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/* |
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* AltaRica 3.0 model |
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* System of interest : AIDA Library |
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* by Anthony Legendre - Fractus |
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* |
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* This file is part of the S2C project. |
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* Copyright (c) 2021-2022 Fractus - All Rights Reserved. |
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*/ |
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/* Table of Contents |
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* -------------- |
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* 0. Domain |
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* 1. Abstract Classes |
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* 2. Classes component_behavior |
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* 3. Class concrete_component |
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*/ |
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/* |
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* 0. Domain |
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* ------------------- |
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*/ |
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domain Status {OK, LOST, ERR} |
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/* |
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* 1. Abstract Classes |
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* ------------------- |
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*/ |
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class ObjetState |
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//internal state |
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Status vsWorking (init = OK); |
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end |
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class FM_Loss_Behaviour |
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extends ObjetState; |
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//parameter |
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parameter Real lambda_Loss = 0.0003; |
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//event |
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event ev_Loss_Failure (delay = exponential(lambda_Loss)); |
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//transition |
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transition |
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ev_Loss_Failure: vsWorking==OK -> vsWorking := LOST; |
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end |
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class FM_Erroneous_Behaviour |
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extends ObjetState; |
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//parameter |
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parameter Real lambda_ERR = 0.00003; |
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//event |
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event ev_ERR_Failure (delay = exponential(lambda_ERR)); |
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//transition |
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transition |
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ev_ERR_Failure: vsWorking==OK -> vsWorking := ERR; |
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end |
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class FM_Erroneous_Loss_Behaviour |
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extends ObjetState; |
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//parameter |
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parameter Real lambda_Loss = 0.00003; |
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parameter Real lambda_ERR = 0.00003; |
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//event |
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event ev_Loss_Failure (delay = exponential(lambda_Loss)); |
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event ev_ERR_Failure (delay = exponential(lambda_ERR)); |
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//transition |
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transition |
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ev_Loss_Failure: vsWorking==OK -> vsWorking := LOST; |
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ev_ERR_Failure: vsWorking==OK -> vsWorking := ERR; |
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end |
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class FM_Erroneous_Loss_CANbus_Behaviour |
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extends ObjetState; |
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//parameter |
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parameter Real lambda_Loss = 0.00003; |
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parameter Real lambda_ERR = 0.00003; |
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parameter Real lambda_CANbus_Loss = 0.0003; |
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parameter Real lambda_CANbus_ERR = 0.00003; |
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//event |
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event ev_Loss_Failure (delay = exponential(lambda_Loss)); |
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event ev_ERR_Failure (delay = exponential(lambda_ERR)); |
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event ev_CANbus_Loss_Failure (delay = exponential(lambda_CANbus_Loss)); |
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event ev_CANbus_ERR_Failure (delay = exponential(lambda_CANbus_ERR)); |
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//transition |
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transition |
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ev_Loss_Failure: vsWorking==OK -> vsWorking := LOST; |
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ev_ERR_Failure: vsWorking==OK -> vsWorking := ERR; |
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ev_CANbus_Loss_Failure: vsWorking==OK -> vsWorking := LOST; |
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ev_CANbus_ERR_Failure: vsWorking==OK -> vsWorking := ERR; |
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end |
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/* |
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* 2. Classes component_behavior |
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* ------------------- |
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*/ |
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class flow1_behavior |
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extends FM_Erroneous_Loss_Behaviour; |
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//flow variables |
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Status in (reset = LOST); |
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Status out (reset = LOST); |
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assertion |
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if (vsWorking==OK) then out := in; |
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if (vsWorking==ERR) and not (in==LOST) then out := ERR; |
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end |
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class flow2_behavior |
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extends FM_Erroneous_Loss_Behaviour; |
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//flow variables |
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Status in1, in2 (reset = LOST); |
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Status out1, out2 (reset = LOST); |
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assertion |
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if (vsWorking==OK) then out1 := in1; |
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if (vsWorking==ERR) and not (in1==LOST) then out1 := ERR; |
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if (vsWorking==OK) then out2 := in2; |
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if (vsWorking==ERR) and not (in2==LOST) then out2 := ERR; |
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end |
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class Power_Supply_behavior |
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extends FM_Loss_Behaviour; // a mettre à jour en fonction des In et Out |
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//flow variables |
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Status out_EPL_Power_supply (reset = LOST); |
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// assertion |
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assertion |
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out_EPL_Power_supply := vsWorking; |
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end |
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class Main_flight_control_board |
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//class instances |
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flow2_behavior can_sensor (lambda_ERR = 4.501e-07, lambda_Loss = 1.121e-05); |
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flow2_behavior ccdl_behavior (lambda_ERR = 1.713e-07, lambda_Loss = 5.213e-06); |
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flow1_behavior rc_acquisition (lambda_ERR = 1.273e-06, lambda_Loss = 2.670e-05); |
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flow1_behavior wifi_driver (lambda_ERR = 3.734e-06, lambda_Loss = 1.294e-07); |
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flow1_behavior wifi_acquisition (lambda_ERR = 7.379e-06, lambda_Loss = 9.613e-06); |
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flow1_behavior pwm1_driver (lambda_ERR = 2.961e-06, lambda_Loss = 3.322e-05); |
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flow1_behavior pwm2_driver (lambda_ERR = 1.830e-06, lambda_Loss = 1.559e-05); |
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flow1_behavior pwm3_driver (lambda_ERR = 9.833e-07, lambda_Loss = 3.016e-05); |
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flow1_behavior pwm4_driver (lambda_ERR = 3.236e-07, lambda_Loss = 2.451e-05); |
