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RESSAC_Use_Case
Commit 67c41184 authored by Claire Dross's avatar Claire Dross
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Layer2_MMS_SW_SPARK: continue the specification of F_MM

parent 813e5522
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Showing with 564 additions and 148 deletions
UseCaseDevelopment/Layer2_MMS_SW_SPARK/external.ads
View file @ 67c41184
......@@ -6,15 +6,15 @@ package External with Abstract_State => (State with External => Async_Writers) i
-- Ground-based Mission Preparation and Supervision --
------------------------------------------------------
function Navigation_Parameters return Navigation_Parameters_Type with
function Navigation_Parameters return Navigation_Parameters_Type_Option with
Volatile_Function,
Global => State;
function Navigation_Mode return Navigation_Mode_Type with
function Navigation_Mode return Navigation_Mode_Type_Option with
Volatile_Function,
Global => State;
function Navigation_Option return Navigation_Option_Type with
function Navigation_Option return Navigation_Option_Type_Option with
Volatile_Function,
Global => State;
......@@ -50,7 +50,7 @@ package External with Abstract_State => (State with External => Async_Writers) i
Volatile_Function,
Global => State;
function USB_Key return Navigation_Parameters_Type with
function USB_Key return Navigation_Parameters_Type_Option with
Volatile_Function,
Global => State;
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_cm-input.ads
View file @ 67c41184
......@@ -11,13 +11,13 @@ package MMS.F_PT.F_CM.Input is
-- From F_PT --
---------------
function Navigation_Parameters return Navigation_Parameters_Type
function Navigation_Parameters return Navigation_Parameters_Type_Option
renames MMS.F_PT.Input.Navigation_Parameters;
function Navigation_Mode return Navigation_Mode_Type
function Navigation_Mode return Navigation_Mode_Type_Option
renames MMS.F_PT.Input.Navigation_Mode;
function Navigation_Option return Navigation_Option_Type
function Navigation_Option return Navigation_Option_Type_Option
renames MMS.F_PT.Input.Navigation_Option;
function Go return Boolean
......@@ -41,7 +41,7 @@ package MMS.F_PT.F_CM.Input is
function Payload_Mass return Payload_Mass_Type
renames MMS.F_PT.Input.Payload_Mass;
function USB_Key return Navigation_Parameters_Type
function USB_Key return Navigation_Parameters_Type_Option
renames MMS.F_PT.Input.USB_Key;
function P return Distance_Type
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_cm-output.ads
View file @ 67c41184
......@@ -59,13 +59,13 @@ package MMS.F_PT.F_CM.Output is
-- To F_MM --
-------------
function Navigation_Parameters return Navigation_Parameters_Type
function Navigation_Parameters return Navigation_Parameters_Type_Option
renames MMS.F_PT.F_CM.Input.Navigation_Parameters;
function Navigation_Mode return Navigation_Mode_Type
function Navigation_Mode return Navigation_Mode_Type_Option
renames MMS.F_PT.F_CM.Input.Navigation_Mode;
function Navigation_Option return Navigation_Option_Type
function Navigation_Option return Navigation_Option_Type_Option
renames MMS.F_PT.F_CM.Input.Navigation_Option;
function Go return Boolean
......@@ -86,7 +86,7 @@ package MMS.F_PT.F_CM.Output is
function Bay_Switch return Bay_Switch_Type
renames MMS.F_PT.F_CM.Input.Bay_Switch;
function USB_Key return Navigation_Parameters_Type
function USB_Key return Navigation_Parameters_Type_Option
renames MMS.F_PT.F_CM.Input.USB_Key;
----------------------
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-behavior.ads
View file @ 67c41184
......@@ -35,7 +35,7 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
-- Estimated Values --
----------------------
function Q_Dot return Angular_Speed_Type with Global => Private_State;
function Q_Dot return Speed_Type with Global => Private_State;
------------
-- States --
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-data.ads
View file @ 67c41184
......@@ -47,15 +47,15 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
-- From 6.7.3.2
Qdot_MinCl : constant Angular_Speed_Type; -- in angle.s-1
