|
1
|
/* C code generated by main_lustre_compiler.native
|
|
2
|
SVN version number 393
|
|
3
|
Code is C99 compliant */
|
|
4
|
|
|
5
|
#ifndef _ALT_2_LUSTREC
|
|
6
|
#define _ALT_2_LUSTREC
|
|
7
|
|
|
8
|
/* Imports standard library */
|
|
9
|
#include "/home/davyg/local_proofcompilation//include/lustrec/arrow.h"
|
|
10
|
|
|
11
|
|
|
12
|
/* Types definitions */
|
|
13
|
|
|
14
|
/*@ lemma missing: \forall _Bool x; (x != 0) <==> (((int) x) != 0);*/
|
|
15
|
/* Global constant (declarations, definitions are in C file) */
|
|
16
|
|
|
17
|
/* Struct declarations */
|
|
18
|
struct integrator_reset_mem {struct integrator_reset_reg {double __integrator_reset_2;} _reg; struct _arrow_mem ni_3; };
|
|
19
|
struct VariableRateLimit_mem {struct VariableRateLimit_reg {double __VariableRateLimit_3;} _reg; struct _arrow_mem ni_2; struct integrator_reset_mem ni_1; };
|
|
20
|
struct AltitudeControl_mem {struct AltitudeControl_reg {int dummy;} _reg; struct VariableRateLimit_mem ni_0; };
|
|
21
|
|
|
22
|
/* Nodes declarations */
|
|
23
|
/*@ predicate trans_VariableLimitSaturation(real up_lim,
|
|
24
|
real Signal,
|
|
25
|
real lo_lim,
|
|
26
|
real out,
|
|
27
|
boolean __VariableLimitSaturation_1,
|
|
28
|
boolean __VariableLimitSaturation_2,
|
|
29
|
real enforce_lo_lim) =
|
|
30
|
|
|
31
|
((__VariableLimitSaturation_1?\true:\false) == ((Signal) >= (lo_lim))) &&
|
|
32
|
((enforce_lo_lim) == ((__VariableLimitSaturation_1?\true:\false)?((Signal)):((lo_lim)))) &&
|
|
33
|
((__VariableLimitSaturation_2?\true:\false) == ((enforce_lo_lim) <= (up_lim))) &&
|
|
34
|
((out) == ((__VariableLimitSaturation_2?\true:\false)?((enforce_lo_lim)):((up_lim))));
|
|
35
|
*/
|
|
36
|
/*@ predicate Ctrans_VariableLimitSaturation(real up_lim,
|
|
37
|
real Signal,
|
|
38
|
real lo_lim,
|
|
39
|
real out) =
|
|
40
|
\exists boolean __VariableLimitSaturation_1;
|
|
41
|
\exists boolean __VariableLimitSaturation_2;
|
|
42
|
\exists real enforce_lo_lim;
|
|
43
|
trans_VariableLimitSaturation((up_lim),
|
|
44
|
(Signal),
|
|
45
|
(lo_lim),
|
|
46
|
(out),
|
|
47
|
(__VariableLimitSaturation_1?\true:\false),
|
|
48
|
(__VariableLimitSaturation_2?\true:\false),
|
|
49
|
(enforce_lo_lim));
|
|
50
|
*/
|
|
51
|
/*@ requires \valid(out);
|
|
52
|
ensures Ctrans_VariableLimitSaturation((up_lim),
|
|
53
|
(Signal),
|
|
54
|
(lo_lim),
|
|
55
|
(*out));
|
|
56
|
assigns *out;
|
|
57
|
*/
|
|
58
|
extern void VariableLimitSaturation_step (double up_lim, double Signal,
|
|
59
|
double lo_lim,
|
|
60
|
double (*out)
|
|
61
|
);
|
|
62
|
|
|
63
|
/*@ predicate trans_integrator_reset(real Fx,
|
|
64
|
boolean ResetLevel,
|
|
65
|
real x0,
|
|
66
|
real ir_out,
|
|
67
|
struct integrator_reset_mem self1,
|
|
68
|
struct integrator_reset_mem self2,
|
|
69
|
boolean __integrator_reset_1) =
|
|
70
|
|
|
71
|
((__integrator_reset_1?\true:\false)==(self1.ni_3._reg._first?(1):(0))) && (self2.ni_3._reg._first==0) &&
|
|
72
|
((ir_out) == ((__integrator_reset_1?\true:\false)?((x0)):(((ResetLevel?\true:\false)?((x0)):((((Fx) * 1.) + self1._reg.__integrator_reset_2)))))) &&
|
|
73
|
(self2._reg.__integrator_reset_2 == (ir_out));
|
|
74
|
*/
|
|
75
|
/*@ predicate Ctrans_integrator_reset(real Fx,
|
|
76
|
boolean ResetLevel,
|
|
77
|
real x0,
|
|
78
|
real ir_out,
|
|
79
|
struct integrator_reset_mem self1,
|
|
80
|
struct integrator_reset_mem self2) =
|
|
81
|
\exists boolean __integrator_reset_1;