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flow1_behavior global_flight_control_board (lambda_ERR = 1e-09, lambda_Loss = 4.920e-06); |
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//flow variables |
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Status in_PowerSupply (reset = LOST); |
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Status in_Inertial_reference_sensors_behavior (reset = LOST); |
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Status in_Magnetometer_behavior (reset = LOST); |
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Status in_Pressure_sensor_behavior (reset = LOST); |
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Status in_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status in_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status in_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status in_RC_Serial_Bus (reset = LOST); |
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Status in_WIFI_Serial_Bus (reset = LOST); |
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Status in_WSL_Cross_channel_data_link (reset = LOST); |
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Status out_WSL_Cross_channel_data_link (reset = LOST); |
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Status out_WIFI_Serial_Bus (reset = LOST); |
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Status out_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status out_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status out_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status out_PWM1 (reset = LOST); |
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Status out_PWM2 (reset = LOST); |
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Status out_PWM3 (reset = LOST); |
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Status out_PWM4 (reset = LOST); |
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// local flow |
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Status in_CAN_flows(reset = LOST); |
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Status in_local_flow(reset = LOST); |
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//assertion |
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assertion |
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//CAN SENSOR |
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if (in_CAN_Wire_LIDAR_Altimeter == OK and in_CAN_Wire_Optical_Flow_Sensor == OK and in_CAN_Wire_GPS_Receiver == OK) then in_CAN_flows := OK; |
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if (in_CAN_Wire_LIDAR_Altimeter == ERR or in_CAN_Wire_Optical_Flow_Sensor == ERR or in_CAN_Wire_GPS_Receiver == ERR) and not (in_CAN_Wire_LIDAR_Altimeter == LOST or in_CAN_Wire_Optical_Flow_Sensor == LOST or in_CAN_Wire_GPS_Receiver == LOST) then in_CAN_flows := ERR ; |
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can_sensor.in1 := in_CAN_flows; |
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out_CAN_Wire_LIDAR_Altimeter:= can_sensor.out2; |
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out_CAN_Wire_Optical_Flow_Sensor:= can_sensor.out2; |
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out_CAN_Wire_GPS_Receiver:= can_sensor.out2; |
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//WIFI ACQ |
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wifi_acquisition.in := in_WIFI_Serial_Bus; |
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//RC ACQ |
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rc_acquisition.in := in_RC_Serial_Bus; |
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//WIFI driver |
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out_WIFI_Serial_Bus := wifi_driver.out; |
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//CCDL |
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ccdl_behavior.in1 := in_WSL_Cross_channel_data_link; |
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out_WSL_Cross_channel_data_link := ccdl_behavior.out2; |
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//PWMDriver |
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out_PWM1 := pwm1_driver.out ; |
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out_PWM2 := pwm2_driver.out ; |
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out_PWM3 := pwm3_driver.out ; |
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out_PWM4 := pwm4_driver.out ; |
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// Global in |
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if (can_sensor.out1== OK and wifi_acquisition.out== OK and rc_acquisition.out== OK and ccdl_behavior.out1== OK and in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then in_local_flow := OK; |
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if (can_sensor.out1== ERR or wifi_acquisition.out== ERR or rc_acquisition.out== ERR or ccdl_behavior.out1== ERR or in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) and not (can_sensor.out1== LOST or wifi_acquisition.out== LOST or rc_acquisition.out== LOST or ccdl_behavior.out1== LOST or in_PowerSupply== LOST or in_Inertial_reference_sensors_behavior== LOST or in_Magnetometer_behavior== LOST or in_Pressure_sensor_behavior== LOST) then in_local_flow := ERR; |
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global_flight_control_board.in := in_local_flow; |
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// Global out |
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//Global Out CAN SENSOR |
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// pour déboucler le loop de controle entre Main et CAN SENSOR |
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if (/*ccdl_behavior.out1== OK and */in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then can_sensor.in2 := global_flight_control_board.vsWorking; |
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if (/*ccdl_behavior.out1== ERR or */in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) or global_flight_control_board.vsWorking == ERR then can_sensor.in2 := ERR; |
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//Global Out Wifi Driver |
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// pour déboucler le loop de controle entre Main et Wifi |
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if (/*ccdl_behavior.out1== OK and */in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then wifi_driver.in := global_flight_control_board.vsWorking; |
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if (/*ccdl_behavior.out1== ERR or */in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) or global_flight_control_board.vsWorking == ERR then wifi_driver.in := ERR; |
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//Global Out MAIN et Monitoring |
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// pour déboucler le loop de controle MAIN et Monitoring |
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if (can_sensor.vsWorking== OK and wifi_acquisition.vsWorking== OK and rc_acquisition.vsWorking== OK and ccdl_behavior.vsWorking== OK and pwm1_driver.vsWorking== OK and pwm2_driver.vsWorking== OK and pwm3_driver.vsWorking== OK and pwm4_driver.vsWorking== OK and wifi_driver.vsWorking== OK) then ccdl_behavior.in2 := global_flight_control_board.vsWorking; |
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if (can_sensor.vsWorking== ERR or wifi_acquisition.vsWorking== ERR or rc_acquisition.vsWorking== ERR or ccdl_behavior.vsWorking== ERR or pwm1_driver.vsWorking== ERR or pwm2_driver.vsWorking== ERR or pwm3_driver.vsWorking== ERR or pwm4_driver.vsWorking== ERR or wifi_driver.vsWorking== ERR or global_flight_control_board.vsWorking==ERR) and not (can_sensor.vsWorking== LOST or wifi_acquisition.vsWorking== LOST or rc_acquisition.vsWorking== LOST or ccdl_behavior.vsWorking== LOST or pwm1_driver.vsWorking== LOST or pwm2_driver.vsWorking== LOST or pwm3_driver.vsWorking== LOST or pwm4_driver.vsWorking== LOST or wifi_driver.vsWorking== LOST or global_flight_control_board.vsWorking==LOST) then ccdl_behavior.in2 := ERR; |
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//Global Out MAIN et PWM |
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pwm1_driver.in := global_flight_control_board.out; |
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pwm2_driver.in := global_flight_control_board.out; |
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pwm3_driver.in := global_flight_control_board.out; |
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pwm4_driver.in := global_flight_control_board.out; |
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end |
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class Monitoring_flight_control_board |
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//class instances |
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flow2_behavior MON_can_sensor (lambda_ERR = 4.501e-07, lambda_Loss = 1.121e-05); |
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flow2_behavior MON_ccdl_behavior (lambda_ERR = 5.482e-06, lambda_Loss = 1.059e-06); |
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flow1_behavior MON_rc_acquisition (lambda_ERR = 3.497e-07, lambda_Loss = 2.936e-05); |
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flow1_behavior MON_wifi_driver (lambda_ERR = 5.767e-06, lambda_Loss = 3.308e-06); |
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flow1_behavior MON_wifi_acquisition (lambda_ERR = 6.241e-06, lambda_Loss = 2.280e-06); |
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flow2_behavior MON_CAN_motor_driver (lambda_ERR = 1.121e-05, lambda_Loss = 4.501e-07); |
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flow1_behavior MON_global_flight_control_board (lambda_ERR = 1e-09, lambda_Loss = 4.237e-05); |
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//flow variables |
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Status in_Inertial_reference_sensors_behavior (reset = LOST); |
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Status in_Magnetometer_behavior (reset = LOST); |
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Status in_Pressure_sensor_behavior (reset = LOST); |
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Status in_PowerSupply (reset = LOST); |
