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Coyote
Microsoft.Coyote.Samples.DrinksServingRobot
Navigator

How to use Navigator class of Microsoft.Coyote.Samples.DrinksServingRobot package

Best Coyote code snippet using Microsoft.Coyote.Samples.DrinksServingRobot.Navigator

Robot.cs

Source:Robot.cs

...12{13    internal class Robot : StateMachine14    {15        internal ActorId CreatorId; // the Id of the Actor who created this instance.16        internal ActorId NavigatorId { get; set; }17        private readonly LogWriter Log = LogWriter.Instance;18        internal bool RunForever;19        private static readonly Location StartingLocation = new Location(1, 1);20        private Location Coordinates = StartingLocation;21        private List<Location> Route;22        private DrinkOrder CurrentOrder;23        private bool DrinkOrderPending;24        internal const double MoveDuration = 0.5;25        internal const int ServingDuration = 2;26        internal const int RetreatingDuration = 1;27        private readonly Dictionary<string, TimerInfo> Timers = new Dictionary<string, TimerInfo>();28        internal class ConfigEvent : Event29        {30            internal readonly bool RunForever;31            internal readonly ActorId CreatorId;32            public ConfigEvent(bool runForever, ActorId creatorId)33            {34                this.RunForever = runForever;35                this.CreatorId = creatorId;36            }37        }38        internal class RobotReadyEvent : Event39        {40        }41        internal class NavigatorResetEvent : Event { }42        internal class MoveTimerElapsedEvent : TimerElapsedEvent { }43        [Start]44        [OnEntry(nameof(OnInit))]45        [OnEventDoAction(typeof(Navigator.RegisterNavigatorEvent), nameof(OnSetNavigator))]46        [DeferEvents(typeof(Navigator.DrinkOrderProducedEvent))]47        internal class Init : State { }48        internal void OnInit(Event e)49        {50            if (e is ConfigEvent ce)51            {52                this.RunForever = ce.RunForever;53                this.CreatorId = ce.CreatorId;54            }55        }56        private void OnSetNavigator(Event e)57        {58            if (e is Navigator.RegisterNavigatorEvent sne)59            {60                // Note: the whole point of this sample is to test failover of the Navigator.61                // The Robot is designed to be robust in the face of failover, and that means62                // it needs to continue on with the new navigator object.63                if (this.NavigatorId == null)64                {65                    this.NavigatorId = sne.NewNavigatorId;66                    this.RaisePushStateEvent<Active>();67                }68                else69                {70                    this.Log.WriteLine("<Robot> received a new Navigator, and pending drink order={0}!!!", this.DrinkOrderPending);71                    // continue on with the new navigator.72                    this.NavigatorId = sne.NewNavigatorId;73                    if (this.DrinkOrderPending)74                    {75                        // stop any current driving and wait for DrinkOrderProducedEvent from new navigator76                        // as it restarts the previous drink order request.77                        this.StopMoving();78                        this.RaiseGotoStateEvent<Active>();79                        this.Monitor<LivenessMonitor>(new LivenessMonitor.IdleEvent());80                    }81                }82                this.SendEvent(this.CreatorId, new NavigatorResetEvent());83            }84        }85        [OnEntry(nameof(OnInitActive))]86        [OnEventGotoState(typeof(Navigator.DrinkOrderProducedEvent), typeof(ExecutingOrder))]87        [OnEventDoAction(typeof(Navigator.DrinkOrderConfirmedEvent), nameof(OnDrinkOrderConfirmed))]88        internal class Active : State { }89        private void OnInitActive()90        {91            if (!this.DrinkOrderPending)92            {93                this.SendEvent(this.NavigatorId, new Navigator.GetDrinkOrderEvent(this.GetPicture()));94                this.Log.WriteLine("<Robot> Asked for a new Drink Order");95            }96            this.Monitor<LivenessMonitor>(new LivenessMonitor.BusyEvent());97        }98        private void OnDrinkOrderConfirmed()99        {100            this.DrinkOrderPending = true;101            this.SendEvent(this.CreatorId, new RobotReadyEvent());102        }103        public RoomPicture GetPicture()104        {105            var now = DateTime.UtcNow;106            this.Log.WriteLine($"<Robot> Obtained a Room Picture at {now} UTC");107            return new RoomPicture() { TimeTaken = now, Image = ReadCamera() };108        }109        private static byte[] ReadCamera()110        {111            return new byte[1]; // todo: plug in real camera code here.112        }113        [OnEntry(nameof(OnInitExecutingOrder))]114        [OnEventGotoState(typeof(DrivingInstructionsEvent), typeof(ReachingClient))]115        internal class ExecutingOrder : State { }116        private void OnInitExecutingOrder(Event e)117        {118            this.CurrentOrder = (e as Navigator.DrinkOrderProducedEvent)?.DrinkOrder;119            if (this.CurrentOrder != null)120            {121                this.Log.WriteLine("<Robot> Received new Drink Order. Executing ...");122                this.ExecuteOrder();123            }124        }125        private void ExecuteOrder()126        {127            var clientLocation = this.CurrentOrder.ClientDetails.Coordinates;128            this.Log.WriteLine($"<Robot> Asked for driving instructions from {this.Coordinates} to {clientLocation}");129            this.SendEvent(this.NavigatorId, new Navigator.GetDrivingInstructionsEvent(this.Coordinates, clientLocation));130            this.Monitor<LivenessMonitor>(new LivenessMonitor.BusyEvent());131        }132        [OnEntry(nameof(ReachClient))]133        internal class ReachingClient : State { }134        private void ReachClient(Event e)135        {136            var route = (e as DrivingInstructionsEvent)?.Route;137            if (route != null)138            {139                this.Route = route;140                // this.DrinkOrderPending = false; // this is where it really belongs.141                this.Timers["MoveTimer"] = this.StartTimer(TimeSpan.FromSeconds(MoveDuration), new MoveTimerElapsedEvent());142            }143            this.RaiseGotoStateEvent<MovingOnRoute>();144        }145        [OnEventDoAction(typeof(MoveTimerElapsedEvent), nameof(NextMove))]146        [IgnoreEvents(typeof(Navigator.DrinkOrderProducedEvent))]147        internal class MovingOnRoute : State { }148        private void NextMove()149        {150            this.DrinkOrderPending = false;151            if (this.Route == null)152            {153                return;154            }155            if (!this.Route.Any())156            {157                this.StopMoving();158                this.RaiseGotoStateEvent<ServingClient>();159                this.Log.WriteLine("<Robot> Reached Client.");160                Specification.Assert(...

