Spanda/examples/workflows/offline_signed_autonomy.sd at main · Davalgi/Spanda · GitHub

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// Stitched workflow: offline signed autonomy — policy → sign → simulate → audit
//
// Full command sequence (run from repo root):
//
//   spanda check examples/workflows/offline_signed_autonomy.sd
//   spanda decision list examples/workflows/offline_signed_autonomy.sd
//   spanda decision policy examples/workflows/offline_signed_autonomy.sd
//   spanda decision sign-policy examples/workflows/offline_signed_autonomy.sd --policy RoverOffline --write-cache
//   spanda decision sign-tree examples/workflows/offline_signed_autonomy.sd --tree OfflineContinue --write-cache
//   spanda decision cache show
//   spanda decision simulate examples/workflows/offline_signed_autonomy.sd --offline
//   spanda decision simulate-attack examples/workflows/offline_signed_autonomy.sd --offline-abuse
//   spanda decision security-audit
//   spanda audit decisions examples/workflows/offline_signed_autonomy.trace
//
// Docs: docs/distributed-decisions.md · docs/decision-conflict-resolution.md

robot Rover {
    local_decision_authority [
        continue_current_safe_mission,
        return_home,
        pause_mission,
        enter_degraded_mode,
        reduce_speed
    ];
    requires_central_approval [
        update_firmware,
        override_safety_policy,
        disable_kill_switch
    ];

    sensor gps: GPS;
    sensor lidar: Lidar;
    actuator wheels: DifferentialDrive;
    mode degraded { }
    safety { max_speed = 1.0 m/s; }

    behavior patrol() {
        loop every 50ms { }
    }
}

decision_tree OfflineContinue local {
    version = "1.0.0";
    when gps.status == Failed {
        if visual_odometry.available {
            switch_to visual_odometry;
            reduce_speed 0.6 m/s;
            enter degraded_mode;
        } else {
            pause_mission;
            return_home;
        }
    }
}

offline_policy RoverOffline {
    max_duration = 45 min;
    policy_version = "1.0.0";
    allowed_actions [
        continue_current_safe_mission,
        return_home,
        pause_mission,
        enter_degraded_mode,
        reduce_speed
    ];
    forbidden_actions [
        start_new_high_risk_mission,
        disable_safety,
        accept_unknown_device,
        override_safety_policy
    ];
}

recovery_policy ConnectivityLoss {
    on connectivity.lost {
        enter degraded_mode;
        reduce_speed 0.5 m/s;
    }
}

continuity_policy OfflineEscalation {
    on connectivity.lost {
        escalate to control center;
    }
}

mission_plan OfflinePatrol {
    step patrol_segment_a;
    step patrol_segment_b;
}