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Status in_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status in_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status in_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status in_RC_Serial_Bus (reset = LOST); |
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Status in_WIFI_Serial_Bus (reset = LOST); |
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Status in_WSL_Cross_channel_data_link (reset = LOST); |
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Status out_WSL_Cross_channel_data_link (reset = LOST); |
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Status out_WIFI_Serial_Bus (reset = LOST); |
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Status out_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status out_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status out_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status in_CAN_Wire_motor1 (reset = LOST); |
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Status in_CAN_Wire_motor2 (reset = LOST); |
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Status in_CAN_Wire_motor3 (reset = LOST); |
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Status in_CAN_Wire_motor4 (reset = LOST); |
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Status out_CAN_Wire_motor1 (reset = LOST); |
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Status out_CAN_Wire_motor2 (reset = LOST); |
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Status out_CAN_Wire_motor3 (reset = LOST); |
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Status out_CAN_Wire_motor4 (reset = LOST); |
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// local flow |
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Status in_CAN_sensors_flows(reset = LOST); |
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Status in_local_flow(reset = LOST); |
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//assertion TODO |
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assertion |
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//CAN SENSOR |
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if (in_CAN_Wire_LIDAR_Altimeter == OK and in_CAN_Wire_Optical_Flow_Sensor == OK and in_CAN_Wire_GPS_Receiver == OK) then in_CAN_sensors_flows := OK; |
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if (in_CAN_Wire_LIDAR_Altimeter == ERR or in_CAN_Wire_Optical_Flow_Sensor == ERR or in_CAN_Wire_GPS_Receiver == ERR) and not (in_CAN_Wire_LIDAR_Altimeter == LOST or in_CAN_Wire_Optical_Flow_Sensor == LOST or in_CAN_Wire_GPS_Receiver == LOST) then in_CAN_sensors_flows := ERR ; |
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MON_can_sensor.in1 := in_CAN_sensors_flows; |
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out_CAN_Wire_LIDAR_Altimeter:= MON_can_sensor.out2; |
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out_CAN_Wire_Optical_Flow_Sensor:= MON_can_sensor.out2; |
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out_CAN_Wire_GPS_Receiver:= MON_can_sensor.out2; |
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//WIFI ACQ |
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MON_wifi_acquisition.in := in_WIFI_Serial_Bus; |
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//RC ACQ |
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|
MON_rc_acquisition.in := in_RC_Serial_Bus; |
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//WIFI driver |
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out_WIFI_Serial_Bus := MON_wifi_driver.out; |
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//CCDL |
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MON_ccdl_behavior.in1 := in_WSL_Cross_channel_data_link; |
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|
out_WSL_Cross_channel_data_link := MON_ccdl_behavior.out2; |
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MON_ccdl_behavior.in2 := MON_global_flight_control_board.out; |
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//CAN WIRE motor |
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out_CAN_Wire_motor1 := MON_CAN_motor_driver.out2 ; |
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out_CAN_Wire_motor2 := MON_CAN_motor_driver.out2 ; |
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out_CAN_Wire_motor3 := MON_CAN_motor_driver.out2 ; |
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out_CAN_Wire_motor4 := MON_CAN_motor_driver.out2 ; |
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if (in_CAN_Wire_motor1 == OK and in_CAN_Wire_motor2 == OK and in_CAN_Wire_motor3 == OK and in_CAN_Wire_motor4 == OK) then MON_CAN_motor_driver.in1 := OK; |
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if (in_CAN_Wire_motor1== ERR or in_CAN_Wire_motor2== ERR or in_CAN_Wire_motor3== ERR or in_CAN_Wire_motor4== ERR) and not (in_CAN_Wire_motor1== LOST or in_CAN_Wire_motor2== LOST or in_CAN_Wire_motor3== LOST or in_CAN_Wire_motor4== LOST) then MON_CAN_motor_driver.in1 := ERR; |
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// Global in |
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if (MON_can_sensor.out1== OK and MON_wifi_acquisition.out== OK and MON_rc_acquisition.out== OK and MON_ccdl_behavior.out1== OK and MON_CAN_motor_driver.out1 == OK and in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then in_local_flow := OK; |
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if (MON_can_sensor.out1== ERR or MON_wifi_acquisition.out== ERR or MON_rc_acquisition.out== ERR or MON_ccdl_behavior.out1== ERR or MON_CAN_motor_driver.out1 == ERR or in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) and not (MON_can_sensor.out1== LOST or MON_wifi_acquisition.out== LOST or MON_rc_acquisition.out== LOST or MON_ccdl_behavior.out1== LOST or MON_CAN_motor_driver.out1 == LOST or in_PowerSupply== LOST or in_Inertial_reference_sensors_behavior== LOST or in_Magnetometer_behavior== LOST or in_Pressure_sensor_behavior== LOST) then in_local_flow := ERR; |
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MON_global_flight_control_board.in := in_local_flow; |
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// Global out |
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//Global Out CAN SENSOR |
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// pour déboucler le loop de controle entre MONITORING et CAN SENSOR |
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if (/*MON_ccdl_behavior.out1== OK and*/ in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then MON_can_sensor.in2 := MON_global_flight_control_board.vsWorking; |
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if (/*MON_ccdl_behavior.out1== ERR or */in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) or MON_global_flight_control_board.vsWorking == ERR then MON_can_sensor.in2 := ERR; |
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//Global Out Wifi |
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// pour déboucler le loop de controle entre MONITORING et Wifi |
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if (/*MON_ccdl_behavior.out1== OK and */in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then MON_wifi_driver.in := MON_global_flight_control_board.vsWorking; |
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if (/*MON_ccdl_behavior.out1== ERR or */in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) or MON_global_flight_control_board.vsWorking == ERR then MON_wifi_driver.in := ERR; |
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//Global Out CAN MOTOR |
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// pour déboucler le loop de controle entre MONITORING et CAN MOTOR |
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|
if (/*MON_ccdl_behavior.out1== OK and */in_PowerSupply== OK and in_Inertial_reference_sensors_behavior== OK and in_Magnetometer_behavior== OK and in_Pressure_sensor_behavior== OK) then MON_CAN_motor_driver.in2 := MON_global_flight_control_board.vsWorking; |
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if (/*MON_ccdl_behavior.out1== ERR or */in_PowerSupply== ERR or in_Inertial_reference_sensors_behavior== ERR or in_Magnetometer_behavior== ERR or in_Pressure_sensor_behavior== ERR) or MON_global_flight_control_board.vsWorking == ERR then MON_CAN_motor_driver.in2 := ERR; |
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|
end |
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class sensors_behavior |
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|
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|
extends FM_Erroneous_Loss_Behaviour; |
|
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|
//flow variables |
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|
Status in_PowerSupply (reset = LOST); |
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|
Status out_cmd (reset = LOST); |
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|
//local flow variables |
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|
Status in_local_flow (reset = LOST); |
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|
assertion |
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|
if (in_PowerSupply == OK) then in_local_flow := OK; |
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|
if (in_PowerSupply == ERR) and not (in_PowerSupply == LOST) then in_local_flow := ERR ; |
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|
if (vsWorking==OK and in_local_flow == OK) then out_cmd := in_local_flow; |
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|
if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_cmd := ERR; |
|
|
|
|
end |
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|
|
|
class Flight_control_main_channel_behavior |
|
|
|
|
//class instances |
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|
|
Main_flight_control_board main_flight_control_board; |
|
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|
|
sensors_behavior inertial_reference_sensors_behavior(lambda_ERR = 1.483e-07, lambda_Loss = 3.017e-05); |
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|
|
sensors_behavior magnetometer_behavior(lambda_ERR = 2.559e-07, lambda_Loss = 3.077e-06); |
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|
|
sensors_behavior pressure_sensor_behavior(lambda_ERR = 3.302e-06, lambda_Loss = 1.116e-05); |
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|
|
//flow variables |
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|
|
Status in_PowerSupply (reset = LOST); |
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|
