Re: [Haskell-cafe] ANN: atom-0.1.3
Tom Hawkins-2 wrote: > > Would you explain what you are trying to do a bet more clearly? > Certainly. I am writing an autonomous rover. To choose the direction to drive towards, the car compares the direction it wants to go with the direction it is actually facing. To avoid continuously zigzagging I have hysteresis set around the target direction. 1. I have a set of test inputs 2. I want to run my atoms 3. I want to verify that the state of my atom matches a specific state after each iteration t2 = defaultTest { testbench = steeringVsBearing ,declCode = header fakeHeaders ,cycles = (length testData) } steeringVsBearing :: Atom () -- this is only a test steeringVsBearing = do steering <- word8' "steering" targetHeadings <- array "targetHeadings" ([target | (target, _, _) <- testData]) actualHeadings <- array "actualHeadings" ([actual | (_, actual, _) <- testData]) expectedSteerings <- array "expectedSteerings" ([steerings |(_, _, steerings) <- testData]) targetHeading <== targets !. clock compass <== actuals !. clock navigate --this is my production atom assert "steeringWorks" $ (value steering) ==. (expectedSteerings !. clock) navigate = do steering <- word8' "steering" period 1 $ atom "figureOutWhichWayToGo" $ do --calculate steering based on target heading and actual heading --blah blah steering' <- do return $ mux l1 (mux r1 75 90) 105 steering <== steering' Tom Hawkins-2 wrote: > >> output <- word16' "output" >> input <- word16' "input" >> >> input <== inputs !. clock > > There are a few potential problems with this statement. First, > 'input' in an external variable -- which is fine, just be sure nothing > is being assigned to it in the external c code. Note, if 'input' is > not referenced by external code, then 'word16 "input" 0' would be a > better variable declaration. > I used an external variable because I wanted to reference it both in steeringVsBearing which is a test function, and the actual function navigate. Tom Hawkins-2 wrote: > > The second problem is a bit more serious. By using the 'clock' as an > array index, it will eventually go outside the bounds of the array. > Beware: Atom provides no array checks, such as index-out-of-bounds, or > assigning the same array location multiple times within the same > atomic action. > ok. I am using clock as an index in the test function only. Tom Hawkins-2 wrote: > >> doStuff >> assert "fiveIsAdded" $ (value output) ==. (expected !. clock) > > Keep in mind than multiple rules will fire in one 'clock' cycle, and > assertions are checked between the execution of each rule. In this > case, the assertion will be checked before the top level rule that > contains the assignment 'input <== inputs !. clock', and before the > "addFive" rule. In both cases 'clock' will have the same value, which > will probably lead to an assertion violation. > I am unable to come up with any assertions that would be valid all the time, which would allow me to feed test data into my atoms and then verifying them against some known inputs. I have some other asserts that I find helpful, such as (minus the spaces): assert "target is closer than 1800 to actual" (target' - actual' <=. 1800) assert "target is closer than 1800 to actual'" (actual' - target' <=. 1800) but checking that the steering is valid is more difficult because it depends on the previous state of steering due to hysteresis. I don't want to replicate the logic of hysteresis in the assertion: assert "steeringWorks" $ mux (previousSteering `lt_` 90) mux (currentSteering `gt_` 90) etc etc etc. Tom Hawkins-2 wrote: > >> >> doStuff >> atom "addFive" $ period 1 $ do >> output <== (value input 5) + 5 > > This last statement should yield a type violation. "(value input 5)". > that was a typo on my part. I assume I am totally off on my testing attempt, and if you could point me in the right direction I would greatly appreciate it. Br, Miau -- View this message in context: http://old.nabble.com/ANN%3A-atom-0.1.3-tp26624813p27212766.html Sent from the Haskell - Haskell-Cafe mailing list archive at Nabble.com. ___ Haskell-Cafe mailing list Haskell-Cafe@haskell.org http://www.haskell.org/mailman/listinfo/haskell-cafe
Re: [Haskell-cafe] ANN: atom-0.1.3
