2) gps Activity io returned from codel gpsio_rtk_recv. */;
//REMOVE ME
io_running_codel := 0;
to gps_rtk_dispatch_fcr_
from gps_rtk_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(285) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(286) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_publish_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(287) /* (2) gps Activity io is getting control in state gps_publish. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_log)) and
(not (control_running_codel = gps_log_stop)) and
(not (control_running_codel = gps_log_info)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
(mutex_ports[gps_info_port] = no_codel) and
(mutex_ports[gps_state_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(288) /* (2) gps Activity io calling codel gpsio_publish. */;
mutex_ports[gps_info_port] := gpsio_publish_port_codel;
mutex_ports[gps_state_port] := gpsio_publish_port_codel;
//REMOVE ME
io_running_codel := gpsio_publish;
start Fiacre_gps_codel_task_io_publish_task(io_activities[io_index]);
to gps_publish_sync_fcr_
from gps_publish_sync_fcr_
sync Fiacre_gps_codel_task_io_publish_task state;
ignorep := fiacre_c_print_trace(289) /* (2) gps Activity io returned from codel gpsio_publish. */;
mutex_ports[gps_info_port] := no_codel;
mutex_ports[gps_state_port] := no_codel;
write_ports[gps_info_port] := true;
write_ports[gps_state_port] := true;
//REMOVE ME
io_running_codel := 0;
to gps_publish_dispatch_fcr_
from gps_publish_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(290) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(291) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_err_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(292) /* (2) gps Activity io is getting control in state gps_err. */;
if (io_activities[io_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_param_controlcb)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(293) /* (2) gps Activity io calling codel gpsio_close. */;
//REMOVE ME
io_running_codel := gpsio_close;
start Fiacre_gps_codel_task_io_err_task(io_activities[io_index]);
to gps_err_sync_fcr_
from gps_err_sync_fcr_
sync Fiacre_gps_codel_task_io_err_task state;
ignorep := fiacre_c_print_trace(294) /* (2) gps Activity io returned from codel gpsio_close. */;
//REMOVE ME
io_running_codel := 0;
to gps_err_dispatch_fcr_
from gps_err_dispatch_fcr_
wait [0,0];
if (
state = gps_poll_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(295) /* (2) gps Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_poll_fcr) then
to gps_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(296) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from gps_stop_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(297) /* (2) gps Activity io is getting control in state gps_stop. */;
on (
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_param_controlcb)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(298) /* (2) gps Activity io calling codel gpsio_stop. */;
//REMOVE ME
io_running_codel := gpsio_stop;
start Fiacre_gps_codel_task_io_stop_task(io_activities[io_index]);
to gps_stop_sync_fcr_
from gps_stop_sync_fcr_
sync Fiacre_gps_codel_task_io_stop_task state;
ignorep := fiacre_c_print_trace(299) /* (2) gps Activity io returned from codel gpsio_stop. */;
//REMOVE ME
io_running_codel := 0;
to gps_stop_dispatch_fcr_
from gps_stop_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[io_index].state := gps_ether_fcr;
io_activities[io_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(300) /* (1) gps Activity io DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(301) /* (1) gps Activity io EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
true) then
ignoreb := Fiacre_gps_io_genom_bad_transition(io_activities[io_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[io_index].status := ACT_ETHER_FCR;
io_activities[io_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(302) /* (1) gps Activity io throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps io fiacre process. */
/******************************************/
/****************************************************************************/
/* gps connect fiacre process... there will be one for each instance. */
/****************************************************************************/
process connect_gps_io (
instance: 0..Max_Act_Inst_gps-1,
connect_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = connect_index);
ignorep := fiacre_c_print_trace(303) /* (2) gps Activity connect is getting control in state gps_start. */;
if (io_activities[connect_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_param_controlcb)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(304) /* (2) gps Activity connect calling codel gps_connect_start. */;
//REMOVE ME
io_running_codel := gps_connect_start;
start Fiacre_gps_codel_service_connect_start_task(io_activities[connect_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_connect_start_task state;
ignorep := fiacre_c_print_trace(305) /* (2) gps Activity connect returned from codel gps_connect_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[connect_index].state := gps_ether_fcr;
io_activities[connect_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(306) /* (1) gps Activity connect DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(307) /* (1) gps Activity connect EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(308) /* (1) gps Activity connect in default stop. */;
ignoreb := Fiacre_gps_connect_genom_interrupt(io_activities[connect_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
(not (state = gps_e_baddev_fcr)) and
true) then
ignoreb := Fiacre_gps_connect_genom_bad_transition(io_activities[connect_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[connect_index].status := ACT_ETHER_FCR;
io_activities[connect_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(309) /* (1) gps Activity connect throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps connect fiacre process. */
/******************************************/
/****************************************************************************/
/* gps disconnect fiacre process... there will be one for each instance. */
/****************************************************************************/
process disconnect_gps_io (
instance: 0..Max_Act_Inst_gps-1,
disconnect_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = disconnect_index);
ignorep := fiacre_c_print_trace(310) /* (2) gps Activity disconnect is getting control in state gps_start. */;
if (io_activities[disconnect_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_param_controlcb)) and
(not (control_running_codel = genom_gps_set_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(311) /* (2) gps Activity disconnect calling codel gps_disconnect_start. */;
//REMOVE ME
io_running_codel := gps_disconnect_start;
start Fiacre_gps_codel_service_disconnect_start_task(io_activities[disconnect_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_disconnect_start_task state;
ignorep := fiacre_c_print_trace(312) /* (2) gps Activity disconnect returned from codel gps_disconnect_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[disconnect_index].state := gps_ether_fcr;
io_activities[disconnect_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(313) /* (1) gps Activity disconnect DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(314) /* (1) gps Activity disconnect EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(315) /* (1) gps Activity disconnect in default stop. */;
ignoreb := Fiacre_gps_disconnect_genom_interrupt(io_activities[disconnect_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
true) then
ignoreb := Fiacre_gps_disconnect_genom_bad_transition(io_activities[disconnect_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[disconnect_index].status := ACT_ETHER_FCR;
io_activities[disconnect_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(316) /* (1) gps Activity disconnect throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps disconnect fiacre process. */
/******************************************/
/****************************************************************************/
/* gps set_rtk_port fiacre process... there will be one for each instance. */
/****************************************************************************/
process set_rtk_port_gps_io (
instance: 0..Max_Act_Inst_gps-1,
set_rtk_port_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = set_rtk_port_index);
ignorep := fiacre_c_print_trace(317) /* (2) gps Activity set_rtk_port is getting control in state gps_start. */;
if (io_activities[set_rtk_port_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(318) /* (2) gps Activity set_rtk_port calling codel gps_set_rtk_port. */;
//REMOVE ME
io_running_codel := gps_set_rtk_port;
start Fiacre_gps_codel_service_set_rtk_port_start_task(io_activities[set_rtk_port_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_set_rtk_port_start_task state;
ignorep := fiacre_c_print_trace(319) /* (2) gps Activity set_rtk_port returned from codel gps_set_rtk_port. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[set_rtk_port_index].state := gps_ether_fcr;
io_activities[set_rtk_port_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(320) /* (1) gps Activity set_rtk_port DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(321) /* (1) gps Activity set_rtk_port EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(322) /* (1) gps Activity set_rtk_port in default stop. */;
ignoreb := Fiacre_gps_set_rtk_port_genom_interrupt(io_activities[set_rtk_port_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
true) then
ignoreb := Fiacre_gps_set_rtk_port_genom_bad_transition(io_activities[set_rtk_port_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[set_rtk_port_index].status := ACT_ETHER_FCR;
io_activities[set_rtk_port_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(323) /* (1) gps Activity set_rtk_port throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps set_rtk_port fiacre process. */
/******************************************/
/****************************************************************************/
/* gps connect_rtk fiacre process... there will be one for each instance. */
/****************************************************************************/
process connect_rtk_gps_io (
instance: 0..Max_Act_Inst_gps-1,
connect_rtk_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = connect_rtk_index);
ignorep := fiacre_c_print_trace(324) /* (2) gps Activity connect_rtk is getting control in state gps_start. */;
if (io_activities[connect_rtk_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(325) /* (2) gps Activity connect_rtk calling codel gps_connect_rtk_start. */;
//REMOVE ME
io_running_codel := gps_connect_rtk_start;
start Fiacre_gps_codel_service_connect_rtk_start_task(io_activities[connect_rtk_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_connect_rtk_start_task state;
ignorep := fiacre_c_print_trace(326) /* (2) gps Activity connect_rtk returned from codel gps_connect_rtk_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[connect_rtk_index].state := gps_ether_fcr;
io_activities[connect_rtk_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(327) /* (1) gps Activity connect_rtk DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(328) /* (1) gps Activity connect_rtk EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(329) /* (1) gps Activity connect_rtk in default stop. */;
ignoreb := Fiacre_gps_connect_rtk_genom_interrupt(io_activities[connect_rtk_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
true) then
ignoreb := Fiacre_gps_connect_rtk_genom_bad_transition(io_activities[connect_rtk_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[connect_rtk_index].status := ACT_ETHER_FCR;
io_activities[connect_rtk_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(330) /* (1) gps Activity connect_rtk throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps connect_rtk fiacre process. */
/******************************************/
/****************************************************************************/
/* gps unfix fiacre process... there will be one for each instance. */
/****************************************************************************/
process unfix_gps_io (
instance: 0..Max_Act_Inst_gps-1,
unfix_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = unfix_index);
ignorep := fiacre_c_print_trace(331) /* (2) gps Activity unfix is getting control in state gps_start. */;
if (io_activities[unfix_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
true
);
ignorep := fiacre_c_print_trace(332) /* (2) gps Activity unfix calling codel gps_unfix_start. */;
//REMOVE ME
io_running_codel := gps_unfix_start;
start Fiacre_gps_codel_service_unfix_start_task(io_activities[unfix_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_unfix_start_task state;
ignorep := fiacre_c_print_trace(333) /* (2) gps Activity unfix returned from codel gps_unfix_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[unfix_index].state := gps_ether_fcr;
io_activities[unfix_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(334) /* (1) gps Activity unfix DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(335) /* (1) gps Activity unfix EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(336) /* (1) gps Activity unfix in default stop. */;
ignoreb := Fiacre_gps_unfix_genom_interrupt(io_activities[unfix_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
true) then
ignoreb := Fiacre_gps_unfix_genom_bad_transition(io_activities[unfix_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[unfix_index].status := ACT_ETHER_FCR;
io_activities[unfix_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(337) /* (1) gps Activity unfix throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps unfix fiacre process. */
/******************************************/
/****************************************************************************/
/* gps fix fiacre process... there will be one for each instance. */
/****************************************************************************/
process fix_gps_io (
instance: 0..Max_Act_Inst_gps-1,
fix_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = fix_index);
ignorep := fiacre_c_print_trace(338) /* (2) gps Activity fix is getting control in state gps_start. */;
if (io_activities[fix_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_set_reference)) and
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_reference_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(339) /* (2) gps Activity fix calling codel gps_fix_set. */;
//REMOVE ME
io_running_codel := gps_fix_set;
start Fiacre_gps_codel_service_fix_start_task(io_activities[fix_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_fix_start_task state;
ignorep := fiacre_c_print_trace(340) /* (2) gps Activity fix returned from codel gps_fix_set. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[fix_index].state := gps_ether_fcr;
io_activities[fix_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(341) /* (1) gps Activity fix DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(342) /* (1) gps Activity fix EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(343) /* (1) gps Activity fix in default stop. */;
ignoreb := Fiacre_gps_fix_genom_interrupt(io_activities[fix_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
(not (state = gps_e_nofix_fcr)) and
true) then
ignoreb := Fiacre_gps_fix_genom_bad_transition(io_activities[fix_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[fix_index].status := ACT_ETHER_FCR;
io_activities[fix_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(344) /* (1) gps Activity fix throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps fix fiacre process. */
/******************************************/
/****************************************************************************/
/* gps fix_here fiacre process... there will be one for each instance. */
/****************************************************************************/
process fix_here_gps_io (
instance: 0..Max_Act_Inst_gps-1,
fix_here_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
gps_avg_fcr, gps_avg_sync_fcr_, gps_avg_dispatch_fcr_,
gps_stop_fcr, gps_stop_sync_fcr_, gps_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = fix_here_index);
ignorep := fiacre_c_print_trace(345) /* (2) gps Activity fix_here is getting control in state gps_start. */;
if (io_activities[fix_here_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_last_fix_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(346) /* (2) gps Activity fix_here calling codel gps_fix_here_start. */;
//REMOVE ME
io_running_codel := gps_fix_here_start;
start Fiacre_gps_codel_service_fix_here_start_task(io_activities[fix_here_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_fix_here_start_task state;
ignorep := fiacre_c_print_trace(347) /* (2) gps Activity fix_here returned from codel gps_fix_here_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (
state = gps_avg_fcr or
false) then
io_activities[fix_here_index].state := state;
io_activities[fix_here_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(348) /* (2) gps Activity fix_here NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_avg_fcr) then
to gps_avg_fcr
end;
to start_ // never reached
else
if (state = gps_ether_fcr) then
io_activities[fix_here_index].state := gps_ether_fcr;
io_activities[fix_here_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(349) /* (1) gps Activity fix_here DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(350) /* (1) gps Activity fix_here EXCEPTION... */;
to exception
end
end
from gps_avg_fcr
on (io_turn = fix_here_index);
ignorep := fiacre_c_print_trace(351) /* (2) gps Activity fix_here is getting control in state gps_avg. */;
if (io_activities[fix_here_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = genom_gps_get_last_fix_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(352) /* (2) gps Activity fix_here calling codel gps_fix_here_avg. */;
//REMOVE ME
io_running_codel := gps_fix_here_avg;
start Fiacre_gps_codel_service_fix_here_avg_task(io_activities[fix_here_index]);
to gps_avg_sync_fcr_
from gps_avg_sync_fcr_
sync Fiacre_gps_codel_service_fix_here_avg_task state;
ignorep := fiacre_c_print_trace(353) /* (2) gps Activity fix_here returned from codel gps_fix_here_avg. */;
//REMOVE ME
io_running_codel := 0;
to gps_avg_dispatch_fcr_
from gps_avg_dispatch_fcr_
wait [0,0];
if (
state = gps_stop_fcr or
false) then
io_activities[fix_here_index].state := state;
io_activities[fix_here_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(354) /* (2) gps Activity fix_here NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_stop_fcr) then
to gps_stop_fcr
end;
to start_ // never reached
else
if (
state = gps_pause_avg_fcr or
false) then
if (state = gps_pause_avg_fcr) then state := gps_avg_fcr end;
io_activities[fix_here_index].state := state;
io_activities[fix_here_index].status := ACT_RUN_FCR;
io_activities[fix_here_index].pause := true;
ignorep := fiacre_c_print_trace(355) /* (2) gps Activity fix_here DONE for this cycle, pauses, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_avg_fcr) then
to gps_avg_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(356) /* (1) gps Activity fix_here EXCEPTION... */;
to exception
end
end
from gps_stop_fcr
on (io_turn = fix_here_index);
ignorep := fiacre_c_print_trace(357) /* (2) gps Activity fix_here is getting control in state gps_stop. */;
on (
(not (control_running_codel = gps_set_reference)) and
(not (control_running_codel = gps_rtk_stats)) and
(not (control_running_codel = genom_gps_get_last_fix_controlcb)) and
(not (control_running_codel = genom_gps_get_reference_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(358) /* (2) gps Activity fix_here calling codel gps_fix_done. */;
//REMOVE ME
io_running_codel := gps_fix_done;
start Fiacre_gps_codel_service_fix_here_stop_task(io_activities[fix_here_index]);
to gps_stop_sync_fcr_
from gps_stop_sync_fcr_
sync Fiacre_gps_codel_service_fix_here_stop_task state;
ignorep := fiacre_c_print_trace(359) /* (2) gps Activity fix_here returned from codel gps_fix_done. */;
//REMOVE ME
io_running_codel := 0;
to gps_stop_dispatch_fcr_
from gps_stop_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[fix_here_index].state := gps_ether_fcr;
io_activities[fix_here_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(360) /* (1) gps Activity fix_here DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(361) /* (1) gps Activity fix_here EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
(not (state = gps_e_nofix_fcr)) and
true) then
ignoreb := Fiacre_gps_fix_here_genom_bad_transition(io_activities[fix_here_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[fix_here_index].status := ACT_ETHER_FCR;
io_activities[fix_here_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(362) /* (1) gps Activity fix_here throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps fix_here fiacre process. */
/******************************************/
/****************************************************************************/
/* gps send_rtcm fiacre process... there will be one for each instance. */
/****************************************************************************/
process send_rtcm_gps_io (
instance: 0..Max_Act_Inst_gps-1,
send_rtcm_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = send_rtcm_index);
ignorep := fiacre_c_print_trace(363) /* (2) gps Activity send_rtcm is getting control in state gps_start. */;
if (io_activities[send_rtcm_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_enable_rtcm)) and
(not (control_running_codel = gps_rtk_stats)) and
true
);
ignorep := fiacre_c_print_trace(364) /* (2) gps Activity send_rtcm calling codel gps_send_rtcm. */;
//REMOVE ME
io_running_codel := gps_send_rtcm;
start Fiacre_gps_codel_service_send_rtcm_start_task(io_activities[send_rtcm_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_send_rtcm_start_task state;
ignorep := fiacre_c_print_trace(365) /* (2) gps Activity send_rtcm returned from codel gps_send_rtcm. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[send_rtcm_index].state := gps_ether_fcr;
io_activities[send_rtcm_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(366) /* (1) gps Activity send_rtcm DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(367) /* (1) gps Activity send_rtcm EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(368) /* (1) gps Activity send_rtcm in default stop. */;
ignoreb := Fiacre_gps_send_rtcm_genom_interrupt(io_activities[send_rtcm_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
true) then
ignoreb := Fiacre_gps_send_rtcm_genom_bad_transition(io_activities[send_rtcm_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[send_rtcm_index].status := ACT_ETHER_FCR;
io_activities[send_rtcm_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(369) /* (1) gps Activity send_rtcm throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps send_rtcm fiacre process. */
/******************************************/
/****************************************************************************/
/* gps cancel_rtcm fiacre process... there will be one for each instance. */
/****************************************************************************/
process cancel_rtcm_gps_io (
instance: 0..Max_Act_Inst_gps-1,
cancel_rtcm_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = cancel_rtcm_index);
ignorep := fiacre_c_print_trace(370) /* (2) gps Activity cancel_rtcm is getting control in state gps_start. */;
if (io_activities[cancel_rtcm_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
(not (control_running_codel = gps_enable_rtcm)) and
(not (control_running_codel = gps_rtk_stats)) and
true
);
ignorep := fiacre_c_print_trace(371) /* (2) gps Activity cancel_rtcm calling codel gps_cancel_rtcm. */;
//REMOVE ME
io_running_codel := gps_cancel_rtcm;
start Fiacre_gps_codel_service_cancel_rtcm_start_task(io_activities[cancel_rtcm_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_cancel_rtcm_start_task state;
ignorep := fiacre_c_print_trace(372) /* (2) gps Activity cancel_rtcm returned from codel gps_cancel_rtcm. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (state = gps_ether_fcr) then
io_activities[cancel_rtcm_index].state := gps_ether_fcr;
io_activities[cancel_rtcm_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(373) /* (1) gps Activity cancel_rtcm DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(374) /* (1) gps Activity cancel_rtcm EXCEPTION... */;
to exception
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(375) /* (1) gps Activity cancel_rtcm in default stop. */;
ignoreb := Fiacre_gps_cancel_rtcm_genom_interrupt(io_activities[cancel_rtcm_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
(not (state = gps_e_nodev_fcr)) and
true) then
ignoreb := Fiacre_gps_cancel_rtcm_genom_bad_transition(io_activities[cancel_rtcm_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[cancel_rtcm_index].status := ACT_ETHER_FCR;
io_activities[cancel_rtcm_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(376) /* (1) gps Activity cancel_rtcm throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps cancel_rtcm fiacre process. */
/******************************************/
/****************************************************************************/
/* gps monitor_fix fiacre process... there will be one for each instance. */
/****************************************************************************/
process monitor_fix_gps_io (
instance: 0..Max_Act_Inst_gps-1,
monitor_fix_index: act_inst_gps_io_index_type,
&io_activities: Activities_gps_io_Array,
&io_running_codel: 0..max_number_mutex_codels_gps-1,
&control_running_codel: 0..max_number_mutex_codels_gps-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_gps_io_turn_type
) is
states
gps_start_fcr, gps_start_sync_fcr_, gps_start_dispatch_fcr_,
exception, gps_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to gps_start_fcr
from gps_start_fcr
on (io_turn = monitor_fix_index);
ignorep := fiacre_c_print_trace(377) /* (2) gps Activity monitor_fix is getting control in state gps_start. */;
if (io_activities[monitor_fix_index].state = gps_stop_fcr) then
to gps_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(378) /* (2) gps Activity monitor_fix calling codel gps_monitor_fix_start. */;
//REMOVE ME
io_running_codel := gps_monitor_fix_start;
start Fiacre_gps_codel_service_monitor_fix_start_task(io_activities[monitor_fix_index]);
to gps_start_sync_fcr_
from gps_start_sync_fcr_
sync Fiacre_gps_codel_service_monitor_fix_start_task state;
ignorep := fiacre_c_print_trace(379) /* (2) gps Activity monitor_fix returned from codel gps_monitor_fix_start. */;
//REMOVE ME
io_running_codel := 0;
to gps_start_dispatch_fcr_
from gps_start_dispatch_fcr_
wait [0,0];
if (
state = gps_pause_start_fcr or
false) then
if (state = gps_pause_start_fcr) then state := gps_start_fcr end;
io_activities[monitor_fix_index].state := state;
io_activities[monitor_fix_index].status := ACT_RUN_FCR;
io_activities[monitor_fix_index].pause := true;
ignorep := fiacre_c_print_trace(380) /* (2) gps Activity monitor_fix DONE for this cycle, pauses, back to ET. */;
io_turn := Nb_act_inst_gps_io;
if (state = gps_start_fcr) then
to gps_start_fcr
end;
to start_ // never reached
else
if (state = gps_ether_fcr) then
io_activities[monitor_fix_index].state := gps_ether_fcr;
io_activities[monitor_fix_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(381) /* (1) gps Activity monitor_fix DONE (ether), back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
else
ignorep := fiacre_c_print_trace(382) /* (1) gps Activity monitor_fix EXCEPTION... */;
to exception
end
end
from gps_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(383) /* (1) gps Activity monitor_fix in default stop. */;
ignoreb := Fiacre_gps_monitor_fix_genom_interrupt(io_activities[monitor_fix_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = gps_e_sys_fcr)) and
true) then
ignoreb := Fiacre_gps_monitor_fix_genom_bad_transition(io_activities[monitor_fix_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[monitor_fix_index].status := ACT_ETHER_FCR;
io_activities[monitor_fix_index].state := state; //gps_ether_fcr
ignorep := fiacre_c_print_trace(384) /* (1) gps Activity monitor_fix throw an exception, back to ET. */;
io_turn := Nb_act_inst_gps_io;
to start_
/******************************************/
/* end of gps monitor_fix fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task gps io . */
/******************************************************/
/********************************************/
/*End of gps processes section */
/********************************************/
/********************************************/
/* beginning of IMUDriver process section */
/********************************************/
/**********************************************/
/* IMUDriver abort_activity services control task part */
/**********************************************/
process IMUDriver_abort_activity_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(385) /* (1) IMUDriver CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(386) /* (1) IMUDriver CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(387) /* (0) IMUDriver CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(388) /* (2) IMUDriver CT abort_activity control codel. */;
start Fiacre_IMUDriver_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(389) /* (2) IMUDriver CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(390) /* (1) IMUDriver CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(391) /* (3) IMUDriver CT abort_activity updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_abort_activity]:= true;
ignorep := fiacre_c_print_trace(392) /* (1) IMUDriver CT abort_activity ctrl activity report */;
ignoreb := Fiacre_IMUDriver_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(393) /* (1) IMUDriver CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(394) /* (4) IMUDriver CT abort_activity for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(395) /* (3) IMUDriver CT abort_activity giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver abort_activity services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver connect_port services control task part */
/**********************************************/
process IMUDriver_connect_port_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(396) /* (1) IMUDriver CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(397) /* (1) IMUDriver CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(398) /* (0) IMUDriver CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(399) /* (2) IMUDriver CT connect_port control codel. */;
start Fiacre_IMUDriver_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(400) /* (2) IMUDriver CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(401) /* (1) IMUDriver CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(402) /* (3) IMUDriver CT connect_port updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_connect_port]:= true;
ignorep := fiacre_c_print_trace(403) /* (1) IMUDriver CT connect_port ctrl activity report */;
ignoreb := Fiacre_IMUDriver_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(404) /* (1) IMUDriver CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(405) /* (4) IMUDriver CT connect_port for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(406) /* (3) IMUDriver CT connect_port giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver connect_port services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver connect_service services control task part */
/**********************************************/
process IMUDriver_connect_service_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(407) /* (1) IMUDriver CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(408) /* (1) IMUDriver CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(409) /* (0) IMUDriver CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(410) /* (2) IMUDriver CT connect_service control codel. */;
start Fiacre_IMUDriver_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(411) /* (2) IMUDriver CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(412) /* (1) IMUDriver CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(413) /* (3) IMUDriver CT connect_service updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_connect_service]:= true;
ignorep := fiacre_c_print_trace(414) /* (1) IMUDriver CT connect_service ctrl activity report */;
ignoreb := Fiacre_IMUDriver_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(415) /* (1) IMUDriver CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(416) /* (4) IMUDriver CT connect_service for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(417) /* (3) IMUDriver CT connect_service giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver connect_service services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver kill services control task part */
/**********************************************/
process IMUDriver_kill_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_update, wait_update_interrupted_ether, next_update_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(418) /* (1) IMUDriver CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(419) /* (1) IMUDriver CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(420) /* (0) IMUDriver CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(421) /* (2) IMUDriver CT kill control codel. */;
start Fiacre_IMUDriver_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(422) /* (2) IMUDriver CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(423) /* (1) IMUDriver CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_update := 0;
to inter_task_update
from inter_task_update
wait [0,0];
if (not (update_activities[index_update].status = ACT_VOID_FCR) and not (update_activities[index_update].status = ACT_ETHER_FCR)) then
if (
(update_activities[index_update].sid = IMUDRIVER_Measure_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(424) /* (1) IMUDriver CT kill interrupts a running activity in update. */;
update_activities[index_update].stop := true;
to wait_update_interrupted_ether
end
end;
to next_update_activity
from wait_update_interrupted_ether
wait [0,0];
on (update_activities[index_update].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(425) /* (3) IMUDriver CT kill interrupted service in update has now reached ACT_ETHER_FCR. */;
to next_update_activity
from next_update_activity
wait [0,0];
if (index_update = Nb_act_inst_IMUDriver_update-1) then
to inter_task_
else
index_update := index_update + 1;
to inter_task_update
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(426) /* (3) IMUDriver CT kill updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_kill]:= true;
ignorep := fiacre_c_print_trace(427) /* (1) IMUDriver CT kill ctrl activity report */;
ignoreb := Fiacre_IMUDriver_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(428) /* (1) IMUDriver CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(429) /* (4) IMUDriver CT kill for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(430) /* (3) IMUDriver CT kill giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver kill services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver SetDevice services control task part */
/**********************************************/
process IMUDriver_SetDevice_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_SetDevice_RQSTID_FCR);
ignorep := fiacre_c_print_trace(431) /* (1) IMUDriver CT SetDevice request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(432) /* (1) IMUDriver CT SetDevice is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(433) /* (0) IMUDriver CT SetDevice ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (update_running_codel = IMUInitStruct)) and
(not (update_running_codel = IMUCleanStruct)) and
true);
//REMOVE ME control_running_codel := genom_IMUDriver_SetDevice_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(434) /* (3) IMUDriver CT SetDevice middle */;
genom_event := Fiacre_IMUDriver_SetDevice_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(435) /* (3) IMUDriver CT SetDevice updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_SetDevice]:= true;
ignorep := fiacre_c_print_trace(436) /* (1) IMUDriver CT SetDevice ctrl activity report */;
ignoreb := Fiacre_IMUDriver_SetDevice_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(437) /* (4) IMUDriver CT SetDevice for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(438) /* (3) IMUDriver CT SetDevice giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver SetDevice services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver SetPublishOrientation services control task part */
/**********************************************/
process IMUDriver_SetPublishOrientation_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_SetPublishOrientation_RQSTID_FCR);
ignorep := fiacre_c_print_trace(439) /* (1) IMUDriver CT SetPublishOrientation request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(440) /* (1) IMUDriver CT SetPublishOrientation is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(441) /* (0) IMUDriver CT SetPublishOrientation ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (update_running_codel = IMUInitStruct)) and
(not (update_running_codel = IMUCleanStruct)) and
(not (update_running_codel = WriteImuPort)) and
true);
//REMOVE ME control_running_codel := genom_IMUDriver_SetPublishOrientation_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(442) /* (3) IMUDriver CT SetPublishOrientation middle */;
genom_event := Fiacre_IMUDriver_SetPublishOrientation_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(443) /* (3) IMUDriver CT SetPublishOrientation updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_SetPublishOrientation]:= true;
ignorep := fiacre_c_print_trace(444) /* (1) IMUDriver CT SetPublishOrientation ctrl activity report */;
ignoreb := Fiacre_IMUDriver_SetPublishOrientation_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(445) /* (4) IMUDriver CT SetPublishOrientation for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(446) /* (3) IMUDriver CT SetPublishOrientation giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver SetPublishOrientation services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver SetBaudrate services control task part */
/**********************************************/
process IMUDriver_SetBaudrate_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_SetBaudrate_RQSTID_FCR);
ignorep := fiacre_c_print_trace(447) /* (1) IMUDriver CT SetBaudrate request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(448) /* (1) IMUDriver CT SetBaudrate is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(449) /* (0) IMUDriver CT SetBaudrate ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (update_running_codel = IMUInitStruct)) and
(not (update_running_codel = IMUCleanStruct)) and
true);
//REMOVE ME control_running_codel := genom_IMUDriver_SetBaudrate_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(450) /* (3) IMUDriver CT SetBaudrate middle */;
genom_event := Fiacre_IMUDriver_SetBaudrate_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(451) /* (3) IMUDriver CT SetBaudrate updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_SetBaudrate]:= true;
ignorep := fiacre_c_print_trace(452) /* (1) IMUDriver CT SetBaudrate ctrl activity report */;
ignoreb := Fiacre_IMUDriver_SetBaudrate_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(453) /* (4) IMUDriver CT SetBaudrate for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(454) /* (3) IMUDriver CT SetBaudrate giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver SetBaudrate services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver SetVerbose services control task part */
/**********************************************/
process IMUDriver_SetVerbose_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_SetVerbose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(455) /* (1) IMUDriver CT SetVerbose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(456) /* (1) IMUDriver CT SetVerbose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(457) /* (0) IMUDriver CT SetVerbose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := IMUSetVerboseLevel;
//REMOVE ME
ignorep := fiacre_c_print_trace(458) /* (2) IMUDriver CT SetVerbose control codel. */;
start Fiacre_IMUDriver_SetVerbose_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_SetVerbose_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(459) /* (2) IMUDriver CT SetVerbose control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(460) /* (1) IMUDriver CT SetVerbose control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(461) /* (3) IMUDriver CT SetVerbose updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_SetVerbose]:= true;
ignorep := fiacre_c_print_trace(462) /* (1) IMUDriver CT SetVerbose ctrl activity report */;
ignoreb := Fiacre_IMUDriver_SetVerbose_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(463) /* (1) IMUDriver CT SetVerbose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_SetVerbose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_SetVerbose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(464) /* (4) IMUDriver CT SetVerbose for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(465) /* (3) IMUDriver CT SetVerbose giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver SetVerbose services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver Stop services control task part */
/**********************************************/
process IMUDriver_Stop_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_update, wait_update_interrupted_ether, next_update_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_Stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(466) /* (1) IMUDriver CT Stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(467) /* (1) IMUDriver CT Stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(468) /* (0) IMUDriver CT Stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_update := 0;
to inter_task_update
from inter_task_update
wait [0,0];
if (not (update_activities[index_update].status = ACT_VOID_FCR) and not (update_activities[index_update].status = ACT_ETHER_FCR)) then
if (
(update_activities[index_update].sid = IMUDRIVER_Measure_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(469) /* (1) IMUDriver CT Stop interrupts a running activity in update. */;
update_activities[index_update].stop := true;
to wait_update_interrupted_ether
end
end;
to next_update_activity
from wait_update_interrupted_ether
wait [0,0];
on (update_activities[index_update].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(470) /* (3) IMUDriver CT Stop interrupted service in update has now reached ACT_ETHER_FCR. */;
to next_update_activity
from next_update_activity
wait [0,0];
if (index_update = Nb_act_inst_IMUDriver_update-1) then
to inter_task_
else
index_update := index_update + 1;
to inter_task_update
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(471) /* (3) IMUDriver CT Stop updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_Stop]:= true;
ignorep := fiacre_c_print_trace(472) /* (1) IMUDriver CT Stop ctrl activity report */;
ignoreb := Fiacre_IMUDriver_Stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(473) /* (4) IMUDriver CT Stop for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(474) /* (3) IMUDriver CT Stop giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver Stop services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver ConnectDevice services control task part */
/**********************************************/
process IMUDriver_ConnectDevice_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
control, control_sync,
inter, inter_task_,
inter_task_update, wait_update_interrupted_ether, next_update_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_ConnectDevice_RQSTID_FCR);
ignorep := fiacre_c_print_trace(475) /* (1) IMUDriver CT ConnectDevice request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(476) /* (1) IMUDriver CT ConnectDevice is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(477) /* (0) IMUDriver CT ConnectDevice ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[IMUDRIVER_SetDevice]) then
ignorep := fiacre_c_print_trace(478) /* (2) IMUDriver CT ConnectDevice disallowed (after) SetDevice. */;
to disallowed
end;
if (not run_map[IMUDRIVER_SetBaudrate]) then
ignorep := fiacre_c_print_trace(479) /* (2) IMUDriver CT ConnectDevice disallowed (after) SetBaudrate. */;
to disallowed
end;
to control
from disallowed
wait [0,0];
control_activity.state := Fiacre_IMUDriver_disallowed();
ignoreb := Fiacre_IMUDriver_ConnectDevice_activity_report_extern(control_activity, true);
to finish
from control
on (
(not (update_running_codel = IMUInitStruct)) and
(not (update_running_codel = IMUCleanStruct)) and
(not (update_running_codel = GetImu)) and
true);
control_running_codel := open_and_configure_device;
//REMOVE ME
ignorep := fiacre_c_print_trace(480) /* (2) IMUDriver CT ConnectDevice control codel. */;
start Fiacre_IMUDriver_ConnectDevice_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_ConnectDevice_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(481) /* (2) IMUDriver CT ConnectDevice control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(482) /* (1) IMUDriver CT ConnectDevice control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_update := 0;
to inter_task_update
from inter_task_update
wait [0,0];
if (not (update_activities[index_update].status = ACT_VOID_FCR) and not (update_activities[index_update].status = ACT_ETHER_FCR)) then
if (
(update_activities[index_update].sid = IMUDRIVER_Measure_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(483) /* (1) IMUDriver CT ConnectDevice interrupts a running activity in update. */;
update_activities[index_update].stop := true;
to wait_update_interrupted_ether
end
end;
to next_update_activity
from wait_update_interrupted_ether
wait [0,0];
on (update_activities[index_update].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(484) /* (3) IMUDriver CT ConnectDevice interrupted service in update has now reached ACT_ETHER_FCR. */;
to next_update_activity
from next_update_activity
wait [0,0];
if (index_update = Nb_act_inst_IMUDriver_update-1) then
to inter_task_
else
index_update := index_update + 1;
to inter_task_update
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(485) /* (3) IMUDriver CT ConnectDevice updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_ConnectDevice]:= true;
ignorep := fiacre_c_print_trace(486) /* (1) IMUDriver CT ConnectDevice ctrl activity report */;
ignoreb := Fiacre_IMUDriver_ConnectDevice_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(487) /* (1) IMUDriver CT ConnectDevice report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_ConnectDevice_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_ConnectDevice_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(488) /* (4) IMUDriver CT ConnectDevice for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(489) /* (3) IMUDriver CT ConnectDevice giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver ConnectDevice services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver GetHeading services control task part */
/**********************************************/
process IMUDriver_GetHeading_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_GetHeading_RQSTID_FCR);
ignorep := fiacre_c_print_trace(490) /* (1) IMUDriver CT GetHeading request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(491) /* (1) IMUDriver CT GetHeading is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(492) /* (0) IMUDriver CT GetHeading ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[IMUDRIVER_ConnectDevice]) then
ignorep := fiacre_c_print_trace(493) /* (2) IMUDriver CT GetHeading disallowed (after) ConnectDevice. */;
to disallowed
end;
to control
from disallowed
wait [0,0];
control_activity.state := Fiacre_IMUDriver_disallowed();
ignoreb := Fiacre_IMUDriver_GetHeading_activity_report_extern(control_activity, true);
to finish
from control
on (
(not (update_running_codel = IMUInitStruct)) and
(not (update_running_codel = IMUCleanStruct)) and
(not (update_running_codel = GetImu)) and
true);
control_running_codel := get_heading;
//REMOVE ME
ignorep := fiacre_c_print_trace(494) /* (2) IMUDriver CT GetHeading control codel. */;
start Fiacre_IMUDriver_GetHeading_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_IMUDriver_GetHeading_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(495) /* (2) IMUDriver CT GetHeading control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(496) /* (1) IMUDriver CT GetHeading control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(497) /* (3) IMUDriver CT GetHeading updating run map */;
control_activity.state := IMUDriver_ether_fcr;
run_map[IMUDRIVER_GetHeading]:= true;
ignorep := fiacre_c_print_trace(498) /* (1) IMUDriver CT GetHeading ctrl activity report */;
ignoreb := Fiacre_IMUDriver_GetHeading_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(499) /* (1) IMUDriver CT GetHeading report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_GetHeading_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_GetHeading_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(500) /* (4) IMUDriver CT GetHeading for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(501) /* (3) IMUDriver CT GetHeading giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver GetHeading services control task part */
/**********************************************/
/**********************************************/
/* IMUDriver Measure services control task part */
/**********************************************/
process IMUDriver_Measure_CT (
&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&update_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&run_map: IMUDriver_Run_Map_Type,
&control_turn: IMUDRIVER_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_update, wait_update_interrupted_ether, next_update_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
ffa_reply_update: ffa_reply_IMUDriver_update,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = IMUDRIVER_Measure_RQSTID_FCR);
ignorep := fiacre_c_print_trace(502) /* (1) IMUDriver CT Measure request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(503) /* (1) IMUDriver CT Measure is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(504) /* (0) IMUDriver CT Measure ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[IMUDRIVER_ConnectDevice]) then
ignorep := fiacre_c_print_trace(505) /* (2) IMUDriver CT Measure disallowed (after) ConnectDevice. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_IMUDriver_disallowed();
ignoreb := Fiacre_IMUDriver_Measure_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_update := 0;
to inter_task_update
from inter_task_update
wait [0,0];
if (not (update_activities[index_update].status = ACT_VOID_FCR) and not (update_activities[index_update].status = ACT_ETHER_FCR)) then
if (
(update_activities[index_update].sid = IMUDRIVER_Measure_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(506) /* (1) IMUDriver CT Measure interrupts a running activity in update. */;
update_activities[index_update].stop := true;
to wait_update_interrupted_ether
end
end;
to next_update_activity
from wait_update_interrupted_ether
wait [0,0];
on (update_activities[index_update].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(507) /* (3) IMUDriver CT Measure interrupted service in update has now reached ACT_ETHER_FCR. */;
to next_update_activity
from next_update_activity
wait [0,0];
if (index_update = Nb_act_inst_IMUDriver_update-1) then
to inter_task_
else
index_update := index_update + 1;
to inter_task_update
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_update := find_free_activity_IMUDriver_update(update_activities, IMUDRIVER_Measure_RQSTID_FCR);
if (not ffa_reply_update.available) then
ignorep := fiacre_c_print_trace(508) /* (0) IMUDriver CT Measure ***WARNING*** cannot find a slot in update. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_update.available and ffa_reply_update.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(509) /* (0) IMUDriver CT Measure ***WARNING*** slot still busy in update. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_update := ffa_reply_update.index;
ignorep := fiacre_c_print_trace(510) /* (2) IMUDriver CT Measure is transferred to ET update. */;
update_activities[index_update].grid := control_activity.grid;
update_activities[index_update].gaid := control_activity.gaid;
genom_event := Fiacre_IMUDriver_send_ir_extern(control_activity);
update_activities[index_update].status := ACT_INIT_FCR;
update_activities[index_update].start_ := true;
update_activities[index_update].pause := false;
update_activities[index_update].stop := false;
update_activities[index_update].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(511) /* (1) IMUDriver CT Measure report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_IMUDriver_Measure_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_IMUDriver_Measure_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(512) /* (4) IMUDriver CT Measure for all ET, setting runnable to true. */;
update_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(513) /* (3) IMUDriver CT Measure giving control back */;
control_turn := IMUDRIVER_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of IMUDriver Measure services control task part */
/**********************************************/
/************************/
/* IMUDriver control task process */
/************************/
process control_task_IMUDriver
(&control_activity: fcr_activity_IMUDriver,
&update_activities: Activities_IMUDriver_update_Array,
&update_runnable: bool,
&control_turn: IMUDRIVER_RQSTID_FCR,
&run_map: IMUDriver_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_update,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_IMUDriver,
index_update: act_inst_IMUDriver_update_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(514) /* (1) IMUDriver CT init Mbox */;
IMUDriver_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(515) /* (0) IMUDriver CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = IMUDRIVER_NONE);
ignorep := fiacre_c_print_trace(516) /* (3) IMUDriver CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(517) /* (1) IMUDriver CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(518) /* (3) IMUDriver CT going to sleep */;
select
IMUDriver_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(519) /* (2) IMUDriver CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(520) /* (0) IMUDriver CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(521) /* (0) IMUDriver CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(522) /* (2) IMUDriver CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(523) /* (2) IMUDriver CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = IMUDRIVER_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_update := 0;
to process_exec_task_update
from process_exec_task_update
ignorep := fiacre_c_print_trace(524) /* (3) IMUDriver CT processes update activities. */;
if (update_activities[index_update].status = ACT_INIT_FCR) then
if (not update_activities[index_update].start_) then
ignorep := fiacre_c_print_trace(525) /* (4) IMUDriver CT setting ET update runnable to true. */;
update_runnable := true;
update_activities[index_update].start_:=true // check the pocolibs template
end
end;
if (update_activities[index_update].status = ACT_ETHER_FCR) then // we are done for this one
// update_activities[index_update].status := ACT_VOID_FCR;
if (not (update_activities[index_update].sid = IMUDRIVER_NONE)) then //not the perm activity
if (update_activities[index_update].state = IMUDriver_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(526) /* (3) IMUDriver CT processes update activities, updating run_map. */;
run_map[IMUDriver_run_map_index_from_update_activity(update_activities[index_update])]:= true
else
ignorep := fiacre_c_print_trace(527) /* (1) IMUDriver CT processes update activities, handle exception. */;
ignoreb := Fiacre_IMUDriver_handle_exception(update_activities[index_update], false)
end;
ignorep := fiacre_c_print_trace(528) /* (1) IMUDriver CT processes update activities, activity report. */;
ignoreb := Fiacre_IMUDriver_activity_report(update_activities[index_update])
else
ignorep := fiacre_c_print_trace(529) /* (1) IMUDriver CT processes update permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
update_activities[index_update].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_update = Nb_act_inst_IMUDriver_update-1) then
to process_exec_task_
else
index_update := index_update + 1;
to process_exec_task_update
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of IMUDriver control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task IMUDriver update . */
/******************************************************/
/**************************************/
/* IMUDriver update execution task timer */
/**************************************/
process timer_IMUDriver_update (
&tick_update: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_update);
ignorep := fiacre_c_print_trace(530) /* (3) IMUDriver update timer arming. */;
to wait_
from wait_
wait[10.0, 10.0];
ignorep := fiacre_c_print_trace(531) /* (3) IMUDriver update timer elapsed. */;
tick_update:= true;
to start_
/*************************************************/
/* end of process timer_IMUDriver_update */
/*************************************************/
/******************************************/
/* IMUDriver update execution task main loop */
/******************************************/
process exec_task_IMUDriver_update (
&tick_update: bool,
&update_turn : act_inst_IMUDriver_update_turn_type,
&update_runnable: bool,
&update_activities: Activities_IMUDriver_update_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_update: act_inst_IMUDriver_update_index_type,
index: act_inst_IMUDriver_update_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(532) /* (4) IMUDriver ET update, setting runnable to true. */;
update_runnable := true;
if (tick_update) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(533) /* (4) IMUDriver ET update, setting runnable to false. */;
update_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(534) /* (0) IMUDriver ET update ***OVERSHOOT*** its period. */;
tick_update:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(535) /* (2) IMUDriver ET update waiting next period. */;
on tick_update;
tick_update:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(536) /* (3) IMUDriver ET update parsing activities status. */;
sched := [false, false, false, false];
foreach index_update do
if (update_activities[index_update].status = ACT_INIT_FCR) then
if (update_activities[index_update].start_ and
update_runnable) then
update_activities[index_update].status := ACT_RUN_FCR;
update_activities[index_update].state := IMUDriver_start_fcr;
update_activities[index_update].start_ := false;
update_activities[index_update].pause := false
end;
if update_activities[index_update].stop then
if (update_activities[index_update].sid = IMUDRIVER_NONE) then /* permanent activity */
update_activities[index_update].status := ACT_STOP_FCR;
update_activities[index_update].state := IMUDriver_stop_fcr;
update_activities[index_update].stop := false;
update_activities[index_update].pause := false
else
update_activities[index_update].status := ACT_ETHER_FCR;
update_activities[index_update].stop := false;
update_activities[index_update].state := genom_interrupted_fcr;
ignoreb := Fiacre_IMUDriver_genom_interrupt(update_activities[index_update]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (update_activities[index_update].status = ACT_RUN_FCR) then
if update_activities[index_update].stop then
update_activities[index_update].status := ACT_STOP_FCR;
update_activities[index_update].state := IMUDriver_stop_fcr;
update_activities[index_update].stop := false;
update_activities[index_update].pause := false
end;
if (update_activities[index_update].pause and
update_runnable) then
update_activities[index_update].pause := false
end
elsif (update_activities[index_update].status = ACT_STOP_FCR) then
if (update_activities[index_update].pause and
update_runnable) then
update_activities[index_update].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(537) /* (3) IMUDriver ET update, setting runnable to false. */;
update_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(538) /* (3) IMUDriver ET update executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (update_activities[index].status = ACT_RUN_FCR) and (not (update_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (update_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(539) /* (3) IMUDriver ET update gives control to service. */;
update_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (update_turn = Nb_act_inst_IMUDriver_update); //control comming back
ignorep := fiacre_c_print_trace(540) /* (3) IMUDriver ET update getting control back. */;
status := update_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(541) /* (2) IMUDriver ET update activity returned ACT_RUN. */;
if (not update_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(542) /* (1) IMUDriver ET update activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(543) /* (0) IMUDriver ET update ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_IMUDriver_update-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(544) /* (4) IMUDriver ET update, for all ET, setting runnable to true. */;
update_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_IMUDriver_update */
/*************************************************/
/****************************************************************************/
/* IMUDriver update fiacre process... there will be one for each instance. */
/****************************************************************************/
process update_IMUDriver_update (
instance: 0..Max_Act_Inst_IMUDriver-1,
update_index: act_inst_IMUDriver_update_index_type,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&update_turn: act_inst_IMUDriver_update_turn_type
) is
states
IMUDriver_start_fcr, IMUDriver_start_sync_fcr_, IMUDriver_start_dispatch_fcr_,
IMUDriver_stop_fcr, IMUDriver_stop_sync_fcr_, IMUDriver_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to IMUDriver_start_fcr
from IMUDriver_start_fcr
on (update_turn = update_index);
ignorep := fiacre_c_print_trace(545) /* (2) IMUDriver Activity update is getting control in state IMUDriver_start. */;
if (update_activities[update_index].state = IMUDriver_stop_fcr) then
to IMUDriver_stop_fcr
end;
on (
(not (control_running_codel = open_and_configure_device)) and
(not (control_running_codel = get_heading)) and
(not (control_running_codel = genom_IMUDriver_SetDevice_controlcb)) and
(not (control_running_codel = genom_IMUDriver_SetPublishOrientation_controlcb)) and
(not (control_running_codel = genom_IMUDriver_SetBaudrate_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(546) /* (2) IMUDriver Activity update calling codel IMUInitStruct. */;
//REMOVE ME
update_running_codel := IMUInitStruct;
start Fiacre_IMUDriver_codel_task_update_start_task(update_activities[update_index]);
to IMUDriver_start_sync_fcr_
from IMUDriver_start_sync_fcr_
sync Fiacre_IMUDriver_codel_task_update_start_task state;
ignorep := fiacre_c_print_trace(547) /* (2) IMUDriver Activity update returned from codel IMUInitStruct. */;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_start_dispatch_fcr_
from IMUDriver_start_dispatch_fcr_
wait [0,0];
if (state = IMUDriver_ether_fcr) then
update_activities[update_index].state := IMUDriver_ether_fcr;
update_activities[update_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(548) /* (1) IMUDriver Activity update DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(549) /* (1) IMUDriver Activity update EXCEPTION... */;
to exception
end
from IMUDriver_stop_fcr
on (update_turn = update_index);
ignorep := fiacre_c_print_trace(550) /* (2) IMUDriver Activity update is getting control in state IMUDriver_stop. */;
on (
(not (control_running_codel = open_and_configure_device)) and
(not (control_running_codel = get_heading)) and
(not (control_running_codel = genom_IMUDriver_SetDevice_controlcb)) and
(not (control_running_codel = genom_IMUDriver_SetPublishOrientation_controlcb)) and
(not (control_running_codel = genom_IMUDriver_SetBaudrate_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(551) /* (2) IMUDriver Activity update calling codel IMUCleanStruct. */;
//REMOVE ME
update_running_codel := IMUCleanStruct;
start Fiacre_IMUDriver_codel_task_update_stop_task(update_activities[update_index]);
to IMUDriver_stop_sync_fcr_
from IMUDriver_stop_sync_fcr_
sync Fiacre_IMUDriver_codel_task_update_stop_task state;
ignorep := fiacre_c_print_trace(552) /* (2) IMUDriver Activity update returned from codel IMUCleanStruct. */;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_stop_dispatch_fcr_
from IMUDriver_stop_dispatch_fcr_
wait [0,0];
if (state = IMUDriver_ether_fcr) then
update_activities[update_index].state := IMUDriver_ether_fcr;
update_activities[update_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(553) /* (1) IMUDriver Activity update DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(554) /* (1) IMUDriver Activity update EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = IMUDriver_out_of_mem_fcr)) and
true) then
ignoreb := Fiacre_IMUDriver_update_genom_bad_transition(update_activities[update_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
update_activities[update_index].status := ACT_ETHER_FCR;
update_activities[update_index].state := state; //IMUDriver_ether_fcr
ignorep := fiacre_c_print_trace(555) /* (1) IMUDriver Activity update throw an exception, back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
/******************************************/
/* end of IMUDriver update fiacre process. */
/******************************************/
/****************************************************************************/
/* IMUDriver Measure fiacre process... there will be one for each instance. */
/****************************************************************************/
process Measure_IMUDriver_update (
instance: 0..Max_Act_Inst_IMUDriver-1,
Measure_index: act_inst_IMUDriver_update_index_type,
&update_activities: Activities_IMUDriver_update_Array,
&update_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&control_running_codel: 0..max_number_mutex_codels_IMUDriver-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&update_turn: act_inst_IMUDriver_update_turn_type
) is
states
IMUDriver_start_fcr, IMUDriver_start_sync_fcr_, IMUDriver_start_dispatch_fcr_,
IMUDriver_measure_get_fcr, IMUDriver_measure_get_sync_fcr_, IMUDriver_measure_get_dispatch_fcr_,
IMUDriver_write_port_fcr, IMUDriver_write_port_sync_fcr_, IMUDriver_write_port_dispatch_fcr_,
IMUDriver_stop_fcr, IMUDriver_stop_sync_fcr_, IMUDriver_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to IMUDriver_start_fcr
from IMUDriver_start_fcr
on (update_turn = Measure_index);
ignorep := fiacre_c_print_trace(556) /* (2) IMUDriver Activity Measure is getting control in state IMUDriver_start. */;
if (update_activities[Measure_index].state = IMUDriver_stop_fcr) then
to IMUDriver_stop_fcr
end;
on (
(mutex_ports[IMUDriver_ImuPose_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(557) /* (2) IMUDriver Activity Measure calling codel IMUMeasureStart. */;
mutex_ports[IMUDriver_ImuPose_port] := IMUMeasureStart_port_codel;
//REMOVE ME
update_running_codel := IMUMeasureStart;
start Fiacre_IMUDriver_codel_service_Measure_start_task(update_activities[Measure_index]);
to IMUDriver_start_sync_fcr_
from IMUDriver_start_sync_fcr_
sync Fiacre_IMUDriver_codel_service_Measure_start_task state;
ignorep := fiacre_c_print_trace(558) /* (2) IMUDriver Activity Measure returned from codel IMUMeasureStart. */;
mutex_ports[IMUDriver_ImuPose_port] := no_codel;
write_ports[IMUDriver_ImuPose_port] := true;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_start_dispatch_fcr_
from IMUDriver_start_dispatch_fcr_
wait [0,0];
if (
state = IMUDriver_measure_get_fcr or
false) then
update_activities[Measure_index].state := state;
update_activities[Measure_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(559) /* (2) IMUDriver Activity Measure NOT done for this cycle, back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
if (state = IMUDriver_measure_get_fcr) then
to IMUDriver_measure_get_fcr
end;
to start_ // never reached
else
if (state = IMUDriver_ether_fcr) then
update_activities[Measure_index].state := IMUDriver_ether_fcr;
update_activities[Measure_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(560) /* (1) IMUDriver Activity Measure DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(561) /* (1) IMUDriver Activity Measure EXCEPTION... */;
to exception
end
end
from IMUDriver_measure_get_fcr
on (update_turn = Measure_index);
ignorep := fiacre_c_print_trace(562) /* (2) IMUDriver Activity Measure is getting control in state IMUDriver_measure_get. */;
if (update_activities[Measure_index].state = IMUDriver_stop_fcr) then
to IMUDriver_stop_fcr
end;
on (
(not (control_running_codel = open_and_configure_device)) and
(not (control_running_codel = get_heading)) and
true
);
ignorep := fiacre_c_print_trace(563) /* (2) IMUDriver Activity Measure calling codel GetImu. */;
//REMOVE ME
update_running_codel := GetImu;
start Fiacre_IMUDriver_codel_service_Measure_measure_get_task(update_activities[Measure_index]);
to IMUDriver_measure_get_sync_fcr_
from IMUDriver_measure_get_sync_fcr_
sync Fiacre_IMUDriver_codel_service_Measure_measure_get_task state;
ignorep := fiacre_c_print_trace(564) /* (2) IMUDriver Activity Measure returned from codel GetImu. */;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_measure_get_dispatch_fcr_
from IMUDriver_measure_get_dispatch_fcr_
wait [0,0];
if (
state = IMUDriver_write_port_fcr or
state = IMUDriver_measure_get_fcr or
false) then
update_activities[Measure_index].state := state;
update_activities[Measure_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(565) /* (2) IMUDriver Activity Measure NOT done for this cycle, back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
if (state = IMUDriver_write_port_fcr) then
to IMUDriver_write_port_fcr
end;
if (state = IMUDriver_measure_get_fcr) then
to IMUDriver_measure_get_fcr
end;
to start_ // never reached
else
if (state = IMUDriver_ether_fcr) then
update_activities[Measure_index].state := IMUDriver_ether_fcr;
update_activities[Measure_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(566) /* (1) IMUDriver Activity Measure DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(567) /* (1) IMUDriver Activity Measure EXCEPTION... */;
to exception
end
end
from IMUDriver_write_port_fcr
on (update_turn = Measure_index);
ignorep := fiacre_c_print_trace(568) /* (2) IMUDriver Activity Measure is getting control in state IMUDriver_write_port. */;
if (update_activities[Measure_index].state = IMUDriver_stop_fcr) then
to IMUDriver_stop_fcr
end;
on (
(not (control_running_codel = genom_IMUDriver_SetPublishOrientation_controlcb)) and
(mutex_ports[IMUDriver_ImuPose_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(569) /* (2) IMUDriver Activity Measure calling codel WriteImuPort. */;
mutex_ports[IMUDriver_ImuPose_port] := WriteImuPort_port_codel;
//REMOVE ME
update_running_codel := WriteImuPort;
start Fiacre_IMUDriver_codel_service_Measure_write_port_task(update_activities[Measure_index]);
to IMUDriver_write_port_sync_fcr_
from IMUDriver_write_port_sync_fcr_
sync Fiacre_IMUDriver_codel_service_Measure_write_port_task state;
ignorep := fiacre_c_print_trace(570) /* (2) IMUDriver Activity Measure returned from codel WriteImuPort. */;
mutex_ports[IMUDriver_ImuPose_port] := no_codel;
write_ports[IMUDriver_ImuPose_port] := true;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_write_port_dispatch_fcr_
from IMUDriver_write_port_dispatch_fcr_
wait [0,0];
if (
state = IMUDriver_pause_measure_get_fcr or
false) then
if (state = IMUDriver_pause_measure_get_fcr) then state := IMUDriver_measure_get_fcr end;
update_activities[Measure_index].state := state;
update_activities[Measure_index].status := ACT_RUN_FCR;
update_activities[Measure_index].pause := true;
ignorep := fiacre_c_print_trace(571) /* (2) IMUDriver Activity Measure DONE for this cycle, pauses, back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
if (state = IMUDriver_measure_get_fcr) then
to IMUDriver_measure_get_fcr
end;
to start_ // never reached
else
if (state = IMUDriver_ether_fcr) then
update_activities[Measure_index].state := IMUDriver_ether_fcr;
update_activities[Measure_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(572) /* (1) IMUDriver Activity Measure DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(573) /* (1) IMUDriver Activity Measure EXCEPTION... */;
to exception
end
end
from IMUDriver_stop_fcr
on (update_turn = Measure_index);
ignorep := fiacre_c_print_trace(574) /* (2) IMUDriver Activity Measure is getting control in state IMUDriver_stop. */;
on (
true
);
ignorep := fiacre_c_print_trace(575) /* (2) IMUDriver Activity Measure calling codel MeasureStop. */;
//REMOVE ME
update_running_codel := MeasureStop;
start Fiacre_IMUDriver_codel_service_Measure_stop_task(update_activities[Measure_index]);
to IMUDriver_stop_sync_fcr_
from IMUDriver_stop_sync_fcr_
sync Fiacre_IMUDriver_codel_service_Measure_stop_task state;
ignorep := fiacre_c_print_trace(576) /* (2) IMUDriver Activity Measure returned from codel MeasureStop. */;
//REMOVE ME
update_running_codel := 0;
to IMUDriver_stop_dispatch_fcr_
from IMUDriver_stop_dispatch_fcr_
wait [0,0];
if (state = IMUDriver_ether_fcr) then
update_activities[Measure_index].state := IMUDriver_ether_fcr;
update_activities[Measure_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(577) /* (1) IMUDriver Activity Measure DONE (ether), back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
else
ignorep := fiacre_c_print_trace(578) /* (1) IMUDriver Activity Measure EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = IMUDriver_out_of_mem_fcr)) and
(not (state = IMUDriver_measurement_start_error_fcr)) and
(not (state = IMUDriver_measurement_error_fcr)) and
(not (state = IMUDriver_bad_imu_pose_port_fcr)) and
true) then
ignoreb := Fiacre_IMUDriver_Measure_genom_bad_transition(update_activities[Measure_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
update_activities[Measure_index].status := ACT_ETHER_FCR;
update_activities[Measure_index].state := state; //IMUDriver_ether_fcr
ignorep := fiacre_c_print_trace(579) /* (1) IMUDriver Activity Measure throw an exception, back to ET. */;
update_turn := Nb_act_inst_IMUDriver_update;
to start_
/******************************************/
/* end of IMUDriver Measure fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task IMUDriver update . */
/******************************************************/
/********************************************/
/*End of IMUDriver processes section */
/********************************************/
/********************************************/
/* beginning of joystick process section */
/********************************************/
/**********************************************/
/* joystick abort_activity services control task part */
/**********************************************/
process joystick_abort_activity_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(580) /* (1) joystick CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(581) /* (1) joystick CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(582) /* (0) joystick CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(583) /* (2) joystick CT abort_activity control codel. */;
start Fiacre_joystick_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_joystick_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(584) /* (2) joystick CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(585) /* (1) joystick CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(586) /* (3) joystick CT abort_activity updating run map */;
control_activity.state := joystick_ether_fcr;
run_map[JOYSTICK_abort_activity]:= true;
ignorep := fiacre_c_print_trace(587) /* (1) joystick CT abort_activity ctrl activity report */;
ignoreb := Fiacre_joystick_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(588) /* (1) joystick CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(589) /* (4) joystick CT abort_activity for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(590) /* (3) joystick CT abort_activity giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick abort_activity services control task part */
/**********************************************/
/**********************************************/
/* joystick connect_port services control task part */
/**********************************************/
process joystick_connect_port_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(591) /* (1) joystick CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(592) /* (1) joystick CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(593) /* (0) joystick CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(594) /* (2) joystick CT connect_port control codel. */;
start Fiacre_joystick_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_joystick_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(595) /* (2) joystick CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(596) /* (1) joystick CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(597) /* (3) joystick CT connect_port updating run map */;
control_activity.state := joystick_ether_fcr;
run_map[JOYSTICK_connect_port]:= true;
ignorep := fiacre_c_print_trace(598) /* (1) joystick CT connect_port ctrl activity report */;
ignoreb := Fiacre_joystick_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(599) /* (1) joystick CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(600) /* (4) joystick CT connect_port for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(601) /* (3) joystick CT connect_port giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick connect_port services control task part */
/**********************************************/
/**********************************************/
/* joystick connect_service services control task part */
/**********************************************/
process joystick_connect_service_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(602) /* (1) joystick CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(603) /* (1) joystick CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(604) /* (0) joystick CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(605) /* (2) joystick CT connect_service control codel. */;
start Fiacre_joystick_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_joystick_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(606) /* (2) joystick CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(607) /* (1) joystick CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(608) /* (3) joystick CT connect_service updating run map */;
control_activity.state := joystick_ether_fcr;
run_map[JOYSTICK_connect_service]:= true;
ignorep := fiacre_c_print_trace(609) /* (1) joystick CT connect_service ctrl activity report */;
ignoreb := Fiacre_joystick_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(610) /* (1) joystick CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(611) /* (4) joystick CT connect_service for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(612) /* (3) joystick CT connect_service giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick connect_service services control task part */
/**********************************************/
/**********************************************/
/* joystick kill services control task part */
/**********************************************/
process joystick_kill_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_publish, wait_publish_interrupted_ether, next_publish_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(613) /* (1) joystick CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(614) /* (1) joystick CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(615) /* (0) joystick CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(616) /* (2) joystick CT kill control codel. */;
start Fiacre_joystick_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_joystick_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(617) /* (2) joystick CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(618) /* (1) joystick CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_publish := 0;
to inter_task_publish
from inter_task_publish
wait [0,0];
if (not (publish_activities[index_publish].status = ACT_VOID_FCR) and not (publish_activities[index_publish].status = ACT_ETHER_FCR)) then
if (
(publish_activities[index_publish].sid = JOYSTICK_rename_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(619) /* (1) joystick CT kill interrupts a running activity in publish. */;
publish_activities[index_publish].stop := true;
to wait_publish_interrupted_ether
end
end;
to next_publish_activity
from wait_publish_interrupted_ether
wait [0,0];
on (publish_activities[index_publish].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(620) /* (3) joystick CT kill interrupted service in publish has now reached ACT_ETHER_FCR. */;
to next_publish_activity
from next_publish_activity
wait [0,0];
if (index_publish = Nb_act_inst_joystick_publish-1) then
to inter_task_
else
index_publish := index_publish + 1;
to inter_task_publish
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(621) /* (3) joystick CT kill updating run map */;
control_activity.state := joystick_ether_fcr;
run_map[JOYSTICK_kill]:= true;
ignorep := fiacre_c_print_trace(622) /* (1) joystick CT kill ctrl activity report */;
ignoreb := Fiacre_joystick_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(623) /* (1) joystick CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(624) /* (4) joystick CT kill for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(625) /* (3) joystick CT kill giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick kill services control task part */
/**********************************************/
/**********************************************/
/* joystick device_list services control task part */
/**********************************************/
process joystick_device_list_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_device_list_RQSTID_FCR);
ignorep := fiacre_c_print_trace(626) /* (1) joystick CT device_list request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(627) /* (1) joystick CT device_list is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(628) /* (0) joystick CT device_list ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (publish_running_codel = joystick_init)) and
(not (publish_running_codel = joystick_fini)) and
(not (publish_running_codel = joystick_main)) and
(not (publish_running_codel = joystick_rename)) and
true);
control_running_codel := joystick_device_list;
//REMOVE ME
ignorep := fiacre_c_print_trace(629) /* (2) joystick CT device_list control codel. */;