|
|
assertion |
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|
|
inertial_reference_sensors_behavior.in_PowerSupply:= in_PowerSupply; |
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|
|
magnetometer_behavior.in_PowerSupply:= in_PowerSupply; |
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|
|
pressure_sensor_behavior.in_PowerSupply:= in_PowerSupply; |
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|
|
|
main_flight_control_board.in_PowerSupply:= in_PowerSupply; |
|
|
|
|
main_flight_control_board.in_Inertial_reference_sensors_behavior := inertial_reference_sensors_behavior.out_cmd; |
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|
|
|
main_flight_control_board.in_Magnetometer_behavior := magnetometer_behavior.out_cmd; |
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|
|
main_flight_control_board.in_Pressure_sensor_behavior := pressure_sensor_behavior.out_cmd; |
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|
|
|
end |
|
|
|
|
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|
|
|
|
class Flight_control_monitoring_channel_behavior |
|
|
|
|
//class instances |
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|
|
Monitoring_flight_control_board monitoring_flight_control_board; |
|
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|
|
sensors_behavior inertial_reference_sensors_MON_behavior(lambda_ERR = 2.628e-06, lambda_Loss = 1.419e-06); |
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|
|
sensors_behavior magnetometer_MON_behavior(lambda_ERR = 1.901e-07, lambda_Loss = 1.286e-05); |
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|
|
|
sensors_behavior pressure_sensor_MON_behavior(lambda_ERR = 4.594e-07, lambda_Loss = 3.949e-05); |
|
|
|
|
|
|
|
|
|
//flow variables |
|
|
|
|
Status in_PowerSupply (reset = LOST); |
|
|
|
|
|
|
|
|
|
assertion |
|
|
|
|
inertial_reference_sensors_MON_behavior.in_PowerSupply:= in_PowerSupply; |
|
|
|
|
magnetometer_MON_behavior.in_PowerSupply:= in_PowerSupply; |
|
|
|
|
pressure_sensor_MON_behavior.in_PowerSupply:= in_PowerSupply; |
|
|
|
|
monitoring_flight_control_board.in_PowerSupply:= in_PowerSupply; |
|
|
|
|
monitoring_flight_control_board.in_Inertial_reference_sensors_behavior := inertial_reference_sensors_MON_behavior.out_cmd; |
|
|
|
|
monitoring_flight_control_board.in_Magnetometer_behavior := magnetometer_MON_behavior.out_cmd; |
|
|
|
|
monitoring_flight_control_board.in_Pressure_sensor_behavior := pressure_sensor_MON_behavior.out_cmd; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
class Motor_controller_behavior |
|
|
|
|
extends FM_Erroneous_Loss_Behaviour; |
|
|
|
|
//flow variables |
|
|
|
|
Status in_EPL_Power_Supply (reset = LOST); |
|
|
|
|
Status in_WSL_Motor_voltage_feedback (reset = LOST); |
|
|
|
|
Status in_PWM (reset = LOST); |
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|
|
|
Status out_Command (reset = LOST); |
|
|
|
|
|
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
//assertion avec la boucle |
|
|
|
|
// if (in_EPL_Power_Supply == OK and in_WSL_Motor_voltage_feedback == OK and in_PWM == OK and vsWorking==OK) then out_Command := OK ; |
|
|
|
|
// if (in_EPL_Power_Supply == ERR or in_WSL_Motor_voltage_feedback == ERR or in_PWM == ERR or vsWorking==ERR) and not (in_EPL_Power_Supply == LOST or in_WSL_Motor_voltage_feedback == LOST or in_PWM == LOST or vsWorking==LOST) then out_Command := ERR ; |
|
|
|
|
//assertion sans la boucle |
|
|
|
|
if (in_EPL_Power_Supply == OK and in_PWM == OK and vsWorking==OK) then out_Command := OK ; |
|
|
|
|
if (in_EPL_Power_Supply == ERR or in_PWM == ERR and vsWorking==ERR) and not (in_EPL_Power_Supply == LOST or in_PWM == LOST or vsWorking==LOST) then out_Command := ERR ; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
class Motor_protection_behavior |
|
|
|
|
extends FM_Erroneous_Loss_Behaviour; |
|
|
|
|
//flow variables |
|
|
|
|
Status in_EPL_Power_Supply (reset = LOST); |
|
|
|
|
Status in_Command (reset = LOST); |
|
|
|
|
Status in_Speed_measure (reset = LOST); |
|
|
|
|
Status in_Can_transmission (reset = LOST); |
|
|
|
|
Status out_Can_transmission (reset = LOST); |
|
|
|
|
Status out_Command (reset = LOST); |
|
|
|
|
|
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
if (in_EPL_Power_Supply == OK and in_Command == OK and in_Can_transmission == OK and vsWorking==OK) then out_Command := OK ; |
|
|
|
|
if (in_EPL_Power_Supply == ERR or in_Command == ERR or in_Can_transmission == ERR or vsWorking==ERR) and not (in_EPL_Power_Supply == LOST or in_Command == LOST or in_Can_transmission == LOST or vsWorking==LOST) then out_Command := ERR ; |
|
|
|
|
|
|
|
|
|
if (in_EPL_Power_Supply == OK and in_Speed_measure == OK) then out_Can_transmission := OK ; |
|
|
|
|
if (in_EPL_Power_Supply == ERR or in_Speed_measure == ERR) and not (in_EPL_Power_Supply == LOST or in_Speed_measure == LOST) then out_Can_transmission := ERR ; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
/* |
|
|
|
|
* 3. Class concrete_component |
|
|
|
|
* ------------------- |
|
|
|
|
* 3.1 Classes for system level 3 |
|
|
|
|
* ------------------- |
|
|
|
|
*/ |
|
|
|
|
|
|
|
|
|
//concrete class for system level 3 |
|
|
|
|
class Propeller |
|
|
|
|
extends FM_Erroneous_Loss_Behaviour; |
|
|
|
|
//flow variables |
|
|
|
|
Status out_ML_Propeller_thrust_and_torque (reset = LOST); |
|
|
|
|
Status in_ML_rotation (reset = LOST); |
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
if (vsWorking == OK) then out_ML_Propeller_thrust_and_torque := in_ML_rotation ; |
|
|
|
|
if (vsWorking == ERR) and not(vsWorking == LOST) then out_ML_Propeller_thrust_and_torque := ERR; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
class Motor |
|
|
|
|
extends FM_Loss_Behaviour; |
|
|
|
|
//class instances |
|
|
|
|
flow1_behavior rotation_generation (lambda_ERR = 8.648e-06, lambda_Loss = 6.409e-05); |
|
|
|
|
flow1_behavior speed_measurement (lambda_ERR = 1.154e-07, lambda_Loss = 1.332e-06); |
|
|
|
|
|
|
|
|
|
//flow variables |
|
|
|
|
Status in_ML (reset = LOST); |
|
|
|
|
Status in_command (reset = LOST); |
|
|
|
|
Status out_Speed_measure (reset = LOST); |
|
|
|
|
Status out_WSL_Motor_voltage_feedback (reset = LOST); |
|
|
|
|
Status out_ML_rotation (reset = LOST); |
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
if (in_ML == OK and vsWorking==OK) then rotation_generation.in := in_command; |
|
|
|
|
if (in_ML == ERR) then rotation_generation.in := ERR; |
|
|
|
|
if (in_ML == OK and vsWorking==OK) then out_WSL_Motor_voltage_feedback := rotation_generation.out; |
|
|
|
|
if (in_ML == ERR) then out_WSL_Motor_voltage_feedback := ERR; |
|
|
|
|
if (in_ML == OK and vsWorking==OK) then out_ML_rotation := rotation_generation.out; |
|
|
|
|
if (in_ML == ERR) then out_ML_rotation := ERR; |
|
|
|
|
|
|
|
|
|
if (in_ML == OK and vsWorking==OK) then speed_measurement.in := in_command; |
|
|
|
|
if (in_ML == ERR) then speed_measurement.in := ERR; |
|
|
|
|
if (in_ML == OK) then out_Speed_measure := speed_measurement.vsWorking; // debouclage des motors et du bus can motor |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
class Motor_Control_Protection |
|
|
|
|
//class instances |
|
|
|
|
Motor_controller_behavior motor_controller_behavior (lambda_ERR = 1.089e-07, lambda_Loss = 1.218e-05); |
|
|
|
|
Motor_protection_behavior motor_protection_behavior (lambda_ERR = 1.301e-06, lambda_Loss = 1.425e-06); |
|
|
|
|
flow2_behavior can_motor_driver (lambda_ERR = 4.501e-07, lambda_Loss = 1.121e-05); |
|
|
|
|
|
|
|
|
|
//flow variables |
|
|
|
|
Status in_ML (reset = LOST); |
|
|
|
|
Status in_CAN_Wire_motor (reset = LOST); |
|
|
|
|
Status in_PWM (reset = LOST); |
|
|
|
|
Status in_EPL_Power_Supply (reset = LOST); |
|
|
|
|
Status in_WSL_Motor_voltage_feedback (reset = LOST); |
|
|
|
|
Status in_Speed_measure (reset = LOST); |
|
|
|
|
|
|
|
|
|
Status out_CAN_Wire_motor (reset = LOST); |
|
|
|
|
Status out_command (reset = LOST); |
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
if (in_ML==OK) then motor_protection_behavior.in_EPL_Power_Supply:= in_EPL_Power_Supply; |
|
|
|
|
if (in_ML==OK) then motor_protection_behavior.in_Can_transmission := can_motor_driver.out1 ; |
|
|
|
|
if (in_ML==OK) then motor_controller_behavior.in_WSL_Motor_voltage_feedback := in_WSL_Motor_voltage_feedback; |
|
|
|
|
if (in_ML==OK) then motor_controller_behavior.in_EPL_Power_Supply:= in_EPL_Power_Supply; |
|
|
|
|
if (in_ML==OK) then motor_controller_behavior.in_PWM := in_PWM; |
|
|
|
|
|
|
|
|
|
if (in_ML==OK) then can_motor_driver.in1 := in_CAN_Wire_motor; |
|
|
|
|
if (in_ML==OK) then can_motor_driver.in2 := motor_protection_behavior.out_Can_transmission ; |
|
|
|
|
|
|
|
|
|
if (in_ML==OK) then out_CAN_Wire_motor := can_motor_driver.out2 ; |
|
|
|
|
if (in_ML==OK) then motor_protection_behavior.in_Command := motor_controller_behavior.out_Command; |
|
|
|
|
if (in_ML==OK) then out_command := motor_protection_behavior.out_Command; |
|
|
|
|
if (in_ML==OK) then motor_protection_behavior.in_Speed_measure := in_Speed_measure; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
/* |
|
|
|
|
* 3.2 Classes for system level 2 |
|
|
|
|
* ------------------- |
|
|
|
|
*/ |
|
|
|
|
|
|
|
|
|
class Propulsion_Unit |
|
|
|
|
//class instances |
|
|
|
|
Motor motor (lambda_Loss = 2.392e-06); |
|
|
|
|
Propeller propeller (lambda_ERR = 3.326e-07, lambda_Loss = 1.918e-05); |
|
|
|
|
Motor_Control_Protection motor_Control_Protection; |
|
|
|
|
|
|
|
|
|
//flow variables |
|
|
|
|
Status in_ML (reset = LOST); |
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
motor_Control_Protection.in_ML:=in_ML; |
|
|
|
|
motor.in_ML:=in_ML; |
|
|
|
|
motor_Control_Protection.in_WSL_Motor_voltage_feedback := motor.out_WSL_Motor_voltage_feedback ; |
|
|
|
|
motor_Control_Protection.in_Speed_measure := motor.out_Speed_measure ; |
|
|
|
|
motor.in_command := motor_Control_Protection.out_command ; |
|
|
|
|
propeller.in_ML_rotation := motor.out_ML_rotation ; |
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
class RC_Receiver |
|
|
|
|
extends FM_Erroneous_Loss_Behaviour; |
|
|
|
|
//flow variables |
|
|
|
|
Status in_USL_Remote_Control (reset = LOST); |
|
|
|
|
Status in_ML (reset = LOST); |
|
|
|
|
Status in_RC_Serial_Bus_Supply (reset = LOST); |
|
|
|
|
Status out_RC_serial_Bus (reset = LOST); |
|
|
|
|
|
|
|
|
|
//local flow variables |
|
|
|
|
Status in_local_flow (reset = LOST); |
|
|
|
|
|
|
|
|
|
//assertion |
|
|
|
|
assertion |
|
|
|
|
