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.