|
|
82
|
trans_integrator_reset((Fx),
|
|
83
|
(ResetLevel?\true:\false),
|
|
84
|
(x0),
|
|
85
|
(ir_out),
|
|
86
|
self1,
|
|
87
|
self2,
|
|
88
|
(__integrator_reset_1?\true:\false));
|
|
89
|
*/
|
|
90
|
/*@ predicate init_integrator_reset(struct integrator_reset_mem self) =
|
|
91
|
|
|
92
|
(self.ni_3._reg._first==1);
|
|
93
|
*/
|
|
94
|
#define integrator_reset_DECLARE(attr, inst)\
|
|
95
|
attr struct integrator_reset_mem inst;\
|
|
96
|
_arrow_DECLARE(attr, inst ## _ni_3);
|
|
97
|
|
|
98
|
|
|
99
|
#define integrator_reset_ALLOC(attr,inst)\
|
|
100
|
integrator_reset_DECLARE(attr,inst);
|
|
101
|
|
|
102
|
|
|
103
|
/*@requires \valid(self);
|
|
104
|
ensures init_integrator_reset(\at(*self, Here));
|
|
105
|
assigns *self;*/
|
|
106
|
extern void integrator_reset_reset (struct integrator_reset_mem *self);
|
|
107
|
|
|
108
|
/*@ requires \valid(ir_out);
|
|
109
|
requires \valid(self);
|
|
110
|
requires \separated(ir_out, self);
|
|
111
|
ensures Ctrans_integrator_reset((Fx),
|
|
112
|
(ResetLevel?\true:\false),
|
|
113
|
(x0),
|
|
114
|
(*ir_out),
|
|
115
|
\at(*self, Pre),
|
|
116
|
(*self));
|
|
117
|
assigns *ir_out, *self;
|
|
118
|
*/
|
|
119
|
extern void integrator_reset_step (double Fx, _Bool ResetLevel, double x0,
|
|
120
|
double (*ir_out),
|
|
121
|
struct integrator_reset_mem *self);
|
|
122
|
|
|
123
|
/*@ predicate trans_Saturation(real Signal,
|
|
124
|
real s_out,
|
|
125
|
boolean __Saturation_1,
|
|
126
|
boolean __Saturation_2,
|
|
127
|
real enforce_lo_lim) =
|
|
128
|
|
|
129
|
((__Saturation_1?\true:\false) == (0.0001 >= (Signal))) &&
|
|
130
|
((enforce_lo_lim) == ((__Saturation_1?\true:\false)?(0.0001):((Signal)))) &&
|
|
131
|
((__Saturation_2?\true:\false) == (1000. <= (enforce_lo_lim))) &&
|
|
132
|
((s_out) == ((__Saturation_2?\true:\false)?(1000.):((enforce_lo_lim))));
|
|
133
|
*/
|
|
134
|
/*@ predicate Ctrans_Saturation(real Signal,
|
|
135
|
real s_out) =
|
|
136
|
\exists boolean __Saturation_1;
|
|
137
|
\exists boolean __Saturation_2;
|
|
138
|
\exists real enforce_lo_lim;
|
|
139
|
trans_Saturation((Signal),
|
|
140
|
(s_out),
|
|
141
|
(__Saturation_1?\true:\false),
|
|
142
|
(__Saturation_2?\true:\false),
|
|
143
|
(enforce_lo_lim));
|
|
144
|
*/
|
|
145
|
/*@ requires \valid(s_out);
|
|
146
|
ensures Ctrans_Saturation((Signal),
|
|
147
|
(*s_out));
|
|
148
|
assigns *s_out;
|
|
149
|
*/
|
|
150
|
extern void Saturation_step (double Signal,
|
|
151
|
double (*s_out)
|
|
152
|
);
|
|
153
|
|
|
154
|
/*@ predicate trans_VariableRateLimit(real ratelim_Out1_334,
|
|
155
|
real input_Out1_344,
|
|
156
|
boolean ICtrig_Out1_354,
|
|
157
|
real IC_Out1_364,
|
|
158
|
real output_In1_489,
|
|
159
|
struct VariableRateLimit_mem self1,
|
|
160
|
struct VariableRateLimit_mem self2,
|
|
161
|
real Gain1_Out1_382,
|
|
162
|
real Gain_Out1_373,
|
|
163
|
real Integrator1_Out1_391,
|
|
164
|
real Sum2_Out1_401,
|
|
165
|
real Variable_Limit_Saturation_Out1_410,
|
|
166
|
boolean __VariableRateLimit_1,
|
|
167
|
real __VariableRateLimit_2) =
|
|
168
|
|
|
169
|
((__VariableRateLimit_1?\true:\false)==(self1.ni_2._reg._first?(1):(0))) && (self2.ni_2._reg._first==0) &&
|
|
170
|
((Integrator1_Out1_391) == ((__VariableRateLimit_1?\true:\false)?((IC_Out1_364)):(self1._reg.__VariableRateLimit_3))) &&
|
|
171
|
((output_In1_489) == (Integrator1_Out1_391)) &&
|
|
172
|
