Spanda/examples/features/continuity_policy_options.sd at main · Davalgi/Spanda · GitHub

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// Feature options: continuity_policy — triggers, takeover modes, fleet handoff
//
// on triggers: robot.failed, battery_critical, gps_health.degraded, coordinator.failed, …
// actions: resume from checkpoint, reassign mission, promote backup coordinator,
//          transfer state to successor, notify fleet, escalate to control center, …
//
//   spanda check examples/features/continuity_policy_options.sd
//   spanda continuity examples/features/continuity_policy_options.sd --failed RoverAlpha --progress 72 --trigger robot_failed
//   spanda takeover examples/features/continuity_policy_options.sd --failed RoverAlpha --successor RoverBeta --progress 72
//   spanda delegate examples/features/continuity_policy_options.sd --failed RoverAlpha --to RoverBeta
//   spanda succession examples/features/continuity_policy_options.sd --failed RoverAlpha --scope fleet
//
// Docs: docs/mission-continuity.md

mission_plan WarehouseScan {
    step navigate_aisle;
    step scan_shelf_a;
    step scan_shelf_b;
    step return_dock;
}

continuity_policy WarehouseContinuity {
    on robot.failed {
        resume from checkpoint;
        reassign mission;
        transfer state to successor;
    }
    on battery_critical {
        promote backup coordinator;
        reassign mission;
    }
}

continuity_policy FleetEscalation {
    on gps_health.degraded {
        notify fleet;
        escalate to control center;
    }
    on coordinator.failed {
        promote backup coordinator;
        redistribute swarm tasks;
    }
}

fleet ScannerFleet {
    RoverAlpha;
    RoverBeta;
    RoverGamma;
}

robot RoverAlpha {
    sensor gps: GPS;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 1.0 m/s; }
    behavior scan() { wheels.drive(0.3 m/s); }
}

robot RoverBeta {
    sensor gps: GPS;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 1.0 m/s; }
    behavior scan() { wheels.drive(0.3 m/s); }
}

robot RoverGamma {
    sensor gps: GPS;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 1.0 m/s; }
    behavior scan() { wheels.drive(0.3 m/s); }
}