| Nr | Name | Value | Previous Value |
|---|---|---|---|
| 1 | battery | ? | ? |
| 2 | battery_actual | ? | ? |
| 3 | concrete_position | ? | ? |
| 4 | current_position | ? | ? |
| 5 | current_time | ? | ? |
| 6 | cycle | ? | ? |
| 7 | emergency_mode | ? | ? |
| 8 | field | ? | ? |
| 9 | init | ? | ? |
| 10 | last_time | ? | ? |
| 11 | mission_failed | ? | ? |
| 12 | mode | ? | ? |
| 13 | position_actual | ? | ? |
| 14 | reward | ? | ? |
| 15 | sensor_data_actual | ? | ? |
| 16 | socket | ? | ? |
| 17 | visited | ? | ? |
| Nr | Name | Value |
|---|---|---|
| 1 | JsonValue | /*@symbolic*/ {`_freetype_arg1`|(`_freetype_arg1` : ran(JsonNumber) => (JsonNumber~)(`_freetype_arg1`) : FLOAT) & (`_freetype_arg1` : ran(JsonArray) => (JsonArray~)(`_freetype_arg1`) : seq(recursive.`2`)) & (`_freetype_arg1` : ran(JsonObject) => (JsonObject~)(`_freetype_arg1`) : STRING +-> recursive.`2`)} |
| 2 | JsonNull | JsonNull |
| 3 | JsonBoolean | /*@symbolic*/ {`_constr_arg3`,`_constr_res4`|`_constr_res4` = JsonBoolean(`_constr_arg3`)} |
| 4 | JsonNumber | /*@symbolic*/ %`_constr_arg5`.(`_constr_arg5` : FLOAT|JsonNumber(`_constr_arg5`)) |
| 5 | JsonString | /*@symbolic*/ {`_constr_arg7`,`_constr_res8`|`_constr_res8` = JsonString(`_constr_arg7`)} |
| 6 | JsonArray | /*@symbolic*/ %`_constr_arg9`.(`_constr_arg9` : seq(/*@symbolic*/ {`_freetype_arg1`|(`_freetype_arg1` : ran(JsonNumber) => (JsonNumber~)(`_freetype_arg1`) : FLOAT) & (`_freetype_arg1` : ran(JsonArray) => (JsonArray~)(`_freetype_arg1`) : seq(recursive.`2`)) & (`_freetype_arg1` : ran(JsonObject) => (JsonObject~)(`_freetype_arg1`) : STRING +-> recursive.`2`)})|JsonArray(`_constr_arg9`)) |
| 7 | JsonObject | /*@symbolic*/ %`_constr_arg11`.(`_constr_arg11` : STRING +-> /*@symbolic*/ {`_freetype_arg1`|(`_freetype_arg1` : ran(JsonNumber) => (JsonNumber~)(`_freetype_arg1`) : FLOAT) & (`_freetype_arg1` : ran(JsonArray) => (JsonArray~)(`_freetype_arg1`) : seq(recursive.`2`)) & (`_freetype_arg1` : ran(JsonObject) => (JsonObject~)(`_freetype_arg1`) : STRING +-> recursive.`2`)}|JsonObject(`_constr_arg11`)) |
| 8 | RpcResult | /*@symbolic*/ {`_freetype_arg13`|`_freetype_arg13` : ran(RpcSuccess) => (RpcSuccess~)(`_freetype_arg13`) : /*@symbolic*/ {`_freetype_arg1`|(`_freetype_arg1` : ran(JsonNumber) => (JsonNumber~)(`_freetype_arg1`) : FLOAT) & (`_freetype_arg1` : ran(JsonArray) => (JsonArray~)(`_freetype_arg1`) : seq(recursive.`2`)) & (`_freetype_arg1` : ran(JsonObject) => (JsonObject~)(`_freetype_arg1`) : STRING +-> recursive.`2`)}} |
