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/*******************************************************************************/
/* Cruise controller */
/* Author: Peter Schrammel */
/*******************************************************************************/
/* modelled after */
/* Robert Bosch GmbH: Bosch Automotive Handbook. Bentley (2007) */
/* if you reuse this code, please cite also */
/* Peter Schrammel, Tom Melham, Daniel Kroening. Chaining Test Cases for
Reactive System Testing. In Testing Software and Systems
LNCS Volume 8254, 2013, pp 133-148 */
/*******************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
typedef struct state {
int mode;
int speed;
int button;
} t_state;
#define I_BUTTON 1
#define I_ACC 2
#define I_DEC 3
#define I_GAS 4
#define I_BRAKE 5
typedef struct input {
int signal;
} t_input;
void init(t_state *s) {
s->mode = 0;
s->speed = 0;
s->button = 0;
}
void compute(t_input* i, t_state *s) {
if((s->mode==0) && (s->speed==0) && (s->button==0)) {
if((i->signal==I_ACC)||(i->signal==I_GAS)) s->speed=1;
else if(i->signal==I_BUTTON) s->button=1;
}
else if((s->mode==0) && (s->speed==1) && (s->button==0)) {
if((i->signal==I_BRAKE)||(i->signal==I_DEC)) s->speed=0;
else if((i->signal==I_GAS)||(i->signal==I_ACC)) s->speed=2;
else if(i->signal==I_BUTTON) { s->button=1; s->mode=1; }
}
else if((s->mode==0) && (s->speed==0) && (s->button==1)) {
if((i->signal==I_GAS)||(i->signal==I_ACC)) {s->speed=1; s->mode=1; }
else if(i->signal==I_BUTTON) s->button=0;
}
else if((s->mode==1) && (s->speed==1) && (s->button==1)) {
if(i->signal==I_GAS) { s->speed=2; s->mode=2; }
else if(i->signal==I_BRAKE) { s->speed=0; s->mode=2; }
else if(i->signal==I_BUTTON) { s->mode=0; s->button=0; }
}
else if((s->mode==2) && (s->speed==2) && (s->button==1)) {
if((i->signal==I_BRAKE)||(i->signal==I_DEC)) { s->speed=1; s->mode=1; }
else if(i->signal==I_BUTTON) { s->mode=0; s->button=0; }
}
else if((s->mode==2) && (s->speed==0) && (s->button==1)) {
if((i->signal==I_GAS)||(i->signal==I_ACC)) { s->speed=1; s->mode=1; }
else if(i->signal==I_BUTTON) { s->mode=0; s->button=0; }
}
else if((s->mode==0) && (s->speed==2) && (s->button==0)) {
if((i->signal==I_BRAKE)||(i->signal==I_DEC)) s->speed=1;
else if(i->signal==I_BUTTON) s->button=1;
}
else if((s->mode==0) && (s->speed==2) && (s->button==1)) {
if((i->signal==I_BRAKE)||(i->signal==I_DEC)) { s->speed=1; s->mode=1; }
else if(i->signal==I_BUTTON) s->button=0;
}
}
extern t_input nondet_input();
void main() {
t_state s;
init(&s);
while(1) {
t_input i = nondet_input();
__CPROVER_assume((1<=i.signal) && (i.signal<=5));
t_state s_old = s;
compute(&i,&s);
assert(!(s_old.mode==2 && s_old.speed==2 && i.signal==I_DEC) ||
s.mode==1);
}
}
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