((Gain1_Out1_382) == (- (ratelim_Out1_334))) &&
|
|
173
|
((Sum2_Out1_401) == ((input_Out1_344) + (- (Integrator1_Out1_391)))) &&
|
|
174
|
((Gain_Out1_373) == (20. * (Sum2_Out1_401))) &&
|
|
175
|
Ctrans_VariableLimitSaturation((ratelim_Out1_334),
|
|
176
|
(Gain_Out1_373),
|
|
177
|
(Gain1_Out1_382),
|
|
178
|
(Variable_Limit_Saturation_Out1_410)) &&
|
|
179
|
Ctrans_integrator_reset((Variable_Limit_Saturation_Out1_410),
|
|
180
|
(ICtrig_Out1_354?\true:\false),
|
|
181
|
(IC_Out1_364),
|
|
182
|
(__VariableRateLimit_2),
|
|
183
|
self1.ni_1,
|
|
184
|
self2.ni_1) &&
|
|
185
|
(self2._reg.__VariableRateLimit_3 == (__VariableRateLimit_2));
|
|
186
|
*/
|
|
187
|
/*@ predicate Ctrans_VariableRateLimit(real ratelim_Out1_334,
|
|
188
|
real input_Out1_344,
|
|
189
|
boolean ICtrig_Out1_354,
|
|
190
|
real IC_Out1_364,
|
|
191
|
real output_In1_489,
|
|
192
|
struct VariableRateLimit_mem self1,
|
|
193
|
struct VariableRateLimit_mem self2) =
|
|
194
|
\exists real Gain1_Out1_382;
|
|
195
|
\exists real Gain_Out1_373;
|
|
196
|
\exists real Integrator1_Out1_391;
|
|
197
|
\exists real Sum2_Out1_401;
|
|
198
|
\exists real Variable_Limit_Saturation_Out1_410;
|
|
199
|
\exists boolean __VariableRateLimit_1;
|
|
200
|
\exists real __VariableRateLimit_2;
|
|
201
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
202
|
(input_Out1_344),
|
|
203
|
(ICtrig_Out1_354?\true:\false),
|
|
204
|
(IC_Out1_364),
|
|
205
|
(output_In1_489),
|
|
206
|
self1,
|
|
207
|
self2,
|
|
208
|
(Gain1_Out1_382),
|
|
209
|
(Gain_Out1_373),
|
|
210
|
(Integrator1_Out1_391),
|
|
211
|
(Sum2_Out1_401),
|
|
212
|
(Variable_Limit_Saturation_Out1_410),
|
|
213
|
(__VariableRateLimit_1?\true:\false),
|
|
214
|
(__VariableRateLimit_2));
|
|
215
|
*/
|
|
216
|
/*@ predicate init_VariableRateLimit(struct VariableRateLimit_mem self) =
|
|
217
|
|
|
218
|
(self.ni_2._reg._first==1) &&
|
|
219
|
init_integrator_reset(self.ni_1);
|
|
220
|
*/
|
|
221
|
#define VariableRateLimit_DECLARE(attr, inst)\
|
|
222
|
attr struct VariableRateLimit_mem inst;\
|
|
223
|
_arrow_DECLARE(attr, inst ## _ni_2);\
|
|
224
|
integrator_reset_DECLARE(attr, inst ## _ni_1);
|
|
225
|
|
|
226
|
|
|
227
|
#define VariableRateLimit_ALLOC(attr,inst)\
|
|
228
|
VariableRateLimit_DECLARE(attr,inst);
|
|
229
|
|
|
230
|
|
|
231
|
/*@requires \valid(self);
|
|
232
|
ensures init_VariableRateLimit(\at(*self, Here));
|
|
233
|
assigns *self;*/
|
|
234
|
extern void VariableRateLimit_reset (struct VariableRateLimit_mem *self);
|
|
235
|
|
|
236
|
/*@ requires \valid(output_In1_489);
|
|
237
|
requires \valid(self);
|
|
238
|
requires \separated(output_In1_489, self);
|
|
239
|
ensures Ctrans_VariableRateLimit((ratelim_Out1_334),
|
|
240
|
(input_Out1_344),
|
|
241
|
(ICtrig_Out1_354?\true:\false),
|
|
242
|
(IC_Out1_364),
|
|
243
|
(*output_In1_489),
|
|
244
|
\at(*self, Pre),
|
|
245
|
(*self));
|
|
246
|
assigns *output_In1_489, *self;
|
|
247
|
*/
|
|
248
|
extern void VariableRateLimit_step (double ratelim_Out1_334,
|
|
249
|
double input_Out1_344,
|
|
250
|
_Bool ICtrig_Out1_354,
|
|
251
|
double IC_Out1_364,
|
|
252
|
double (*output_In1_489),
|
|
253
|
struct VariableRateLimit_mem *self);
|
|
254
|
|
|
255
|
/*@ predicate spec_85(real AntEng_Out1_19, real AltCmd_Out1_29, real Alt_Out1_39, real GsKts_Out1_49, real hdot_Out1_59, real hdotChgRate_Out1_69, real altgammacmd_In1_661, struct AltitudeControl_mem self) =
|
|
256
|