start Fiacre_joystick_device_list_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_joystick_device_list_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(630) /* (2) joystick CT device_list control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(631) /* (1) joystick CT device_list control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(632) /* (3) joystick CT device_list updating run map */;
control_activity.state := joystick_ether_fcr;
run_map[JOYSTICK_device_list]:= true;
ignorep := fiacre_c_print_trace(633) /* (1) joystick CT device_list ctrl activity report */;
ignoreb := Fiacre_joystick_device_list_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(634) /* (1) joystick CT device_list report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_device_list_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_device_list_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(635) /* (4) joystick CT device_list for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(636) /* (3) joystick CT device_list giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick device_list services control task part */
/**********************************************/
/**********************************************/
/* joystick rename services control task part */
/**********************************************/
process joystick_rename_CT (
&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&publish_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&run_map: joystick_Run_Map_Type,
&control_turn: JOYSTICK_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
ffa_reply_publish: ffa_reply_joystick_publish,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = JOYSTICK_rename_RQSTID_FCR);
ignorep := fiacre_c_print_trace(637) /* (1) joystick CT rename request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(638) /* (1) joystick CT rename is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(639) /* (0) joystick CT rename ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_publish := find_free_activity_joystick_publish(publish_activities, JOYSTICK_rename_RQSTID_FCR);
if (not ffa_reply_publish.available) then
ignorep := fiacre_c_print_trace(640) /* (0) joystick CT rename ***WARNING*** cannot find a slot in publish. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_publish.available and ffa_reply_publish.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(641) /* (0) joystick CT rename ***WARNING*** slot still busy in publish. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_publish := ffa_reply_publish.index;
ignorep := fiacre_c_print_trace(642) /* (2) joystick CT rename is transferred to ET publish. */;
publish_activities[index_publish].grid := control_activity.grid;
publish_activities[index_publish].gaid := control_activity.gaid;
genom_event := Fiacre_joystick_send_ir_extern(control_activity);
publish_activities[index_publish].status := ACT_INIT_FCR;
publish_activities[index_publish].start_ := true;
publish_activities[index_publish].pause := false;
publish_activities[index_publish].stop := false;
publish_activities[index_publish].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(643) /* (1) joystick CT rename report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_joystick_rename_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_joystick_rename_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(644) /* (4) joystick CT rename for all ET, setting runnable to true. */;
publish_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(645) /* (3) joystick CT rename giving control back */;
control_turn := JOYSTICK_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of joystick rename services control task part */
/**********************************************/
/************************/
/* joystick control task process */
/************************/
process control_task_joystick
(&control_activity: fcr_activity_joystick,
&publish_activities: Activities_joystick_publish_Array,
&publish_runnable: bool,
&control_turn: JOYSTICK_RQSTID_FCR,
&run_map: joystick_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_publish,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_joystick,
index_publish: act_inst_joystick_publish_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(646) /* (1) joystick CT init Mbox */;
joystick_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(647) /* (0) joystick CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = JOYSTICK_NONE);
ignorep := fiacre_c_print_trace(648) /* (3) joystick CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(649) /* (1) joystick CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(650) /* (3) joystick CT going to sleep */;
select
joystick_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(651) /* (2) joystick CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(652) /* (0) joystick CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(653) /* (0) joystick CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(654) /* (2) joystick CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(655) /* (2) joystick CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = JOYSTICK_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_publish := 0;
to process_exec_task_publish
from process_exec_task_publish
ignorep := fiacre_c_print_trace(656) /* (3) joystick CT processes publish activities. */;
if (publish_activities[index_publish].status = ACT_INIT_FCR) then
if (not publish_activities[index_publish].start_) then
ignorep := fiacre_c_print_trace(657) /* (4) joystick CT setting ET publish runnable to true. */;
publish_runnable := true;
publish_activities[index_publish].start_:=true // check the pocolibs template
end
end;
if (publish_activities[index_publish].status = ACT_ETHER_FCR) then // we are done for this one
// publish_activities[index_publish].status := ACT_VOID_FCR;
if (not (publish_activities[index_publish].sid = JOYSTICK_NONE)) then //not the perm activity
if (publish_activities[index_publish].state = joystick_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(658) /* (3) joystick CT processes publish activities, updating run_map. */;
run_map[joystick_run_map_index_from_publish_activity(publish_activities[index_publish])]:= true
else
ignorep := fiacre_c_print_trace(659) /* (1) joystick CT processes publish activities, handle exception. */;
ignoreb := Fiacre_joystick_handle_exception(publish_activities[index_publish], false)
end;
ignorep := fiacre_c_print_trace(660) /* (1) joystick CT processes publish activities, activity report. */;
ignoreb := Fiacre_joystick_activity_report(publish_activities[index_publish])
else
ignorep := fiacre_c_print_trace(661) /* (1) joystick CT processes publish permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
publish_activities[index_publish].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_publish = Nb_act_inst_joystick_publish-1) then
to process_exec_task_
else
index_publish := index_publish + 1;
to process_exec_task_publish
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of joystick control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task joystick publish . */
/******************************************************/
/****************************************/
/* joystick publish is aperiodic, no timer */
/****************************************/
/******************************************/
/* joystick publish execution task main loop */
/******************************************/
process exec_task_joystick_publish (
&publish_turn : act_inst_joystick_publish_turn_type,
&publish_runnable: bool,
&publish_activities: Activities_joystick_publish_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_publish: act_inst_joystick_publish_index_type,
index: act_inst_joystick_publish_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(662) /* (4) joystick ET publish, waiting to be runnable. */;
on publish_runnable
else
ignorep := fiacre_c_print_trace(663) /* (4) joystick ET publish GENOM_SCHED_CONT. */;
null
end;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(664) /* (3) joystick ET publish parsing activities status. */;
sched := [false, false, false, false];
foreach index_publish do
if (publish_activities[index_publish].status = ACT_INIT_FCR) then
if (publish_activities[index_publish].start_ and
publish_runnable) then
publish_activities[index_publish].status := ACT_RUN_FCR;
publish_activities[index_publish].state := joystick_start_fcr;
publish_activities[index_publish].start_ := false;
publish_activities[index_publish].pause := false
end;
if publish_activities[index_publish].stop then
if (publish_activities[index_publish].sid = JOYSTICK_NONE) then /* permanent activity */
publish_activities[index_publish].status := ACT_STOP_FCR;
publish_activities[index_publish].state := joystick_stop_fcr;
publish_activities[index_publish].stop := false;
publish_activities[index_publish].pause := false
else
publish_activities[index_publish].status := ACT_ETHER_FCR;
publish_activities[index_publish].stop := false;
publish_activities[index_publish].state := genom_interrupted_fcr;
ignoreb := Fiacre_joystick_genom_interrupt(publish_activities[index_publish]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (publish_activities[index_publish].status = ACT_RUN_FCR) then
if publish_activities[index_publish].stop then
publish_activities[index_publish].status := ACT_STOP_FCR;
publish_activities[index_publish].state := joystick_stop_fcr;
publish_activities[index_publish].stop := false;
publish_activities[index_publish].pause := false
end;
if (publish_activities[index_publish].pause and
publish_runnable) then
publish_activities[index_publish].pause := false
end
elsif (publish_activities[index_publish].status = ACT_STOP_FCR) then
if (publish_activities[index_publish].pause and
publish_runnable) then
publish_activities[index_publish].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(665) /* (3) joystick ET publish, setting runnable to false. */;
publish_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(666) /* (3) joystick ET publish executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (publish_activities[index].status = ACT_RUN_FCR) and (not (publish_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (publish_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(667) /* (3) joystick ET publish gives control to service. */;
publish_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (publish_turn = Nb_act_inst_joystick_publish); //control comming back
ignorep := fiacre_c_print_trace(668) /* (3) joystick ET publish getting control back. */;
status := publish_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(669) /* (2) joystick ET publish activity returned ACT_RUN. */;
if (not publish_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(670) /* (1) joystick ET publish activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(671) /* (0) joystick ET publish ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_joystick_publish-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(672) /* (4) joystick ET publish, for all ET, setting runnable to true. */;
publish_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_joystick_publish */
/*************************************************/
/****************************************************************************/
/* joystick publish fiacre process... there will be one for each instance. */
/****************************************************************************/
process publish_joystick_publish (
instance: 0..Max_Act_Inst_joystick-1,
publish_index: act_inst_joystick_publish_index_type,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&publish_turn: act_inst_joystick_publish_turn_type
) is
states
joystick_start_fcr, joystick_start_sync_fcr_, joystick_start_dispatch_fcr_,
joystick_stop_fcr, joystick_stop_sync_fcr_, joystick_stop_dispatch_fcr_,
joystick_poll_fcr, joystick_poll_sync_fcr_, joystick_poll_dispatch_fcr_,
joystick_event_fcr, joystick_event_sync_fcr_, joystick_event_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to joystick_start_fcr
from joystick_start_fcr
on (publish_turn = publish_index);
ignorep := fiacre_c_print_trace(673) /* (2) joystick Activity publish is getting control in state joystick_start. */;
if (publish_activities[publish_index].state = joystick_stop_fcr) then
to joystick_stop_fcr
end;
on (
(not (control_running_codel = joystick_device_list)) and
true
);
ignorep := fiacre_c_print_trace(674) /* (2) joystick Activity publish calling codel joystick_init. */;
//REMOVE ME
publish_running_codel := joystick_init;
start Fiacre_joystick_codel_task_publish_start_task(publish_activities[publish_index]);
to joystick_start_sync_fcr_
from joystick_start_sync_fcr_
sync Fiacre_joystick_codel_task_publish_start_task state;
ignorep := fiacre_c_print_trace(675) /* (2) joystick Activity publish returned from codel joystick_init. */;
//REMOVE ME
publish_running_codel := 0;
to joystick_start_dispatch_fcr_
from joystick_start_dispatch_fcr_
wait [0,0];
if (
state = joystick_poll_fcr or
false) then
publish_activities[publish_index].state := state;
publish_activities[publish_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(676) /* (2) joystick Activity publish NOT done for this cycle, back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
if (state = joystick_poll_fcr) then
to joystick_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(677) /* (1) joystick Activity publish EXCEPTION... */;
to exception
end
from joystick_stop_fcr
on (publish_turn = publish_index);
ignorep := fiacre_c_print_trace(678) /* (2) joystick Activity publish is getting control in state joystick_stop. */;
on (
(not (control_running_codel = joystick_device_list)) and
true
);
ignorep := fiacre_c_print_trace(679) /* (2) joystick Activity publish calling codel joystick_fini. */;
//REMOVE ME
publish_running_codel := joystick_fini;
start Fiacre_joystick_codel_task_publish_stop_task(publish_activities[publish_index]);
to joystick_stop_sync_fcr_
from joystick_stop_sync_fcr_
sync Fiacre_joystick_codel_task_publish_stop_task state;
ignorep := fiacre_c_print_trace(680) /* (2) joystick Activity publish returned from codel joystick_fini. */;
//REMOVE ME
publish_running_codel := 0;
to joystick_stop_dispatch_fcr_
from joystick_stop_dispatch_fcr_
wait [0,0];
if (state = joystick_ether_fcr) then
publish_activities[publish_index].state := joystick_ether_fcr;
publish_activities[publish_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(681) /* (1) joystick Activity publish DONE (ether), back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
to start_
else
ignorep := fiacre_c_print_trace(682) /* (1) joystick Activity publish EXCEPTION... */;
to exception
end
from joystick_poll_fcr
on (publish_turn = publish_index);
ignorep := fiacre_c_print_trace(683) /* (2) joystick Activity publish is getting control in state joystick_poll. */;
if (publish_activities[publish_index].state = joystick_stop_fcr) then
to joystick_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(684) /* (2) joystick Activity publish calling codel joystick_wait_event. */;
//REMOVE ME
publish_running_codel := joystick_wait_event;
start Fiacre_joystick_codel_task_publish_poll_task(publish_activities[publish_index]);
to joystick_poll_sync_fcr_
from joystick_poll_sync_fcr_
sync Fiacre_joystick_codel_task_publish_poll_task state;
ignorep := fiacre_c_print_trace(685) /* (2) joystick Activity publish returned from codel joystick_wait_event. */;
//REMOVE ME
publish_running_codel := 0;
to joystick_poll_dispatch_fcr_
from joystick_poll_dispatch_fcr_
wait [0,0];
if (
state = joystick_poll_fcr or
state = joystick_event_fcr or
false) then
publish_activities[publish_index].state := state;
publish_activities[publish_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(686) /* (2) joystick Activity publish NOT done for this cycle, back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
if (state = joystick_poll_fcr) then
to joystick_poll_fcr
end;
if (state = joystick_event_fcr) then
to joystick_event_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(687) /* (1) joystick Activity publish EXCEPTION... */;
to exception
end
from joystick_event_fcr
on (publish_turn = publish_index);
ignorep := fiacre_c_print_trace(688) /* (2) joystick Activity publish is getting control in state joystick_event. */;
if (publish_activities[publish_index].state = joystick_stop_fcr) then
to joystick_stop_fcr
end;
on (
(not (control_running_codel = joystick_device_list)) and
(mutex_ports[joystick_device_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(689) /* (2) joystick Activity publish calling codel joystick_main. */;
mutex_ports[joystick_device_port] := joystick_main_port_codel;
//REMOVE ME
publish_running_codel := joystick_main;
start Fiacre_joystick_codel_task_publish_event_task(publish_activities[publish_index]);
to joystick_event_sync_fcr_
from joystick_event_sync_fcr_
sync Fiacre_joystick_codel_task_publish_event_task state;
ignorep := fiacre_c_print_trace(690) /* (2) joystick Activity publish returned from codel joystick_main. */;
mutex_ports[joystick_device_port] := no_codel;
write_ports[joystick_device_port] := true;
//REMOVE ME
publish_running_codel := 0;
to joystick_event_dispatch_fcr_
from joystick_event_dispatch_fcr_
wait [0,0];
if (
state = joystick_poll_fcr or
false) then
publish_activities[publish_index].state := state;
publish_activities[publish_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(691) /* (2) joystick Activity publish NOT done for this cycle, back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
if (state = joystick_poll_fcr) then
to joystick_poll_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(692) /* (1) joystick Activity publish EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = joystick_e_sdl_fcr)) and
true) then
ignoreb := Fiacre_joystick_publish_genom_bad_transition(publish_activities[publish_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
publish_activities[publish_index].status := ACT_ETHER_FCR;
publish_activities[publish_index].state := state; //joystick_ether_fcr
ignorep := fiacre_c_print_trace(693) /* (1) joystick Activity publish throw an exception, back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
to start_
/******************************************/
/* end of joystick publish fiacre process. */
/******************************************/
/****************************************************************************/
/* joystick rename fiacre process... there will be one for each instance. */
/****************************************************************************/
process rename_joystick_publish (
instance: 0..Max_Act_Inst_joystick-1,
rename_index: act_inst_joystick_publish_index_type,
&publish_activities: Activities_joystick_publish_Array,
&publish_running_codel: 0..max_number_mutex_codels_joystick-1,
&control_running_codel: 0..max_number_mutex_codels_joystick-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&publish_turn: act_inst_joystick_publish_turn_type
) is
states
joystick_start_fcr, joystick_start_sync_fcr_, joystick_start_dispatch_fcr_,
exception, joystick_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to joystick_start_fcr
from joystick_start_fcr
on (publish_turn = rename_index);
ignorep := fiacre_c_print_trace(694) /* (2) joystick Activity rename is getting control in state joystick_start. */;
if (publish_activities[rename_index].state = joystick_stop_fcr) then
to joystick_stop_fcr
end;
on (
(not (control_running_codel = joystick_device_list)) and
(mutex_ports[joystick_device_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(695) /* (2) joystick Activity rename calling codel joystick_rename. */;
mutex_ports[joystick_device_port] := joystick_rename_port_codel;
//REMOVE ME
publish_running_codel := joystick_rename;
start Fiacre_joystick_codel_service_rename_start_task(publish_activities[rename_index]);
to joystick_start_sync_fcr_
from joystick_start_sync_fcr_
sync Fiacre_joystick_codel_service_rename_start_task state;
ignorep := fiacre_c_print_trace(696) /* (2) joystick Activity rename returned from codel joystick_rename. */;
mutex_ports[joystick_device_port] := no_codel;
write_ports[joystick_device_port] := true;
//REMOVE ME
publish_running_codel := 0;
to joystick_start_dispatch_fcr_
from joystick_start_dispatch_fcr_
wait [0,0];
if (state = joystick_ether_fcr) then
publish_activities[rename_index].state := joystick_ether_fcr;
publish_activities[rename_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(697) /* (1) joystick Activity rename DONE (ether), back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
to start_
else
ignorep := fiacre_c_print_trace(698) /* (1) joystick Activity rename EXCEPTION... */;
to exception
end
from joystick_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(699) /* (1) joystick Activity rename in default stop. */;
ignoreb := Fiacre_joystick_rename_genom_interrupt(publish_activities[rename_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = joystick_e_sdl_fcr)) and
(not (state = joystick_e_noent_fcr)) and
true) then
ignoreb := Fiacre_joystick_rename_genom_bad_transition(publish_activities[rename_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
publish_activities[rename_index].status := ACT_ETHER_FCR;
publish_activities[rename_index].state := state; //joystick_ether_fcr
ignorep := fiacre_c_print_trace(700) /* (1) joystick Activity rename throw an exception, back to ET. */;
publish_turn := Nb_act_inst_joystick_publish;
to start_
/******************************************/
/* end of joystick rename fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task joystick publish . */
/******************************************************/
/********************************************/
/*End of joystick processes section */
/********************************************/
/********************************************/
/* beginning of Navigation process section */
/********************************************/
/**********************************************/
/* Navigation abort_activity services control task part */
/**********************************************/
process Navigation_abort_activity_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(701) /* (1) Navigation CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(702) /* (1) Navigation CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(703) /* (0) Navigation CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(704) /* (2) Navigation CT abort_activity control codel. */;
start Fiacre_Navigation_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_Navigation_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(705) /* (2) Navigation CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(706) /* (1) Navigation CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(707) /* (3) Navigation CT abort_activity updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_abort_activity]:= true;
ignorep := fiacre_c_print_trace(708) /* (1) Navigation CT abort_activity ctrl activity report */;
ignoreb := Fiacre_Navigation_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(709) /* (1) Navigation CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(710) /* (4) Navigation CT abort_activity for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(711) /* (3) Navigation CT abort_activity giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation abort_activity services control task part */
/**********************************************/
/**********************************************/
/* Navigation connect_port services control task part */
/**********************************************/
process Navigation_connect_port_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(712) /* (1) Navigation CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(713) /* (1) Navigation CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(714) /* (0) Navigation CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(715) /* (2) Navigation CT connect_port control codel. */;
start Fiacre_Navigation_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_Navigation_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(716) /* (2) Navigation CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(717) /* (1) Navigation CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(718) /* (3) Navigation CT connect_port updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_connect_port]:= true;
ignorep := fiacre_c_print_trace(719) /* (1) Navigation CT connect_port ctrl activity report */;
ignoreb := Fiacre_Navigation_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(720) /* (1) Navigation CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(721) /* (4) Navigation CT connect_port for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(722) /* (3) Navigation CT connect_port giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation connect_port services control task part */
/**********************************************/
/**********************************************/
/* Navigation connect_service services control task part */
/**********************************************/
process Navigation_connect_service_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(723) /* (1) Navigation CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(724) /* (1) Navigation CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(725) /* (0) Navigation CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(726) /* (2) Navigation CT connect_service control codel. */;
start Fiacre_Navigation_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_Navigation_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(727) /* (2) Navigation CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(728) /* (1) Navigation CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(729) /* (3) Navigation CT connect_service updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_connect_service]:= true;
ignorep := fiacre_c_print_trace(730) /* (1) Navigation CT connect_service ctrl activity report */;
ignoreb := Fiacre_Navigation_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(731) /* (1) Navigation CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(732) /* (4) Navigation CT connect_service for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(733) /* (3) Navigation CT connect_service giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation connect_service services control task part */
/**********************************************/
/**********************************************/
/* Navigation kill services control task part */
/**********************************************/
process Navigation_kill_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(734) /* (1) Navigation CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(735) /* (1) Navigation CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(736) /* (0) Navigation CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(737) /* (2) Navigation CT kill control codel. */;
start Fiacre_Navigation_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_Navigation_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(738) /* (2) Navigation CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(739) /* (1) Navigation CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_ReadMapGraph_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(740) /* (1) Navigation CT kill interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(741) /* (3) Navigation CT kill interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(742) /* (3) Navigation CT kill updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_kill]:= true;
ignorep := fiacre_c_print_trace(743) /* (1) Navigation CT kill ctrl activity report */;
ignoreb := Fiacre_Navigation_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(744) /* (1) Navigation CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(745) /* (4) Navigation CT kill for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(746) /* (3) Navigation CT kill giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation kill services control task part */
/**********************************************/
/**********************************************/
/* Navigation GetIDS services control task part */
/**********************************************/
process Navigation_GetIDS_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_GetIDS_RQSTID_FCR);
ignorep := fiacre_c_print_trace(747) /* (1) Navigation CT GetIDS request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(748) /* (1) Navigation CT GetIDS is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(749) /* (0) Navigation CT GetIDS ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (navigate_running_codel = InitStructNavig)) and
(not (navigate_running_codel = ReadInitPosePort)) and
(not (navigate_running_codel = PlanPath)) and
(not (navigate_running_codel = ReadPosePort)) and
(not (navigate_running_codel = ExecutePath)) and
(not (navigate_running_codel = ReadInitPosePort)) and
(not (navigate_running_codel = PlanPathToNode)) and
(not (navigate_running_codel = ReadPosePort)) and
(not (navigate_running_codel = ExecutePath)) and
true);
//REMOVE ME control_running_codel := genom_Navigation_GetIDS_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(750) /* (3) Navigation CT GetIDS middle */;
genom_event := Fiacre_Navigation_GetIDS_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(751) /* (3) Navigation CT GetIDS updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_GetIDS]:= true;
ignorep := fiacre_c_print_trace(752) /* (1) Navigation CT GetIDS ctrl activity report */;
ignoreb := Fiacre_Navigation_GetIDS_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(753) /* (4) Navigation CT GetIDS for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(754) /* (3) Navigation CT GetIDS giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation GetIDS services control task part */
/**********************************************/
/**********************************************/
/* Navigation SetTarget services control task part */
/**********************************************/
process Navigation_SetTarget_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_SetTarget_RQSTID_FCR);
ignorep := fiacre_c_print_trace(755) /* (1) Navigation CT SetTarget request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(756) /* (1) Navigation CT SetTarget is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(757) /* (0) Navigation CT SetTarget ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (navigate_running_codel = InitStructNavig)) and
(not (navigate_running_codel = ExecutePath)) and
(not (navigate_running_codel = WriteTarget)) and
(not (navigate_running_codel = ExecutePath)) and
(not (navigate_running_codel = WriteTarget)) and
true);
//REMOVE ME control_running_codel := genom_Navigation_SetTarget_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(758) /* (3) Navigation CT SetTarget middle */;
genom_event := Fiacre_Navigation_SetTarget_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(759) /* (3) Navigation CT SetTarget updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_SetTarget]:= true;
ignorep := fiacre_c_print_trace(760) /* (1) Navigation CT SetTarget ctrl activity report */;
ignoreb := Fiacre_Navigation_SetTarget_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(761) /* (4) Navigation CT SetTarget for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(762) /* (3) Navigation CT SetTarget giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation SetTarget services control task part */
/**********************************************/
/**********************************************/
/* Navigation SetThreshold services control task part */
/**********************************************/
process Navigation_SetThreshold_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_SetThreshold_RQSTID_FCR);
ignorep := fiacre_c_print_trace(763) /* (1) Navigation CT SetThreshold request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(764) /* (1) Navigation CT SetThreshold is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(765) /* (0) Navigation CT SetThreshold ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (navigate_running_codel = InitStructNavig)) and
(not (navigate_running_codel = ExecutePath)) and
(not (navigate_running_codel = ExecutePath)) and
true);
//REMOVE ME control_running_codel := genom_Navigation_SetThreshold_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(766) /* (3) Navigation CT SetThreshold middle */;
genom_event := Fiacre_Navigation_SetThreshold_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(767) /* (3) Navigation CT SetThreshold updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_SetThreshold]:= true;
ignorep := fiacre_c_print_trace(768) /* (1) Navigation CT SetThreshold ctrl activity report */;
ignoreb := Fiacre_Navigation_SetThreshold_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(769) /* (4) Navigation CT SetThreshold for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(770) /* (3) Navigation CT SetThreshold giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation SetThreshold services control task part */
/**********************************************/
/**********************************************/
/* Navigation Stop services control task part */
/**********************************************/
process Navigation_Stop_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_Stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(771) /* (1) Navigation CT Stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(772) /* (1) Navigation CT Stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(773) /* (0) Navigation CT Stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(774) /* (1) Navigation CT Stop interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(775) /* (3) Navigation CT Stop interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(776) /* (3) Navigation CT Stop updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_Stop]:= true;
ignorep := fiacre_c_print_trace(777) /* (1) Navigation CT Stop ctrl activity report */;
ignoreb := Fiacre_Navigation_Stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(778) /* (4) Navigation CT Stop for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(779) /* (3) Navigation CT Stop giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation Stop services control task part */
/**********************************************/
/**********************************************/
/* Navigation SetVerbose services control task part */
/**********************************************/
process Navigation_SetVerbose_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_SetVerbose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(780) /* (1) Navigation CT SetVerbose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(781) /* (1) Navigation CT SetVerbose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(782) /* (0) Navigation CT SetVerbose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := NVSetVerboseLevel;
//REMOVE ME
ignorep := fiacre_c_print_trace(783) /* (2) Navigation CT SetVerbose control codel. */;
start Fiacre_Navigation_SetVerbose_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_Navigation_SetVerbose_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(784) /* (2) Navigation CT SetVerbose control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(785) /* (1) Navigation CT SetVerbose control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(786) /* (3) Navigation CT SetVerbose updating run map */;
control_activity.state := Navigation_ether_fcr;
run_map[NAVIGATION_SetVerbose]:= true;
ignorep := fiacre_c_print_trace(787) /* (1) Navigation CT SetVerbose ctrl activity report */;
ignoreb := Fiacre_Navigation_SetVerbose_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(788) /* (1) Navigation CT SetVerbose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_SetVerbose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_SetVerbose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(789) /* (4) Navigation CT SetVerbose for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(790) /* (3) Navigation CT SetVerbose giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation SetVerbose services control task part */
/**********************************************/
/**********************************************/
/* Navigation SetTargetToCurrentPose services control task part */
/**********************************************/
process Navigation_SetTargetToCurrentPose_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
ffa_reply_navigate: ffa_reply_Navigation_navigate,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(791) /* (1) Navigation CT SetTargetToCurrentPose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(792) /* (1) Navigation CT SetTargetToCurrentPose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(793) /* (0) Navigation CT SetTargetToCurrentPose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(794) /* (1) Navigation CT SetTargetToCurrentPose interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(795) /* (3) Navigation CT SetTargetToCurrentPose interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_navigate := find_free_activity_Navigation_navigate(navigate_activities, NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR);
if (not ffa_reply_navigate.available) then
ignorep := fiacre_c_print_trace(796) /* (0) Navigation CT SetTargetToCurrentPose ***WARNING*** cannot find a slot in navigate. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_navigate.available and ffa_reply_navigate.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(797) /* (0) Navigation CT SetTargetToCurrentPose ***WARNING*** slot still busy in navigate. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_navigate := ffa_reply_navigate.index;
ignorep := fiacre_c_print_trace(798) /* (2) Navigation CT SetTargetToCurrentPose is transferred to ET navigate. */;
navigate_activities[index_navigate].grid := control_activity.grid;
navigate_activities[index_navigate].gaid := control_activity.gaid;
genom_event := Fiacre_Navigation_send_ir_extern(control_activity);
navigate_activities[index_navigate].status := ACT_INIT_FCR;
navigate_activities[index_navigate].start_ := true;
navigate_activities[index_navigate].pause := false;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(799) /* (1) Navigation CT SetTargetToCurrentPose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_SetTargetToCurrentPose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_SetTargetToCurrentPose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(800) /* (4) Navigation CT SetTargetToCurrentPose for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(801) /* (3) Navigation CT SetTargetToCurrentPose giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation SetTargetToCurrentPose services control task part */
/**********************************************/
/**********************************************/
/* Navigation ReadMapGraph services control task part */
/**********************************************/
process Navigation_ReadMapGraph_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
ffa_reply_navigate: ffa_reply_Navigation_navigate,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_ReadMapGraph_RQSTID_FCR);
ignorep := fiacre_c_print_trace(802) /* (1) Navigation CT ReadMapGraph request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(803) /* (1) Navigation CT ReadMapGraph is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(804) /* (0) Navigation CT ReadMapGraph ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(805) /* (1) Navigation CT ReadMapGraph interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(806) /* (3) Navigation CT ReadMapGraph interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_navigate := find_free_activity_Navigation_navigate(navigate_activities, NAVIGATION_ReadMapGraph_RQSTID_FCR);
if (not ffa_reply_navigate.available) then
ignorep := fiacre_c_print_trace(807) /* (0) Navigation CT ReadMapGraph ***WARNING*** cannot find a slot in navigate. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_navigate.available and ffa_reply_navigate.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(808) /* (0) Navigation CT ReadMapGraph ***WARNING*** slot still busy in navigate. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_navigate := ffa_reply_navigate.index;
ignorep := fiacre_c_print_trace(809) /* (2) Navigation CT ReadMapGraph is transferred to ET navigate. */;
navigate_activities[index_navigate].grid := control_activity.grid;
navigate_activities[index_navigate].gaid := control_activity.gaid;
genom_event := Fiacre_Navigation_send_ir_extern(control_activity);
navigate_activities[index_navigate].status := ACT_INIT_FCR;
navigate_activities[index_navigate].start_ := true;
navigate_activities[index_navigate].pause := false;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(810) /* (1) Navigation CT ReadMapGraph report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_ReadMapGraph_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_ReadMapGraph_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(811) /* (4) Navigation CT ReadMapGraph for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(812) /* (3) Navigation CT ReadMapGraph giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation ReadMapGraph services control task part */
/**********************************************/
/**********************************************/
/* Navigation GotoTarget services control task part */
/**********************************************/
process Navigation_GotoTarget_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
ffa_reply_navigate: ffa_reply_Navigation_navigate,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_GotoTarget_RQSTID_FCR);
ignorep := fiacre_c_print_trace(813) /* (1) Navigation CT GotoTarget request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(814) /* (1) Navigation CT GotoTarget is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(815) /* (0) Navigation CT GotoTarget ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[NAVIGATION_SetThreshold]) then
ignorep := fiacre_c_print_trace(816) /* (2) Navigation CT GotoTarget disallowed (after) SetThreshold. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_Navigation_disallowed();
ignoreb := Fiacre_Navigation_GotoTarget_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(817) /* (1) Navigation CT GotoTarget interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(818) /* (3) Navigation CT GotoTarget interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_navigate := find_free_activity_Navigation_navigate(navigate_activities, NAVIGATION_GotoTarget_RQSTID_FCR);
if (not ffa_reply_navigate.available) then
ignorep := fiacre_c_print_trace(819) /* (0) Navigation CT GotoTarget ***WARNING*** cannot find a slot in navigate. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_navigate.available and ffa_reply_navigate.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(820) /* (0) Navigation CT GotoTarget ***WARNING*** slot still busy in navigate. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_navigate := ffa_reply_navigate.index;
ignorep := fiacre_c_print_trace(821) /* (2) Navigation CT GotoTarget is transferred to ET navigate. */;
navigate_activities[index_navigate].grid := control_activity.grid;
navigate_activities[index_navigate].gaid := control_activity.gaid;
genom_event := Fiacre_Navigation_send_ir_extern(control_activity);
navigate_activities[index_navigate].status := ACT_INIT_FCR;
navigate_activities[index_navigate].start_ := true;
navigate_activities[index_navigate].pause := false;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(822) /* (1) Navigation CT GotoTarget report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_GotoTarget_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_GotoTarget_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(823) /* (4) Navigation CT GotoTarget for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(824) /* (3) Navigation CT GotoTarget giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation GotoTarget services control task part */
/**********************************************/
/**********************************************/
/* Navigation GotoPosition services control task part */
/**********************************************/
process Navigation_GotoPosition_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
ffa_reply_navigate: ffa_reply_Navigation_navigate,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_GotoPosition_RQSTID_FCR);
ignorep := fiacre_c_print_trace(825) /* (1) Navigation CT GotoPosition request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(826) /* (1) Navigation CT GotoPosition is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(827) /* (0) Navigation CT GotoPosition ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[NAVIGATION_SetThreshold]) then
ignorep := fiacre_c_print_trace(828) /* (2) Navigation CT GotoPosition disallowed (after) SetThreshold. */;
to disallowed
end;
if (not run_map[NAVIGATION_ReadMapGraph]) then
ignorep := fiacre_c_print_trace(829) /* (2) Navigation CT GotoPosition disallowed (after) ReadMapGraph. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_Navigation_disallowed();
ignoreb := Fiacre_Navigation_GotoPosition_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(830) /* (1) Navigation CT GotoPosition interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(831) /* (3) Navigation CT GotoPosition interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_navigate := find_free_activity_Navigation_navigate(navigate_activities, NAVIGATION_GotoPosition_RQSTID_FCR);
if (not ffa_reply_navigate.available) then
ignorep := fiacre_c_print_trace(832) /* (0) Navigation CT GotoPosition ***WARNING*** cannot find a slot in navigate. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_navigate.available and ffa_reply_navigate.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(833) /* (0) Navigation CT GotoPosition ***WARNING*** slot still busy in navigate. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_navigate := ffa_reply_navigate.index;
ignorep := fiacre_c_print_trace(834) /* (2) Navigation CT GotoPosition is transferred to ET navigate. */;
navigate_activities[index_navigate].grid := control_activity.grid;
navigate_activities[index_navigate].gaid := control_activity.gaid;
genom_event := Fiacre_Navigation_send_ir_extern(control_activity);
navigate_activities[index_navigate].status := ACT_INIT_FCR;
navigate_activities[index_navigate].start_ := true;
navigate_activities[index_navigate].pause := false;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(835) /* (1) Navigation CT GotoPosition report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_GotoPosition_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_GotoPosition_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(836) /* (4) Navigation CT GotoPosition for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(837) /* (3) Navigation CT GotoPosition giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation GotoPosition services control task part */
/**********************************************/
/**********************************************/
/* Navigation GotoNode services control task part */
/**********************************************/
process Navigation_GotoNode_CT (
&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&navigate_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&run_map: Navigation_Run_Map_Type,
&control_turn: NAVIGATION_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_navigate, wait_navigate_interrupted_ether, next_navigate_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
ffa_reply_navigate: ffa_reply_Navigation_navigate,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = NAVIGATION_GotoNode_RQSTID_FCR);
ignorep := fiacre_c_print_trace(838) /* (1) Navigation CT GotoNode request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(839) /* (1) Navigation CT GotoNode is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(840) /* (0) Navigation CT GotoNode ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[NAVIGATION_SetThreshold]) then
ignorep := fiacre_c_print_trace(841) /* (2) Navigation CT GotoNode disallowed (after) SetThreshold. */;
to disallowed
end;
if (not run_map[NAVIGATION_ReadMapGraph]) then
ignorep := fiacre_c_print_trace(842) /* (2) Navigation CT GotoNode disallowed (after) ReadMapGraph. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_Navigation_disallowed();
ignoreb := Fiacre_Navigation_GotoNode_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_navigate := 0;
to inter_task_navigate
from inter_task_navigate
wait [0,0];
if (not (navigate_activities[index_navigate].status = ACT_VOID_FCR) and not (navigate_activities[index_navigate].status = ACT_ETHER_FCR)) then
if (
(navigate_activities[index_navigate].sid = NAVIGATION_GotoPosition_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoTarget_RQSTID_FCR) or
(navigate_activities[index_navigate].sid = NAVIGATION_GotoNode_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(843) /* (1) Navigation CT GotoNode interrupts a running activity in navigate. */;
navigate_activities[index_navigate].stop := true;
to wait_navigate_interrupted_ether
end
end;
to next_navigate_activity
from wait_navigate_interrupted_ether
wait [0,0];
on (navigate_activities[index_navigate].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(844) /* (3) Navigation CT GotoNode interrupted service in navigate has now reached ACT_ETHER_FCR. */;
to next_navigate_activity
from next_navigate_activity
wait [0,0];
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to inter_task_
else
index_navigate := index_navigate + 1;
to inter_task_navigate
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_navigate := find_free_activity_Navigation_navigate(navigate_activities, NAVIGATION_GotoNode_RQSTID_FCR);
if (not ffa_reply_navigate.available) then
ignorep := fiacre_c_print_trace(845) /* (0) Navigation CT GotoNode ***WARNING*** cannot find a slot in navigate. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_navigate.available and ffa_reply_navigate.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(846) /* (0) Navigation CT GotoNode ***WARNING*** slot still busy in navigate. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_navigate := ffa_reply_navigate.index;
ignorep := fiacre_c_print_trace(847) /* (2) Navigation CT GotoNode is transferred to ET navigate. */;
navigate_activities[index_navigate].grid := control_activity.grid;
navigate_activities[index_navigate].gaid := control_activity.gaid;
genom_event := Fiacre_Navigation_send_ir_extern(control_activity);
navigate_activities[index_navigate].status := ACT_INIT_FCR;
navigate_activities[index_navigate].start_ := true;
navigate_activities[index_navigate].pause := false;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(848) /* (1) Navigation CT GotoNode report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_Navigation_GotoNode_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_Navigation_GotoNode_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(849) /* (4) Navigation CT GotoNode for all ET, setting runnable to true. */;
navigate_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(850) /* (3) Navigation CT GotoNode giving control back */;
control_turn := NAVIGATION_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of Navigation GotoNode services control task part */
/**********************************************/
/************************/
/* Navigation control task process */
/************************/
process control_task_Navigation
(&control_activity: fcr_activity_Navigation,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_runnable: bool,
&control_turn: NAVIGATION_RQSTID_FCR,
&run_map: Navigation_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_navigate,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_Navigation,
index_navigate: act_inst_Navigation_navigate_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(851) /* (1) Navigation CT init Mbox */;
Navigation_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(852) /* (0) Navigation CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = NAVIGATION_NONE);
ignorep := fiacre_c_print_trace(853) /* (3) Navigation CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(854) /* (1) Navigation CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(855) /* (3) Navigation CT going to sleep */;
select
Navigation_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(856) /* (2) Navigation CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(857) /* (0) Navigation CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(858) /* (0) Navigation CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(859) /* (2) Navigation CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(860) /* (2) Navigation CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = NAVIGATION_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_navigate := 0;
to process_exec_task_navigate
from process_exec_task_navigate
ignorep := fiacre_c_print_trace(861) /* (3) Navigation CT processes navigate activities. */;
if (navigate_activities[index_navigate].status = ACT_INIT_FCR) then
if (not navigate_activities[index_navigate].start_) then
ignorep := fiacre_c_print_trace(862) /* (4) Navigation CT setting ET navigate runnable to true. */;
navigate_runnable := true;
navigate_activities[index_navigate].start_:=true // check the pocolibs template
end
end;
if (navigate_activities[index_navigate].status = ACT_ETHER_FCR) then // we are done for this one
// navigate_activities[index_navigate].status := ACT_VOID_FCR;
if (not (navigate_activities[index_navigate].sid = NAVIGATION_NONE)) then //not the perm activity
if (navigate_activities[index_navigate].state = Navigation_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(863) /* (3) Navigation CT processes navigate activities, updating run_map. */;
run_map[Navigation_run_map_index_from_navigate_activity(navigate_activities[index_navigate])]:= true
else
ignorep := fiacre_c_print_trace(864) /* (1) Navigation CT processes navigate activities, handle exception. */;
ignoreb := Fiacre_Navigation_handle_exception(navigate_activities[index_navigate], false)
end;
ignorep := fiacre_c_print_trace(865) /* (1) Navigation CT processes navigate activities, activity report. */;
ignoreb := Fiacre_Navigation_activity_report(navigate_activities[index_navigate])
else
ignorep := fiacre_c_print_trace(866) /* (1) Navigation CT processes navigate permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
navigate_activities[index_navigate].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_navigate = Nb_act_inst_Navigation_navigate-1) then
to process_exec_task_
else
index_navigate := index_navigate + 1;
to process_exec_task_navigate
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of Navigation control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task Navigation navigate . */
/******************************************************/
/**************************************/
/* Navigation navigate execution task timer */
/**************************************/
process timer_Navigation_navigate (
&tick_navigate: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_navigate);
ignorep := fiacre_c_print_trace(867) /* (3) Navigation navigate timer arming. */;
to wait_
from wait_
wait[200.0, 200.0];
ignorep := fiacre_c_print_trace(868) /* (3) Navigation navigate timer elapsed. */;
tick_navigate:= true;
to start_
/*************************************************/
/* end of process timer_Navigation_navigate */
/*************************************************/
/******************************************/
/* Navigation navigate execution task main loop */
/******************************************/
process exec_task_Navigation_navigate (
&tick_navigate: bool,
&navigate_turn : act_inst_Navigation_navigate_turn_type,
&navigate_runnable: bool,
&navigate_activities: Activities_Navigation_navigate_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_navigate: act_inst_Navigation_navigate_index_type,
index: act_inst_Navigation_navigate_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(869) /* (4) Navigation ET navigate, setting runnable to true. */;
navigate_runnable := true;
if (tick_navigate) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(870) /* (4) Navigation ET navigate, setting runnable to false. */;
navigate_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(871) /* (0) Navigation ET navigate ***OVERSHOOT*** its period. */;
tick_navigate:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(872) /* (2) Navigation ET navigate waiting next period. */;
on tick_navigate;
tick_navigate:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(873) /* (3) Navigation ET navigate parsing activities status. */;
sched := [false, false, false, false];
foreach index_navigate do
if (navigate_activities[index_navigate].status = ACT_INIT_FCR) then
if (navigate_activities[index_navigate].start_ and
navigate_runnable) then
navigate_activities[index_navigate].status := ACT_RUN_FCR;
navigate_activities[index_navigate].state := Navigation_start_fcr;
navigate_activities[index_navigate].start_ := false;
navigate_activities[index_navigate].pause := false
end;
if navigate_activities[index_navigate].stop then
if (navigate_activities[index_navigate].sid = NAVIGATION_NONE) then /* permanent activity */
navigate_activities[index_navigate].status := ACT_STOP_FCR;
navigate_activities[index_navigate].state := Navigation_stop_fcr;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].pause := false
else
navigate_activities[index_navigate].status := ACT_ETHER_FCR;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].state := genom_interrupted_fcr;
ignoreb := Fiacre_Navigation_genom_interrupt(navigate_activities[index_navigate]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (navigate_activities[index_navigate].status = ACT_RUN_FCR) then
if navigate_activities[index_navigate].stop then
navigate_activities[index_navigate].status := ACT_STOP_FCR;
navigate_activities[index_navigate].state := Navigation_stop_fcr;
navigate_activities[index_navigate].stop := false;
navigate_activities[index_navigate].pause := false
end;
if (navigate_activities[index_navigate].pause and
navigate_runnable) then
navigate_activities[index_navigate].pause := false
end
elsif (navigate_activities[index_navigate].status = ACT_STOP_FCR) then
if (navigate_activities[index_navigate].pause and
navigate_runnable) then
navigate_activities[index_navigate].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(874) /* (3) Navigation ET navigate, setting runnable to false. */;
navigate_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(875) /* (3) Navigation ET navigate executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (navigate_activities[index].status = ACT_RUN_FCR) and (not (navigate_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (navigate_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(876) /* (3) Navigation ET navigate gives control to service. */;
navigate_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (navigate_turn = Nb_act_inst_Navigation_navigate); //control comming back
ignorep := fiacre_c_print_trace(877) /* (3) Navigation ET navigate getting control back. */;
status := navigate_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(878) /* (2) Navigation ET navigate activity returned ACT_RUN. */;
if (not navigate_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(879) /* (1) Navigation ET navigate activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(880) /* (0) Navigation ET navigate ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_Navigation_navigate-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(881) /* (4) Navigation ET navigate, for all ET, setting runnable to true. */;
navigate_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_Navigation_navigate */
/*************************************************/
/****************************************************************************/
/* Navigation navigate fiacre process... there will be one for each instance. */
/****************************************************************************/
process navigate_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
navigate_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
exception, Navigation_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = navigate_index);
ignorep := fiacre_c_print_trace(882) /* (2) Navigation Activity navigate is getting control in state Navigation_start. */;
if (navigate_activities[navigate_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(not (control_running_codel = genom_Navigation_SetTarget_controlcb)) and
(not (control_running_codel = genom_Navigation_SetThreshold_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(883) /* (2) Navigation Activity navigate calling codel InitStructNavig. */;
//REMOVE ME
navigate_running_codel := InitStructNavig;
start Fiacre_Navigation_codel_task_navigate_start_task(navigate_activities[navigate_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_task_navigate_start_task state;
ignorep := fiacre_c_print_trace(884) /* (2) Navigation Activity navigate returned from codel InitStructNavig. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[navigate_index].state := Navigation_ether_fcr;
navigate_activities[navigate_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(885) /* (1) Navigation Activity navigate DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(886) /* (1) Navigation Activity navigate EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_Navigation_navigate_genom_bad_transition(navigate_activities[navigate_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[navigate_index].status := ACT_ETHER_FCR;
navigate_activities[navigate_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(887) /* (1) Navigation Activity navigate throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation navigate fiacre process. */
/******************************************/
/****************************************************************************/
/* Navigation SetTargetToCurrentPose fiacre process... there will be one for each instance. */
/****************************************************************************/
process SetTargetToCurrentPose_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
SetTargetToCurrentPose_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
exception, Navigation_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = SetTargetToCurrentPose_index);
ignorep := fiacre_c_print_trace(888) /* (2) Navigation Activity SetTargetToCurrentPose is getting control in state Navigation_start. */;
if (navigate_activities[SetTargetToCurrentPose_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(889) /* (2) Navigation Activity SetTargetToCurrentPose calling codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := SetTargetToCurrentPoseStart_port_codel;
mutex_ports[Navigation_Target_port] := SetTargetToCurrentPoseStart_port_codel;
//REMOVE ME
navigate_running_codel := SetTargetToCurrentPoseStart;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(890) /* (0) Navigation Activity SetTargetToCurrentPose ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_SetTargetToCurrentPose_start_task(navigate_activities[SetTargetToCurrentPose_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_service_SetTargetToCurrentPose_start_task state;
ignorep := fiacre_c_print_trace(891) /* (2) Navigation Activity SetTargetToCurrentPose returned from codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[SetTargetToCurrentPose_index].state := Navigation_ether_fcr;
navigate_activities[SetTargetToCurrentPose_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(892) /* (1) Navigation Activity SetTargetToCurrentPose DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(893) /* (1) Navigation Activity SetTargetToCurrentPose EXCEPTION... */;
to exception
end
from Navigation_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(894) /* (1) Navigation Activity SetTargetToCurrentPose in default stop. */;
ignoreb := Fiacre_Navigation_SetTargetToCurrentPose_genom_interrupt(navigate_activities[SetTargetToCurrentPose_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = Navigation_bad_target_port_fcr)) and
(not (state = Navigation_bad_pose_port_fcr)) and
true) then
ignoreb := Fiacre_Navigation_SetTargetToCurrentPose_genom_bad_transition(navigate_activities[SetTargetToCurrentPose_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[SetTargetToCurrentPose_index].status := ACT_ETHER_FCR;
navigate_activities[SetTargetToCurrentPose_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(895) /* (1) Navigation Activity SetTargetToCurrentPose throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation SetTargetToCurrentPose fiacre process. */
/******************************************/
/****************************************************************************/
/* Navigation ReadMapGraph fiacre process... there will be one for each instance. */
/****************************************************************************/
process ReadMapGraph_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
ReadMapGraph_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
exception, Navigation_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = ReadMapGraph_index);
ignorep := fiacre_c_print_trace(896) /* (2) Navigation Activity ReadMapGraph is getting control in state Navigation_start. */;
if (navigate_activities[ReadMapGraph_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(897) /* (2) Navigation Activity ReadMapGraph calling codel ReadMapGraph. */;
//REMOVE ME
navigate_running_codel := ReadMapGraph;
start Fiacre_Navigation_codel_service_ReadMapGraph_start_task(navigate_activities[ReadMapGraph_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_service_ReadMapGraph_start_task state;
ignorep := fiacre_c_print_trace(898) /* (2) Navigation Activity ReadMapGraph returned from codel ReadMapGraph. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[ReadMapGraph_index].state := Navigation_ether_fcr;
navigate_activities[ReadMapGraph_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(899) /* (1) Navigation Activity ReadMapGraph DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(900) /* (1) Navigation Activity ReadMapGraph EXCEPTION... */;
to exception
end
from Navigation_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(901) /* (1) Navigation Activity ReadMapGraph in default stop. */;
ignoreb := Fiacre_Navigation_ReadMapGraph_genom_interrupt(navigate_activities[ReadMapGraph_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = Navigation_bad_file_name_fcr)) and
true) then
ignoreb := Fiacre_Navigation_ReadMapGraph_genom_bad_transition(navigate_activities[ReadMapGraph_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[ReadMapGraph_index].status := ACT_ETHER_FCR;
navigate_activities[ReadMapGraph_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(902) /* (1) Navigation Activity ReadMapGraph throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation ReadMapGraph fiacre process. */
/******************************************/
/****************************************************************************/
/* Navigation GotoTarget fiacre process... there will be one for each instance. */
/****************************************************************************/
process GotoTarget_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
GotoTarget_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
exception, Navigation_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = GotoTarget_index);
ignorep := fiacre_c_print_trace(903) /* (2) Navigation Activity GotoTarget is getting control in state Navigation_start. */;
if (navigate_activities[GotoTarget_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(904) /* (2) Navigation Activity GotoTarget calling codel GotoTargetStart. */;
mutex_ports[Navigation_Target_port] := GotoTargetStart_port_codel;
//REMOVE ME
navigate_running_codel := GotoTargetStart;
start Fiacre_Navigation_codel_service_GotoTarget_start_task(navigate_activities[GotoTarget_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoTarget_start_task state;
ignorep := fiacre_c_print_trace(905) /* (2) Navigation Activity GotoTarget returned from codel GotoTargetStart. */;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[GotoTarget_index].state := Navigation_ether_fcr;
navigate_activities[GotoTarget_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(906) /* (1) Navigation Activity GotoTarget DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(907) /* (1) Navigation Activity GotoTarget EXCEPTION... */;
to exception
end
from Navigation_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(908) /* (1) Navigation Activity GotoTarget in default stop. */;
ignoreb := Fiacre_Navigation_GotoTarget_genom_interrupt(navigate_activities[GotoTarget_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = Navigation_bad_target_port_fcr)) and
true) then
ignoreb := Fiacre_Navigation_GotoTarget_genom_bad_transition(navigate_activities[GotoTarget_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[GotoTarget_index].status := ACT_ETHER_FCR;
navigate_activities[GotoTarget_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(909) /* (1) Navigation Activity GotoTarget throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation GotoTarget fiacre process. */
/******************************************/
/****************************************************************************/
/* Navigation GotoPosition fiacre process... there will be one for each instance. */
/****************************************************************************/
process GotoPosition_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
GotoPosition_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
Navigation_read_init_pose_port_fcr, Navigation_read_init_pose_port_sync_fcr_, Navigation_read_init_pose_port_dispatch_fcr_,
Navigation_plan_path_fcr, Navigation_plan_path_sync_fcr_, Navigation_plan_path_dispatch_fcr_,
Navigation_read_pose_port_fcr, Navigation_read_pose_port_sync_fcr_, Navigation_read_pose_port_dispatch_fcr_,
Navigation_execute_path_fcr, Navigation_execute_path_sync_fcr_, Navigation_execute_path_dispatch_fcr_,
Navigation_write_target_fcr, Navigation_write_target_sync_fcr_, Navigation_write_target_dispatch_fcr_,
Navigation_end_fcr, Navigation_end_sync_fcr_, Navigation_end_dispatch_fcr_,
Navigation_stop_fcr, Navigation_stop_sync_fcr_, Navigation_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(910) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_start. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(911) /* (2) Navigation Activity GotoPosition calling codel CheckPorts. */;
mutex_ports[pom_frame_port] := CheckPorts_port_codel;
mutex_ports[Navigation_Target_port] := CheckPorts_port_codel;
//REMOVE ME
navigate_running_codel := CheckPorts;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(912) /* (0) Navigation Activity GotoPosition ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoPosition_start_task(navigate_activities[GotoPosition_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_start_task state;
ignorep := fiacre_c_print_trace(913) /* (2) Navigation Activity GotoPosition returned from codel CheckPorts. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (
state = Navigation_read_init_pose_port_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(914) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_init_pose_port_fcr) then
to Navigation_read_init_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(915) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(916) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
from Navigation_read_init_pose_port_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(917) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_read_init_pose_port. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(918) /* (2) Navigation Activity GotoPosition calling codel ReadInitPosePort. */;
mutex_ports[pom_frame_port] := ReadInitPosePort_port_codel;
//REMOVE ME
navigate_running_codel := ReadInitPosePort;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(919) /* (0) Navigation Activity GotoPosition ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoPosition_read_init_pose_port_task(navigate_activities[GotoPosition_index]);
to Navigation_read_init_pose_port_sync_fcr_
from Navigation_read_init_pose_port_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_read_init_pose_port_task state;
ignorep := fiacre_c_print_trace(920) /* (2) Navigation Activity GotoPosition returned from codel ReadInitPosePort. */;
mutex_ports[pom_frame_port] := no_codel;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_read_init_pose_port_dispatch_fcr_
from Navigation_read_init_pose_port_dispatch_fcr_
wait [0,0];
if (
state = Navigation_plan_path_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(921) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_plan_path_fcr) then
to Navigation_plan_path_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(922) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(923) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
from Navigation_plan_path_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(924) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_plan_path. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(925) /* (2) Navigation Activity GotoPosition calling codel PlanPath. */;
//REMOVE ME
navigate_running_codel := PlanPath;
start Fiacre_Navigation_codel_service_GotoPosition_plan_path_task(navigate_activities[GotoPosition_index]);
to Navigation_plan_path_sync_fcr_
from Navigation_plan_path_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_plan_path_task state;
ignorep := fiacre_c_print_trace(926) /* (2) Navigation Activity GotoPosition returned from codel PlanPath. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_plan_path_dispatch_fcr_
from Navigation_plan_path_dispatch_fcr_
wait [0,0];
if (
state = Navigation_read_pose_port_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(927) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(928) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(929) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
from Navigation_read_pose_port_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(930) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_read_pose_port. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(931) /* (2) Navigation Activity GotoPosition calling codel ReadPosePort. */;
mutex_ports[pom_frame_port] := ReadPosePort_port_codel;
//REMOVE ME
navigate_running_codel := ReadPosePort;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(932) /* (0) Navigation Activity GotoPosition ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoPosition_read_pose_port_task(navigate_activities[GotoPosition_index]);
to Navigation_read_pose_port_sync_fcr_
from Navigation_read_pose_port_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_read_pose_port_task state;
ignorep := fiacre_c_print_trace(933) /* (2) Navigation Activity GotoPosition returned from codel ReadPosePort. */;
mutex_ports[pom_frame_port] := no_codel;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_read_pose_port_dispatch_fcr_
from Navigation_read_pose_port_dispatch_fcr_
wait [0,0];
if (
state = Navigation_execute_path_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(934) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_execute_path_fcr) then
to Navigation_execute_path_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(935) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(936) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
from Navigation_execute_path_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(937) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_execute_path. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(not (control_running_codel = genom_Navigation_SetTarget_controlcb)) and
(not (control_running_codel = genom_Navigation_SetThreshold_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(938) /* (2) Navigation Activity GotoPosition calling codel ExecutePath. */;
//REMOVE ME
navigate_running_codel := ExecutePath;
start Fiacre_Navigation_codel_service_GotoPosition_execute_path_task(navigate_activities[GotoPosition_index]);
to Navigation_execute_path_sync_fcr_
from Navigation_execute_path_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_execute_path_task state;
ignorep := fiacre_c_print_trace(939) /* (2) Navigation Activity GotoPosition returned from codel ExecutePath. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_execute_path_dispatch_fcr_
from Navigation_execute_path_dispatch_fcr_
wait [0,0];
if (
state = Navigation_write_target_fcr or
state = Navigation_plan_path_fcr or
state = Navigation_end_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(940) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_write_target_fcr) then
to Navigation_write_target_fcr
end;
if (state = Navigation_plan_path_fcr) then
to Navigation_plan_path_fcr
end;
if (state = Navigation_end_fcr) then
to Navigation_end_fcr
end;
to start_ // never reached
else
if (
state = Navigation_pause_read_pose_port_fcr or
false) then
if (state = Navigation_pause_read_pose_port_fcr) then state := Navigation_read_pose_port_fcr end;
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
navigate_activities[GotoPosition_index].pause := true;
ignorep := fiacre_c_print_trace(941) /* (2) Navigation Activity GotoPosition DONE for this cycle, pauses, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(942) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(943) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
end
from Navigation_write_target_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(944) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_write_target. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_SetTarget_controlcb)) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(945) /* (2) Navigation Activity GotoPosition calling codel WriteTarget. */;
mutex_ports[Navigation_Target_port] := WriteTarget_port_codel;
//REMOVE ME
navigate_running_codel := WriteTarget;
start Fiacre_Navigation_codel_service_GotoPosition_write_target_task(navigate_activities[GotoPosition_index]);
to Navigation_write_target_sync_fcr_
from Navigation_write_target_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_write_target_task state;
ignorep := fiacre_c_print_trace(946) /* (2) Navigation Activity GotoPosition returned from codel WriteTarget. */;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_write_target_dispatch_fcr_
from Navigation_write_target_dispatch_fcr_
wait [0,0];
if (
state = Navigation_end_fcr or
false) then
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(947) /* (2) Navigation Activity GotoPosition NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_end_fcr) then
to Navigation_end_fcr
end;
to start_ // never reached
else
if (
state = Navigation_pause_read_pose_port_fcr or
false) then
if (state = Navigation_pause_read_pose_port_fcr) then state := Navigation_read_pose_port_fcr end;
navigate_activities[GotoPosition_index].state := state;
navigate_activities[GotoPosition_index].status := ACT_RUN_FCR;
navigate_activities[GotoPosition_index].pause := true;
ignorep := fiacre_c_print_trace(948) /* (2) Navigation Activity GotoPosition DONE for this cycle, pauses, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(949) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(950) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
end
end
from Navigation_end_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(951) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_end. */;
if (navigate_activities[GotoPosition_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(952) /* (2) Navigation Activity GotoPosition calling codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := SetTargetToCurrentPoseStart_port_codel;
mutex_ports[Navigation_Target_port] := SetTargetToCurrentPoseStart_port_codel;
//REMOVE ME
navigate_running_codel := SetTargetToCurrentPoseStart;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(953) /* (0) Navigation Activity GotoPosition ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoPosition_end_task(navigate_activities[GotoPosition_index]);
to Navigation_end_sync_fcr_
from Navigation_end_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_end_task state;
ignorep := fiacre_c_print_trace(954) /* (2) Navigation Activity GotoPosition returned from codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_end_dispatch_fcr_
from Navigation_end_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(955) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(956) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
from Navigation_stop_fcr
on (navigate_turn = GotoPosition_index);
ignorep := fiacre_c_print_trace(957) /* (2) Navigation Activity GotoPosition is getting control in state Navigation_stop. */;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(958) /* (2) Navigation Activity GotoPosition calling codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := SetTargetToCurrentPoseStart_port_codel;
mutex_ports[Navigation_Target_port] := SetTargetToCurrentPoseStart_port_codel;
//REMOVE ME
navigate_running_codel := SetTargetToCurrentPoseStart;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(959) /* (0) Navigation Activity GotoPosition ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoPosition_stop_task(navigate_activities[GotoPosition_index]);
to Navigation_stop_sync_fcr_
from Navigation_stop_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoPosition_stop_task state;
ignorep := fiacre_c_print_trace(960) /* (2) Navigation Activity GotoPosition returned from codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_stop_dispatch_fcr_
from Navigation_stop_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[GotoPosition_index].state := Navigation_ether_fcr;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(961) /* (1) Navigation Activity GotoPosition DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(962) /* (1) Navigation Activity GotoPosition EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = Navigation_bad_target_port_fcr)) and
(not (state = Navigation_bad_pose_port_fcr)) and
true) then
ignoreb := Fiacre_Navigation_GotoPosition_genom_bad_transition(navigate_activities[GotoPosition_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[GotoPosition_index].status := ACT_ETHER_FCR;
navigate_activities[GotoPosition_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(963) /* (1) Navigation Activity GotoPosition throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation GotoPosition fiacre process. */
/******************************************/
/****************************************************************************/
/* Navigation GotoNode fiacre process... there will be one for each instance. */
/****************************************************************************/
process GotoNode_Navigation_navigate (
instance: 0..Max_Act_Inst_Navigation-1,
GotoNode_index: act_inst_Navigation_navigate_index_type,
&navigate_activities: Activities_Navigation_navigate_Array,
&navigate_running_codel: 0..max_number_mutex_codels_Navigation-1,
