"{ Package: 'stx:goodies/petitparser/compiler/tests/extras' }"

"{ NameSpace: Smalltalk }"

TestResource subclass:#PPCLRPSourcesResource

	instanceVariableNames:'sources'

	classVariableNames:''

	poolDictionaries:''

	category:'PetitCompiler-Extras-Tests-LRP'

!

!PPCLRPSourcesResource methodsFor:'accessing'!

sources

    sources isNil ifTrue:[ 

        sources := #(

            doranewbridge

            doraultratouch

            escapament

            follower

            linebounderfollower

            linecrossfollower

            rtimer

            stairsclimber

            stopwatch

            timer

        ) collect:[:e | self perform: e].                

    ].

    ^ sources

    "Created: / 30-07-2015 / 19:04:04 / Jan Vrany <jan.vrany@fit.cvut.cz>"

! !

!PPCLRPSourcesResource methodsFor:'sources - individual'!

doranewbridge

^ ';; A Random Space Explorer behavior for a differential drive robot

;; Wall collisions are detected with the ultrasonic sensor

(var speed :=[20])

(var timeout := [1000 atRandom])

(machine Dora

  (state forward

    (onentry [

      robot motorA startAtSpeed: speed.

      robot motorD startAtSpeed: speed.

    ])

    (onexit [robot fullStop]))

  (state shock

    (onentry [

      robot motorA startAtSpeed: speed negated.

      robot motorD startAtSpeed: speed negated.

    ])

    (onexit [robot fullStop]))

  (state turn

    (onentry [

      robot motorA startAtSpeed: speed.

      robot motorD startAtSpeed: speed negated

    ])

    (onexit [

      robot fullStop.

      timeout := 1000 atRandom

    ]))

  (ontime 500 shock -> turn st)

  (ontime timeout turn -> forward tf)

  (on tooclose forward -> shock fs)

  (event tooclose [robot sensor2 read < 200])

)

(spawn Dora forward)

'

    "Created: / 30-07-2015 / 17:39:53 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

doraultratouch

^ ';; A Random Space Explorer behavior for a differential drive robot

;; Wall collisions are detected with the ultrasonic sensor and touch sensors

(var speed :=[20])

(var timeout := [1000 atRandom])

(machine Dora

  (state forward

    (onentry [

      robot motorA startAtSpeed: speed.

      robot motorD startAtSpeed: speed.

    ])

    (onexit [robot fullStop]))

  (state shock

    (onentry [

      robot motorA startAtSpeed: speed negated.

      robot motorD startAtSpeed: speed negated.

    ])

    (onexit [robot fullStop]))

  (state turn

    (onentry [

      robot motorA startAtSpeed: speed.

      robot motorD startAtSpeed: speed negated

    ])

    (onexit [

      robot fullStop.

      timeout := 1000 atRandom

    ]))

  (ontime 500 shock -> turn st)

  (ontime timeout turn -> forward tf)

  (on tooclose forward -> shock fs)

  (on shockLeft forward -> shock sl)

  (on shockRight forward -> shock sf)

  (event tooclose [robot sensor2 read < 200])

  (event shockLeft [robot sensor4 read = 1])

  (event shockRight [robot sensor1 read = 1])

)

(spawn Dora forward)

'

    "Created: / 30-07-2015 / 17:40:24 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

escapament

^ ';;; A simple escapement

(machine esc

        (state tick)

        (state tock)

        (ontime 500 tick -> tock tito)

        (ontime 500 tock -> tick toti)

)

(spawn esc tick)'

    "Created: / 30-07-2015 / 17:37:52 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

follower

^ ';; A line follower for a differential drive robot

;; Uses the Lego color sensor,

;; position is front and center, and pointed to the line (down)

(var sensor := [robot sensor3])

(var mright := [robot motorA])

(var mleft := [robot motorD])

(var speed := [4])

(machine follower

        (state init

                (onentry [sensor setMode: #Mode2])

        )

        (state moving

                (onentry [

                        mright startAtSpeed: speed * 2.