(AntEng_Out1_19 == 0.);
|
|
257
|
*/
|
|
258
|
/*@ predicate spec_90(real AntEng_Out1_19, real AltCmd_Out1_29, real Alt_Out1_39, real GsKts_Out1_49, real hdot_Out1_59, real hdotChgRate_Out1_69, real altgammacmd_In1_661, struct AltitudeControl_mem self) =
|
|
259
|
(altgammacmd_In1_661 == 0.);
|
|
260
|
*/
|
|
261
|
/*@ predicate trans_AltitudeControl(real AntEng_Out1_19,
|
|
262
|
real AltCmd_Out1_29,
|
|
263
|
real Alt_Out1_39,
|
|
264
|
real GsKts_Out1_49,
|
|
265
|
real hdot_Out1_59,
|
|
266
|
real hdotChgRate_Out1_69,
|
|
267
|
real altgammacmd_In1_661,
|
|
268
|
struct AltitudeControl_mem self1,
|
|
269
|
struct AltitudeControl_mem self2,
|
|
270
|
real Abs_Out1_144,
|
|
271
|
real Kh_Out1_193,
|
|
272
|
boolean Logical_Operator_In1_197,
|
|
273
|
boolean Logical_Operator_Out1_198,
|
|
274
|
real Saturation1_Out1_213,
|
|
275
|
real Sum3_Out1_296,
|
|
276
|
real Sum_Out1_286,
|
|
277
|
boolean Switch1_In2_312,
|
|
278
|
real Switch1_Out1_314,
|
|
279
|
boolean Switch_In2_303,
|
|
280
|
real Switch_Out1_305,
|
|
281
|
real Variable_Limit_Saturation_0_Out1_509,
|
|
282
|
real Variable__Rate_Limit_Out1_324,
|
|
283
|
boolean __AltitudeControl_1,
|
|
284
|
boolean __AltitudeControl_2,
|
|
285
|
real k_Out1_585,
|
|
286
|
real kts2fps_Out1_594,
|
|
287
|
real r2d_Out1_603) =
|
|
288
|
|
|
289
|
((__AltitudeControl_1?\true:\false) == ((hdot_Out1_59) < 0.)) &&
|
|
290
|
((Abs_Out1_144) == ((__AltitudeControl_1?\true:\false)?((- (hdot_Out1_59))):((hdot_Out1_59)))) &&
|
|
291
|
((Sum3_Out1_296) == ((Abs_Out1_144) + 10.)) &&
|
|
292
|
((k_Out1_585) == (- (Sum3_Out1_296))) &&
|
|
293
|
((__AltitudeControl_2?\true:\false) == ((AntEng_Out1_19) == 0.)) &&
|
|
294
|
((!(Logical_Operator_In1_197?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1)))) &&
|
|
295
|
((!(Logical_Operator_Out1_198?\true:\false)) == (!(!(Logical_Operator_In1_197?\true:\false)))) &&
|
|
296
|
((!(Switch_In2_303?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1)))) &&
|
|
297
|
((Sum_Out1_286) == ((AltCmd_Out1_29) + (- (Alt_Out1_39)))) &&
|
|
298
|
((Kh_Out1_193) == (0.08 * (Sum_Out1_286))) &&
|
|
299
|
((Switch_Out1_305) == ((Switch_In2_303?\true:\false)?((Kh_Out1_193)):(0.))) &&
|
|
300
|
Ctrans_VariableLimitSaturation((Sum3_Out1_296),
|
|
301
|
(Switch_Out1_305),
|
|
302
|
(k_Out1_585),
|
|
303
|
(Variable_Limit_Saturation_0_Out1_509)) &&
|
|
304
|
Ctrans_VariableRateLimit((hdotChgRate_Out1_69),
|
|
305
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
306
|
(Logical_Operator_Out1_198?\true:\false),
|
|
307
|
(hdot_Out1_59),
|
|
308
|
(Variable__Rate_Limit_Out1_324),
|
|
309
|
self1.ni_0,
|
|
310
|
self2.ni_0) &&
|
|
311
|
((r2d_Out1_603) == (57.2958 * (Variable__Rate_Limit_Out1_324))) &&
|
|
312
|
((kts2fps_Out1_594) == (1.6878 * (GsKts_Out1_49))) &&
|
|
313
|
((!(Switch1_In2_312?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1)))) &&
|
|
314
|
((Switch1_Out1_314) == ((Switch1_In2_312?\true:\false)?((r2d_Out1_603)):(0.))) &&
|
|
315
|
((altgammacmd_In1_661) == (Switch1_Out1_314)) &&
|
|
316
|
Ctrans_Saturation((kts2fps_Out1_594),
|
|
317
|
(Saturation1_Out1_213));
|
|
318
|
*/
|
|
319
|
/*@ predicate Ctrans_AltitudeControl(real AntEng_Out1_19,
|
|
320
|
real AltCmd_Out1_29,
|
|
321
|
real Alt_Out1_39,
|
|
322
|
real GsKts_Out1_49,
|
|
323
|
real hdot_Out1_59,
|
|
324
|
real hdotChgRate_Out1_69,
|
|
325
|
real altgammacmd_In1_661,
|
|
326
|