Qdot_MaxCl : constant Angular_Speed_Type; -- in angle.s-1
Qdot_MinCl : constant Speed_Type; -- in angle.s-1
Qdot_MaxCl : constant Speed_Type; -- in angle.s-1
Q_MaxCl : constant Angle_Type; -- in angle
Qdot_MinCr : constant Angular_Speed_Type; -- in angle.s-1
Qdot_MaxCr : constant Angular_Speed_Type; -- in angle.s-1
Qdot_MinCr : constant Speed_Type; -- in angle.s-1
Qdot_MaxCr : constant Speed_Type; -- in angle.s-1
Q_MinCr : constant Angle_Type; -- in angle
Pdot_MaxCr : constant Speed_Type; -- in km/h
Qdot_MinDs : constant Angular_Speed_Type; -- in angle.s-1
Qdot_MaxDs : constant Angular_Speed_Type; -- in angle.s-1
Pdot_MaxCr : constant Speed_Type; -- in angle.s-1
Qdot_MinDs : constant Speed_Type; -- in angle.s-1
Qdot_MaxDs : constant Speed_Type; -- in angle.s-1
Q_MaxDs : constant Angle_Type; -- in angle
Escape_Time : constant Time_Type; -- in s
......@@ -77,28 +77,28 @@ private
Flight_Domain_Mesh : constant Flight_Domain_Mesh_Type (1 .. 100, 1 .. 100) :=
(others => (others => <>));
Qdot_MinCl : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Qdot_MaxCl : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Q_MaxCl : constant Angle_Type := 0.0; -- in angle
Qdot_MinCr : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Qdot_MaxCr : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Q_MinCr : constant Angle_Type := 0.0; -- in angle
Pdot_MaxCr : constant Speed_Type := 0.0; -- in km/h
Qdot_MinDs : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Qdot_MaxDs : constant Angular_Speed_Type := 0.0; -- in angle.s-1
Q_MaxDs : constant Angle_Type := 0.0; -- in angle
Qdot_MinCl : constant Speed_Type := 0.0;
Qdot_MaxCl : constant Speed_Type := 0.0;
Q_MaxCl : constant Angle_Type := 0.0;
Qdot_MinCr : constant Speed_Type := 0.0;
Qdot_MaxCr : constant Speed_Type := 0.0;
Q_MinCr : constant Angle_Type := 0.0;
Pdot_MaxCr : constant Speed_Type := 0.0;
Qdot_MinDs : constant Speed_Type := 0.0;
Qdot_MaxDs : constant Speed_Type := 0.0;
Q_MaxDs : constant Angle_Type := 0.0;
Escape_Time : constant Time_Type := 0; -- in s
Escape_Time : constant Time_Type := 0;
-- From 6.7.4
Commutation_Duration : constant Time_Type := 0; -- in s
Hazard_Duration : constant Time_Type := 0; -- in s
Commutation_Duration : constant Time_Type := 0;
Hazard_Duration : constant Time_Type := 0;
Recovery_Speed : constant Integer := 0; -- in m.s
Recovery_Speed : constant Integer := 0;
J0 : constant Integer := 0; -- in kg.m2
L : constant Integer := 0; -- in m
M0 : constant Integer := 0; -- in kg
J0 : constant Integer := 0;
L : constant Integer := 0;
M0 : constant Integer := 0;
end MMS.F_PT.F_FC.Data;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm-behavior-guarantees.ads
View file @ 67c41184
......@@ -19,14 +19,14 @@ package MMS.F_PT.F_MM.Behavior.Guarantees with SPARK_Mode is
function Initial_Energy_Check_Succeeded return Boolean is
(Power_State = ON
and then On_State = INIT
and then Energy_Compatible_With_Mission);
and then Initial_Energy_Compatible_With_Mission);
function In_Flight_Energy_Check_Failed return Boolean is
(Power_State = ON
and then On_State = RUNNING
and then Running_State = FLIGHT
and then Current_Flight_Phase = CRUISE
and then not Energy_Compatible_With_Mission);
and then not In_Flight_Energy_Compatible_With_Mission);
function Mission_Cancelled return Boolean is
(Power_State = On
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm-behavior.ads
View file @ 67c41184
......@@ -10,6 +10,9 @@
with Types; use Types;
with External;
with MMS.F_PT.F_MM.Data;
private with MMS.F_PT.F_MM.State;
with MMS.F_PT.Data;
package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
pragma Unevaluated_Use_Of_Old (Allow);
......@@ -18,35 +21,59 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
-- Inputs --
------------
function Navigation_Mode_From_CP return Navigation_Mode_Type with
Global => Private_State;
function Power_On return Boolean;
function Payload_Bay_Closed return Boolean with
Pre => Power_State = ON
and then On_State = INIT;
function Payload_Mass_Given return Boolean with
Pre => Power_State = ON;
-- ??? Should we assume that Payload_Mass is always given after takeoff?