                        mleft startAtSpeed: speed * 2.

                        ])

                (onexit [robot fullStop])

        )

        (state looking

                (machine lookalgo

                        (var looktime := [1000])

                        (state lookright

                                (onentry 

                                        [mright startAtSpeed: speed negated.

                                        mleft startAtSpeed: speed.]))

                        (state lookleft

                                )

                        (state centerfromright

                                (onentry 

                                        [mright startAtSpeed: speed.

                                        mleft startAtSpeed: speed negated.]))

                        (state centerfromleft

                                (onentry 

                                        [mright startAtSpeed: speed negated.

                                        mleft startAtSpeed: speed.])

                                (onexit [looktime := looktime * 2]))

                        (ontime looktime lookright -> centerfromright tlrb)

                        (ontime looktime centerfromright -> lookleft tlr)

                        (ontime looktime lookleft -> centerfromleft tfail)

                        (ontime looktime centerfromleft -> lookright tfailb)

                        )

                (onentry (spawn lookalgo lookright))

                )

        (eps init -> moving tinit)

        (on out moving -> looking tms)

        (event out [(sensor read = 1) not])

        (event in  [sensor read = 1])

        (on in looking -> moving tsm)

)

(spawn follower init)

'

    "Created: / 30-07-2015 / 17:40:43 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

linebounderfollower

^ ';; Line following robot for a differential drive robot

;;; that "bounces" off the left hand side of the line

;; Uses the Lego color sensor,

;; position is front and center, and pointed to the line (down)

(var sensor := [robot sensor3])

(var mright := [robot motorA])

(var mleft := [robot motorD])

(machine linebounce

        (state init

                (onentry [sensor setMode: #Mode2.]))

        (eps init -> white iw)

        (state white

                (onentry [

                        mright startAtSpeed: 4.

                        mleft startAtSpeed: 18])

                (onexit [mright stop. mleft stop]))

        (state black

                (onentry [

                        mright startAtSpeed: 10.

                        mleft startAtSpeed: -4])

                (onexit [mright stop. mleft stop]))

        (on seeblack white -> black wb)

        (on seewhite black -> white bw)

        (event seeblack [sensor read = 1])

        (event seewhite [(sensor read = 1) not])

)

(spawn linebounce init)

'

    "Created: / 30-07-2015 / 17:41:23 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

linecrossfollower

^ ';;; Line following for a differential drive robot

;;; goes forward by always crossing the line

;; Uses the Lego color sensor,

;; position is front and center, and pointed to the line (down)

(var sensor := [robot sensor3])

(var mright := [robot motorA])

(var mleft := [robot motorD])

(var speed := [15])

(machine linecross

        (state left

                (onentry [mright startAtSpeed: speed]))

        (state crossfl  

                (onexit [mright stop]))

        (state right

                (onentry [mleft startAtSpeed: speed]))

        (state crossfr

                (onexit [mleft stop]))  

        (on black right -> crossfr rlx)

        (on black left -> crossfl lrx)

        (on white crossfr -> left rl)

        (on white crossfl -> right lr)

        (event black [sensor read = 1])

        (event white [(sensor read = 1) not])

)

(spawn linecross left)

'

    "Created: / 30-07-2015 / 17:41:46 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

rtimer

^ ';;a resettable timer with 10 sec intervals

(var minute := [0])

(machine rtimer

        (state zero)

        (state ten)

        (state twenty)

        (state thirty)

        (state fourty)

        (state fifty

                (onexit [minute := minute + 1]))

        (ontime 10000 zero -> ten toten)

        (ontime 10000 ten -> twenty totwenty)

        (ontime 10000 twenty -> thirty tothirty)

        (ontime 10000 thirty -> fourty tofourty)

        (ontime 10000 fourty -> fifty tofifty)

        (ontime 10000 fifty -> zero tozero)

        (var doreset := [0])

        (state init

                (onentry [minute := 0.