if (in_USL_Remote_Control == OK and in_ML == OK and in_RC_Serial_Bus_Supply == OK) then in_local_flow := OK ; |
|
|
|
|
if (in_USL_Remote_Control == ERR or in_ML == ERR or in_RC_Serial_Bus_Supply == ERR) and not (in_USL_Remote_Control == LOST or in_ML == LOST or in_RC_Serial_Bus_Supply == LOST) then in_local_flow := ERR ; |
|
|
|
|
|
|
|
|
|
if (vsWorking==OK and in_local_flow == OK) then out_RC_serial_Bus := in_local_flow; |
|
|
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|
if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_RC_serial_Bus := ERR; |
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end |
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class Wifi_Controller |
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extends FM_Erroneous_Loss_Behaviour; |
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//flow variables |
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Status in_USL_Mission_Data (reset = LOST); |
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Status in_ML (reset = LOST); |
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Status in_WIFI_Serial_Bus (reset = LOST); |
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Status in_WIFI_Serial_Bus_Supply (reset = LOST); |
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Status out_WIFI_Serial_Bus (reset = LOST); |
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Status out_USL_Mission_Data (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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//assertion |
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assertion |
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if (in_USL_Mission_Data == OK and in_ML == OK and in_WIFI_Serial_Bus == OK and in_WIFI_Serial_Bus_Supply == OK) then in_local_flow := OK ; |
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if (in_USL_Mission_Data == ERR or in_ML == ERR or in_WIFI_Serial_Bus == ERR or in_WIFI_Serial_Bus_Supply == ERR) and not (in_USL_Mission_Data == LOST or in_ML == LOST or in_WIFI_Serial_Bus == LOST or in_WIFI_Serial_Bus_Supply == LOST) then in_local_flow := ERR ; |
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if (vsWorking==OK) then out_WIFI_Serial_Bus := in_local_flow; |
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if (vsWorking==OK) then out_USL_Mission_Data := in_local_flow; |
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if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_WIFI_Serial_Bus := ERR; |
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if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_USL_Mission_Data := ERR; |
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end |
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class LIDAR_Altimeter |
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extends FM_Erroneous_Loss_CANbus_Behaviour; |
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//flow variables |
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Status in_ML (reset = LOST); |
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Status in_CAN_Wire (reset = LOST); |
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Status out_CAN_Wire (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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//assertion |
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assertion |
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if (in_ML == OK and in_CAN_Wire == OK) then in_local_flow := OK; |
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if (in_ML == ERR or in_CAN_Wire == ERR) and not (in_ML == LOST or in_CAN_Wire == LOST) then in_local_flow := ERR ; |
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if (vsWorking==OK and in_local_flow == OK) then out_CAN_Wire := in_local_flow; |
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if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_CAN_Wire := ERR; |
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end |
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class GPS_Receiver |
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extends FM_Erroneous_Loss_Behaviour; |
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//flow variables |
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// Status in_USL_Positioning_Signal (reset = LOST); //inutile car aucune défaillance définis pour Positioning system |
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Status in_ML (reset = LOST); |
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Status in_CAN_Wire (reset = LOST); |
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Status out_CAN_Wire (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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parameter Real lambda_CANbus_Loss = 0.0003; |
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parameter Real lambda_CANbus_ERR = 0.00003; |
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//event |
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event ev_CANbus_Loss_Failure (delay = exponential(lambda_CANbus_Loss)); |
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event ev_CANbus_ERR_Failure (delay = exponential(lambda_CANbus_ERR)); |
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//transition |
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transition |
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ev_CANbus_Loss_Failure: vsWorking==OK -> vsWorking := LOST; |
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ev_CANbus_ERR_Failure: vsWorking==OK -> vsWorking := ERR; |
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//assertion |
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assertion |
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if (in_ML == OK and in_CAN_Wire == OK) then in_local_flow := OK ; |
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if (in_CAN_Wire == ERR) and not (in_ML == LOST) then in_local_flow := ERR ; |
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if (vsWorking==OK and in_local_flow == OK) then out_CAN_Wire := in_local_flow; |
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if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_CAN_Wire := ERR; |
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end |
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class Optical_Flow_Sensor |
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extends FM_Erroneous_Loss_CANbus_Behaviour; |
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//flow variables |
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Status in_ML (reset = LOST); |
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Status in_CAN_Wire (reset = LOST); |
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Status out_CAN_Wire (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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//assertion |
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assertion |
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if (in_ML == OK and in_CAN_Wire == OK) then in_local_flow := OK; |
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if (in_ML == ERR or in_CAN_Wire == ERR) and not (in_ML == LOST or in_CAN_Wire == LOST) then in_local_flow := ERR ; |
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if (vsWorking==OK and in_local_flow == OK) then out_CAN_Wire := in_local_flow; |
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if (vsWorking==ERR or in_local_flow == ERR) and not (vsWorking==LOST or in_local_flow ==LOST) then out_CAN_Wire := ERR; |
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end |
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class Flight_Controller |
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extends FM_Loss_Behaviour; |
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//class instances |
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Flight_control_main_channel_behavior Flight_control_main_channel_behavior_AIDA; |
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Flight_control_monitoring_channel_behavior Flight_control_monitoring_channel_behavior_AIDA; |
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//flow variables |
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Status in_ML (reset = LOST); |
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Status in_PowerSupply (reset = LOST); |
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Status in_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status in_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status in_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status in_RC_Serial_Bus (reset = LOST); |
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Status in_WIFI_Serial_Bus (reset = LOST); |
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Status in_CAN_Wire_motor1 (reset = LOST); |
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Status in_CAN_Wire_motor2 (reset = LOST); |
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Status in_CAN_Wire_motor3 (reset = LOST); |
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Status in_CAN_Wire_motor4 (reset = LOST); |
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Status out_WIFI_Serial_Bus_Supply (reset = LOST); |
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Status out_RC_Serial_Bus_Supply (reset = LOST); |
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Status out_WIFI_Serial_Bus (reset = LOST); |
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Status out_CAN_Wire_LIDAR_Altimeter (reset = LOST); |
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Status out_CAN_Wire_Optical_Flow_Sensor (reset = LOST); |
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Status out_CAN_Wire_GPS_Receiver (reset = LOST); |
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Status out_CAN_Wire_motor1 (reset = LOST); |
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Status out_CAN_Wire_motor2 (reset = LOST); |
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Status out_CAN_Wire_motor3 (reset = LOST); |
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Status out_CAN_Wire_motor4 (reset = LOST); |
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Status out_PWM1 (reset = LOST); |
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Status out_PWM2 (reset = LOST); |
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Status out_PWM3 (reset = LOST); |