&control_running_codel: 0..max_number_mutex_codels_Navigation-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&navigate_turn: act_inst_Navigation_navigate_turn_type
) is
states
Navigation_start_fcr, Navigation_start_sync_fcr_, Navigation_start_dispatch_fcr_,
Navigation_read_init_pose_port_fcr, Navigation_read_init_pose_port_sync_fcr_, Navigation_read_init_pose_port_dispatch_fcr_,
Navigation_plan_path_fcr, Navigation_plan_path_sync_fcr_, Navigation_plan_path_dispatch_fcr_,
Navigation_read_pose_port_fcr, Navigation_read_pose_port_sync_fcr_, Navigation_read_pose_port_dispatch_fcr_,
Navigation_execute_path_fcr, Navigation_execute_path_sync_fcr_, Navigation_execute_path_dispatch_fcr_,
Navigation_write_target_fcr, Navigation_write_target_sync_fcr_, Navigation_write_target_dispatch_fcr_,
Navigation_end_fcr, Navigation_end_sync_fcr_, Navigation_end_dispatch_fcr_,
Navigation_stop_fcr, Navigation_stop_sync_fcr_, Navigation_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to Navigation_start_fcr
from Navigation_start_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(964) /* (2) Navigation Activity GotoNode is getting control in state Navigation_start. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(965) /* (2) Navigation Activity GotoNode calling codel CheckPorts. */;
mutex_ports[pom_frame_port] := CheckPorts_port_codel;
mutex_ports[Navigation_Target_port] := CheckPorts_port_codel;
//REMOVE ME
navigate_running_codel := CheckPorts;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(966) /* (0) Navigation Activity GotoNode ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoNode_start_task(navigate_activities[GotoNode_index]);
to Navigation_start_sync_fcr_
from Navigation_start_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_start_task state;
ignorep := fiacre_c_print_trace(967) /* (2) Navigation Activity GotoNode returned from codel CheckPorts. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_start_dispatch_fcr_
from Navigation_start_dispatch_fcr_
wait [0,0];
if (
state = Navigation_read_init_pose_port_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(968) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_init_pose_port_fcr) then
to Navigation_read_init_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(969) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(970) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
from Navigation_read_init_pose_port_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(971) /* (2) Navigation Activity GotoNode is getting control in state Navigation_read_init_pose_port. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(972) /* (2) Navigation Activity GotoNode calling codel ReadInitPosePort. */;
mutex_ports[pom_frame_port] := ReadInitPosePort_port_codel;
//REMOVE ME
navigate_running_codel := ReadInitPosePort;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(973) /* (0) Navigation Activity GotoNode ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoNode_read_init_pose_port_task(navigate_activities[GotoNode_index]);
to Navigation_read_init_pose_port_sync_fcr_
from Navigation_read_init_pose_port_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_read_init_pose_port_task state;
ignorep := fiacre_c_print_trace(974) /* (2) Navigation Activity GotoNode returned from codel ReadInitPosePort. */;
mutex_ports[pom_frame_port] := no_codel;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_read_init_pose_port_dispatch_fcr_
from Navigation_read_init_pose_port_dispatch_fcr_
wait [0,0];
if (
state = Navigation_plan_path_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(975) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_plan_path_fcr) then
to Navigation_plan_path_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(976) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(977) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
from Navigation_plan_path_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(978) /* (2) Navigation Activity GotoNode is getting control in state Navigation_plan_path. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(979) /* (2) Navigation Activity GotoNode calling codel PlanPathToNode. */;
//REMOVE ME
navigate_running_codel := PlanPathToNode;
start Fiacre_Navigation_codel_service_GotoNode_plan_path_task(navigate_activities[GotoNode_index]);
to Navigation_plan_path_sync_fcr_
from Navigation_plan_path_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_plan_path_task state;
ignorep := fiacre_c_print_trace(980) /* (2) Navigation Activity GotoNode returned from codel PlanPathToNode. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_plan_path_dispatch_fcr_
from Navigation_plan_path_dispatch_fcr_
wait [0,0];
if (
state = Navigation_read_pose_port_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(981) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(982) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(983) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
from Navigation_read_pose_port_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(984) /* (2) Navigation Activity GotoNode is getting control in state Navigation_read_pose_port. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(985) /* (2) Navigation Activity GotoNode calling codel ReadPosePort. */;
mutex_ports[pom_frame_port] := ReadPosePort_port_codel;
//REMOVE ME
navigate_running_codel := ReadPosePort;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(986) /* (0) Navigation Activity GotoNode ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoNode_read_pose_port_task(navigate_activities[GotoNode_index]);
to Navigation_read_pose_port_sync_fcr_
from Navigation_read_pose_port_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_read_pose_port_task state;
ignorep := fiacre_c_print_trace(987) /* (2) Navigation Activity GotoNode returned from codel ReadPosePort. */;
mutex_ports[pom_frame_port] := no_codel;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_read_pose_port_dispatch_fcr_
from Navigation_read_pose_port_dispatch_fcr_
wait [0,0];
if (
state = Navigation_execute_path_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(988) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_execute_path_fcr) then
to Navigation_execute_path_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(989) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(990) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
from Navigation_execute_path_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(991) /* (2) Navigation Activity GotoNode is getting control in state Navigation_execute_path. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_GetIDS_controlcb)) and
(not (control_running_codel = genom_Navigation_SetTarget_controlcb)) and
(not (control_running_codel = genom_Navigation_SetThreshold_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(992) /* (2) Navigation Activity GotoNode calling codel ExecutePath. */;
//REMOVE ME
navigate_running_codel := ExecutePath;
start Fiacre_Navigation_codel_service_GotoNode_execute_path_task(navigate_activities[GotoNode_index]);
to Navigation_execute_path_sync_fcr_
from Navigation_execute_path_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_execute_path_task state;
ignorep := fiacre_c_print_trace(993) /* (2) Navigation Activity GotoNode returned from codel ExecutePath. */;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_execute_path_dispatch_fcr_
from Navigation_execute_path_dispatch_fcr_
wait [0,0];
if (
state = Navigation_write_target_fcr or
state = Navigation_plan_path_fcr or
state = Navigation_end_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(994) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_write_target_fcr) then
to Navigation_write_target_fcr
end;
if (state = Navigation_plan_path_fcr) then
to Navigation_plan_path_fcr
end;
if (state = Navigation_end_fcr) then
to Navigation_end_fcr
end;
to start_ // never reached
else
if (
state = Navigation_pause_read_pose_port_fcr or
false) then
if (state = Navigation_pause_read_pose_port_fcr) then state := Navigation_read_pose_port_fcr end;
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
navigate_activities[GotoNode_index].pause := true;
ignorep := fiacre_c_print_trace(995) /* (2) Navigation Activity GotoNode DONE for this cycle, pauses, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(996) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(997) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
end
from Navigation_write_target_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(998) /* (2) Navigation Activity GotoNode is getting control in state Navigation_write_target. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(not (control_running_codel = genom_Navigation_SetTarget_controlcb)) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(999) /* (2) Navigation Activity GotoNode calling codel WriteTarget. */;
mutex_ports[Navigation_Target_port] := WriteTarget_port_codel;
//REMOVE ME
navigate_running_codel := WriteTarget;
start Fiacre_Navigation_codel_service_GotoNode_write_target_task(navigate_activities[GotoNode_index]);
to Navigation_write_target_sync_fcr_
from Navigation_write_target_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_write_target_task state;
ignorep := fiacre_c_print_trace(1000) /* (2) Navigation Activity GotoNode returned from codel WriteTarget. */;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_write_target_dispatch_fcr_
from Navigation_write_target_dispatch_fcr_
wait [0,0];
if (
state = Navigation_end_fcr or
false) then
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1001) /* (2) Navigation Activity GotoNode NOT done for this cycle, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_end_fcr) then
to Navigation_end_fcr
end;
to start_ // never reached
else
if (
state = Navigation_pause_read_pose_port_fcr or
false) then
if (state = Navigation_pause_read_pose_port_fcr) then state := Navigation_read_pose_port_fcr end;
navigate_activities[GotoNode_index].state := state;
navigate_activities[GotoNode_index].status := ACT_RUN_FCR;
navigate_activities[GotoNode_index].pause := true;
ignorep := fiacre_c_print_trace(1002) /* (2) Navigation Activity GotoNode DONE for this cycle, pauses, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
if (state = Navigation_read_pose_port_fcr) then
to Navigation_read_pose_port_fcr
end;
to start_ // never reached
else
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1003) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(1004) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
end
end
from Navigation_end_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(1005) /* (2) Navigation Activity GotoNode is getting control in state Navigation_end. */;
if (navigate_activities[GotoNode_index].state = Navigation_stop_fcr) then
to Navigation_stop_fcr
end;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1006) /* (2) Navigation Activity GotoNode calling codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := SetTargetToCurrentPoseStart_port_codel;
mutex_ports[Navigation_Target_port] := SetTargetToCurrentPoseStart_port_codel;
//REMOVE ME
navigate_running_codel := SetTargetToCurrentPoseStart;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(1007) /* (0) Navigation Activity GotoNode ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoNode_end_task(navigate_activities[GotoNode_index]);
to Navigation_end_sync_fcr_
from Navigation_end_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_end_task state;
ignorep := fiacre_c_print_trace(1008) /* (2) Navigation Activity GotoNode returned from codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_end_dispatch_fcr_
from Navigation_end_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1009) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(1010) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
from Navigation_stop_fcr
on (navigate_turn = GotoNode_index);
ignorep := fiacre_c_print_trace(1011) /* (2) Navigation Activity GotoNode is getting control in state Navigation_stop. */;
on (
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1012) /* (2) Navigation Activity GotoNode calling codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := SetTargetToCurrentPoseStart_port_codel;
mutex_ports[Navigation_Target_port] := SetTargetToCurrentPoseStart_port_codel;
//REMOVE ME
navigate_running_codel := SetTargetToCurrentPoseStart;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(1013) /* (0) Navigation Activity GotoNode ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_Navigation_codel_service_GotoNode_stop_task(navigate_activities[GotoNode_index]);
to Navigation_stop_sync_fcr_
from Navigation_stop_sync_fcr_
sync Fiacre_Navigation_codel_service_GotoNode_stop_task state;
ignorep := fiacre_c_print_trace(1014) /* (2) Navigation Activity GotoNode returned from codel SetTargetToCurrentPoseStart. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
write_ports[Navigation_Target_port] := true;
//REMOVE ME
navigate_running_codel := 0;
to Navigation_stop_dispatch_fcr_
from Navigation_stop_dispatch_fcr_
wait [0,0];
if (state = Navigation_ether_fcr) then
navigate_activities[GotoNode_index].state := Navigation_ether_fcr;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1015) /* (1) Navigation Activity GotoNode DONE (ether), back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
else
ignorep := fiacre_c_print_trace(1016) /* (1) Navigation Activity GotoNode EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = Navigation_bad_node_name_fcr)) and
(not (state = Navigation_bad_target_port_fcr)) and
(not (state = Navigation_bad_pose_port_fcr)) and
true) then
ignoreb := Fiacre_Navigation_GotoNode_genom_bad_transition(navigate_activities[GotoNode_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
navigate_activities[GotoNode_index].status := ACT_ETHER_FCR;
navigate_activities[GotoNode_index].state := state; //Navigation_ether_fcr
ignorep := fiacre_c_print_trace(1017) /* (1) Navigation Activity GotoNode throw an exception, back to ET. */;
navigate_turn := Nb_act_inst_Navigation_navigate;
to start_
/******************************************/
/* end of Navigation GotoNode fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task Navigation navigate . */
/******************************************************/
/********************************************/
/*End of Navigation processes section */
/********************************************/
/********************************************/
/* beginning of pom process section */
/********************************************/
/**********************************************/
/* pom abort_activity services control task part */
/**********************************************/
process pom_abort_activity_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1018) /* (1) pom CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1019) /* (1) pom CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1020) /* (0) pom CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1021) /* (2) pom CT abort_activity control codel. */;
start Fiacre_pom_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1022) /* (2) pom CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1023) /* (1) pom CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1024) /* (3) pom CT abort_activity updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_abort_activity]:= true;
ignorep := fiacre_c_print_trace(1025) /* (1) pom CT abort_activity ctrl activity report */;
ignoreb := Fiacre_pom_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1026) /* (1) pom CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1027) /* (4) pom CT abort_activity for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1028) /* (3) pom CT abort_activity giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom abort_activity services control task part */
/**********************************************/
/**********************************************/
/* pom connect_port services control task part */
/**********************************************/
process pom_connect_port_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1029) /* (1) pom CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1030) /* (1) pom CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1031) /* (0) pom CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1032) /* (2) pom CT connect_port control codel. */;
start Fiacre_pom_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1033) /* (2) pom CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1034) /* (1) pom CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1035) /* (3) pom CT connect_port updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_connect_port]:= true;
ignorep := fiacre_c_print_trace(1036) /* (1) pom CT connect_port ctrl activity report */;
ignoreb := Fiacre_pom_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1037) /* (1) pom CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1038) /* (4) pom CT connect_port for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1039) /* (3) pom CT connect_port giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom connect_port services control task part */
/**********************************************/
/**********************************************/
/* pom connect_service services control task part */
/**********************************************/
process pom_connect_service_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1040) /* (1) pom CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1041) /* (1) pom CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1042) /* (0) pom CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1043) /* (2) pom CT connect_service control codel. */;
start Fiacre_pom_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1044) /* (2) pom CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1045) /* (1) pom CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1046) /* (3) pom CT connect_service updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_connect_service]:= true;
ignorep := fiacre_c_print_trace(1047) /* (1) pom CT connect_service ctrl activity report */;
ignoreb := Fiacre_pom_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1048) /* (1) pom CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1049) /* (4) pom CT connect_service for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1050) /* (3) pom CT connect_service giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom connect_service services control task part */
/**********************************************/
/**********************************************/
/* pom kill services control task part */
/**********************************************/
process pom_kill_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
inter_task_filter, wait_filter_interrupted_ether, next_filter_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1051) /* (1) pom CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1052) /* (1) pom CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1053) /* (0) pom CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1054) /* (2) pom CT kill control codel. */;
start Fiacre_pom_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1055) /* (2) pom CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(1056) /* (1) pom CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_io := 0;
index_filter := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = POM_add_measurement_RQSTID_FCR) or
(io_activities[index_io].sid = POM_replay_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1057) /* (1) pom CT kill interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1058) /* (3) pom CT kill interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_pom_io-1) then
to inter_task_filter
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_filter
wait [0,0];
if (not (filter_activities[index_filter].status = ACT_VOID_FCR) and not (filter_activities[index_filter].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(1059) /* (1) pom CT kill interrupts a running activity in filter. */;
filter_activities[index_filter].stop := true;
to wait_filter_interrupted_ether
end
end;
to next_filter_activity
from wait_filter_interrupted_ether
wait [0,0];
on (filter_activities[index_filter].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1060) /* (3) pom CT kill interrupted service in filter has now reached ACT_ETHER_FCR. */;
to next_filter_activity
from next_filter_activity
wait [0,0];
to inter_task_ // Only one element in the activity array
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1061) /* (3) pom CT kill updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_kill]:= true;
ignorep := fiacre_c_print_trace(1062) /* (1) pom CT kill ctrl activity report */;
ignoreb := Fiacre_pom_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1063) /* (1) pom CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1064) /* (4) pom CT kill for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1065) /* (3) pom CT kill giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom kill services control task part */
/**********************************************/
/**********************************************/
/* pom get_history_length services control task part */
/**********************************************/
process pom_get_history_length_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_get_history_length_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1066) /* (1) pom CT get_history_length request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1067) /* (1) pom CT get_history_length is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1068) /* (0) pom CT get_history_length ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
true);
//REMOVE ME control_running_codel := genom_pom_get_history_length_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1069) /* (3) pom CT get_history_length middle */;
genom_event := Fiacre_pom_get_history_length_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1070) /* (3) pom CT get_history_length updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_get_history_length]:= true;
ignorep := fiacre_c_print_trace(1071) /* (1) pom CT get_history_length ctrl activity report */;
ignoreb := Fiacre_pom_get_history_length_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1072) /* (4) pom CT get_history_length for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1073) /* (3) pom CT get_history_length giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom get_history_length services control task part */
/**********************************************/
/**********************************************/
/* pom set_history_length services control task part */
/**********************************************/
process pom_set_history_length_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_set_history_length_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1074) /* (1) pom CT set_history_length request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1075) /* (1) pom CT set_history_length is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1076) /* (0) pom CT set_history_length ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_insert)) and
(not (io_running_codel = pom_io_stop)) and
(not (io_running_codel = pom_io_insert)) and
true);
//REMOVE ME control_running_codel := genom_pom_set_history_length_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1077) /* (3) pom CT set_history_length middle */;
genom_event := Fiacre_pom_set_history_length_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1078) /* (3) pom CT set_history_length updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_set_history_length]:= true;
ignorep := fiacre_c_print_trace(1079) /* (1) pom CT set_history_length ctrl activity report */;
ignoreb := Fiacre_pom_set_history_length_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1080) /* (4) pom CT set_history_length for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1081) /* (3) pom CT set_history_length giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom set_history_length services control task part */
/**********************************************/
/**********************************************/
/* pom get_prediction_model services control task part */
/**********************************************/
process pom_get_prediction_model_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_get_prediction_model_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1082) /* (1) pom CT get_prediction_model request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1083) /* (1) pom CT get_prediction_model is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1084) /* (0) pom CT get_prediction_model ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
true);
//REMOVE ME control_running_codel := genom_pom_get_prediction_model_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1085) /* (3) pom CT get_prediction_model middle */;
genom_event := Fiacre_pom_get_prediction_model_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1086) /* (3) pom CT get_prediction_model updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_get_prediction_model]:= true;
ignorep := fiacre_c_print_trace(1087) /* (1) pom CT get_prediction_model ctrl activity report */;
ignoreb := Fiacre_pom_get_prediction_model_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1088) /* (4) pom CT get_prediction_model for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1089) /* (3) pom CT get_prediction_model giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom get_prediction_model services control task part */
/**********************************************/
/**********************************************/
/* pom set_prediction_model services control task part */
/**********************************************/
process pom_set_prediction_model_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
validate, validate_sync,
middle,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_set_prediction_model_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1090) /* (1) pom CT set_prediction_model request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1091) /* (1) pom CT set_prediction_model is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1092) /* (0) pom CT set_prediction_model ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
true);
control_running_codel := set_prediction_model;
//REMOVE ME
ignorep := fiacre_c_print_trace(1093) /* (2) pom CT set_prediction_model validate */;
start Fiacre_pom_set_prediction_model_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_pom_set_prediction_model_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1094) /* (2) pom CT set_prediction_model validate ok */;
to middle
else
ignorep := fiacre_c_print_trace(1095) /* (1) pom CT set_prediction_model validate NOT OK */;
to report_exception
end
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
true);
//REMOVE ME control_running_codel := genom_pom_set_prediction_model_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1096) /* (3) pom CT set_prediction_model middle */;
genom_event := Fiacre_pom_set_prediction_model_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1097) /* (3) pom CT set_prediction_model updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_set_prediction_model]:= true;
ignorep := fiacre_c_print_trace(1098) /* (1) pom CT set_prediction_model ctrl activity report */;
ignoreb := Fiacre_pom_set_prediction_model_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1099) /* (1) pom CT set_prediction_model report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_set_prediction_model_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_set_prediction_model_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1100) /* (4) pom CT set_prediction_model for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1101) /* (3) pom CT set_prediction_model giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom set_prediction_model services control task part */
/**********************************************/
/**********************************************/
/* pom get_process_noise services control task part */
/**********************************************/
process pom_get_process_noise_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_get_process_noise_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1102) /* (1) pom CT get_process_noise request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1103) /* (1) pom CT get_process_noise is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1104) /* (0) pom CT get_process_noise ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
true);
//REMOVE ME control_running_codel := genom_pom_get_process_noise_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1105) /* (3) pom CT get_process_noise middle */;
genom_event := Fiacre_pom_get_process_noise_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1106) /* (3) pom CT get_process_noise updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_get_process_noise]:= true;
ignorep := fiacre_c_print_trace(1107) /* (1) pom CT get_process_noise ctrl activity report */;
ignoreb := Fiacre_pom_get_process_noise_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1108) /* (4) pom CT get_process_noise for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1109) /* (3) pom CT get_process_noise giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom get_process_noise services control task part */
/**********************************************/
/**********************************************/
/* pom set_process_noise services control task part */
/**********************************************/
process pom_set_process_noise_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
validate, validate_sync,
middle,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_set_process_noise_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1110) /* (1) pom CT set_process_noise request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1111) /* (1) pom CT set_process_noise is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1112) /* (0) pom CT set_process_noise ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
true);
control_running_codel := set_process_noise;
//REMOVE ME
ignorep := fiacre_c_print_trace(1113) /* (2) pom CT set_process_noise validate */;
start Fiacre_pom_set_process_noise_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_pom_set_process_noise_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1114) /* (2) pom CT set_process_noise validate ok */;
to middle
else
ignorep := fiacre_c_print_trace(1115) /* (1) pom CT set_process_noise validate NOT OK */;
to report_exception
end
from middle
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
true);
//REMOVE ME control_running_codel := genom_pom_set_process_noise_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1116) /* (3) pom CT set_process_noise middle */;
genom_event := Fiacre_pom_set_process_noise_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1117) /* (3) pom CT set_process_noise updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_set_process_noise]:= true;
ignorep := fiacre_c_print_trace(1118) /* (1) pom CT set_process_noise ctrl activity report */;
ignoreb := Fiacre_pom_set_process_noise_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1119) /* (1) pom CT set_process_noise report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_set_process_noise_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_set_process_noise_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1120) /* (4) pom CT set_process_noise for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1121) /* (3) pom CT set_process_noise giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom set_process_noise services control task part */
/**********************************************/
/**********************************************/
/* pom add_measurement services control task part */
/**********************************************/
process pom_add_measurement_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
ffa_reply_io: ffa_reply_pom_io,
index_filter: act_inst_pom_filter_index_type,
ffa_reply_filter: ffa_reply_pom_filter,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_add_measurement_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1122) /* (1) pom CT add_measurement request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1123) /* (1) pom CT add_measurement is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1124) /* (0) pom CT add_measurement ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_pom_io(io_activities, POM_add_measurement_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(1125) /* (0) pom CT add_measurement ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1126) /* (0) pom CT add_measurement ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(1127) /* (2) pom CT add_measurement is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_pom_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1128) /* (1) pom CT add_measurement report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_add_measurement_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_add_measurement_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1129) /* (4) pom CT add_measurement for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1130) /* (3) pom CT add_measurement giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom add_measurement services control task part */
/**********************************************/
/**********************************************/
/* pom replay services control task part */
/**********************************************/
process pom_replay_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_io, wait_io_interrupted_ether, next_io_activity,
inter_task_filter, wait_filter_interrupted_ether, next_filter_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
ffa_reply_io: ffa_reply_pom_io,
index_filter: act_inst_pom_filter_index_type,
ffa_reply_filter: ffa_reply_pom_filter,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_replay_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1131) /* (1) pom CT replay request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1132) /* (1) pom CT replay is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1133) /* (0) pom CT replay ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_io := 0;
index_filter := 0;
to inter_task_io
from inter_task_io
wait [0,0];
if (not (io_activities[index_io].status = ACT_VOID_FCR) and not (io_activities[index_io].status = ACT_ETHER_FCR)) then
if (
(io_activities[index_io].sid = POM_replay_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1134) /* (1) pom CT replay interrupts a running activity in io. */;
io_activities[index_io].stop := true;
to wait_io_interrupted_ether
end
end;
to next_io_activity
from wait_io_interrupted_ether
wait [0,0];
on (io_activities[index_io].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1135) /* (3) pom CT replay interrupted service in io has now reached ACT_ETHER_FCR. */;
to next_io_activity
from next_io_activity
wait [0,0];
if (index_io = Nb_act_inst_pom_io-1) then
to inter_task_filter
else
index_io := index_io + 1;
to inter_task_io
end
from inter_task_filter
wait [0,0];
if (not (filter_activities[index_filter].status = ACT_VOID_FCR) and not (filter_activities[index_filter].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(1136) /* (1) pom CT replay interrupts a running activity in filter. */;
filter_activities[index_filter].stop := true;
to wait_filter_interrupted_ether
end
end;
to next_filter_activity
from wait_filter_interrupted_ether
wait [0,0];
on (filter_activities[index_filter].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1137) /* (3) pom CT replay interrupted service in filter has now reached ACT_ETHER_FCR. */;
to next_filter_activity
from next_filter_activity
wait [0,0];
to inter_task_ // Only one element in the activity array
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_io := find_free_activity_pom_io(io_activities, POM_replay_RQSTID_FCR);
if (not ffa_reply_io.available) then
ignorep := fiacre_c_print_trace(1138) /* (0) pom CT replay ***WARNING*** cannot find a slot in io. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_io.available and ffa_reply_io.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1139) /* (0) pom CT replay ***WARNING*** slot still busy in io. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_io := ffa_reply_io.index;
ignorep := fiacre_c_print_trace(1140) /* (2) pom CT replay is transferred to ET io. */;
io_activities[index_io].grid := control_activity.grid;
io_activities[index_io].gaid := control_activity.gaid;
genom_event := Fiacre_pom_send_ir_extern(control_activity);
io_activities[index_io].status := ACT_INIT_FCR;
io_activities[index_io].start_ := true;
io_activities[index_io].pause := false;
io_activities[index_io].stop := false;
io_activities[index_io].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1141) /* (1) pom CT replay report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_replay_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_replay_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1142) /* (4) pom CT replay for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1143) /* (3) pom CT replay giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom replay services control task part */
/**********************************************/
/**********************************************/
/* pom set_position services control task part */
/**********************************************/
process pom_set_position_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_set_position_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1144) /* (1) pom CT set_position request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1145) /* (1) pom CT set_position is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1146) /* (0) pom CT set_position ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_insert)) and
(not (io_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_filter_start)) and
(not (filter_running_codel = pom_filter_exec)) and
(not (io_running_codel = pom_io_insert)) and
true);
control_running_codel := pom_set_position;
//REMOVE ME
ignorep := fiacre_c_print_trace(1147) /* (2) pom CT set_position control codel. */;
start Fiacre_pom_set_position_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_set_position_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1148) /* (2) pom CT set_position control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1149) /* (1) pom CT set_position control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1150) /* (3) pom CT set_position updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_set_position]:= true;
ignorep := fiacre_c_print_trace(1151) /* (1) pom CT set_position ctrl activity report */;
ignoreb := Fiacre_pom_set_position_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1152) /* (1) pom CT set_position report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_set_position_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_set_position_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1153) /* (4) pom CT set_position for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1154) /* (3) pom CT set_position giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom set_position services control task part */
/**********************************************/
/**********************************************/
/* pom log_state services control task part */
/**********************************************/
process pom_log_state_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_log_state_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1155) /* (1) pom CT log_state request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1156) /* (1) pom CT log_state is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1157) /* (0) pom CT log_state ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_filter_exec)) and
true);
control_running_codel := pom_log_state;
//REMOVE ME
ignorep := fiacre_c_print_trace(1158) /* (2) pom CT log_state control codel. */;
start Fiacre_pom_log_state_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_log_state_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1159) /* (2) pom CT log_state control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1160) /* (1) pom CT log_state control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1161) /* (3) pom CT log_state updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_log_state]:= true;
ignorep := fiacre_c_print_trace(1162) /* (1) pom CT log_state ctrl activity report */;
ignoreb := Fiacre_pom_log_state_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1163) /* (1) pom CT log_state report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_log_state_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_log_state_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1164) /* (4) pom CT log_state for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1165) /* (3) pom CT log_state giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom log_state services control task part */
/**********************************************/
/**********************************************/
/* pom log_measurements services control task part */
/**********************************************/
process pom_log_measurements_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_log_measurements_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1166) /* (1) pom CT log_measurements request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1167) /* (1) pom CT log_measurements is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1168) /* (0) pom CT log_measurements ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_insert)) and
(not (io_running_codel = pom_io_stop)) and
(not (io_running_codel = pom_io_insert)) and
true);
control_running_codel := pom_log_measurements;
//REMOVE ME
ignorep := fiacre_c_print_trace(1169) /* (2) pom CT log_measurements control codel. */;
start Fiacre_pom_log_measurements_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_log_measurements_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1170) /* (2) pom CT log_measurements control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1171) /* (1) pom CT log_measurements control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1172) /* (3) pom CT log_measurements updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_log_measurements]:= true;
ignorep := fiacre_c_print_trace(1173) /* (1) pom CT log_measurements ctrl activity report */;
ignoreb := Fiacre_pom_log_measurements_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1174) /* (1) pom CT log_measurements report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_log_measurements_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_log_measurements_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1175) /* (4) pom CT log_measurements for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1176) /* (3) pom CT log_measurements giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom log_measurements services control task part */
/**********************************************/
/**********************************************/
/* pom log_stop services control task part */
/**********************************************/
process pom_log_stop_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_log_stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1177) /* (1) pom CT log_stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1178) /* (1) pom CT log_stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1179) /* (0) pom CT log_stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_insert)) and
(not (io_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_filter_exec)) and
(not (io_running_codel = pom_io_insert)) and
true);
control_running_codel := pom_log_stop;
//REMOVE ME
ignorep := fiacre_c_print_trace(1180) /* (2) pom CT log_stop control codel. */;
start Fiacre_pom_log_stop_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_log_stop_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1181) /* (2) pom CT log_stop control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1182) /* (1) pom CT log_stop control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1183) /* (3) pom CT log_stop updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_log_stop]:= true;
ignorep := fiacre_c_print_trace(1184) /* (1) pom CT log_stop ctrl activity report */;
ignoreb := Fiacre_pom_log_stop_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1185) /* (1) pom CT log_stop report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_log_stop_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_log_stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1186) /* (4) pom CT log_stop for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1187) /* (3) pom CT log_stop giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom log_stop services control task part */
/**********************************************/
/**********************************************/
/* pom log_info services control task part */
/**********************************************/
process pom_log_info_CT (
&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&run_map: pom_Run_Map_Type,
&control_turn: POM_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POM_log_info_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1188) /* (1) pom CT log_info request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1189) /* (1) pom CT log_info is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1190) /* (0) pom CT log_info ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (io_running_codel = pom_io_start)) and
(not (io_running_codel = pom_io_insert)) and
(not (io_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_filter_exec)) and
(not (io_running_codel = pom_io_insert)) and
true);
control_running_codel := pom_log_info;
//REMOVE ME
ignorep := fiacre_c_print_trace(1191) /* (2) pom CT log_info control codel. */;
start Fiacre_pom_log_info_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_pom_log_info_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1192) /* (2) pom CT log_info control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1193) /* (1) pom CT log_info control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1194) /* (3) pom CT log_info updating run map */;
control_activity.state := pom_ether_fcr;
run_map[POM_log_info]:= true;
ignorep := fiacre_c_print_trace(1195) /* (1) pom CT log_info ctrl activity report */;
ignoreb := Fiacre_pom_log_info_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1196) /* (1) pom CT log_info report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_pom_log_info_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_pom_log_info_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1197) /* (4) pom CT log_info for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1198) /* (3) pom CT log_info giving control back */;
control_turn := POM_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of pom log_info services control task part */
/**********************************************/
/************************/
/* pom control task process */
/************************/
process control_task_pom
(&control_activity: fcr_activity_pom,
&io_activities: Activities_pom_io_Array,
&io_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&filter_runnable: bool,
&control_turn: POM_RQSTID_FCR,
&run_map: pom_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_io,
process_exec_task_filter,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_pom,
index_io: act_inst_pom_io_index_type,
index_filter: act_inst_pom_filter_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(1199) /* (1) pom CT init Mbox */;
pom_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(1200) /* (0) pom CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = POM_NONE);
ignorep := fiacre_c_print_trace(1201) /* (3) pom CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(1202) /* (1) pom CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(1203) /* (3) pom CT going to sleep */;
select
pom_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(1204) /* (2) pom CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(1205) /* (0) pom CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(1206) /* (0) pom CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(1207) /* (2) pom CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(1208) /* (2) pom CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = POM_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_io := 0;
index_filter := 0;
to process_exec_task_io
from process_exec_task_io
ignorep := fiacre_c_print_trace(1209) /* (3) pom CT processes io activities. */;
if (io_activities[index_io].status = ACT_INIT_FCR) then
if (not io_activities[index_io].start_) then
ignorep := fiacre_c_print_trace(1210) /* (4) pom CT setting ET io runnable to true. */;
io_runnable := true;
io_activities[index_io].start_:=true // check the pocolibs template
end
end;
if (io_activities[index_io].status = ACT_ETHER_FCR) then // we are done for this one
// io_activities[index_io].status := ACT_VOID_FCR;
if (not (io_activities[index_io].sid = POM_NONE)) then //not the perm activity
if (io_activities[index_io].state = pom_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(1211) /* (3) pom CT processes io activities, updating run_map. */;
run_map[pom_run_map_index_from_io_activity(io_activities[index_io])]:= true
else
ignorep := fiacre_c_print_trace(1212) /* (1) pom CT processes io activities, handle exception. */;
ignoreb := Fiacre_pom_handle_exception(io_activities[index_io], false)
end;
ignorep := fiacre_c_print_trace(1213) /* (1) pom CT processes io activities, activity report. */;
ignoreb := Fiacre_pom_activity_report(io_activities[index_io])
else
ignorep := fiacre_c_print_trace(1214) /* (1) pom CT processes io permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
io_activities[index_io].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_io = Nb_act_inst_pom_io-1) then
to process_exec_task_filter
else
index_io := index_io + 1;
to process_exec_task_io
end
from process_exec_task_filter
ignorep := fiacre_c_print_trace(1215) /* (3) pom CT processes filter activities. */;
if (filter_activities[index_filter].status = ACT_INIT_FCR) then
if (not filter_activities[index_filter].start_) then
ignorep := fiacre_c_print_trace(1216) /* (4) pom CT setting ET filter runnable to true. */;
filter_runnable := true;
filter_activities[index_filter].start_:=true // check the pocolibs template
end
end;
if (filter_activities[index_filter].status = ACT_ETHER_FCR) then // we are done for this one
// filter_activities[index_filter].status := ACT_VOID_FCR;
if (not (filter_activities[index_filter].sid = POM_NONE)) then //not the perm activity
if (filter_activities[index_filter].state = pom_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(1217) /* (3) pom CT processes filter activities, updating run_map. */;
run_map[pom_run_map_index_from_filter_activity(filter_activities[index_filter])]:= true
else
ignorep := fiacre_c_print_trace(1218) /* (1) pom CT processes filter activities, handle exception. */;
ignoreb := Fiacre_pom_handle_exception(filter_activities[index_filter], false)
end;
ignorep := fiacre_c_print_trace(1219) /* (1) pom CT processes filter activities, activity report. */;
ignoreb := Fiacre_pom_activity_report(filter_activities[index_filter])
else
ignorep := fiacre_c_print_trace(1220) /* (1) pom CT processes filter permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
filter_activities[index_filter].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
to process_exec_task_ // Only one element in the activity array
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of pom control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task pom io . */
/******************************************************/
/**************************************/
/* pom io execution task timer */
/**************************************/
process timer_pom_io (
&tick_io: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_io);
ignorep := fiacre_c_print_trace(1221) /* (3) pom io timer arming. */;
to wait_
from wait_
wait[10.0, 10.0];
ignorep := fiacre_c_print_trace(1222) /* (3) pom io timer elapsed. */;
tick_io:= true;
to start_
/*************************************************/
/* end of process timer_pom_io */
/*************************************************/
/******************************************/
/* pom io execution task main loop */
/******************************************/
process exec_task_pom_io (
&tick_io: bool,
&io_turn : act_inst_pom_io_turn_type,
&io_runnable: bool,
&filter_runnable: bool,
&io_activities: Activities_pom_io_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_io: act_inst_pom_io_index_type,
index: act_inst_pom_io_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(1223) /* (4) pom ET io, setting runnable to true. */;
io_runnable := true;
if (tick_io) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(1224) /* (4) pom ET io, setting runnable to false. */;
io_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(1225) /* (0) pom ET io ***OVERSHOOT*** its period. */;
tick_io:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(1226) /* (2) pom ET io waiting next period. */;
on tick_io;
tick_io:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(1227) /* (3) pom ET io parsing activities status. */;
sched := [false, false, false, false];
foreach index_io do
if (io_activities[index_io].status = ACT_INIT_FCR) then
if (io_activities[index_io].start_ and
io_runnable) then
io_activities[index_io].status := ACT_RUN_FCR;
io_activities[index_io].state := pom_start_fcr;
io_activities[index_io].start_ := false;
io_activities[index_io].pause := false
end;
if io_activities[index_io].stop then
if (io_activities[index_io].sid = POM_NONE) then /* permanent activity */
io_activities[index_io].status := ACT_STOP_FCR;
io_activities[index_io].state := pom_stop_fcr;
io_activities[index_io].stop := false;
io_activities[index_io].pause := false
else
io_activities[index_io].status := ACT_ETHER_FCR;
io_activities[index_io].stop := false;
io_activities[index_io].state := genom_interrupted_fcr;
ignoreb := Fiacre_pom_genom_interrupt(io_activities[index_io]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (io_activities[index_io].status = ACT_RUN_FCR) then
if io_activities[index_io].stop then
io_activities[index_io].status := ACT_STOP_FCR;
io_activities[index_io].state := pom_stop_fcr;
io_activities[index_io].stop := false;
io_activities[index_io].pause := false
end;
if (io_activities[index_io].pause and
io_runnable) then
io_activities[index_io].pause := false
end
elsif (io_activities[index_io].status = ACT_STOP_FCR) then
if (io_activities[index_io].pause and
io_runnable) then
io_activities[index_io].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(1228) /* (3) pom ET io, setting runnable to false. */;
io_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(1229) /* (3) pom ET io executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (io_activities[index].status = ACT_RUN_FCR) and (not (io_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (io_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(1230) /* (3) pom ET io gives control to service. */;
io_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (io_turn = Nb_act_inst_pom_io); //control comming back
ignorep := fiacre_c_print_trace(1231) /* (3) pom ET io getting control back. */;
status := io_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(1232) /* (2) pom ET io activity returned ACT_RUN. */;
if (not io_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(1233) /* (1) pom ET io activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(1234) /* (0) pom ET io ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_pom_io-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(1235) /* (4) pom ET io, for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_pom_io */
/*************************************************/
/****************************************************************************/
/* pom io fiacre process... there will be one for each instance. */
/****************************************************************************/
process io_pom_io (
instance: 0..Max_Act_Inst_pom-1,
io_index: act_inst_pom_io_index_type,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_pom_io_turn_type
) is
states
pom_start_fcr, pom_start_sync_fcr_, pom_start_dispatch_fcr_,
pom_read_fcr, pom_read_sync_fcr_, pom_read_dispatch_fcr_,
pom_insert_fcr, pom_insert_sync_fcr_, pom_insert_dispatch_fcr_,
pom_stop_fcr, pom_stop_sync_fcr_, pom_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to pom_start_fcr
from pom_start_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(1236) /* (2) pom Activity io is getting control in state pom_start. */;
if (io_activities[io_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(not (io_running_codel = pom_filter_start)) and
(not (io_running_codel = pom_filter_exec)) and
(not (control_running_codel = pom_set_position)) and
(not (control_running_codel = pom_log_state)) and
(not (control_running_codel = pom_log_measurements)) and
(not (control_running_codel = pom_log_stop)) and
(not (control_running_codel = pom_log_info)) and
(not (control_running_codel = genom_pom_get_history_length_controlcb)) and
(not (control_running_codel = genom_pom_set_history_length_controlcb)) and
(not (control_running_codel = genom_pom_get_prediction_model_controlcb)) and
(not (control_running_codel = genom_pom_set_prediction_model_controlcb)) and
(not (control_running_codel = genom_pom_get_process_noise_controlcb)) and
(not (control_running_codel = genom_pom_set_process_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(1237) /* (2) pom Activity io calling codel pom_io_start. */;
//REMOVE ME
io_running_codel := pom_io_start;
start Fiacre_pom_codel_task_io_start_task(io_activities[io_index]);
to pom_start_sync_fcr_
from pom_start_sync_fcr_
sync Fiacre_pom_codel_task_io_start_task state;
ignorep := fiacre_c_print_trace(1238) /* (2) pom Activity io returned from codel pom_io_start. */;
//REMOVE ME
io_running_codel := 0;
to pom_start_dispatch_fcr_
from pom_start_dispatch_fcr_
wait [0,0];
if (
state = pom_read_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1239) /* (2) pom Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_read_fcr) then
to pom_read_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1240) /* (1) pom Activity io EXCEPTION... */;
to exception
end
from pom_read_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(1241) /* (2) pom Activity io is getting control in state pom_read. */;
if (io_activities[io_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(mutex_ports[pom_measure_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1242) /* (2) pom Activity io calling codel pom_io_read. */;
mutex_ports[pom_measure_port] := pom_io_read_port_codel;
//REMOVE ME
io_running_codel := pom_io_read;
read_ports[pom_measure_port] := true;
if (not write_ports[pom_measure_port] and not RUP_reported[pom_measure_port]) then
ignorep := fiacre_c_print_trace(1243) /* (0) pom Activity io ***ERROR*** port pom_measure_port RUP. */;
RUP_reported[pom_measure_port] := true
end;
start Fiacre_pom_codel_task_io_read_task(io_activities[io_index]);
to pom_read_sync_fcr_
from pom_read_sync_fcr_
sync Fiacre_pom_codel_task_io_read_task state;
ignorep := fiacre_c_print_trace(1244) /* (2) pom Activity io returned from codel pom_io_read. */;
mutex_ports[pom_measure_port] := no_codel;
//REMOVE ME
io_running_codel := 0;
to pom_read_dispatch_fcr_
from pom_read_dispatch_fcr_
wait [0,0];
if (
state = pom_insert_fcr or
false) then
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1245) /* (2) pom Activity io NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_insert_fcr) then
to pom_insert_fcr
end;
to start_ // never reached
else
if (
state = pom_pause_read_fcr or
false) then
if (state = pom_pause_read_fcr) then state := pom_read_fcr end;
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
io_activities[io_index].pause := true;
ignorep := fiacre_c_print_trace(1246) /* (2) pom Activity io DONE for this cycle, pauses, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_read_fcr) then
to pom_read_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1247) /* (1) pom Activity io EXCEPTION... */;
to exception
end
end
from pom_insert_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(1248) /* (2) pom Activity io is getting control in state pom_insert. */;
if (io_activities[io_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(not (io_running_codel = pom_filter_start)) and
(not (io_running_codel = pom_filter_exec)) and
(not (control_running_codel = pom_set_position)) and
(not (control_running_codel = pom_log_measurements)) and
(not (control_running_codel = pom_log_stop)) and
(not (control_running_codel = pom_log_info)) and
(not (control_running_codel = genom_pom_set_history_length_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(1249) /* (2) pom Activity io calling codel pom_io_insert. */;
//REMOVE ME
io_running_codel := pom_io_insert;
start Fiacre_pom_codel_task_io_insert_task(io_activities[io_index]);
to pom_insert_sync_fcr_
from pom_insert_sync_fcr_
sync Fiacre_pom_codel_task_io_insert_task state;
ignorep := fiacre_c_print_trace(1250) /* (2) pom Activity io returned from codel pom_io_insert. */;
//REMOVE ME
io_running_codel := 0;
to pom_insert_dispatch_fcr_
from pom_insert_dispatch_fcr_
wait [0,0];
if (
state = pom_pause_read_fcr or
false) then
if (state = pom_pause_read_fcr) then state := pom_read_fcr end;
io_activities[io_index].state := state;
io_activities[io_index].status := ACT_RUN_FCR;
io_activities[io_index].pause := true;
ignorep := fiacre_c_print_trace(1251) /* (2) pom Activity io DONE for this cycle, pauses, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_read_fcr) then
to pom_read_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1252) /* (1) pom Activity io EXCEPTION... */;
to exception
end
from pom_stop_fcr
on (io_turn = io_index);
ignorep := fiacre_c_print_trace(1253) /* (2) pom Activity io is getting control in state pom_stop. */;
on (
(not (io_running_codel = pom_filter_start)) and
(not (io_running_codel = pom_filter_exec)) and
(not (control_running_codel = pom_set_position)) and
(not (control_running_codel = pom_log_state)) and
(not (control_running_codel = pom_log_measurements)) and
(not (control_running_codel = pom_log_stop)) and
(not (control_running_codel = pom_log_info)) and
(not (control_running_codel = genom_pom_get_history_length_controlcb)) and
(not (control_running_codel = genom_pom_set_history_length_controlcb)) and
(not (control_running_codel = genom_pom_get_prediction_model_controlcb)) and
(not (control_running_codel = genom_pom_set_prediction_model_controlcb)) and
(not (control_running_codel = genom_pom_get_process_noise_controlcb)) and
(not (control_running_codel = genom_pom_set_process_noise_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(1254) /* (2) pom Activity io calling codel pom_io_stop. */;
//REMOVE ME
io_running_codel := pom_io_stop;
start Fiacre_pom_codel_task_io_stop_task(io_activities[io_index]);
to pom_stop_sync_fcr_
from pom_stop_sync_fcr_
sync Fiacre_pom_codel_task_io_stop_task state;
ignorep := fiacre_c_print_trace(1255) /* (2) pom Activity io returned from codel pom_io_stop. */;
//REMOVE ME
io_running_codel := 0;
to pom_stop_dispatch_fcr_
from pom_stop_dispatch_fcr_
wait [0,0];
if (state = pom_ether_fcr) then
io_activities[io_index].state := pom_ether_fcr;
io_activities[io_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1256) /* (1) pom Activity io DONE (ether), back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
else
ignorep := fiacre_c_print_trace(1257) /* (1) pom Activity io EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = pom_e_sys_fcr)) and
true) then
ignoreb := Fiacre_pom_io_genom_bad_transition(io_activities[io_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[io_index].status := ACT_ETHER_FCR;
io_activities[io_index].state := state; //pom_ether_fcr
ignorep := fiacre_c_print_trace(1258) /* (1) pom Activity io throw an exception, back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
/******************************************/
/* end of pom io fiacre process. */
/******************************************/
/****************************************************************************/
/* pom add_measurement fiacre process... there will be one for each instance. */
/****************************************************************************/
process add_measurement_pom_io (
instance: 0..Max_Act_Inst_pom-1,
add_measurement_index: act_inst_pom_io_index_type,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_pom_io_turn_type
) is
states
pom_start_fcr, pom_start_sync_fcr_, pom_start_dispatch_fcr_,
exception, pom_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to pom_start_fcr
from pom_start_fcr
on (io_turn = add_measurement_index);
ignorep := fiacre_c_print_trace(1259) /* (2) pom Activity add_measurement is getting control in state pom_start. */;
if (io_activities[add_measurement_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1260) /* (2) pom Activity add_measurement calling codel pom_add_measurement. */;
//REMOVE ME
io_running_codel := pom_add_measurement;
start Fiacre_pom_codel_service_add_measurement_start_task(io_activities[add_measurement_index]);
to pom_start_sync_fcr_
from pom_start_sync_fcr_
sync Fiacre_pom_codel_service_add_measurement_start_task state;
ignorep := fiacre_c_print_trace(1261) /* (2) pom Activity add_measurement returned from codel pom_add_measurement. */;
//REMOVE ME
io_running_codel := 0;
to pom_start_dispatch_fcr_
from pom_start_dispatch_fcr_
wait [0,0];
if (state = pom_ether_fcr) then
io_activities[add_measurement_index].state := pom_ether_fcr;
io_activities[add_measurement_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1262) /* (1) pom Activity add_measurement DONE (ether), back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
else
ignorep := fiacre_c_print_trace(1263) /* (1) pom Activity add_measurement EXCEPTION... */;
to exception
end
from pom_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1264) /* (1) pom Activity add_measurement in default stop. */;
ignoreb := Fiacre_pom_add_measurement_genom_interrupt(io_activities[add_measurement_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = pom_e_sys_fcr)) and
true) then
ignoreb := Fiacre_pom_add_measurement_genom_bad_transition(io_activities[add_measurement_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[add_measurement_index].status := ACT_ETHER_FCR;
io_activities[add_measurement_index].state := state; //pom_ether_fcr
ignorep := fiacre_c_print_trace(1265) /* (1) pom Activity add_measurement throw an exception, back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
/******************************************/
/* end of pom add_measurement fiacre process. */
/******************************************/
/****************************************************************************/
/* pom replay fiacre process... there will be one for each instance. */
/****************************************************************************/
process replay_pom_io (
instance: 0..Max_Act_Inst_pom-1,
replay_index: act_inst_pom_io_index_type,
&io_activities: Activities_pom_io_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&io_turn: act_inst_pom_io_turn_type
) is
states
pom_start_fcr, pom_start_sync_fcr_, pom_start_dispatch_fcr_,
pom_read_fcr, pom_read_sync_fcr_, pom_read_dispatch_fcr_,
pom_insert_fcr, pom_insert_sync_fcr_, pom_insert_dispatch_fcr_,
pom_stop_fcr, pom_stop_sync_fcr_, pom_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to pom_start_fcr
from pom_start_fcr
on (io_turn = replay_index);
ignorep := fiacre_c_print_trace(1266) /* (2) pom Activity replay is getting control in state pom_start. */;
if (io_activities[replay_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1267) /* (2) pom Activity replay calling codel pom_replay_start. */;
//REMOVE ME
io_running_codel := pom_replay_start;
start Fiacre_pom_codel_service_replay_start_task(io_activities[replay_index]);
to pom_start_sync_fcr_
from pom_start_sync_fcr_
sync Fiacre_pom_codel_service_replay_start_task state;
ignorep := fiacre_c_print_trace(1268) /* (2) pom Activity replay returned from codel pom_replay_start. */;
//REMOVE ME
io_running_codel := 0;
to pom_start_dispatch_fcr_
from pom_start_dispatch_fcr_
wait [0,0];
if (
state = pom_read_fcr or
false) then
io_activities[replay_index].state := state;
io_activities[replay_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1269) /* (2) pom Activity replay NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_read_fcr) then
to pom_read_fcr
end;
to start_ // never reached
else
if (state = pom_ether_fcr) then
io_activities[replay_index].state := pom_ether_fcr;
io_activities[replay_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1270) /* (1) pom Activity replay DONE (ether), back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
else
ignorep := fiacre_c_print_trace(1271) /* (1) pom Activity replay EXCEPTION... */;
to exception
end
end
from pom_read_fcr
on (io_turn = replay_index);
ignorep := fiacre_c_print_trace(1272) /* (2) pom Activity replay is getting control in state pom_read. */;
if (io_activities[replay_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1273) /* (2) pom Activity replay calling codel pom_replay_read. */;
//REMOVE ME
io_running_codel := pom_replay_read;
start Fiacre_pom_codel_service_replay_read_task(io_activities[replay_index]);
to pom_read_sync_fcr_
from pom_read_sync_fcr_
sync Fiacre_pom_codel_service_replay_read_task state;
ignorep := fiacre_c_print_trace(1274) /* (2) pom Activity replay returned from codel pom_replay_read. */;
//REMOVE ME
io_running_codel := 0;
to pom_read_dispatch_fcr_
from pom_read_dispatch_fcr_
wait [0,0];
if (
state = pom_insert_fcr or
state = pom_stop_fcr or
false) then
io_activities[replay_index].state := state;
io_activities[replay_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1275) /* (2) pom Activity replay NOT done for this cycle, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_insert_fcr) then
to pom_insert_fcr
end;
if (state = pom_stop_fcr) then
to pom_stop_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1276) /* (1) pom Activity replay EXCEPTION... */;
to exception
end
from pom_insert_fcr
on (io_turn = replay_index);
ignorep := fiacre_c_print_trace(1277) /* (2) pom Activity replay is getting control in state pom_insert. */;
if (io_activities[replay_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(not (io_running_codel = pom_filter_start)) and
(not (io_running_codel = pom_filter_exec)) and
(not (control_running_codel = pom_set_position)) and
(not (control_running_codel = pom_log_measurements)) and
(not (control_running_codel = pom_log_stop)) and
(not (control_running_codel = pom_log_info)) and
(not (control_running_codel = genom_pom_set_history_length_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(1278) /* (2) pom Activity replay calling codel pom_io_insert. */;
//REMOVE ME
io_running_codel := pom_io_insert;
start Fiacre_pom_codel_service_replay_insert_task(io_activities[replay_index]);
to pom_insert_sync_fcr_
from pom_insert_sync_fcr_
sync Fiacre_pom_codel_service_replay_insert_task state;
ignorep := fiacre_c_print_trace(1279) /* (2) pom Activity replay returned from codel pom_io_insert. */;
//REMOVE ME
io_running_codel := 0;
to pom_insert_dispatch_fcr_
from pom_insert_dispatch_fcr_
wait [0,0];
if (
state = pom_pause_read_fcr or
false) then
if (state = pom_pause_read_fcr) then state := pom_read_fcr end;
io_activities[replay_index].state := state;
io_activities[replay_index].status := ACT_RUN_FCR;
io_activities[replay_index].pause := true;
ignorep := fiacre_c_print_trace(1280) /* (2) pom Activity replay DONE for this cycle, pauses, back to ET. */;
io_turn := Nb_act_inst_pom_io;
if (state = pom_read_fcr) then
to pom_read_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1281) /* (1) pom Activity replay EXCEPTION... */;
to exception
end
from pom_stop_fcr
on (io_turn = replay_index);
ignorep := fiacre_c_print_trace(1282) /* (2) pom Activity replay is getting control in state pom_stop. */;
on (
true
);
ignorep := fiacre_c_print_trace(1283) /* (2) pom Activity replay calling codel pom_replay_stop. */;
//REMOVE ME
io_running_codel := pom_replay_stop;
start Fiacre_pom_codel_service_replay_stop_task(io_activities[replay_index]);
to pom_stop_sync_fcr_
from pom_stop_sync_fcr_
sync Fiacre_pom_codel_service_replay_stop_task state;
ignorep := fiacre_c_print_trace(1284) /* (2) pom Activity replay returned from codel pom_replay_stop. */;
//REMOVE ME
io_running_codel := 0;
to pom_stop_dispatch_fcr_
from pom_stop_dispatch_fcr_
wait [0,0];
if (state = pom_ether_fcr) then
io_activities[replay_index].state := pom_ether_fcr;
io_activities[replay_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1285) /* (1) pom Activity replay DONE (ether), back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
else
ignorep := fiacre_c_print_trace(1286) /* (1) pom Activity replay EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = pom_e_sys_fcr)) and
true) then
ignoreb := Fiacre_pom_replay_genom_bad_transition(io_activities[replay_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
io_activities[replay_index].status := ACT_ETHER_FCR;
io_activities[replay_index].state := state; //pom_ether_fcr
ignorep := fiacre_c_print_trace(1287) /* (1) pom Activity replay throw an exception, back to ET. */;
io_turn := Nb_act_inst_pom_io;
to start_
/******************************************/
/* end of pom replay fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task pom io . */
/******************************************************/
/******************************************************/
/* beginning of the section specific to task pom filter . */
/******************************************************/
/**************************************/
/* pom filter execution task timer */
/**************************************/
process timer_pom_filter (
&tick_filter: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_filter);
ignorep := fiacre_c_print_trace(1288) /* (3) pom filter timer arming. */;
to wait_
from wait_
wait[10.0, 10.0];
ignorep := fiacre_c_print_trace(1289) /* (3) pom filter timer elapsed. */;
tick_filter:= true;
to start_
/*************************************************/
/* end of process timer_pom_filter */
/*************************************************/
/******************************************/
/* pom filter execution task main loop */
/******************************************/
process exec_task_pom_filter (
&tick_filter: bool,
&filter_turn : act_inst_pom_filter_turn_type,
&io_runnable: bool,
&filter_runnable: bool,
&filter_activities: Activities_pom_filter_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_filter: act_inst_pom_filter_index_type,
index: act_inst_pom_filter_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(1290) /* (4) pom ET filter, setting runnable to true. */;
filter_runnable := true;
if (tick_filter) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(1291) /* (4) pom ET filter, setting runnable to false. */;
filter_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(1292) /* (0) pom ET filter ***OVERSHOOT*** its period. */;
tick_filter:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(1293) /* (2) pom ET filter waiting next period. */;
on tick_filter;
tick_filter:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(1294) /* (3) pom ET filter parsing activities status. */;
sched := [false, false, false, false];
foreach index_filter do
if (filter_activities[index_filter].status = ACT_INIT_FCR) then
if (filter_activities[index_filter].start_ and
filter_runnable) then
filter_activities[index_filter].status := ACT_RUN_FCR;
filter_activities[index_filter].state := pom_start_fcr;
filter_activities[index_filter].start_ := false;
filter_activities[index_filter].pause := false
end;
if filter_activities[index_filter].stop then
if (filter_activities[index_filter].sid = POM_NONE) then /* permanent activity */
filter_activities[index_filter].status := ACT_STOP_FCR;
filter_activities[index_filter].state := pom_stop_fcr;
filter_activities[index_filter].stop := false;
filter_activities[index_filter].pause := false
else
filter_activities[index_filter].status := ACT_ETHER_FCR;
filter_activities[index_filter].stop := false;
filter_activities[index_filter].state := genom_interrupted_fcr;
ignoreb := Fiacre_pom_genom_interrupt(filter_activities[index_filter]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (filter_activities[index_filter].status = ACT_RUN_FCR) then
if filter_activities[index_filter].stop then
filter_activities[index_filter].status := ACT_STOP_FCR;
filter_activities[index_filter].state := pom_stop_fcr;
filter_activities[index_filter].stop := false;
filter_activities[index_filter].pause := false
end;
if (filter_activities[index_filter].pause and
filter_runnable) then
filter_activities[index_filter].pause := false
end
elsif (filter_activities[index_filter].status = ACT_STOP_FCR) then
if (filter_activities[index_filter].pause and
filter_runnable) then
filter_activities[index_filter].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(1295) /* (3) pom ET filter, setting runnable to false. */;
filter_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(1296) /* (3) pom ET filter executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (filter_activities[index].status = ACT_RUN_FCR) and (not (filter_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (filter_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(1297) /* (3) pom ET filter gives control to service. */;
filter_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (filter_turn = Nb_act_inst_pom_filter); //control comming back
ignorep := fiacre_c_print_trace(1298) /* (3) pom ET filter getting control back. */;
status := filter_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(1299) /* (2) pom ET filter activity returned ACT_RUN. */;
if (not filter_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(1300) /* (1) pom ET filter activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(1301) /* (0) pom ET filter ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
to epilogue // Only one activity in this task
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(1302) /* (4) pom ET filter, for all ET, setting runnable to true. */;
io_runnable := true;
filter_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_pom_filter */
/*************************************************/
/****************************************************************************/
/* pom filter fiacre process... there will be one for each instance. */
/****************************************************************************/
process filter_pom_filter (
instance: 0..Max_Act_Inst_pom-1,
filter_index: act_inst_pom_filter_index_type,
&filter_activities: Activities_pom_filter_Array,
&io_running_codel: 0..max_number_mutex_codels_pom-1,
&filter_running_codel: 0..max_number_mutex_codels_pom-1,
&control_running_codel: 0..max_number_mutex_codels_pom-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&filter_turn: act_inst_pom_filter_turn_type
) is
states
pom_start_fcr, pom_start_sync_fcr_, pom_start_dispatch_fcr_,
pom_exec_fcr, pom_exec_sync_fcr_, pom_exec_dispatch_fcr_,
exception, pom_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to pom_start_fcr
from pom_start_fcr
on (filter_turn = filter_index);
ignorep := fiacre_c_print_trace(1303) /* (2) pom Activity filter is getting control in state pom_start. */;
if (filter_activities[filter_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(not (filter_running_codel = pom_io_start)) and
(not (filter_running_codel = pom_io_insert)) and
(not (filter_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_io_insert)) and
(not (control_running_codel = pom_set_position)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1304) /* (2) pom Activity filter calling codel pom_filter_start. */;
mutex_ports[pom_frame_port] := pom_filter_start_port_codel;
//REMOVE ME
filter_running_codel := pom_filter_start;
start Fiacre_pom_codel_task_filter_start_task(filter_activities[filter_index]);
to pom_start_sync_fcr_
from pom_start_sync_fcr_
sync Fiacre_pom_codel_task_filter_start_task state;
ignorep := fiacre_c_print_trace(1305) /* (2) pom Activity filter returned from codel pom_filter_start. */;
mutex_ports[pom_frame_port] := no_codel;
write_ports[pom_frame_port] := true;
//REMOVE ME
filter_running_codel := 0;
to pom_start_dispatch_fcr_
from pom_start_dispatch_fcr_
wait [0,0];
if (
state = pom_exec_fcr or
false) then
filter_activities[filter_index].state := state;
filter_activities[filter_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1306) /* (2) pom Activity filter NOT done for this cycle, back to ET. */;
filter_turn := Nb_act_inst_pom_filter;
if (state = pom_exec_fcr) then
to pom_exec_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1307) /* (1) pom Activity filter EXCEPTION... */;
to exception
end
from pom_exec_fcr
on (filter_turn = filter_index);
ignorep := fiacre_c_print_trace(1308) /* (2) pom Activity filter is getting control in state pom_exec. */;
if (filter_activities[filter_index].state = pom_stop_fcr) then
to pom_stop_fcr
end;
on (
(not (filter_running_codel = pom_io_start)) and
(not (filter_running_codel = pom_io_insert)) and
(not (filter_running_codel = pom_io_stop)) and
(not (filter_running_codel = pom_io_insert)) and
(not (control_running_codel = pom_set_position)) and
(not (control_running_codel = pom_log_state)) and
(not (control_running_codel = pom_log_stop)) and
(not (control_running_codel = pom_log_info)) and
(mutex_ports[pom_frame_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1309) /* (2) pom Activity filter calling codel pom_filter_exec. */;
mutex_ports[pom_frame_port] := pom_filter_exec_port_codel;
//REMOVE ME
filter_running_codel := pom_filter_exec;
start Fiacre_pom_codel_task_filter_exec_task(filter_activities[filter_index]);
to pom_exec_sync_fcr_
from pom_exec_sync_fcr_
sync Fiacre_pom_codel_task_filter_exec_task state;
ignorep := fiacre_c_print_trace(1310) /* (2) pom Activity filter returned from codel pom_filter_exec. */;
mutex_ports[pom_frame_port] := no_codel;
write_ports[pom_frame_port] := true;
//REMOVE ME
filter_running_codel := 0;
to pom_exec_dispatch_fcr_
from pom_exec_dispatch_fcr_
wait [0,0];
if (
state = pom_pause_exec_fcr or
false) then
if (state = pom_pause_exec_fcr) then state := pom_exec_fcr end;
filter_activities[filter_index].state := state;
filter_activities[filter_index].status := ACT_RUN_FCR;
filter_activities[filter_index].pause := true;
ignorep := fiacre_c_print_trace(1311) /* (2) pom Activity filter DONE for this cycle, pauses, back to ET. */;
filter_turn := Nb_act_inst_pom_filter;
if (state = pom_exec_fcr) then
to pom_exec_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1312) /* (1) pom Activity filter EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = pom_e_sys_fcr)) and
true) then
ignoreb := Fiacre_pom_filter_genom_bad_transition(filter_activities[filter_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