struct AltitudeControl_mem self1,
|
|
327
|
struct AltitudeControl_mem self2) =
|
|
328
|
\exists real Abs_Out1_144;
|
|
329
|
\exists real Kh_Out1_193;
|
|
330
|
\exists boolean Logical_Operator_In1_197;
|
|
331
|
\exists boolean Logical_Operator_Out1_198;
|
|
332
|
\exists real Saturation1_Out1_213;
|
|
333
|
\exists real Sum3_Out1_296;
|
|
334
|
\exists real Sum_Out1_286;
|
|
335
|
\exists boolean Switch1_In2_312;
|
|
336
|
\exists real Switch1_Out1_314;
|
|
337
|
\exists boolean Switch_In2_303;
|
|
338
|
\exists real Switch_Out1_305;
|
|
339
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
340
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
341
|
\exists boolean __AltitudeControl_1;
|
|
342
|
\exists boolean __AltitudeControl_2;
|
|
343
|
\exists real k_Out1_585;
|
|
344
|
\exists real kts2fps_Out1_594;
|
|
345
|
\exists real r2d_Out1_603;
|
|
346
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
347
|
(AltCmd_Out1_29),
|
|
348
|
(Alt_Out1_39),
|
|
349
|
(GsKts_Out1_49),
|
|
350
|
(hdot_Out1_59),
|
|
351
|
(hdotChgRate_Out1_69),
|
|
352
|
(altgammacmd_In1_661),
|
|
353
|
self1,
|
|
354
|
self2,
|
|
355
|
(Abs_Out1_144),
|
|
356
|
(Kh_Out1_193),
|
|
357
|
(Logical_Operator_In1_197?\true:\false),
|
|
358
|
(Logical_Operator_Out1_198?\true:\false),
|
|
359
|
(Saturation1_Out1_213),
|
|
360
|
(Sum3_Out1_296),
|
|
361
|
(Sum_Out1_286),
|
|
362
|
(Switch1_In2_312?\true:\false),
|
|
363
|
(Switch1_Out1_314),
|
|
364
|
(Switch_In2_303?\true:\false),
|
|
365
|
(Switch_Out1_305),
|
|
366
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
367
|
(Variable__Rate_Limit_Out1_324),
|
|
368
|
(__AltitudeControl_1?\true:\false),
|
|
369
|
(__AltitudeControl_2?\true:\false),
|
|
370
|
(k_Out1_585),
|
|
371
|
(kts2fps_Out1_594),
|
|
372
|
(r2d_Out1_603));
|
|
373
|
*/
|
|
374
|
/*@ predicate init_AltitudeControl(struct AltitudeControl_mem self) =
|
|
375
|
|
|
376
|
init_VariableRateLimit(self.ni_0);
|
|
377
|
*/
|
|
378
|
/*@ predicate inv_AltitudeControl(struct AltitudeControl_mem self3) =
|
|
379
|
(init_AltitudeControl(self3))||
|
|
380
|
(\exists struct AltitudeControl_mem self2, real AntEng_Out1_193, real AltCmd_Out1_293, real Alt_Out1_393, real GsKts_Out1_493, real hdot_Out1_593, real hdotChgRate_Out1_693, real altgammacmd_In1_6613;
|
|
381
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
382
|
(AltCmd_Out1_293),
|
|
383
|
(Alt_Out1_393),
|
|
384
|
(GsKts_Out1_493),
|
|
385
|
(hdot_Out1_593),
|
|
386
|
(hdotChgRate_Out1_693),
|
|
387
|
(altgammacmd_In1_6613),
|
|
388
|
self2,
|
|
389
|
self3)&&
|
|
390
|
(spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)) &&
|
|
391
|
init_AltitudeControl(self2))||
|
|
392
|
(\exists struct AltitudeControl_mem self2, struct AltitudeControl_mem self1, real AntEng_Out1_193, real AntEng_Out1_192, real AltCmd_Out1_293, real AltCmd_Out1_292, real Alt_Out1_393, real Alt_Out1_392, real GsKts_Out1_493, real GsKts_Out1_492, real hdot_Out1_593, real hdot_Out1_592, real hdotChgRate_Out1_693, real hdotChgRate_Out1_692, real altgammacmd_In1_6613, real altgammacmd_In1_6612;
|
|
393
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
394
|
(AltCmd_Out1_293),
|
|
395
|
(Alt_Out1_393),
|
|
396
|
(GsKts_Out1_493),
|
|
397
|
(hdot_Out1_593),
|
|
398
|
(hdotChgRate_Out1_693),
|
|
399
|
(altgammacmd_In1_6613),
|
|
400
|
self2,
|
|
401
|
self3)&&
|
|
402
|
Ctrans_AltitudeControl((AntEng_Out1_192),
|
|