| 9 | RpcSuccess | /*@symbolic*/ %`_constr_arg15`.(`_constr_arg15` : /*@symbolic*/ {`_freetype_arg1`|(`_freetype_arg1` : ran(JsonNumber) => (JsonNumber~)(`_freetype_arg1`) : FLOAT) & (`_freetype_arg1` : ran(JsonArray) => (JsonArray~)(`_freetype_arg1`) : seq(recursive.`2`)) & (`_freetype_arg1` : ran(JsonObject) => (JsonObject~)(`_freetype_arg1`) : STRING +-> recursive.`2`)}|RpcSuccess(`_constr_arg15`)) |
| 10 | RpcError | /*@symbolic*/ {`_constr_arg17`,`_constr_res18`|`_constr_res18` = RpcError(`_constr_arg17`)} |
| 11 | BATTERY_STEP | 2 |
| 12 | WIDTH | 5 |
| 13 | DEPTH | 5 |
| 14 | BASE_POSITION | (2|->1) |
| 15 | CONCRETE_DEPTH | 3000 |
| 16 | MAP_TO_ABSTRACT_POS | /*@symbolic*/ %p.(p : INTEGER|(IF p >= 0 THEN p / 600 + 1 ELSE p / 600 END)) |
| 17 | SAFETY_DISTANCE | 0 |
| 18 | GRID_SIZE | 600 |
| 19 | CONCRETE_WIDTH | 3000 |
| 20 | DroneCommunicator_Param.drone_url | "radio://0/80/2M/5700B500F3" |
| Nr | Name | Value |
|---|---|---|
| 1 | MODES | {LANDED,FLYING,FINISHED} |
| 2 | INT | (-1 .. 3) |
| Nr | Name | Enabled |
|---|---|---|
| 1 | MAIN_TAKEOFF | ? |
| 2 | MAIN_LEFT | ? |
| 3 | MAIN_RIGHT | ? |
| 4 | MAIN_FORWARD | ? |
| 5 | MAIN_BACKWARD | ? |
| 6 | MAIN_LAND | ? |
| 7 | MAIN_OBSERVE | ? |
| 8 | MAIN_SYNCHRONIZE_BATTERY | ? |
| 9 | MAIN_UPDATE_POSITION | ? |
| Nr | Event | Target State ID |
|---|---|---|
| 1 | SETUP_CONSTANTS(BASE_POSITION=(2↦1)) | State 1 |
| 2 | INITIALISATION(battery=100,battery_actual=FALSE,concrete_position=(600↦0),current_position=(2↦1),current_time=0,cycle=1,... | |
| 3 | MAIN_SYNCHRONIZE_BATTERY | |
| 4 | MAIN_TAKEOFF | |
| 5 | MAIN_SYNCHRONIZE_BATTERY | |
| 6 | MAIN_UPDATE_POSITION | |
| 7 | MAIN_SYNCHRONIZE_BATTERY | |
| 8 | MAIN_OBSERVE | |
| 9 | MAIN_SYNCHRONIZE_BATTERY | |
| 10 | MAIN_LEFT(concrete_position=(2400↦353),reward=4.5) | |
| 11 | MAIN_SYNCHRONIZE_BATTERY | |
| 12 | MAIN_UPDATE_POSITION | |
| 13 | MAIN_SYNCHRONIZE_BATTERY | |
| 14 | MAIN_OBSERVE | |
| 15 | MAIN_SYNCHRONIZE_BATTERY | |
| 16 | MAIN_RIGHT(concrete_position=(1800↦486),reward=-0.1530612244897959) | |
| 17 | MAIN_SYNCHRONIZE_BATTERY | |
| 18 | MAIN_UPDATE_POSITION | |
| 19 | MAIN_SYNCHRONIZE_BATTERY | |
| 20 | MAIN_OBSERVE | |
| 21 | MAIN_SYNCHRONIZE_BATTERY | |
| 22 | MAIN_LAND(reward=37.5) |