filter_activities[filter_index].status := ACT_ETHER_FCR;
filter_activities[filter_index].state := state; //pom_ether_fcr
ignorep := fiacre_c_print_trace(1313) /* (1) pom Activity filter throw an exception, back to ET. */;
filter_turn := Nb_act_inst_pom_filter;
to start_
/******************************************/
/* end of pom filter fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task pom filter . */
/******************************************************/
/********************************************/
/*End of pom processes section */
/********************************************/
/********************************************/
/* beginning of PotentialField process section */
/********************************************/
/**********************************************/
/* PotentialField abort_activity services control task part */
/**********************************************/
process PotentialField_abort_activity_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1314) /* (1) PotentialField CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1315) /* (1) PotentialField CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1316) /* (0) PotentialField CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1317) /* (2) PotentialField CT abort_activity control codel. */;
start Fiacre_PotentialField_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1318) /* (2) PotentialField CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1319) /* (1) PotentialField CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1320) /* (3) PotentialField CT abort_activity updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_abort_activity]:= true;
ignorep := fiacre_c_print_trace(1321) /* (1) PotentialField CT abort_activity ctrl activity report */;
ignoreb := Fiacre_PotentialField_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1322) /* (1) PotentialField CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1323) /* (4) PotentialField CT abort_activity for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1324) /* (3) PotentialField CT abort_activity giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField abort_activity services control task part */
/**********************************************/
/**********************************************/
/* PotentialField connect_port services control task part */
/**********************************************/
process PotentialField_connect_port_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1325) /* (1) PotentialField CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1326) /* (1) PotentialField CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1327) /* (0) PotentialField CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1328) /* (2) PotentialField CT connect_port control codel. */;
start Fiacre_PotentialField_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1329) /* (2) PotentialField CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1330) /* (1) PotentialField CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1331) /* (3) PotentialField CT connect_port updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_connect_port]:= true;
ignorep := fiacre_c_print_trace(1332) /* (1) PotentialField CT connect_port ctrl activity report */;
ignoreb := Fiacre_PotentialField_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1333) /* (1) PotentialField CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1334) /* (4) PotentialField CT connect_port for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1335) /* (3) PotentialField CT connect_port giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField connect_port services control task part */
/**********************************************/
/**********************************************/
/* PotentialField connect_service services control task part */
/**********************************************/
process PotentialField_connect_service_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1336) /* (1) PotentialField CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1337) /* (1) PotentialField CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1338) /* (0) PotentialField CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1339) /* (2) PotentialField CT connect_service control codel. */;
start Fiacre_PotentialField_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1340) /* (2) PotentialField CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1341) /* (1) PotentialField CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1342) /* (3) PotentialField CT connect_service updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_connect_service]:= true;
ignorep := fiacre_c_print_trace(1343) /* (1) PotentialField CT connect_service ctrl activity report */;
ignoreb := Fiacre_PotentialField_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1344) /* (1) PotentialField CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1345) /* (4) PotentialField CT connect_service for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1346) /* (3) PotentialField CT connect_service giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField connect_service services control task part */
/**********************************************/
/**********************************************/
/* PotentialField kill services control task part */
/**********************************************/
process PotentialField_kill_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1347) /* (1) PotentialField CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1348) /* (1) PotentialField CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1349) /* (0) PotentialField CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1350) /* (2) PotentialField CT kill control codel. */;
start Fiacre_PotentialField_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1351) /* (2) PotentialField CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(1352) /* (1) PotentialField CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_Init_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1353) /* (1) PotentialField CT kill interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1354) /* (3) PotentialField CT kill interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1355) /* (3) PotentialField CT kill updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_kill]:= true;
ignorep := fiacre_c_print_trace(1356) /* (1) PotentialField CT kill ctrl activity report */;
ignoreb := Fiacre_PotentialField_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1357) /* (1) PotentialField CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1358) /* (4) PotentialField CT kill for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1359) /* (3) PotentialField CT kill giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField kill services control task part */
/**********************************************/
/**********************************************/
/* PotentialField GetIDS services control task part */
/**********************************************/
process PotentialField_GetIDS_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_GetIDS_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1360) /* (1) PotentialField CT GetIDS request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1361) /* (1) PotentialField CT GetIDS is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1362) /* (0) PotentialField CT GetIDS ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = InitStructPF)) and
(not (plan_running_codel = CleanStrucPF)) and
(not (plan_running_codel = GTPStop)) and
(not (plan_running_codel = WriteDirectlyCmdPortPF)) and
(not (plan_running_codel = GTPStop)) and
(not (plan_running_codel = ReadPorts)) and
(not (plan_running_codel = BuildMap)) and
(not (plan_running_codel = ComputeSpeed)) and
(not (plan_running_codel = GTPStop)) and
(not (plan_running_codel = PublishObstacles)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_GetIDS_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1363) /* (3) PotentialField CT GetIDS middle */;
genom_event := Fiacre_PotentialField_GetIDS_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1364) /* (3) PotentialField CT GetIDS updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_GetIDS]:= true;
ignorep := fiacre_c_print_trace(1365) /* (1) PotentialField CT GetIDS ctrl activity report */;
ignoreb := Fiacre_PotentialField_GetIDS_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1366) /* (4) PotentialField CT GetIDS for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1367) /* (3) PotentialField CT GetIDS giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField GetIDS services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetDistanceToGoal services control task part */
/**********************************************/
process PotentialField_SetDistanceToGoal_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetDistanceToGoal_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1368) /* (1) PotentialField CT SetDistanceToGoal request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1369) /* (1) PotentialField CT SetDistanceToGoal is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1370) /* (0) PotentialField CT SetDistanceToGoal ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetDistanceToGoal_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1371) /* (3) PotentialField CT SetDistanceToGoal middle */;
genom_event := Fiacre_PotentialField_SetDistanceToGoal_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1372) /* (3) PotentialField CT SetDistanceToGoal updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetDistanceToGoal]:= true;
ignorep := fiacre_c_print_trace(1373) /* (1) PotentialField CT SetDistanceToGoal ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetDistanceToGoal_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1374) /* (4) PotentialField CT SetDistanceToGoal for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1375) /* (3) PotentialField CT SetDistanceToGoal giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetDistanceToGoal services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetHitMaxDistance services control task part */
/**********************************************/
process PotentialField_SetHitMaxDistance_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetHitMaxDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1376) /* (1) PotentialField CT SetHitMaxDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1377) /* (1) PotentialField CT SetHitMaxDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1378) /* (0) PotentialField CT SetHitMaxDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = BuildMap)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetHitMaxDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1379) /* (3) PotentialField CT SetHitMaxDistance middle */;
genom_event := Fiacre_PotentialField_SetHitMaxDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1380) /* (3) PotentialField CT SetHitMaxDistance updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetHitMaxDistance]:= true;
ignorep := fiacre_c_print_trace(1381) /* (1) PotentialField CT SetHitMaxDistance ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetHitMaxDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1382) /* (4) PotentialField CT SetHitMaxDistance for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1383) /* (3) PotentialField CT SetHitMaxDistance giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetHitMaxDistance services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetHitMinDistance services control task part */
/**********************************************/
process PotentialField_SetHitMinDistance_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetHitMinDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1384) /* (1) PotentialField CT SetHitMinDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1385) /* (1) PotentialField CT SetHitMinDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1386) /* (0) PotentialField CT SetHitMinDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = BuildMap)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetHitMinDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1387) /* (3) PotentialField CT SetHitMinDistance middle */;
genom_event := Fiacre_PotentialField_SetHitMinDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1388) /* (3) PotentialField CT SetHitMinDistance updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetHitMinDistance]:= true;
ignorep := fiacre_c_print_trace(1389) /* (1) PotentialField CT SetHitMinDistance ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetHitMinDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1390) /* (4) PotentialField CT SetHitMinDistance for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1391) /* (3) PotentialField CT SetHitMinDistance giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetHitMinDistance services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetHitMinZ services control task part */
/**********************************************/
process PotentialField_SetHitMinZ_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetHitMinZ_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1392) /* (1) PotentialField CT SetHitMinZ request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1393) /* (1) PotentialField CT SetHitMinZ is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1394) /* (0) PotentialField CT SetHitMinZ ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = BuildMap)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetHitMinZ_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1395) /* (3) PotentialField CT SetHitMinZ middle */;
genom_event := Fiacre_PotentialField_SetHitMinZ_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1396) /* (3) PotentialField CT SetHitMinZ updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetHitMinZ]:= true;
ignorep := fiacre_c_print_trace(1397) /* (1) PotentialField CT SetHitMinZ ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetHitMinZ_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1398) /* (4) PotentialField CT SetHitMinZ for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1399) /* (3) PotentialField CT SetHitMinZ giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetHitMinZ services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetHitMaxZ services control task part */
/**********************************************/
process PotentialField_SetHitMaxZ_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetHitMaxZ_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1400) /* (1) PotentialField CT SetHitMaxZ request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1401) /* (1) PotentialField CT SetHitMaxZ is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1402) /* (0) PotentialField CT SetHitMaxZ ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = BuildMap)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetHitMaxZ_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1403) /* (3) PotentialField CT SetHitMaxZ middle */;
genom_event := Fiacre_PotentialField_SetHitMaxZ_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1404) /* (3) PotentialField CT SetHitMaxZ updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetHitMaxZ]:= true;
ignorep := fiacre_c_print_trace(1405) /* (1) PotentialField CT SetHitMaxZ ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetHitMaxZ_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1406) /* (4) PotentialField CT SetHitMaxZ for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1407) /* (3) PotentialField CT SetHitMaxZ giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetHitMaxZ services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetRepForceDistance services control task part */
/**********************************************/
process PotentialField_SetRepForceDistance_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetRepForceDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1408) /* (1) PotentialField CT SetRepForceDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1409) /* (1) PotentialField CT SetRepForceDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1410) /* (0) PotentialField CT SetRepForceDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetRepForceDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1411) /* (3) PotentialField CT SetRepForceDistance middle */;
genom_event := Fiacre_PotentialField_SetRepForceDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1412) /* (3) PotentialField CT SetRepForceDistance updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetRepForceDistance]:= true;
ignorep := fiacre_c_print_trace(1413) /* (1) PotentialField CT SetRepForceDistance ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetRepForceDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1414) /* (4) PotentialField CT SetRepForceDistance for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1415) /* (3) PotentialField CT SetRepForceDistance giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetRepForceDistance services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetNu services control task part */
/**********************************************/
process PotentialField_SetNu_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetNu_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1416) /* (1) PotentialField CT SetNu request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1417) /* (1) PotentialField CT SetNu is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1418) /* (0) PotentialField CT SetNu ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetNu_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1419) /* (3) PotentialField CT SetNu middle */;
genom_event := Fiacre_PotentialField_SetNu_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1420) /* (3) PotentialField CT SetNu updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetNu]:= true;
ignorep := fiacre_c_print_trace(1421) /* (1) PotentialField CT SetNu ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetNu_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1422) /* (4) PotentialField CT SetNu for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1423) /* (3) PotentialField CT SetNu giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetNu services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetPsi services control task part */
/**********************************************/
process PotentialField_SetPsi_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetPsi_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1424) /* (1) PotentialField CT SetPsi request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1425) /* (1) PotentialField CT SetPsi is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1426) /* (0) PotentialField CT SetPsi ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetPsi_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1427) /* (3) PotentialField CT SetPsi middle */;
genom_event := Fiacre_PotentialField_SetPsi_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1428) /* (3) PotentialField CT SetPsi updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetPsi]:= true;
ignorep := fiacre_c_print_trace(1429) /* (1) PotentialField CT SetPsi ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetPsi_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1430) /* (4) PotentialField CT SetPsi for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1431) /* (3) PotentialField CT SetPsi giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetPsi services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetAlpha services control task part */
/**********************************************/
process PotentialField_SetAlpha_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetAlpha_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1432) /* (1) PotentialField CT SetAlpha request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1433) /* (1) PotentialField CT SetAlpha is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1434) /* (0) PotentialField CT SetAlpha ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetAlpha_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1435) /* (3) PotentialField CT SetAlpha middle */;
genom_event := Fiacre_PotentialField_SetAlpha_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1436) /* (3) PotentialField CT SetAlpha updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetAlpha]:= true;
ignorep := fiacre_c_print_trace(1437) /* (1) PotentialField CT SetAlpha ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetAlpha_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1438) /* (4) PotentialField CT SetAlpha for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1439) /* (3) PotentialField CT SetAlpha giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetAlpha services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetEpsilon services control task part */
/**********************************************/
process PotentialField_SetEpsilon_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetEpsilon_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1440) /* (1) PotentialField CT SetEpsilon request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1441) /* (1) PotentialField CT SetEpsilon is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1442) /* (0) PotentialField CT SetEpsilon ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetEpsilon_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1443) /* (3) PotentialField CT SetEpsilon middle */;
genom_event := Fiacre_PotentialField_SetEpsilon_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1444) /* (3) PotentialField CT SetEpsilon updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetEpsilon]:= true;
ignorep := fiacre_c_print_trace(1445) /* (1) PotentialField CT SetEpsilon ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetEpsilon_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1446) /* (4) PotentialField CT SetEpsilon for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1447) /* (3) PotentialField CT SetEpsilon giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetEpsilon services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetMaxSpeed services control task part */
/**********************************************/
process PotentialField_SetMaxSpeed_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
validate, validate_sync,
middle,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetMaxSpeed_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1448) /* (1) PotentialField CT SetMaxSpeed request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1449) /* (1) PotentialField CT SetMaxSpeed is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1450) /* (0) PotentialField CT SetMaxSpeed ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
true);
control_running_codel := PFSetMaxSpeedValidate;
//REMOVE ME
ignorep := fiacre_c_print_trace(1451) /* (2) PotentialField CT SetMaxSpeed validate */;
start Fiacre_PotentialField_SetMaxSpeed_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_PotentialField_SetMaxSpeed_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1452) /* (2) PotentialField CT SetMaxSpeed validate ok */;
to middle
else
ignorep := fiacre_c_print_trace(1453) /* (1) PotentialField CT SetMaxSpeed validate NOT OK */;
to report_exception
end
from middle
on (
(not (plan_running_codel = InitStructPF)) and
(not (plan_running_codel = ComputeSpeed)) and
true);
//REMOVE ME control_running_codel := genom_PotentialField_SetMaxSpeed_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1454) /* (3) PotentialField CT SetMaxSpeed middle */;
genom_event := Fiacre_PotentialField_SetMaxSpeed_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1455) /* (3) PotentialField CT SetMaxSpeed updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetMaxSpeed]:= true;
ignorep := fiacre_c_print_trace(1456) /* (1) PotentialField CT SetMaxSpeed ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetMaxSpeed_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1457) /* (1) PotentialField CT SetMaxSpeed report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_SetMaxSpeed_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_SetMaxSpeed_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1458) /* (4) PotentialField CT SetMaxSpeed for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1459) /* (3) PotentialField CT SetMaxSpeed giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetMaxSpeed services control task part */
/**********************************************/
/**********************************************/
/* PotentialField Stop services control task part */
/**********************************************/
process PotentialField_Stop_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_Stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1460) /* (1) PotentialField CT Stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1461) /* (1) PotentialField CT Stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1462) /* (0) PotentialField CT Stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1463) /* (1) PotentialField CT Stop interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1464) /* (3) PotentialField CT Stop interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1465) /* (3) PotentialField CT Stop updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_Stop]:= true;
ignorep := fiacre_c_print_trace(1466) /* (1) PotentialField CT Stop ctrl activity report */;
ignoreb := Fiacre_PotentialField_Stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1467) /* (4) PotentialField CT Stop for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1468) /* (3) PotentialField CT Stop giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField Stop services control task part */
/**********************************************/
/**********************************************/
/* PotentialField StopPublishOccupancyGrid services control task part */
/**********************************************/
process PotentialField_StopPublishOccupancyGrid_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_StopPublishOccupancyGrid_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1469) /* (1) PotentialField CT StopPublishOccupancyGrid request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1470) /* (1) PotentialField CT StopPublishOccupancyGrid is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1471) /* (0) PotentialField CT StopPublishOccupancyGrid ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1472) /* (1) PotentialField CT StopPublishOccupancyGrid interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1473) /* (3) PotentialField CT StopPublishOccupancyGrid interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1474) /* (3) PotentialField CT StopPublishOccupancyGrid updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_StopPublishOccupancyGrid]:= true;
ignorep := fiacre_c_print_trace(1475) /* (1) PotentialField CT StopPublishOccupancyGrid ctrl activity report */;
ignoreb := Fiacre_PotentialField_StopPublishOccupancyGrid_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1476) /* (4) PotentialField CT StopPublishOccupancyGrid for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1477) /* (3) PotentialField CT StopPublishOccupancyGrid giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField StopPublishOccupancyGrid services control task part */
/**********************************************/
/**********************************************/
/* PotentialField SetVerbose services control task part */
/**********************************************/
process PotentialField_SetVerbose_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_SetVerbose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1478) /* (1) PotentialField CT SetVerbose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1479) /* (1) PotentialField CT SetVerbose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1480) /* (0) PotentialField CT SetVerbose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := PFSetVerboseLevel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1481) /* (2) PotentialField CT SetVerbose control codel. */;
start Fiacre_PotentialField_SetVerbose_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_SetVerbose_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1482) /* (2) PotentialField CT SetVerbose control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1483) /* (1) PotentialField CT SetVerbose control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1484) /* (3) PotentialField CT SetVerbose updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_SetVerbose]:= true;
ignorep := fiacre_c_print_trace(1485) /* (1) PotentialField CT SetVerbose ctrl activity report */;
ignoreb := Fiacre_PotentialField_SetVerbose_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1486) /* (1) PotentialField CT SetVerbose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_SetVerbose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_SetVerbose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1487) /* (4) PotentialField CT SetVerbose for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1488) /* (3) PotentialField CT SetVerbose giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField SetVerbose services control task part */
/**********************************************/
/**********************************************/
/* PotentialField PrintObstaclesMap services control task part */
/**********************************************/
process PotentialField_PrintObstaclesMap_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_PrintObstaclesMap_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1489) /* (1) PotentialField CT PrintObstaclesMap request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1490) /* (1) PotentialField CT PrintObstaclesMap is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1491) /* (0) PotentialField CT PrintObstaclesMap ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (plan_running_codel = InitStructPF)) and
(not (plan_running_codel = BuildMap)) and
true);
control_running_codel := PrintObstacles;
//REMOVE ME
ignorep := fiacre_c_print_trace(1492) /* (2) PotentialField CT PrintObstaclesMap control codel. */;
start Fiacre_PotentialField_PrintObstaclesMap_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_PotentialField_PrintObstaclesMap_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1493) /* (2) PotentialField CT PrintObstaclesMap control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1494) /* (1) PotentialField CT PrintObstaclesMap control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1495) /* (3) PotentialField CT PrintObstaclesMap updating run map */;
control_activity.state := PotentialField_ether_fcr;
run_map[POTENTIALFIELD_PrintObstaclesMap]:= true;
ignorep := fiacre_c_print_trace(1496) /* (1) PotentialField CT PrintObstaclesMap ctrl activity report */;
ignoreb := Fiacre_PotentialField_PrintObstaclesMap_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1497) /* (1) PotentialField CT PrintObstaclesMap report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_PrintObstaclesMap_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_PrintObstaclesMap_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1498) /* (4) PotentialField CT PrintObstaclesMap for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1499) /* (3) PotentialField CT PrintObstaclesMap giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField PrintObstaclesMap services control task part */
/**********************************************/
/**********************************************/
/* PotentialField Init services control task part */
/**********************************************/
process PotentialField_Init_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
ffa_reply_plan: ffa_reply_PotentialField_plan,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_Init_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1500) /* (1) PotentialField CT Init request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1501) /* (1) PotentialField CT Init is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1502) /* (0) PotentialField CT Init ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_plan := find_free_activity_PotentialField_plan(plan_activities, POTENTIALFIELD_Init_RQSTID_FCR);
if (not ffa_reply_plan.available) then
ignorep := fiacre_c_print_trace(1503) /* (0) PotentialField CT Init ***WARNING*** cannot find a slot in plan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_plan.available and ffa_reply_plan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1504) /* (0) PotentialField CT Init ***WARNING*** slot still busy in plan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_plan := ffa_reply_plan.index;
ignorep := fiacre_c_print_trace(1505) /* (2) PotentialField CT Init is transferred to ET plan. */;
plan_activities[index_plan].grid := control_activity.grid;
plan_activities[index_plan].gaid := control_activity.gaid;
genom_event := Fiacre_PotentialField_send_ir_extern(control_activity);
plan_activities[index_plan].status := ACT_INIT_FCR;
plan_activities[index_plan].start_ := true;
plan_activities[index_plan].pause := false;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1506) /* (1) PotentialField CT Init report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_Init_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_Init_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1507) /* (4) PotentialField CT Init for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1508) /* (3) PotentialField CT Init giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField Init services control task part */
/**********************************************/
/**********************************************/
/* PotentialField WriteSpeedInPort services control task part */
/**********************************************/
process PotentialField_WriteSpeedInPort_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
ffa_reply_plan: ffa_reply_PotentialField_plan,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1509) /* (1) PotentialField CT WriteSpeedInPort request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1510) /* (1) PotentialField CT WriteSpeedInPort is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1511) /* (0) PotentialField CT WriteSpeedInPort ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1512) /* (1) PotentialField CT WriteSpeedInPort interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1513) /* (3) PotentialField CT WriteSpeedInPort interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_plan := find_free_activity_PotentialField_plan(plan_activities, POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR);
if (not ffa_reply_plan.available) then
ignorep := fiacre_c_print_trace(1514) /* (0) PotentialField CT WriteSpeedInPort ***WARNING*** cannot find a slot in plan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_plan.available and ffa_reply_plan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1515) /* (0) PotentialField CT WriteSpeedInPort ***WARNING*** slot still busy in plan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_plan := ffa_reply_plan.index;
ignorep := fiacre_c_print_trace(1516) /* (2) PotentialField CT WriteSpeedInPort is transferred to ET plan. */;
plan_activities[index_plan].grid := control_activity.grid;
plan_activities[index_plan].gaid := control_activity.gaid;
genom_event := Fiacre_PotentialField_send_ir_extern(control_activity);
plan_activities[index_plan].status := ACT_INIT_FCR;
plan_activities[index_plan].start_ := true;
plan_activities[index_plan].pause := false;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1517) /* (1) PotentialField CT WriteSpeedInPort report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_WriteSpeedInPort_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_WriteSpeedInPort_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1518) /* (4) PotentialField CT WriteSpeedInPort for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1519) /* (3) PotentialField CT WriteSpeedInPort giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField WriteSpeedInPort services control task part */
/**********************************************/
/**********************************************/
/* PotentialField StartTrackTargetPort services control task part */
/**********************************************/
process PotentialField_StartTrackTargetPort_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
ffa_reply_plan: ffa_reply_PotentialField_plan,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1520) /* (1) PotentialField CT StartTrackTargetPort request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1521) /* (1) PotentialField CT StartTrackTargetPort is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1522) /* (0) PotentialField CT StartTrackTargetPort ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[POTENTIALFIELD_SetHitMinDistance]) then
ignorep := fiacre_c_print_trace(1523) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetHitMinDistance. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetHitMinZ]) then
ignorep := fiacre_c_print_trace(1524) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetHitMinZ. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetHitMaxZ]) then
ignorep := fiacre_c_print_trace(1525) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetHitMaxZ. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetHitMaxDistance]) then
ignorep := fiacre_c_print_trace(1526) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetHitMaxDistance. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetRepForceDistance]) then
ignorep := fiacre_c_print_trace(1527) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetRepForceDistance. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetNu]) then
ignorep := fiacre_c_print_trace(1528) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetNu. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetPsi]) then
ignorep := fiacre_c_print_trace(1529) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetPsi. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetEpsilon]) then
ignorep := fiacre_c_print_trace(1530) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetEpsilon. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetDistanceToGoal]) then
ignorep := fiacre_c_print_trace(1531) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetDistanceToGoal. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_Init]) then
ignorep := fiacre_c_print_trace(1532) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) Init. */;
to disallowed
end;
if (not run_map[POTENTIALFIELD_SetMaxSpeed]) then
ignorep := fiacre_c_print_trace(1533) /* (2) PotentialField CT StartTrackTargetPort disallowed (after) SetMaxSpeed. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_PotentialField_disallowed();
ignoreb := Fiacre_PotentialField_StartTrackTargetPort_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR) or
(plan_activities[index_plan].sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1534) /* (1) PotentialField CT StartTrackTargetPort interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1535) /* (3) PotentialField CT StartTrackTargetPort interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_plan := find_free_activity_PotentialField_plan(plan_activities, POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR);
if (not ffa_reply_plan.available) then
ignorep := fiacre_c_print_trace(1536) /* (0) PotentialField CT StartTrackTargetPort ***WARNING*** cannot find a slot in plan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_plan.available and ffa_reply_plan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1537) /* (0) PotentialField CT StartTrackTargetPort ***WARNING*** slot still busy in plan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_plan := ffa_reply_plan.index;
ignorep := fiacre_c_print_trace(1538) /* (2) PotentialField CT StartTrackTargetPort is transferred to ET plan. */;
plan_activities[index_plan].grid := control_activity.grid;
plan_activities[index_plan].gaid := control_activity.gaid;
genom_event := Fiacre_PotentialField_send_ir_extern(control_activity);
plan_activities[index_plan].status := ACT_INIT_FCR;
plan_activities[index_plan].start_ := true;
plan_activities[index_plan].pause := false;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1539) /* (1) PotentialField CT StartTrackTargetPort report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_StartTrackTargetPort_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_StartTrackTargetPort_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1540) /* (4) PotentialField CT StartTrackTargetPort for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1541) /* (3) PotentialField CT StartTrackTargetPort giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField StartTrackTargetPort services control task part */
/**********************************************/
/**********************************************/
/* PotentialField PublishOccupancyGrid services control task part */
/**********************************************/
process PotentialField_PublishOccupancyGrid_CT (
&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&plan_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&run_map: PotentialField_Run_Map_Type,
&control_turn: POTENTIALFIELD_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_plan, wait_plan_interrupted_ether, next_plan_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
ffa_reply_plan: ffa_reply_PotentialField_plan,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1542) /* (1) PotentialField CT PublishOccupancyGrid request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1543) /* (1) PotentialField CT PublishOccupancyGrid is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1544) /* (0) PotentialField CT PublishOccupancyGrid ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_plan := 0;
to inter_task_plan
from inter_task_plan
wait [0,0];
if (not (plan_activities[index_plan].status = ACT_VOID_FCR) and not (plan_activities[index_plan].status = ACT_ETHER_FCR)) then
if (
(plan_activities[index_plan].sid = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1545) /* (1) PotentialField CT PublishOccupancyGrid interrupts a running activity in plan. */;
plan_activities[index_plan].stop := true;
to wait_plan_interrupted_ether
end
end;
to next_plan_activity
from wait_plan_interrupted_ether
wait [0,0];
on (plan_activities[index_plan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1546) /* (3) PotentialField CT PublishOccupancyGrid interrupted service in plan has now reached ACT_ETHER_FCR. */;
to next_plan_activity
from next_plan_activity
wait [0,0];
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to inter_task_
else
index_plan := index_plan + 1;
to inter_task_plan
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_plan := find_free_activity_PotentialField_plan(plan_activities, POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR);
if (not ffa_reply_plan.available) then
ignorep := fiacre_c_print_trace(1547) /* (0) PotentialField CT PublishOccupancyGrid ***WARNING*** cannot find a slot in plan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_plan.available and ffa_reply_plan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1548) /* (0) PotentialField CT PublishOccupancyGrid ***WARNING*** slot still busy in plan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_plan := ffa_reply_plan.index;
ignorep := fiacre_c_print_trace(1549) /* (2) PotentialField CT PublishOccupancyGrid is transferred to ET plan. */;
plan_activities[index_plan].grid := control_activity.grid;
plan_activities[index_plan].gaid := control_activity.gaid;
genom_event := Fiacre_PotentialField_send_ir_extern(control_activity);
plan_activities[index_plan].status := ACT_INIT_FCR;
plan_activities[index_plan].start_ := true;
plan_activities[index_plan].pause := false;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1550) /* (1) PotentialField CT PublishOccupancyGrid report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_PotentialField_PublishOccupancyGrid_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_PotentialField_PublishOccupancyGrid_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1551) /* (4) PotentialField CT PublishOccupancyGrid for all ET, setting runnable to true. */;
plan_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1552) /* (3) PotentialField CT PublishOccupancyGrid giving control back */;
control_turn := POTENTIALFIELD_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of PotentialField PublishOccupancyGrid services control task part */
/**********************************************/
/************************/
/* PotentialField control task process */
/************************/
process control_task_PotentialField
(&control_activity: fcr_activity_PotentialField,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_runnable: bool,
&control_turn: POTENTIALFIELD_RQSTID_FCR,
&run_map: PotentialField_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_plan,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_PotentialField,
index_plan: act_inst_PotentialField_plan_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(1553) /* (1) PotentialField CT init Mbox */;
PotentialField_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(1554) /* (0) PotentialField CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = POTENTIALFIELD_NONE);
ignorep := fiacre_c_print_trace(1555) /* (3) PotentialField CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(1556) /* (1) PotentialField CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(1557) /* (3) PotentialField CT going to sleep */;
select
PotentialField_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(1558) /* (2) PotentialField CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(1559) /* (0) PotentialField CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(1560) /* (0) PotentialField CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(1561) /* (2) PotentialField CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(1562) /* (2) PotentialField CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = POTENTIALFIELD_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_plan := 0;
to process_exec_task_plan
from process_exec_task_plan
ignorep := fiacre_c_print_trace(1563) /* (3) PotentialField CT processes plan activities. */;
if (plan_activities[index_plan].status = ACT_INIT_FCR) then
if (not plan_activities[index_plan].start_) then
ignorep := fiacre_c_print_trace(1564) /* (4) PotentialField CT setting ET plan runnable to true. */;
plan_runnable := true;
plan_activities[index_plan].start_:=true // check the pocolibs template
end
end;
if (plan_activities[index_plan].status = ACT_ETHER_FCR) then // we are done for this one
// plan_activities[index_plan].status := ACT_VOID_FCR;
if (not (plan_activities[index_plan].sid = POTENTIALFIELD_NONE)) then //not the perm activity
if (plan_activities[index_plan].state = PotentialField_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(1565) /* (3) PotentialField CT processes plan activities, updating run_map. */;
run_map[PotentialField_run_map_index_from_plan_activity(plan_activities[index_plan])]:= true
else
ignorep := fiacre_c_print_trace(1566) /* (1) PotentialField CT processes plan activities, handle exception. */;
ignoreb := Fiacre_PotentialField_handle_exception(plan_activities[index_plan], false)
end;
ignorep := fiacre_c_print_trace(1567) /* (1) PotentialField CT processes plan activities, activity report. */;
ignoreb := Fiacre_PotentialField_activity_report(plan_activities[index_plan])
else
ignorep := fiacre_c_print_trace(1568) /* (1) PotentialField CT processes plan permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
plan_activities[index_plan].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_plan = Nb_act_inst_PotentialField_plan-1) then
to process_exec_task_
else
index_plan := index_plan + 1;
to process_exec_task_plan
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of PotentialField control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task PotentialField plan . */
/******************************************************/
/**************************************/
/* PotentialField plan execution task timer */
/**************************************/
process timer_PotentialField_plan (
&tick_plan: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_plan);
ignorep := fiacre_c_print_trace(1569) /* (3) PotentialField plan timer arming. */;
to wait_
from wait_
wait[100.0, 100.0];
ignorep := fiacre_c_print_trace(1570) /* (3) PotentialField plan timer elapsed. */;
tick_plan:= true;
to start_
/*************************************************/
/* end of process timer_PotentialField_plan */
/*************************************************/
/******************************************/
/* PotentialField plan execution task main loop */
/******************************************/
process exec_task_PotentialField_plan (
&tick_plan: bool,
&plan_turn : act_inst_PotentialField_plan_turn_type,
&plan_runnable: bool,
&plan_activities: Activities_PotentialField_plan_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_plan: act_inst_PotentialField_plan_index_type,
index: act_inst_PotentialField_plan_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(1571) /* (4) PotentialField ET plan, setting runnable to true. */;
plan_runnable := true;
if (tick_plan) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(1572) /* (4) PotentialField ET plan, setting runnable to false. */;
plan_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(1573) /* (0) PotentialField ET plan ***OVERSHOOT*** its period. */;
tick_plan:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(1574) /* (2) PotentialField ET plan waiting next period. */;
on tick_plan;
tick_plan:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(1575) /* (3) PotentialField ET plan parsing activities status. */;
sched := [false, false, false, false];
foreach index_plan do
if (plan_activities[index_plan].status = ACT_INIT_FCR) then
if (plan_activities[index_plan].start_ and
plan_runnable) then
plan_activities[index_plan].status := ACT_RUN_FCR;
plan_activities[index_plan].state := PotentialField_start_fcr;
plan_activities[index_plan].start_ := false;
plan_activities[index_plan].pause := false
end;
if plan_activities[index_plan].stop then
if (plan_activities[index_plan].sid = POTENTIALFIELD_NONE) then /* permanent activity */
plan_activities[index_plan].status := ACT_STOP_FCR;
plan_activities[index_plan].state := PotentialField_stop_fcr;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].pause := false
else
plan_activities[index_plan].status := ACT_ETHER_FCR;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].state := genom_interrupted_fcr;
ignoreb := Fiacre_PotentialField_genom_interrupt(plan_activities[index_plan]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (plan_activities[index_plan].status = ACT_RUN_FCR) then
if plan_activities[index_plan].stop then
plan_activities[index_plan].status := ACT_STOP_FCR;
plan_activities[index_plan].state := PotentialField_stop_fcr;
plan_activities[index_plan].stop := false;
plan_activities[index_plan].pause := false
end;
if (plan_activities[index_plan].pause and
plan_runnable) then
plan_activities[index_plan].pause := false
end
elsif (plan_activities[index_plan].status = ACT_STOP_FCR) then
if (plan_activities[index_plan].pause and
plan_runnable) then
plan_activities[index_plan].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(1576) /* (3) PotentialField ET plan, setting runnable to false. */;
plan_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(1577) /* (3) PotentialField ET plan executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (plan_activities[index].status = ACT_RUN_FCR) and (not (plan_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (plan_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(1578) /* (3) PotentialField ET plan gives control to service. */;
plan_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (plan_turn = Nb_act_inst_PotentialField_plan); //control comming back
ignorep := fiacre_c_print_trace(1579) /* (3) PotentialField ET plan getting control back. */;
status := plan_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(1580) /* (2) PotentialField ET plan activity returned ACT_RUN. */;
if (not plan_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(1581) /* (1) PotentialField ET plan activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(1582) /* (0) PotentialField ET plan ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_PotentialField_plan-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(1583) /* (4) PotentialField ET plan, for all ET, setting runnable to true. */;
plan_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_PotentialField_plan */
/*************************************************/
/****************************************************************************/
/* PotentialField plan fiacre process... there will be one for each instance. */
/****************************************************************************/
process plan_PotentialField_plan (
instance: 0..Max_Act_Inst_PotentialField-1,
plan_index: act_inst_PotentialField_plan_index_type,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&plan_turn: act_inst_PotentialField_plan_turn_type
) is
states
PotentialField_start_fcr, PotentialField_start_sync_fcr_, PotentialField_start_dispatch_fcr_,
PotentialField_stop_fcr, PotentialField_stop_sync_fcr_, PotentialField_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to PotentialField_start_fcr
from PotentialField_start_fcr
on (plan_turn = plan_index);
ignorep := fiacre_c_print_trace(1584) /* (2) PotentialField Activity plan is getting control in state PotentialField_start. */;
if (plan_activities[plan_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = PrintObstacles)) and
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetMaxSpeed_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
(mutex_ports[PotentialField_OccupancyGrid_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1585) /* (2) PotentialField Activity plan calling codel InitStructPF. */;
mutex_ports[PotentialField_PFCmd_port] := InitStructPF_port_codel;
mutex_ports[PotentialField_OccupancyGrid_port] := InitStructPF_port_codel;
//REMOVE ME
plan_running_codel := InitStructPF;
start Fiacre_PotentialField_codel_task_plan_start_task(plan_activities[plan_index]);
to PotentialField_start_sync_fcr_
from PotentialField_start_sync_fcr_
sync Fiacre_PotentialField_codel_task_plan_start_task state;
ignorep := fiacre_c_print_trace(1586) /* (2) PotentialField Activity plan returned from codel InitStructPF. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
mutex_ports[PotentialField_OccupancyGrid_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
write_ports[PotentialField_OccupancyGrid_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_start_dispatch_fcr_
from PotentialField_start_dispatch_fcr_
wait [0,0];
if (state = PotentialField_ether_fcr) then
plan_activities[plan_index].state := PotentialField_ether_fcr;
plan_activities[plan_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1587) /* (1) PotentialField Activity plan DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1588) /* (1) PotentialField Activity plan EXCEPTION... */;
to exception
end
from PotentialField_stop_fcr
on (plan_turn = plan_index);
ignorep := fiacre_c_print_trace(1589) /* (2) PotentialField Activity plan is getting control in state PotentialField_stop. */;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1590) /* (2) PotentialField Activity plan calling codel CleanStrucPF. */;
mutex_ports[PotentialField_PFCmd_port] := CleanStrucPF_port_codel;
//REMOVE ME
plan_running_codel := CleanStrucPF;
start Fiacre_PotentialField_codel_task_plan_stop_task(plan_activities[plan_index]);
to PotentialField_stop_sync_fcr_
from PotentialField_stop_sync_fcr_
sync Fiacre_PotentialField_codel_task_plan_stop_task state;
ignorep := fiacre_c_print_trace(1591) /* (2) PotentialField Activity plan returned from codel CleanStrucPF. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_stop_dispatch_fcr_
from PotentialField_stop_dispatch_fcr_
wait [0,0];
if (state = PotentialField_ether_fcr) then
plan_activities[plan_index].state := PotentialField_ether_fcr;
plan_activities[plan_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1592) /* (1) PotentialField Activity plan DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1593) /* (1) PotentialField Activity plan EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_PotentialField_plan_genom_bad_transition(plan_activities[plan_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
plan_activities[plan_index].status := ACT_ETHER_FCR;
plan_activities[plan_index].state := state; //PotentialField_ether_fcr
ignorep := fiacre_c_print_trace(1594) /* (1) PotentialField Activity plan throw an exception, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
/******************************************/
/* end of PotentialField plan fiacre process. */
/******************************************/
/****************************************************************************/
/* PotentialField Init fiacre process... there will be one for each instance. */
/****************************************************************************/
process Init_PotentialField_plan (
instance: 0..Max_Act_Inst_PotentialField-1,
Init_index: act_inst_PotentialField_plan_index_type,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&plan_turn: act_inst_PotentialField_plan_turn_type
) is
states
PotentialField_start_fcr, PotentialField_start_sync_fcr_, PotentialField_start_dispatch_fcr_,
exception, PotentialField_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to PotentialField_start_fcr
from PotentialField_start_fcr
on (plan_turn = Init_index);
ignorep := fiacre_c_print_trace(1595) /* (2) PotentialField Activity Init is getting control in state PotentialField_start. */;
if (plan_activities[Init_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1596) /* (2) PotentialField Activity Init calling codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := GTPStop_port_codel;
//REMOVE ME
plan_running_codel := GTPStop;
start Fiacre_PotentialField_codel_service_Init_start_task(plan_activities[Init_index]);
to PotentialField_start_sync_fcr_
from PotentialField_start_sync_fcr_
sync Fiacre_PotentialField_codel_service_Init_start_task state;
ignorep := fiacre_c_print_trace(1597) /* (2) PotentialField Activity Init returned from codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_start_dispatch_fcr_
from PotentialField_start_dispatch_fcr_
wait [0,0];
if (state = PotentialField_ether_fcr) then
plan_activities[Init_index].state := PotentialField_ether_fcr;
plan_activities[Init_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1598) /* (1) PotentialField Activity Init DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1599) /* (1) PotentialField Activity Init EXCEPTION... */;
to exception
end
from PotentialField_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1600) /* (1) PotentialField Activity Init in default stop. */;
ignoreb := Fiacre_PotentialField_Init_genom_interrupt(plan_activities[Init_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_PotentialField_Init_genom_bad_transition(plan_activities[Init_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
plan_activities[Init_index].status := ACT_ETHER_FCR;
plan_activities[Init_index].state := state; //PotentialField_ether_fcr
ignorep := fiacre_c_print_trace(1601) /* (1) PotentialField Activity Init throw an exception, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
/******************************************/
/* end of PotentialField Init fiacre process. */
/******************************************/
/****************************************************************************/
/* PotentialField WriteSpeedInPort fiacre process... there will be one for each instance. */
/****************************************************************************/
process WriteSpeedInPort_PotentialField_plan (
instance: 0..Max_Act_Inst_PotentialField-1,
WriteSpeedInPort_index: act_inst_PotentialField_plan_index_type,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&plan_turn: act_inst_PotentialField_plan_turn_type
) is
states
PotentialField_start_fcr, PotentialField_start_sync_fcr_, PotentialField_start_dispatch_fcr_,
PotentialField_stop_fcr, PotentialField_stop_sync_fcr_, PotentialField_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to PotentialField_start_fcr
from PotentialField_start_fcr
on (plan_turn = WriteSpeedInPort_index);
ignorep := fiacre_c_print_trace(1602) /* (2) PotentialField Activity WriteSpeedInPort is getting control in state PotentialField_start. */;
if (plan_activities[WriteSpeedInPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1603) /* (2) PotentialField Activity WriteSpeedInPort calling codel WriteDirectlyCmdPortPF. */;
mutex_ports[PotentialField_PFCmd_port] := WriteDirectlyCmdPortPF_port_codel;
//REMOVE ME
plan_running_codel := WriteDirectlyCmdPortPF;
start Fiacre_PotentialField_codel_service_WriteSpeedInPort_start_task(plan_activities[WriteSpeedInPort_index]);
to PotentialField_start_sync_fcr_
from PotentialField_start_sync_fcr_
sync Fiacre_PotentialField_codel_service_WriteSpeedInPort_start_task state;
ignorep := fiacre_c_print_trace(1604) /* (2) PotentialField Activity WriteSpeedInPort returned from codel WriteDirectlyCmdPortPF. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_start_dispatch_fcr_
from PotentialField_start_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_pause_start_fcr or
false) then
if (state = PotentialField_pause_start_fcr) then state := PotentialField_start_fcr end;
plan_activities[WriteSpeedInPort_index].state := state;
plan_activities[WriteSpeedInPort_index].status := ACT_RUN_FCR;
plan_activities[WriteSpeedInPort_index].pause := true;
ignorep := fiacre_c_print_trace(1605) /* (2) PotentialField Activity WriteSpeedInPort DONE for this cycle, pauses, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_start_fcr) then
to PotentialField_start_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[WriteSpeedInPort_index].state := PotentialField_ether_fcr;
plan_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1606) /* (1) PotentialField Activity WriteSpeedInPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1607) /* (1) PotentialField Activity WriteSpeedInPort EXCEPTION... */;
to exception
end
end
from PotentialField_stop_fcr
on (plan_turn = WriteSpeedInPort_index);
ignorep := fiacre_c_print_trace(1608) /* (2) PotentialField Activity WriteSpeedInPort is getting control in state PotentialField_stop. */;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1609) /* (2) PotentialField Activity WriteSpeedInPort calling codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := GTPStop_port_codel;
//REMOVE ME
plan_running_codel := GTPStop;
start Fiacre_PotentialField_codel_service_WriteSpeedInPort_stop_task(plan_activities[WriteSpeedInPort_index]);
to PotentialField_stop_sync_fcr_
from PotentialField_stop_sync_fcr_
sync Fiacre_PotentialField_codel_service_WriteSpeedInPort_stop_task state;
ignorep := fiacre_c_print_trace(1610) /* (2) PotentialField Activity WriteSpeedInPort returned from codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_stop_dispatch_fcr_
from PotentialField_stop_dispatch_fcr_
wait [0,0];
if (state = PotentialField_ether_fcr) then
plan_activities[WriteSpeedInPort_index].state := PotentialField_ether_fcr;
plan_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1611) /* (1) PotentialField Activity WriteSpeedInPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1612) /* (1) PotentialField Activity WriteSpeedInPort EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = PotentialField_bad_speed_cmd_port_fcr)) and
true) then
ignoreb := Fiacre_PotentialField_WriteSpeedInPort_genom_bad_transition(plan_activities[WriteSpeedInPort_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
plan_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
plan_activities[WriteSpeedInPort_index].state := state; //PotentialField_ether_fcr
ignorep := fiacre_c_print_trace(1613) /* (1) PotentialField Activity WriteSpeedInPort throw an exception, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
/******************************************/
/* end of PotentialField WriteSpeedInPort fiacre process. */
/******************************************/
/****************************************************************************/
/* PotentialField StartTrackTargetPort fiacre process... there will be one for each instance. */
/****************************************************************************/
process StartTrackTargetPort_PotentialField_plan (
instance: 0..Max_Act_Inst_PotentialField-1,
StartTrackTargetPort_index: act_inst_PotentialField_plan_index_type,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&plan_turn: act_inst_PotentialField_plan_turn_type
) is
states
PotentialField_start_fcr, PotentialField_start_sync_fcr_, PotentialField_start_dispatch_fcr_,
PotentialField_read_ports_fcr, PotentialField_read_ports_sync_fcr_, PotentialField_read_ports_dispatch_fcr_,
PotentialField_build_map_fcr, PotentialField_build_map_sync_fcr_, PotentialField_build_map_dispatch_fcr_,
PotentialField_compute_speed_fcr, PotentialField_compute_speed_sync_fcr_, PotentialField_compute_speed_dispatch_fcr_,
PotentialField_write_cmd_fcr, PotentialField_write_cmd_sync_fcr_, PotentialField_write_cmd_dispatch_fcr_,
PotentialField_stop_fcr, PotentialField_stop_sync_fcr_, PotentialField_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to PotentialField_start_fcr
from PotentialField_start_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1614) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_start. */;
if (plan_activities[StartTrackTargetPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1615) /* (2) PotentialField Activity StartTrackTargetPort calling codel StartGTPAndCheckPorts. */;
mutex_ports[velodyne_point_cloud_port] := StartGTPAndCheckPorts_port_codel;
mutex_ports[pom_frame_port] := StartGTPAndCheckPorts_port_codel;
mutex_ports[Navigation_Target_port] := StartGTPAndCheckPorts_port_codel;
mutex_ports[PotentialField_PFCmd_port] := StartGTPAndCheckPorts_port_codel;
//REMOVE ME
plan_running_codel := StartGTPAndCheckPorts;
read_ports[velodyne_point_cloud_port] := true;
if (not write_ports[velodyne_point_cloud_port] and not RUP_reported[velodyne_point_cloud_port]) then
ignorep := fiacre_c_print_trace(1616) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port velodyne_point_cloud_port RUP. */;
RUP_reported[velodyne_point_cloud_port] := true
end;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(1617) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
read_ports[Navigation_Target_port] := true;
if (not write_ports[Navigation_Target_port] and not RUP_reported[Navigation_Target_port]) then
ignorep := fiacre_c_print_trace(1618) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port Navigation_Target_port RUP. */;
RUP_reported[Navigation_Target_port] := true
end;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_start_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_start_sync_fcr_
from PotentialField_start_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_start_task state;
ignorep := fiacre_c_print_trace(1619) /* (2) PotentialField Activity StartTrackTargetPort returned from codel StartGTPAndCheckPorts. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_start_dispatch_fcr_
from PotentialField_start_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_read_ports_fcr or
false) then
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1620) /* (2) PotentialField Activity StartTrackTargetPort NOT done for this cycle, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_read_ports_fcr) then
to PotentialField_read_ports_fcr
end;
to start_ // never reached
else
if (
state = PotentialField_pause_start_fcr or
false) then
if (state = PotentialField_pause_start_fcr) then state := PotentialField_start_fcr end;
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
plan_activities[StartTrackTargetPort_index].pause := true;
ignorep := fiacre_c_print_trace(1621) /* (2) PotentialField Activity StartTrackTargetPort DONE for this cycle, pauses, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_start_fcr) then
to PotentialField_start_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1622) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1623) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
end
end
from PotentialField_read_ports_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1624) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_read_ports. */;
if (plan_activities[StartTrackTargetPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[Navigation_Target_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1625) /* (2) PotentialField Activity StartTrackTargetPort calling codel ReadPorts. */;
mutex_ports[velodyne_point_cloud_port] := ReadPorts_port_codel;
mutex_ports[pom_frame_port] := ReadPorts_port_codel;
mutex_ports[Navigation_Target_port] := ReadPorts_port_codel;
//REMOVE ME
plan_running_codel := ReadPorts;
read_ports[velodyne_point_cloud_port] := true;
if (not write_ports[velodyne_point_cloud_port] and not RUP_reported[velodyne_point_cloud_port]) then
ignorep := fiacre_c_print_trace(1626) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port velodyne_point_cloud_port RUP. */;
RUP_reported[velodyne_point_cloud_port] := true
end;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(1627) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
read_ports[Navigation_Target_port] := true;
if (not write_ports[Navigation_Target_port] and not RUP_reported[Navigation_Target_port]) then
ignorep := fiacre_c_print_trace(1628) /* (0) PotentialField Activity StartTrackTargetPort ***ERROR*** port Navigation_Target_port RUP. */;
RUP_reported[Navigation_Target_port] := true
end;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_read_ports_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_read_ports_sync_fcr_
from PotentialField_read_ports_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_read_ports_task state;
ignorep := fiacre_c_print_trace(1629) /* (2) PotentialField Activity StartTrackTargetPort returned from codel ReadPorts. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[Navigation_Target_port] := no_codel;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_read_ports_dispatch_fcr_
from PotentialField_read_ports_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_build_map_fcr or
state = PotentialField_compute_speed_fcr or
false) then
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1630) /* (2) PotentialField Activity StartTrackTargetPort NOT done for this cycle, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_build_map_fcr) then
to PotentialField_build_map_fcr
end;
if (state = PotentialField_compute_speed_fcr) then
to PotentialField_compute_speed_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1631) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1632) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
end
from PotentialField_build_map_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1633) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_build_map. */;
if (plan_activities[StartTrackTargetPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = PrintObstacles)) and
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetHitMaxDistance_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetHitMinDistance_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetHitMinZ_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetHitMaxZ_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(1634) /* (2) PotentialField Activity StartTrackTargetPort calling codel BuildMap. */;
//REMOVE ME
plan_running_codel := BuildMap;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_build_map_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_build_map_sync_fcr_
from PotentialField_build_map_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_build_map_task state;
ignorep := fiacre_c_print_trace(1635) /* (2) PotentialField Activity StartTrackTargetPort returned from codel BuildMap. */;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_build_map_dispatch_fcr_
from PotentialField_build_map_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_compute_speed_fcr or
false) then
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1636) /* (2) PotentialField Activity StartTrackTargetPort NOT done for this cycle, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_compute_speed_fcr) then
to PotentialField_compute_speed_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1637) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1638) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
end
from PotentialField_compute_speed_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1639) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_compute_speed. */;
if (plan_activities[StartTrackTargetPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetDistanceToGoal_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetRepForceDistance_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetNu_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetPsi_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetAlpha_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetEpsilon_controlcb)) and
(not (control_running_codel = genom_PotentialField_SetMaxSpeed_controlcb)) and
(mutex_ports[PotentialField_PF_Att_port] = no_codel) and
(mutex_ports[PotentialField_PF_Rep_port] = no_codel) and
(mutex_ports[PotentialField_PF_Res_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1640) /* (2) PotentialField Activity StartTrackTargetPort calling codel ComputeSpeed. */;
mutex_ports[PotentialField_PF_Att_port] := ComputeSpeed_port_codel;
mutex_ports[PotentialField_PF_Rep_port] := ComputeSpeed_port_codel;
mutex_ports[PotentialField_PF_Res_port] := ComputeSpeed_port_codel;
//REMOVE ME
plan_running_codel := ComputeSpeed;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_compute_speed_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_compute_speed_sync_fcr_
from PotentialField_compute_speed_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_compute_speed_task state;
ignorep := fiacre_c_print_trace(1641) /* (2) PotentialField Activity StartTrackTargetPort returned from codel ComputeSpeed. */;
mutex_ports[PotentialField_PF_Att_port] := no_codel;
mutex_ports[PotentialField_PF_Rep_port] := no_codel;
mutex_ports[PotentialField_PF_Res_port] := no_codel;
write_ports[PotentialField_PF_Att_port] := true;
write_ports[PotentialField_PF_Rep_port] := true;
write_ports[PotentialField_PF_Res_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_compute_speed_dispatch_fcr_
from PotentialField_compute_speed_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_write_cmd_fcr or
false) then
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1642) /* (2) PotentialField Activity StartTrackTargetPort NOT done for this cycle, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_write_cmd_fcr) then
to PotentialField_write_cmd_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1643) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1644) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
end
from PotentialField_write_cmd_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1645) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_write_cmd. */;
if (plan_activities[StartTrackTargetPort_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1646) /* (2) PotentialField Activity StartTrackTargetPort calling codel WriteCmdPortPF. */;
mutex_ports[PotentialField_PFCmd_port] := WriteCmdPortPF_port_codel;
//REMOVE ME
plan_running_codel := WriteCmdPortPF;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_write_cmd_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_write_cmd_sync_fcr_
from PotentialField_write_cmd_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_write_cmd_task state;
ignorep := fiacre_c_print_trace(1647) /* (2) PotentialField Activity StartTrackTargetPort returned from codel WriteCmdPortPF. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_write_cmd_dispatch_fcr_
from PotentialField_write_cmd_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_pause_read_ports_fcr or
false) then
if (state = PotentialField_pause_read_ports_fcr) then state := PotentialField_read_ports_fcr end;
plan_activities[StartTrackTargetPort_index].state := state;
plan_activities[StartTrackTargetPort_index].status := ACT_RUN_FCR;
plan_activities[StartTrackTargetPort_index].pause := true;
ignorep := fiacre_c_print_trace(1648) /* (2) PotentialField Activity StartTrackTargetPort DONE for this cycle, pauses, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_read_ports_fcr) then
to PotentialField_read_ports_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1649) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1650) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
end
from PotentialField_stop_fcr
on (plan_turn = StartTrackTargetPort_index);
ignorep := fiacre_c_print_trace(1651) /* (2) PotentialField Activity StartTrackTargetPort is getting control in state PotentialField_stop. */;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1652) /* (2) PotentialField Activity StartTrackTargetPort calling codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := GTPStop_port_codel;
//REMOVE ME
plan_running_codel := GTPStop;
start Fiacre_PotentialField_codel_service_StartTrackTargetPort_stop_task(plan_activities[StartTrackTargetPort_index]);
to PotentialField_stop_sync_fcr_
from PotentialField_stop_sync_fcr_
sync Fiacre_PotentialField_codel_service_StartTrackTargetPort_stop_task state;
ignorep := fiacre_c_print_trace(1653) /* (2) PotentialField Activity StartTrackTargetPort returned from codel GTPStop. */;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
write_ports[PotentialField_PFCmd_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_stop_dispatch_fcr_
from PotentialField_stop_dispatch_fcr_
wait [0,0];
if (state = PotentialField_ether_fcr) then
plan_activities[StartTrackTargetPort_index].state := PotentialField_ether_fcr;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1654) /* (1) PotentialField Activity StartTrackTargetPort DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1655) /* (1) PotentialField Activity StartTrackTargetPort EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = PotentialField_bad_speed_cmd_port_fcr)) and
(not (state = PotentialField_bad_scan_port_fcr)) and
(not (state = PotentialField_bad_target_port_fcr)) and
(not (state = PotentialField_bad_pose_port_fcr)) and
(not (state = PotentialField_out_of_mem_fcr)) and
(not (state = PotentialField_bad_force_port_fcr)) and
true) then
ignoreb := Fiacre_PotentialField_StartTrackTargetPort_genom_bad_transition(plan_activities[StartTrackTargetPort_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
plan_activities[StartTrackTargetPort_index].status := ACT_ETHER_FCR;
plan_activities[StartTrackTargetPort_index].state := state; //PotentialField_ether_fcr
ignorep := fiacre_c_print_trace(1656) /* (1) PotentialField Activity StartTrackTargetPort throw an exception, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
/******************************************/
/* end of PotentialField StartTrackTargetPort fiacre process. */
/******************************************/
/****************************************************************************/
/* PotentialField PublishOccupancyGrid fiacre process... there will be one for each instance. */
/****************************************************************************/
process PublishOccupancyGrid_PotentialField_plan (
instance: 0..Max_Act_Inst_PotentialField-1,
PublishOccupancyGrid_index: act_inst_PotentialField_plan_index_type,
&plan_activities: Activities_PotentialField_plan_Array,
&plan_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&control_running_codel: 0..max_number_mutex_codels_PotentialField-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&plan_turn: act_inst_PotentialField_plan_turn_type
) is
states
PotentialField_start_fcr, PotentialField_start_sync_fcr_, PotentialField_start_dispatch_fcr_,
exception, PotentialField_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to PotentialField_start_fcr
from PotentialField_start_fcr
on (plan_turn = PublishOccupancyGrid_index);
ignorep := fiacre_c_print_trace(1657) /* (2) PotentialField Activity PublishOccupancyGrid is getting control in state PotentialField_start. */;
if (plan_activities[PublishOccupancyGrid_index].state = PotentialField_stop_fcr) then
to PotentialField_stop_fcr
end;
on (
(not (control_running_codel = genom_PotentialField_GetIDS_controlcb)) and
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[PotentialField_OccupancyGrid_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1658) /* (2) PotentialField Activity PublishOccupancyGrid calling codel PublishObstacles. */;
mutex_ports[pom_frame_port] := PublishObstacles_port_codel;
mutex_ports[PotentialField_OccupancyGrid_port] := PublishObstacles_port_codel;
//REMOVE ME
plan_running_codel := PublishObstacles;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(1659) /* (0) PotentialField Activity PublishOccupancyGrid ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
start Fiacre_PotentialField_codel_service_PublishOccupancyGrid_start_task(plan_activities[PublishOccupancyGrid_index]);
to PotentialField_start_sync_fcr_
from PotentialField_start_sync_fcr_
sync Fiacre_PotentialField_codel_service_PublishOccupancyGrid_start_task state;
ignorep := fiacre_c_print_trace(1660) /* (2) PotentialField Activity PublishOccupancyGrid returned from codel PublishObstacles. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[PotentialField_OccupancyGrid_port] := no_codel;
write_ports[PotentialField_OccupancyGrid_port] := true;
//REMOVE ME
plan_running_codel := 0;
to PotentialField_start_dispatch_fcr_
from PotentialField_start_dispatch_fcr_
wait [0,0];
if (
state = PotentialField_pause_start_fcr or
false) then
if (state = PotentialField_pause_start_fcr) then state := PotentialField_start_fcr end;
plan_activities[PublishOccupancyGrid_index].state := state;
plan_activities[PublishOccupancyGrid_index].status := ACT_RUN_FCR;
plan_activities[PublishOccupancyGrid_index].pause := true;
ignorep := fiacre_c_print_trace(1661) /* (2) PotentialField Activity PublishOccupancyGrid DONE for this cycle, pauses, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
if (state = PotentialField_start_fcr) then
to PotentialField_start_fcr
end;
to start_ // never reached
else
if (state = PotentialField_ether_fcr) then
plan_activities[PublishOccupancyGrid_index].state := PotentialField_ether_fcr;
plan_activities[PublishOccupancyGrid_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1662) /* (1) PotentialField Activity PublishOccupancyGrid DONE (ether), back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
else
ignorep := fiacre_c_print_trace(1663) /* (1) PotentialField Activity PublishOccupancyGrid EXCEPTION... */;