Tom Hawkins-2 wrote: > > If you are using the latest version of Atom, asserts are checked > between the execution of every rule. The way you've coded it, it may > appear as if the assertions are checked along with the associated > rules, but this is not the case. And not only are the assertions not > checked with the rules, they don't follow the period or phase > constraints either. So what you have is essentially 2 assertions that > are being checked at every time instance and between every atom state > update. > how should I feed test data into my system? I am having quite a bit of trouble with testing an atom with hysteresis because I always end up having an assertion fire before and after my test data is updated. I have essentially the following code: inputs = [1, 2, 3, 4, 5] expected = [6, 7, 8, 9, 10] output <- word16' "output" input <- word16' "input" input <== inputs !. clock doStuff assert "fiveIsAdded" $ (value output) ==. (expected !. clock) doStuff atom "addFive" $ period 1 $ do output <== (value input 5) + 5 ... the only way I am able to write assertions is to duplicate the logic of hysteresis into the assertions, which is not a reasonable way to go for me. Tom Hawkins-2 wrote: > >> because covered is the second word of the line from the log, the name of >> cover must be a single word. assertions and atoms can contain spaces as >> far >> as I can tell. > > No, they really shouldn't. I've been meaning to add some checks to > enforce some naming rules, but haven't gotten around to it. > good to know. thanks for the heads up. br, miau -- View this message in context: http://old.nabble.com/ANN%3A-atom-0.1.3-tp26624813p27211086.html Sent from the Haskell - Haskell-Cafe mailing list archive at Nabble.com. ___ Haskell-Cafe mailing list Haskell-Cafe@haskell.org http://www.haskell.org/mailman/listinfo/haskell-cafe
Re: [Haskell-cafe] ANN: atom-0.1.3
Tom Hawkins-2 wrote: > > period 20 $ atom "checkSomeStuff" $ do > cond ok > assert "A" a > assert "B" b > cover "C" c > I am trying to generate a square wave. Here's the code: square <- bool "square" False period 2 $ atom "square high" $ phase 0 $ do square <== true assert "square is low" $ not_ $ value square period 2 $ atom "square low" $ phase 1 $ do square <== false assert "square is high" $ value square The tests fail every cycle because after each rule one of them is wrong. What would be the right way to formulate this code? Use cond on the rules? period 2 $ atom "square high" $ phase 0 $ do cond $ not_ $ value square square <== true cover "lowSquare" true assert "square is low" $ not_ $ value square period 2 $ atom "square low" $ phase 1 $ do cond $ value square square <== false cover "highSquare" true assert "square is high" $ value square as an aside, in Unit.hs: covered = [ words line !! 1 | line <- lines log, isPrefixOf "covered:" line ] because covered is the second word of the line from the log, the name of cover must be a single word. assertions and atoms can contain spaces as far as I can tell. br, miau -- View this message in context: http://old.nabble.com/ANN%3A-atom-0.1.3-tp26624813p27198213.html Sent from the Haskell - Haskell-Cafe mailing list archive at Nabble.com. ___ Haskell-Cafe mailing list Haskell-Cafe@haskell.org http://www.haskell.org/mailman/listinfo/haskell-cafe
Re: [Haskell-cafe] Atom - help.
would the way you implemented random in Unit.hs work here? an external variable whose name is the function that returns input. compass :: Atom (E Int16) compass = int16' "readCompass()" >>= (return . value) something <- int16' "something" period 1 $ atom "navigate" $ do heading <- compass something <== heading br, miaubiz Tom Hawkins-2 wrote: > > The work around is to assign the result to an external variable. The > drawback is the result will not be available until the rule executing > the action has completed. > > results <- bool' "result" -- Global, external variable to capture > result. > action (\ [a, b, c] -> printf "result = function(%s, %s %s)" a b c) [a, b, > c] > -- View this message in context: http://old.nabble.com/Atom---help.-tp24010994p26535883.html Sent from the Haskell - Haskell-Cafe mailing list archive at Nabble.com. ___ Haskell-Cafe mailing list Haskell-Cafe@haskell.org http://www.haskell.org/mailman/listinfo/haskell-cafe