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✏️ constrainment -> constraint
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@Rezenders
Rezenders committed Apr 24, 2024
1 parent 181367d commit 705124c
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6 changes: 3 additions & 3 deletions config/suave.tql
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Expand Up @@ -23,9 +23,9 @@ $cc2 (component: $c0, parameter: $cp2) isa component-configuration, has componen

$water_visibility isa EnvironmentalAttribute, has attribute-name "water_visibility";

(constraint: $water_visibility, constrained: $cc0) isa constrainment, has attribute-value 1.25, has constrainment-operator ">=";
(constraint: $water_visibility, constrained: $cc1) isa constrainment, has attribute-value 2.25, has constrainment-operator ">=";
(constraint: $water_visibility, constrained: $cc2) isa constrainment, has attribute-value 3.25, has constrainment-operator ">=";
(constraint: $water_visibility, constrained: $cc0) isa constraint, has attribute-value 1.25, has constraint-operator ">=";
(constraint: $water_visibility, constrained: $cc1) isa constraint, has attribute-value 2.25, has constraint-operator ">=";
(constraint: $water_visibility, constrained: $cc2) isa constraint, has attribute-value 3.25, has constraint-operator ">=";

## Component recover motion node and configurations
$c1 isa LifeCycleNode, has component-name "f_maintain_motion_node", has package "suave", has executable "recover_thrusters";
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32 changes: 16 additions & 16 deletions config/suave_extended.tql
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Expand Up @@ -16,28 +16,28 @@ $c_generate_recharge_path_node isa LifeCycleNode, has component-name "recharge_b
## end recharge action

$battery_level_qa isa QualityAttribute, has attribute-name "battery_level";
$battery_consumption_qa isa QualityAttribute, has attribute-name "battery_consumption";
#$battery_consumption_qa isa QualityAttribute, has attribute-name "battery_consumption";

$light isa Component, has component-name "light";
#$light isa Component, has component-name "light";

# value is from 0.0 (off) to 1.0 (max)
$zero_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "0.0";
$low_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "0.5";
$high_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "1.0";
#$zero_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "0.0";
#$low_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "0.5";
#$high_brightness isa ComponentParameter, has parameter-key "brightness", has parameter-value "1.0";

$light_zero_brightness (component: $light, parameter: $zero_brightness) isa component-configuration, has component-configuration-name "zero brightness";
$light_low_brightness (component: $light, parameter: $low_brightness) isa component-configuration, has component-configuration-name "low brightness";
$light_high_brightness (component: $light, parameter: $high_brightness) isa component-configuration, has component-configuration-name "high brightness";
#$light_zero_brightness (component: $light, parameter: $zero_brightness) isa component-configuration, has component-configuration-name "zero brightness";
#$light_low_brightness (component: $light, parameter: $low_brightness) isa component-configuration, has component-configuration-name "low brightness";
#$light_high_brightness (component: $light, parameter: $high_brightness) isa component-configuration, has component-configuration-name "high brightness";

# value in watts
$light_zero_brightnes_bat_consumption (causer: $light_zero_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 0.0, has estimation-type "positive";
$light_low_brightnes_bat_consumption (causer: $light_low_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 30.0, has estimation-type "positive";
$light_high_brightnes_bat_consumption (causer: $light_high_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 60.0, has estimation-type "positive";
#$light_zero_brightnes_bat_consumption (causer: $light_zero_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 0.0, has estimation-type "positive";
#$light_low_brightnes_bat_consumption (causer: $light_low_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 30.0, has estimation-type "positive";
#$light_high_brightnes_bat_consumption (causer: $light_high_brightness, affected: $battery_consumption_qa) isa estimation, has estimation-value 60.0, has estimation-type "positive";

$light_zero_brightnes_water_visbility (causer: $light_zero_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.0, has estimation-type "positive";
$light_low_brightnes_water_visbility (causer: $light_low_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.5, has estimation-type "positive";
$light_high_brightnes_water_visbility (causer: $light_high_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.90, has estimation-type "positive";
#$light_zero_brightnes_water_visbility (causer: $light_zero_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.0, has estimation-type "positive";
#$light_low_brightnes_water_visbility (causer: $light_low_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.5, has estimation-type "positive";
#$light_high_brightnes_water_visbility (causer: $light_high_brightness, affected: $water_visibility) isa estimation, has estimation-value 0.90, has estimation-type "positive";

# Actions constraints
(constraint: $battery_level_qa, constrained: $a_search_pipeline) isa constrainment, has attribute-value 0.25;
(constraint: $battery_level_qa, constrained: $a_inspect_pipeline) isa constrainment, has attribute-value 0.25;
(constraint: $battery_level_qa, constrained: $a_search_pipeline) isa constraint, has attribute-value 0.25;
(constraint: $battery_level_qa, constrained: $a_inspect_pipeline) isa constraint, has attribute-value 0.25;

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