to exception
end
end
from PotentialField_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1664) /* (1) PotentialField Activity PublishOccupancyGrid in default stop. */;
ignoreb := Fiacre_PotentialField_PublishOccupancyGrid_genom_interrupt(plan_activities[PublishOccupancyGrid_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = PotentialField_bad_og_port_fcr)) and
true) then
ignoreb := Fiacre_PotentialField_PublishOccupancyGrid_genom_bad_transition(plan_activities[PublishOccupancyGrid_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
plan_activities[PublishOccupancyGrid_index].status := ACT_ETHER_FCR;
plan_activities[PublishOccupancyGrid_index].state := state; //PotentialField_ether_fcr
ignorep := fiacre_c_print_trace(1665) /* (1) PotentialField Activity PublishOccupancyGrid throw an exception, back to ET. */;
plan_turn := Nb_act_inst_PotentialField_plan;
to start_
/******************************************/
/* end of PotentialField PublishOccupancyGrid fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task PotentialField plan . */
/******************************************************/
/********************************************/
/*End of PotentialField processes section */
/********************************************/
/********************************************/
/* beginning of rmp440 process section */
/********************************************/
/**********************************************/
/* rmp440 abort_activity services control task part */
/**********************************************/
process rmp440_abort_activity_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1666) /* (1) rmp440 CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1667) /* (1) rmp440 CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1668) /* (0) rmp440 CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1669) /* (2) rmp440 CT abort_activity control codel. */;
start Fiacre_rmp440_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1670) /* (2) rmp440 CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1671) /* (1) rmp440 CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1672) /* (3) rmp440 CT abort_activity updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_abort_activity]:= true;
ignorep := fiacre_c_print_trace(1673) /* (1) rmp440 CT abort_activity ctrl activity report */;
ignoreb := Fiacre_rmp440_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1674) /* (1) rmp440 CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1675) /* (4) rmp440 CT abort_activity for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1676) /* (3) rmp440 CT abort_activity giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 abort_activity services control task part */
/**********************************************/
/**********************************************/
/* rmp440 connect_port services control task part */
/**********************************************/
process rmp440_connect_port_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1677) /* (1) rmp440 CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1678) /* (1) rmp440 CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1679) /* (0) rmp440 CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1680) /* (2) rmp440 CT connect_port control codel. */;
start Fiacre_rmp440_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1681) /* (2) rmp440 CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1682) /* (1) rmp440 CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1683) /* (3) rmp440 CT connect_port updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_connect_port]:= true;
ignorep := fiacre_c_print_trace(1684) /* (1) rmp440 CT connect_port ctrl activity report */;
ignoreb := Fiacre_rmp440_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1685) /* (1) rmp440 CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1686) /* (4) rmp440 CT connect_port for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1687) /* (3) rmp440 CT connect_port giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 connect_port services control task part */
/**********************************************/
/**********************************************/
/* rmp440 connect_service services control task part */
/**********************************************/
process rmp440_connect_service_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1688) /* (1) rmp440 CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1689) /* (1) rmp440 CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1690) /* (0) rmp440 CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1691) /* (2) rmp440 CT connect_service control codel. */;
start Fiacre_rmp440_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1692) /* (2) rmp440 CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1693) /* (1) rmp440 CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1694) /* (3) rmp440 CT connect_service updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_connect_service]:= true;
ignorep := fiacre_c_print_trace(1695) /* (1) rmp440 CT connect_service ctrl activity report */;
ignoreb := Fiacre_rmp440_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1696) /* (1) rmp440 CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1697) /* (4) rmp440 CT connect_service for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1698) /* (3) rmp440 CT connect_service giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 connect_service services control task part */
/**********************************************/
/**********************************************/
/* rmp440 kill services control task part */
/**********************************************/
process rmp440_kill_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_MotionTask, wait_MotionTask_interrupted_ether, next_MotionTask_activity,
inter_task_TrackTask, wait_TrackTask_interrupted_ether, next_TrackTask_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1699) /* (1) rmp440 CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1700) /* (1) rmp440 CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1701) /* (0) rmp440 CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(1702) /* (2) rmp440 CT kill control codel. */;
start Fiacre_rmp440_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1703) /* (2) rmp440 CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(1704) /* (1) rmp440 CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to inter_task_MotionTask
from inter_task_MotionTask
wait [0,0];
if (not (MotionTask_activities[index_MotionTask].status = ACT_VOID_FCR) and not (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR)) then
if (
(MotionTask_activities[index_MotionTask].sid = RMP440_Init_RQSTID_FCR) or
(MotionTask_activities[index_MotionTask].sid = RMP440_Reconnect_RQSTID_FCR) or
(MotionTask_activities[index_MotionTask].sid = RMP440_JoystickOn_RQSTID_FCR) or
(MotionTask_activities[index_MotionTask].sid = RMP440_Gyro_RQSTID_FCR) or
(MotionTask_activities[index_MotionTask].sid = RMP440_SetRobotYaw_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1705) /* (1) rmp440 CT kill interrupts a running activity in MotionTask. */;
MotionTask_activities[index_MotionTask].stop := true;
to wait_MotionTask_interrupted_ether
end
end;
to next_MotionTask_activity
from wait_MotionTask_interrupted_ether
wait [0,0];
on (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1706) /* (3) rmp440 CT kill interrupted service in MotionTask has now reached ACT_ETHER_FCR. */;
to next_MotionTask_activity
from next_MotionTask_activity
wait [0,0];
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to inter_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to inter_task_MotionTask
end
from inter_task_TrackTask
wait [0,0];
if (not (TrackTask_activities[index_TrackTask].status = ACT_VOID_FCR) and not (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR)) then
if (
(TrackTask_activities[index_TrackTask].sid = RMP440_Track_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1707) /* (1) rmp440 CT kill interrupts a running activity in TrackTask. */;
TrackTask_activities[index_TrackTask].stop := true;
to wait_TrackTask_interrupted_ether
end
end;
to next_TrackTask_activity
from wait_TrackTask_interrupted_ether
wait [0,0];
on (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1708) /* (3) rmp440 CT kill interrupted service in TrackTask has now reached ACT_ETHER_FCR. */;
to next_TrackTask_activity
from next_TrackTask_activity
wait [0,0];
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to inter_task_
else
index_TrackTask := index_TrackTask + 1;
to inter_task_TrackTask
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1709) /* (3) rmp440 CT kill updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_kill]:= true;
ignorep := fiacre_c_print_trace(1710) /* (1) rmp440 CT kill ctrl activity report */;
ignoreb := Fiacre_rmp440_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1711) /* (1) rmp440 CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1712) /* (4) rmp440 CT kill for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1713) /* (3) rmp440 CT kill giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 kill services control task part */
/**********************************************/
/**********************************************/
/* rmp440 set_var_params services control task part */
/**********************************************/
process rmp440_set_var_params_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_set_var_params_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1714) /* (1) rmp440 CT set_var_params request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1715) /* (1) rmp440 CT set_var_params is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1716) /* (0) rmp440 CT set_var_params ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = odoAndAsserv)) and
true);
//REMOVE ME control_running_codel := genom_rmp440_set_var_params_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1717) /* (3) rmp440 CT set_var_params middle */;
genom_event := Fiacre_rmp440_set_var_params_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1718) /* (3) rmp440 CT set_var_params updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_set_var_params]:= true;
ignorep := fiacre_c_print_trace(1719) /* (1) rmp440 CT set_var_params ctrl activity report */;
ignoreb := Fiacre_rmp440_set_var_params_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1720) /* (4) rmp440 CT set_var_params for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1721) /* (3) rmp440 CT set_var_params giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 set_var_params services control task part */
/**********************************************/
/**********************************************/
/* rmp440 set_soft_accel_decel_limit services control task part */
/**********************************************/
process rmp440_set_soft_accel_decel_limit_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_set_soft_accel_decel_limit_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1722) /* (1) rmp440 CT set_soft_accel_decel_limit request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1723) /* (1) rmp440 CT set_soft_accel_decel_limit is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1724) /* (0) rmp440 CT set_soft_accel_decel_limit ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = odoAndAsserv)) and
(not (TrackTask_running_codel = trackStart)) and
true);
//REMOVE ME control_running_codel := genom_rmp440_set_soft_accel_decel_limit_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(1725) /* (3) rmp440 CT set_soft_accel_decel_limit middle */;
genom_event := Fiacre_rmp440_set_soft_accel_decel_limit_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1726) /* (3) rmp440 CT set_soft_accel_decel_limit updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_set_soft_accel_decel_limit]:= true;
ignorep := fiacre_c_print_trace(1727) /* (1) rmp440 CT set_soft_accel_decel_limit ctrl activity report */;
ignoreb := Fiacre_rmp440_set_soft_accel_decel_limit_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1728) /* (4) rmp440 CT set_soft_accel_decel_limit for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1729) /* (3) rmp440 CT set_soft_accel_decel_limit giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 set_soft_accel_decel_limit services control task part */
/**********************************************/
/**********************************************/
/* rmp440 Init services control task part */
/**********************************************/
process rmp440_Init_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_Init_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1730) /* (1) rmp440 CT Init request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1731) /* (1) rmp440 CT Init is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1732) /* (0) rmp440 CT Init ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_MotionTask := find_free_activity_rmp440_MotionTask(MotionTask_activities, RMP440_Init_RQSTID_FCR);
if (not ffa_reply_MotionTask.available) then
ignorep := fiacre_c_print_trace(1733) /* (0) rmp440 CT Init ***WARNING*** cannot find a slot in MotionTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_MotionTask.available and ffa_reply_MotionTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1734) /* (0) rmp440 CT Init ***WARNING*** slot still busy in MotionTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_MotionTask := ffa_reply_MotionTask.index;
ignorep := fiacre_c_print_trace(1735) /* (2) rmp440 CT Init is transferred to ET MotionTask. */;
MotionTask_activities[index_MotionTask].grid := control_activity.grid;
MotionTask_activities[index_MotionTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
MotionTask_activities[index_MotionTask].status := ACT_INIT_FCR;
MotionTask_activities[index_MotionTask].start_ := true;
MotionTask_activities[index_MotionTask].pause := false;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1736) /* (1) rmp440 CT Init report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_Init_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_Init_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1737) /* (4) rmp440 CT Init for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1738) /* (3) rmp440 CT Init giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 Init services control task part */
/**********************************************/
/**********************************************/
/* rmp440 Reconnect services control task part */
/**********************************************/
process rmp440_Reconnect_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
validate, validate_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_Reconnect_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1739) /* (1) rmp440 CT Reconnect request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1740) /* (1) rmp440 CT Reconnect is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1741) /* (0) rmp440 CT Reconnect ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = endOdoAndAsserv)) and
(not (MotionTask_running_codel = rmp440InitStart)) and
(not (MotionTask_running_codel = rmp440InitMain)) and
(not (MotionTask_running_codel = rmp440ReconnectStart)) and
(not (MotionTask_running_codel = rmp440ReconnectMain)) and
true);
control_running_codel := trackControl;
//REMOVE ME
ignorep := fiacre_c_print_trace(1742) /* (2) rmp440 CT Reconnect validate */;
start Fiacre_rmp440_Reconnect_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_rmp440_Reconnect_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1743) /* (2) rmp440 CT Reconnect validate ok */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1744) /* (1) rmp440 CT Reconnect validate NOT OK */;
to report_exception
end
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_MotionTask := find_free_activity_rmp440_MotionTask(MotionTask_activities, RMP440_Reconnect_RQSTID_FCR);
if (not ffa_reply_MotionTask.available) then
ignorep := fiacre_c_print_trace(1745) /* (0) rmp440 CT Reconnect ***WARNING*** cannot find a slot in MotionTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_MotionTask.available and ffa_reply_MotionTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1746) /* (0) rmp440 CT Reconnect ***WARNING*** slot still busy in MotionTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_MotionTask := ffa_reply_MotionTask.index;
ignorep := fiacre_c_print_trace(1747) /* (2) rmp440 CT Reconnect is transferred to ET MotionTask. */;
MotionTask_activities[index_MotionTask].grid := control_activity.grid;
MotionTask_activities[index_MotionTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
MotionTask_activities[index_MotionTask].status := ACT_INIT_FCR;
MotionTask_activities[index_MotionTask].start_ := true;
MotionTask_activities[index_MotionTask].pause := false;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1748) /* (1) rmp440 CT Reconnect report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_Reconnect_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_Reconnect_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1749) /* (4) rmp440 CT Reconnect for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1750) /* (3) rmp440 CT Reconnect giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 Reconnect services control task part */
/**********************************************/
/**********************************************/
/* rmp440 JoystickOn services control task part */
/**********************************************/
process rmp440_JoystickOn_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_MotionTask, wait_MotionTask_interrupted_ether, next_MotionTask_activity,
inter_task_TrackTask, wait_TrackTask_interrupted_ether, next_TrackTask_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_JoystickOn_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1751) /* (1) rmp440 CT JoystickOn request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1752) /* (1) rmp440 CT JoystickOn is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1753) /* (0) rmp440 CT JoystickOn ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to inter_task_MotionTask
from inter_task_MotionTask
wait [0,0];
if (not (MotionTask_activities[index_MotionTask].status = ACT_VOID_FCR) and not (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR)) then
if (
(MotionTask_activities[index_MotionTask].sid = RMP440_JoystickOn_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1754) /* (1) rmp440 CT JoystickOn interrupts a running activity in MotionTask. */;
MotionTask_activities[index_MotionTask].stop := true;
to wait_MotionTask_interrupted_ether
end
end;
to next_MotionTask_activity
from wait_MotionTask_interrupted_ether
wait [0,0];
on (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1755) /* (3) rmp440 CT JoystickOn interrupted service in MotionTask has now reached ACT_ETHER_FCR. */;
to next_MotionTask_activity
from next_MotionTask_activity
wait [0,0];
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to inter_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to inter_task_MotionTask
end
from inter_task_TrackTask
wait [0,0];
if (not (TrackTask_activities[index_TrackTask].status = ACT_VOID_FCR) and not (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR)) then
if (
(TrackTask_activities[index_TrackTask].sid = RMP440_Track_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1756) /* (1) rmp440 CT JoystickOn interrupts a running activity in TrackTask. */;
TrackTask_activities[index_TrackTask].stop := true;
to wait_TrackTask_interrupted_ether
end
end;
to next_TrackTask_activity
from wait_TrackTask_interrupted_ether
wait [0,0];
on (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1757) /* (3) rmp440 CT JoystickOn interrupted service in TrackTask has now reached ACT_ETHER_FCR. */;
to next_TrackTask_activity
from next_TrackTask_activity
wait [0,0];
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to inter_task_
else
index_TrackTask := index_TrackTask + 1;
to inter_task_TrackTask
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_MotionTask := find_free_activity_rmp440_MotionTask(MotionTask_activities, RMP440_JoystickOn_RQSTID_FCR);
if (not ffa_reply_MotionTask.available) then
ignorep := fiacre_c_print_trace(1758) /* (0) rmp440 CT JoystickOn ***WARNING*** cannot find a slot in MotionTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_MotionTask.available and ffa_reply_MotionTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1759) /* (0) rmp440 CT JoystickOn ***WARNING*** slot still busy in MotionTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_MotionTask := ffa_reply_MotionTask.index;
ignorep := fiacre_c_print_trace(1760) /* (2) rmp440 CT JoystickOn is transferred to ET MotionTask. */;
MotionTask_activities[index_MotionTask].grid := control_activity.grid;
MotionTask_activities[index_MotionTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
MotionTask_activities[index_MotionTask].status := ACT_INIT_FCR;
MotionTask_activities[index_MotionTask].start_ := true;
MotionTask_activities[index_MotionTask].pause := false;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1761) /* (1) rmp440 CT JoystickOn report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_JoystickOn_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_JoystickOn_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1762) /* (4) rmp440 CT JoystickOn for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1763) /* (3) rmp440 CT JoystickOn giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 JoystickOn services control task part */
/**********************************************/
/**********************************************/
/* rmp440 Track services control task part */
/**********************************************/
process rmp440_Track_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
validate, validate_sync,
inter, inter_task_,
inter_task_MotionTask, wait_MotionTask_interrupted_ether, next_MotionTask_activity,
inter_task_TrackTask, wait_TrackTask_interrupted_ether, next_TrackTask_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_Track_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1764) /* (1) rmp440 CT Track request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1765) /* (1) rmp440 CT Track is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1766) /* (0) rmp440 CT Track ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = endOdoAndAsserv)) and
(not (MotionTask_running_codel = rmp440InitStart)) and
(not (MotionTask_running_codel = rmp440InitMain)) and
(not (MotionTask_running_codel = rmp440ReconnectStart)) and
(not (MotionTask_running_codel = rmp440ReconnectMain)) and
true);
control_running_codel := trackControl;
//REMOVE ME
ignorep := fiacre_c_print_trace(1767) /* (2) rmp440 CT Track validate */;
start Fiacre_rmp440_Track_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_rmp440_Track_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1768) /* (2) rmp440 CT Track validate ok */;
to inter
else
ignorep := fiacre_c_print_trace(1769) /* (1) rmp440 CT Track validate NOT OK */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to inter_task_MotionTask
from inter_task_MotionTask
wait [0,0];
if (not (MotionTask_activities[index_MotionTask].status = ACT_VOID_FCR) and not (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR)) then
if (
(MotionTask_activities[index_MotionTask].sid = RMP440_JoystickOn_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1770) /* (1) rmp440 CT Track interrupts a running activity in MotionTask. */;
MotionTask_activities[index_MotionTask].stop := true;
to wait_MotionTask_interrupted_ether
end
end;
to next_MotionTask_activity
from wait_MotionTask_interrupted_ether
wait [0,0];
on (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1771) /* (3) rmp440 CT Track interrupted service in MotionTask has now reached ACT_ETHER_FCR. */;
to next_MotionTask_activity
from next_MotionTask_activity
wait [0,0];
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to inter_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to inter_task_MotionTask
end
from inter_task_TrackTask
wait [0,0];
if (not (TrackTask_activities[index_TrackTask].status = ACT_VOID_FCR) and not (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR)) then
if (
(TrackTask_activities[index_TrackTask].sid = RMP440_Track_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1772) /* (1) rmp440 CT Track interrupts a running activity in TrackTask. */;
TrackTask_activities[index_TrackTask].stop := true;
to wait_TrackTask_interrupted_ether
end
end;
to next_TrackTask_activity
from wait_TrackTask_interrupted_ether
wait [0,0];
on (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1773) /* (3) rmp440 CT Track interrupted service in TrackTask has now reached ACT_ETHER_FCR. */;
to next_TrackTask_activity
from next_TrackTask_activity
wait [0,0];
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to inter_task_
else
index_TrackTask := index_TrackTask + 1;
to inter_task_TrackTask
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_TrackTask := find_free_activity_rmp440_TrackTask(TrackTask_activities, RMP440_Track_RQSTID_FCR);
if (not ffa_reply_TrackTask.available) then
ignorep := fiacre_c_print_trace(1774) /* (0) rmp440 CT Track ***WARNING*** cannot find a slot in TrackTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_TrackTask.available and ffa_reply_TrackTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1775) /* (0) rmp440 CT Track ***WARNING*** slot still busy in TrackTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_TrackTask := ffa_reply_TrackTask.index;
ignorep := fiacre_c_print_trace(1776) /* (2) rmp440 CT Track is transferred to ET TrackTask. */;
TrackTask_activities[index_TrackTask].grid := control_activity.grid;
TrackTask_activities[index_TrackTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
TrackTask_activities[index_TrackTask].status := ACT_INIT_FCR;
TrackTask_activities[index_TrackTask].start_ := true;
TrackTask_activities[index_TrackTask].pause := false;
TrackTask_activities[index_TrackTask].stop := false;
TrackTask_activities[index_TrackTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1777) /* (1) rmp440 CT Track report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_Track_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_Track_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1778) /* (4) rmp440 CT Track for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1779) /* (3) rmp440 CT Track giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 Track services control task part */
/**********************************************/
/**********************************************/
/* rmp440 Stop services control task part */
/**********************************************/
process rmp440_Stop_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_MotionTask, wait_MotionTask_interrupted_ether, next_MotionTask_activity,
inter_task_TrackTask, wait_TrackTask_interrupted_ether, next_TrackTask_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_Stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1780) /* (1) rmp440 CT Stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1781) /* (1) rmp440 CT Stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1782) /* (0) rmp440 CT Stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to inter_task_MotionTask
from inter_task_MotionTask
wait [0,0];
if (not (MotionTask_activities[index_MotionTask].status = ACT_VOID_FCR) and not (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR)) then
if (
(MotionTask_activities[index_MotionTask].sid = RMP440_JoystickOn_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1783) /* (1) rmp440 CT Stop interrupts a running activity in MotionTask. */;
MotionTask_activities[index_MotionTask].stop := true;
to wait_MotionTask_interrupted_ether
end
end;
to next_MotionTask_activity
from wait_MotionTask_interrupted_ether
wait [0,0];
on (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1784) /* (3) rmp440 CT Stop interrupted service in MotionTask has now reached ACT_ETHER_FCR. */;
to next_MotionTask_activity
from next_MotionTask_activity
wait [0,0];
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to inter_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to inter_task_MotionTask
end
from inter_task_TrackTask
wait [0,0];
if (not (TrackTask_activities[index_TrackTask].status = ACT_VOID_FCR) and not (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR)) then
if (
(TrackTask_activities[index_TrackTask].sid = RMP440_Track_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1785) /* (1) rmp440 CT Stop interrupts a running activity in TrackTask. */;
TrackTask_activities[index_TrackTask].stop := true;
to wait_TrackTask_interrupted_ether
end
end;
to next_TrackTask_activity
from wait_TrackTask_interrupted_ether
wait [0,0];
on (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1786) /* (3) rmp440 CT Stop interrupted service in TrackTask has now reached ACT_ETHER_FCR. */;
to next_TrackTask_activity
from next_TrackTask_activity
wait [0,0];
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to inter_task_
else
index_TrackTask := index_TrackTask + 1;
to inter_task_TrackTask
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1787) /* (3) rmp440 CT Stop updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_Stop]:= true;
ignorep := fiacre_c_print_trace(1788) /* (1) rmp440 CT Stop ctrl activity report */;
ignoreb := Fiacre_rmp440_Stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1789) /* (4) rmp440 CT Stop for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1790) /* (3) rmp440 CT Stop giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 Stop services control task part */
/**********************************************/
/**********************************************/
/* rmp440 Gyro services control task part */
/**********************************************/
process rmp440_Gyro_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_MotionTask, wait_MotionTask_interrupted_ether, next_MotionTask_activity,
inter_task_TrackTask, wait_TrackTask_interrupted_ether, next_TrackTask_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_Gyro_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1791) /* (1) rmp440 CT Gyro request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1792) /* (1) rmp440 CT Gyro is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1793) /* (0) rmp440 CT Gyro ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to inter_task_MotionTask
from inter_task_MotionTask
wait [0,0];
if (not (MotionTask_activities[index_MotionTask].status = ACT_VOID_FCR) and not (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR)) then
if (
(MotionTask_activities[index_MotionTask].sid = RMP440_Gyro_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(1794) /* (1) rmp440 CT Gyro interrupts a running activity in MotionTask. */;
MotionTask_activities[index_MotionTask].stop := true;
to wait_MotionTask_interrupted_ether
end
end;
to next_MotionTask_activity
from wait_MotionTask_interrupted_ether
wait [0,0];
on (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1795) /* (3) rmp440 CT Gyro interrupted service in MotionTask has now reached ACT_ETHER_FCR. */;
to next_MotionTask_activity
from next_MotionTask_activity
wait [0,0];
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to inter_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to inter_task_MotionTask
end
from inter_task_TrackTask
wait [0,0];
if (not (TrackTask_activities[index_TrackTask].status = ACT_VOID_FCR) and not (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(1796) /* (1) rmp440 CT Gyro interrupts a running activity in TrackTask. */;
TrackTask_activities[index_TrackTask].stop := true;
to wait_TrackTask_interrupted_ether
end
end;
to next_TrackTask_activity
from wait_TrackTask_interrupted_ether
wait [0,0];
on (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(1797) /* (3) rmp440 CT Gyro interrupted service in TrackTask has now reached ACT_ETHER_FCR. */;
to next_TrackTask_activity
from next_TrackTask_activity
wait [0,0];
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to inter_task_
else
index_TrackTask := index_TrackTask + 1;
to inter_task_TrackTask
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_MotionTask := find_free_activity_rmp440_MotionTask(MotionTask_activities, RMP440_Gyro_RQSTID_FCR);
if (not ffa_reply_MotionTask.available) then
ignorep := fiacre_c_print_trace(1798) /* (0) rmp440 CT Gyro ***WARNING*** cannot find a slot in MotionTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_MotionTask.available and ffa_reply_MotionTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1799) /* (0) rmp440 CT Gyro ***WARNING*** slot still busy in MotionTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_MotionTask := ffa_reply_MotionTask.index;
ignorep := fiacre_c_print_trace(1800) /* (2) rmp440 CT Gyro is transferred to ET MotionTask. */;
MotionTask_activities[index_MotionTask].grid := control_activity.grid;
MotionTask_activities[index_MotionTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
MotionTask_activities[index_MotionTask].status := ACT_INIT_FCR;
MotionTask_activities[index_MotionTask].start_ := true;
MotionTask_activities[index_MotionTask].pause := false;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1801) /* (1) rmp440 CT Gyro report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_Gyro_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_Gyro_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1802) /* (4) rmp440 CT Gyro for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1803) /* (3) rmp440 CT Gyro giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 Gyro services control task part */
/**********************************************/
/**********************************************/
/* rmp440 SetRobotYaw services control task part */
/**********************************************/
process rmp440_SetRobotYaw_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
ffa_reply_MotionTask: ffa_reply_rmp440_MotionTask,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
ffa_reply_TrackTask: ffa_reply_rmp440_TrackTask,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_SetRobotYaw_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1804) /* (1) rmp440 CT SetRobotYaw request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1805) /* (1) rmp440 CT SetRobotYaw is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1806) /* (0) rmp440 CT SetRobotYaw ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[RMP440_Gyro]) then
ignorep := fiacre_c_print_trace(1807) /* (2) rmp440 CT SetRobotYaw disallowed (after) Gyro. */;
to disallowed
end;
to report_or_transfer
from disallowed
wait [0,0];
control_activity.state := Fiacre_rmp440_disallowed();
ignoreb := Fiacre_rmp440_SetRobotYaw_activity_report_extern(control_activity, true);
to finish
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_MotionTask := find_free_activity_rmp440_MotionTask(MotionTask_activities, RMP440_SetRobotYaw_RQSTID_FCR);
if (not ffa_reply_MotionTask.available) then
ignorep := fiacre_c_print_trace(1808) /* (0) rmp440 CT SetRobotYaw ***WARNING*** cannot find a slot in MotionTask. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_MotionTask.available and ffa_reply_MotionTask.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(1809) /* (0) rmp440 CT SetRobotYaw ***WARNING*** slot still busy in MotionTask. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_MotionTask := ffa_reply_MotionTask.index;
ignorep := fiacre_c_print_trace(1810) /* (2) rmp440 CT SetRobotYaw is transferred to ET MotionTask. */;
MotionTask_activities[index_MotionTask].grid := control_activity.grid;
MotionTask_activities[index_MotionTask].gaid := control_activity.gaid;
genom_event := Fiacre_rmp440_send_ir_extern(control_activity);
MotionTask_activities[index_MotionTask].status := ACT_INIT_FCR;
MotionTask_activities[index_MotionTask].start_ := true;
MotionTask_activities[index_MotionTask].pause := false;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1811) /* (1) rmp440 CT SetRobotYaw report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_SetRobotYaw_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_SetRobotYaw_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1812) /* (4) rmp440 CT SetRobotYaw for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1813) /* (3) rmp440 CT SetRobotYaw giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 SetRobotYaw services control task part */
/**********************************************/
/**********************************************/
/* rmp440 log services control task part */
/**********************************************/
process rmp440_log_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_log_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1814) /* (1) rmp440 CT log request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1815) /* (1) rmp440 CT log is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1816) /* (0) rmp440 CT log ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = odoAndAsserv)) and
true);
control_running_codel := log_start;
//REMOVE ME
ignorep := fiacre_c_print_trace(1817) /* (2) rmp440 CT log control codel. */;
start Fiacre_rmp440_log_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_log_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1818) /* (2) rmp440 CT log control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1819) /* (1) rmp440 CT log control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1820) /* (3) rmp440 CT log updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_log]:= true;
ignorep := fiacre_c_print_trace(1821) /* (1) rmp440 CT log ctrl activity report */;
ignoreb := Fiacre_rmp440_log_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1822) /* (1) rmp440 CT log report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_log_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_log_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1823) /* (4) rmp440 CT log for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1824) /* (3) rmp440 CT log giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 log services control task part */
/**********************************************/
/**********************************************/
/* rmp440 log_stop services control task part */
/**********************************************/
process rmp440_log_stop_CT (
&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&run_map: rmp440_Run_Map_Type,
&control_turn: RMP440_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = RMP440_log_stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(1825) /* (1) rmp440 CT log_stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(1826) /* (1) rmp440 CT log_stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(1827) /* (0) rmp440 CT log_stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (MotionTask_running_codel = initOdoAndAsserv)) and
(not (MotionTask_running_codel = odoAndAsserv)) and
true);
control_running_codel := log_stop;
//REMOVE ME
ignorep := fiacre_c_print_trace(1828) /* (2) rmp440 CT log_stop control codel. */;
start Fiacre_rmp440_log_stop_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_rmp440_log_stop_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(1829) /* (2) rmp440 CT log_stop control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(1830) /* (1) rmp440 CT log_stop control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(1831) /* (3) rmp440 CT log_stop updating run map */;
control_activity.state := rmp440_ether_fcr;
run_map[RMP440_log_stop]:= true;
ignorep := fiacre_c_print_trace(1832) /* (1) rmp440 CT log_stop ctrl activity report */;
ignoreb := Fiacre_rmp440_log_stop_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(1833) /* (1) rmp440 CT log_stop report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_rmp440_log_stop_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_rmp440_log_stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(1834) /* (4) rmp440 CT log_stop for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(1835) /* (3) rmp440 CT log_stop giving control back */;
control_turn := RMP440_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of rmp440 log_stop services control task part */
/**********************************************/
/************************/
/* rmp440 control task process */
/************************/
process control_task_rmp440
(&control_activity: fcr_activity_rmp440,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&TrackTask_runnable: bool,
&control_turn: RMP440_RQSTID_FCR,
&run_map: rmp440_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_MotionTask,
process_exec_task_TrackTask,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_rmp440,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(1836) /* (1) rmp440 CT init Mbox */;
rmp440_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(1837) /* (0) rmp440 CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = RMP440_NONE);
ignorep := fiacre_c_print_trace(1838) /* (3) rmp440 CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(1839) /* (1) rmp440 CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(1840) /* (3) rmp440 CT going to sleep */;
select
rmp440_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(1841) /* (2) rmp440 CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(1842) /* (0) rmp440 CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(1843) /* (0) rmp440 CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(1844) /* (2) rmp440 CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(1845) /* (2) rmp440 CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = RMP440_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_MotionTask := 0;
index_TrackTask := 0;
to process_exec_task_MotionTask
from process_exec_task_MotionTask
ignorep := fiacre_c_print_trace(1846) /* (3) rmp440 CT processes MotionTask activities. */;
if (MotionTask_activities[index_MotionTask].status = ACT_INIT_FCR) then
if (not MotionTask_activities[index_MotionTask].start_) then
ignorep := fiacre_c_print_trace(1847) /* (4) rmp440 CT setting ET MotionTask runnable to true. */;
MotionTask_runnable := true;
MotionTask_activities[index_MotionTask].start_:=true // check the pocolibs template
end
end;
if (MotionTask_activities[index_MotionTask].status = ACT_ETHER_FCR) then // we are done for this one
// MotionTask_activities[index_MotionTask].status := ACT_VOID_FCR;
if (not (MotionTask_activities[index_MotionTask].sid = RMP440_NONE)) then //not the perm activity
if (MotionTask_activities[index_MotionTask].state = rmp440_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(1848) /* (3) rmp440 CT processes MotionTask activities, updating run_map. */;
run_map[rmp440_run_map_index_from_MotionTask_activity(MotionTask_activities[index_MotionTask])]:= true
else
ignorep := fiacre_c_print_trace(1849) /* (1) rmp440 CT processes MotionTask activities, handle exception. */;
ignoreb := Fiacre_rmp440_handle_exception(MotionTask_activities[index_MotionTask], false)
end;
ignorep := fiacre_c_print_trace(1850) /* (1) rmp440 CT processes MotionTask activities, activity report. */;
ignoreb := Fiacre_rmp440_activity_report(MotionTask_activities[index_MotionTask])
else
ignorep := fiacre_c_print_trace(1851) /* (1) rmp440 CT processes MotionTask permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
MotionTask_activities[index_MotionTask].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_MotionTask = Nb_act_inst_rmp440_MotionTask-1) then
to process_exec_task_TrackTask
else
index_MotionTask := index_MotionTask + 1;
to process_exec_task_MotionTask
end
from process_exec_task_TrackTask
ignorep := fiacre_c_print_trace(1852) /* (3) rmp440 CT processes TrackTask activities. */;
if (TrackTask_activities[index_TrackTask].status = ACT_INIT_FCR) then
if (not TrackTask_activities[index_TrackTask].start_) then
ignorep := fiacre_c_print_trace(1853) /* (4) rmp440 CT setting ET TrackTask runnable to true. */;
TrackTask_runnable := true;
TrackTask_activities[index_TrackTask].start_:=true // check the pocolibs template
end
end;
if (TrackTask_activities[index_TrackTask].status = ACT_ETHER_FCR) then // we are done for this one
// TrackTask_activities[index_TrackTask].status := ACT_VOID_FCR;
if (not (TrackTask_activities[index_TrackTask].sid = RMP440_NONE)) then //not the perm activity
if (TrackTask_activities[index_TrackTask].state = rmp440_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(1854) /* (3) rmp440 CT processes TrackTask activities, updating run_map. */;
run_map[rmp440_run_map_index_from_TrackTask_activity(TrackTask_activities[index_TrackTask])]:= true
else
ignorep := fiacre_c_print_trace(1855) /* (1) rmp440 CT processes TrackTask activities, handle exception. */;
ignoreb := Fiacre_rmp440_handle_exception(TrackTask_activities[index_TrackTask], false)
end;
ignorep := fiacre_c_print_trace(1856) /* (1) rmp440 CT processes TrackTask activities, activity report. */;
ignoreb := Fiacre_rmp440_activity_report(TrackTask_activities[index_TrackTask])
else
ignorep := fiacre_c_print_trace(1857) /* (1) rmp440 CT processes TrackTask permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
TrackTask_activities[index_TrackTask].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_TrackTask = Nb_act_inst_rmp440_TrackTask-1) then
to process_exec_task_
else
index_TrackTask := index_TrackTask + 1;
to process_exec_task_TrackTask
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of rmp440 control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task rmp440 MotionTask . */
/******************************************************/
/**************************************/
/* rmp440 MotionTask execution task timer */
/**************************************/
process timer_rmp440_MotionTask (
&tick_MotionTask: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_MotionTask);
ignorep := fiacre_c_print_trace(1858) /* (3) rmp440 MotionTask timer arming. */;
to wait_
from wait_
wait[50.0, 50.0];
ignorep := fiacre_c_print_trace(1859) /* (3) rmp440 MotionTask timer elapsed. */;
tick_MotionTask:= true;
to start_
/*************************************************/
/* end of process timer_rmp440_MotionTask */
/*************************************************/
/******************************************/
/* rmp440 MotionTask execution task main loop */
/******************************************/
process exec_task_rmp440_MotionTask (
&tick_MotionTask: bool,
&MotionTask_turn : act_inst_rmp440_MotionTask_turn_type,
&MotionTask_runnable: bool,
&TrackTask_runnable: bool,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_MotionTask: act_inst_rmp440_MotionTask_index_type,
index: act_inst_rmp440_MotionTask_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(1860) /* (4) rmp440 ET MotionTask, setting runnable to true. */;
MotionTask_runnable := true;
if (tick_MotionTask) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(1861) /* (4) rmp440 ET MotionTask, setting runnable to false. */;
MotionTask_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(1862) /* (0) rmp440 ET MotionTask ***OVERSHOOT*** its period. */;
tick_MotionTask:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(1863) /* (2) rmp440 ET MotionTask waiting next period. */;
on tick_MotionTask;
tick_MotionTask:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(1864) /* (3) rmp440 ET MotionTask parsing activities status. */;
sched := [false, false, false, false];
foreach index_MotionTask do
if (MotionTask_activities[index_MotionTask].status = ACT_INIT_FCR) then
if (MotionTask_activities[index_MotionTask].start_ and
MotionTask_runnable) then
MotionTask_activities[index_MotionTask].status := ACT_RUN_FCR;
MotionTask_activities[index_MotionTask].state := rmp440_start_fcr;
MotionTask_activities[index_MotionTask].start_ := false;
MotionTask_activities[index_MotionTask].pause := false
end;
if MotionTask_activities[index_MotionTask].stop then
if (MotionTask_activities[index_MotionTask].sid = RMP440_NONE) then /* permanent activity */
MotionTask_activities[index_MotionTask].status := ACT_STOP_FCR;
MotionTask_activities[index_MotionTask].state := rmp440_stop_fcr;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].pause := false
else
MotionTask_activities[index_MotionTask].status := ACT_ETHER_FCR;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].state := genom_interrupted_fcr;
ignoreb := Fiacre_rmp440_genom_interrupt(MotionTask_activities[index_MotionTask]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (MotionTask_activities[index_MotionTask].status = ACT_RUN_FCR) then
if MotionTask_activities[index_MotionTask].stop then
MotionTask_activities[index_MotionTask].status := ACT_STOP_FCR;
MotionTask_activities[index_MotionTask].state := rmp440_stop_fcr;
MotionTask_activities[index_MotionTask].stop := false;
MotionTask_activities[index_MotionTask].pause := false
end;
if (MotionTask_activities[index_MotionTask].pause and
MotionTask_runnable) then
MotionTask_activities[index_MotionTask].pause := false
end
elsif (MotionTask_activities[index_MotionTask].status = ACT_STOP_FCR) then
if (MotionTask_activities[index_MotionTask].pause and
MotionTask_runnable) then
MotionTask_activities[index_MotionTask].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(1865) /* (3) rmp440 ET MotionTask, setting runnable to false. */;
MotionTask_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(1866) /* (3) rmp440 ET MotionTask executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (MotionTask_activities[index].status = ACT_RUN_FCR) and (not (MotionTask_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (MotionTask_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(1867) /* (3) rmp440 ET MotionTask gives control to service. */;
MotionTask_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (MotionTask_turn = Nb_act_inst_rmp440_MotionTask); //control comming back
ignorep := fiacre_c_print_trace(1868) /* (3) rmp440 ET MotionTask getting control back. */;
status := MotionTask_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(1869) /* (2) rmp440 ET MotionTask activity returned ACT_RUN. */;
if (not MotionTask_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(1870) /* (1) rmp440 ET MotionTask activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(1871) /* (0) rmp440 ET MotionTask ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_rmp440_MotionTask-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(1872) /* (4) rmp440 ET MotionTask, for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_rmp440_MotionTask */
/*************************************************/
/****************************************************************************/
/* rmp440 MotionTask fiacre process... there will be one for each instance. */
/****************************************************************************/
process MotionTask_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
MotionTask_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
rmp440_odo_fcr, rmp440_odo_sync_fcr_, rmp440_odo_dispatch_fcr_,
rmp440_end_fcr, rmp440_end_sync_fcr_, rmp440_end_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = MotionTask_index);
ignorep := fiacre_c_print_trace(1873) /* (2) rmp440 Activity MotionTask is getting control in state rmp440_start. */;
if (MotionTask_activities[MotionTask_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
(not (MotionTask_running_codel = trackStart)) and
(not (MotionTask_running_codel = pumpReference)) and
(not (MotionTask_running_codel = stopTrack)) and
(not (control_running_codel = log_start)) and
(not (control_running_codel = log_stop)) and
(not (control_running_codel = genom_rmp440_set_var_params_controlcb)) and
(not (control_running_codel = genom_rmp440_set_soft_accel_decel_limit_controlcb)) and
(mutex_ports[rmp440_StatusGeneric_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1874) /* (2) rmp440 Activity MotionTask calling codel initOdoAndAsserv. */;
mutex_ports[rmp440_StatusGeneric_port] := initOdoAndAsserv_port_codel;
//REMOVE ME
MotionTask_running_codel := initOdoAndAsserv;
start Fiacre_rmp440_codel_task_MotionTask_start_task(MotionTask_activities[MotionTask_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_task_MotionTask_start_task state;
ignorep := fiacre_c_print_trace(1875) /* (2) rmp440 Activity MotionTask returned from codel initOdoAndAsserv. */;
mutex_ports[rmp440_StatusGeneric_port] := no_codel;
write_ports[rmp440_StatusGeneric_port] := true;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (
state = rmp440_odo_fcr or
false) then
MotionTask_activities[MotionTask_index].state := state;
MotionTask_activities[MotionTask_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1876) /* (2) rmp440 Activity MotionTask NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_odo_fcr) then
to rmp440_odo_fcr
end;
to start_ // never reached
else
if (state = rmp440_odo_fcr) then
MotionTask_activities[MotionTask_index].state := rmp440_ether_fcr;
MotionTask_activities[MotionTask_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1877) /* (1) rmp440 Activity MotionTask DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1878) /* (1) rmp440 Activity MotionTask EXCEPTION... */;
to exception
end
end
from rmp440_odo_fcr
on (MotionTask_turn = MotionTask_index);
ignorep := fiacre_c_print_trace(1879) /* (2) rmp440 Activity MotionTask is getting control in state rmp440_odo. */;
if (MotionTask_activities[MotionTask_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (MotionTask_running_codel = trackStart)) and
(not (MotionTask_running_codel = pumpReference)) and
(not (MotionTask_running_codel = stopTrack)) and
(not (control_running_codel = log_start)) and
(not (control_running_codel = log_stop)) and
(not (control_running_codel = genom_rmp440_set_var_params_controlcb)) and
(not (control_running_codel = genom_rmp440_set_soft_accel_decel_limit_controlcb)) and
(mutex_ports[joystick_device_port] = no_codel) and
(mutex_ports[rmp440_Pose_port] = no_codel) and
(mutex_ports[rmp440_Status_port] = no_codel) and
(mutex_ports[rmp440_StatusGeneric_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1880) /* (2) rmp440 Activity MotionTask calling codel odoAndAsserv. */;
mutex_ports[joystick_device_port] := odoAndAsserv_port_codel;
mutex_ports[rmp440_Pose_port] := odoAndAsserv_port_codel;
mutex_ports[rmp440_Status_port] := odoAndAsserv_port_codel;
mutex_ports[rmp440_StatusGeneric_port] := odoAndAsserv_port_codel;
//REMOVE ME
MotionTask_running_codel := odoAndAsserv;
read_ports[joystick_device_port] := true;
if (not write_ports[joystick_device_port] and not RUP_reported[joystick_device_port]) then
ignorep := fiacre_c_print_trace(1881) /* (0) rmp440 Activity MotionTask ***ERROR*** port joystick_device_port RUP. */;
RUP_reported[joystick_device_port] := true
end;
start Fiacre_rmp440_codel_task_MotionTask_odo_task(MotionTask_activities[MotionTask_index]);
to rmp440_odo_sync_fcr_
from rmp440_odo_sync_fcr_
sync Fiacre_rmp440_codel_task_MotionTask_odo_task state;
ignorep := fiacre_c_print_trace(1882) /* (2) rmp440 Activity MotionTask returned from codel odoAndAsserv. */;
mutex_ports[joystick_device_port] := no_codel;
mutex_ports[rmp440_Pose_port] := no_codel;
mutex_ports[rmp440_Status_port] := no_codel;
mutex_ports[rmp440_StatusGeneric_port] := no_codel;
write_ports[rmp440_Pose_port] := true;
write_ports[rmp440_Status_port] := true;
write_ports[rmp440_StatusGeneric_port] := true;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_odo_dispatch_fcr_
from rmp440_odo_dispatch_fcr_
wait [0,0];
if (
state = rmp440_end_fcr or
false) then
MotionTask_activities[MotionTask_index].state := state;
MotionTask_activities[MotionTask_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1883) /* (2) rmp440 Activity MotionTask NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_end_fcr) then
to rmp440_end_fcr
end;
to start_ // never reached
else
if (
state = rmp440_pause_odo_fcr or
false) then
if (state = rmp440_pause_odo_fcr) then state := rmp440_odo_fcr end;
MotionTask_activities[MotionTask_index].state := state;
MotionTask_activities[MotionTask_index].status := ACT_RUN_FCR;
MotionTask_activities[MotionTask_index].pause := true;
ignorep := fiacre_c_print_trace(1884) /* (2) rmp440 Activity MotionTask DONE for this cycle, pauses, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_odo_fcr) then
to rmp440_odo_fcr
end;
to start_ // never reached
else
if (state = rmp440_end_fcr) then
MotionTask_activities[MotionTask_index].state := rmp440_ether_fcr;
MotionTask_activities[MotionTask_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1885) /* (1) rmp440 Activity MotionTask DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1886) /* (1) rmp440 Activity MotionTask EXCEPTION... */;
to exception
end
end
end
from rmp440_end_fcr
on (MotionTask_turn = MotionTask_index);
ignorep := fiacre_c_print_trace(1887) /* (2) rmp440 Activity MotionTask is getting control in state rmp440_end. */;
if (MotionTask_activities[MotionTask_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
true
);
ignorep := fiacre_c_print_trace(1888) /* (2) rmp440 Activity MotionTask calling codel endOdoAndAsserv. */;
//REMOVE ME
MotionTask_running_codel := endOdoAndAsserv;
start Fiacre_rmp440_codel_task_MotionTask_end_task(MotionTask_activities[MotionTask_index]);
to rmp440_end_sync_fcr_
from rmp440_end_sync_fcr_
sync Fiacre_rmp440_codel_task_MotionTask_end_task state;
ignorep := fiacre_c_print_trace(1889) /* (2) rmp440 Activity MotionTask returned from codel endOdoAndAsserv. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_end_dispatch_fcr_
from rmp440_end_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
MotionTask_activities[MotionTask_index].state := rmp440_ether_fcr;
MotionTask_activities[MotionTask_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1890) /* (1) rmp440 Activity MotionTask DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1891) /* (1) rmp440 Activity MotionTask EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
true) then
ignoreb := Fiacre_rmp440_MotionTask_genom_bad_transition(MotionTask_activities[MotionTask_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[MotionTask_index].status := ACT_ETHER_FCR;
MotionTask_activities[MotionTask_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1892) /* (1) rmp440 Activity MotionTask throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 MotionTask fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 Init fiacre process... there will be one for each instance. */
/****************************************************************************/
process Init_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
Init_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
rmp440_init_main_fcr, rmp440_init_main_sync_fcr_, rmp440_init_main_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = Init_index);
ignorep := fiacre_c_print_trace(1893) /* (2) rmp440 Activity Init is getting control in state rmp440_start. */;
if (MotionTask_activities[Init_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
true
);
ignorep := fiacre_c_print_trace(1894) /* (2) rmp440 Activity Init calling codel rmp440InitStart. */;
//REMOVE ME
MotionTask_running_codel := rmp440InitStart;
start Fiacre_rmp440_codel_service_Init_start_task(MotionTask_activities[Init_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_Init_start_task state;
ignorep := fiacre_c_print_trace(1895) /* (2) rmp440 Activity Init returned from codel rmp440InitStart. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (
state = rmp440_init_main_fcr or
false) then
MotionTask_activities[Init_index].state := state;
MotionTask_activities[Init_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1896) /* (2) rmp440 Activity Init NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_init_main_fcr) then
to rmp440_init_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1897) /* (1) rmp440 Activity Init EXCEPTION... */;
to exception
end
from rmp440_init_main_fcr
on (MotionTask_turn = Init_index);
ignorep := fiacre_c_print_trace(1898) /* (2) rmp440 Activity Init is getting control in state rmp440_init_main. */;
if (MotionTask_activities[Init_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
(not (MotionTask_running_codel = trackStart)) and
(not (MotionTask_running_codel = pumpReference)) and
(not (MotionTask_running_codel = stopTrack)) and
true
);
ignorep := fiacre_c_print_trace(1899) /* (2) rmp440 Activity Init calling codel rmp440InitMain. */;
//REMOVE ME
MotionTask_running_codel := rmp440InitMain;
start Fiacre_rmp440_codel_service_Init_init_main_task(MotionTask_activities[Init_index]);
to rmp440_init_main_sync_fcr_
from rmp440_init_main_sync_fcr_
sync Fiacre_rmp440_codel_service_Init_init_main_task state;
ignorep := fiacre_c_print_trace(1900) /* (2) rmp440 Activity Init returned from codel rmp440InitMain. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_init_main_dispatch_fcr_
from rmp440_init_main_dispatch_fcr_
wait [0,0];
if (
state = rmp440_pause_init_main_fcr or
false) then
if (state = rmp440_pause_init_main_fcr) then state := rmp440_init_main_fcr end;
MotionTask_activities[Init_index].state := state;
MotionTask_activities[Init_index].status := ACT_RUN_FCR;
MotionTask_activities[Init_index].pause := true;
ignorep := fiacre_c_print_trace(1901) /* (2) rmp440 Activity Init DONE for this cycle, pauses, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_init_main_fcr) then
to rmp440_init_main_fcr
end;
to start_ // never reached
else
if (state = rmp440_ether_fcr) then
MotionTask_activities[Init_index].state := rmp440_ether_fcr;
MotionTask_activities[Init_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1902) /* (1) rmp440 Activity Init DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1903) /* (1) rmp440 Activity Init EXCEPTION... */;
to exception
end
end
from rmp440_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1904) /* (1) rmp440 Activity Init in default stop. */;
ignoreb := Fiacre_rmp440_Init_genom_interrupt(MotionTask_activities[Init_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_already_initialized_fcr)) and
(not (state = rmp440_malloc_error_fcr)) and
(not (state = rmp440_rmplib_error_fcr)) and
true) then
ignoreb := Fiacre_rmp440_Init_genom_bad_transition(MotionTask_activities[Init_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[Init_index].status := ACT_ETHER_FCR;
MotionTask_activities[Init_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1905) /* (1) rmp440 Activity Init throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 Init fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 Reconnect fiacre process... there will be one for each instance. */
/****************************************************************************/
process Reconnect_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
Reconnect_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
rmp440_reconnect_main_fcr, rmp440_reconnect_main_sync_fcr_, rmp440_reconnect_main_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = Reconnect_index);
ignorep := fiacre_c_print_trace(1906) /* (2) rmp440 Activity Reconnect is getting control in state rmp440_start. */;
if (MotionTask_activities[Reconnect_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
true
);
ignorep := fiacre_c_print_trace(1907) /* (2) rmp440 Activity Reconnect calling codel rmp440ReconnectStart. */;
//REMOVE ME
MotionTask_running_codel := rmp440ReconnectStart;
start Fiacre_rmp440_codel_service_Reconnect_start_task(MotionTask_activities[Reconnect_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_Reconnect_start_task state;
ignorep := fiacre_c_print_trace(1908) /* (2) rmp440 Activity Reconnect returned from codel rmp440ReconnectStart. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (
state = rmp440_reconnect_main_fcr or
false) then
MotionTask_activities[Reconnect_index].state := state;
MotionTask_activities[Reconnect_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1909) /* (2) rmp440 Activity Reconnect NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_reconnect_main_fcr) then
to rmp440_reconnect_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1910) /* (1) rmp440 Activity Reconnect EXCEPTION... */;
to exception
end
from rmp440_reconnect_main_fcr
on (MotionTask_turn = Reconnect_index);
ignorep := fiacre_c_print_trace(1911) /* (2) rmp440 Activity Reconnect is getting control in state rmp440_reconnect_main. */;
if (MotionTask_activities[Reconnect_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (control_running_codel = trackControl)) and
(not (control_running_codel = trackControl)) and
(not (MotionTask_running_codel = trackStart)) and
(not (MotionTask_running_codel = pumpReference)) and
(not (MotionTask_running_codel = stopTrack)) and
true
);
ignorep := fiacre_c_print_trace(1912) /* (2) rmp440 Activity Reconnect calling codel rmp440ReconnectMain. */;
//REMOVE ME
MotionTask_running_codel := rmp440ReconnectMain;
start Fiacre_rmp440_codel_service_Reconnect_reconnect_main_task(MotionTask_activities[Reconnect_index]);
to rmp440_reconnect_main_sync_fcr_
from rmp440_reconnect_main_sync_fcr_
sync Fiacre_rmp440_codel_service_Reconnect_reconnect_main_task state;
ignorep := fiacre_c_print_trace(1913) /* (2) rmp440 Activity Reconnect returned from codel rmp440ReconnectMain. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_reconnect_main_dispatch_fcr_
from rmp440_reconnect_main_dispatch_fcr_
wait [0,0];
if (
state = rmp440_pause_reconnect_main_fcr or
false) then
if (state = rmp440_pause_reconnect_main_fcr) then state := rmp440_reconnect_main_fcr end;
MotionTask_activities[Reconnect_index].state := state;
MotionTask_activities[Reconnect_index].status := ACT_RUN_FCR;
MotionTask_activities[Reconnect_index].pause := true;
ignorep := fiacre_c_print_trace(1914) /* (2) rmp440 Activity Reconnect DONE for this cycle, pauses, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_reconnect_main_fcr) then
to rmp440_reconnect_main_fcr
end;
to start_ // never reached
else
if (state = rmp440_ether_fcr) then
MotionTask_activities[Reconnect_index].state := rmp440_ether_fcr;
MotionTask_activities[Reconnect_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1915) /* (1) rmp440 Activity Reconnect DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1916) /* (1) rmp440 Activity Reconnect EXCEPTION... */;
to exception
end
end
from rmp440_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1917) /* (1) rmp440 Activity Reconnect in default stop. */;
ignoreb := Fiacre_rmp440_Reconnect_genom_interrupt(MotionTask_activities[Reconnect_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_not_connected_fcr)) and
(not (state = rmp440_rmplib_error_fcr)) and
true) then
ignoreb := Fiacre_rmp440_Reconnect_genom_bad_transition(MotionTask_activities[Reconnect_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[Reconnect_index].status := ACT_ETHER_FCR;
MotionTask_activities[Reconnect_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1918) /* (1) rmp440 Activity Reconnect throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 Reconnect fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 JoystickOn fiacre process... there will be one for each instance. */
/****************************************************************************/
process JoystickOn_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
JoystickOn_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
rmp440_js_main_fcr, rmp440_js_main_sync_fcr_, rmp440_js_main_dispatch_fcr_,
rmp440_stop_fcr, rmp440_stop_sync_fcr_, rmp440_stop_dispatch_fcr_,
rmp440_inter_fcr, rmp440_inter_sync_fcr_, rmp440_inter_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = JoystickOn_index);
ignorep := fiacre_c_print_trace(1919) /* (2) rmp440 Activity JoystickOn is getting control in state rmp440_start. */;
if (MotionTask_activities[JoystickOn_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(mutex_ports[joystick_device_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1920) /* (2) rmp440 Activity JoystickOn calling codel rmp440JoystickOnStart. */;
mutex_ports[joystick_device_port] := rmp440JoystickOnStart_port_codel;
//REMOVE ME
MotionTask_running_codel := rmp440JoystickOnStart;
read_ports[joystick_device_port] := true;
if (not write_ports[joystick_device_port] and not RUP_reported[joystick_device_port]) then
ignorep := fiacre_c_print_trace(1921) /* (0) rmp440 Activity JoystickOn ***ERROR*** port joystick_device_port RUP. */;
RUP_reported[joystick_device_port] := true
end;
start Fiacre_rmp440_codel_service_JoystickOn_start_task(MotionTask_activities[JoystickOn_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_JoystickOn_start_task state;
ignorep := fiacre_c_print_trace(1922) /* (2) rmp440 Activity JoystickOn returned from codel rmp440JoystickOnStart. */;
mutex_ports[joystick_device_port] := no_codel;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (
state = rmp440_js_main_fcr or
false) then
MotionTask_activities[JoystickOn_index].state := state;
MotionTask_activities[JoystickOn_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1923) /* (2) rmp440 Activity JoystickOn NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_js_main_fcr) then
to rmp440_js_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1924) /* (1) rmp440 Activity JoystickOn EXCEPTION... */;
to exception
end
from rmp440_js_main_fcr
on (MotionTask_turn = JoystickOn_index);
ignorep := fiacre_c_print_trace(1925) /* (2) rmp440 Activity JoystickOn is getting control in state rmp440_js_main. */;
if (MotionTask_activities[JoystickOn_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(mutex_ports[joystick_device_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1926) /* (2) rmp440 Activity JoystickOn calling codel rmp440JoystickOnMain. */;
mutex_ports[joystick_device_port] := rmp440JoystickOnMain_port_codel;
//REMOVE ME
MotionTask_running_codel := rmp440JoystickOnMain;
read_ports[joystick_device_port] := true;
if (not write_ports[joystick_device_port] and not RUP_reported[joystick_device_port]) then
ignorep := fiacre_c_print_trace(1927) /* (0) rmp440 Activity JoystickOn ***ERROR*** port joystick_device_port RUP. */;
RUP_reported[joystick_device_port] := true
end;
start Fiacre_rmp440_codel_service_JoystickOn_js_main_task(MotionTask_activities[JoystickOn_index]);
to rmp440_js_main_sync_fcr_
from rmp440_js_main_sync_fcr_
sync Fiacre_rmp440_codel_service_JoystickOn_js_main_task state;
ignorep := fiacre_c_print_trace(1928) /* (2) rmp440 Activity JoystickOn returned from codel rmp440JoystickOnMain. */;
mutex_ports[joystick_device_port] := no_codel;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_js_main_dispatch_fcr_
from rmp440_js_main_dispatch_fcr_
wait [0,0];
if (
state = rmp440_inter_fcr or
false) then
MotionTask_activities[JoystickOn_index].state := state;
MotionTask_activities[JoystickOn_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1929) /* (2) rmp440 Activity JoystickOn NOT done for this cycle, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_inter_fcr) then
to rmp440_inter_fcr
end;
to start_ // never reached
else
if (
state = rmp440_pause_js_main_fcr or
false) then
if (state = rmp440_pause_js_main_fcr) then state := rmp440_js_main_fcr end;
MotionTask_activities[JoystickOn_index].state := state;
MotionTask_activities[JoystickOn_index].status := ACT_RUN_FCR;
MotionTask_activities[JoystickOn_index].pause := true;
ignorep := fiacre_c_print_trace(1930) /* (2) rmp440 Activity JoystickOn DONE for this cycle, pauses, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
if (state = rmp440_js_main_fcr) then
to rmp440_js_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1931) /* (1) rmp440 Activity JoystickOn EXCEPTION... */;
to exception
end
end
from rmp440_stop_fcr
on (MotionTask_turn = JoystickOn_index);
ignorep := fiacre_c_print_trace(1932) /* (2) rmp440 Activity JoystickOn is getting control in state rmp440_stop. */;
on (
true
);
ignorep := fiacre_c_print_trace(1933) /* (2) rmp440 Activity JoystickOn calling codel rmp440JoystickOnInter. */;
//REMOVE ME
MotionTask_running_codel := rmp440JoystickOnInter;
start Fiacre_rmp440_codel_service_JoystickOn_stop_task(MotionTask_activities[JoystickOn_index]);
to rmp440_stop_sync_fcr_
from rmp440_stop_sync_fcr_
sync Fiacre_rmp440_codel_service_JoystickOn_stop_task state;
ignorep := fiacre_c_print_trace(1934) /* (2) rmp440 Activity JoystickOn returned from codel rmp440JoystickOnInter. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_stop_dispatch_fcr_
from rmp440_stop_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
MotionTask_activities[JoystickOn_index].state := rmp440_ether_fcr;
MotionTask_activities[JoystickOn_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1935) /* (1) rmp440 Activity JoystickOn DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1936) /* (1) rmp440 Activity JoystickOn EXCEPTION... */;
to exception
end
from rmp440_inter_fcr
on (MotionTask_turn = JoystickOn_index);
ignorep := fiacre_c_print_trace(1937) /* (2) rmp440 Activity JoystickOn is getting control in state rmp440_inter. */;
if (MotionTask_activities[JoystickOn_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1938) /* (2) rmp440 Activity JoystickOn calling codel rmp440JoystickOnInter. */;
//REMOVE ME
MotionTask_running_codel := rmp440JoystickOnInter;
start Fiacre_rmp440_codel_service_JoystickOn_inter_task(MotionTask_activities[JoystickOn_index]);
to rmp440_inter_sync_fcr_
from rmp440_inter_sync_fcr_
sync Fiacre_rmp440_codel_service_JoystickOn_inter_task state;
ignorep := fiacre_c_print_trace(1939) /* (2) rmp440 Activity JoystickOn returned from codel rmp440JoystickOnInter. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_inter_dispatch_fcr_
from rmp440_inter_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
MotionTask_activities[JoystickOn_index].state := rmp440_ether_fcr;
MotionTask_activities[JoystickOn_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1940) /* (1) rmp440 Activity JoystickOn DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1941) /* (1) rmp440 Activity JoystickOn EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_bad_ref_fcr)) and
(not (state = rmp440_rmplib_error_fcr)) and
(not (state = rmp440_joystick_error_fcr)) and
(not (state = rmp440_motors_off_fcr)) and
(not (state = rmp440_power_cord_connected_fcr)) and
true) then
ignoreb := Fiacre_rmp440_JoystickOn_genom_bad_transition(MotionTask_activities[JoystickOn_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[JoystickOn_index].status := ACT_ETHER_FCR;
MotionTask_activities[JoystickOn_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1942) /* (1) rmp440 Activity JoystickOn throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 JoystickOn fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 Gyro fiacre process... there will be one for each instance. */
/****************************************************************************/
process Gyro_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
Gyro_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = Gyro_index);
ignorep := fiacre_c_print_trace(1943) /* (2) rmp440 Activity Gyro is getting control in state rmp440_start. */;
if (MotionTask_activities[Gyro_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1944) /* (2) rmp440 Activity Gyro calling codel rmp440GyroExec. */;
//REMOVE ME
MotionTask_running_codel := rmp440GyroExec;
start Fiacre_rmp440_codel_service_Gyro_start_task(MotionTask_activities[Gyro_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_Gyro_start_task state;
ignorep := fiacre_c_print_trace(1945) /* (2) rmp440 Activity Gyro returned from codel rmp440GyroExec. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
MotionTask_activities[Gyro_index].state := rmp440_ether_fcr;
MotionTask_activities[Gyro_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1946) /* (1) rmp440 Activity Gyro DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1947) /* (1) rmp440 Activity Gyro EXCEPTION... */;
to exception
end
from rmp440_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1948) /* (1) rmp440 Activity Gyro in default stop. */;
ignoreb := Fiacre_rmp440_Gyro_genom_interrupt(MotionTask_activities[Gyro_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_gyro_error_fcr)) and
true) then
ignoreb := Fiacre_rmp440_Gyro_genom_bad_transition(MotionTask_activities[Gyro_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[Gyro_index].status := ACT_ETHER_FCR;
MotionTask_activities[Gyro_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1949) /* (1) rmp440 Activity Gyro throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 Gyro fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 SetRobotYaw fiacre process... there will be one for each instance. */
/****************************************************************************/
process SetRobotYaw_rmp440_MotionTask (
instance: 0..Max_Act_Inst_rmp440-1,
SetRobotYaw_index: act_inst_rmp440_MotionTask_index_type,
&MotionTask_activities: Activities_rmp440_MotionTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&MotionTask_turn: act_inst_rmp440_MotionTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (MotionTask_turn = SetRobotYaw_index);
ignorep := fiacre_c_print_trace(1950) /* (2) rmp440 Activity SetRobotYaw is getting control in state rmp440_start. */;
if (MotionTask_activities[SetRobotYaw_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1951) /* (2) rmp440 Activity SetRobotYaw calling codel set_robot_yaw. */;
//REMOVE ME
MotionTask_running_codel := set_robot_yaw;
start Fiacre_rmp440_codel_service_SetRobotYaw_start_task(MotionTask_activities[SetRobotYaw_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_SetRobotYaw_start_task state;
ignorep := fiacre_c_print_trace(1952) /* (2) rmp440 Activity SetRobotYaw returned from codel set_robot_yaw. */;
//REMOVE ME
MotionTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
MotionTask_activities[SetRobotYaw_index].state := rmp440_ether_fcr;
MotionTask_activities[SetRobotYaw_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1953) /* (1) rmp440 Activity SetRobotYaw DONE (ether), back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
else
ignorep := fiacre_c_print_trace(1954) /* (1) rmp440 Activity SetRobotYaw EXCEPTION... */;
to exception
end
from rmp440_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(1955) /* (1) rmp440 Activity SetRobotYaw in default stop. */;
ignoreb := Fiacre_rmp440_SetRobotYaw_genom_interrupt(MotionTask_activities[SetRobotYaw_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_gyro_error_fcr)) and
true) then
ignoreb := Fiacre_rmp440_SetRobotYaw_genom_bad_transition(MotionTask_activities[SetRobotYaw_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
MotionTask_activities[SetRobotYaw_index].status := ACT_ETHER_FCR;
MotionTask_activities[SetRobotYaw_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1956) /* (1) rmp440 Activity SetRobotYaw throw an exception, back to ET. */;
MotionTask_turn := Nb_act_inst_rmp440_MotionTask;
to start_
/******************************************/
/* end of rmp440 SetRobotYaw fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task rmp440 MotionTask . */
/******************************************************/
/******************************************************/
/* beginning of the section specific to task rmp440 TrackTask . */
/******************************************************/
/**************************************/
/* rmp440 TrackTask execution task timer */
/**************************************/
process timer_rmp440_TrackTask (
&tick_TrackTask: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_TrackTask);
ignorep := fiacre_c_print_trace(1957) /* (3) rmp440 TrackTask timer arming. */;
to wait_
from wait_
wait[50.0, 50.0];
ignorep := fiacre_c_print_trace(1958) /* (3) rmp440 TrackTask timer elapsed. */;
tick_TrackTask:= true;
to start_
/*************************************************/
/* end of process timer_rmp440_TrackTask */
/*************************************************/
/******************************************/
/* rmp440 TrackTask execution task main loop */
/******************************************/
process exec_task_rmp440_TrackTask (
&tick_TrackTask: bool,
&TrackTask_turn : act_inst_rmp440_TrackTask_turn_type,
&MotionTask_runnable: bool,
&TrackTask_runnable: bool,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_TrackTask: act_inst_rmp440_TrackTask_index_type,
index: act_inst_rmp440_TrackTask_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(1959) /* (4) rmp440 ET TrackTask, setting runnable to true. */;
TrackTask_runnable := true;
if (tick_TrackTask) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(1960) /* (4) rmp440 ET TrackTask, setting runnable to false. */;
TrackTask_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(1961) /* (0) rmp440 ET TrackTask ***OVERSHOOT*** its period. */;
tick_TrackTask:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(1962) /* (2) rmp440 ET TrackTask waiting next period. */;
on tick_TrackTask;
tick_TrackTask:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(1963) /* (3) rmp440 ET TrackTask parsing activities status. */;
sched := [false, false, false, false];
foreach index_TrackTask do
if (TrackTask_activities[index_TrackTask].status = ACT_INIT_FCR) then
if (TrackTask_activities[index_TrackTask].start_ and
TrackTask_runnable) then
TrackTask_activities[index_TrackTask].status := ACT_RUN_FCR;
TrackTask_activities[index_TrackTask].state := rmp440_start_fcr;
TrackTask_activities[index_TrackTask].start_ := false;
TrackTask_activities[index_TrackTask].pause := false
end;
if TrackTask_activities[index_TrackTask].stop then
if (TrackTask_activities[index_TrackTask].sid = RMP440_NONE) then /* permanent activity */
TrackTask_activities[index_TrackTask].status := ACT_STOP_FCR;
TrackTask_activities[index_TrackTask].state := rmp440_stop_fcr;
TrackTask_activities[index_TrackTask].stop := false;
TrackTask_activities[index_TrackTask].pause := false
else
TrackTask_activities[index_TrackTask].status := ACT_ETHER_FCR;
TrackTask_activities[index_TrackTask].stop := false;
TrackTask_activities[index_TrackTask].state := genom_interrupted_fcr;
ignoreb := Fiacre_rmp440_genom_interrupt(TrackTask_activities[index_TrackTask]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (TrackTask_activities[index_TrackTask].status = ACT_RUN_FCR) then
if TrackTask_activities[index_TrackTask].stop then
TrackTask_activities[index_TrackTask].status := ACT_STOP_FCR;
TrackTask_activities[index_TrackTask].state := rmp440_stop_fcr;
TrackTask_activities[index_TrackTask].stop := false;
TrackTask_activities[index_TrackTask].pause := false
end;
if (TrackTask_activities[index_TrackTask].pause and
TrackTask_runnable) then
TrackTask_activities[index_TrackTask].pause := false
end
elsif (TrackTask_activities[index_TrackTask].status = ACT_STOP_FCR) then
if (TrackTask_activities[index_TrackTask].pause and
TrackTask_runnable) then
TrackTask_activities[index_TrackTask].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(1964) /* (3) rmp440 ET TrackTask, setting runnable to false. */;
TrackTask_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(1965) /* (3) rmp440 ET TrackTask executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (TrackTask_activities[index].status = ACT_RUN_FCR) and (not (TrackTask_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (TrackTask_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(1966) /* (3) rmp440 ET TrackTask gives control to service. */;
TrackTask_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (TrackTask_turn = Nb_act_inst_rmp440_TrackTask); //control comming back