403
|
(AltCmd_Out1_292),
|
|
404
|
(Alt_Out1_392),
|
|
405
|
(GsKts_Out1_492),
|
|
406
|
(hdot_Out1_592),
|
|
407
|
(hdotChgRate_Out1_692),
|
|
408
|
(altgammacmd_In1_6612),
|
|
409
|
self1,
|
|
410
|
self2)&&
|
|
411
|
(spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)) &&
|
|
412
|
(spec_85((AntEng_Out1_192), (AltCmd_Out1_292), (Alt_Out1_392), (GsKts_Out1_492), (hdot_Out1_592), (hdotChgRate_Out1_692), (altgammacmd_In1_6612), self1)) &&
|
|
413
|
init_AltitudeControl(self1))||
|
|
414
|
(\exists struct AltitudeControl_mem self2, struct AltitudeControl_mem self1, struct AltitudeControl_mem self0, real AntEng_Out1_193, real AntEng_Out1_192, real AntEng_Out1_191, real AltCmd_Out1_293, real AltCmd_Out1_292, real AltCmd_Out1_291, real Alt_Out1_393, real Alt_Out1_392, real Alt_Out1_391, real GsKts_Out1_493, real GsKts_Out1_492, real GsKts_Out1_491, real hdot_Out1_593, real hdot_Out1_592, real hdot_Out1_591, real hdotChgRate_Out1_693, real hdotChgRate_Out1_692, real hdotChgRate_Out1_691, real altgammacmd_In1_6613, real altgammacmd_In1_6612, real altgammacmd_In1_6611;
|
|
415
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
416
|
(AltCmd_Out1_293),
|
|
417
|
(Alt_Out1_393),
|
|
418
|
(GsKts_Out1_493),
|
|
419
|
(hdot_Out1_593),
|
|
420
|
(hdotChgRate_Out1_693),
|
|
421
|
(altgammacmd_In1_6613),
|
|
422
|
self2,
|
|
423
|
self3)&&
|
|
424
|
Ctrans_AltitudeControl((AntEng_Out1_192),
|
|
425
|
(AltCmd_Out1_292),
|
|
426
|
(Alt_Out1_392),
|
|
427
|
(GsKts_Out1_492),
|
|
428
|
(hdot_Out1_592),
|
|
429
|
(hdotChgRate_Out1_692),
|
|
430
|
(altgammacmd_In1_6612),
|
|
431
|
self1,
|
|
432
|
self2)&&
|
|
433
|
Ctrans_AltitudeControl((AntEng_Out1_191),
|
|
434
|
(AltCmd_Out1_291),
|
|
435
|
(Alt_Out1_391),
|
|
436
|
(GsKts_Out1_491),
|
|
437
|
(hdot_Out1_591),
|
|
438
|
(hdotChgRate_Out1_691),
|
|
439
|
(altgammacmd_In1_6611),
|
|
440
|
self0,
|
|
441
|
self1)&&
|
|
442
|
(spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)) &&
|
|
443
|
(spec_85((AntEng_Out1_192), (AltCmd_Out1_292), (Alt_Out1_392), (GsKts_Out1_492), (hdot_Out1_592), (hdotChgRate_Out1_692), (altgammacmd_In1_6612), self1)) &&
|
|
444
|
(spec_85((AntEng_Out1_191), (AltCmd_Out1_291), (Alt_Out1_391), (GsKts_Out1_491), (hdot_Out1_591), (hdotChgRate_Out1_691), (altgammacmd_In1_6611), self0)) &&
|
|
445
|
(spec_90((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self3))&&
|
|
446
|
(spec_90((AntEng_Out1_192), (AltCmd_Out1_292), (Alt_Out1_392), (GsKts_Out1_492), (hdot_Out1_592), (hdotChgRate_Out1_692), (altgammacmd_In1_6612), self2))&&
|
|
447
|
(spec_90((AntEng_Out1_191), (AltCmd_Out1_291), (Alt_Out1_391), (GsKts_Out1_491), (hdot_Out1_591), (hdotChgRate_Out1_691), (altgammacmd_In1_6611), self1)));
|
|
448
|
*/
|
|
449
|
/*@ lemma inv_init_3_AltitudeControl :
|
|
450
|
\forall struct AltitudeControl_mem self3, struct AltitudeControl_mem self2, struct AltitudeControl_mem self1, struct AltitudeControl_mem self0, real AntEng_Out1_193, real AntEng_Out1_192, real AntEng_Out1_191, real AltCmd_Out1_293, real AltCmd_Out1_292, real AltCmd_Out1_291, real Alt_Out1_393, real Alt_Out1_392, real Alt_Out1_391, real GsKts_Out1_493, real GsKts_Out1_492, real GsKts_Out1_491, real hdot_Out1_593, real hdot_Out1_592, real hdot_Out1_591, real hdotChgRate_Out1_693, real hdotChgRate_Out1_692, real hdotChgRate_Out1_691, real altgammacmd_In1_6613, real altgammacmd_In1_6612, real altgammacmd_In1_6611;