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Status out_PWM4 (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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//assertion |
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assertion |
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|
//in distribution |
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//energy distribution |
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|
if (in_PowerSupply == OK and in_ML == OK) then in_local_flow := OK; |
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|
if (in_PowerSupply == ERR or in_ML == ERR) and not (in_PowerSupply == LOST or in_ML == LOST) then in_local_flow := ERR; |
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if (vsWorking==OK) then out_RC_Serial_Bus_Supply := in_local_flow; |
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if (vsWorking==ERR) then out_RC_Serial_Bus_Supply := ERR; |
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if (vsWorking==OK) then out_WIFI_Serial_Bus_Supply := in_local_flow; |
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if (vsWorking==ERR) then out_WIFI_Serial_Bus_Supply := ERR; |
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if (vsWorking==OK) then Flight_control_main_channel_behavior_AIDA.in_PowerSupply := in_local_flow; |
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if (vsWorking==ERR) then Flight_control_main_channel_behavior_AIDA.in_PowerSupply := ERR; |
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if (vsWorking==OK) then Flight_control_monitoring_channel_behavior_AIDA.in_PowerSupply := in_local_flow; |
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if (vsWorking==ERR) then Flight_control_monitoring_channel_behavior_AIDA.in_PowerSupply := ERR; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_CAN_Wire_LIDAR_Altimeter:= in_CAN_Wire_LIDAR_Altimeter; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_CAN_Wire_Optical_Flow_Sensor:= in_CAN_Wire_Optical_Flow_Sensor; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_CAN_Wire_GPS_Receiver:= in_CAN_Wire_GPS_Receiver; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_RC_Serial_Bus:= in_RC_Serial_Bus; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_WIFI_Serial_Bus:= in_WIFI_Serial_Bus; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_LIDAR_Altimeter:= in_CAN_Wire_LIDAR_Altimeter; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_Optical_Flow_Sensor:= in_CAN_Wire_Optical_Flow_Sensor; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_GPS_Receiver:= in_CAN_Wire_GPS_Receiver; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_RC_Serial_Bus:= in_RC_Serial_Bus; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_WIFI_Serial_Bus:= in_WIFI_Serial_Bus; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_motor1:=in_CAN_Wire_motor1; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_motor2:=in_CAN_Wire_motor2; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_motor3:=in_CAN_Wire_motor3; |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_CAN_Wire_motor4:=in_CAN_Wire_motor4; |
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//out distribution |
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|
//QUESTION : test a modifier plus tard - en fonction de la question 8 pour le porjet S2C - si il faut prendre en compte le retour du monitoring |
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if (in_ML == OK and Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_WIFI_Serial_Bus==OK and Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_WIFI_Serial_Bus==OK) then out_WIFI_Serial_Bus :=OK; |
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if (Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_WIFI_Serial_Bus==ERR or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_WIFI_Serial_Bus==ERR) and not (in_ML == LOST or Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_WIFI_Serial_Bus==LOST or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_WIFI_Serial_Bus==LOST) then out_WIFI_Serial_Bus :=ERR; |
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if (in_ML == OK and Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==OK and Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==OK) then out_CAN_Wire_LIDAR_Altimeter :=OK; |
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if (Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==ERR or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==ERR) and not (in_ML == LOST or Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==LOST or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_LIDAR_Altimeter==LOST) then out_CAN_Wire_LIDAR_Altimeter :=ERR; |
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if (in_ML == OK and Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==OK and Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==OK) then out_CAN_Wire_Optical_Flow_Sensor :=OK; |
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|
if (Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==ERR or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==ERR) and not (in_ML == LOST or Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==LOST or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor==LOST) then out_CAN_Wire_Optical_Flow_Sensor :=ERR; |
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if (in_ML == OK and Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_GPS_Receiver==OK and Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_GPS_Receiver==OK) then out_CAN_Wire_GPS_Receiver :=OK; |
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if (Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_GPS_Receiver==ERR or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_GPS_Receiver==ERR) and not (in_ML == LOST or Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_GPS_Receiver==LOST or Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_GPS_Receiver==LOST) then out_CAN_Wire_GPS_Receiver :=ERR; |
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// if (in_ML == OK) then out_WIFI_Serial_Bus := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_WIFI_Serial_Bus; |
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// if (in_ML == OK) then out_CAN_Wire_LIDAR_Altimeter := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_LIDAR_Altimeter; |
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// if (in_ML == OK) then out_CAN_Wire_Optical_Flow_Sensor := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_Optical_Flow_Sensor; |
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// if (in_ML == OK) then out_CAN_Wire_GPS_Receiver := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_CAN_Wire_GPS_Receiver; |
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if (in_ML == OK) then out_PWM1 := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_PWM1; |
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if (in_ML == OK) then out_PWM2 := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_PWM2; |
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if (in_ML == OK) then out_PWM3 := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_PWM3; |
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if (in_ML == OK) then out_PWM4 := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_PWM4; |
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if (in_ML == OK) then out_CAN_Wire_motor1 := Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_motor1; |
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if (in_ML == OK) then out_CAN_Wire_motor2 := Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_motor2; |
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if (in_ML == OK) then out_CAN_Wire_motor3 := Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_motor3; |
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if (in_ML == OK) then out_CAN_Wire_motor4 := Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_CAN_Wire_motor4; |
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// WSL Connection main and monitoring |
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if (in_ML == OK) then Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.in_WSL_Cross_channel_data_link := Flight_control_main_channel_behavior_AIDA.main_flight_control_board.out_WSL_Cross_channel_data_link ; |
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if (in_ML == OK) then Flight_control_main_channel_behavior_AIDA.main_flight_control_board.in_WSL_Cross_channel_data_link := Flight_control_monitoring_channel_behavior_AIDA.monitoring_flight_control_board.out_WSL_Cross_channel_data_link ; |
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end |
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|
|
/*class Payload_Control extends component_flowInOut; // a mettre à jour en fonction des In et Out |
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|
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end |
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|
|
class Camera_Rotary_Support extends component_flowInOut; // a mettre à jour en fonction des In et Out |
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|
|
end |
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|
class Camera_Sensor extends component_flowInOut; // a mettre à jour en fonction des In et Out |
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|
end*/ |
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/* |
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|
|
* 3.3 Classes for system level 1 |
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|
* ------------------- |
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|
*/ |
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|
|
class Flight_Control_System |
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|
//class instances |
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|
|
RC_Receiver RC_Receiver_AIDA (lambda_ERR = 1e-09, lambda_Loss = 1.338e-05); |
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Wifi_Controller Wifi_Controller_AIDA (lambda_ERR = 1.744e-05, lambda_Loss = 1.338e-07); |
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GPS_Receiver GPS_Receiver_AIDA (lambda_ERR = 4.846e-07, lambda_Loss = 6.546e-06, lambda_CANbus_ERR = 4.501e-07, lambda_CANbus_Loss = 1.121e-05); |
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FM_Erroneous_Behaviour GPS_Receiver_ERR (lambda_ERR = 4.846e-07); |
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FM_Erroneous_Behaviour GPS_Receiver_CANBus_ERR (lambda_ERR = 4.501e-07); |