ignorep := fiacre_c_print_trace(1967) /* (3) rmp440 ET TrackTask getting control back. */;
status := TrackTask_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(1968) /* (2) rmp440 ET TrackTask activity returned ACT_RUN. */;
if (not TrackTask_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(1969) /* (1) rmp440 ET TrackTask activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(1970) /* (0) rmp440 ET TrackTask ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_rmp440_TrackTask-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(1971) /* (4) rmp440 ET TrackTask, for all ET, setting runnable to true. */;
MotionTask_runnable := true;
TrackTask_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_rmp440_TrackTask */
/*************************************************/
/****************************************************************************/
/* rmp440 TrackTask fiacre process... there will be one for each instance. */
/****************************************************************************/
process TrackTask_rmp440_TrackTask (
instance: 0..Max_Act_Inst_rmp440-1,
TrackTask_index: act_inst_rmp440_TrackTask_index_type,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&TrackTask_turn: act_inst_rmp440_TrackTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
exception, rmp440_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (TrackTask_turn = TrackTask_index);
ignorep := fiacre_c_print_trace(1972) /* (2) rmp440 Activity TrackTask is getting control in state rmp440_start. */;
if (TrackTask_activities[TrackTask_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(1973) /* (2) rmp440 Activity TrackTask calling codel initTrackTask. */;
//REMOVE ME
TrackTask_running_codel := initTrackTask;
start Fiacre_rmp440_codel_task_TrackTask_start_task(TrackTask_activities[TrackTask_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_task_TrackTask_start_task state;
ignorep := fiacre_c_print_trace(1974) /* (2) rmp440 Activity TrackTask returned from codel initTrackTask. */;
//REMOVE ME
TrackTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
TrackTask_activities[TrackTask_index].state := rmp440_ether_fcr;
TrackTask_activities[TrackTask_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1975) /* (1) rmp440 Activity TrackTask DONE (ether), back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
to start_
else
ignorep := fiacre_c_print_trace(1976) /* (1) rmp440 Activity TrackTask EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_rmp440_TrackTask_genom_bad_transition(TrackTask_activities[TrackTask_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
TrackTask_activities[TrackTask_index].status := ACT_ETHER_FCR;
TrackTask_activities[TrackTask_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(1977) /* (1) rmp440 Activity TrackTask throw an exception, back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
to start_
/******************************************/
/* end of rmp440 TrackTask fiacre process. */
/******************************************/
/****************************************************************************/
/* rmp440 Track fiacre process... there will be one for each instance. */
/****************************************************************************/
process Track_rmp440_TrackTask (
instance: 0..Max_Act_Inst_rmp440-1,
Track_index: act_inst_rmp440_TrackTask_index_type,
&TrackTask_activities: Activities_rmp440_TrackTask_Array,
&MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1,
&control_running_codel: 0..max_number_mutex_codels_rmp440-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&TrackTask_turn: act_inst_rmp440_TrackTask_turn_type
) is
states
rmp440_start_fcr, rmp440_start_sync_fcr_, rmp440_start_dispatch_fcr_,
rmp440_track_main_fcr, rmp440_track_main_sync_fcr_, rmp440_track_main_dispatch_fcr_,
rmp440_end_fcr, rmp440_end_sync_fcr_, rmp440_end_dispatch_fcr_,
rmp440_stop_fcr, rmp440_stop_sync_fcr_, rmp440_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to rmp440_start_fcr
from rmp440_start_fcr
on (TrackTask_turn = Track_index);
ignorep := fiacre_c_print_trace(1978) /* (2) rmp440 Activity Track is getting control in state rmp440_start. */;
if (TrackTask_activities[Track_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (TrackTask_running_codel = initOdoAndAsserv)) and
(not (TrackTask_running_codel = odoAndAsserv)) and
(not (TrackTask_running_codel = rmp440InitMain)) and
(not (TrackTask_running_codel = rmp440ReconnectMain)) and
(not (control_running_codel = genom_rmp440_set_soft_accel_decel_limit_controlcb)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1979) /* (2) rmp440 Activity Track calling codel trackStart. */;
mutex_ports[SafetyPilot_Cmd_port] := trackStart_port_codel;
//REMOVE ME
TrackTask_running_codel := trackStart;
read_ports[SafetyPilot_Cmd_port] := true;
if (not write_ports[SafetyPilot_Cmd_port] and not RUP_reported[SafetyPilot_Cmd_port]) then
ignorep := fiacre_c_print_trace(1980) /* (0) rmp440 Activity Track ***ERROR*** port SafetyPilot_Cmd_port RUP. */;
RUP_reported[SafetyPilot_Cmd_port] := true
end;
start Fiacre_rmp440_codel_service_Track_start_task(TrackTask_activities[Track_index]);
to rmp440_start_sync_fcr_
from rmp440_start_sync_fcr_
sync Fiacre_rmp440_codel_service_Track_start_task state;
ignorep := fiacre_c_print_trace(1981) /* (2) rmp440 Activity Track returned from codel trackStart. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
//REMOVE ME
TrackTask_running_codel := 0;
to rmp440_start_dispatch_fcr_
from rmp440_start_dispatch_fcr_
wait [0,0];
if (
state = rmp440_track_main_fcr or
state = rmp440_end_fcr or
false) then
TrackTask_activities[Track_index].state := state;
TrackTask_activities[Track_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1982) /* (2) rmp440 Activity Track NOT done for this cycle, back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
if (state = rmp440_track_main_fcr) then
to rmp440_track_main_fcr
end;
if (state = rmp440_end_fcr) then
to rmp440_end_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1983) /* (1) rmp440 Activity Track EXCEPTION... */;
to exception
end
from rmp440_track_main_fcr
on (TrackTask_turn = Track_index);
ignorep := fiacre_c_print_trace(1984) /* (2) rmp440 Activity Track is getting control in state rmp440_track_main. */;
if (TrackTask_activities[Track_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (TrackTask_running_codel = initOdoAndAsserv)) and
(not (TrackTask_running_codel = odoAndAsserv)) and
(not (TrackTask_running_codel = rmp440InitMain)) and
(not (TrackTask_running_codel = rmp440ReconnectMain)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(1985) /* (2) rmp440 Activity Track calling codel pumpReference. */;
mutex_ports[SafetyPilot_Cmd_port] := pumpReference_port_codel;
//REMOVE ME
TrackTask_running_codel := pumpReference;
read_ports[SafetyPilot_Cmd_port] := true;
if (not write_ports[SafetyPilot_Cmd_port] and not RUP_reported[SafetyPilot_Cmd_port]) then
ignorep := fiacre_c_print_trace(1986) /* (0) rmp440 Activity Track ***ERROR*** port SafetyPilot_Cmd_port RUP. */;
RUP_reported[SafetyPilot_Cmd_port] := true
end;
start Fiacre_rmp440_codel_service_Track_track_main_task(TrackTask_activities[Track_index]);
to rmp440_track_main_sync_fcr_
from rmp440_track_main_sync_fcr_
sync Fiacre_rmp440_codel_service_Track_track_main_task state;
ignorep := fiacre_c_print_trace(1987) /* (2) rmp440 Activity Track returned from codel pumpReference. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
//REMOVE ME
TrackTask_running_codel := 0;
to rmp440_track_main_dispatch_fcr_
from rmp440_track_main_dispatch_fcr_
wait [0,0];
if (
state = rmp440_end_fcr or
false) then
TrackTask_activities[Track_index].state := state;
TrackTask_activities[Track_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(1988) /* (2) rmp440 Activity Track NOT done for this cycle, back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
if (state = rmp440_end_fcr) then
to rmp440_end_fcr
end;
to start_ // never reached
else
if (
state = rmp440_pause_track_main_fcr or
false) then
if (state = rmp440_pause_track_main_fcr) then state := rmp440_track_main_fcr end;
TrackTask_activities[Track_index].state := state;
TrackTask_activities[Track_index].status := ACT_RUN_FCR;
TrackTask_activities[Track_index].pause := true;
ignorep := fiacre_c_print_trace(1989) /* (2) rmp440 Activity Track DONE for this cycle, pauses, back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
if (state = rmp440_track_main_fcr) then
to rmp440_track_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(1990) /* (1) rmp440 Activity Track EXCEPTION... */;
to exception
end
end
from rmp440_end_fcr
on (TrackTask_turn = Track_index);
ignorep := fiacre_c_print_trace(1991) /* (2) rmp440 Activity Track is getting control in state rmp440_end. */;
if (TrackTask_activities[Track_index].state = rmp440_stop_fcr) then
to rmp440_stop_fcr
end;
on (
(not (TrackTask_running_codel = initOdoAndAsserv)) and
(not (TrackTask_running_codel = odoAndAsserv)) and
(not (TrackTask_running_codel = rmp440InitMain)) and
(not (TrackTask_running_codel = rmp440ReconnectMain)) and
true
);
ignorep := fiacre_c_print_trace(1992) /* (2) rmp440 Activity Track calling codel stopTrack. */;
//REMOVE ME
TrackTask_running_codel := stopTrack;
start Fiacre_rmp440_codel_service_Track_end_task(TrackTask_activities[Track_index]);
to rmp440_end_sync_fcr_
from rmp440_end_sync_fcr_
sync Fiacre_rmp440_codel_service_Track_end_task state;
ignorep := fiacre_c_print_trace(1993) /* (2) rmp440 Activity Track returned from codel stopTrack. */;
//REMOVE ME
TrackTask_running_codel := 0;
to rmp440_end_dispatch_fcr_
from rmp440_end_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
TrackTask_activities[Track_index].state := rmp440_ether_fcr;
TrackTask_activities[Track_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1994) /* (1) rmp440 Activity Track DONE (ether), back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
to start_
else
ignorep := fiacre_c_print_trace(1995) /* (1) rmp440 Activity Track EXCEPTION... */;
to exception
end
from rmp440_stop_fcr
on (TrackTask_turn = Track_index);
ignorep := fiacre_c_print_trace(1996) /* (2) rmp440 Activity Track is getting control in state rmp440_stop. */;
on (
(not (TrackTask_running_codel = initOdoAndAsserv)) and
(not (TrackTask_running_codel = odoAndAsserv)) and
(not (TrackTask_running_codel = rmp440InitMain)) and
(not (TrackTask_running_codel = rmp440ReconnectMain)) and
true
);
ignorep := fiacre_c_print_trace(1997) /* (2) rmp440 Activity Track calling codel stopTrack. */;
//REMOVE ME
TrackTask_running_codel := stopTrack;
start Fiacre_rmp440_codel_service_Track_stop_task(TrackTask_activities[Track_index]);
to rmp440_stop_sync_fcr_
from rmp440_stop_sync_fcr_
sync Fiacre_rmp440_codel_service_Track_stop_task state;
ignorep := fiacre_c_print_trace(1998) /* (2) rmp440 Activity Track returned from codel stopTrack. */;
//REMOVE ME
TrackTask_running_codel := 0;
to rmp440_stop_dispatch_fcr_
from rmp440_stop_dispatch_fcr_
wait [0,0];
if (state = rmp440_ether_fcr) then
TrackTask_activities[Track_index].state := rmp440_ether_fcr;
TrackTask_activities[Track_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(1999) /* (1) rmp440 Activity Track DONE (ether), back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
to start_
else
ignorep := fiacre_c_print_trace(2000) /* (1) rmp440 Activity Track EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = rmp440_not_connected_fcr)) and
(not (state = rmp440_port_not_found_fcr)) and
(not (state = rmp440_bad_ref_fcr)) and
(not (state = rmp440_cmd_stop_track_fcr)) and
(not (state = rmp440_motors_off_fcr)) and
(not (state = rmp440_emergency_stop_fcr)) and
(not (state = rmp440_power_cord_connected_fcr)) and
true) then
ignoreb := Fiacre_rmp440_Track_genom_bad_transition(TrackTask_activities[Track_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
TrackTask_activities[Track_index].status := ACT_ETHER_FCR;
TrackTask_activities[Track_index].state := state; //rmp440_ether_fcr
ignorep := fiacre_c_print_trace(2001) /* (1) rmp440 Activity Track throw an exception, back to ET. */;
TrackTask_turn := Nb_act_inst_rmp440_TrackTask;
to start_
/******************************************/
/* end of rmp440 Track fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task rmp440 TrackTask . */
/******************************************************/
/********************************************/
/*End of rmp440 processes section */
/********************************************/
/********************************************/
/* beginning of SafetyPilot process section */
/********************************************/
/**********************************************/
/* SafetyPilot abort_activity services control task part */
/**********************************************/
process SafetyPilot_abort_activity_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2002) /* (1) SafetyPilot CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2003) /* (1) SafetyPilot CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2004) /* (0) SafetyPilot CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2005) /* (2) SafetyPilot CT abort_activity control codel. */;
start Fiacre_SafetyPilot_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_SafetyPilot_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2006) /* (2) SafetyPilot CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2007) /* (1) SafetyPilot CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2008) /* (3) SafetyPilot CT abort_activity updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_abort_activity]:= true;
ignorep := fiacre_c_print_trace(2009) /* (1) SafetyPilot CT abort_activity ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2010) /* (1) SafetyPilot CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2011) /* (4) SafetyPilot CT abort_activity for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2012) /* (3) SafetyPilot CT abort_activity giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot abort_activity services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot connect_port services control task part */
/**********************************************/
process SafetyPilot_connect_port_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2013) /* (1) SafetyPilot CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2014) /* (1) SafetyPilot CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2015) /* (0) SafetyPilot CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2016) /* (2) SafetyPilot CT connect_port control codel. */;
start Fiacre_SafetyPilot_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_SafetyPilot_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2017) /* (2) SafetyPilot CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2018) /* (1) SafetyPilot CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2019) /* (3) SafetyPilot CT connect_port updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_connect_port]:= true;
ignorep := fiacre_c_print_trace(2020) /* (1) SafetyPilot CT connect_port ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2021) /* (1) SafetyPilot CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2022) /* (4) SafetyPilot CT connect_port for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2023) /* (3) SafetyPilot CT connect_port giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot connect_port services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot connect_service services control task part */
/**********************************************/
process SafetyPilot_connect_service_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2024) /* (1) SafetyPilot CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2025) /* (1) SafetyPilot CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2026) /* (0) SafetyPilot CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2027) /* (2) SafetyPilot CT connect_service control codel. */;
start Fiacre_SafetyPilot_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_SafetyPilot_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2028) /* (2) SafetyPilot CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2029) /* (1) SafetyPilot CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2030) /* (3) SafetyPilot CT connect_service updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_connect_service]:= true;
ignorep := fiacre_c_print_trace(2031) /* (1) SafetyPilot CT connect_service ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2032) /* (1) SafetyPilot CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2033) /* (4) SafetyPilot CT connect_service for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2034) /* (3) SafetyPilot CT connect_service giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot connect_service services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot kill services control task part */
/**********************************************/
process SafetyPilot_kill_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_pilot, wait_pilot_interrupted_ether, next_pilot_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2035) /* (1) SafetyPilot CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2036) /* (1) SafetyPilot CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2037) /* (0) SafetyPilot CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2038) /* (2) SafetyPilot CT kill control codel. */;
start Fiacre_SafetyPilot_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_SafetyPilot_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2039) /* (2) SafetyPilot CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(2040) /* (1) SafetyPilot CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_pilot := 0;
to inter_task_pilot
from inter_task_pilot
wait [0,0];
if (not (pilot_activities[index_pilot].status = ACT_VOID_FCR) and not (pilot_activities[index_pilot].status = ACT_ETHER_FCR)) then
if (
(pilot_activities[index_pilot].sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR) or
(pilot_activities[index_pilot].sid = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2041) /* (1) SafetyPilot CT kill interrupts a running activity in pilot. */;
pilot_activities[index_pilot].stop := true;
to wait_pilot_interrupted_ether
end
end;
to next_pilot_activity
from wait_pilot_interrupted_ether
wait [0,0];
on (pilot_activities[index_pilot].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2042) /* (3) SafetyPilot CT kill interrupted service in pilot has now reached ACT_ETHER_FCR. */;
to next_pilot_activity
from next_pilot_activity
wait [0,0];
if (index_pilot = Nb_act_inst_SafetyPilot_pilot-1) then
to inter_task_
else
index_pilot := index_pilot + 1;
to inter_task_pilot
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2043) /* (3) SafetyPilot CT kill updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_kill]:= true;
ignorep := fiacre_c_print_trace(2044) /* (1) SafetyPilot CT kill ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2045) /* (1) SafetyPilot CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2046) /* (4) SafetyPilot CT kill for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2047) /* (3) SafetyPilot CT kill giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot kill services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot GetIDS services control task part */
/**********************************************/
process SafetyPilot_GetIDS_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_GetIDS_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2048) /* (1) SafetyPilot CT GetIDS request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2049) /* (1) SafetyPilot CT GetIDS is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2050) /* (0) SafetyPilot CT GetIDS ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = InitStructSP)) and
(not (pilot_running_codel = CleanStrucSP)) and
(not (pilot_running_codel = StartSMAAO)) and
(not (pilot_running_codel = ChooseSpeed)) and
(not (pilot_running_codel = SPGetLaserScan)) and
(not (pilot_running_codel = CheckObstacles)) and
(not (pilot_running_codel = StopSMAAO)) and
(not (pilot_running_codel = WriteDirectlyCmdPort)) and
(not (pilot_running_codel = StopSMAAO)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_GetIDS_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2051) /* (3) SafetyPilot CT GetIDS middle */;
genom_event := Fiacre_SafetyPilot_GetIDS_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2052) /* (3) SafetyPilot CT GetIDS updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_GetIDS]:= true;
ignorep := fiacre_c_print_trace(2053) /* (1) SafetyPilot CT GetIDS ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_GetIDS_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2054) /* (4) SafetyPilot CT GetIDS for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2055) /* (3) SafetyPilot CT GetIDS giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot GetIDS services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetHitMinDistance services control task part */
/**********************************************/
process SafetyPilot_SetHitMinDistance_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetHitMinDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2056) /* (1) SafetyPilot CT SetHitMinDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2057) /* (1) SafetyPilot CT SetHitMinDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2058) /* (0) SafetyPilot CT SetHitMinDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SetHitMinDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2059) /* (3) SafetyPilot CT SetHitMinDistance middle */;
genom_event := Fiacre_SafetyPilot_SetHitMinDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2060) /* (3) SafetyPilot CT SetHitMinDistance updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetHitMinDistance]:= true;
ignorep := fiacre_c_print_trace(2061) /* (1) SafetyPilot CT SetHitMinDistance ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetHitMinDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2062) /* (4) SafetyPilot CT SetHitMinDistance for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2063) /* (3) SafetyPilot CT SetHitMinDistance giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetHitMinDistance services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetStopDistance services control task part */
/**********************************************/
process SafetyPilot_SetStopDistance_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetStopDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2064) /* (1) SafetyPilot CT SetStopDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2065) /* (1) SafetyPilot CT SetStopDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2066) /* (0) SafetyPilot CT SetStopDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SetStopDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2067) /* (3) SafetyPilot CT SetStopDistance middle */;
genom_event := Fiacre_SafetyPilot_SetStopDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2068) /* (3) SafetyPilot CT SetStopDistance updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetStopDistance]:= true;
ignorep := fiacre_c_print_trace(2069) /* (1) SafetyPilot CT SetStopDistance ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetStopDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2070) /* (4) SafetyPilot CT SetStopDistance for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2071) /* (3) SafetyPilot CT SetStopDistance giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetStopDistance services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetStopLateralDistance services control task part */
/**********************************************/
process SafetyPilot_SetStopLateralDistance_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetStopLateralDistance_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2072) /* (1) SafetyPilot CT SetStopLateralDistance request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2073) /* (1) SafetyPilot CT SetStopLateralDistance is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2074) /* (0) SafetyPilot CT SetStopLateralDistance ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SetStopLateralDistance_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2075) /* (3) SafetyPilot CT SetStopLateralDistance middle */;
genom_event := Fiacre_SafetyPilot_SetStopLateralDistance_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2076) /* (3) SafetyPilot CT SetStopLateralDistance updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetStopLateralDistance]:= true;
ignorep := fiacre_c_print_trace(2077) /* (1) SafetyPilot CT SetStopLateralDistance ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetStopLateralDistance_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2078) /* (4) SafetyPilot CT SetStopLateralDistance for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2079) /* (3) SafetyPilot CT SetStopLateralDistance giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetStopLateralDistance services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetMaxSpeed services control task part */
/**********************************************/
process SafetyPilot_SetMaxSpeed_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
validate, validate_sync,
middle,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetMaxSpeed_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2080) /* (1) SafetyPilot CT SetMaxSpeed request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2081) /* (1) SafetyPilot CT SetMaxSpeed is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to validate
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2082) /* (0) SafetyPilot CT SetMaxSpeed ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from validate
on (
true);
control_running_codel := SPSetMaxSpeedValidate;
//REMOVE ME
ignorep := fiacre_c_print_trace(2083) /* (2) SafetyPilot CT SetMaxSpeed validate */;
start Fiacre_SafetyPilot_SetMaxSpeed_validate_task(control_activity);
to validate_sync
from validate_sync
sync Fiacre_SafetyPilot_SetMaxSpeed_validate_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2084) /* (2) SafetyPilot CT SetMaxSpeed validate ok */;
to middle
else
ignorep := fiacre_c_print_trace(2085) /* (1) SafetyPilot CT SetMaxSpeed validate NOT OK */;
to report_exception
end
from middle
on (
(not (pilot_running_codel = InitStructSP)) and
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SetMaxSpeed_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2086) /* (3) SafetyPilot CT SetMaxSpeed middle */;
genom_event := Fiacre_SafetyPilot_SetMaxSpeed_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2087) /* (3) SafetyPilot CT SetMaxSpeed updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetMaxSpeed]:= true;
ignorep := fiacre_c_print_trace(2088) /* (1) SafetyPilot CT SetMaxSpeed ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetMaxSpeed_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2089) /* (1) SafetyPilot CT SetMaxSpeed report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_SetMaxSpeed_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_SetMaxSpeed_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2090) /* (4) SafetyPilot CT SetMaxSpeed for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2091) /* (3) SafetyPilot CT SetMaxSpeed giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetMaxSpeed services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetMinPCLHit services control task part */
/**********************************************/
process SafetyPilot_SetMinPCLHit_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetMinPCLHit_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2092) /* (1) SafetyPilot CT SetMinPCLHit request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2093) /* (1) SafetyPilot CT SetMinPCLHit is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2094) /* (0) SafetyPilot CT SetMinPCLHit ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SetMinPCLHit_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2095) /* (3) SafetyPilot CT SetMinPCLHit middle */;
genom_event := Fiacre_SafetyPilot_SetMinPCLHit_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2096) /* (3) SafetyPilot CT SetMinPCLHit updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetMinPCLHit]:= true;
ignorep := fiacre_c_print_trace(2097) /* (1) SafetyPilot CT SetMinPCLHit ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetMinPCLHit_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2098) /* (4) SafetyPilot CT SetMinPCLHit for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2099) /* (3) SafetyPilot CT SetMinPCLHit giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetMinPCLHit services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SentMinHit services control task part */
/**********************************************/
process SafetyPilot_SentMinHit_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SentMinHit_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2100) /* (1) SafetyPilot CT SentMinHit request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2101) /* (1) SafetyPilot CT SentMinHit is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2102) /* (0) SafetyPilot CT SentMinHit ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (pilot_running_codel = CheckObstacles)) and
true);
//REMOVE ME control_running_codel := genom_SafetyPilot_SentMinHit_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2103) /* (3) SafetyPilot CT SentMinHit middle */;
genom_event := Fiacre_SafetyPilot_SentMinHit_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2104) /* (3) SafetyPilot CT SentMinHit updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SentMinHit]:= true;
ignorep := fiacre_c_print_trace(2105) /* (1) SafetyPilot CT SentMinHit ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SentMinHit_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2106) /* (4) SafetyPilot CT SentMinHit for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2107) /* (3) SafetyPilot CT SentMinHit giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SentMinHit services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot Stop services control task part */
/**********************************************/
process SafetyPilot_Stop_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_pilot, wait_pilot_interrupted_ether, next_pilot_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_Stop_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2108) /* (1) SafetyPilot CT Stop request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2109) /* (1) SafetyPilot CT Stop is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2110) /* (0) SafetyPilot CT Stop ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_pilot := 0;
to inter_task_pilot
from inter_task_pilot
wait [0,0];
if (not (pilot_activities[index_pilot].status = ACT_VOID_FCR) and not (pilot_activities[index_pilot].status = ACT_ETHER_FCR)) then
if (
(pilot_activities[index_pilot].sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2111) /* (1) SafetyPilot CT Stop interrupts a running activity in pilot. */;
pilot_activities[index_pilot].stop := true;
to wait_pilot_interrupted_ether
end
end;
to next_pilot_activity
from wait_pilot_interrupted_ether
wait [0,0];
on (pilot_activities[index_pilot].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2112) /* (3) SafetyPilot CT Stop interrupted service in pilot has now reached ACT_ETHER_FCR. */;
to next_pilot_activity
from next_pilot_activity
wait [0,0];
if (index_pilot = Nb_act_inst_SafetyPilot_pilot-1) then
to inter_task_
else
index_pilot := index_pilot + 1;
to inter_task_pilot
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2113) /* (3) SafetyPilot CT Stop updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_Stop]:= true;
ignorep := fiacre_c_print_trace(2114) /* (1) SafetyPilot CT Stop ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_Stop_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2115) /* (4) SafetyPilot CT Stop for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2116) /* (3) SafetyPilot CT Stop giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot Stop services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SetVerbose services control task part */
/**********************************************/
process SafetyPilot_SetVerbose_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SetVerbose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2117) /* (1) SafetyPilot CT SetVerbose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2118) /* (1) SafetyPilot CT SetVerbose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2119) /* (0) SafetyPilot CT SetVerbose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := SPSetVerboseLevel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2120) /* (2) SafetyPilot CT SetVerbose control codel. */;
start Fiacre_SafetyPilot_SetVerbose_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_SafetyPilot_SetVerbose_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2121) /* (2) SafetyPilot CT SetVerbose control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2122) /* (1) SafetyPilot CT SetVerbose control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2123) /* (3) SafetyPilot CT SetVerbose updating run map */;
control_activity.state := SafetyPilot_ether_fcr;
run_map[SAFETYPILOT_SetVerbose]:= true;
ignorep := fiacre_c_print_trace(2124) /* (1) SafetyPilot CT SetVerbose ctrl activity report */;
ignoreb := Fiacre_SafetyPilot_SetVerbose_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2125) /* (1) SafetyPilot CT SetVerbose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_SetVerbose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_SetVerbose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2126) /* (4) SafetyPilot CT SetVerbose for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2127) /* (3) SafetyPilot CT SetVerbose giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SetVerbose services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot SpeedMergeAndStopIfObstacle services control task part */
/**********************************************/
process SafetyPilot_SpeedMergeAndStopIfObstacle_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_pilot, wait_pilot_interrupted_ether, next_pilot_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
ffa_reply_pilot: ffa_reply_SafetyPilot_pilot,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2128) /* (1) SafetyPilot CT SpeedMergeAndStopIfObstacle request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2129) /* (1) SafetyPilot CT SpeedMergeAndStopIfObstacle is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2130) /* (0) SafetyPilot CT SpeedMergeAndStopIfObstacle ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[SAFETYPILOT_SetHitMinDistance]) then
ignorep := fiacre_c_print_trace(2131) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SetHitMinDistance. */;
to disallowed
end;
if (not run_map[SAFETYPILOT_SetStopDistance]) then
ignorep := fiacre_c_print_trace(2132) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SetStopDistance. */;
to disallowed
end;
if (not run_map[SAFETYPILOT_SetStopLateralDistance]) then
ignorep := fiacre_c_print_trace(2133) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SetStopLateralDistance. */;
to disallowed
end;
if (not run_map[SAFETYPILOT_SetMaxSpeed]) then
ignorep := fiacre_c_print_trace(2134) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SetMaxSpeed. */;
to disallowed
end;
if (not run_map[SAFETYPILOT_SetMinPCLHit]) then
ignorep := fiacre_c_print_trace(2135) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SetMinPCLHit. */;
to disallowed
end;
if (not run_map[SAFETYPILOT_SentMinHit]) then
ignorep := fiacre_c_print_trace(2136) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle disallowed (after) SentMinHit. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_SafetyPilot_disallowed();
ignoreb := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_pilot := 0;
to inter_task_pilot
from inter_task_pilot
wait [0,0];
if (not (pilot_activities[index_pilot].status = ACT_VOID_FCR) and not (pilot_activities[index_pilot].status = ACT_ETHER_FCR)) then
if (
(pilot_activities[index_pilot].sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR) or
(pilot_activities[index_pilot].sid = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2137) /* (1) SafetyPilot CT SpeedMergeAndStopIfObstacle interrupts a running activity in pilot. */;
pilot_activities[index_pilot].stop := true;
to wait_pilot_interrupted_ether
end
end;
to next_pilot_activity
from wait_pilot_interrupted_ether
wait [0,0];
on (pilot_activities[index_pilot].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2138) /* (3) SafetyPilot CT SpeedMergeAndStopIfObstacle interrupted service in pilot has now reached ACT_ETHER_FCR. */;
to next_pilot_activity
from next_pilot_activity
wait [0,0];
if (index_pilot = Nb_act_inst_SafetyPilot_pilot-1) then
to inter_task_
else
index_pilot := index_pilot + 1;
to inter_task_pilot
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_pilot := find_free_activity_SafetyPilot_pilot(pilot_activities, SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR);
if (not ffa_reply_pilot.available) then
ignorep := fiacre_c_print_trace(2139) /* (0) SafetyPilot CT SpeedMergeAndStopIfObstacle ***WARNING*** cannot find a slot in pilot. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_pilot.available and ffa_reply_pilot.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2140) /* (0) SafetyPilot CT SpeedMergeAndStopIfObstacle ***WARNING*** slot still busy in pilot. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_pilot := ffa_reply_pilot.index;
ignorep := fiacre_c_print_trace(2141) /* (2) SafetyPilot CT SpeedMergeAndStopIfObstacle is transferred to ET pilot. */;
pilot_activities[index_pilot].grid := control_activity.grid;
pilot_activities[index_pilot].gaid := control_activity.gaid;
genom_event := Fiacre_SafetyPilot_send_ir_extern(control_activity);
pilot_activities[index_pilot].status := ACT_INIT_FCR;
pilot_activities[index_pilot].start_ := true;
pilot_activities[index_pilot].pause := false;
pilot_activities[index_pilot].stop := false;
pilot_activities[index_pilot].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2142) /* (1) SafetyPilot CT SpeedMergeAndStopIfObstacle report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2143) /* (4) SafetyPilot CT SpeedMergeAndStopIfObstacle for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2144) /* (3) SafetyPilot CT SpeedMergeAndStopIfObstacle giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot SpeedMergeAndStopIfObstacle services control task part */
/**********************************************/
/**********************************************/
/* SafetyPilot WriteSpeedInPort services control task part */
/**********************************************/
process SafetyPilot_WriteSpeedInPort_CT (
&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&pilot_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&run_map: SafetyPilot_Run_Map_Type,
&control_turn: SAFETYPILOT_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_pilot, wait_pilot_interrupted_ether, next_pilot_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
ffa_reply_pilot: ffa_reply_SafetyPilot_pilot,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2145) /* (1) SafetyPilot CT WriteSpeedInPort request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2146) /* (1) SafetyPilot CT WriteSpeedInPort is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2147) /* (0) SafetyPilot CT WriteSpeedInPort ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_pilot := 0;
to inter_task_pilot
from inter_task_pilot
wait [0,0];
if (not (pilot_activities[index_pilot].status = ACT_VOID_FCR) and not (pilot_activities[index_pilot].status = ACT_ETHER_FCR)) then
if (
(pilot_activities[index_pilot].sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR) or
(pilot_activities[index_pilot].sid = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2148) /* (1) SafetyPilot CT WriteSpeedInPort interrupts a running activity in pilot. */;
pilot_activities[index_pilot].stop := true;
to wait_pilot_interrupted_ether
end
end;
to next_pilot_activity
from wait_pilot_interrupted_ether
wait [0,0];
on (pilot_activities[index_pilot].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2149) /* (3) SafetyPilot CT WriteSpeedInPort interrupted service in pilot has now reached ACT_ETHER_FCR. */;
to next_pilot_activity
from next_pilot_activity
wait [0,0];
if (index_pilot = Nb_act_inst_SafetyPilot_pilot-1) then
to inter_task_
else
index_pilot := index_pilot + 1;
to inter_task_pilot
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_pilot := find_free_activity_SafetyPilot_pilot(pilot_activities, SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR);
if (not ffa_reply_pilot.available) then
ignorep := fiacre_c_print_trace(2150) /* (0) SafetyPilot CT WriteSpeedInPort ***WARNING*** cannot find a slot in pilot. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_pilot.available and ffa_reply_pilot.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2151) /* (0) SafetyPilot CT WriteSpeedInPort ***WARNING*** slot still busy in pilot. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_pilot := ffa_reply_pilot.index;
ignorep := fiacre_c_print_trace(2152) /* (2) SafetyPilot CT WriteSpeedInPort is transferred to ET pilot. */;
pilot_activities[index_pilot].grid := control_activity.grid;
pilot_activities[index_pilot].gaid := control_activity.gaid;
genom_event := Fiacre_SafetyPilot_send_ir_extern(control_activity);
pilot_activities[index_pilot].status := ACT_INIT_FCR;
pilot_activities[index_pilot].start_ := true;
pilot_activities[index_pilot].pause := false;
pilot_activities[index_pilot].stop := false;
pilot_activities[index_pilot].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2153) /* (1) SafetyPilot CT WriteSpeedInPort report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_SafetyPilot_WriteSpeedInPort_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_SafetyPilot_WriteSpeedInPort_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2154) /* (4) SafetyPilot CT WriteSpeedInPort for all ET, setting runnable to true. */;
pilot_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2155) /* (3) SafetyPilot CT WriteSpeedInPort giving control back */;
control_turn := SAFETYPILOT_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of SafetyPilot WriteSpeedInPort services control task part */
/**********************************************/
/************************/
/* SafetyPilot control task process */
/************************/
process control_task_SafetyPilot
(&control_activity: fcr_activity_SafetyPilot,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_runnable: bool,
&control_turn: SAFETYPILOT_RQSTID_FCR,
&run_map: SafetyPilot_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_pilot,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_SafetyPilot,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(2156) /* (1) SafetyPilot CT init Mbox */;
SafetyPilot_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(2157) /* (0) SafetyPilot CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = SAFETYPILOT_NONE);
ignorep := fiacre_c_print_trace(2158) /* (3) SafetyPilot CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(2159) /* (1) SafetyPilot CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(2160) /* (3) SafetyPilot CT going to sleep */;
select
SafetyPilot_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(2161) /* (2) SafetyPilot CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(2162) /* (0) SafetyPilot CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(2163) /* (0) SafetyPilot CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(2164) /* (2) SafetyPilot CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(2165) /* (2) SafetyPilot CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = SAFETYPILOT_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_pilot := 0;
to process_exec_task_pilot
from process_exec_task_pilot
ignorep := fiacre_c_print_trace(2166) /* (3) SafetyPilot CT processes pilot activities. */;
if (pilot_activities[index_pilot].status = ACT_INIT_FCR) then
if (not pilot_activities[index_pilot].start_) then
ignorep := fiacre_c_print_trace(2167) /* (4) SafetyPilot CT setting ET pilot runnable to true. */;
pilot_runnable := true;
pilot_activities[index_pilot].start_:=true // check the pocolibs template
end
end;
if (pilot_activities[index_pilot].status = ACT_ETHER_FCR) then // we are done for this one
// pilot_activities[index_pilot].status := ACT_VOID_FCR;
if (not (pilot_activities[index_pilot].sid = SAFETYPILOT_NONE)) then //not the perm activity
if (pilot_activities[index_pilot].state = SafetyPilot_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(2168) /* (3) SafetyPilot CT processes pilot activities, updating run_map. */;
run_map[SafetyPilot_run_map_index_from_pilot_activity(pilot_activities[index_pilot])]:= true
else
ignorep := fiacre_c_print_trace(2169) /* (1) SafetyPilot CT processes pilot activities, handle exception. */;
ignoreb := Fiacre_SafetyPilot_handle_exception(pilot_activities[index_pilot], false)
end;
ignorep := fiacre_c_print_trace(2170) /* (1) SafetyPilot CT processes pilot activities, activity report. */;
ignoreb := Fiacre_SafetyPilot_activity_report(pilot_activities[index_pilot])
else
ignorep := fiacre_c_print_trace(2171) /* (1) SafetyPilot CT processes pilot permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
pilot_activities[index_pilot].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_pilot = Nb_act_inst_SafetyPilot_pilot-1) then
to process_exec_task_
else
index_pilot := index_pilot + 1;
to process_exec_task_pilot
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of SafetyPilot control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task SafetyPilot pilot . */
/******************************************************/
/**************************************/
/* SafetyPilot pilot execution task timer */
/**************************************/
process timer_SafetyPilot_pilot (
&tick_pilot: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_pilot);
ignorep := fiacre_c_print_trace(2172) /* (3) SafetyPilot pilot timer arming. */;
to wait_
from wait_
wait[50.0, 50.0];
ignorep := fiacre_c_print_trace(2173) /* (3) SafetyPilot pilot timer elapsed. */;
tick_pilot:= true;
to start_
/*************************************************/
/* end of process timer_SafetyPilot_pilot */
/*************************************************/
/******************************************/
/* SafetyPilot pilot execution task main loop */
/******************************************/
process exec_task_SafetyPilot_pilot (
&tick_pilot: bool,
&pilot_turn : act_inst_SafetyPilot_pilot_turn_type,
&pilot_runnable: bool,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_pilot: act_inst_SafetyPilot_pilot_index_type,
index: act_inst_SafetyPilot_pilot_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(2174) /* (4) SafetyPilot ET pilot, setting runnable to true. */;
pilot_runnable := true;
if (tick_pilot) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(2175) /* (4) SafetyPilot ET pilot, setting runnable to false. */;
pilot_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(2176) /* (0) SafetyPilot ET pilot ***OVERSHOOT*** its period. */;
tick_pilot:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(2177) /* (2) SafetyPilot ET pilot waiting next period. */;
on tick_pilot;
tick_pilot:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(2178) /* (3) SafetyPilot ET pilot parsing activities status. */;
sched := [false, false, false, false];
foreach index_pilot do
if (pilot_activities[index_pilot].status = ACT_INIT_FCR) then
if (pilot_activities[index_pilot].start_ and
pilot_runnable) then
pilot_activities[index_pilot].status := ACT_RUN_FCR;
pilot_activities[index_pilot].state := SafetyPilot_start_fcr;
pilot_activities[index_pilot].start_ := false;
pilot_activities[index_pilot].pause := false
end;
if pilot_activities[index_pilot].stop then
if (pilot_activities[index_pilot].sid = SAFETYPILOT_NONE) then /* permanent activity */
pilot_activities[index_pilot].status := ACT_STOP_FCR;
pilot_activities[index_pilot].state := SafetyPilot_stop_fcr;
pilot_activities[index_pilot].stop := false;
pilot_activities[index_pilot].pause := false
else
pilot_activities[index_pilot].status := ACT_ETHER_FCR;
pilot_activities[index_pilot].stop := false;
pilot_activities[index_pilot].state := genom_interrupted_fcr;
ignoreb := Fiacre_SafetyPilot_genom_interrupt(pilot_activities[index_pilot]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (pilot_activities[index_pilot].status = ACT_RUN_FCR) then
if pilot_activities[index_pilot].stop then
pilot_activities[index_pilot].status := ACT_STOP_FCR;
pilot_activities[index_pilot].state := SafetyPilot_stop_fcr;
pilot_activities[index_pilot].stop := false;
pilot_activities[index_pilot].pause := false
end;
if (pilot_activities[index_pilot].pause and
pilot_runnable) then
pilot_activities[index_pilot].pause := false
end
elsif (pilot_activities[index_pilot].status = ACT_STOP_FCR) then
if (pilot_activities[index_pilot].pause and
pilot_runnable) then
pilot_activities[index_pilot].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(2179) /* (3) SafetyPilot ET pilot, setting runnable to false. */;
pilot_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(2180) /* (3) SafetyPilot ET pilot executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (pilot_activities[index].status = ACT_RUN_FCR) and (not (pilot_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (pilot_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(2181) /* (3) SafetyPilot ET pilot gives control to service. */;
pilot_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (pilot_turn = Nb_act_inst_SafetyPilot_pilot); //control comming back
ignorep := fiacre_c_print_trace(2182) /* (3) SafetyPilot ET pilot getting control back. */;
status := pilot_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(2183) /* (2) SafetyPilot ET pilot activity returned ACT_RUN. */;
if (not pilot_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(2184) /* (1) SafetyPilot ET pilot activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(2185) /* (0) SafetyPilot ET pilot ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_SafetyPilot_pilot-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(2186) /* (4) SafetyPilot ET pilot, for all ET, setting runnable to true. */;
pilot_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_SafetyPilot_pilot */
/*************************************************/
/****************************************************************************/
/* SafetyPilot pilot fiacre process... there will be one for each instance. */
/****************************************************************************/
process pilot_SafetyPilot_pilot (
instance: 0..Max_Act_Inst_SafetyPilot-1,
pilot_index: act_inst_SafetyPilot_pilot_index_type,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pilot_turn: act_inst_SafetyPilot_pilot_turn_type
) is
states
SafetyPilot_start_fcr, SafetyPilot_start_sync_fcr_, SafetyPilot_start_dispatch_fcr_,
SafetyPilot_stop_fcr, SafetyPilot_stop_sync_fcr_, SafetyPilot_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to SafetyPilot_start_fcr
from SafetyPilot_start_fcr
on (pilot_turn = pilot_index);
ignorep := fiacre_c_print_trace(2187) /* (2) SafetyPilot Activity pilot is getting control in state SafetyPilot_start. */;
if (pilot_activities[pilot_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetMaxSpeed_controlcb)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2188) /* (2) SafetyPilot Activity pilot calling codel InitStructSP. */;
mutex_ports[SafetyPilot_Cmd_port] := InitStructSP_port_codel;
//REMOVE ME
pilot_running_codel := InitStructSP;
start Fiacre_SafetyPilot_codel_task_pilot_start_task(pilot_activities[pilot_index]);
to SafetyPilot_start_sync_fcr_
from SafetyPilot_start_sync_fcr_
sync Fiacre_SafetyPilot_codel_task_pilot_start_task state;
ignorep := fiacre_c_print_trace(2189) /* (2) SafetyPilot Activity pilot returned from codel InitStructSP. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_start_dispatch_fcr_
from SafetyPilot_start_dispatch_fcr_
wait [0,0];
if (state = SafetyPilot_ether_fcr) then
pilot_activities[pilot_index].state := SafetyPilot_ether_fcr;
pilot_activities[pilot_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2190) /* (1) SafetyPilot Activity pilot DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2191) /* (1) SafetyPilot Activity pilot EXCEPTION... */;
to exception
end
from SafetyPilot_stop_fcr
on (pilot_turn = pilot_index);
ignorep := fiacre_c_print_trace(2192) /* (2) SafetyPilot Activity pilot is getting control in state SafetyPilot_stop. */;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(2193) /* (2) SafetyPilot Activity pilot calling codel CleanStrucSP. */;
//REMOVE ME
pilot_running_codel := CleanStrucSP;
start Fiacre_SafetyPilot_codel_task_pilot_stop_task(pilot_activities[pilot_index]);
to SafetyPilot_stop_sync_fcr_
from SafetyPilot_stop_sync_fcr_
sync Fiacre_SafetyPilot_codel_task_pilot_stop_task state;
ignorep := fiacre_c_print_trace(2194) /* (2) SafetyPilot Activity pilot returned from codel CleanStrucSP. */;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_stop_dispatch_fcr_
from SafetyPilot_stop_dispatch_fcr_
wait [0,0];
if (state = SafetyPilot_ether_fcr) then
pilot_activities[pilot_index].state := SafetyPilot_ether_fcr;
pilot_activities[pilot_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2195) /* (1) SafetyPilot Activity pilot DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2196) /* (1) SafetyPilot Activity pilot EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_SafetyPilot_pilot_genom_bad_transition(pilot_activities[pilot_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pilot_activities[pilot_index].status := ACT_ETHER_FCR;
pilot_activities[pilot_index].state := state; //SafetyPilot_ether_fcr
ignorep := fiacre_c_print_trace(2197) /* (1) SafetyPilot Activity pilot throw an exception, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
/******************************************/
/* end of SafetyPilot pilot fiacre process. */
/******************************************/
/****************************************************************************/
/* SafetyPilot SpeedMergeAndStopIfObstacle fiacre process... there will be one for each instance. */
/****************************************************************************/
process SpeedMergeAndStopIfObstacle_SafetyPilot_pilot (
instance: 0..Max_Act_Inst_SafetyPilot-1,
SpeedMergeAndStopIfObstacle_index: act_inst_SafetyPilot_pilot_index_type,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pilot_turn: act_inst_SafetyPilot_pilot_turn_type
) is
states
SafetyPilot_start_fcr, SafetyPilot_start_sync_fcr_, SafetyPilot_start_dispatch_fcr_,
SafetyPilot_choose_speed_fcr, SafetyPilot_choose_speed_sync_fcr_, SafetyPilot_choose_speed_dispatch_fcr_,
SafetyPilot_get_laser_scan_fcr, SafetyPilot_get_laser_scan_sync_fcr_, SafetyPilot_get_laser_scan_dispatch_fcr_,
SafetyPilot_check_obstacles_fcr, SafetyPilot_check_obstacles_sync_fcr_, SafetyPilot_check_obstacles_dispatch_fcr_,
SafetyPilot_write_cmd_fcr, SafetyPilot_write_cmd_sync_fcr_, SafetyPilot_write_cmd_dispatch_fcr_,
SafetyPilot_stop_fcr, SafetyPilot_stop_sync_fcr_, SafetyPilot_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to SafetyPilot_start_fcr
from SafetyPilot_start_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2198) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_start. */;
if (pilot_activities[SpeedMergeAndStopIfObstacle_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[joystick_device_port] = no_codel) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2199) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel StartSMAAO. */;
mutex_ports[velodyne_point_cloud_port] := StartSMAAO_port_codel;
mutex_ports[joystick_device_port] := StartSMAAO_port_codel;
mutex_ports[PotentialField_PFCmd_port] := StartSMAAO_port_codel;
mutex_ports[SafetyPilot_Cmd_port] := StartSMAAO_port_codel;
//REMOVE ME
pilot_running_codel := StartSMAAO;
read_ports[velodyne_point_cloud_port] := true;
if (not write_ports[velodyne_point_cloud_port] and not RUP_reported[velodyne_point_cloud_port]) then
ignorep := fiacre_c_print_trace(2200) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port velodyne_point_cloud_port RUP. */;
RUP_reported[velodyne_point_cloud_port] := true
end;
read_ports[joystick_device_port] := true;
if (not write_ports[joystick_device_port] and not RUP_reported[joystick_device_port]) then
ignorep := fiacre_c_print_trace(2201) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port joystick_device_port RUP. */;
RUP_reported[joystick_device_port] := true
end;
read_ports[PotentialField_PFCmd_port] := true;
if (not write_ports[PotentialField_PFCmd_port] and not RUP_reported[PotentialField_PFCmd_port]) then
ignorep := fiacre_c_print_trace(2202) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port PotentialField_PFCmd_port RUP. */;
RUP_reported[PotentialField_PFCmd_port] := true
end;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_start_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_start_sync_fcr_
from SafetyPilot_start_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_start_task state;
ignorep := fiacre_c_print_trace(2203) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel StartSMAAO. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[joystick_device_port] := no_codel;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_start_dispatch_fcr_
from SafetyPilot_start_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_choose_speed_fcr or
false) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2204) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle NOT done for this cycle, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_choose_speed_fcr) then
to SafetyPilot_choose_speed_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2205) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2206) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
end
from SafetyPilot_choose_speed_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2207) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_choose_speed. */;
if (pilot_activities[SpeedMergeAndStopIfObstacle_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[joystick_device_port] = no_codel) and
(mutex_ports[PotentialField_PFCmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2208) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel ChooseSpeed. */;
mutex_ports[joystick_device_port] := ChooseSpeed_port_codel;
mutex_ports[PotentialField_PFCmd_port] := ChooseSpeed_port_codel;
//REMOVE ME
pilot_running_codel := ChooseSpeed;
read_ports[joystick_device_port] := true;
if (not write_ports[joystick_device_port] and not RUP_reported[joystick_device_port]) then
ignorep := fiacre_c_print_trace(2209) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port joystick_device_port RUP. */;
RUP_reported[joystick_device_port] := true
end;
read_ports[PotentialField_PFCmd_port] := true;
if (not write_ports[PotentialField_PFCmd_port] and not RUP_reported[PotentialField_PFCmd_port]) then
ignorep := fiacre_c_print_trace(2210) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port PotentialField_PFCmd_port RUP. */;
RUP_reported[PotentialField_PFCmd_port] := true
end;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_choose_speed_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_choose_speed_sync_fcr_
from SafetyPilot_choose_speed_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_choose_speed_task state;
ignorep := fiacre_c_print_trace(2211) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel ChooseSpeed. */;
mutex_ports[joystick_device_port] := no_codel;
mutex_ports[PotentialField_PFCmd_port] := no_codel;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_choose_speed_dispatch_fcr_
from SafetyPilot_choose_speed_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_get_laser_scan_fcr or
state = SafetyPilot_write_cmd_fcr or
state = SafetyPilot_stop_fcr or
false) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2212) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle NOT done for this cycle, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_get_laser_scan_fcr) then
to SafetyPilot_get_laser_scan_fcr
end;
if (state = SafetyPilot_write_cmd_fcr) then
to SafetyPilot_write_cmd_fcr
end;
if (state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2213) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2214) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
end
from SafetyPilot_get_laser_scan_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2215) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_get_laser_scan. */;
if (pilot_activities[SpeedMergeAndStopIfObstacle_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2216) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel SPGetLaserScan. */;
mutex_ports[velodyne_point_cloud_port] := SPGetLaserScan_port_codel;
//REMOVE ME
pilot_running_codel := SPGetLaserScan;
read_ports[velodyne_point_cloud_port] := true;
if (not write_ports[velodyne_point_cloud_port] and not RUP_reported[velodyne_point_cloud_port]) then
ignorep := fiacre_c_print_trace(2217) /* (0) SafetyPilot Activity SpeedMergeAndStopIfObstacle ***ERROR*** port velodyne_point_cloud_port RUP. */;
RUP_reported[velodyne_point_cloud_port] := true
end;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_get_laser_scan_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_get_laser_scan_sync_fcr_
from SafetyPilot_get_laser_scan_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_get_laser_scan_task state;
ignorep := fiacre_c_print_trace(2218) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel SPGetLaserScan. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_get_laser_scan_dispatch_fcr_
from SafetyPilot_get_laser_scan_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_check_obstacles_fcr or
state = SafetyPilot_write_cmd_fcr or
false) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2219) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle NOT done for this cycle, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_check_obstacles_fcr) then
to SafetyPilot_check_obstacles_fcr
end;
if (state = SafetyPilot_write_cmd_fcr) then
to SafetyPilot_write_cmd_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2220) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2221) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
end
from SafetyPilot_check_obstacles_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2222) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_check_obstacles. */;
if (pilot_activities[SpeedMergeAndStopIfObstacle_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetHitMinDistance_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetStopDistance_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetStopLateralDistance_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetMaxSpeed_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SetMinPCLHit_controlcb)) and
(not (control_running_codel = genom_SafetyPilot_SentMinHit_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(2223) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel CheckObstacles. */;
//REMOVE ME
pilot_running_codel := CheckObstacles;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_check_obstacles_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_check_obstacles_sync_fcr_
from SafetyPilot_check_obstacles_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_check_obstacles_task state;
ignorep := fiacre_c_print_trace(2224) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel CheckObstacles. */;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_check_obstacles_dispatch_fcr_
from SafetyPilot_check_obstacles_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_write_cmd_fcr or
false) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2225) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle NOT done for this cycle, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_write_cmd_fcr) then
to SafetyPilot_write_cmd_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2226) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2227) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
end
from SafetyPilot_write_cmd_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2228) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_write_cmd. */;
if (pilot_activities[SpeedMergeAndStopIfObstacle_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2229) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel WriteCmdPortSP. */;
mutex_ports[SafetyPilot_Cmd_port] := WriteCmdPortSP_port_codel;
//REMOVE ME
pilot_running_codel := WriteCmdPortSP;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_write_cmd_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_write_cmd_sync_fcr_
from SafetyPilot_write_cmd_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_write_cmd_task state;
ignorep := fiacre_c_print_trace(2230) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel WriteCmdPortSP. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_write_cmd_dispatch_fcr_
from SafetyPilot_write_cmd_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_pause_choose_speed_fcr or
false) then
if (state = SafetyPilot_pause_choose_speed_fcr) then state := SafetyPilot_choose_speed_fcr end;
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_RUN_FCR;
pilot_activities[SpeedMergeAndStopIfObstacle_index].pause := true;
ignorep := fiacre_c_print_trace(2231) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE for this cycle, pauses, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_choose_speed_fcr) then
to SafetyPilot_choose_speed_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2232) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2233) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
end
from SafetyPilot_stop_fcr
on (pilot_turn = SpeedMergeAndStopIfObstacle_index);
ignorep := fiacre_c_print_trace(2234) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle is getting control in state SafetyPilot_stop. */;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2235) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle calling codel StopSMAAO. */;
mutex_ports[SafetyPilot_Cmd_port] := StopSMAAO_port_codel;
//REMOVE ME
pilot_running_codel := StopSMAAO;
start Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_stop_task(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
to SafetyPilot_stop_sync_fcr_
from SafetyPilot_stop_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_SpeedMergeAndStopIfObstacle_stop_task state;
ignorep := fiacre_c_print_trace(2236) /* (2) SafetyPilot Activity SpeedMergeAndStopIfObstacle returned from codel StopSMAAO. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_stop_dispatch_fcr_
from SafetyPilot_stop_dispatch_fcr_
wait [0,0];
if (state = SafetyPilot_ether_fcr) then
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := SafetyPilot_ether_fcr;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2237) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2238) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = SafetyPilot_bad_scan_port_fcr)) and
(not (state = SafetyPilot_bad_speed_cmd_port_fcr)) and
(not (state = SafetyPilot_bad_pf_cmd_port_fcr)) and
(not (state = SafetyPilot_bad_joystick_port_fcr)) and
(not (state = SafetyPilot_out_of_mem_fcr)) and
true) then
ignoreb := Fiacre_SafetyPilot_SpeedMergeAndStopIfObstacle_genom_bad_transition(pilot_activities[SpeedMergeAndStopIfObstacle_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pilot_activities[SpeedMergeAndStopIfObstacle_index].status := ACT_ETHER_FCR;
pilot_activities[SpeedMergeAndStopIfObstacle_index].state := state; //SafetyPilot_ether_fcr
ignorep := fiacre_c_print_trace(2239) /* (1) SafetyPilot Activity SpeedMergeAndStopIfObstacle throw an exception, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
/******************************************/
/* end of SafetyPilot SpeedMergeAndStopIfObstacle fiacre process. */
/******************************************/
/****************************************************************************/
/* SafetyPilot WriteSpeedInPort fiacre process... there will be one for each instance. */
/****************************************************************************/
process WriteSpeedInPort_SafetyPilot_pilot (
instance: 0..Max_Act_Inst_SafetyPilot-1,
WriteSpeedInPort_index: act_inst_SafetyPilot_pilot_index_type,
&pilot_activities: Activities_SafetyPilot_pilot_Array,
&pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pilot_turn: act_inst_SafetyPilot_pilot_turn_type
) is
states
SafetyPilot_start_fcr, SafetyPilot_start_sync_fcr_, SafetyPilot_start_dispatch_fcr_,
SafetyPilot_stop_fcr, SafetyPilot_stop_sync_fcr_, SafetyPilot_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to SafetyPilot_start_fcr
from SafetyPilot_start_fcr
on (pilot_turn = WriteSpeedInPort_index);
ignorep := fiacre_c_print_trace(2240) /* (2) SafetyPilot Activity WriteSpeedInPort is getting control in state SafetyPilot_start. */;
if (pilot_activities[WriteSpeedInPort_index].state = SafetyPilot_stop_fcr) then
to SafetyPilot_stop_fcr
end;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2241) /* (2) SafetyPilot Activity WriteSpeedInPort calling codel WriteDirectlyCmdPort. */;
mutex_ports[SafetyPilot_Cmd_port] := WriteDirectlyCmdPort_port_codel;
//REMOVE ME
pilot_running_codel := WriteDirectlyCmdPort;
start Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_start_task(pilot_activities[WriteSpeedInPort_index]);
to SafetyPilot_start_sync_fcr_
from SafetyPilot_start_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_start_task state;
ignorep := fiacre_c_print_trace(2242) /* (2) SafetyPilot Activity WriteSpeedInPort returned from codel WriteDirectlyCmdPort. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_start_dispatch_fcr_
from SafetyPilot_start_dispatch_fcr_
wait [0,0];
if (
state = SafetyPilot_pause_start_fcr or
false) then
if (state = SafetyPilot_pause_start_fcr) then state := SafetyPilot_start_fcr end;
pilot_activities[WriteSpeedInPort_index].state := state;
pilot_activities[WriteSpeedInPort_index].status := ACT_RUN_FCR;
pilot_activities[WriteSpeedInPort_index].pause := true;
ignorep := fiacre_c_print_trace(2243) /* (2) SafetyPilot Activity WriteSpeedInPort DONE for this cycle, pauses, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
if (state = SafetyPilot_start_fcr) then
to SafetyPilot_start_fcr
end;
to start_ // never reached
else
if (state = SafetyPilot_ether_fcr) then
pilot_activities[WriteSpeedInPort_index].state := SafetyPilot_ether_fcr;
pilot_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2244) /* (1) SafetyPilot Activity WriteSpeedInPort DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2245) /* (1) SafetyPilot Activity WriteSpeedInPort EXCEPTION... */;
to exception
end
end
from SafetyPilot_stop_fcr
on (pilot_turn = WriteSpeedInPort_index);
ignorep := fiacre_c_print_trace(2246) /* (2) SafetyPilot Activity WriteSpeedInPort is getting control in state SafetyPilot_stop. */;
on (
(not (control_running_codel = genom_SafetyPilot_GetIDS_controlcb)) and
(mutex_ports[SafetyPilot_Cmd_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2247) /* (2) SafetyPilot Activity WriteSpeedInPort calling codel StopSMAAO. */;
mutex_ports[SafetyPilot_Cmd_port] := StopSMAAO_port_codel;
//REMOVE ME
pilot_running_codel := StopSMAAO;
start Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_stop_task(pilot_activities[WriteSpeedInPort_index]);
to SafetyPilot_stop_sync_fcr_
from SafetyPilot_stop_sync_fcr_
sync Fiacre_SafetyPilot_codel_service_WriteSpeedInPort_stop_task state;
ignorep := fiacre_c_print_trace(2248) /* (2) SafetyPilot Activity WriteSpeedInPort returned from codel StopSMAAO. */;
mutex_ports[SafetyPilot_Cmd_port] := no_codel;
write_ports[SafetyPilot_Cmd_port] := true;
//REMOVE ME
pilot_running_codel := 0;
to SafetyPilot_stop_dispatch_fcr_
from SafetyPilot_stop_dispatch_fcr_
wait [0,0];
if (state = SafetyPilot_ether_fcr) then
pilot_activities[WriteSpeedInPort_index].state := SafetyPilot_ether_fcr;
pilot_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2249) /* (1) SafetyPilot Activity WriteSpeedInPort DONE (ether), back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
else
ignorep := fiacre_c_print_trace(2250) /* (1) SafetyPilot Activity WriteSpeedInPort EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = SafetyPilot_bad_speed_cmd_port_fcr)) and
true) then
ignoreb := Fiacre_SafetyPilot_WriteSpeedInPort_genom_bad_transition(pilot_activities[WriteSpeedInPort_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pilot_activities[WriteSpeedInPort_index].status := ACT_ETHER_FCR;
pilot_activities[WriteSpeedInPort_index].state := state; //SafetyPilot_ether_fcr
ignorep := fiacre_c_print_trace(2251) /* (1) SafetyPilot Activity WriteSpeedInPort throw an exception, back to ET. */;
pilot_turn := Nb_act_inst_SafetyPilot_pilot;
to start_
/******************************************/
/* end of SafetyPilot WriteSpeedInPort fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task SafetyPilot pilot . */
/******************************************************/
/********************************************/
/*End of SafetyPilot processes section */
/********************************************/
/********************************************/
/* beginning of velodyne process section */
/********************************************/
/**********************************************/
/* velodyne abort_activity services control task part */
/**********************************************/
process velodyne_abort_activity_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_abort_activity_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2252) /* (1) velodyne CT abort_activity request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2253) /* (1) velodyne CT abort_activity is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2254) /* (0) velodyne CT abort_activity ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_abort_activity_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2255) /* (2) velodyne CT abort_activity control codel. */;
start Fiacre_velodyne_abort_activity_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_abort_activity_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2256) /* (2) velodyne CT abort_activity control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2257) /* (1) velodyne CT abort_activity control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2258) /* (3) velodyne CT abort_activity updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_abort_activity]:= true;
ignorep := fiacre_c_print_trace(2259) /* (1) velodyne CT abort_activity ctrl activity report */;
ignoreb := Fiacre_velodyne_abort_activity_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2260) /* (1) velodyne CT abort_activity report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_abort_activity_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_abort_activity_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2261) /* (4) velodyne CT abort_activity for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2262) /* (3) velodyne CT abort_activity giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne abort_activity services control task part */
/**********************************************/
/**********************************************/
/* velodyne connect_port services control task part */
/**********************************************/
process velodyne_connect_port_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_connect_port_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2263) /* (1) velodyne CT connect_port request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2264) /* (1) velodyne CT connect_port is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2265) /* (0) velodyne CT connect_port ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_port_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2266) /* (2) velodyne CT connect_port control codel. */;
start Fiacre_velodyne_connect_port_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_connect_port_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2267) /* (2) velodyne CT connect_port control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2268) /* (1) velodyne CT connect_port control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2269) /* (3) velodyne CT connect_port updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_connect_port]:= true;
ignorep := fiacre_c_print_trace(2270) /* (1) velodyne CT connect_port ctrl activity report */;
ignoreb := Fiacre_velodyne_connect_port_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2271) /* (1) velodyne CT connect_port report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_connect_port_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_connect_port_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2272) /* (4) velodyne CT connect_port for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2273) /* (3) velodyne CT connect_port giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne connect_port services control task part */
/**********************************************/
/**********************************************/
/* velodyne connect_service services control task part */
/**********************************************/
process velodyne_connect_service_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_connect_service_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2274) /* (1) velodyne CT connect_service request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2275) /* (1) velodyne CT connect_service is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2276) /* (0) velodyne CT connect_service ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_connect_remote_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2277) /* (2) velodyne CT connect_service control codel. */;
start Fiacre_velodyne_connect_service_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_connect_service_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2278) /* (2) velodyne CT connect_service control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2279) /* (1) velodyne CT connect_service control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2280) /* (3) velodyne CT connect_service updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_connect_service]:= true;
ignorep := fiacre_c_print_trace(2281) /* (1) velodyne CT connect_service ctrl activity report */;
ignoreb := Fiacre_velodyne_connect_service_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2282) /* (1) velodyne CT connect_service report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_connect_service_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_connect_service_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2283) /* (4) velodyne CT connect_service for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2284) /* (3) velodyne CT connect_service giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne connect_service services control task part */
/**********************************************/
/**********************************************/
/* velodyne kill services control task part */
/**********************************************/
process velodyne_kill_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_kill_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2285) /* (1) velodyne CT kill request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2286) /* (1) velodyne CT kill is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2287) /* (0) velodyne CT kill ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := genom_kill_codel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2288) /* (2) velodyne CT kill control codel. */;
start Fiacre_velodyne_kill_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_kill_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2289) /* (2) velodyne CT kill control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(2290) /* (1) velodyne CT kill control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
(acquisition_activities[index_acquisition].sid = VELODYNE_StartAcquisition_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2291) /* (1) velodyne CT kill interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2292) /* (3) velodyne CT kill interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_Init_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_SavePCD_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2293) /* (1) velodyne CT kill interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2294) /* (3) velodyne CT kill interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
(pose_activities[index_pose].sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) or
(pose_activities[index_pose].sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2295) /* (1) velodyne CT kill interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2296) /* (3) velodyne CT kill interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2297) /* (3) velodyne CT kill updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_kill]:= true;
ignorep := fiacre_c_print_trace(2298) /* (1) velodyne CT kill ctrl activity report */;
ignoreb := Fiacre_velodyne_kill_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2299) /* (1) velodyne CT kill report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_kill_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_kill_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2300) /* (4) velodyne CT kill for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2301) /* (3) velodyne CT kill giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne kill services control task part */
/**********************************************/
/**********************************************/
/* velodyne SetVerbose services control task part */
/**********************************************/
process velodyne_SetVerbose_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SetVerbose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2302) /* (1) velodyne CT SetVerbose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2303) /* (1) velodyne CT SetVerbose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2304) /* (0) velodyne CT SetVerbose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := VLDSetVerboseLevel;
//REMOVE ME
ignorep := fiacre_c_print_trace(2305) /* (2) velodyne CT SetVerbose control codel. */;
start Fiacre_velodyne_SetVerbose_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_SetVerbose_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2306) /* (2) velodyne CT SetVerbose control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2307) /* (1) velodyne CT SetVerbose control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2308) /* (3) velodyne CT SetVerbose updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_SetVerbose]:= true;
ignorep := fiacre_c_print_trace(2309) /* (1) velodyne CT SetVerbose ctrl activity report */;
