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Project Status Self navigating vehicle Jakob Venning, 20043782.

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Presentation on theme: "Project Status Self navigating vehicle Jakob Venning, 20043782."— Presentation transcript:

1 Project Status Self navigating vehicle Jakob Venning,

2 Agenda Class redefinition Class redefinition Test Test Current problems/tool observations Current problems/tool observations Considerations Considerations

3 Modifications Obstacle is now a class Obstacle is now a class TestController added TestController added Generel testoperations added - set operations, operation body Generel testoperations added - set operations, operation body

4 Class overview

5 TestControl 1. class TestController 2. instance variables 3. osensor : ObstacleSensor := new ObstacleSensor(); 4. brake : EmergencyBrake := new EmergencyBrake(); 5. psensor: PositionSensor := new PositionSensor(); 6. steering: SteeringController := new SteeringController(); 7. journeyPlan : seq1 of Point := [new Point(0,0),new Point(4,4)]; 8. control : Controller; 9. operations 10. public Run: () ==> Controller 11. Run() == 12. ( 13. return new Controller(osensor, brake, psensor, steering, journeyPlan); 14. ); 15. public Run2: () ==> () 16. Run2() == 17. ( 18. Debug`Print("Run2 er blevet kaldt"); 19. Debug`Print("Current position is set to 0,0"); 20. psensor.SetPosition(0,0); 21. psensor.SetDirection(4,4); 22. osensor.SetObstacles( {new Obstacle(3,3), new Obstacle(3,4) } ); 23. control := new Controller(osensor, brake, psensor, steering, journeyPlan); 24. start(control); 25. while not control.journeyComplete do 26. let 1 = 1 in skip; 27. ) 28. end TestController

6 Test – Threads

7 Current problems How to test threads How to test threads Script print out, vppde print operation return values Script print out, vppde print operation return values Viewing run-time behavior is cumbersome Viewing run-time behavior is cumbersome

8 Considerations Use GUI debugger instead Use GUI debugger instead Disable thread support, use sequential input Disable thread support, use sequential input Project is limited to get Robot example as running example Project is limited to get Robot example as running example

9 Summary Class redefinition Class redefinition Modifications of Robot Control Modifications of Robot Control Current problems/tool observations Current problems/tool observations Considerations Considerations


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