FailoverDriver.cs

Source:FailoverDriver.cs

...11    internal class FailoverDriver : StateMachine12    {13        private ActorId StorageId;14        private ActorId RobotId;15        private ActorId NavigatorId;16        private bool RunForever;17        private readonly LogWriter Log = LogWriter.Instance;18        private TimerInfo HaltTimer;19        private int Iterations;20        private const int NavigatorTimeToLive = 500;  // milliseconds21        internal class ConfigEvent : Event22        {23            public bool RunForever;24            public ConfigEvent(bool runForever)25            {26                this.RunForever = runForever;27            }28        }29        [Start]30        [OnEntry(nameof(OnInit))]31        [DeferEvents(typeof(TimerElapsedEvent), typeof(Robot.RobotReadyEvent))]32        [IgnoreEvents(typeof(Robot.NavigatorResetEvent))]33        internal class Init : State { }34        internal void OnInit(Event e)35        {36            if (e is ConfigEvent ce)37            {38                this.RunForever = ce.RunForever;39            }40            this.Log.WriteLine("<FailoverDriver> #################################################################");41            this.Log.WriteLine("<FailoverDriver> Starting the Robot.");42            this.StorageId = this.CreateActor(typeof(MockStorage));43            this.NavigatorId = this.CreateNavigator();44            // Create the Robot.45            this.RobotId = this.CreateActor(typeof(Robot), new Robot.ConfigEvent(this.RunForever, this.Id));46            // Wake up the Navigator.47            this.SendEvent(this.NavigatorId, new Navigator.WakeUpEvent(this.RobotId));48            this.RaiseGotoStateEvent<Active>();49        }50        [OnEventGotoState(typeof(TimerElapsedEvent), typeof(TerminatingNavigator))]51        [OnEventDoAction(typeof(Robot.RobotReadyEvent), nameof(OnRobotReady))]52        [IgnoreEvents(typeof(Robot.NavigatorResetEvent))]53        internal class Active : State { }54        private void OnRobotReady()55        {56            // We have to wait for the robot to be ready before we test killing the Navigator otherwise57            // we end up killing the Navigator before the Robot has anything to do which is a waste of time.58            // Setup a timer to randomly kill the Navigator.   When the timer fires we will restart the59            // Navigator and this is testing that the Navigator and Robot can recover gracefully when that happens.60            int duration = this.RandomInteger(NavigatorTimeToLive) + NavigatorTimeToLive;61            this.HaltTimer = this.StartTimer(TimeSpan.FromMilliseconds(duration));62        }63        private void StopTimer()64        {65            if (this.HaltTimer != null)66            {67                this.StopTimer(this.HaltTimer);68                this.HaltTimer = null;69            }70        }71        private ActorId CreateNavigator()72        {73            var cognitiveServiceId = this.CreateActor(typeof(MockCognitiveService));74            var routePlannerServiceId = this.CreateActor(typeof(MockRoutePlanner));75            return this.CreateActor(typeof(Navigator), new Navigator.NavigatorConfigEvent(this.Id, this.StorageId, cognitiveServiceId, routePlannerServiceId));76        }77        [OnEntry(nameof(OnTerminateNavigator))]78        [OnEventDoAction(typeof(Navigator.HaltedEvent), nameof(OnHalted))]79        [OnEventDoAction(typeof(Robot.NavigatorResetEvent), nameof(OnNavigatorReset))]80        [IgnoreEvents(typeof(TimerElapsedEvent))]81        internal class TerminatingNavigator : State { }82        private void OnTerminateNavigator()83        {84            this.StopTimer();85            this.Log.WriteLine("<FailoverDriver> #################################################################");86            this.Log.WriteLine("<FailoverDriver> #       Starting the fail over of the Navigator                 #");87            this.Log.WriteLine("<FailoverDriver> #################################################################");88            this.SendEvent(this.NavigatorId, new Navigator.TerminateEvent());89        }90        private void OnHalted()91        {92            this.Log.WriteLine("<FailoverDriver> *****  The Navigator confirmed that it has terminated ***** ");93            // Create a new Navigator.94            this.Log.WriteLine("<FailoverDriver> *****   Created a new Navigator -- paused *****");95            this.NavigatorId = this.CreateNavigator();96            this.Log.WriteLine("<FailoverDriver> *****   Waking up the new Navigator *****");97            this.SendEvent(this.NavigatorId, new Navigator.WakeUpEvent(this.RobotId));98        }99        private void OnNavigatorReset()100        {101            this.Log.WriteLine("*****   Robot confirmed it reset to the new Navigator *****");102            this.Iterations++;103            if (this.Iterations == 1 || this.RunForever)104            {105                // Continue on, we expect the WakeUpEvent to RegisterNavigator on the Robot which106                // will cause the Robot to raise another RobotReady event.107            }108            else109            {110                this.HaltSystem();111            }112            this.RaiseGotoStateEvent<Active>();113        }114        private void HaltSystem()115        {116            this.KillActors(this.RobotId, this.NavigatorId, this.StorageId);117            this.RaiseHaltEvent();118        }119        private void KillActors(params ActorId[] actors)120        {121            foreach (var actor in actors.Where(ac => ac != null))122            {123                this.SendEvent(actor, HaltEvent.Instance);124            }125        }126        private void WriteLine(string s)127        {128            this.Log.WriteLine(s);129        }130    }...