function Payload_Mass return Payload_Mass_Type with
Pre => Power_State = ON
and then Payload_Mass_Given;
function Navigation_Mode_From_CP return Navigation_Mode_Type;
function Navigation_Mode_From_GS_Received return Boolean;
function Navigation_Mode_From_GS return Navigation_Mode_Type with
Global => Private_State;
Pre => Navigation_Mode_From_GS_Received;
function Operating_Point_From_GS_Received return Boolean with
Global => Private_State;
function Operating_Mode_From_CP return Navigation_Option_Type;
function Operating_Point_From_GS return Operating_Point_Type with
Global => Private_State;
function Operating_Mode_From_GS_Received return Boolean;
function USB_Key_Present return Boolean with
Global => Private_State;
function Operating_Mode_From_GS return Navigation_Option_Type with
Pre => Operating_Mode_From_GS_Received;
function Operating_Point_From_USB_Key return Operating_Point_Type with
Global => Private_State;
function Navigation_Parameters_From_GS_Received return Boolean;
function Current_Range return Current_Range_Type with
Global => Private_State;
function Navigation_Parameters_From_GS return Navigation_Parameters_Type with
Pre => Navigation_Parameters_From_GS_Received;
function Current_Speed return Current_Speed_Type with
Global => Private_State;
function USB_Key_Present return Boolean;
function Current_Altitude return Current_Altitude_Type with
Global => Private_State;
function Navigation_Parameters_From_USB_Key return Navigation_Parameters_Type
with
Pre => USB_Key_Present;
function Mission_Abort_Received return Boolean with
Pre => Power_State = ON;
function Start_Or_Go_Received return Boolean with
Pre => Power_State = ON
and then On_State = INIT;
function Current_Range return Current_Range_Type;
function Current_Speed return Current_Speed_Type;
function Current_Altitude return Current_Altitude_Type;
function Current_Flight_Phase return Flight_Phase_Type with
Global => Private_State,
Pre => Power_State = ON
and then On_State = RUNNING
and then Running_State = FLIGHT;
......@@ -73,39 +100,11 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
Pre => Power_State = ON
and then On_State = RUNNING;
function Navigation_Mode return Navigation_Mode_Type
is (if Navigation_Mode_From_CP = A then A
else Navigation_Mode_From_GS)
with
Global => Private_State,
Pre => Power_State = ON
and then On_State in INIT | RUNNING;
-----------------------------
-- Properties and Entities --
-----------------------------
function Operating_Mode return Navigation_Option_Type with
Global => Private_State,
Pre => Power_State = ON
and then On_State = RUNNING
and then Navigation_Mode = RP;
-----------------------------------------
-- Guards of the automaton in Figure 3 --
-----------------------------------------
function Power_On return Boolean with
Global => Private_State;
function Power_Off return Boolean with
Global => Private_State,
Post => Power_Off'Result = not Power_On;
function Mission_Abort_Received return Boolean with
Global => Private_State,
Pre => Power_State = ON;
function Start_Or_Go_Received return Boolean with
Global => Private_State,
Pre => Power_State = ON
and then On_State = INIT;
function Power_Off return Boolean is (not Power_On);
function Take_Off_Over return Boolean with
Global => Private_State,
......@@ -117,68 +116,86 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
Global => Private_State,
Pre => Power_State = ON
and then On_State = RUNNING
and then Running_State = FLIGHT
and then Current_Flight_Phase = DESCENT;
and then Running_State = FLIGHT;
function Landed return Boolean is
(Current_Speed = 0 and Current_Altitude = 0)
with
Global => Private_State,
Pre => Power_State = ON
and then On_State = RUNNING
and then Running_State = LANDING;
----------------
-- Properties --
----------------
function Mission_Range_From_Navigation_Parameters
return Current_Range_Type;
-- with Pre => Mission_Parameters_Defined;
-- Fetch distance from State.Navigation_Parameters and do the appropriate
-- conversion.
function Energy_Compatible_With_Mission return Boolean with
function Operating_Point_From_Navigation_Parameters
return Operating_Point_Type;
-- with Pre => Mission_Parameters_Defined;
-- Fetch altitude and speed from State.Navigation_Parameters and do the
-- appropriate conversions.
