STO/ONTOLOGIA_vf.sysml at main · aslab/STO · GitHub

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package adapted_robot_ontology {

    // Clases principales (Partes)-----------------------------------------------------------------

    part def Robot :> Entity {
        attribute def id :> int;
        attribute def xpos :> double;
        attribute def ypos :> double;
        attribute def angle :> double;

    }
      part def Engine :> Entity {
        attribute def name :> string;
        attribute def max_speed :> double;
        attribute def consumption :> double;
        attribute def type :> string;
    }
    part def Battery :> Entity {
        attribute def charge :> double;
    }
    part def Task :> Process {
        attribute def name :> string;
        attribute def complexity :> string;
        attribute def description :> string;
    }
    part def Configuration :> Process {

    }

    part def PatrolConfig :> Configuration {
        attribute def patrol_time :> double;
        attribute def move_distance :> double;
        attribute def patrol_speed :> double;
    }
    part def NavigateConfig :> Configuration {
        attribute def target_x :> double;
        attribute def target_y :> double;
        attribute def navigation_speed :> double;
    }

    part def State :> Entity {
        attribute def name :> string;
        attribute def description :> string;
    }

    // Conexiones (Relaciones entre entidades)------------------------------------------------------

    connection def has_task {
        end domain : Robot;
        end range : Task;
    }
    connection def uses_engine {
        end domain : Robot;
        end range : Engine;
    }
    connection def has_battery {
        end domain : Robot;
        end range : Battery;
    }
    connection def behaves {
        end domain : Robot;
        end range : State;
    }
    connection def has_patrol_config {
        end domain : Robot;
        end range : PatrolConfig;
    }
    connection def has_navigate_config {
        end domain : Robot;
        end range : NavigateConfig;
    }

    //Instancias -----------------------------------------------------------------------
    instance motorA : Engine {
        name = StandardMotor;
        max_speed = 0.10;
        consumption = 35.0;
        type = electric;
    }

    instance motorB : Engine {
        name = HighPerformanceMotor;
        max_speed = 0.12;
        consumption = 50.0;
        type = electric;
    }
    instance batA : Battery {
        charge = 100.0;
    }
    instance batB : Battery {
        charge = 85.0;
    }
    instance idle : State {
        name = idle;
        description = The system is in low-power, non-operational condition
    }
    instance recovery : State {
        name = recovery;
        description = The system has encountered an issue and is attempting to troubleshoot or recover
    }

    instance patrolling : State {
        name = task execution;
        description = The system is performing a patroling task
    }
    instance navigating : State {
        name = task execution;
        description =The system is performing a navigating task
    }


    // Instancia de Task: tarea 1
    instance patrol : Task {
        name = Controlled patroling
        complexity = Simple
        description = Controlled patrolling on the map

    }
     // Instancia de Task: tarea 2
    instance navigation : Task {
        name = Navigate to destination
        complexity = High
        description = Move the agent to a specific location avoiding obstacles

    }
    instance patrol1 : PatrolConfig {
        patrol_time = 120.0;
        move_distance = 0.2;
        patrol_speed = 0.14;
    }
        instance patrol2 : PatrolConfig {
        patrol_time = 30.0;
        move_distance = 0.5;
        patrol_speed = 0.05;
    }
    instance navigate1 : NavigateConfig {
        target_x = 0.5;
        target_y = -0.5;
        navigation_speed = 0.04;
    }

    instance navigate2 : NavigateConfig {
        target_x = -0.3;
        target_y = 0.3;
        navigation_speed = 0.06;
    }


    // Instancia del Robot
    instance robot1 : Robot {
        id = 1;
        xpos = 0.0;
        ypos = 0.0;
        angle = 0.0;
        uses_engine = motorA
        has_battery = batA
        has_task = patrol
        has_patrol_config = patrol1
    }
     // Instancia del Robot
    instance robot2 : Robot {
        id = 2;
        xpos = 0.0;
        ypos = 0.3;
        angle = 0.0;
        uses_engine = motorB
        has_battery = batB
        has_task = navigation
        has_navigate_config = navigate2
    }


    rule def doPatroling {
        if Robot(?r) and PatrolConfig(?p) and has_patrol_config(?r,?p)
        then behaves(?r,patrolling)
    }
    rule def doNavigating {
        if Robot(?r) and NavigateConfig(?n) and has_navigate_config(?r,?n)
        then behaves(?r,navigating)
    }


}