Changes: Inference engine works fine with the JavaNator benchmark. Found some problem...

[IRC.git] / Robust / src / Benchmarks / SSJava / JavaNatorInfer / HWSimulator.java

diff --git a/Robust/src/Benchmarks/SSJava/JavaNatorInfer/HWSimulator.java b/Robust/src/Benchmarks/SSJava/JavaNatorInfer/HWSimulator.java
new file mode 100644 (file)
index 0000000..d859364
--- /dev/null
+++ b/Robust/src/Benchmarks/SSJava/JavaNatorInfer/HWSimulator.java
@@ -0,0 +1,54 @@
+public class HWSimulator {
+
+  public static int onOffMode = RobotMain.ON_MODE;
+  public static int manualAutonomusMode = RobotMain.AUTONOMUS_MODE;
+  public static byte lineSensorsMask;
+  public static byte sonarSensors;
+
+  // public byte currentSonars;
+
+  @TRUST
+  public static Command getCommand() {
+
+    byte currentCommand = TestSensorInput.getCommand();
+
+    int data = (int) (currentCommand & RobotMain.ALL_DATA);
+    int opCode = (int) (currentCommand & 0xe0); // ALL_COMMANDS);
+
+    switch ((int) opCode) {
+    case RobotMain.ON_OFF:
+      if ((data & 0x1) == 0x1) {
+        HWSimulator.onOffMode = RobotMain.ON_MODE;
+      } else {
+        HWSimulator.onOffMode = RobotMain.OFF_MODE;
+      }
+      break;
+    case RobotMain.MANUAL_AUTONOMUS:
+      if ((data & 0x1) == 0x1) {
+        HWSimulator.manualAutonomusMode = RobotMain.MANUAL_MODE;
+      } else {
+        HWSimulator.manualAutonomusMode = RobotMain.AUTONOMUS_MODE;
+      }
+      break;
+    case RobotMain.LINE_SENSORS:
+      HWSimulator.lineSensorsMask = (byte) (data & RobotMain.LS_ALL);
+      break;
+    case RobotMain.SONAR_SENSORS:
+      HWSimulator.sonarSensors = (byte) (data & RobotMain.ALL_SONARS);
+      break;
+    }
+
+    Command com = new Command();
+
+    com.command = currentCommand;
+
+    com.onOffMode = HWSimulator.onOffMode;
+    com.manualAutonomusMode = HWSimulator.manualAutonomusMode;
+    com.lineSensorsMask = HWSimulator.lineSensorsMask;
+    com.sonarSensors = HWSimulator.sonarSensors;
+
+    return com;
+
+  }
+
+}