function Navigation_Mode return Navigation_Mode_Type with
Global => Private_State,
Pre => Power_State = ON
and then On_State in INIT | RUNNING
and then (if On_State = RUNNING then
Running_State = FLIGHT and then Current_Flight_Phase = CRUISE);
and then On_State in INIT | RUNNING;
function Mission_Parameters_Defined return Boolean is
(USB_Key_Present
or else (Navigation_Mode_From_CP = RP
and then Operating_Point_From_GS_Received))
with
function Operating_Mode return Navigation_Option_Type with
Global => Private_State,
Pre => Power_State = ON
and then On_State = INIT;
and then On_State = RUNNING
and then Navigation_Mode = RP;
function Payload_Bay_Closed return Boolean with
function Initial_Energy_Compatible_With_Mission return Boolean with
Global => Private_State,
Pre => Power_State = ON
and then On_State = INIT;
-- and then Mission_Parameters_Defined
-- and then Payload_Mass_Given;
function Mission_Cancellation_Signaled return Boolean with
Global => Private_State;
function In_Flight_Energy_Compatible_With_Mission return Boolean with
Global => Private_State,
Pre => Power_State = ON
and then On_State = RUNNING
and then Running_State = FLIGHT;
-- and then Current_Flight_Phase = CRUISE;
-------------
-- Outputs --
-------------
function Mission_Parameters_Defined return Boolean is
(USB_Key_Present
or else (Navigation_Mode_From_CP = RP
and then Navigation_Parameters_From_GS_Received));
function Ready_For_Takeoff return Boolean is
(Payload_Bay_Closed
and then Payload_Mass_Given
and then Mission_Parameters_Defined
and then Energy_Compatible_With_Mission)
and then Initial_Energy_Compatible_With_Mission)
with
Global => Private_State,
Global => (Private_State, Input_State),
Pre => Power_State = ON
and then On_State = INIT;
-- ??? Should be sent to F_CM but the corresponding flag is disabled for
-- now...
function Emergency_Landing return Boolean with
function Emergency_Landing return Boolean is
(On_State = CANCELLED)
with
Global => Private_State,
Pre => Power_State = ON
and then On_State = CANCELLED;
Pre => Power_State = ON;
-- ??? Should be ABORTED maybe?
function Mission_Range return Current_Range_Type with
Global => Private_State;
-- Pre => Mission_Parameters_Defined;
function Operating_Point return Operating_Point_Type with
Global => Private_State;
-- Pre => Mission_Parameters_Defined;
function Mission_Cancellation_Signaled return Boolean with
Global => Private_State;
---------------------------------------
-- Behavioural Specification of F_MM --
......@@ -186,7 +203,7 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
procedure Read_Inputs with
-- Read values of inputs once and for all and update the current state
Global => (In_Out => Private_State,
Global => (Output => Input_State,
Input => External.State);
procedure Write_Outputs with
......@@ -198,7 +215,7 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
-- Do:
-- - Compute the new state of the automaton
Global => (In_Out => Private_State),
Global => (In_Out => Private_State, Input => Input_State),
Post =>
-- RP mode enables modification of range parameter before take-off.
......@@ -206,7 +223,9 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
(if not (Power_State'Old = ON
and then On_State'Old = INIT
and then Navigation_Mode'Old = RP)
then Mission_Range = Mission_Range'Old)
then Mission_Range = Mission_Range'Old
elsif Mission_Parameters_Defined
then Mission_Range = Mission_Range_From_Navigation_Parameters)
-- RP mode enables modification of altitude and speed parameters at any
-- time (but not at landing, it is frozen...).
......@@ -308,7 +327,7 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
and then Current_Flight_Phase = CRUISE
and then Power_On
and then not Mission_Abort_Received
and then not Energy_Compatible_With_Mission
and then not In_Flight_Energy_Compatible_With_Mission
=>
Power_State = ON
and then On_State = CANCELLED
......@@ -333,7 +352,8 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
and then Power_On
and then not Mission_Abort_Received
and then
(if Current_Flight_Phase = CRUISE then Energy_Compatible_With_Mission)
(if Current_Flight_Phase = CRUISE then
In_Flight_Energy_Compatible_With_Mission)
and then
(if Current_Flight_Phase = DESCENT then not Descent_Over)
=>
......@@ -371,23 +391,243 @@ package MMS.F_PT.F_MM.Behavior with SPARK_Mode is
private
----------------------------
-- Definitions of Inputs --
----------------------------
function Power_On return Boolean is
(State.Input_On_OFF_Push_Button);
function Payload_Bay_Closed return Boolean is
(State.Input_Bay_Switch = CLOSED);
function Payload_Mass_Given return Boolean is
(State.Input_Payload_Mass /= 99);
function Payload_Mass return Payload_Mass_Type is
(State.Input_Payload_Mass);
function Navigation_Mode_From_CP return Navigation_Mode_Type is
(State.Input_Mode_Switch);
function Navigation_Mode_From_GS_Received return Boolean is
(State.Input_Navigation_Mode.Present);
function Navigation_Mode_From_GS return Navigation_Mode_Type is
(State.Input_Navigation_Mode.Content);
function Operating_Mode_From_CP return Navigation_Option_Type is
(ALTITUDE); -- ??? what is the default operating mode in A mode?