ignoreb := Fiacre_velodyne_SetVerbose_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2310) /* (1) velodyne CT SetVerbose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_SetVerbose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_SetVerbose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2311) /* (4) velodyne CT SetVerbose for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2312) /* (3) velodyne CT SetVerbose giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SetVerbose services control task part */
/**********************************************/
/**********************************************/
/* velodyne SetDelay services control task part */
/**********************************************/
process velodyne_SetDelay_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SetDelay_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2313) /* (1) velodyne CT SetDelay request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2314) /* (1) velodyne CT SetDelay is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2315) /* (0) velodyne CT SetDelay ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (scan_running_codel = velodyneScanTaskStart)) and
(not (scan_running_codel = velodyneScanTaskStop)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
true);
//REMOVE ME control_running_codel := genom_velodyne_SetDelay_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2316) /* (3) velodyne CT SetDelay middle */;
genom_event := Fiacre_velodyne_SetDelay_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2317) /* (3) velodyne CT SetDelay updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_SetDelay]:= true;
ignorep := fiacre_c_print_trace(2318) /* (1) velodyne CT SetDelay ctrl activity report */;
ignoreb := Fiacre_velodyne_SetDelay_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2319) /* (4) velodyne CT SetDelay for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2320) /* (3) velodyne CT SetDelay giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SetDelay services control task part */
/**********************************************/
/**********************************************/
/* velodyne SetPCL2PubCyle services control task part */
/**********************************************/
process velodyne_SetPCL2PubCyle_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
middle,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SetPCL2PubCyle_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2321) /* (1) velodyne CT SetPCL2PubCyle request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2322) /* (1) velodyne CT SetPCL2PubCyle is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to middle
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2323) /* (0) velodyne CT SetPCL2PubCyle ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from middle
on (
(not (scan_running_codel = velodyneScanTaskStart)) and
(not (scan_running_codel = velodyneScanTaskStop)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
true);
//REMOVE ME control_running_codel := genom_velodyne_SetPCL2PubCyle_controlcb; // This is unncessary in Fiacre as transition are atomic
ignorep := fiacre_c_print_trace(2324) /* (3) velodyne CT SetPCL2PubCyle middle */;
genom_event := Fiacre_velodyne_SetPCL2PubCyle_middle(control_activity);
//REMOVE ME control_running_codel := 0; // This is unncessary in Fiacre as transition are atomic
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2325) /* (3) velodyne CT SetPCL2PubCyle updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_SetPCL2PubCyle]:= true;
ignorep := fiacre_c_print_trace(2326) /* (1) velodyne CT SetPCL2PubCyle ctrl activity report */;
ignoreb := Fiacre_velodyne_SetPCL2PubCyle_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2327) /* (4) velodyne CT SetPCL2PubCyle for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2328) /* (3) velodyne CT SetPCL2PubCyle giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SetPCL2PubCyle services control task part */
/**********************************************/
/**********************************************/
/* velodyne StartAcquisition services control task part */
/**********************************************/
process velodyne_StartAcquisition_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_StartAcquisition_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2329) /* (1) velodyne CT StartAcquisition request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2330) /* (1) velodyne CT StartAcquisition is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2331) /* (0) velodyne CT StartAcquisition ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[VELODYNE_Init]) then
ignorep := fiacre_c_print_trace(2332) /* (2) velodyne CT StartAcquisition disallowed (after) Init. */;
to disallowed
end;
to report_or_transfer
from disallowed
wait [0,0];
control_activity.state := Fiacre_velodyne_disallowed();
ignoreb := Fiacre_velodyne_StartAcquisition_activity_report_extern(control_activity, true);
to finish
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_acquisition := find_free_activity_velodyne_acquisition(acquisition_activities, VELODYNE_StartAcquisition_RQSTID_FCR);
if (not ffa_reply_acquisition.available) then
ignorep := fiacre_c_print_trace(2333) /* (0) velodyne CT StartAcquisition ***WARNING*** cannot find a slot in acquisition. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_acquisition.available and ffa_reply_acquisition.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2334) /* (0) velodyne CT StartAcquisition ***WARNING*** slot still busy in acquisition. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_acquisition := ffa_reply_acquisition.index;
ignorep := fiacre_c_print_trace(2335) /* (2) velodyne CT StartAcquisition is transferred to ET acquisition. */;
acquisition_activities[index_acquisition].grid := control_activity.grid;
acquisition_activities[index_acquisition].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
acquisition_activities[index_acquisition].status := ACT_INIT_FCR;
acquisition_activities[index_acquisition].start_ := true;
acquisition_activities[index_acquisition].pause := false;
acquisition_activities[index_acquisition].stop := false;
acquisition_activities[index_acquisition].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2336) /* (1) velodyne CT StartAcquisition report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_StartAcquisition_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_StartAcquisition_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2337) /* (4) velodyne CT StartAcquisition for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2338) /* (3) velodyne CT StartAcquisition giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne StartAcquisition services control task part */
/**********************************************/
/**********************************************/
/* velodyne StopAcquisition services control task part */
/**********************************************/
process velodyne_StopAcquisition_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_StopAcquisition_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2339) /* (1) velodyne CT StopAcquisition request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2340) /* (1) velodyne CT StopAcquisition is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2341) /* (0) velodyne CT StopAcquisition ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := velodyneStopAcquisition;
//REMOVE ME
ignorep := fiacre_c_print_trace(2342) /* (2) velodyne CT StopAcquisition control codel. */;
start Fiacre_velodyne_StopAcquisition_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_StopAcquisition_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2343) /* (2) velodyne CT StopAcquisition control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(2344) /* (1) velodyne CT StopAcquisition control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
(acquisition_activities[index_acquisition].sid = VELODYNE_StartAcquisition_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2345) /* (1) velodyne CT StopAcquisition interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2346) /* (3) velodyne CT StopAcquisition interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2347) /* (1) velodyne CT StopAcquisition interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2348) /* (3) velodyne CT StopAcquisition interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2349) /* (1) velodyne CT StopAcquisition interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2350) /* (3) velodyne CT StopAcquisition interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2351) /* (3) velodyne CT StopAcquisition updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_StopAcquisition]:= true;
ignorep := fiacre_c_print_trace(2352) /* (1) velodyne CT StopAcquisition ctrl activity report */;
ignoreb := Fiacre_velodyne_StopAcquisition_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2353) /* (1) velodyne CT StopAcquisition report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_StopAcquisition_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_StopAcquisition_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2354) /* (4) velodyne CT StopAcquisition for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2355) /* (3) velodyne CT StopAcquisition giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne StopAcquisition services control task part */
/**********************************************/
/**********************************************/
/* velodyne Init services control task part */
/**********************************************/
process velodyne_Init_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_Init_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2356) /* (1) velodyne CT Init request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2357) /* (1) velodyne CT Init is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2358) /* (0) velodyne CT Init ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_scan := find_free_activity_velodyne_scan(scan_activities, VELODYNE_Init_RQSTID_FCR);
if (not ffa_reply_scan.available) then
ignorep := fiacre_c_print_trace(2359) /* (0) velodyne CT Init ***WARNING*** cannot find a slot in scan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_scan.available and ffa_reply_scan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2360) /* (0) velodyne CT Init ***WARNING*** slot still busy in scan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_scan := ffa_reply_scan.index;
ignorep := fiacre_c_print_trace(2361) /* (2) velodyne CT Init is transferred to ET scan. */;
scan_activities[index_scan].grid := control_activity.grid;
scan_activities[index_scan].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
scan_activities[index_scan].status := ACT_INIT_FCR;
scan_activities[index_scan].start_ := true;
scan_activities[index_scan].pause := false;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2362) /* (1) velodyne CT Init report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_Init_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_Init_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2363) /* (4) velodyne CT Init for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2364) /* (3) velodyne CT Init giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne Init services control task part */
/**********************************************/
/**********************************************/
/* velodyne GetOneScan services control task part */
/**********************************************/
process velodyne_GetOneScan_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_GetOneScan_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2365) /* (1) velodyne CT GetOneScan request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2366) /* (1) velodyne CT GetOneScan is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2367) /* (0) velodyne CT GetOneScan ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[VELODYNE_Init]) then
ignorep := fiacre_c_print_trace(2368) /* (2) velodyne CT GetOneScan disallowed (after) Init. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_velodyne_disallowed();
ignoreb := Fiacre_velodyne_GetOneScan_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2369) /* (1) velodyne CT GetOneScan interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2370) /* (3) velodyne CT GetOneScan interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_SavePCD_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2371) /* (1) velodyne CT GetOneScan interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2372) /* (3) velodyne CT GetOneScan interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2373) /* (1) velodyne CT GetOneScan interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2374) /* (3) velodyne CT GetOneScan interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_scan := find_free_activity_velodyne_scan(scan_activities, VELODYNE_GetOneScan_RQSTID_FCR);
if (not ffa_reply_scan.available) then
ignorep := fiacre_c_print_trace(2375) /* (0) velodyne CT GetOneScan ***WARNING*** cannot find a slot in scan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_scan.available and ffa_reply_scan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2376) /* (0) velodyne CT GetOneScan ***WARNING*** slot still busy in scan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_scan := ffa_reply_scan.index;
ignorep := fiacre_c_print_trace(2377) /* (2) velodyne CT GetOneScan is transferred to ET scan. */;
scan_activities[index_scan].grid := control_activity.grid;
scan_activities[index_scan].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
scan_activities[index_scan].status := ACT_INIT_FCR;
scan_activities[index_scan].start_ := true;
scan_activities[index_scan].pause := false;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2378) /* (1) velodyne CT GetOneScan report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_GetOneScan_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_GetOneScan_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2379) /* (4) velodyne CT GetOneScan for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2380) /* (3) velodyne CT GetOneScan giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne GetOneScan services control task part */
/**********************************************/
/**********************************************/
/* velodyne GetScans services control task part */
/**********************************************/
process velodyne_GetScans_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_GetScans_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2381) /* (1) velodyne CT GetScans request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2382) /* (1) velodyne CT GetScans is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2383) /* (0) velodyne CT GetScans ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[VELODYNE_Init]) then
ignorep := fiacre_c_print_trace(2384) /* (2) velodyne CT GetScans disallowed (after) Init. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_velodyne_disallowed();
ignoreb := Fiacre_velodyne_GetScans_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2385) /* (1) velodyne CT GetScans interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2386) /* (3) velodyne CT GetScans interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_SavePCD_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2387) /* (1) velodyne CT GetScans interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2388) /* (3) velodyne CT GetScans interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2389) /* (1) velodyne CT GetScans interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2390) /* (3) velodyne CT GetScans interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_scan := find_free_activity_velodyne_scan(scan_activities, VELODYNE_GetScans_RQSTID_FCR);
if (not ffa_reply_scan.available) then
ignorep := fiacre_c_print_trace(2391) /* (0) velodyne CT GetScans ***WARNING*** cannot find a slot in scan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_scan.available and ffa_reply_scan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2392) /* (0) velodyne CT GetScans ***WARNING*** slot still busy in scan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_scan := ffa_reply_scan.index;
ignorep := fiacre_c_print_trace(2393) /* (2) velodyne CT GetScans is transferred to ET scan. */;
scan_activities[index_scan].grid := control_activity.grid;
scan_activities[index_scan].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
scan_activities[index_scan].status := ACT_INIT_FCR;
scan_activities[index_scan].start_ := true;
scan_activities[index_scan].pause := false;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2394) /* (1) velodyne CT GetScans report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_GetScans_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_GetScans_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2395) /* (4) velodyne CT GetScans for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2396) /* (3) velodyne CT GetScans giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne GetScans services control task part */
/**********************************************/
/**********************************************/
/* velodyne EnableScanAutoSaving services control task part */
/**********************************************/
process velodyne_EnableScanAutoSaving_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_EnableScanAutoSaving_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2397) /* (1) velodyne CT EnableScanAutoSaving request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2398) /* (1) velodyne CT EnableScanAutoSaving is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2399) /* (0) velodyne CT EnableScanAutoSaving ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (scan_running_codel = velodyneScanTaskStart)) and
(not (scan_running_codel = velodyneScanTaskStop)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
true);
control_running_codel := velodyneEnableScanAutoSaving;
//REMOVE ME
ignorep := fiacre_c_print_trace(2400) /* (2) velodyne CT EnableScanAutoSaving control codel. */;
start Fiacre_velodyne_EnableScanAutoSaving_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_EnableScanAutoSaving_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2401) /* (2) velodyne CT EnableScanAutoSaving control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2402) /* (1) velodyne CT EnableScanAutoSaving control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2403) /* (3) velodyne CT EnableScanAutoSaving updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_EnableScanAutoSaving]:= true;
ignorep := fiacre_c_print_trace(2404) /* (1) velodyne CT EnableScanAutoSaving ctrl activity report */;
ignoreb := Fiacre_velodyne_EnableScanAutoSaving_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2405) /* (1) velodyne CT EnableScanAutoSaving report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_EnableScanAutoSaving_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_EnableScanAutoSaving_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2406) /* (4) velodyne CT EnableScanAutoSaving for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2407) /* (3) velodyne CT EnableScanAutoSaving giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne EnableScanAutoSaving services control task part */
/**********************************************/
/**********************************************/
/* velodyne DisableScanAutoSaving services control task part */
/**********************************************/
process velodyne_DisableScanAutoSaving_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_DisableScanAutoSaving_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2408) /* (1) velodyne CT DisableScanAutoSaving request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2409) /* (1) velodyne CT DisableScanAutoSaving is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2410) /* (0) velodyne CT DisableScanAutoSaving ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
(not (scan_running_codel = velodyneScanTaskStart)) and
(not (scan_running_codel = velodyneScanTaskStop)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
(not (scan_running_codel = velodyneGetOneScanEnd)) and
true);
control_running_codel := velodyneDisableScanAutoSaving;
//REMOVE ME
ignorep := fiacre_c_print_trace(2411) /* (2) velodyne CT DisableScanAutoSaving control codel. */;
start Fiacre_velodyne_DisableScanAutoSaving_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_DisableScanAutoSaving_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2412) /* (2) velodyne CT DisableScanAutoSaving control codel OK. */;
to report_or_transfer
else
ignorep := fiacre_c_print_trace(2413) /* (1) velodyne CT DisableScanAutoSaving control codel NOT OK. */;
to report_exception
end
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2414) /* (3) velodyne CT DisableScanAutoSaving updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_DisableScanAutoSaving]:= true;
ignorep := fiacre_c_print_trace(2415) /* (1) velodyne CT DisableScanAutoSaving ctrl activity report */;
ignoreb := Fiacre_velodyne_DisableScanAutoSaving_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2416) /* (1) velodyne CT DisableScanAutoSaving report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_DisableScanAutoSaving_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_DisableScanAutoSaving_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2417) /* (4) velodyne CT DisableScanAutoSaving for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2418) /* (3) velodyne CT DisableScanAutoSaving giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne DisableScanAutoSaving services control task part */
/**********************************************/
/**********************************************/
/* velodyne StopGetScans services control task part */
/**********************************************/
process velodyne_StopGetScans_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_StopGetScans_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2419) /* (1) velodyne CT StopGetScans request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2420) /* (1) velodyne CT StopGetScans is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2421) /* (0) velodyne CT StopGetScans ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2422) /* (1) velodyne CT StopGetScans interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2423) /* (3) velodyne CT StopGetScans interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_SavePCD_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2424) /* (1) velodyne CT StopGetScans interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2425) /* (3) velodyne CT StopGetScans interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2426) /* (1) velodyne CT StopGetScans interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2427) /* (3) velodyne CT StopGetScans interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2428) /* (3) velodyne CT StopGetScans updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_StopGetScans]:= true;
ignorep := fiacre_c_print_trace(2429) /* (1) velodyne CT StopGetScans ctrl activity report */;
ignoreb := Fiacre_velodyne_StopGetScans_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2430) /* (4) velodyne CT StopGetScans for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2431) /* (3) velodyne CT StopGetScans giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne StopGetScans services control task part */
/**********************************************/
/**********************************************/
/* velodyne SavePCD services control task part */
/**********************************************/
process velodyne_SavePCD_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SavePCD_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2432) /* (1) velodyne CT SavePCD request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2433) /* (1) velodyne CT SavePCD is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2434) /* (0) velodyne CT SavePCD ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2435) /* (1) velodyne CT SavePCD interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2436) /* (3) velodyne CT SavePCD interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
(scan_activities[index_scan].sid = VELODYNE_GetOneScan_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_SavePCD_RQSTID_FCR) or
(scan_activities[index_scan].sid = VELODYNE_GetScans_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2437) /* (1) velodyne CT SavePCD interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2438) /* (3) velodyne CT SavePCD interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2439) /* (1) velodyne CT SavePCD interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2440) /* (3) velodyne CT SavePCD interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_scan := find_free_activity_velodyne_scan(scan_activities, VELODYNE_SavePCD_RQSTID_FCR);
if (not ffa_reply_scan.available) then
ignorep := fiacre_c_print_trace(2441) /* (0) velodyne CT SavePCD ***WARNING*** cannot find a slot in scan. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_scan.available and ffa_reply_scan.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2442) /* (0) velodyne CT SavePCD ***WARNING*** slot still busy in scan. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_scan := ffa_reply_scan.index;
ignorep := fiacre_c_print_trace(2443) /* (2) velodyne CT SavePCD is transferred to ET scan. */;
scan_activities[index_scan].grid := control_activity.grid;
scan_activities[index_scan].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
scan_activities[index_scan].status := ACT_INIT_FCR;
scan_activities[index_scan].start_ := true;
scan_activities[index_scan].pause := false;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2444) /* (1) velodyne CT SavePCD report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_SavePCD_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_SavePCD_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2445) /* (4) velodyne CT SavePCD for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2446) /* (3) velodyne CT SavePCD giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SavePCD services control task part */
/**********************************************/
/**********************************************/
/* velodyne SetupPoseProcessing services control task part */
/**********************************************/
process velodyne_SetupPoseProcessing_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
control, control_sync,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SetupPoseProcessing_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2447) /* (1) velodyne CT SetupPoseProcessing request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2448) /* (1) velodyne CT SetupPoseProcessing is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to control
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2449) /* (0) velodyne CT SetupPoseProcessing ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from control
on (
true);
control_running_codel := velodyneSetupPoseProcessing;
//REMOVE ME
ignorep := fiacre_c_print_trace(2450) /* (2) velodyne CT SetupPoseProcessing control codel. */;
start Fiacre_velodyne_SetupPoseProcessing_control_task(control_activity);
to control_sync
from control_sync
sync Fiacre_velodyne_SetupPoseProcessing_control_task genom_event;
//REMOVE ME
control_running_codel := 0; // no codel running
if (genom_event = genom_ok_fcr) then
ignorep := fiacre_c_print_trace(2451) /* (2) velodyne CT SetupPoseProcessing control codel OK. */;
to inter
else
ignorep := fiacre_c_print_trace(2452) /* (1) velodyne CT SetupPoseProcessing control codel NOT OK. */;
to report_exception
end
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2453) /* (1) velodyne CT SetupPoseProcessing interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2454) /* (3) velodyne CT SetupPoseProcessing interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2455) /* (1) velodyne CT SetupPoseProcessing interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2456) /* (3) velodyne CT SetupPoseProcessing interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
(pose_activities[index_pose].sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2457) /* (1) velodyne CT SetupPoseProcessing interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2458) /* (3) velodyne CT SetupPoseProcessing interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2459) /* (3) velodyne CT SetupPoseProcessing updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_SetupPoseProcessing]:= true;
ignorep := fiacre_c_print_trace(2460) /* (1) velodyne CT SetupPoseProcessing ctrl activity report */;
ignoreb := Fiacre_velodyne_SetupPoseProcessing_activity_report_extern(control_activity, true);
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2461) /* (1) velodyne CT SetupPoseProcessing report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_SetupPoseProcessing_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_SetupPoseProcessing_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2462) /* (4) velodyne CT SetupPoseProcessing for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2463) /* (3) velodyne CT SetupPoseProcessing giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SetupPoseProcessing services control task part */
/**********************************************/
/**********************************************/
/* velodyne StartPoseProcessing services control task part */
/**********************************************/
process velodyne_StartPoseProcessing_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
check_run_maps, disallowed,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_StartPoseProcessing_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2464) /* (1) velodyne CT StartPoseProcessing request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2465) /* (1) velodyne CT StartPoseProcessing is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to check_run_maps
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2466) /* (0) velodyne CT StartPoseProcessing ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from check_run_maps
wait [0,0];
if (not run_map[VELODYNE_SetupPoseProcessing]) then
ignorep := fiacre_c_print_trace(2467) /* (2) velodyne CT StartPoseProcessing disallowed (after) SetupPoseProcessing. */;
to disallowed
end;
to inter
from disallowed
wait [0,0];
control_activity.state := Fiacre_velodyne_disallowed();
ignoreb := Fiacre_velodyne_StartPoseProcessing_activity_report_extern(control_activity, true);
to finish
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2468) /* (1) velodyne CT StartPoseProcessing interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2469) /* (3) velodyne CT StartPoseProcessing interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2470) /* (1) velodyne CT StartPoseProcessing interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2471) /* (3) velodyne CT StartPoseProcessing interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
(pose_activities[index_pose].sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2472) /* (1) velodyne CT StartPoseProcessing interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2473) /* (3) velodyne CT StartPoseProcessing interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_pose := find_free_activity_velodyne_pose(pose_activities, VELODYNE_StartPoseProcessing_RQSTID_FCR);
if (not ffa_reply_pose.available) then
ignorep := fiacre_c_print_trace(2474) /* (0) velodyne CT StartPoseProcessing ***WARNING*** cannot find a slot in pose. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_pose.available and ffa_reply_pose.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2475) /* (0) velodyne CT StartPoseProcessing ***WARNING*** slot still busy in pose. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_pose := ffa_reply_pose.index;
ignorep := fiacre_c_print_trace(2476) /* (2) velodyne CT StartPoseProcessing is transferred to ET pose. */;
pose_activities[index_pose].grid := control_activity.grid;
pose_activities[index_pose].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
pose_activities[index_pose].status := ACT_INIT_FCR;
pose_activities[index_pose].start_ := true;
pose_activities[index_pose].pause := false;
pose_activities[index_pose].stop := false;
pose_activities[index_pose].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2477) /* (1) velodyne CT StartPoseProcessing report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_StartPoseProcessing_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_StartPoseProcessing_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2478) /* (4) velodyne CT StartPoseProcessing for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2479) /* (3) velodyne CT StartPoseProcessing giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne StartPoseProcessing services control task part */
/**********************************************/
/**********************************************/
/* velodyne StopPoseProcessing services control task part */
/**********************************************/
process velodyne_StopPoseProcessing_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
inter, inter_task_,
inter_task_acquisition, wait_acquisition_interrupted_ether, next_acquisition_activity,
inter_task_scan, wait_scan_interrupted_ether, next_scan_activity,
inter_task_pose, wait_pose_interrupted_ether, next_pose_activity,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_StopPoseProcessing_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2480) /* (1) velodyne CT StopPoseProcessing request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2481) /* (1) velodyne CT StopPoseProcessing is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to inter
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2482) /* (0) velodyne CT StopPoseProcessing ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
//begin inter
from inter
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to inter_task_acquisition
from inter_task_acquisition
wait [0,0];
if (not (acquisition_activities[index_acquisition].status = ACT_VOID_FCR) and not (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2483) /* (1) velodyne CT StopPoseProcessing interrupts a running activity in acquisition. */;
acquisition_activities[index_acquisition].stop := true;
to wait_acquisition_interrupted_ether
end
end;
to next_acquisition_activity
from wait_acquisition_interrupted_ether
wait [0,0];
on (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2484) /* (3) velodyne CT StopPoseProcessing interrupted service in acquisition has now reached ACT_ETHER_FCR. */;
to next_acquisition_activity
from next_acquisition_activity
wait [0,0];
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to inter_task_scan
else
index_acquisition := index_acquisition + 1;
to inter_task_acquisition
end
from inter_task_scan
wait [0,0];
if (not (scan_activities[index_scan].status = ACT_VOID_FCR) and not (scan_activities[index_scan].status = ACT_ETHER_FCR)) then
if (
false) then
ignorep := fiacre_c_print_trace(2485) /* (1) velodyne CT StopPoseProcessing interrupts a running activity in scan. */;
scan_activities[index_scan].stop := true;
to wait_scan_interrupted_ether
end
end;
to next_scan_activity
from wait_scan_interrupted_ether
wait [0,0];
on (scan_activities[index_scan].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2486) /* (3) velodyne CT StopPoseProcessing interrupted service in scan has now reached ACT_ETHER_FCR. */;
to next_scan_activity
from next_scan_activity
wait [0,0];
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to inter_task_pose
else
index_scan := index_scan + 1;
to inter_task_scan
end
from inter_task_pose
wait [0,0];
if (not (pose_activities[index_pose].status = ACT_VOID_FCR) and not (pose_activities[index_pose].status = ACT_ETHER_FCR)) then
if (
(pose_activities[index_pose].sid = VELODYNE_StartPoseProcessing_RQSTID_FCR) or
false) then
ignorep := fiacre_c_print_trace(2487) /* (1) velodyne CT StopPoseProcessing interrupts a running activity in pose. */;
pose_activities[index_pose].stop := true;
to wait_pose_interrupted_ether
end
end;
to next_pose_activity
from wait_pose_interrupted_ether
wait [0,0];
on (pose_activities[index_pose].status = ACT_ETHER_FCR); // wait until it is really done
ignorep := fiacre_c_print_trace(2488) /* (3) velodyne CT StopPoseProcessing interrupted service in pose has now reached ACT_ETHER_FCR. */;
to next_pose_activity
from next_pose_activity
wait [0,0];
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to inter_task_
else
index_pose := index_pose + 1;
to inter_task_pose
end
from inter_task_
wait [0,0];
to report_or_transfer
from report_or_transfer
wait [0,0];
ignorep := fiacre_c_print_trace(2489) /* (3) velodyne CT StopPoseProcessing updating run map */;
control_activity.state := velodyne_ether_fcr;
run_map[VELODYNE_StopPoseProcessing]:= true;
ignorep := fiacre_c_print_trace(2490) /* (1) velodyne CT StopPoseProcessing ctrl activity report */;
ignoreb := Fiacre_velodyne_StopPoseProcessing_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2491) /* (4) velodyne CT StopPoseProcessing for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2492) /* (3) velodyne CT StopPoseProcessing giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne StopPoseProcessing services control task part */
/**********************************************/
/**********************************************/
/* velodyne SetFixedSensorPose services control task part */
/**********************************************/
process velodyne_SetFixedSensorPose_CT (
&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_runnable: bool,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&run_map: velodyne_Run_Map_Type,
&control_turn: VELODYNE_RQSTID_FCR
) is
states start_,
report_exception,
report_or_transfer, finish
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
ffa_reply_acquisition: ffa_reply_velodyne_acquisition,
index_scan: act_inst_velodyne_scan_index_type,
ffa_reply_scan: ffa_reply_velodyne_scan,
index_pose: act_inst_velodyne_pose_index_type,
ffa_reply_pose: ffa_reply_velodyne_pose,
genom_event: minnie_genom_event := genom_ok_fcr
from start_
wait [0,0];
on (control_turn = VELODYNE_SetFixedSensorPose_RQSTID_FCR);
ignorep := fiacre_c_print_trace(2493) /* (1) velodyne CT SetFixedSensorPose request processing */;
if (control_activity.pause) then
ignorep := fiacre_c_print_trace(2494) /* (1) velodyne CT SetFixedSensorPose is paused waiting a slot. */;
to report_or_transfer
end;
//REMOVE ME if (control_activity.status = ACT_VOID_FCR) then // this does not make any sense here.
//REMOVE ME control_activity.status := ACT_INIT_FCR;
to report_or_transfer
//REMOVE MEelse // useless, so we simplify
//REMOVE ME ignorep := fiacre_c_print_trace(2495) /* (0) velodyne CT SetFixedSensorPose ***ASSERT*** status != ACT_VOID_FCR */;
//REMOVE ME genom_event := genom_no_such_activity_fcr;
//REMOVE ME to report_exception
from report_or_transfer
wait [0,0];
control_activity.pause := false; // we reset it
ffa_reply_pose := find_free_activity_velodyne_pose(pose_activities, VELODYNE_SetFixedSensorPose_RQSTID_FCR);
if (not ffa_reply_pose.available) then
ignorep := fiacre_c_print_trace(2496) /* (0) velodyne CT SetFixedSensorPose ***WARNING*** cannot find a slot in pose. */;
genom_event := genom_too_many_activities_fcr;
to report_exception
elsif (ffa_reply_pose.available and ffa_reply_pose.stopping ) then // one but still stopping
ignorep := fiacre_c_print_trace(2497) /* (0) velodyne CT SetFixedSensorPose ***WARNING*** slot still busy in pose. */;
control_activity.pause := true; // this is to report that we have to wait...
to finish
else
index_pose := ffa_reply_pose.index;
ignorep := fiacre_c_print_trace(2498) /* (2) velodyne CT SetFixedSensorPose is transferred to ET pose. */;
pose_activities[index_pose].grid := control_activity.grid;
pose_activities[index_pose].gaid := control_activity.gaid;
genom_event := Fiacre_velodyne_send_ir_extern(control_activity);
pose_activities[index_pose].status := ACT_INIT_FCR;
pose_activities[index_pose].start_ := true;
pose_activities[index_pose].pause := false;
pose_activities[index_pose].stop := false;
pose_activities[index_pose].gid := control_activity.gid
end;
to finish
from report_exception
wait [0,0];
ignorep := fiacre_c_print_trace(2499) /* (1) velodyne CT SetFixedSensorPose report NOT OK. */;
control_activity.state := genom_event; // to transmit the error
ignoreb := Fiacre_velodyne_SetFixedSensorPose_handle_exception_extern(control_activity, true);
ignoreb := Fiacre_velodyne_SetFixedSensorPose_activity_report_extern(control_activity, true);
to finish
from finish
wait [0,0];
ignorep := fiacre_c_print_trace(2500) /* (4) velodyne CT SetFixedSensorPose for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
//REMOVE ME control_activity.status := ACT_VOID_FCR; useless
ignorep := fiacre_c_print_trace(2501) /* (3) velodyne CT SetFixedSensorPose giving control back */;
control_turn := VELODYNE_NONE; // this is to say we give the control back to the control task
to start_
/**********************************************/
/* end of velodyne SetFixedSensorPose services control task part */
/**********************************************/
/************************/
/* velodyne control task process */
/************************/
process control_task_velodyne
(&control_activity: fcr_activity_velodyne,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&scan_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&pose_runnable: bool,
&control_turn: VELODYNE_RQSTID_FCR,
&run_map: velodyne_Run_Map_Type,
&schedule_cntrl_task:bool
) is
states start_, get_request, activity, wait_until_done, report_control_activity,
loop_back,
error,
process_exec_task_acquisition,
process_exec_task_scan,
process_exec_task_pose,
process_exec_task_,
process_pending_activities
var
ignorep: nat, ignoreb: bool,
genom_event:minnie_genom_event := genom_ok_fcr,
wait_available_slot: bool := false,
rq: request_velodyne,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index_scan: act_inst_velodyne_scan_index_type,
index_pose: act_inst_velodyne_pose_index_type,
mess:bool,
control_rqst:bool
from start_
ignorep := fiacre_c_print_trace(2502) /* (1) velodyne CT init Mbox */;
velodyne_Manage_Mbox?rq; // the firt call will init it
if (rq.res) then
to loop_back
else
ignorep := fiacre_c_print_trace(2503) /* (0) velodyne CT init ***ERROR*** Mbox error */;
to error
end
from loop_back
wait [0,0];
on (control_turn = VELODYNE_NONE);
ignorep := fiacre_c_print_trace(2504) /* (3) velodyne CT has control */;
if (wait_available_slot) then // dot not get new request
ignorep := fiacre_c_print_trace(2505) /* (1) velodyne CT no new request, waiting available slot. */;
control_turn := control_activity.sid; // this will handle the request and its steps
wait_available_slot := false;
to wait_until_done
else
to get_request
end
from get_request
ignorep := fiacre_c_print_trace(2506) /* (3) velodyne CT going to sleep */;
select
velodyne_Manage_Mbox?rq;
if (rq.res) then
if (rq.message) then
ignorep := fiacre_c_print_trace(2507) /* (2) velodyne CT got a message */;
to activity
else
ignorep := fiacre_c_print_trace(2508) /* (0) velodyne CT ***ERROR*** been woken up (this should not happen in FIACRE). */;
schedule_cntrl_task:=false; // for when we will remove the h2eventSignal
to process_pending_activities
end
end;
ignorep := fiacre_c_print_trace(2509) /* (0) velodyne CT ***ERROR*** got a not rq.res */;
to error
[]
on (schedule_cntrl_task);
ignorep := fiacre_c_print_trace(2510) /* (2) velodyne CT has been woken up by an ET. */;
schedule_cntrl_task:=false;
to process_pending_activities
end
from activity
wait [0,0];
control_activity.gid := rq.genom_index; // this is the index in the genom task activities array.
control_activity.gaid := rq.gaid; // activity id
control_activity.grid := rq.grid; // pocolibs rqid
control_activity.sid := rq.rqid; // rqstid
ignorep := fiacre_c_print_trace(2511) /* (2) velodyne CT gives control to rqid. */;
control_turn := rq.rqid; // this will handle the request and its steps
to wait_until_done
from wait_until_done
wait [0,0];
on (control_turn = VELODYNE_NONE ); // my turn
wait_available_slot := control_activity.pause;
to report_control_activity
from report_control_activity
to process_pending_activities
//
// Processing the execution task activities
//
from process_pending_activities
wait [0,0];
index_acquisition := 0;
index_scan := 0;
index_pose := 0;
to process_exec_task_acquisition
from process_exec_task_acquisition
ignorep := fiacre_c_print_trace(2512) /* (3) velodyne CT processes acquisition activities. */;
if (acquisition_activities[index_acquisition].status = ACT_INIT_FCR) then
if (not acquisition_activities[index_acquisition].start_) then
ignorep := fiacre_c_print_trace(2513) /* (4) velodyne CT setting ET acquisition runnable to true. */;
acquisition_runnable := true;
acquisition_activities[index_acquisition].start_:=true // check the pocolibs template
end
end;
if (acquisition_activities[index_acquisition].status = ACT_ETHER_FCR) then // we are done for this one
// acquisition_activities[index_acquisition].status := ACT_VOID_FCR;
if (not (acquisition_activities[index_acquisition].sid = VELODYNE_NONE)) then //not the perm activity
if (acquisition_activities[index_acquisition].state = velodyne_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(2514) /* (3) velodyne CT processes acquisition activities, updating run_map. */;
run_map[velodyne_run_map_index_from_acquisition_activity(acquisition_activities[index_acquisition])]:= true
else
ignorep := fiacre_c_print_trace(2515) /* (1) velodyne CT processes acquisition activities, handle exception. */;
ignoreb := Fiacre_velodyne_handle_exception(acquisition_activities[index_acquisition], false)
end;
ignorep := fiacre_c_print_trace(2516) /* (1) velodyne CT processes acquisition activities, activity report. */;
ignoreb := Fiacre_velodyne_activity_report(acquisition_activities[index_acquisition])
else
ignorep := fiacre_c_print_trace(2517) /* (1) velodyne CT processes acquisition permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
acquisition_activities[index_acquisition].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_acquisition = Nb_act_inst_velodyne_acquisition-1) then
to process_exec_task_scan
else
index_acquisition := index_acquisition + 1;
to process_exec_task_acquisition
end
from process_exec_task_scan
ignorep := fiacre_c_print_trace(2518) /* (3) velodyne CT processes scan activities. */;
if (scan_activities[index_scan].status = ACT_INIT_FCR) then
if (not scan_activities[index_scan].start_) then
ignorep := fiacre_c_print_trace(2519) /* (4) velodyne CT setting ET scan runnable to true. */;
scan_runnable := true;
scan_activities[index_scan].start_:=true // check the pocolibs template
end
end;
if (scan_activities[index_scan].status = ACT_ETHER_FCR) then // we are done for this one
// scan_activities[index_scan].status := ACT_VOID_FCR;
if (not (scan_activities[index_scan].sid = VELODYNE_NONE)) then //not the perm activity
if (scan_activities[index_scan].state = velodyne_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(2520) /* (3) velodyne CT processes scan activities, updating run_map. */;
run_map[velodyne_run_map_index_from_scan_activity(scan_activities[index_scan])]:= true
else
ignorep := fiacre_c_print_trace(2521) /* (1) velodyne CT processes scan activities, handle exception. */;
ignoreb := Fiacre_velodyne_handle_exception(scan_activities[index_scan], false)
end;
ignorep := fiacre_c_print_trace(2522) /* (1) velodyne CT processes scan activities, activity report. */;
ignoreb := Fiacre_velodyne_activity_report(scan_activities[index_scan])
else
ignorep := fiacre_c_print_trace(2523) /* (1) velodyne CT processes scan permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
scan_activities[index_scan].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_scan = Nb_act_inst_velodyne_scan-1) then
to process_exec_task_pose
else
index_scan := index_scan + 1;
to process_exec_task_scan
end
from process_exec_task_pose
ignorep := fiacre_c_print_trace(2524) /* (3) velodyne CT processes pose activities. */;
if (pose_activities[index_pose].status = ACT_INIT_FCR) then
if (not pose_activities[index_pose].start_) then
ignorep := fiacre_c_print_trace(2525) /* (4) velodyne CT setting ET pose runnable to true. */;
pose_runnable := true;
pose_activities[index_pose].start_:=true // check the pocolibs template
end
end;
if (pose_activities[index_pose].status = ACT_ETHER_FCR) then // we are done for this one
// pose_activities[index_pose].status := ACT_VOID_FCR;
if (not (pose_activities[index_pose].sid = VELODYNE_NONE)) then //not the perm activity
if (pose_activities[index_pose].state = velodyne_ether_fcr) then //if we failed, no run_map update
ignorep := fiacre_c_print_trace(2526) /* (3) velodyne CT processes pose activities, updating run_map. */;
run_map[velodyne_run_map_index_from_pose_activity(pose_activities[index_pose])]:= true
else
ignorep := fiacre_c_print_trace(2527) /* (1) velodyne CT processes pose activities, handle exception. */;
ignoreb := Fiacre_velodyne_handle_exception(pose_activities[index_pose], false)
end;
ignorep := fiacre_c_print_trace(2528) /* (1) velodyne CT processes pose activities, activity report. */;
ignoreb := Fiacre_velodyne_activity_report(pose_activities[index_pose])
else
ignorep := fiacre_c_print_trace(2529) /* (1) velodyne CT processes pose permanent activity DONE. */;
null // for the print above which puts a semicolon
end;
pose_activities[index_pose].status := ACT_VOID_FCR
else // ACT_VOID_FCR, ACT_RUN_FCR, ACT_STOP_FCR do nothing
wait [0,0]
end;
if (index_pose = Nb_act_inst_velodyne_pose-1) then
to process_exec_task_
else
index_pose := index_pose + 1;
to process_exec_task_pose
end
from process_exec_task_
wait [0,0];
to loop_back
/*****************************************/
/* end of velodyne control task process */
/*****************************************/
/******************************************************/
/* beginning of the section specific to task velodyne acquisition . */
/******************************************************/
/****************************************/
/* velodyne acquisition is aperiodic, no timer */
/****************************************/
/******************************************/
/* velodyne acquisition execution task main loop */
/******************************************/
process exec_task_velodyne_acquisition (
&acquisition_turn : act_inst_velodyne_acquisition_turn_type,
&acquisition_runnable: bool,
&scan_runnable: bool,
&pose_runnable: bool,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_acquisition: act_inst_velodyne_acquisition_index_type,
index: act_inst_velodyne_acquisition_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(2530) /* (4) velodyne ET acquisition, waiting to be runnable. */;
on acquisition_runnable
else
ignorep := fiacre_c_print_trace(2531) /* (4) velodyne ET acquisition GENOM_SCHED_CONT. */;
null
end;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(2532) /* (3) velodyne ET acquisition parsing activities status. */;
sched := [false, false, false, false];
foreach index_acquisition do
if (acquisition_activities[index_acquisition].status = ACT_INIT_FCR) then
if (acquisition_activities[index_acquisition].start_ and
acquisition_runnable) then
acquisition_activities[index_acquisition].status := ACT_RUN_FCR;
acquisition_activities[index_acquisition].state := velodyne_start_fcr;
acquisition_activities[index_acquisition].start_ := false;
acquisition_activities[index_acquisition].pause := false
end;
if acquisition_activities[index_acquisition].stop then
if (acquisition_activities[index_acquisition].sid = VELODYNE_NONE) then /* permanent activity */
acquisition_activities[index_acquisition].status := ACT_STOP_FCR;
acquisition_activities[index_acquisition].state := velodyne_stop_fcr;
acquisition_activities[index_acquisition].stop := false;
acquisition_activities[index_acquisition].pause := false
else
acquisition_activities[index_acquisition].status := ACT_ETHER_FCR;
acquisition_activities[index_acquisition].stop := false;
acquisition_activities[index_acquisition].state := genom_interrupted_fcr;
ignoreb := Fiacre_velodyne_genom_interrupt(acquisition_activities[index_acquisition]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (acquisition_activities[index_acquisition].status = ACT_RUN_FCR) then
if acquisition_activities[index_acquisition].stop then
acquisition_activities[index_acquisition].status := ACT_STOP_FCR;
acquisition_activities[index_acquisition].state := velodyne_stop_fcr;
acquisition_activities[index_acquisition].stop := false;
acquisition_activities[index_acquisition].pause := false
end;
if (acquisition_activities[index_acquisition].pause and
acquisition_runnable) then
acquisition_activities[index_acquisition].pause := false
end
elsif (acquisition_activities[index_acquisition].status = ACT_STOP_FCR) then
if (acquisition_activities[index_acquisition].pause and
acquisition_runnable) then
acquisition_activities[index_acquisition].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(2533) /* (3) velodyne ET acquisition, setting runnable to false. */;
acquisition_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(2534) /* (3) velodyne ET acquisition executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (acquisition_activities[index].status = ACT_RUN_FCR) and (not (acquisition_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (acquisition_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(2535) /* (3) velodyne ET acquisition gives control to service. */;
acquisition_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (acquisition_turn = Nb_act_inst_velodyne_acquisition); //control comming back
ignorep := fiacre_c_print_trace(2536) /* (3) velodyne ET acquisition getting control back. */;
status := acquisition_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(2537) /* (2) velodyne ET acquisition activity returned ACT_RUN. */;
if (not acquisition_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(2538) /* (1) velodyne ET acquisition activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(2539) /* (0) velodyne ET acquisition ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_velodyne_acquisition-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(2540) /* (4) velodyne ET acquisition, for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_velodyne_acquisition */
/*************************************************/
/****************************************************************************/
/* velodyne acquisition fiacre process... there will be one for each instance. */
/****************************************************************************/
process acquisition_velodyne_acquisition (
instance: 0..Max_Act_Inst_velodyne-1,
acquisition_index: act_inst_velodyne_acquisition_index_type,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&acquisition_turn: act_inst_velodyne_acquisition_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_stop_fcr, velodyne_stop_sync_fcr_, velodyne_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (acquisition_turn = acquisition_index);
ignorep := fiacre_c_print_trace(2541) /* (2) velodyne Activity acquisition is getting control in state velodyne_start. */;
if (acquisition_activities[acquisition_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2542) /* (2) velodyne Activity acquisition calling codel velodyneAcquisitionTaskStart. */;
//REMOVE ME
acquisition_running_codel := velodyneAcquisitionTaskStart;
start Fiacre_velodyne_codel_task_acquisition_start_task(acquisition_activities[acquisition_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_task_acquisition_start_task state;
ignorep := fiacre_c_print_trace(2543) /* (2) velodyne Activity acquisition returned from codel velodyneAcquisitionTaskStart. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
acquisition_activities[acquisition_index].state := velodyne_ether_fcr;
acquisition_activities[acquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2544) /* (1) velodyne Activity acquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2545) /* (1) velodyne Activity acquisition EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
on (acquisition_turn = acquisition_index);
ignorep := fiacre_c_print_trace(2546) /* (2) velodyne Activity acquisition is getting control in state velodyne_stop. */;
on (
true
);
ignorep := fiacre_c_print_trace(2547) /* (2) velodyne Activity acquisition calling codel velodyneAcquisitionTaskStop. */;
//REMOVE ME
acquisition_running_codel := velodyneAcquisitionTaskStop;
start Fiacre_velodyne_codel_task_acquisition_stop_task(acquisition_activities[acquisition_index]);
to velodyne_stop_sync_fcr_
from velodyne_stop_sync_fcr_
sync Fiacre_velodyne_codel_task_acquisition_stop_task state;
ignorep := fiacre_c_print_trace(2548) /* (2) velodyne Activity acquisition returned from codel velodyneAcquisitionTaskStop. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_stop_dispatch_fcr_
from velodyne_stop_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
acquisition_activities[acquisition_index].state := velodyne_ether_fcr;
acquisition_activities[acquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2549) /* (1) velodyne Activity acquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2550) /* (1) velodyne Activity acquisition EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
true) then
ignoreb := Fiacre_velodyne_acquisition_genom_bad_transition(acquisition_activities[acquisition_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
acquisition_activities[acquisition_index].status := ACT_ETHER_FCR;
acquisition_activities[acquisition_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2551) /* (1) velodyne Activity acquisition throw an exception, back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
/******************************************/
/* end of velodyne acquisition fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne StartAcquisition fiacre process... there will be one for each instance. */
/****************************************************************************/
process StartAcquisition_velodyne_acquisition (
instance: 0..Max_Act_Inst_velodyne-1,
StartAcquisition_index: act_inst_velodyne_acquisition_index_type,
&acquisition_activities: Activities_velodyne_acquisition_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&acquisition_turn: act_inst_velodyne_acquisition_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_poll_fcr, velodyne_poll_sync_fcr_, velodyne_poll_dispatch_fcr_,
velodyne_main_fcr, velodyne_main_sync_fcr_, velodyne_main_dispatch_fcr_,
velodyne_stop_fcr, velodyne_stop_sync_fcr_, velodyne_stop_dispatch_fcr_,
velodyne_end_fcr, velodyne_end_sync_fcr_, velodyne_end_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (acquisition_turn = StartAcquisition_index);
ignorep := fiacre_c_print_trace(2552) /* (2) velodyne Activity StartAcquisition is getting control in state velodyne_start. */;
if (acquisition_activities[StartAcquisition_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (acquisition_running_codel = velodyneScanTaskStart)) and
(not (acquisition_running_codel = velodyneScanTaskStop)) and
(not (acquisition_running_codel = velodyneInit)) and
true
);
ignorep := fiacre_c_print_trace(2553) /* (2) velodyne Activity StartAcquisition calling codel velodyneStartAcquisitionStart. */;
//REMOVE ME
acquisition_running_codel := velodyneStartAcquisitionStart;
start Fiacre_velodyne_codel_service_StartAcquisition_start_task(acquisition_activities[StartAcquisition_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_StartAcquisition_start_task state;
ignorep := fiacre_c_print_trace(2554) /* (2) velodyne Activity StartAcquisition returned from codel velodyneStartAcquisitionStart. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (
state = velodyne_poll_fcr or
false) then
acquisition_activities[StartAcquisition_index].state := state;
acquisition_activities[StartAcquisition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2555) /* (2) velodyne Activity StartAcquisition NOT done for this cycle, back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
if (state = velodyne_poll_fcr) then
to velodyne_poll_fcr
end;
to start_ // never reached
else
if (state = velodyne_ether_fcr) then
acquisition_activities[StartAcquisition_index].state := velodyne_ether_fcr;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2556) /* (1) velodyne Activity StartAcquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2557) /* (1) velodyne Activity StartAcquisition EXCEPTION... */;
to exception
end
end
from velodyne_poll_fcr
on (acquisition_turn = StartAcquisition_index);
ignorep := fiacre_c_print_trace(2558) /* (2) velodyne Activity StartAcquisition is getting control in state velodyne_poll. */;
if (acquisition_activities[StartAcquisition_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (acquisition_running_codel = velodyneScanTaskStart)) and
(not (acquisition_running_codel = velodyneScanTaskStop)) and
true
);
ignorep := fiacre_c_print_trace(2559) /* (2) velodyne Activity StartAcquisition calling codel velodyneStartAcquisitionPoll. */;
//REMOVE ME
acquisition_running_codel := velodyneStartAcquisitionPoll;
start Fiacre_velodyne_codel_service_StartAcquisition_poll_task(acquisition_activities[StartAcquisition_index]);
to velodyne_poll_sync_fcr_
from velodyne_poll_sync_fcr_
sync Fiacre_velodyne_codel_service_StartAcquisition_poll_task state;
ignorep := fiacre_c_print_trace(2560) /* (2) velodyne Activity StartAcquisition returned from codel velodyneStartAcquisitionPoll. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_poll_dispatch_fcr_
from velodyne_poll_dispatch_fcr_
wait [0,0];
if (
state = velodyne_poll_fcr or
state = velodyne_main_fcr or
false) then
acquisition_activities[StartAcquisition_index].state := state;
acquisition_activities[StartAcquisition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2561) /* (2) velodyne Activity StartAcquisition NOT done for this cycle, back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
if (state = velodyne_poll_fcr) then
to velodyne_poll_fcr
end;
if (state = velodyne_main_fcr) then
to velodyne_main_fcr
end;
to start_ // never reached
else
if (state = velodyne_ether_fcr) then
acquisition_activities[StartAcquisition_index].state := velodyne_ether_fcr;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2562) /* (1) velodyne Activity StartAcquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2563) /* (1) velodyne Activity StartAcquisition EXCEPTION... */;
to exception
end
end
from velodyne_main_fcr
on (acquisition_turn = StartAcquisition_index);
ignorep := fiacre_c_print_trace(2564) /* (2) velodyne Activity StartAcquisition is getting control in state velodyne_main. */;
if (acquisition_activities[StartAcquisition_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (acquisition_running_codel = velodyneScanTaskStart)) and
(not (acquisition_running_codel = velodyneScanTaskStop)) and
(not (acquisition_running_codel = velodyneGetOneScanCopyPackets)) and
(not (acquisition_running_codel = velodyneGetOneScanCopyPackets)) and
true
);
ignorep := fiacre_c_print_trace(2565) /* (2) velodyne Activity StartAcquisition calling codel velodyneStartAcquisitionMain. */;
//REMOVE ME
acquisition_running_codel := velodyneStartAcquisitionMain;
start Fiacre_velodyne_codel_service_StartAcquisition_main_task(acquisition_activities[StartAcquisition_index]);
to velodyne_main_sync_fcr_
from velodyne_main_sync_fcr_
sync Fiacre_velodyne_codel_service_StartAcquisition_main_task state;
ignorep := fiacre_c_print_trace(2566) /* (2) velodyne Activity StartAcquisition returned from codel velodyneStartAcquisitionMain. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_main_dispatch_fcr_
from velodyne_main_dispatch_fcr_
wait [0,0];
if (
state = velodyne_poll_fcr or
state = velodyne_end_fcr or
false) then
acquisition_activities[StartAcquisition_index].state := state;
acquisition_activities[StartAcquisition_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2567) /* (2) velodyne Activity StartAcquisition NOT done for this cycle, back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
if (state = velodyne_poll_fcr) then
to velodyne_poll_fcr
end;
if (state = velodyne_end_fcr) then
to velodyne_end_fcr
end;
to start_ // never reached
else
if (state = velodyne_ether_fcr) then
acquisition_activities[StartAcquisition_index].state := velodyne_ether_fcr;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2568) /* (1) velodyne Activity StartAcquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2569) /* (1) velodyne Activity StartAcquisition EXCEPTION... */;
to exception
end
end
from velodyne_stop_fcr
on (acquisition_turn = StartAcquisition_index);
ignorep := fiacre_c_print_trace(2570) /* (2) velodyne Activity StartAcquisition is getting control in state velodyne_stop. */;
on (
true
);
ignorep := fiacre_c_print_trace(2571) /* (2) velodyne Activity StartAcquisition calling codel velodyneStartAcquisitionEnd. */;
//REMOVE ME
acquisition_running_codel := velodyneStartAcquisitionEnd;
start Fiacre_velodyne_codel_service_StartAcquisition_stop_task(acquisition_activities[StartAcquisition_index]);
to velodyne_stop_sync_fcr_
from velodyne_stop_sync_fcr_
sync Fiacre_velodyne_codel_service_StartAcquisition_stop_task state;
ignorep := fiacre_c_print_trace(2572) /* (2) velodyne Activity StartAcquisition returned from codel velodyneStartAcquisitionEnd. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_stop_dispatch_fcr_
from velodyne_stop_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
acquisition_activities[StartAcquisition_index].state := velodyne_ether_fcr;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2573) /* (1) velodyne Activity StartAcquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2574) /* (1) velodyne Activity StartAcquisition EXCEPTION... */;
to exception
end
from velodyne_end_fcr
on (acquisition_turn = StartAcquisition_index);
ignorep := fiacre_c_print_trace(2575) /* (2) velodyne Activity StartAcquisition is getting control in state velodyne_end. */;
if (acquisition_activities[StartAcquisition_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2576) /* (2) velodyne Activity StartAcquisition calling codel velodyneStartAcquisitionEnd. */;
//REMOVE ME
acquisition_running_codel := velodyneStartAcquisitionEnd;
start Fiacre_velodyne_codel_service_StartAcquisition_end_task(acquisition_activities[StartAcquisition_index]);
to velodyne_end_sync_fcr_
from velodyne_end_sync_fcr_
sync Fiacre_velodyne_codel_service_StartAcquisition_end_task state;
ignorep := fiacre_c_print_trace(2577) /* (2) velodyne Activity StartAcquisition returned from codel velodyneStartAcquisitionEnd. */;
//REMOVE ME
acquisition_running_codel := 0;
to velodyne_end_dispatch_fcr_
from velodyne_end_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
acquisition_activities[StartAcquisition_index].state := velodyne_ether_fcr;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2578) /* (1) velodyne Activity StartAcquisition DONE (ether), back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
else
ignorep := fiacre_c_print_trace(2579) /* (1) velodyne Activity StartAcquisition EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
(not (state = velodyne_e_sys_fcr)) and
(not (state = velodyne_e_interface_fcr)) and
(not (state = velodyne_e_runtime_fcr)) and
(not (state = velodyne_e_not_implemented_fcr)) and
true) then
ignoreb := Fiacre_velodyne_StartAcquisition_genom_bad_transition(acquisition_activities[StartAcquisition_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
acquisition_activities[StartAcquisition_index].status := ACT_ETHER_FCR;
acquisition_activities[StartAcquisition_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2580) /* (1) velodyne Activity StartAcquisition throw an exception, back to ET. */;
acquisition_turn := Nb_act_inst_velodyne_acquisition;
to start_
/******************************************/
/* end of velodyne StartAcquisition fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task velodyne acquisition . */
/******************************************************/
/******************************************************/
/* beginning of the section specific to task velodyne scan . */
/******************************************************/
/**************************************/
/* velodyne scan execution task timer */
/**************************************/
process timer_velodyne_scan (
&tick_scan: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_scan);
ignorep := fiacre_c_print_trace(2581) /* (3) velodyne scan timer arming. */;
to wait_
from wait_
wait[10.0, 10.0];
ignorep := fiacre_c_print_trace(2582) /* (3) velodyne scan timer elapsed. */;
tick_scan:= true;
to start_
/*************************************************/
/* end of process timer_velodyne_scan */
/*************************************************/
/******************************************/
/* velodyne scan execution task main loop */
/******************************************/
process exec_task_velodyne_scan (
&tick_scan: bool,
&scan_turn : act_inst_velodyne_scan_turn_type,
&acquisition_runnable: bool,
&scan_runnable: bool,
&pose_runnable: bool,
&scan_activities: Activities_velodyne_scan_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_scan: act_inst_velodyne_scan_index_type,
index: act_inst_velodyne_scan_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(2583) /* (4) velodyne ET scan, setting runnable to true. */;
scan_runnable := true;
if (tick_scan) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(2584) /* (4) velodyne ET scan, setting runnable to false. */;
scan_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(2585) /* (0) velodyne ET scan ***OVERSHOOT*** its period. */;
tick_scan:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(2586) /* (2) velodyne ET scan waiting next period. */;
on tick_scan;
tick_scan:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(2587) /* (3) velodyne ET scan parsing activities status. */;
sched := [false, false, false, false];
foreach index_scan do
if (scan_activities[index_scan].status = ACT_INIT_FCR) then
if (scan_activities[index_scan].start_ and
scan_runnable) then
scan_activities[index_scan].status := ACT_RUN_FCR;
scan_activities[index_scan].state := velodyne_start_fcr;
scan_activities[index_scan].start_ := false;
scan_activities[index_scan].pause := false
end;
if scan_activities[index_scan].stop then
if (scan_activities[index_scan].sid = VELODYNE_NONE) then /* permanent activity */
scan_activities[index_scan].status := ACT_STOP_FCR;
scan_activities[index_scan].state := velodyne_stop_fcr;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].pause := false
else
scan_activities[index_scan].status := ACT_ETHER_FCR;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].state := genom_interrupted_fcr;
ignoreb := Fiacre_velodyne_genom_interrupt(scan_activities[index_scan]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (scan_activities[index_scan].status = ACT_RUN_FCR) then
if scan_activities[index_scan].stop then
scan_activities[index_scan].status := ACT_STOP_FCR;
scan_activities[index_scan].state := velodyne_stop_fcr;
scan_activities[index_scan].stop := false;
scan_activities[index_scan].pause := false
end;
if (scan_activities[index_scan].pause and
scan_runnable) then
scan_activities[index_scan].pause := false
end
elsif (scan_activities[index_scan].status = ACT_STOP_FCR) then
if (scan_activities[index_scan].pause and
scan_runnable) then
scan_activities[index_scan].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(2588) /* (3) velodyne ET scan, setting runnable to false. */;
scan_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(2589) /* (3) velodyne ET scan executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (scan_activities[index].status = ACT_RUN_FCR) and (not (scan_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (scan_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(2590) /* (3) velodyne ET scan gives control to service. */;
scan_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (scan_turn = Nb_act_inst_velodyne_scan); //control comming back
ignorep := fiacre_c_print_trace(2591) /* (3) velodyne ET scan getting control back. */;
status := scan_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(2592) /* (2) velodyne ET scan activity returned ACT_RUN. */;
if (not scan_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(2593) /* (1) velodyne ET scan activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(2594) /* (0) velodyne ET scan ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_velodyne_scan-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(2595) /* (4) velodyne ET scan, for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_velodyne_scan */
/*************************************************/
/****************************************************************************/
/* velodyne scan fiacre process... there will be one for each instance. */
/****************************************************************************/
process scan_velodyne_scan (
instance: 0..Max_Act_Inst_velodyne-1,
scan_index: act_inst_velodyne_scan_index_type,
&scan_activities: Activities_velodyne_scan_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&scan_turn: act_inst_velodyne_scan_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_stop_fcr, velodyne_stop_sync_fcr_, velodyne_stop_dispatch_fcr_,
exception, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (scan_turn = scan_index);
ignorep := fiacre_c_print_trace(2596) /* (2) velodyne Activity scan is getting control in state velodyne_start. */;
if (scan_activities[scan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodynePoseTaskStart)) and
(not (scan_running_codel = velodyneStartAcquisitionStart)) and
(not (scan_running_codel = velodyneStartAcquisitionPoll)) and
(not (scan_running_codel = velodyneStartAcquisitionMain)) and
(not (control_running_codel = velodyneEnableScanAutoSaving)) and
(not (control_running_codel = velodyneDisableScanAutoSaving)) and
(not (scan_running_codel = velodyneStartPoseProcessingStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingMain)) and
(not (scan_running_codel = velodyneSetFixedSensorPoseStart)) and
(not (control_running_codel = genom_velodyne_SetDelay_controlcb)) and
(not (control_running_codel = genom_velodyne_SetPCL2PubCyle_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[velodyne_point_cloud2_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2597) /* (2) velodyne Activity scan calling codel velodyneScanTaskStart. */;
mutex_ports[velodyne_point_cloud_port] := velodyneScanTaskStart_port_codel;
mutex_ports[velodyne_point_cloud2_port] := velodyneScanTaskStart_port_codel;
//REMOVE ME
scan_running_codel := velodyneScanTaskStart;
start Fiacre_velodyne_codel_task_scan_start_task(scan_activities[scan_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_task_scan_start_task state;
ignorep := fiacre_c_print_trace(2598) /* (2) velodyne Activity scan returned from codel velodyneScanTaskStart. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[velodyne_point_cloud2_port] := no_codel;
write_ports[velodyne_point_cloud_port] := true;
write_ports[velodyne_point_cloud2_port] := true;
//REMOVE ME
scan_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
scan_activities[scan_index].state := velodyne_ether_fcr;
scan_activities[scan_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2599) /* (1) velodyne Activity scan DONE (ether), back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
else
ignorep := fiacre_c_print_trace(2600) /* (1) velodyne Activity scan EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
on (scan_turn = scan_index);
ignorep := fiacre_c_print_trace(2601) /* (2) velodyne Activity scan is getting control in state velodyne_stop. */;
on (
(not (scan_running_codel = velodynePoseTaskStart)) and
(not (scan_running_codel = velodyneStartAcquisitionStart)) and
(not (scan_running_codel = velodyneStartAcquisitionPoll)) and
(not (scan_running_codel = velodyneStartAcquisitionMain)) and
(not (control_running_codel = velodyneEnableScanAutoSaving)) and
(not (control_running_codel = velodyneDisableScanAutoSaving)) and
(not (scan_running_codel = velodyneStartPoseProcessingStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingMain)) and
(not (scan_running_codel = velodyneSetFixedSensorPoseStart)) and
(not (control_running_codel = genom_velodyne_SetDelay_controlcb)) and
(not (control_running_codel = genom_velodyne_SetPCL2PubCyle_controlcb)) and
true
);
ignorep := fiacre_c_print_trace(2602) /* (2) velodyne Activity scan calling codel velodyneScanTaskStop. */;
//REMOVE ME
scan_running_codel := velodyneScanTaskStop;
start Fiacre_velodyne_codel_task_scan_stop_task(scan_activities[scan_index]);
to velodyne_stop_sync_fcr_
from velodyne_stop_sync_fcr_
sync Fiacre_velodyne_codel_task_scan_stop_task state;
ignorep := fiacre_c_print_trace(2603) /* (2) velodyne Activity scan returned from codel velodyneScanTaskStop. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_stop_dispatch_fcr_
from velodyne_stop_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
scan_activities[scan_index].state := velodyne_ether_fcr;
scan_activities[scan_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2604) /* (1) velodyne Activity scan DONE (ether), back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
else
ignorep := fiacre_c_print_trace(2605) /* (1) velodyne Activity scan EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
true) then
ignoreb := Fiacre_velodyne_scan_genom_bad_transition(scan_activities[scan_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
scan_activities[scan_index].status := ACT_ETHER_FCR;
scan_activities[scan_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2606) /* (1) velodyne Activity scan throw an exception, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
/******************************************/
/* end of velodyne scan fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne Init fiacre process... there will be one for each instance. */
/****************************************************************************/
process Init_velodyne_scan (
instance: 0..Max_Act_Inst_velodyne-1,
Init_index: act_inst_velodyne_scan_index_type,
&scan_activities: Activities_velodyne_scan_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&scan_turn: act_inst_velodyne_scan_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (scan_turn = Init_index);
ignorep := fiacre_c_print_trace(2607) /* (2) velodyne Activity Init is getting control in state velodyne_start. */;
if (scan_activities[Init_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodyneStartAcquisitionStart)) and
true
);
ignorep := fiacre_c_print_trace(2608) /* (2) velodyne Activity Init calling codel velodyneInit. */;
//REMOVE ME
scan_running_codel := velodyneInit;
start Fiacre_velodyne_codel_service_Init_start_task(scan_activities[Init_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_Init_start_task state;
ignorep := fiacre_c_print_trace(2609) /* (2) velodyne Activity Init returned from codel velodyneInit. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
scan_activities[Init_index].state := velodyne_ether_fcr;
scan_activities[Init_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2610) /* (1) velodyne Activity Init DONE (ether), back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
else
ignorep := fiacre_c_print_trace(2611) /* (1) velodyne Activity Init EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2612) /* (1) velodyne Activity Init in default stop. */;
ignoreb := Fiacre_velodyne_Init_genom_interrupt(scan_activities[Init_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
(not (state = velodyne_e_params_fcr)) and
(not (state = velodyne_e_interface_fcr)) and
true) then
ignoreb := Fiacre_velodyne_Init_genom_bad_transition(scan_activities[Init_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
scan_activities[Init_index].status := ACT_ETHER_FCR;
scan_activities[Init_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2613) /* (1) velodyne Activity Init throw an exception, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
/******************************************/
/* end of velodyne Init fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne GetOneScan fiacre process... there will be one for each instance. */
/****************************************************************************/
process GetOneScan_velodyne_scan (
instance: 0..Max_Act_Inst_velodyne-1,
GetOneScan_index: act_inst_velodyne_scan_index_type,
&scan_activities: Activities_velodyne_scan_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&scan_turn: act_inst_velodyne_scan_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_copy_packets_fcr, velodyne_copy_packets_sync_fcr_, velodyne_copy_packets_dispatch_fcr_,
velodyne_stamp_packets_fcr, velodyne_stamp_packets_sync_fcr_, velodyne_stamp_packets_dispatch_fcr_,
velodyne_build_scan_fcr, velodyne_build_scan_sync_fcr_, velodyne_build_scan_dispatch_fcr_,
velodyne_end_fcr, velodyne_end_sync_fcr_, velodyne_end_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (scan_turn = GetOneScan_index);
ignorep := fiacre_c_print_trace(2614) /* (2) velodyne Activity GetOneScan is getting control in state velodyne_start. */;
if (scan_activities[GetOneScan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2615) /* (2) velodyne Activity GetOneScan calling codel velodyneGetOneScanStart. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanStart;
start Fiacre_velodyne_codel_service_GetOneScan_start_task(scan_activities[GetOneScan_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_GetOneScan_start_task state;
ignorep := fiacre_c_print_trace(2616) /* (2) velodyne Activity GetOneScan returned from codel velodyneGetOneScanStart. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (
state = velodyne_copy_packets_fcr or
false) then
scan_activities[GetOneScan_index].state := state;
scan_activities[GetOneScan_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2617) /* (2) velodyne Activity GetOneScan NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_copy_packets_fcr) then
to velodyne_copy_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2618) /* (1) velodyne Activity GetOneScan EXCEPTION... */;
to exception
end
from velodyne_copy_packets_fcr
on (scan_turn = GetOneScan_index);
ignorep := fiacre_c_print_trace(2619) /* (2) velodyne Activity GetOneScan is getting control in state velodyne_copy_packets. */;
if (scan_activities[GetOneScan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodyneStartAcquisitionMain)) and
true
);
ignorep := fiacre_c_print_trace(2620) /* (2) velodyne Activity GetOneScan calling codel velodyneGetOneScanCopyPackets. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanCopyPackets;
start Fiacre_velodyne_codel_service_GetOneScan_copy_packets_task(scan_activities[GetOneScan_index]);
to velodyne_copy_packets_sync_fcr_
from velodyne_copy_packets_sync_fcr_
sync Fiacre_velodyne_codel_service_GetOneScan_copy_packets_task state;
ignorep := fiacre_c_print_trace(2621) /* (2) velodyne Activity GetOneScan returned from codel velodyneGetOneScanCopyPackets. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_copy_packets_dispatch_fcr_
from velodyne_copy_packets_dispatch_fcr_
