Layer2_MMS_SW_SPARK: continue the specification of F_MM

UseCaseDevelopment/Layer2_MMS_SW_SPARK/external.ads

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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-input.ads

@@ -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

 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

+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

 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

@@ -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

@@ -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

@@ -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