function Operating_Mode_From_GS_Received return Boolean is
(State.Input_Navigation_Option.Present);
function Operating_Mode_From_GS return Navigation_Option_Type is
(State.Input_Navigation_Option.Content);
function Navigation_Parameters_From_GS_Received return Boolean is
(State.Input_Navigation_Parameters.Present);
function Navigation_Parameters_From_GS return Navigation_Parameters_Type is
(State.Input_Navigation_Parameters.Content);
function USB_Key_Present return Boolean is
(State.Input_USB_Key.Present);
function Navigation_Parameters_From_USB_Key return Navigation_Parameters_Type is
(State.Input_USB_Key.Content);
function Mission_Abort_Received return Boolean is
(State.Input_Mission_Abort);
function Start_Or_Go_Received return Boolean is
(State.Input_Go or State.Input_Start_Push_Button);
function Current_Range return Current_Range_Type is
(State.Input_Current_Range);
function Current_Speed return Current_Speed_Type is
(State.Input_Current_Speed);
function Current_Altitude return Current_Altitude_Type is
(State.Input_Current_Altitude);
function Current_Flight_Phase return Flight_Phase_Type is
(State.Input_Current_Flight_Phase);
-------------------
-- Tasks of F_MM --
-------------------
function Navigation_Parameters return Navigation_Parameters_Type is
(State.Navigation_Parameters);
-- with Pre => Mission_Parameters_Defined;
procedure Management_Of_Navigation_Mode with
-- Compute the value of Navigation_Mode / Options / Parameters (see 6.9.4)
Post => Navigation_Mode =
-- In case of conflict on the navigation mode, CP prevails over GS.
(if Navigation_Mode_From_CP = A
or else not Navigation_Mode_From_GS_Received
then Navigation_Mode_From_CP
-- If CP states the mode to RC then GS can choose the navigation mode.
else Navigation_Mode_From_GS)
and then Operating_Mode =
(if Navigation_Mode = A
or else not Operating_Mode_From_GS_Received
then Operating_Mode_From_CP
else Operating_Mode_From_GS)
and then
(if Mission_Parameters_Defined then
Navigation_Parameters =
(if Navigation_Mode = A
or else not Navigation_Parameters_From_GS_Received
then Navigation_Parameters_From_USB_Key
else Navigation_Parameters_From_GS));
procedure Operating_Point_Update_Management with
-- Compute the value of Operating_Point
Global => (In_Out => Private_State),
Contract_Cases =>
(Navigation_Mode_From_CP = A
or else not Operating_Point_From_GS_Received
=>
Operating_Point = Operating_Point_From_USB_Key,
Pre =>
Mission_Parameters_Defined
and then Power_State = ON
and then On_State in INIT | RUNNING,
Navigation_Mode_From_CP = RP
and then Operating_Point_From_GS_Received
=>
-- F_MM ensures freeze of the operating point once landing is activated.
Post =>
(if Power_State = ON
and then On_State = RUNNING
and then Running_State = LANDING
then Operating_Point = Operating_Point'Old
else Operating_Point = Operating_Point_From_GS));
else Operating_Point = Operating_Point_From_Navigation_Parameters);
------------------------------
-- Mission_Viability_Logic --
------------------------------
function Mission_Profile return Mission_Profile_Type with
-- Assemble the mission profile
Pre => Power_State = ON,
-- and then Mission_Parameters_Defined
-- and then Payload_Mass_Given,
Post => Mission_Profile'Result =
(Mass => Payload_Mass,
Distance => Current_Range,
Altitude => Current_Altitude,
Speed => Current_Speed);
function Appropriate_Tabulating_Function return Viability_Domain_Mesh_Type
-- Select the tabulated function corresponding to the navigation mode
with
Pre => Power_State = ON
and then On_State in INIT | RUNNING,
Post => Appropriate_Tabulating_Function'Result =
(if On_State = INIT and then Navigation_Mode = A
then Data.Amode_Initial_Domain_Mesh
elsif On_State = INIT and then Navigation_Mode = RP
then Data.RPmode_Initial_Domain_Mesh
elsif Navigation_Mode = A
then Data.Amode_Cruise_Domain_Mesh
else Data.RPmode_Cruise_Domain_Mesh);
function Distance_With_Neighbour
(Neighbour : Mission_Profile_Type) return Mission_Profile_Distance_Type
with
Pre => Power_State = ON
and then On_State in INIT | RUNNING;
-- and then Mission_Parameters_Defined
-- and then Payload_Mass_Given;
-- Compute the distance between Mission_Profile and its Neighbour.
function Nearest_Neighbours return Neighbour_Mission_Profile_Array_Type with
-- Compute the nearest neighbous of Mission_Profile in
-- Appropriate_Tabulating_Function, and the distance of Mission_Profile to
-- its nearest neignbours.