wait [0,0];
if (
state = velodyne_stamp_packets_fcr or
false) then
scan_activities[GetOneScan_index].state := state;
scan_activities[GetOneScan_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2622) /* (2) velodyne Activity GetOneScan NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_stamp_packets_fcr) then
to velodyne_stamp_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2623) /* (1) velodyne Activity GetOneScan EXCEPTION... */;
to exception
end
from velodyne_stamp_packets_fcr
on (scan_turn = GetOneScan_index);
ignorep := fiacre_c_print_trace(2624) /* (2) velodyne Activity GetOneScan is getting control in state velodyne_stamp_packets. */;
if (scan_activities[GetOneScan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodynePoseTaskStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingMain)) and
(not (scan_running_codel = velodyneSetFixedSensorPoseStart)) and
true
);
ignorep := fiacre_c_print_trace(2625) /* (2) velodyne Activity GetOneScan calling codel velodyneGetOneScanStampPackets. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanStampPackets;
start Fiacre_velodyne_codel_service_GetOneScan_stamp_packets_task(scan_activities[GetOneScan_index]);
to velodyne_stamp_packets_sync_fcr_
from velodyne_stamp_packets_sync_fcr_
sync Fiacre_velodyne_codel_service_GetOneScan_stamp_packets_task state;
ignorep := fiacre_c_print_trace(2626) /* (2) velodyne Activity GetOneScan returned from codel velodyneGetOneScanStampPackets. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_stamp_packets_dispatch_fcr_
from velodyne_stamp_packets_dispatch_fcr_
wait [0,0];
if (
state = velodyne_build_scan_fcr or
false) then
scan_activities[GetOneScan_index].state := state;
scan_activities[GetOneScan_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2627) /* (2) velodyne Activity GetOneScan NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_build_scan_fcr) then
to velodyne_build_scan_fcr
end;
to start_ // never reached
else
if (
state = velodyne_pause_stamp_packets_fcr or
false) then
if (state = velodyne_pause_stamp_packets_fcr) then state := velodyne_stamp_packets_fcr end;
scan_activities[GetOneScan_index].state := state;
scan_activities[GetOneScan_index].status := ACT_RUN_FCR;
scan_activities[GetOneScan_index].pause := true;
ignorep := fiacre_c_print_trace(2628) /* (2) velodyne Activity GetOneScan DONE for this cycle, pauses, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_stamp_packets_fcr) then
to velodyne_stamp_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2629) /* (1) velodyne Activity GetOneScan EXCEPTION... */;
to exception
end
end
from velodyne_build_scan_fcr
on (scan_turn = GetOneScan_index);
ignorep := fiacre_c_print_trace(2630) /* (2) velodyne Activity GetOneScan is getting control in state velodyne_build_scan. */;
if (scan_activities[GetOneScan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2631) /* (2) velodyne Activity GetOneScan calling codel velodyneGetOneScanBuildScan. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanBuildScan;
start Fiacre_velodyne_codel_service_GetOneScan_build_scan_task(scan_activities[GetOneScan_index]);
to velodyne_build_scan_sync_fcr_
from velodyne_build_scan_sync_fcr_
sync Fiacre_velodyne_codel_service_GetOneScan_build_scan_task state;
ignorep := fiacre_c_print_trace(2632) /* (2) velodyne Activity GetOneScan returned from codel velodyneGetOneScanBuildScan. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_build_scan_dispatch_fcr_
from velodyne_build_scan_dispatch_fcr_
wait [0,0];
if (
state = velodyne_end_fcr or
false) then
scan_activities[GetOneScan_index].state := state;
scan_activities[GetOneScan_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2633) /* (2) velodyne Activity GetOneScan NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_end_fcr) then
to velodyne_end_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2634) /* (1) velodyne Activity GetOneScan EXCEPTION... */;
to exception
end
from velodyne_end_fcr
on (scan_turn = GetOneScan_index);
ignorep := fiacre_c_print_trace(2635) /* (2) velodyne Activity GetOneScan is getting control in state velodyne_end. */;
if (scan_activities[GetOneScan_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (control_running_codel = velodyneEnableScanAutoSaving)) and
(not (control_running_codel = velodyneDisableScanAutoSaving)) and
(not (control_running_codel = genom_velodyne_SetDelay_controlcb)) and
(not (control_running_codel = genom_velodyne_SetPCL2PubCyle_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[velodyne_point_cloud2_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2636) /* (2) velodyne Activity GetOneScan calling codel velodyneGetOneScanEnd. */;
mutex_ports[velodyne_point_cloud_port] := velodyneGetOneScanEnd_port_codel;
mutex_ports[velodyne_point_cloud2_port] := velodyneGetOneScanEnd_port_codel;
//REMOVE ME
scan_running_codel := velodyneGetOneScanEnd;
start Fiacre_velodyne_codel_service_GetOneScan_end_task(scan_activities[GetOneScan_index]);
to velodyne_end_sync_fcr_
from velodyne_end_sync_fcr_
sync Fiacre_velodyne_codel_service_GetOneScan_end_task state;
ignorep := fiacre_c_print_trace(2637) /* (2) velodyne Activity GetOneScan returned from codel velodyneGetOneScanEnd. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[velodyne_point_cloud2_port] := no_codel;
write_ports[velodyne_point_cloud_port] := true;
write_ports[velodyne_point_cloud2_port] := true;
//REMOVE ME
scan_running_codel := 0;
to velodyne_end_dispatch_fcr_
from velodyne_end_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
scan_activities[GetOneScan_index].state := velodyne_ether_fcr;
scan_activities[GetOneScan_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2638) /* (1) velodyne Activity GetOneScan DONE (ether), back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
else
ignorep := fiacre_c_print_trace(2639) /* (1) velodyne Activity GetOneScan EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2640) /* (1) velodyne Activity GetOneScan in default stop. */;
ignoreb := Fiacre_velodyne_GetOneScan_genom_interrupt(scan_activities[GetOneScan_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
(not (state = velodyne_e_params_fcr)) and
(not (state = velodyne_e_runtime_fcr)) and
(not (state = velodyne_e_interface_fcr)) and
(not (state = velodyne_e_not_implemented_fcr)) and
(not (state = velodyne_e_port_fcr)) and
(not (state = velodyne_e_timeout_fcr)) and
true) then
ignoreb := Fiacre_velodyne_GetOneScan_genom_bad_transition(scan_activities[GetOneScan_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
scan_activities[GetOneScan_index].status := ACT_ETHER_FCR;
scan_activities[GetOneScan_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2641) /* (1) velodyne Activity GetOneScan throw an exception, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
/******************************************/
/* end of velodyne GetOneScan fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne GetScans fiacre process... there will be one for each instance. */
/****************************************************************************/
process GetScans_velodyne_scan (
instance: 0..Max_Act_Inst_velodyne-1,
GetScans_index: act_inst_velodyne_scan_index_type,
&scan_activities: Activities_velodyne_scan_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&scan_turn: act_inst_velodyne_scan_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_copy_packets_fcr, velodyne_copy_packets_sync_fcr_, velodyne_copy_packets_dispatch_fcr_,
velodyne_stamp_packets_fcr, velodyne_stamp_packets_sync_fcr_, velodyne_stamp_packets_dispatch_fcr_,
velodyne_build_scan_fcr, velodyne_build_scan_sync_fcr_, velodyne_build_scan_dispatch_fcr_,
velodyne_end_fcr, velodyne_end_sync_fcr_, velodyne_end_dispatch_fcr_,
velodyne_wait_fcr, velodyne_wait_sync_fcr_, velodyne_wait_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2642) /* (2) velodyne Activity GetScans is getting control in state velodyne_start. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2643) /* (2) velodyne Activity GetScans calling codel velodyneGetScansStart. */;
//REMOVE ME
scan_running_codel := velodyneGetScansStart;
start Fiacre_velodyne_codel_service_GetScans_start_task(scan_activities[GetScans_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_start_task state;
ignorep := fiacre_c_print_trace(2644) /* (2) velodyne Activity GetScans returned from codel velodyneGetScansStart. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (
state = velodyne_copy_packets_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2645) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_copy_packets_fcr) then
to velodyne_copy_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2646) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
from velodyne_copy_packets_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2647) /* (2) velodyne Activity GetScans is getting control in state velodyne_copy_packets. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodyneStartAcquisitionMain)) and
true
);
ignorep := fiacre_c_print_trace(2648) /* (2) velodyne Activity GetScans calling codel velodyneGetOneScanCopyPackets. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanCopyPackets;
start Fiacre_velodyne_codel_service_GetScans_copy_packets_task(scan_activities[GetScans_index]);
to velodyne_copy_packets_sync_fcr_
from velodyne_copy_packets_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_copy_packets_task state;
ignorep := fiacre_c_print_trace(2649) /* (2) velodyne Activity GetScans returned from codel velodyneGetOneScanCopyPackets. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_copy_packets_dispatch_fcr_
from velodyne_copy_packets_dispatch_fcr_
wait [0,0];
if (
state = velodyne_stamp_packets_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2650) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_stamp_packets_fcr) then
to velodyne_stamp_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2651) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
from velodyne_stamp_packets_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2652) /* (2) velodyne Activity GetScans is getting control in state velodyne_stamp_packets. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (scan_running_codel = velodynePoseTaskStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingStart)) and
(not (scan_running_codel = velodyneStartPoseProcessingMain)) and
(not (scan_running_codel = velodyneSetFixedSensorPoseStart)) and
true
);
ignorep := fiacre_c_print_trace(2653) /* (2) velodyne Activity GetScans calling codel velodyneGetOneScanStampPackets. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanStampPackets;
start Fiacre_velodyne_codel_service_GetScans_stamp_packets_task(scan_activities[GetScans_index]);
to velodyne_stamp_packets_sync_fcr_
from velodyne_stamp_packets_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_stamp_packets_task state;
ignorep := fiacre_c_print_trace(2654) /* (2) velodyne Activity GetScans returned from codel velodyneGetOneScanStampPackets. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_stamp_packets_dispatch_fcr_
from velodyne_stamp_packets_dispatch_fcr_
wait [0,0];
if (
state = velodyne_build_scan_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2655) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_build_scan_fcr) then
to velodyne_build_scan_fcr
end;
to start_ // never reached
else
if (
state = velodyne_pause_stamp_packets_fcr or
false) then
if (state = velodyne_pause_stamp_packets_fcr) then state := velodyne_stamp_packets_fcr end;
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
scan_activities[GetScans_index].pause := true;
ignorep := fiacre_c_print_trace(2656) /* (2) velodyne Activity GetScans DONE for this cycle, pauses, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_stamp_packets_fcr) then
to velodyne_stamp_packets_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2657) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
end
from velodyne_build_scan_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2658) /* (2) velodyne Activity GetScans is getting control in state velodyne_build_scan. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2659) /* (2) velodyne Activity GetScans calling codel velodyneGetOneScanBuildScan. */;
//REMOVE ME
scan_running_codel := velodyneGetOneScanBuildScan;
start Fiacre_velodyne_codel_service_GetScans_build_scan_task(scan_activities[GetScans_index]);
to velodyne_build_scan_sync_fcr_
from velodyne_build_scan_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_build_scan_task state;
ignorep := fiacre_c_print_trace(2660) /* (2) velodyne Activity GetScans returned from codel velodyneGetOneScanBuildScan. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_build_scan_dispatch_fcr_
from velodyne_build_scan_dispatch_fcr_
wait [0,0];
if (
state = velodyne_end_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2661) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_end_fcr) then
to velodyne_end_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2662) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
from velodyne_end_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2663) /* (2) velodyne Activity GetScans is getting control in state velodyne_end. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (control_running_codel = velodyneEnableScanAutoSaving)) and
(not (control_running_codel = velodyneDisableScanAutoSaving)) and
(not (control_running_codel = genom_velodyne_SetDelay_controlcb)) and
(not (control_running_codel = genom_velodyne_SetPCL2PubCyle_controlcb)) and
(mutex_ports[velodyne_point_cloud_port] = no_codel) and
(mutex_ports[velodyne_point_cloud2_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2664) /* (2) velodyne Activity GetScans calling codel velodyneGetOneScanEnd. */;
mutex_ports[velodyne_point_cloud_port] := velodyneGetOneScanEnd_port_codel;
mutex_ports[velodyne_point_cloud2_port] := velodyneGetOneScanEnd_port_codel;
//REMOVE ME
scan_running_codel := velodyneGetOneScanEnd;
start Fiacre_velodyne_codel_service_GetScans_end_task(scan_activities[GetScans_index]);
to velodyne_end_sync_fcr_
from velodyne_end_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_end_task state;
ignorep := fiacre_c_print_trace(2665) /* (2) velodyne Activity GetScans returned from codel velodyneGetOneScanEnd. */;
mutex_ports[velodyne_point_cloud_port] := no_codel;
mutex_ports[velodyne_point_cloud2_port] := no_codel;
write_ports[velodyne_point_cloud_port] := true;
write_ports[velodyne_point_cloud2_port] := true;
//REMOVE ME
scan_running_codel := 0;
to velodyne_end_dispatch_fcr_
from velodyne_end_dispatch_fcr_
wait [0,0];
if (
state = velodyne_wait_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2666) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_wait_fcr) then
to velodyne_wait_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2667) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
from velodyne_wait_fcr
on (scan_turn = GetScans_index);
ignorep := fiacre_c_print_trace(2668) /* (2) velodyne Activity GetScans is getting control in state velodyne_wait. */;
if (scan_activities[GetScans_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2669) /* (2) velodyne Activity GetScans calling codel velodyneGetScansWait. */;
//REMOVE ME
scan_running_codel := velodyneGetScansWait;
start Fiacre_velodyne_codel_service_GetScans_wait_task(scan_activities[GetScans_index]);
to velodyne_wait_sync_fcr_
from velodyne_wait_sync_fcr_
sync Fiacre_velodyne_codel_service_GetScans_wait_task state;
ignorep := fiacre_c_print_trace(2670) /* (2) velodyne Activity GetScans returned from codel velodyneGetScansWait. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_wait_dispatch_fcr_
from velodyne_wait_dispatch_fcr_
wait [0,0];
if (
state = velodyne_copy_packets_fcr or
false) then
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2671) /* (2) velodyne Activity GetScans NOT done for this cycle, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_copy_packets_fcr) then
to velodyne_copy_packets_fcr
end;
to start_ // never reached
else
if (
state = velodyne_pause_wait_fcr or
false) then
if (state = velodyne_pause_wait_fcr) then state := velodyne_wait_fcr end;
scan_activities[GetScans_index].state := state;
scan_activities[GetScans_index].status := ACT_RUN_FCR;
scan_activities[GetScans_index].pause := true;
ignorep := fiacre_c_print_trace(2672) /* (2) velodyne Activity GetScans DONE for this cycle, pauses, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
if (state = velodyne_wait_fcr) then
to velodyne_wait_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2673) /* (1) velodyne Activity GetScans EXCEPTION... */;
to exception
end
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2674) /* (1) velodyne Activity GetScans in default stop. */;
ignoreb := Fiacre_velodyne_GetScans_genom_interrupt(scan_activities[GetScans_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
(not (state = velodyne_e_params_fcr)) and
(not (state = velodyne_e_runtime_fcr)) and
(not (state = velodyne_e_interface_fcr)) and
(not (state = velodyne_e_not_implemented_fcr)) and
(not (state = velodyne_e_port_fcr)) and
(not (state = velodyne_e_timeout_fcr)) and
true) then
ignoreb := Fiacre_velodyne_GetScans_genom_bad_transition(scan_activities[GetScans_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
scan_activities[GetScans_index].status := ACT_ETHER_FCR;
scan_activities[GetScans_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2675) /* (1) velodyne Activity GetScans throw an exception, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
/******************************************/
/* end of velodyne GetScans fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne SavePCD fiacre process... there will be one for each instance. */
/****************************************************************************/
process SavePCD_velodyne_scan (
instance: 0..Max_Act_Inst_velodyne-1,
SavePCD_index: act_inst_velodyne_scan_index_type,
&scan_activities: Activities_velodyne_scan_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&scan_turn: act_inst_velodyne_scan_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (scan_turn = SavePCD_index);
ignorep := fiacre_c_print_trace(2676) /* (2) velodyne Activity SavePCD is getting control in state velodyne_start. */;
if (scan_activities[SavePCD_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
true
);
ignorep := fiacre_c_print_trace(2677) /* (2) velodyne Activity SavePCD calling codel velodyneSavePCD. */;
//REMOVE ME
scan_running_codel := velodyneSavePCD;
start Fiacre_velodyne_codel_service_SavePCD_start_task(scan_activities[SavePCD_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_SavePCD_start_task state;
ignorep := fiacre_c_print_trace(2678) /* (2) velodyne Activity SavePCD returned from codel velodyneSavePCD. */;
//REMOVE ME
scan_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
scan_activities[SavePCD_index].state := velodyne_ether_fcr;
scan_activities[SavePCD_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2679) /* (1) velodyne Activity SavePCD DONE (ether), back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
else
ignorep := fiacre_c_print_trace(2680) /* (1) velodyne Activity SavePCD EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2681) /* (1) velodyne Activity SavePCD in default stop. */;
ignoreb := Fiacre_velodyne_SavePCD_genom_interrupt(scan_activities[SavePCD_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_mem_fcr)) and
(not (state = velodyne_e_grabber_fcr)) and
(not (state = velodyne_e_runtime_fcr)) and
true) then
ignoreb := Fiacre_velodyne_SavePCD_genom_bad_transition(scan_activities[SavePCD_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
scan_activities[SavePCD_index].status := ACT_ETHER_FCR;
scan_activities[SavePCD_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2682) /* (1) velodyne Activity SavePCD throw an exception, back to ET. */;
scan_turn := Nb_act_inst_velodyne_scan;
to start_
/******************************************/
/* end of velodyne SavePCD fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task velodyne scan . */
/******************************************************/
/******************************************************/
/* beginning of the section specific to task velodyne pose . */
/******************************************************/
/**************************************/
/* velodyne pose execution task timer */
/**************************************/
process timer_velodyne_pose (
&tick_pose: bool) is
states start_,
wait_
var ignorep:nat
from start_
wait [0,0];
on (not tick_pose);
ignorep := fiacre_c_print_trace(2683) /* (3) velodyne pose timer arming. */;
to wait_
from wait_
wait[10.0, 10.0];
ignorep := fiacre_c_print_trace(2684) /* (3) velodyne pose timer elapsed. */;
tick_pose:= true;
to start_
/*************************************************/
/* end of process timer_velodyne_pose */
/*************************************************/
/******************************************/
/* velodyne pose execution task main loop */
/******************************************/
process exec_task_velodyne_pose (
&tick_pose: bool,
&pose_turn : act_inst_velodyne_pose_turn_type,
&acquisition_runnable: bool,
&scan_runnable: bool,
&pose_runnable: bool,
&pose_activities: Activities_velodyne_pose_Array,
&schedule_cntrl_task: bool) is
states start_, parse,
overshoot, wait_next_cycle,
epilogue,
exec_prepare,
each_activity,
next_activity,
wait_activity
var ignorep: nat, ignoreb: bool,
index_pose: act_inst_velodyne_pose_index_type,
index: act_inst_velodyne_pose_index_type,
status: fcr_activity_status,
sched: GENOM_SCHED_Type := [false, false, true, false] //GENOM_SCHED_CONT is true
from start_
wait [0,0];
if (not sched[GENOM_SCHED_CONT]) then
ignorep := fiacre_c_print_trace(2685) /* (4) velodyne ET pose, setting runnable to true. */;
pose_runnable := true;
if (tick_pose) then
to overshoot
else
to wait_next_cycle
end
else
ignorep := fiacre_c_print_trace(2686) /* (4) velodyne ET pose, setting runnable to false. */;
pose_runnable := false;
to parse
end
from overshoot
wait [0,0];
ignorep := fiacre_c_print_trace(2687) /* (0) velodyne ET pose ***OVERSHOOT*** its period. */;
tick_pose:= false;
to parse
from wait_next_cycle
wait [0,0];
ignorep := fiacre_c_print_trace(2688) /* (2) velodyne ET pose waiting next period. */;
on tick_pose;
tick_pose:= false;
to parse
from parse
wait [0,0];
ignorep := fiacre_c_print_trace(2689) /* (3) velodyne ET pose parsing activities status. */;
sched := [false, false, false, false];
foreach index_pose do
if (pose_activities[index_pose].status = ACT_INIT_FCR) then
if (pose_activities[index_pose].start_ and
pose_runnable) then
pose_activities[index_pose].status := ACT_RUN_FCR;
pose_activities[index_pose].state := velodyne_start_fcr;
pose_activities[index_pose].start_ := false;
pose_activities[index_pose].pause := false
end;
if pose_activities[index_pose].stop then
if (pose_activities[index_pose].sid = VELODYNE_NONE) then /* permanent activity */
pose_activities[index_pose].status := ACT_STOP_FCR;
pose_activities[index_pose].state := velodyne_stop_fcr;
pose_activities[index_pose].stop := false;
pose_activities[index_pose].pause := false
else
pose_activities[index_pose].status := ACT_ETHER_FCR;
pose_activities[index_pose].stop := false;
pose_activities[index_pose].state := genom_interrupted_fcr;
ignoreb := Fiacre_velodyne_genom_interrupt(pose_activities[index_pose]);
sched[GENOM_SCHED_DONE] := true
end
end
elsif (pose_activities[index_pose].status = ACT_RUN_FCR) then
if pose_activities[index_pose].stop then
pose_activities[index_pose].status := ACT_STOP_FCR;
pose_activities[index_pose].state := velodyne_stop_fcr;
pose_activities[index_pose].stop := false;
pose_activities[index_pose].pause := false
end;
if (pose_activities[index_pose].pause and
pose_runnable) then
pose_activities[index_pose].pause := false
end
elsif (pose_activities[index_pose].status = ACT_STOP_FCR) then
if (pose_activities[index_pose].pause and
pose_runnable) then
pose_activities[index_pose].pause := false
end
end
end;
ignorep := fiacre_c_print_trace(2690) /* (3) velodyne ET pose, setting runnable to false. */;
pose_runnable := false;
to exec_prepare
from exec_prepare
wait [0,0];
index := 0;
ignorep := fiacre_c_print_trace(2691) /* (3) velodyne ET pose executing activities. */;
to each_activity
from each_activity
wait [0,0];
if (not (pose_activities[index].status = ACT_RUN_FCR) and (not (pose_activities[index].status = ACT_STOP_FCR))) then
to next_activity
end;
if (pose_activities[index].pause) then
to next_activity
end;
ignorep := fiacre_c_print_trace(2692) /* (3) velodyne ET pose gives control to service. */;
pose_turn := index;
to wait_activity
from wait_activity
wait [0,0];
on (pose_turn = Nb_act_inst_velodyne_pose); //control comming back
ignorep := fiacre_c_print_trace(2693) /* (3) velodyne ET pose getting control back. */;
status := pose_activities[index].status;
case status of
ACT_RUN_FCR ->
ignorep := fiacre_c_print_trace(2694) /* (2) velodyne ET pose activity returned ACT_RUN. */;
if (not pose_activities[index].pause) then
sched[GENOM_SCHED_CONT] := true;
sched[GENOM_SCHED_WAKE] := true
end
| ACT_ETHER_FCR -> // to be completed more complex hanfling of execution
ignorep := fiacre_c_print_trace(2695) /* (1) velodyne ET pose activity returned ACT_ETHER. */;
sched[GENOM_SCHED_DONE] := true;
sched[GENOM_SCHED_WAKE] := true;
schedule_cntrl_task := true
| any ->
ignorep := fiacre_c_print_trace(2696) /* (0) velodyne ET pose ***ERROR*** unexpected activity status. */;
null
end;
sched[GENOM_SCHED_ONE]:=true;
to next_activity
from next_activity
wait [0,0];
if (index = Nb_act_inst_velodyne_pose-1) then
to epilogue
else
index := index + 1;
to each_activity
end
from epilogue
wait [0,0];
if (sched[GENOM_SCHED_WAKE]) then
ignorep := fiacre_c_print_trace(2697) /* (4) velodyne ET pose, for all ET, setting runnable to true. */;
acquisition_runnable := true;
scan_runnable := true;
pose_runnable := true;
null
end;
if (sched[GENOM_SCHED_DONE]) then
schedule_cntrl_task := true
end;
to start_
/*************************************************/
/* end process exec_task_velodyne_pose */
/*************************************************/
/****************************************************************************/
/* velodyne pose fiacre process... there will be one for each instance. */
/****************************************************************************/
process pose_velodyne_pose (
instance: 0..Max_Act_Inst_velodyne-1,
pose_index: act_inst_velodyne_pose_index_type,
&pose_activities: Activities_velodyne_pose_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pose_turn: act_inst_velodyne_pose_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (pose_turn = pose_index);
ignorep := fiacre_c_print_trace(2698) /* (2) velodyne Activity pose is getting control in state velodyne_start. */;
if (pose_activities[pose_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (pose_running_codel = velodyneScanTaskStart)) and
(not (pose_running_codel = velodyneScanTaskStop)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
true
);
ignorep := fiacre_c_print_trace(2699) /* (2) velodyne Activity pose calling codel velodynePoseTaskStart. */;
//REMOVE ME
pose_running_codel := velodynePoseTaskStart;
start Fiacre_velodyne_codel_task_pose_start_task(pose_activities[pose_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_task_pose_start_task state;
ignorep := fiacre_c_print_trace(2700) /* (2) velodyne Activity pose returned from codel velodynePoseTaskStart. */;
//REMOVE ME
pose_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
pose_activities[pose_index].state := velodyne_ether_fcr;
pose_activities[pose_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2701) /* (1) velodyne Activity pose DONE (ether), back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
else
ignorep := fiacre_c_print_trace(2702) /* (1) velodyne Activity pose EXCEPTION... */;
to exception
end
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_velodyne_pose_genom_bad_transition(pose_activities[pose_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pose_activities[pose_index].status := ACT_ETHER_FCR;
pose_activities[pose_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2703) /* (1) velodyne Activity pose throw an exception, back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
/******************************************/
/* end of velodyne pose fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne StartPoseProcessing fiacre process... there will be one for each instance. */
/****************************************************************************/
process StartPoseProcessing_velodyne_pose (
instance: 0..Max_Act_Inst_velodyne-1,
StartPoseProcessing_index: act_inst_velodyne_pose_index_type,
&pose_activities: Activities_velodyne_pose_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pose_turn: act_inst_velodyne_pose_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
velodyne_main_fcr, velodyne_main_sync_fcr_, velodyne_main_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (pose_turn = StartPoseProcessing_index);
ignorep := fiacre_c_print_trace(2704) /* (2) velodyne Activity StartPoseProcessing is getting control in state velodyne_start. */;
if (pose_activities[StartPoseProcessing_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (pose_running_codel = velodyneScanTaskStart)) and
(not (pose_running_codel = velodyneScanTaskStop)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
true
);
ignorep := fiacre_c_print_trace(2705) /* (2) velodyne Activity StartPoseProcessing calling codel velodyneStartPoseProcessingStart. */;
//REMOVE ME
pose_running_codel := velodyneStartPoseProcessingStart;
start Fiacre_velodyne_codel_service_StartPoseProcessing_start_task(pose_activities[StartPoseProcessing_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_StartPoseProcessing_start_task state;
ignorep := fiacre_c_print_trace(2706) /* (2) velodyne Activity StartPoseProcessing returned from codel velodyneStartPoseProcessingStart. */;
//REMOVE ME
pose_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (
state = velodyne_main_fcr or
false) then
pose_activities[StartPoseProcessing_index].state := state;
pose_activities[StartPoseProcessing_index].status := ACT_RUN_FCR;
ignorep := fiacre_c_print_trace(2707) /* (2) velodyne Activity StartPoseProcessing NOT done for this cycle, back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
if (state = velodyne_main_fcr) then
to velodyne_main_fcr
end;
to start_ // never reached
else
if (state = velodyne_ether_fcr) then
pose_activities[StartPoseProcessing_index].state := velodyne_ether_fcr;
pose_activities[StartPoseProcessing_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2708) /* (1) velodyne Activity StartPoseProcessing DONE (ether), back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
else
ignorep := fiacre_c_print_trace(2709) /* (1) velodyne Activity StartPoseProcessing EXCEPTION... */;
to exception
end
end
from velodyne_main_fcr
on (pose_turn = StartPoseProcessing_index);
ignorep := fiacre_c_print_trace(2710) /* (2) velodyne Activity StartPoseProcessing is getting control in state velodyne_main. */;
if (pose_activities[StartPoseProcessing_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (pose_running_codel = velodyneScanTaskStart)) and
(not (pose_running_codel = velodyneScanTaskStop)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
(mutex_ports[pom_frame_port] = no_codel) and
(mutex_ports[velodyne_sensor_pose_port] = no_codel) and
true
);
ignorep := fiacre_c_print_trace(2711) /* (2) velodyne Activity StartPoseProcessing calling codel velodyneStartPoseProcessingMain. */;
mutex_ports[pom_frame_port] := velodyneStartPoseProcessingMain_port_codel;
mutex_ports[velodyne_sensor_pose_port] := velodyneStartPoseProcessingMain_port_codel;
//REMOVE ME
pose_running_codel := velodyneStartPoseProcessingMain;
read_ports[pom_frame_port] := true;
if (not write_ports[pom_frame_port] and not RUP_reported[pom_frame_port]) then
ignorep := fiacre_c_print_trace(2712) /* (0) velodyne Activity StartPoseProcessing ***ERROR*** port pom_frame_port RUP. */;
RUP_reported[pom_frame_port] := true
end;
read_ports[velodyne_sensor_pose_port] := true;
if (not write_ports[velodyne_sensor_pose_port] and not RUP_reported[velodyne_sensor_pose_port]) then
ignorep := fiacre_c_print_trace(2713) /* (0) velodyne Activity StartPoseProcessing ***ERROR*** port velodyne_sensor_pose_port RUP. */;
RUP_reported[velodyne_sensor_pose_port] := true
end;
start Fiacre_velodyne_codel_service_StartPoseProcessing_main_task(pose_activities[StartPoseProcessing_index]);
to velodyne_main_sync_fcr_
from velodyne_main_sync_fcr_
sync Fiacre_velodyne_codel_service_StartPoseProcessing_main_task state;
ignorep := fiacre_c_print_trace(2714) /* (2) velodyne Activity StartPoseProcessing returned from codel velodyneStartPoseProcessingMain. */;
mutex_ports[pom_frame_port] := no_codel;
mutex_ports[velodyne_sensor_pose_port] := no_codel;
//REMOVE ME
pose_running_codel := 0;
to velodyne_main_dispatch_fcr_
from velodyne_main_dispatch_fcr_
wait [0,0];
if (
state = velodyne_pause_main_fcr or
false) then
if (state = velodyne_pause_main_fcr) then state := velodyne_main_fcr end;
pose_activities[StartPoseProcessing_index].state := state;
pose_activities[StartPoseProcessing_index].status := ACT_RUN_FCR;
pose_activities[StartPoseProcessing_index].pause := true;
ignorep := fiacre_c_print_trace(2715) /* (2) velodyne Activity StartPoseProcessing DONE for this cycle, pauses, back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
if (state = velodyne_main_fcr) then
to velodyne_main_fcr
end;
to start_ // never reached
else
ignorep := fiacre_c_print_trace(2716) /* (1) velodyne Activity StartPoseProcessing EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2717) /* (1) velodyne Activity StartPoseProcessing in default stop. */;
ignoreb := Fiacre_velodyne_StartPoseProcessing_genom_interrupt(pose_activities[StartPoseProcessing_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
(not (state = velodyne_e_port_fcr)) and
(not (state = velodyne_e_runtime_fcr)) and
true) then
ignoreb := Fiacre_velodyne_StartPoseProcessing_genom_bad_transition(pose_activities[StartPoseProcessing_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pose_activities[StartPoseProcessing_index].status := ACT_ETHER_FCR;
pose_activities[StartPoseProcessing_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2718) /* (1) velodyne Activity StartPoseProcessing throw an exception, back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
/******************************************/
/* end of velodyne StartPoseProcessing fiacre process. */
/******************************************/
/****************************************************************************/
/* velodyne SetFixedSensorPose fiacre process... there will be one for each instance. */
/****************************************************************************/
process SetFixedSensorPose_velodyne_pose (
instance: 0..Max_Act_Inst_velodyne-1,
SetFixedSensorPose_index: act_inst_velodyne_pose_index_type,
&pose_activities: Activities_velodyne_pose_Array,
&acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1,
&scan_running_codel: 0..max_number_mutex_codels_velodyne-1,
&pose_running_codel: 0..max_number_mutex_codels_velodyne-1,
&control_running_codel: 0..max_number_mutex_codels_velodyne-1,
&mutex_ports: ports_mutex_type,
&read_ports: ports_array_type,
&write_ports: ports_array_type,
&pose_turn: act_inst_velodyne_pose_turn_type
) is
states
velodyne_start_fcr, velodyne_start_sync_fcr_, velodyne_start_dispatch_fcr_,
exception, velodyne_stop_fcr, start_
var ignorep: nat, ignoreb: bool,
RUP_reported: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
state: minnie_genom_event:= genom_ok_fcr
from start_
wait [0,0];
to velodyne_start_fcr
from velodyne_start_fcr
on (pose_turn = SetFixedSensorPose_index);
ignorep := fiacre_c_print_trace(2719) /* (2) velodyne Activity SetFixedSensorPose is getting control in state velodyne_start. */;
if (pose_activities[SetFixedSensorPose_index].state = velodyne_stop_fcr) then
to velodyne_stop_fcr
end;
on (
(not (pose_running_codel = velodyneScanTaskStart)) and
(not (pose_running_codel = velodyneScanTaskStop)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
(not (pose_running_codel = velodyneGetOneScanStampPackets)) and
true
);
ignorep := fiacre_c_print_trace(2720) /* (2) velodyne Activity SetFixedSensorPose calling codel velodyneSetFixedSensorPoseStart. */;
//REMOVE ME
pose_running_codel := velodyneSetFixedSensorPoseStart;
start Fiacre_velodyne_codel_service_SetFixedSensorPose_start_task(pose_activities[SetFixedSensorPose_index]);
to velodyne_start_sync_fcr_
from velodyne_start_sync_fcr_
sync Fiacre_velodyne_codel_service_SetFixedSensorPose_start_task state;
ignorep := fiacre_c_print_trace(2721) /* (2) velodyne Activity SetFixedSensorPose returned from codel velodyneSetFixedSensorPoseStart. */;
//REMOVE ME
pose_running_codel := 0;
to velodyne_start_dispatch_fcr_
from velodyne_start_dispatch_fcr_
wait [0,0];
if (state = velodyne_ether_fcr) then
pose_activities[SetFixedSensorPose_index].state := velodyne_ether_fcr;
pose_activities[SetFixedSensorPose_index].status := ACT_ETHER_FCR;
ignorep := fiacre_c_print_trace(2722) /* (1) velodyne Activity SetFixedSensorPose DONE (ether), back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
else
ignorep := fiacre_c_print_trace(2723) /* (1) velodyne Activity SetFixedSensorPose EXCEPTION... */;
to exception
end
from velodyne_stop_fcr
wait [0,0];
ignorep := fiacre_c_print_trace(2724) /* (1) velodyne Activity SetFixedSensorPose in default stop. */;
ignoreb := Fiacre_velodyne_SetFixedSensorPose_genom_interrupt(pose_activities[SetFixedSensorPose_index]);
state := genom_interrupted_fcr;
to exception
from exception
wait [0,0];
if (
(not (state = genom_incompatible_digest_fcr)) and
(not (state = genom_bad_transition_fcr)) and
(not (state = genom_interrupted_fcr)) and
(not (state = genom_serialization_fcr)) and
(not (state = genom_too_many_activities_fcr)) and
(not (state = genom_disallowed_fcr)) and
(not (state = genom_mwerr_fcr)) and
true) then
ignoreb := Fiacre_velodyne_SetFixedSensorPose_genom_bad_transition(pose_activities[SetFixedSensorPose_index]);
state := genom_bad_transition_fcr // this need to be fixed FFI
end;
pose_activities[SetFixedSensorPose_index].status := ACT_ETHER_FCR;
pose_activities[SetFixedSensorPose_index].state := state; //velodyne_ether_fcr
ignorep := fiacre_c_print_trace(2725) /* (1) velodyne Activity SetFixedSensorPose throw an exception, back to ET. */;
pose_turn := Nb_act_inst_velodyne_pose;
to start_
/******************************************/
/* end of velodyne SetFixedSensorPose fiacre process. */
/******************************************/
/******************************************************/
/* end of section specific to task velodyne pose . */
/******************************************************/
/********************************************/
/*End of velodyne processes section */
/********************************************/
/****************************/
/* minnie main component */
/****************************/
component minnie is
var
// the activity array in the io task
gps_io_activities: Activities_gps_io_Array := [
{instance= 0, sid = GPS_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_connect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_connect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_connect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_disconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_disconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_disconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_set_rtk_port_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_set_rtk_port_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_set_rtk_port_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_connect_rtk_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_connect_rtk_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_connect_rtk_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_unfix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_unfix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_unfix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_fix_here_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_send_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_send_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_send_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_cancel_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_cancel_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_cancel_rtcm_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = GPS_monitor_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = GPS_monitor_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = GPS_monitor_fix_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the io task
gps_io_running_codel: 0..max_number_mutex_codels_gps-1:=0,
// the turn variable for the io task "sub process"
gps_io_turn : act_inst_gps_io_turn_type:= Nb_act_inst_gps_io,
// the runnable flag for each execution task
gps_io_runnable : bool := true,
// the current activity in the control task (always one and only one)
gps_control_activity: fcr_activity_gps:=
{instance= 0, sid = GPS_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
gps_control_running_codel: 0..max_number_mutex_codels_gps-1:= 0,
// the turn variable for the control task "sub process"
gps_control_turn: GPS_RQSTID_FCR := GPS_NONE,
// run map
gps_run_map: gps_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_gps_cntrl_task:bool:=true,
// the activity array in the update task
IMUDriver_update_activities: Activities_IMUDriver_update_Array := [
{instance= 0, sid = IMUDRIVER_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = IMUDRIVER_Measure_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the update task
IMUDriver_update_running_codel: 0..max_number_mutex_codels_IMUDriver-1:=0,
// the turn variable for the update task "sub process"
IMUDriver_update_turn : act_inst_IMUDriver_update_turn_type:= Nb_act_inst_IMUDriver_update,
// the runnable flag for each execution task
IMUDriver_update_runnable : bool := true,
tick_IMUDriver_update: bool:= false,
// the current activity in the control task (always one and only one)
IMUDriver_control_activity: fcr_activity_IMUDriver:=
{instance= 0, sid = IMUDRIVER_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
IMUDriver_control_running_codel: 0..max_number_mutex_codels_IMUDriver-1:= 0,
// the turn variable for the control task "sub process"
IMUDriver_control_turn: IMUDRIVER_RQSTID_FCR := IMUDRIVER_NONE,
// run map
IMUDriver_run_map: IMUDriver_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false],
schedule_IMUDriver_cntrl_task:bool:=true,
// the activity array in the publish task
joystick_publish_activities: Activities_joystick_publish_Array := [
{instance= 0, sid = JOYSTICK_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = JOYSTICK_rename_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = JOYSTICK_rename_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = JOYSTICK_rename_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the publish task
joystick_publish_running_codel: 0..max_number_mutex_codels_joystick-1:=0,
// the turn variable for the publish task "sub process"
joystick_publish_turn : act_inst_joystick_publish_turn_type:= Nb_act_inst_joystick_publish,
// the runnable flag for each execution task
joystick_publish_runnable : bool := true,
// the current activity in the control task (always one and only one)
joystick_control_activity: fcr_activity_joystick:=
{instance= 0, sid = JOYSTICK_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
joystick_control_running_codel: 0..max_number_mutex_codels_joystick-1:= 0,
// the turn variable for the control task "sub process"
joystick_control_turn: JOYSTICK_RQSTID_FCR := JOYSTICK_NONE,
// run map
joystick_run_map: joystick_Run_Map_Type:=[false, false, false, false, false, false],
schedule_joystick_cntrl_task:bool:=true,
// the activity array in the navigate task
Navigation_navigate_activities: Activities_Navigation_navigate_Array := [
{instance= 0, sid = NAVIGATION_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = NAVIGATION_SetTargetToCurrentPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = NAVIGATION_ReadMapGraph_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = NAVIGATION_ReadMapGraph_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = NAVIGATION_ReadMapGraph_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = NAVIGATION_GotoTarget_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = NAVIGATION_GotoPosition_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = NAVIGATION_GotoNode_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the navigate task
Navigation_navigate_running_codel: 0..max_number_mutex_codels_Navigation-1:=0,
// the turn variable for the navigate task "sub process"
Navigation_navigate_turn : act_inst_Navigation_navigate_turn_type:= Nb_act_inst_Navigation_navigate,
// the runnable flag for each execution task
Navigation_navigate_runnable : bool := true,
tick_Navigation_navigate: bool:= false,
// the current activity in the control task (always one and only one)
Navigation_control_activity: fcr_activity_Navigation:=
{instance= 0, sid = NAVIGATION_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
Navigation_control_running_codel: 0..max_number_mutex_codels_Navigation-1:= 0,
// the turn variable for the control task "sub process"
Navigation_control_turn: NAVIGATION_RQSTID_FCR := NAVIGATION_NONE,
// run map
Navigation_run_map: Navigation_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_Navigation_cntrl_task:bool:=true,
// the activity array in the io task
pom_io_activities: Activities_pom_io_Array := [
{instance= 0, sid = POM_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POM_add_measurement_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = POM_add_measurement_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = POM_add_measurement_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POM_replay_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the io task
pom_io_running_codel: 0..max_number_mutex_codels_pom-1:=0,
// the turn variable for the io task "sub process"
pom_io_turn : act_inst_pom_io_turn_type:= Nb_act_inst_pom_io,
// the runnable flag for each execution task
pom_io_runnable : bool := true,
tick_pom_io: bool:= false,
// the activity array in the filter task
pom_filter_activities: Activities_pom_filter_Array := [
{instance= 0, sid = POM_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the filter task
pom_filter_running_codel: 0..max_number_mutex_codels_pom-1:=0,
// the turn variable for the filter task "sub process"
pom_filter_turn : act_inst_pom_filter_turn_type:= Nb_act_inst_pom_filter,
// the runnable flag for each execution task
pom_filter_runnable : bool := true,
tick_pom_filter: bool:= false,
// the current activity in the control task (always one and only one)
pom_control_activity: fcr_activity_pom:=
{instance= 0, sid = POM_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
pom_control_running_codel: 0..max_number_mutex_codels_pom-1:= 0,
// the turn variable for the control task "sub process"
pom_control_turn: POM_RQSTID_FCR := POM_NONE,
// run map
pom_run_map: pom_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_pom_cntrl_task:bool:=true,
// the activity array in the plan task
PotentialField_plan_activities: Activities_PotentialField_plan_Array := [
{instance= 0, sid = POTENTIALFIELD_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POTENTIALFIELD_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = POTENTIALFIELD_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = POTENTIALFIELD_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POTENTIALFIELD_WriteSpeedInPort_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POTENTIALFIELD_StartTrackTargetPort_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = POTENTIALFIELD_PublishOccupancyGrid_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the plan task
PotentialField_plan_running_codel: 0..max_number_mutex_codels_PotentialField-1:=0,
// the turn variable for the plan task "sub process"
PotentialField_plan_turn : act_inst_PotentialField_plan_turn_type:= Nb_act_inst_PotentialField_plan,
// the runnable flag for each execution task
PotentialField_plan_runnable : bool := true,
tick_PotentialField_plan: bool:= false,
// the current activity in the control task (always one and only one)
PotentialField_control_activity: fcr_activity_PotentialField:=
{instance= 0, sid = POTENTIALFIELD_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
PotentialField_control_running_codel: 0..max_number_mutex_codels_PotentialField-1:= 0,
// the turn variable for the control task "sub process"
PotentialField_control_turn: POTENTIALFIELD_RQSTID_FCR := POTENTIALFIELD_NONE,
// run map
PotentialField_run_map: PotentialField_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_PotentialField_cntrl_task:bool:=true,
// the activity array in the MotionTask task
rmp440_MotionTask_activities: Activities_rmp440_MotionTask_Array := [
{instance= 0, sid = RMP440_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = RMP440_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = RMP440_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_Reconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = RMP440_Reconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = RMP440_Reconnect_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_JoystickOn_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_Gyro_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_SetRobotYaw_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = RMP440_SetRobotYaw_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = RMP440_SetRobotYaw_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the MotionTask task
rmp440_MotionTask_running_codel: 0..max_number_mutex_codels_rmp440-1:=0,
// the turn variable for the MotionTask task "sub process"
rmp440_MotionTask_turn : act_inst_rmp440_MotionTask_turn_type:= Nb_act_inst_rmp440_MotionTask,
// the runnable flag for each execution task
rmp440_MotionTask_runnable : bool := true,
tick_rmp440_MotionTask: bool:= false,
// the activity array in the TrackTask task
rmp440_TrackTask_activities: Activities_rmp440_TrackTask_Array := [
{instance= 0, sid = RMP440_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = RMP440_Track_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the TrackTask task
rmp440_TrackTask_running_codel: 0..max_number_mutex_codels_rmp440-1:=0,
// the turn variable for the TrackTask task "sub process"
rmp440_TrackTask_turn : act_inst_rmp440_TrackTask_turn_type:= Nb_act_inst_rmp440_TrackTask,
// the runnable flag for each execution task
rmp440_TrackTask_runnable : bool := true,
tick_rmp440_TrackTask: bool:= false,
// the current activity in the control task (always one and only one)
rmp440_control_activity: fcr_activity_rmp440:=
{instance= 0, sid = RMP440_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
rmp440_control_running_codel: 0..max_number_mutex_codels_rmp440-1:= 0,
// the turn variable for the control task "sub process"
rmp440_control_turn: RMP440_RQSTID_FCR := RMP440_NONE,
// run map
rmp440_run_map: rmp440_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_rmp440_cntrl_task:bool:=true,
// the activity array in the pilot task
SafetyPilot_pilot_activities: Activities_SafetyPilot_pilot_Array := [
{instance= 0, sid = SAFETYPILOT_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = SAFETYPILOT_SpeedMergeAndStopIfObstacle_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = SAFETYPILOT_WriteSpeedInPort_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the pilot task
SafetyPilot_pilot_running_codel: 0..max_number_mutex_codels_SafetyPilot-1:=0,
// the turn variable for the pilot task "sub process"
SafetyPilot_pilot_turn : act_inst_SafetyPilot_pilot_turn_type:= Nb_act_inst_SafetyPilot_pilot,
// the runnable flag for each execution task
SafetyPilot_pilot_runnable : bool := true,
tick_SafetyPilot_pilot: bool:= false,
// the current activity in the control task (always one and only one)
SafetyPilot_control_activity: fcr_activity_SafetyPilot:=
{instance= 0, sid = SAFETYPILOT_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
SafetyPilot_control_running_codel: 0..max_number_mutex_codels_SafetyPilot-1:= 0,
// the turn variable for the control task "sub process"
SafetyPilot_control_turn: SAFETYPILOT_RQSTID_FCR := SAFETYPILOT_NONE,
// run map
SafetyPilot_run_map: SafetyPilot_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_SafetyPilot_cntrl_task:bool:=true,
// the activity array in the acquisition task
velodyne_acquisition_activities: Activities_velodyne_acquisition_Array := [
{instance= 0, sid = VELODYNE_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_StartAcquisition_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = VELODYNE_StartAcquisition_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = VELODYNE_StartAcquisition_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the acquisition task
velodyne_acquisition_running_codel: 0..max_number_mutex_codels_velodyne-1:=0,
// the turn variable for the acquisition task "sub process"
velodyne_acquisition_turn : act_inst_velodyne_acquisition_turn_type:= Nb_act_inst_velodyne_acquisition,
// the runnable flag for each execution task
velodyne_acquisition_runnable : bool := true,
// the activity array in the scan task
velodyne_scan_activities: Activities_velodyne_scan_Array := [
{instance= 0, sid = VELODYNE_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = VELODYNE_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = VELODYNE_Init_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_GetOneScan_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_GetScans_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_SavePCD_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the scan task
velodyne_scan_running_codel: 0..max_number_mutex_codels_velodyne-1:=0,
// the turn variable for the scan task "sub process"
velodyne_scan_turn : act_inst_velodyne_scan_turn_type:= Nb_act_inst_velodyne_scan,
// the runnable flag for each execution task
velodyne_scan_runnable : bool := true,
tick_velodyne_scan: bool:= false,
// the activity array in the pose task
velodyne_pose_activities: Activities_velodyne_pose_Array := [
{instance= 0, sid = VELODYNE_NONE,
status = ACT_INIT_FCR, state = genom_ok_fcr, start_ = true,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_StartPoseProcessing_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 0, sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 1, sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0},
{instance= 2, sid = VELODYNE_SetFixedSensorPose_RQSTID_FCR,
status = ACT_VOID_FCR, state = genom_ok_fcr, start_ = false,
stop = false, pause = false, gid = 0, gaid = 0, grid = 0}
],
// the currently running codel (if any) in the pose task
velodyne_pose_running_codel: 0..max_number_mutex_codels_velodyne-1:=0,
// the turn variable for the pose task "sub process"
velodyne_pose_turn : act_inst_velodyne_pose_turn_type:= Nb_act_inst_velodyne_pose,
// the runnable flag for each execution task
velodyne_pose_runnable : bool := true,
tick_velodyne_pose: bool:= false,
// the current activity in the control task (always one and only one)
velodyne_control_activity: fcr_activity_velodyne:=
{instance= 0, sid = VELODYNE_NONE, status = ACT_VOID_FCR,
state = genom_ok_fcr, start_ = false, stop = false,
pause = false, gid = 0, gaid = 0, grid =0},
// the currently running codel (if any) in the control task
velodyne_control_running_codel: 0..max_number_mutex_codels_velodyne-1:= 0,
// the turn variable for the control task "sub process"
velodyne_control_turn: VELODYNE_RQSTID_FCR := VELODYNE_NONE,
// run map
velodyne_run_map: velodyne_Run_Map_Type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
schedule_velodyne_cntrl_task:bool:=true,
// port maps is global to all components
mutex_ports: ports_mutex_type:=[no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel, no_codel],
write_ports: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
read_ports: ports_array_type:=[false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false],
ignore:nat
par * in
// Control task process
control_task_gps
(&gps_control_activity,
&gps_io_activities, &gps_io_runnable,
&gps_control_turn, &gps_run_map, &schedule_gps_cntrl_task)
// Service rqst process
|| gps_abort_activity_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_connect_port_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_connect_service_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_kill_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_get_param_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_get_last_fix_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_set_noise_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_connect_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_disconnect_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_set_rtk_port_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_connect_rtk_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_set_reference_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_get_reference_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_unfix_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_fix_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_fix_here_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_send_rtcm_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_cancel_rtcm_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_enable_rtcm_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_monitor_fix_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_rtk_stats_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_log_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_log_stop_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
|| gps_log_info_CT
(&gps_control_activity,
&gps_io_activities, &gps_io_running_codel, &gps_io_runnable,
&gps_control_running_codel, &gps_run_map, &gps_control_turn)
// io exec task processes
|| exec_task_gps_io
(&gps_io_turn,
&gps_io_runnable, &gps_io_activities, &schedule_gps_cntrl_task)
// io services/perm processes
|| io_gps_io
(0, 0, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_gps_io
(0, 1, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_gps_io
(1, 2, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_gps_io
(2, 3, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| disconnect_gps_io
(0, 4, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| disconnect_gps_io
(1, 5, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| disconnect_gps_io
(2, 6, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| set_rtk_port_gps_io
(0, 7, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| set_rtk_port_gps_io
(1, 8, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| set_rtk_port_gps_io
(2, 9, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_rtk_gps_io
(0, 10, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_rtk_gps_io
(1, 11, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| connect_rtk_gps_io
(2, 12, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| unfix_gps_io
(0, 13, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| unfix_gps_io
(1, 14, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| unfix_gps_io
(2, 15, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| fix_gps_io
(0, 16, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| fix_gps_io
(1, 17, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| fix_gps_io
(2, 18, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| fix_here_gps_io
(0, 19, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| send_rtcm_gps_io
(0, 20, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| send_rtcm_gps_io
(1, 21, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| send_rtcm_gps_io
(2, 22, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| cancel_rtcm_gps_io
(0, 23, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| cancel_rtcm_gps_io
(1, 24, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| cancel_rtcm_gps_io
(2, 25, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| monitor_fix_gps_io
(0, 26, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| monitor_fix_gps_io
(1, 27, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
|| monitor_fix_gps_io
(2, 28, &gps_io_activities, &gps_io_running_codel,
&gps_control_running_codel, &mutex_ports, &read_ports, &write_ports, &gps_io_turn)
// Control task process
||control_task_IMUDriver
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_runnable,
&IMUDriver_control_turn, &IMUDriver_run_map, &schedule_IMUDriver_cntrl_task)
// Service rqst process
|| IMUDriver_abort_activity_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_connect_port_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_connect_service_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_kill_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_SetDevice_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_SetPublishOrientation_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_SetBaudrate_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_SetVerbose_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_Stop_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_ConnectDevice_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_GetHeading_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
|| IMUDriver_Measure_CT
(&IMUDriver_control_activity,
&IMUDriver_update_activities, &IMUDriver_update_running_codel, &IMUDriver_update_runnable,
&IMUDriver_control_running_codel, &IMUDriver_run_map, &IMUDriver_control_turn)
// update exec task processes
|| timer_IMUDriver_update(&tick_IMUDriver_update)
|| exec_task_IMUDriver_update
(&tick_IMUDriver_update, &IMUDriver_update_turn,
&IMUDriver_update_runnable, &IMUDriver_update_activities, &schedule_IMUDriver_cntrl_task)
// update services/perm processes
|| update_IMUDriver_update
(0, 0, &IMUDriver_update_activities, &IMUDriver_update_running_codel,
&IMUDriver_control_running_codel, &mutex_ports, &read_ports, &write_ports, &IMUDriver_update_turn)
|| Measure_IMUDriver_update
(0, 1, &IMUDriver_update_activities, &IMUDriver_update_running_codel,
&IMUDriver_control_running_codel, &mutex_ports, &read_ports, &write_ports, &IMUDriver_update_turn)
// Control task process
||control_task_joystick
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_runnable,
&joystick_control_turn, &joystick_run_map, &schedule_joystick_cntrl_task)
// Service rqst process
|| joystick_abort_activity_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
|| joystick_connect_port_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
|| joystick_connect_service_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
|| joystick_kill_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
|| joystick_device_list_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
|| joystick_rename_CT
(&joystick_control_activity,
&joystick_publish_activities, &joystick_publish_running_codel, &joystick_publish_runnable,
&joystick_control_running_codel, &joystick_run_map, &joystick_control_turn)
// publish exec task processes
|| exec_task_joystick_publish
(&joystick_publish_turn,
&joystick_publish_runnable, &joystick_publish_activities, &schedule_joystick_cntrl_task)
// publish services/perm processes
|| publish_joystick_publish
(0, 0, &joystick_publish_activities, &joystick_publish_running_codel,
&joystick_control_running_codel, &mutex_ports, &read_ports, &write_ports, &joystick_publish_turn)
|| rename_joystick_publish
(0, 1, &joystick_publish_activities, &joystick_publish_running_codel,
&joystick_control_running_codel, &mutex_ports, &read_ports, &write_ports, &joystick_publish_turn)
|| rename_joystick_publish
(1, 2, &joystick_publish_activities, &joystick_publish_running_codel,
&joystick_control_running_codel, &mutex_ports, &read_ports, &write_ports, &joystick_publish_turn)
|| rename_joystick_publish
(2, 3, &joystick_publish_activities, &joystick_publish_running_codel,
&joystick_control_running_codel, &mutex_ports, &read_ports, &write_ports, &joystick_publish_turn)
// Control task process
||control_task_Navigation
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_runnable,
&Navigation_control_turn, &Navigation_run_map, &schedule_Navigation_cntrl_task)
// Service rqst process
|| Navigation_abort_activity_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_connect_port_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_connect_service_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_kill_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_GetIDS_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_SetTarget_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_SetThreshold_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_Stop_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_SetVerbose_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_SetTargetToCurrentPose_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_ReadMapGraph_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_GotoTarget_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_GotoPosition_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
|| Navigation_GotoNode_CT
(&Navigation_control_activity,
&Navigation_navigate_activities, &Navigation_navigate_running_codel, &Navigation_navigate_runnable,
&Navigation_control_running_codel, &Navigation_run_map, &Navigation_control_turn)
// navigate exec task processes
|| timer_Navigation_navigate(&tick_Navigation_navigate)
|| exec_task_Navigation_navigate
(&tick_Navigation_navigate, &Navigation_navigate_turn,
&Navigation_navigate_runnable, &Navigation_navigate_activities, &schedule_Navigation_cntrl_task)
// navigate services/perm processes
|| navigate_Navigation_navigate
(0, 0, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| SetTargetToCurrentPose_Navigation_navigate
(0, 1, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| SetTargetToCurrentPose_Navigation_navigate
(1, 2, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| SetTargetToCurrentPose_Navigation_navigate
(2, 3, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| ReadMapGraph_Navigation_navigate
(0, 4, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| ReadMapGraph_Navigation_navigate
(1, 5, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| ReadMapGraph_Navigation_navigate
(2, 6, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| GotoTarget_Navigation_navigate
(0, 7, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| GotoPosition_Navigation_navigate
(0, 8, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
|| GotoNode_Navigation_navigate
(0, 9, &Navigation_navigate_activities, &Navigation_navigate_running_codel,
&Navigation_control_running_codel, &mutex_ports, &read_ports, &write_ports, &Navigation_navigate_turn)
// Control task process
||control_task_pom
(&pom_control_activity,
&pom_io_activities, &pom_io_runnable,
&pom_filter_activities, &pom_filter_runnable,
&pom_control_turn, &pom_run_map, &schedule_pom_cntrl_task)
// Service rqst process
|| pom_abort_activity_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_connect_port_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_connect_service_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_kill_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_get_history_length_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_set_history_length_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_get_prediction_model_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_set_prediction_model_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_get_process_noise_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_set_process_noise_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_add_measurement_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_replay_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_set_position_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_log_state_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_log_measurements_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_log_stop_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
|| pom_log_info_CT
(&pom_control_activity,
&pom_io_activities, &pom_io_running_codel, &pom_io_runnable,
&pom_filter_activities, &pom_filter_running_codel, &pom_filter_runnable,
&pom_control_running_codel, &pom_run_map, &pom_control_turn)
// io exec task processes
|| timer_pom_io(&tick_pom_io)
|| exec_task_pom_io
(&tick_pom_io, &pom_io_turn,
&pom_io_runnable, &pom_filter_runnable, &pom_io_activities, &schedule_pom_cntrl_task)
// io services/perm processes
|| io_pom_io
(0, 0, &pom_io_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_io_turn)
|| add_measurement_pom_io
(0, 1, &pom_io_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_io_turn)
|| add_measurement_pom_io
(1, 2, &pom_io_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_io_turn)
|| add_measurement_pom_io
(2, 3, &pom_io_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_io_turn)
|| replay_pom_io
(0, 4, &pom_io_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_io_turn)
// filter exec task processes
|| timer_pom_filter(&tick_pom_filter)
|| exec_task_pom_filter
(&tick_pom_filter, &pom_filter_turn,
&pom_io_runnable, &pom_filter_runnable, &pom_filter_activities, &schedule_pom_cntrl_task)
// filter services/perm processes
|| filter_pom_filter
(0, 0, &pom_filter_activities, &pom_io_running_codel, &pom_filter_running_codel,
&pom_control_running_codel, &mutex_ports, &read_ports, &write_ports, &pom_filter_turn)
// Control task process
||control_task_PotentialField
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_runnable,
&PotentialField_control_turn, &PotentialField_run_map, &schedule_PotentialField_cntrl_task)
// Service rqst process
|| PotentialField_abort_activity_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_connect_port_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_connect_service_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_kill_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_GetIDS_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetDistanceToGoal_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetHitMaxDistance_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetHitMinDistance_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetHitMinZ_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetHitMaxZ_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetRepForceDistance_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetNu_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetPsi_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetAlpha_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetEpsilon_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetMaxSpeed_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_Stop_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_StopPublishOccupancyGrid_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_SetVerbose_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_PrintObstaclesMap_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_Init_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_WriteSpeedInPort_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_StartTrackTargetPort_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
|| PotentialField_PublishOccupancyGrid_CT
(&PotentialField_control_activity,
&PotentialField_plan_activities, &PotentialField_plan_running_codel, &PotentialField_plan_runnable,
&PotentialField_control_running_codel, &PotentialField_run_map, &PotentialField_control_turn)
// plan exec task processes
|| timer_PotentialField_plan(&tick_PotentialField_plan)
|| exec_task_PotentialField_plan
(&tick_PotentialField_plan, &PotentialField_plan_turn,
&PotentialField_plan_runnable, &PotentialField_plan_activities, &schedule_PotentialField_cntrl_task)
// plan services/perm processes
|| plan_PotentialField_plan
(0, 0, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| Init_PotentialField_plan
(0, 1, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| Init_PotentialField_plan
(1, 2, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| Init_PotentialField_plan
(2, 3, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| WriteSpeedInPort_PotentialField_plan
(0, 4, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| StartTrackTargetPort_PotentialField_plan
(0, 5, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
|| PublishOccupancyGrid_PotentialField_plan
(0, 6, &PotentialField_plan_activities, &PotentialField_plan_running_codel,
&PotentialField_control_running_codel, &mutex_ports, &read_ports, &write_ports, &PotentialField_plan_turn)
// Control task process
||control_task_rmp440
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_runnable,
&rmp440_control_turn, &rmp440_run_map, &schedule_rmp440_cntrl_task)
// Service rqst process
|| rmp440_abort_activity_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_connect_port_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_connect_service_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_kill_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_set_var_params_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_set_soft_accel_decel_limit_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_Init_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_Reconnect_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_JoystickOn_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_Track_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_Stop_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_Gyro_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_SetRobotYaw_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_log_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
|| rmp440_log_stop_CT
(&rmp440_control_activity,
&rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_MotionTask_runnable,
&rmp440_TrackTask_activities, &rmp440_TrackTask_running_codel, &rmp440_TrackTask_runnable,
&rmp440_control_running_codel, &rmp440_run_map, &rmp440_control_turn)
// MotionTask exec task processes
|| timer_rmp440_MotionTask(&tick_rmp440_MotionTask)
|| exec_task_rmp440_MotionTask
(&tick_rmp440_MotionTask, &rmp440_MotionTask_turn,
&rmp440_MotionTask_runnable, &rmp440_TrackTask_runnable, &rmp440_MotionTask_activities, &schedule_rmp440_cntrl_task)
// MotionTask services/perm processes
|| MotionTask_rmp440_MotionTask
(0, 0, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Init_rmp440_MotionTask
(0, 1, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Init_rmp440_MotionTask
(1, 2, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Init_rmp440_MotionTask
(2, 3, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Reconnect_rmp440_MotionTask
(0, 4, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Reconnect_rmp440_MotionTask
(1, 5, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Reconnect_rmp440_MotionTask
(2, 6, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| JoystickOn_rmp440_MotionTask
(0, 7, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| Gyro_rmp440_MotionTask
(0, 8, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| SetRobotYaw_rmp440_MotionTask
(0, 9, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| SetRobotYaw_rmp440_MotionTask
(1, 10, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
|| SetRobotYaw_rmp440_MotionTask
(2, 11, &rmp440_MotionTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_MotionTask_turn)
// TrackTask exec task processes
|| timer_rmp440_TrackTask(&tick_rmp440_TrackTask)
|| exec_task_rmp440_TrackTask
(&tick_rmp440_TrackTask, &rmp440_TrackTask_turn,
&rmp440_MotionTask_runnable, &rmp440_TrackTask_runnable, &rmp440_TrackTask_activities, &schedule_rmp440_cntrl_task)
// TrackTask services/perm processes
|| TrackTask_rmp440_TrackTask
(0, 0, &rmp440_TrackTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_TrackTask_turn)
|| Track_rmp440_TrackTask
(0, 1, &rmp440_TrackTask_activities, &rmp440_MotionTask_running_codel, &rmp440_TrackTask_running_codel,
&rmp440_control_running_codel, &mutex_ports, &read_ports, &write_ports, &rmp440_TrackTask_turn)
// Control task process
||control_task_SafetyPilot
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_turn, &SafetyPilot_run_map, &schedule_SafetyPilot_cntrl_task)
// Service rqst process
|| SafetyPilot_abort_activity_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_connect_port_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_connect_service_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_kill_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_GetIDS_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetHitMinDistance_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetStopDistance_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetStopLateralDistance_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetMaxSpeed_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetMinPCLHit_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SentMinHit_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_Stop_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SetVerbose_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_SpeedMergeAndStopIfObstacle_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
|| SafetyPilot_WriteSpeedInPort_CT
(&SafetyPilot_control_activity,
&SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel, &SafetyPilot_pilot_runnable,
&SafetyPilot_control_running_codel, &SafetyPilot_run_map, &SafetyPilot_control_turn)
// pilot exec task processes
|| timer_SafetyPilot_pilot(&tick_SafetyPilot_pilot)
|| exec_task_SafetyPilot_pilot
(&tick_SafetyPilot_pilot, &SafetyPilot_pilot_turn,
&SafetyPilot_pilot_runnable, &SafetyPilot_pilot_activities, &schedule_SafetyPilot_cntrl_task)
// pilot services/perm processes
|| pilot_SafetyPilot_pilot
(0, 0, &SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel,
&SafetyPilot_control_running_codel, &mutex_ports, &read_ports, &write_ports, &SafetyPilot_pilot_turn)
|| SpeedMergeAndStopIfObstacle_SafetyPilot_pilot
(0, 1, &SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel,
&SafetyPilot_control_running_codel, &mutex_ports, &read_ports, &write_ports, &SafetyPilot_pilot_turn)
|| WriteSpeedInPort_SafetyPilot_pilot
(0, 2, &SafetyPilot_pilot_activities, &SafetyPilot_pilot_running_codel,
&SafetyPilot_control_running_codel, &mutex_ports, &read_ports, &write_ports, &SafetyPilot_pilot_turn)
// Control task process
||control_task_velodyne
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_runnable,
&velodyne_control_turn, &velodyne_run_map, &schedule_velodyne_cntrl_task)
// Service rqst process
|| velodyne_abort_activity_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_connect_port_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_connect_service_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_kill_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SetVerbose_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SetDelay_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SetPCL2PubCyle_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_StartAcquisition_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_StopAcquisition_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_Init_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_GetOneScan_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_GetScans_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_EnableScanAutoSaving_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_DisableScanAutoSaving_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_StopGetScans_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SavePCD_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SetupPoseProcessing_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_StartPoseProcessing_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_StopPoseProcessing_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
|| velodyne_SetFixedSensorPose_CT
(&velodyne_control_activity,
&velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_acquisition_runnable,
&velodyne_scan_activities, &velodyne_scan_running_codel, &velodyne_scan_runnable,
&velodyne_pose_activities, &velodyne_pose_running_codel, &velodyne_pose_runnable,
&velodyne_control_running_codel, &velodyne_run_map, &velodyne_control_turn)
// acquisition exec task processes
|| exec_task_velodyne_acquisition
(&velodyne_acquisition_turn,
&velodyne_acquisition_runnable, &velodyne_scan_runnable, &velodyne_pose_runnable, &velodyne_acquisition_activities, &schedule_velodyne_cntrl_task)
// acquisition services/perm processes
|| acquisition_velodyne_acquisition
(0, 0, &velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_acquisition_turn)
|| StartAcquisition_velodyne_acquisition
(0, 1, &velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_acquisition_turn)
|| StartAcquisition_velodyne_acquisition
(1, 2, &velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_acquisition_turn)
|| StartAcquisition_velodyne_acquisition
(2, 3, &velodyne_acquisition_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_acquisition_turn)
// scan exec task processes
|| timer_velodyne_scan(&tick_velodyne_scan)
|| exec_task_velodyne_scan
(&tick_velodyne_scan, &velodyne_scan_turn,
&velodyne_acquisition_runnable, &velodyne_scan_runnable, &velodyne_pose_runnable, &velodyne_scan_activities, &schedule_velodyne_cntrl_task)
// scan services/perm processes
|| scan_velodyne_scan
(0, 0, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| Init_velodyne_scan
(0, 1, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| Init_velodyne_scan
(1, 2, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| Init_velodyne_scan
(2, 3, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| GetOneScan_velodyne_scan
(0, 4, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| GetScans_velodyne_scan
(0, 5, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
|| SavePCD_velodyne_scan
(0, 6, &velodyne_scan_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_scan_turn)
// pose exec task processes
|| timer_velodyne_pose(&tick_velodyne_pose)
|| exec_task_velodyne_pose
(&tick_velodyne_pose, &velodyne_pose_turn,
&velodyne_acquisition_runnable, &velodyne_scan_runnable, &velodyne_pose_runnable, &velodyne_pose_activities, &schedule_velodyne_cntrl_task)
// pose services/perm processes
|| pose_velodyne_pose
(0, 0, &velodyne_pose_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_pose_turn)
|| StartPoseProcessing_velodyne_pose
(0, 1, &velodyne_pose_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_pose_turn)
|| SetFixedSensorPose_velodyne_pose
(0, 2, &velodyne_pose_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_pose_turn)
|| SetFixedSensorPose_velodyne_pose
(1, 3, &velodyne_pose_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_pose_turn)
|| SetFixedSensorPose_velodyne_pose
(2, 4, &velodyne_pose_activities, &velodyne_acquisition_running_codel, &velodyne_scan_running_codel, &velodyne_pose_running_codel,
&velodyne_control_running_codel, &mutex_ports, &read_ports, &write_ports, &velodyne_pose_turn)
end
/***********************************/
/* end of velodyne main component */
/***********************************/
minnie
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