                        doreset := 0]))

        (on resetting *-> init reset)

        (eps init -> zero go)

        (event resetting [doreset = 1])

)

(spawn rtimer zero)

'

    "Created: / 30-07-2015 / 17:38:19 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

stairsclimber

^ ';;; A stairs climber building using the MindStorm expansion set

;;; Use the new JetStorm Bridge funcionality

;;; Use ontime transition to estimate the second step of the climbing

;;; Watch example in: http://youtu.be/6HXcKwMO8Fo

(var backWheelsSpeed := [-50])

(var frontWheelsSpeed := [-50])

(var climbSpeed := [-50])

(var startGyro := [0])

(var deltaGyro := [4])

(machine Stair

  (state forward

    (onentry [

      robot motorA startAtSpeed: backWheelsSpeed.

      robot motorB startAtSpeed: frontWheelsSpeed.

      startGyro := robot sensor2 read.

      ]

    )

    (onexit [

      robot fullStop.

      ]

    )

  )

  (state climb

    (onentry [

      robot motorD startAtSpeed: climbSpeed.

      robot motorB startAtSpeed: frontWheelsSpeed.

      ]

    )

    (onexit [

      robot fullStop.

      ]

    )

  )

  (state forward2

    (onentry [

      robot motorA startAtSpeed: backWheelsSpeed.

      robot motorB startAtSpeed: frontWheelsSpeed.

      ]

    )

  )

  (state climb2

    (onentry [

      robot motorD startAtSpeed: climbSpeed negated.

      ]

    )

    (onexit [

      robot fullStop 

      ]

    )

  )

  (state stop

    (onentry [robot fullStop])

  )

  (on incline forward -> climb incline)

  (on finishClimb climb -> forward2 finishClimb)

  (event finishClimb [robot sensor3 read == 1])

  (event incline [robot sensor2 read > (deltaGyro + startGyro)])

  (ontime 3000 forward2 -> climb2 for2)

  (ontime 6000 climb2 -> forward loop)

)

(spawn Stair forward)

'

    "Created: / 30-07-2015 / 17:42:09 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

stopwatch

^ ';; A stopwatch.

;; Inspect the variables start and reset,

;; and from the inspectors change the values

(machine stopwatch

        (var start := [false])

        (var reset := [false])

        (var seconds := [0])

        (state waiting )

        (on e_starting waiting -> tick t_st)

        (event e_starting [start])

        (state tick)

        (state tock (onexit [seconds := seconds + 1]))

        (ontime 500 tick -> tock t_tito)

        (ontime 500 tock -> tick t_toti)

        (on e_reset *-> resetting t_reset)

        (event e_reset [reset])

        (state resetting

                (onentry [reset := false. seconds := 0] ))

        (eps resetting -> tick t_et)

        (on e_stop *-> waiting t_es)

        (event e_stop [start not])

)

(spawn stopwatch waiting)

'

    "Created: / 30-07-2015 / 17:38:49 / Jan Vrany <jan.vrany@fit.cvut.cz>"

!

timer

^ ';; a timer with 10 sec intervals

(var minute := [0])

(machine timer

        (state zero)

        (state ten)

        (state twenty)

        (state thirty)

        (state fourty)

        (state fifty

                (onexit [minute := minute + 1]))

        (ontime 10000 zero -> ten toten)

        (ontime 10000 ten -> twenty totwenty)

        (ontime 10000 twenty -> thirty tothirty)

        (ontime 10000 thirty -> fourty tofourty)

        (ontime 10000 fourty -> fifty tofifty)

        (ontime 10000 fifty -> zero tozero)

)

(spawn timer zero)

'

    "Created: / 30-07-2015 / 17:39:06 / Jan Vrany <jan.vrany@fit.cvut.cz>"

! !