|
|
451
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
452
|
(AltCmd_Out1_293),
|
|
453
|
(Alt_Out1_393),
|
|
454
|
(GsKts_Out1_493),
|
|
455
|
(hdot_Out1_593),
|
|
456
|
(hdotChgRate_Out1_693),
|
|
457
|
(altgammacmd_In1_6613),
|
|
458
|
self2,
|
|
459
|
self3)==>
|
|
460
|
Ctrans_AltitudeControl((AntEng_Out1_192),
|
|
461
|
(AltCmd_Out1_292),
|
|
462
|
(Alt_Out1_392),
|
|
463
|
(GsKts_Out1_492),
|
|
464
|
(hdot_Out1_592),
|
|
465
|
(hdotChgRate_Out1_692),
|
|
466
|
(altgammacmd_In1_6612),
|
|
467
|
self1,
|
|
468
|
self2)==>
|
|
469
|
Ctrans_AltitudeControl((AntEng_Out1_191),
|
|
470
|
(AltCmd_Out1_291),
|
|
471
|
(Alt_Out1_391),
|
|
472
|
(GsKts_Out1_491),
|
|
473
|
(hdot_Out1_591),
|
|
474
|
(hdotChgRate_Out1_691),
|
|
475
|
(altgammacmd_In1_6611),
|
|
476
|
self0,
|
|
477
|
self1)==>
|
|
478
|
init_AltitudeControl(self0) ==> spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)==>
|
|
479
|
spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self1)==>
|
|
480
|
spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self0)==>
|
|
481
|
(spec_90((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self3));
|
|
482
|
*/
|
|
483
|
/*@ lemma inv_init_2_AltitudeControl :
|
|
484
|
\forall struct AltitudeControl_mem self3, struct AltitudeControl_mem self2, struct AltitudeControl_mem self1, real AntEng_Out1_193, real AntEng_Out1_192, real AltCmd_Out1_293, real AltCmd_Out1_292, real Alt_Out1_393, real Alt_Out1_392, real GsKts_Out1_493, real GsKts_Out1_492, real hdot_Out1_593, real hdot_Out1_592, real hdotChgRate_Out1_693, real hdotChgRate_Out1_692, real altgammacmd_In1_6613, real altgammacmd_In1_6612;
|
|
485
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
486
|
(AltCmd_Out1_293),
|
|
487
|
(Alt_Out1_393),
|
|
488
|
(GsKts_Out1_493),
|
|
489
|
(hdot_Out1_593),
|
|
490
|
(hdotChgRate_Out1_693),
|
|
491
|
(altgammacmd_In1_6613),
|
|
492
|
self2,
|
|
493
|
self3)==>
|
|
494
|
Ctrans_AltitudeControl((AntEng_Out1_192),
|
|
495
|
(AltCmd_Out1_292),
|
|
496
|
(Alt_Out1_392),
|
|
497
|
(GsKts_Out1_492),
|
|
498
|
(hdot_Out1_592),
|
|
499
|
(hdotChgRate_Out1_692),
|
|
500
|
(altgammacmd_In1_6612),
|
|
501
|
self1,
|
|
502
|
self2)==>
|
|
503
|
init_AltitudeControl(self1) ==> spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)==>
|
|
504
|
spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self1)==>
|
|
505
|
(spec_90((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self3));
|
|
506
|
*/
|
|
507
|
/*@ lemma inv_init_1_AltitudeControl :
|
|
508
|
\forall struct AltitudeControl_mem self3, struct AltitudeControl_mem self2, real AntEng_Out1_193, real AltCmd_Out1_293, real Alt_Out1_393, real GsKts_Out1_493, real hdot_Out1_593, real hdotChgRate_Out1_693, real altgammacmd_In1_6613;
|
|
509
|
Ctrans_AltitudeControl((AntEng_Out1_193),
|
|
510
|
(AltCmd_Out1_293),
|
|
511
|
(Alt_Out1_393),
|
|
512
|
(GsKts_Out1_493),
|
|
513
|
(hdot_Out1_593),
|
|
514
|
(hdotChgRate_Out1_693),
|
|
515
|
(altgammacmd_In1_6613),
|
|
516
|
self2,
|
|
517
|
self3)==>
|
|
518
|
init_AltitudeControl(self2) ==> spec_85((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self2)==>
|
|
519
|
(spec_90((AntEng_Out1_193), (AltCmd_Out1_293), (Alt_Out1_393), (GsKts_Out1_493), (hdot_Out1_593), (hdotChgRate_Out1_693), (altgammacmd_In1_6613), self3));
|
|
520
|
*/
|
|
521
|
/*@ lemma inv_spec_AltitudeControl :
|
|
522
|