Pre => Power_State = ON
and then On_State in INIT | RUNNING,
-- and then Mission_Parameters_Defined
-- and then Payload_Mass_Given,
Post =>
(for all Neighbour_Center of Nearest_Neighbours'Result =>
Neighbour_Center.Mission_Profile.M in
MMS.F_PT.Data.Payload_Mass_Grid'Range
and then Neighbour_Center.Mission_Profile.D in
Appropriate_Tabulating_Function'Range (1)
and then Neighbour_Center.Mission_Profile.A in
Appropriate_Tabulating_Function'Range (2)
and then Neighbour_Center.Mission_Profile.S in
Appropriate_Tabulating_Function'Range (3)
and then Neighbour_Center.Distance =
Distance_With_Neighbour
(Mission_Profile_Type'
(Mass =>
MMS.F_PT.Data.Payload_Mass_Grid
(Neighbour_Center.Mission_Profile.M),
Distance =>
Appropriate_Tabulating_Function
(Neighbour_Center.Mission_Profile.D,
Neighbour_Center.Mission_Profile.A,
Neighbour_Center.Mission_Profile.S).Distance,
Altitude =>
Appropriate_Tabulating_Function
(Neighbour_Center.Mission_Profile.D,
Neighbour_Center.Mission_Profile.A,
Neighbour_Center.Mission_Profile.S).Altitude,
Speed =>
Appropriate_Tabulating_Function
(Neighbour_Center.Mission_Profile.D,
Neighbour_Center.Mission_Profile.A,
Neighbour_Center.Mission_Profile.S).Speed)));
function Extract_Energy_Level_For_Neighbour
(Neighbour : Center_Mission_Profile_Type) return Energy_Level_Type
-- Extract energy level for the neighbour.
with
Pre => Power_State = ON
and then On_State in INIT | RUNNING,
Post => Extract_Energy_Level_For_Neighbour'Result =
(if On_State = INIT and then Navigation_Mode = A
then Data.Viability_Amode_Initial (M => Neighbour.M,
D => Neighbour.D,
A => Neighbour.A,
S => Neighbour.S)
elsif On_State = INIT and then Navigation_Mode = RP
then Data.Viability_RPmode_Initial (M => Neighbour.M,
D => Neighbour.D,
A => Neighbour.A,
S => Neighbour.S)
elsif Navigation_Mode = A
then Data.Viability_Amode_Cruise (M => Neighbour.M,
D => Neighbour.D,
A => Neighbour.A,
S => Neighbour.S)
else Data.Viability_RPmode_Cruise (M => Neighbour.M,
D => Neighbour.D,
A => Neighbour.A,
S => Neighbour.S));
procedure Mission_Viability_Logic with
-- Compute the value of Initial_Energy_Compatible_With_Mission and
-- In_Flight_Energy_Compatible_With_Mission.
Pre => Power_State = ON
and then On_State in INIT | RUNNING
and then (if On_State = INIT
then Mission_Parameters_Defined
and then Payload_Mass_Given
else Running_State = FLIGHT
and then Current_Flight_Phase = CRUISE);
end MMS.F_PT.F_MM.Behavior;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm-input.ads
View file @ 67c41184
......@@ -11,13 +11,13 @@ package MMS.F_PT.F_MM.Input is
-- From F_CM --
---------------
function Navigation_Parameters return Navigation_Parameters_Type
function Navigation_Parameters return Navigation_Parameters_Type_Option
renames MMS.F_PT.F_CM.Output.Navigation_Parameters;
function Navigation_Mode return Navigation_Mode_Type
function Navigation_Mode return Navigation_Mode_Type_Option
renames MMS.F_PT.F_CM.Output.Navigation_Mode;
function Navigation_Option return Navigation_Option_Type
function Navigation_Option return Navigation_Option_Type_Option
renames MMS.F_PT.F_CM.Output.Navigation_Option;
function Go return Boolean
......@@ -38,7 +38,7 @@ package MMS.F_PT.F_MM.Input is
function Payload_Mass return Payload_Mass_Type
renames MMS.F_PT.F_CM.Output.Payload_Mass;
function USB_Key return Navigation_Parameters_Type
function USB_Key return Navigation_Parameters_Type_Option
renames MMS.F_PT.F_CM.Output.USB_Key;
-----------------------
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm-state.ads
View file @ 67c41184
private
package MMS.F_PT.F_MM.State is
V : Integer with Part_Of => Private_State;
-----------------
-- Input_State --
-----------------
Input_Navigation_Parameters : Navigation_Parameters_Type_Option with
Part_Of => Input_State;
Input_Navigation_Mode : Navigation_Mode_Type_Option with
Part_Of => Input_State;
Input_Navigation_Option : Navigation_Option_Type_Option with
Part_Of => Input_State;
