rover-demo-plan-autorun.ple

Date Lookup time;
Command pprint (...);
Integer Lookup StartRequested;
Integer Lookup AbortRequested;

Command TurnFrontWheels(Integer);
Command TurnRearWheels(Integer); 
Command MoveForward(Integer); 
Command MoveBackward(Integer); 
Command Stop();

CountIteration:
{
    
    Integer stepsCount=0;
    Boolean continue = true;
    Boolean tickCont = true;
    Boolean abortedPlan=false;
    Boolean succeedPlan=false;
    Duration delay = Duration ("PT0.5S");
    Duration tolerance = Duration ("PT0.1S");

    End abortedPlan || succeedPlan ;


    Concurrence{
        AbortedPlanHandler:{
            Start Lookup(AbortRequested)==1;
            pprint ("Plan abortion requested.");
            Stop();
            abortedPlan=true;
        }

        PlanSuccessHandler:{
            Start MainPlan.state==FINISHED && MainPlan.outcome==SUCCESS;
            Stop();
            pprint ("Plan success!.");
            succeedPlan=true;
        }

        MainPlan:
        {
            Concurrence{
                obstacleCheck:
                {            
                    Start planSequence.state==FINISHED;                    
                    pprint ("Plan executed succesfully.");
                }

                planSequence:
                {            

                    Sequence{

                        StepOne:{
                            pprint ("Driving forward for 5 seconds.");
                            MoveForward(20);
                            WaitABit:{                    
                                Wait (delay*10),tolerance;
                            }                                    
                        }
                        StepTwo:{
                            pprint ("Turning front wheels 30 degrees and continue for 2 seconds.");
                            TurnFrontWheels(30);
                            WaitABit:{                    
                                Wait (delay*4),tolerance;
                            }                                    
                        }
                        StepThree:{
                            pprint ("Return front wheels to 0 degrees, and keep driving for 3 seconds.");
                            WaitABit:{                    
                                Wait (delay*6),tolerance;
                            }                                    
                        }
                        StepFour:{
                            pprint ("Stop.");
                            Stop();
                        }


                    }
                }
            }
        }



    }
}