\forall struct AltitudeControl_mem self1, self2, real AntEng_Out1_19, real AltCmd_Out1_29, real Alt_Out1_39, real GsKts_Out1_49, real hdot_Out1_59, real hdotChgRate_Out1_69, real altgammacmd_In1_661;
|
|
523
|
inv_AltitudeControl(self1)==>
|
|
524
|
Ctrans_AltitudeControl((AntEng_Out1_19),
|
|
525
|
(AltCmd_Out1_29),
|
|
526
|
(Alt_Out1_39),
|
|
527
|
(GsKts_Out1_49),
|
|
528
|
(hdot_Out1_59),
|
|
529
|
(hdotChgRate_Out1_69),
|
|
530
|
(altgammacmd_In1_661),
|
|
531
|
self1,
|
|
532
|
self2)==>
|
|
533
|
spec_85((AntEng_Out1_19), (AltCmd_Out1_29), (Alt_Out1_39), (GsKts_Out1_49), (hdot_Out1_59), (hdotChgRate_Out1_69), (altgammacmd_In1_661), self1)==>
|
|
534
|
spec_90((AntEng_Out1_19), (AltCmd_Out1_29), (Alt_Out1_39), (GsKts_Out1_49), (hdot_Out1_59), (hdotChgRate_Out1_69), (altgammacmd_In1_661), self2);
|
|
535
|
*/
|
|
536
|
/*@ lemma inv_inv_AltitudeControl :
|
|
537
|
\forall struct AltitudeControl_mem self1, self2, real AntEng_Out1_19, real AltCmd_Out1_29, real Alt_Out1_39, real GsKts_Out1_49, real hdot_Out1_59, real hdotChgRate_Out1_69, real altgammacmd_In1_661;
|
|
538
|
inv_AltitudeControl(self1)==>
|
|
539
|
Ctrans_AltitudeControl((AntEng_Out1_19),
|
|
540
|
(AltCmd_Out1_29),
|
|
541
|
(Alt_Out1_39),
|
|
542
|
(GsKts_Out1_49),
|
|
543
|
(hdot_Out1_59),
|
|
544
|
(hdotChgRate_Out1_69),
|
|
545
|
(altgammacmd_In1_661),
|
|
546
|
self1,
|
|
547
|
self2)==>
|
|
548
|
spec_85((AntEng_Out1_19), (AltCmd_Out1_29), (Alt_Out1_39), (GsKts_Out1_49), (hdot_Out1_59), (hdotChgRate_Out1_69), (altgammacmd_In1_661), self1)==>
|
|
549
|
inv_AltitudeControl(self2);
|
|
550
|
*/
|
|
551
|
#define AltitudeControl_DECLARE(attr, inst)\
|
|
552
|
attr struct AltitudeControl_mem inst;\
|
|
553
|
VariableRateLimit_DECLARE(attr, inst ## _ni_0);
|
|
554
|
|
|
555
|
|
|
556
|
#define AltitudeControl_ALLOC(attr,inst)\
|
|
557
|
AltitudeControl_DECLARE(attr,inst);
|
|
558
|
|
|
559
|
|
|
560
|
/*@requires \valid(self);
|
|
561
|
ensures init_AltitudeControl(\at(*self, Here));
|
|
562
|
ensures inv_AltitudeControl(*self);
|
|
563
|
assigns *self;*/
|
|
564
|
extern void AltitudeControl_reset (struct AltitudeControl_mem *self);
|
|
565
|
|
|
566
|
/*@ requires \valid(altgammacmd_In1_661);
|
|
567
|
requires \valid(self);
|
|
568
|
requires \separated(altgammacmd_In1_661, self);
|
|
569
|
requires spec_85((AntEng_Out1_19), (AltCmd_Out1_29), (Alt_Out1_39), (GsKts_Out1_49), (hdot_Out1_59), (hdotChgRate_Out1_69), (*altgammacmd_In1_661), *self);
|
|
570
|
requires inv_AltitudeControl(*self);
|
|
571
|
ensures spec_90((AntEng_Out1_19), (AltCmd_Out1_29), (Alt_Out1_39), (GsKts_Out1_49), (hdot_Out1_59), (hdotChgRate_Out1_69), (*altgammacmd_In1_661), *self);
|
|
572
|
ensures inv_AltitudeControl(*self);
|
|
573
|
ensures Ctrans_AltitudeControl((AntEng_Out1_19),
|
|
574
|
(AltCmd_Out1_29),
|
|
575
|
(Alt_Out1_39),
|
|
576
|
(GsKts_Out1_49),
|
|
577
|
(hdot_Out1_59),
|
|
578
|
(hdotChgRate_Out1_69),
|
|
579
|
(*altgammacmd_In1_661),
|
|
580
|
\at(*self, Pre),
|
|
581
|
(*self));
|
|
582
|
|
|
583
|
assigns *altgammacmd_In1_661, *self;
|
|
584
|
|
|
585
|
*/
|
|
586
|
extern void AltitudeControl_step (double AntEng_Out1_19,
|
|
587
|
double AltCmd_Out1_29, double Alt_Out1_39,
|
|
588
|
double GsKts_Out1_49, double hdot_Out1_59,
|
|
589
|
double hdotChgRate_Out1_69,
|
|
590
|
double (*altgammacmd_In1_661),
|
|
591
|
struct AltitudeControl_mem *self);
|
|
592
|
|
|
593
|
|
|
594
|
#endif
|
|
595
|
|