Input_Go : Boolean with Part_Of => Input_State;
Input_On_OFF_Push_Button : Boolean with Part_Of => Input_State;
Input_Start_Push_Button : Boolean with Part_Of => Input_State;
Input_Mode_Switch : Navigation_Mode_Type with Part_Of => Input_State;
Input_Bay_Switch : Bay_Switch_Type with Part_Of => Input_State;
Input_Payload_Mass : Payload_Mass_Type with Part_Of => Input_State;
Input_USB_Key : Navigation_Parameters_Type_Option with
Part_Of => Input_State;
Input_Mission_Abort : Boolean with Part_Of => Input_State;
Input_Estimated_Total_Mass : Estimated_Total_Mass_Type with
Part_Of => Input_State;
Input_Current_Range : Current_Range_Type with Part_Of => Input_State;
Input_Current_Speed : Current_Speed_Type with Part_Of => Input_State;
Input_Current_Altitude : Current_Altitude_Type with Part_Of => Input_State;
Input_Current_Flight_Phase : Flight_Phase_Type with Part_Of => Input_State;
Input_Energy_Level : Energy_Level_Type with Part_Of => Input_State;
-------------------
-- Private_State --
-------------------
Navigation_Mode : Navigation_Mode_Type with Part_Of => Private_State;
Operating_Mode : Navigation_Option_Type with Part_Of => Private_State;
Navigation_Parameters : Navigation_Parameters_Type with
Part_Of => Private_State;
Operating_Point : Operating_Point_Type with Part_Of => Private_State;
Initial_Energy_Compatible_With_Mission : Boolean with
Part_Of => Private_State;
In_Flight_Energy_Compatible_With_Mission : Boolean with
Part_Of => Private_State;
Descent_Over : Boolean with Part_Of => Private_State;
------------------
-- Output_State --
------------------
Output_Mission_Cancelled : Boolean with Part_Of => Output_State;
Output_Mission_Complete : Boolean with Part_Of => Output_State;
Output_Mission_Aborted : Boolean with Part_Of => Output_State;
Output_Emergency_Landing : Boolean with Part_Of => Output_State;
Output_Start_Take_Off : Boolean with Part_Of => Output_State;
Output_Start_Landing : Boolean with Part_Of => Output_State;
Output_Operating_Point : Operating_Point_Type with Part_Of => Output_State;
Output_Operating_Mode : Navigation_Option_Type with Part_Of => Output_State;
Output_Mission_Range : Current_Range_Type with Part_Of => Output_State;
end MMS.F_PT.F_MM.State;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm.adb 0 → 100644
View file @ 67c41184
with MMS.F_PT.F_MM.State; use MMS.F_PT.F_MM.State;
package body MMS.F_PT.F_MM with
SPARK_Mode,
Refined_State => (Input_State => (Input_Navigation_Parameters,
Input_Navigation_Mode,
Input_Navigation_Option,
Input_Go,
Input_On_OFF_Push_Button,
Input_Start_Push_Button,
Input_Mode_Switch,
Input_Bay_Switch,
Input_Payload_Mass,
Input_USB_Key,
Input_Mission_Abort,
Input_Estimated_Total_Mass,
Input_Current_Range,
Input_Current_Speed,
Input_Current_Altitude,
Input_Current_Flight_Phase,
Input_Energy_Level),
Output_State => (Output_Mission_Cancelled,
Output_Mission_Complete,
Output_Mission_Aborted,
Output_Emergency_Landing,
Output_Start_Take_Off,
Output_Start_Landing,
Output_Operating_Point,
Output_Operating_Mode,
Output_Mission_Range),
Private_State => (Navigation_Mode,
Operating_Mode,
Navigation_Parameters,
Operating_Point,
Initial_Energy_Compatible_With_Mission,
In_Flight_Energy_Compatible_With_Mission,
Descent_Over))
is
end MMS.F_PT.F_MM;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_mm.ads
View file @ 67c41184
with Types; use Types;
package MMS.F_PT.F_MM with Abstract_State => (Private_State, Output_State) is
package MMS.F_PT.F_MM with
SPARK_Mode,
Abstract_State => (Private_State, Output_State, Input_State)
is
pragma Elaborate_Body (MMS.F_PT.F_MM);
type Viability_Cell_Center_Type is record
......@@ -24,4 +27,28 @@ package MMS.F_PT.F_MM with Abstract_State => (Private_State, Output_State) is
type Glide_Domain_Mesh_Type is array
(Glide_Altitude_Center range <>) of Current_Altitude_Type;
type Mission_Profile_Type is record
Mass : Payload_Mass_Type;
Distance : Current_Range_Type;
Altitude : Current_Altitude_Type;
Speed : Current_Speed_Type;
