hg/stx-goodies-petitparser: comparison compiler/tests/extras/PPCLRPSourcesResource.st

equal deleted inserted replaced

-:1e45d3c96ec5
+:b5316ef15274
+"{ 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>"
+! !
+!PPCLRPSourcesResource class methodsFor:'documentation'!
+version_HG
+^ '$Changeset: <not expanded> $'
+! !

changeset 515	b5316ef15274
child 516	3b81c9e53352