Spanda/examples/features/decision_tree_options.sd at main · Davalgi/Spanda · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
// Feature options: decision_tree — scopes, version, signature, nested branches
//
// Scopes: reflex | local | fleet
// Tree fields: version, signature, when { if/else if/else, actions }
//
//   spanda check examples/features/decision_tree_options.sd
//   spanda decision list examples/features/decision_tree_options.sd
//   spanda decision inspect examples/features/decision_tree_options.sd --entity Rover
//   spanda decision sign-tree examples/features/decision_tree_options.sd --tree GPSLossRecovery --write-cache
//
// Docs: docs/distributed-decisions.md · docs/local-decision-trees.md

robot Rover {
    local_decision_authority [
        emergency_stop,
        obstacle_avoidance,
        degraded_mode,
        return_home,
        sensor_failover,
        reduce_speed
    ];
    requires_central_approval [
        resume_high_risk_mission,
        override_safety_policy,
        disable_kill_switch,
        update_firmware
    ];

    sensor gps: GPS;
    sensor lidar: Lidar;
    actuator wheels: DifferentialDrive;
    mode degraded { }
    mode safe { }
    safety { max_speed = 1.0 m/s; }

    behavior patrol() {
        loop every 50ms { }
    }
}

decision_tree ObstacleReflex reflex {
    version = "1.0.0";
    when obstacle.detected {
        stop_motor;
        cut_actuator_power;
    }
}

decision_tree GPSLossRecovery local {
    version = "1.0.0";
    when gps.status == Failed {
        if visual_odometry.available {
            switch_to visual_odometry;
            reduce_speed 0.5 m/s;
            enter degraded_mode;
        } else if operator.available {
            request_takeover;
        } else {
            pause_mission;
            enter safe_mode;
        }
    }
}

decision_tree FleetReassign fleet {
    version = "1.0.0";
    when coordinator.status == Failed {
        promote backup coordinator;
        reassign mission;
    }
}

offline_policy RoverOffline {
    max_duration = 45 min;
    policy_version = "1.0.0";
    allowed_actions [
        continue_current_safe_mission,
        return_home,
        pause_mission,
        enter_degraded_mode,
        reduce_speed
    ];
    forbidden_actions [
        start_new_high_risk_mission,
        disable_safety,
        accept_unknown_device
    ];
}

fleet PatrolFleet {
    Rover;
}