end record;
type Center_Mission_Profile_Type is record
M : Payload_Mass_Center;
D : Viability_Distance_Center;
A : Viability_Altitude_Center;
S : Viability_Speed_Center;
end record;
type Mission_Profile_Distance_Type is new Natural;
type Neighbour_Mission_Profile_Type is record
Mission_Profile : Center_Mission_Profile_Type;
Distance : Mission_Profile_Distance_Type;
end record;
type Neighbour_Mission_Profile_Array_Type is array (Positive range 1 .. 16)
of Neighbour_Mission_Profile_Type;
end MMS.F_PT.F_MM;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-input.ads
View file @ 67c41184
......@@ -9,13 +9,13 @@ package MMS.F_PT.Input is
-- From MMS --
--------------
function Navigation_Parameters return Navigation_Parameters_Type
function Navigation_Parameters return Navigation_Parameters_Type_Option
renames MMS.Input.Navigation_Parameters;
function Navigation_Mode return Navigation_Mode_Type
function Navigation_Mode return Navigation_Mode_Type_Option
renames MMS.Input.Navigation_Mode;
function Navigation_Option return Navigation_Option_Type
function Navigation_Option return Navigation_Option_Type_Option
renames MMS.Input.Navigation_Option;
function Go return Boolean
......@@ -39,7 +39,7 @@ package MMS.F_PT.Input is
function Payload_Mass return Payload_Mass_Type
renames MMS.Input.Payload_Mass;
function USB_Key return Navigation_Parameters_Type
function USB_Key return Navigation_Parameters_Type_Option
renames MMS.Input.USB_Key;
function P return Distance_Type
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-input.ads
View file @ 67c41184
......@@ -7,13 +7,13 @@ package MMS.Input is
-- Ground-based Mission Preparation and Supervision --
------------------------------------------------------
function Navigation_Parameters return Navigation_Parameters_Type
function Navigation_Parameters return Navigation_Parameters_Type_Option
renames External.Navigation_Parameters;
function Navigation_Mode return Navigation_Mode_Type
function Navigation_Mode return Navigation_Mode_Type_Option
renames External.Navigation_Mode;
function Navigation_Option return Navigation_Option_Type
function Navigation_Option return Navigation_Option_Type_Option
renames External.Navigation_Option;
function Go return Boolean renames External.Go;
......@@ -39,7 +39,7 @@ package MMS.Input is
function Payload_Mass return Payload_Mass_Type
renames External.Payload_Mass;
function USB_Key return Navigation_Parameters_Type
function USB_Key return Navigation_Parameters_Type_Option
renames External.USB_Key;
-------------------------
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/types.ads
View file @ 67c41184
......@@ -16,22 +16,47 @@ package Types is
Altitude : Altitude_Input_Type;
end record;
type Navigation_Parameters_Type_Option (Present : Boolean := False) is record
case Present is
when True =>
Content : Navigation_Parameters_Type;
when False =>
null;
end case;
end record;
type Navigation_Mode_Type is (RP, A);
type Navigation_Mode_Type_Option (Present : Boolean := False) is record
case Present is
when True =>
Content : Navigation_Mode_Type;
when False =>
null;
end case;
end record;
type Navigation_Option_Type is (SPEED, ALTITUDE, ENERGY);
type Navigation_Option_Type_Option (Present : Boolean := False) is record
case Present is
when True =>
Content : Navigation_Option_Type;
when False =>
null;
end case;
end record;
type Bay_Switch_Type is (OPEN, CLOSED);
type Payload_Mass_Type is new Integer range 0 .. 98; -- in kg
type Distance_Type is new Float; -- type of P, unit and bounds ???
type Speed_Type is new Float; -- type of P_Dot, unit and bounds ???
type Speed_Type is new Float; -- type of P_Dot and Q_Dot, in angle.s-1, bounds ???
type Angle_Type is new Float; -- type of Q, unit and bounds ???
type Angular_Speed_Type is new Float; -- type of Q_Dot, unit and bounds ???
type Rotactor_Type is range 0 .. 9;
type CP_Switches_Type is record
......
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