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Optical_Flow_Sensor Optical_Flow_Sensor_AIDA (lambda_ERR = 9.468e-07, lambda_Loss = 8.244e-05, lambda_CANbus_ERR = 4.501e-07,lambda_CANbus_Loss = 1.121e-05); |
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LIDAR_Altimeter LIDAR_Altimeter_AIDA (lambda_ERR = 4.501e-07, lambda_Loss = 1.121e-05, lambda_CANbus_ERR = 4.501e-07,lambda_CANbus_Loss = 1.121e-05); |
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Flight_Controller Flight_Controller_AIDA (lambda_Loss = 9.660e-05); |
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// assertion |
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assertion |
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//energy distribution |
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RC_Receiver_AIDA.in_RC_Serial_Bus_Supply := Flight_Controller_AIDA.out_RC_Serial_Bus_Supply; |
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Wifi_Controller_AIDA.in_WIFI_Serial_Bus_Supply := Flight_Controller_AIDA.out_WIFI_Serial_Bus_Supply; |
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// RC serieal bus |
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Flight_Controller_AIDA.in_RC_Serial_Bus := RC_Receiver_AIDA.out_RC_serial_Bus; |
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// WIFI serial bus |
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Wifi_Controller_AIDA.in_WIFI_Serial_Bus := Flight_Controller_AIDA.out_WIFI_Serial_Bus; |
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Flight_Controller_AIDA.in_WIFI_Serial_Bus := Wifi_Controller_AIDA.out_WIFI_Serial_Bus; |
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//CAN WIRE SENSOR |
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LIDAR_Altimeter_AIDA.in_CAN_Wire := Flight_Controller_AIDA.out_CAN_Wire_LIDAR_Altimeter; |
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Flight_Controller_AIDA.in_CAN_Wire_LIDAR_Altimeter := LIDAR_Altimeter_AIDA.out_CAN_Wire; |
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Optical_Flow_Sensor_AIDA.in_CAN_Wire := Flight_Controller_AIDA.out_CAN_Wire_Optical_Flow_Sensor; |
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Flight_Controller_AIDA.in_CAN_Wire_Optical_Flow_Sensor := Optical_Flow_Sensor_AIDA.out_CAN_Wire; |
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GPS_Receiver_AIDA.in_CAN_Wire := Flight_Controller_AIDA.out_CAN_Wire_GPS_Receiver; |
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Flight_Controller_AIDA.in_CAN_Wire_GPS_Receiver := GPS_Receiver_AIDA.out_CAN_Wire; |
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end |
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/*class Payload //Out of the scope |
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end*/ |
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class Power_Supply_System |
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extends FM_Loss_Behaviour; //commun Loss |
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//class instances |
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Power_Supply_behavior flightControlSupply_behavior (lambda_Loss = 8.363e-08); |
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Power_Supply_behavior propulsionSupply_1_behavior (lambda_Loss = 8.041e-11); |
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Power_Supply_behavior propulsionSupply_2_behavior (lambda_Loss = 8.041e-11); |
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Power_Supply_behavior propulsionSupply_3_behavior (lambda_Loss = 8.041e-11); |
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Power_Supply_behavior propulsionSupply_4_behavior (lambda_Loss = 8.041e-11); |
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//flow variables |
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Status in_ML_power_supply (reset = LOST); |
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Status out_EPL_Power_supply_flight_control_system (reset = LOST); |
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Status out_EPL_Power_supply_PU1 (reset = LOST); |
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Status out_EPL_Power_supply_PU2 (reset = LOST); |
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Status out_EPL_Power_supply_PU3 (reset = LOST); |
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Status out_EPL_Power_supply_PU4 (reset = LOST); |
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// assertion |
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assertion |
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if (vsWorking==OK and in_ML_power_supply == OK) then out_EPL_Power_supply_flight_control_system := flightControlSupply_behavior.out_EPL_Power_supply; |
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if (vsWorking==OK and in_ML_power_supply == OK) then out_EPL_Power_supply_PU1 := propulsionSupply_1_behavior.out_EPL_Power_supply; |
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if (vsWorking==OK and in_ML_power_supply == OK) then out_EPL_Power_supply_PU2 := propulsionSupply_2_behavior.out_EPL_Power_supply; |
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if (vsWorking==OK and in_ML_power_supply == OK) then out_EPL_Power_supply_PU3 := propulsionSupply_3_behavior.out_EPL_Power_supply; |
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if (vsWorking==OK and in_ML_power_supply == OK) then out_EPL_Power_supply_PU4 := propulsionSupply_4_behavior.out_EPL_Power_supply; |
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if (vsWorking==OK and in_ML_power_supply == ERR) then out_EPL_Power_supply_flight_control_system := ERR; |
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if (vsWorking==OK and in_ML_power_supply == ERR) then out_EPL_Power_supply_PU1 := ERR; |
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if (vsWorking==OK and in_ML_power_supply == ERR) then out_EPL_Power_supply_PU2 := ERR; |
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if (vsWorking==OK and in_ML_power_supply == ERR) then out_EPL_Power_supply_PU3 := ERR; |
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if (vsWorking==OK and in_ML_power_supply == ERR) then out_EPL_Power_supply_PU4 := ERR; |
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end |
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class Structure |
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extends FM_Loss_Behaviour; |
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//flow variables Flight control system |
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Status out_ML_RC_Receiver (reset = LOST); |
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Status out_ML_Wifi_Controller (reset = LOST); |
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Status out_ML_LIDAR_Altimeter (reset = LOST); |
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Status out_ML_GPS_Recerver (reset = LOST); |
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Status out_ML_Optical_Flow_Sensor (reset = LOST); |
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Status out_ML_Flight_Controller (reset = LOST); |
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//flow variables Propulsion system |
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// Status in_ML_Propeller_1_thrust_and_torque (reset = LOST); |
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// Status in_ML_Propeller_2_thrust_and_torque (reset = LOST); |
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// Status in_ML_Propeller_3_thrust_and_torque (reset = LOST); |
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// Status in_ML_Propeller_4_thrust_and_torque (reset = LOST); |
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Status out_ML_Propulsion_Unit1 (reset = LOST); |
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Status out_ML_Propulsion_Unit2 (reset = LOST); |
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Status out_ML_Propulsion_Unit3 (reset = LOST); |
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Status out_ML_Propulsion_Unit4 (reset = LOST); |
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//flow variables Flight control system |
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Status out_ML_power_supply (reset = LOST); |
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//local flow variables |
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Status in_local_flow (reset = LOST); |
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// assertion |
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assertion |
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// if (in_ML_Propeller_1_thrust_and_torque == OK and in_ML_Propeller_2_thrust_and_torque == OK and in_ML_Propeller_3_thrust_and_torque == OK and in_ML_Propeller_4_thrust_and_torque == OK) then in_local_flow := OK ; |
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// if (in_ML_Propeller_1_thrust_and_torque == ERR or in_ML_Propeller_2_thrust_and_torque == ERR or in_ML_Propeller_3_thrust_and_torque == ERR or in_ML_Propeller_4_thrust_and_torque == ERR) then in_local_flow := ERR ; |
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in_local_flow := OK; |
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if (vsWorking==OK) then out_ML_RC_Receiver := in_local_flow; |
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if (vsWorking==OK) then out_ML_Wifi_Controller := in_local_flow; |
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if (vsWorking==OK) then out_ML_LIDAR_Altimeter := in_local_flow; |
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if (vsWorking==OK) then out_ML_GPS_Recerver := in_local_flow; |
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if (vsWorking==OK) then out_ML_Optical_Flow_Sensor := in_local_flow; |
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if (vsWorking==OK) then out_ML_Flight_Controller := in_local_flow; |
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if (vsWorking==OK) then out_ML_Propulsion_Unit1 := in_local_flow; |
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if (vsWorking==OK) then out_ML_Propulsion_Unit2 := in_local_flow; |
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if (vsWorking==OK) then out_ML_Propulsion_Unit3 := in_local_flow; |
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if (vsWorking==OK) then out_ML_Propulsion_Unit4 := in_local_flow; |
