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
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
|
/*******************************************************************************/
/* 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 <assert.h>
#include <stdio.h>
#include <stdlib.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);
}
}
|