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if (vsWorking==OK) then out_ML_power_supply := in_local_flow; |
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end |
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class Propulsion_System |
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//class instances |
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Propulsion_Unit propulsion_Unit1; |
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Propulsion_Unit propulsion_Unit2; |
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Propulsion_Unit propulsion_Unit3; |
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Propulsion_Unit propulsion_Unit4; |
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end |
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/*------------------------------ |
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|
//concrete class for system level 0 |
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-----------------------------*/ |
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class Drone |
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//class instances |
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Flight_Control_System Flight_Control_System_AIDA; |
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Power_Supply_System Power_Supply_System_AIDA (lambda_Loss = 1.415e-08); |
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Structure Structure_AIDA(lambda_Loss = 1.744e-05); |
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Propulsion_System Propulsion_System_AIDA; |
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//flow variables |
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Status in_USL_Remote_Control (reset = LOST); |
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// Status in_USL_Positioning_Signal (reset = LOST); |
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Status in_USL_Mission_Data (reset = LOST); |
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// assertion |
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|
assertion |
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// ML assertion |
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|
// Structure_AIDA.in_ML_Propeller_1_thrust_and_torque := Propulsion_System_AIDA.propulsion_Unit1.propeller.out_ML_Propeller_thrust_and_torque; |
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// Structure_AIDA.in_ML_Propeller_2_thrust_and_torque := Propulsion_System_AIDA.propulsion_Unit2.propeller.out_ML_Propeller_thrust_and_torque; |
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// Structure_AIDA.in_ML_Propeller_3_thrust_and_torque := Propulsion_System_AIDA.propulsion_Unit3.propeller.out_ML_Propeller_thrust_and_torque; |
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// Structure_AIDA.in_ML_Propeller_4_thrust_and_torque := Propulsion_System_AIDA.propulsion_Unit4.propeller.out_ML_Propeller_thrust_and_torque; |
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Flight_Control_System_AIDA.RC_Receiver_AIDA.in_ML := Structure_AIDA.out_ML_RC_Receiver; |
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|
Flight_Control_System_AIDA.Wifi_Controller_AIDA.in_ML := Structure_AIDA.out_ML_Wifi_Controller; |
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Flight_Control_System_AIDA.LIDAR_Altimeter_AIDA.in_ML := Structure_AIDA.out_ML_LIDAR_Altimeter; |
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Flight_Control_System_AIDA.Optical_Flow_Sensor_AIDA.in_ML := Structure_AIDA.out_ML_Optical_Flow_Sensor; |
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Flight_Control_System_AIDA.GPS_Receiver_AIDA.in_ML := Structure_AIDA.out_ML_GPS_Recerver; |
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Flight_Control_System_AIDA.Flight_Controller_AIDA.in_ML := Structure_AIDA.out_ML_Flight_Controller; |
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Power_Supply_System_AIDA.in_ML_power_supply := Structure_AIDA.out_ML_power_supply; |
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|
Propulsion_System_AIDA.propulsion_Unit1.in_ML := Structure_AIDA.out_ML_Propulsion_Unit1; |
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|
Propulsion_System_AIDA.propulsion_Unit2.in_ML := Structure_AIDA.out_ML_Propulsion_Unit2; |
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|
Propulsion_System_AIDA.propulsion_Unit3.in_ML := Structure_AIDA.out_ML_Propulsion_Unit3; |
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|
Propulsion_System_AIDA.propulsion_Unit4.in_ML := Structure_AIDA.out_ML_Propulsion_Unit4; |
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|
|
// USL assertion |
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|
|
Flight_Control_System_AIDA.RC_Receiver_AIDA.in_USL_Remote_Control := in_USL_Remote_Control; |
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|
|
Flight_Control_System_AIDA.Wifi_Controller_AIDA.in_USL_Mission_Data := in_USL_Mission_Data; |
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|
|
// Flight_Control_System_AIDA.GPS_Receiver_AIDA.in_USL_Positioning_Signal := in_USL_Positioning_Signal; |
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|
|
//CAN MOTOR |
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|
|
Propulsion_System_AIDA.propulsion_Unit1.motor_Control_Protection.in_CAN_Wire_motor := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_CAN_Wire_motor1; |
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|
|
Propulsion_System_AIDA.propulsion_Unit2.motor_Control_Protection.in_CAN_Wire_motor := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_CAN_Wire_motor2; |
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|
|
Propulsion_System_AIDA.propulsion_Unit3.motor_Control_Protection.in_CAN_Wire_motor := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_CAN_Wire_motor3; |
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|
|
Propulsion_System_AIDA.propulsion_Unit4.motor_Control_Protection.in_CAN_Wire_motor := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_CAN_Wire_motor4; |
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|
|
Flight_Control_System_AIDA.Flight_Controller_AIDA.in_CAN_Wire_motor1 := Propulsion_System_AIDA.propulsion_Unit1.motor_Control_Protection.out_CAN_Wire_motor; |
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|
|
Flight_Control_System_AIDA.Flight_Controller_AIDA.in_CAN_Wire_motor2 := Propulsion_System_AIDA.propulsion_Unit2.motor_Control_Protection.out_CAN_Wire_motor; |
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|
|
Flight_Control_System_AIDA.Flight_Controller_AIDA.in_CAN_Wire_motor3 := Propulsion_System_AIDA.propulsion_Unit3.motor_Control_Protection.out_CAN_Wire_motor; |
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|
|
Flight_Control_System_AIDA.Flight_Controller_AIDA.in_CAN_Wire_motor4 := Propulsion_System_AIDA.propulsion_Unit4.motor_Control_Protection.out_CAN_Wire_motor; |
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|
|
//PWM MOTOR |
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|
|
Propulsion_System_AIDA.propulsion_Unit1.motor_Control_Protection.in_PWM := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_PWM1; |
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|
Propulsion_System_AIDA.propulsion_Unit2.motor_Control_Protection.in_PWM := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_PWM2; |
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|
Propulsion_System_AIDA.propulsion_Unit3.motor_Control_Protection.in_PWM := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_PWM3; |
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|
|
Propulsion_System_AIDA.propulsion_Unit4.motor_Control_Protection.in_PWM := Flight_Control_System_AIDA.Flight_Controller_AIDA.out_PWM4; |
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|
|
//Energy Distribution |
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|
|
Flight_Control_System_AIDA.Flight_Controller_AIDA.in_PowerSupply := Power_Supply_System_AIDA.out_EPL_Power_supply_flight_control_system; |
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|
|
Propulsion_System_AIDA.propulsion_Unit1.motor_Control_Protection.in_EPL_Power_Supply := Power_Supply_System_AIDA.out_EPL_Power_supply_PU1; |
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|
|
Propulsion_System_AIDA.propulsion_Unit2.motor_Control_Protection.in_EPL_Power_Supply := Power_Supply_System_AIDA.out_EPL_Power_supply_PU2; |
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|
Propulsion_System_AIDA.propulsion_Unit3.motor_Control_Protection.in_EPL_Power_Supply := Power_Supply_System_AIDA.out_EPL_Power_supply_PU3; |
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|
|
Propulsion_System_AIDA.propulsion_Unit4.motor_Control_Protection.in_EPL_Power_Supply := Power_Supply_System_AIDA.out_EPL_Power_supply_PU4; |
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end |
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|
|
class Remote_Battery |
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|
|
extends FM_Loss_Behaviour; |
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//flow variables |
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|
Status out_energy_flow (reset = LOST); |
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|
|
// assertion |
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|
|
assertion |
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|
if (vsWorking==OK) then out_energy_flow := OK; |
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|
end |
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|
|
class Remote_Communication |
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|
|
extends FM_Erroneous_Loss_Behaviour; |
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|
|
//flow variables |
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|
|
Status in_energy_flow (reset = LOST); |
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|
|
Status out_USL_Remote_Control (reset = LOST); |
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|
|
assertion |
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|
|
if (vsWorking==OK) then out_USL_Remote_Control := in_energy_flow; |
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|
|
if (vsWorking==ERR) then out_USL_Remote_Control := ERR; |
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|
|
|
end |
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|
//TODO : placer des observers pour chaque SF (suivant l'allocation avec les composants) |