LivenessMonitor.cs

Source:LivenessMonitor.cs

...3using Microsoft.Coyote.Specifications;4namespace Microsoft.Coyote.Samples.DrinksServingRobot5{6    /// <summary>7    /// This monitors the Robot and the Navigator to make sure the Robot always finishes the job,8    /// by serving a Drink.9    /// </summary>10    internal class LivenessMonitor : Monitor11    {12        public class BusyEvent : Event { }13        public class IdleEvent : Event { }14        [Start]15        [Cold]16        [OnEventGotoState(typeof(BusyEvent), typeof(Busy))]17        [IgnoreEvents(typeof(IdleEvent))]18        private class Idle : State { }19        [Hot]20        [OnEventGotoState(typeof(IdleEvent), typeof(Idle))]21        [IgnoreEvents(typeof(BusyEvent))]...

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using Microsoft.Coyote.Samples.DrinksServingRobot;3using Microsoft.Coyote.Samples.DrinksServingRobot;4using Microsoft.Coyote.Samples.DrinksServingRobot;5using Microsoft.Coyote.Samples.DrinksServingRobot;6using Microsoft.Coyote.Samples.DrinksServingRobot;7using Microsoft.Coyote.Samples.DrinksServingRobot;8using Microsoft.Coyote.Samples.DrinksServingRobot;9using Microsoft.Coyote.Samples.DrinksServingRobot;10using Microsoft.Coyote.Samples.DrinksServingRobot;11{12    static void Main(string[] args)13    {14        RobotEnvironment env = new RobotEnvironment();15        RobotController controller = new RobotController(env);16        Robot robot = new Robot(env, controller);17        User user = new User(env, controller);18        env.AddRobot(robot);19        env.AddUser(user);20        user.Start();21        robot.Start();

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using Microsoft.Coyote.Samples.DrinksServingRobot;3using Microsoft.Coyote.Samples.DrinksServingRobot;4using Microsoft.Coyote.Samples.DrinksServingRobot;5using Microsoft.Coyote.Samples.DrinksServingRobot;6using Microsoft.Coyote.Samples.DrinksServingRobot;7using Microsoft.Coyote.Samples.DrinksServingRobot;8using Microsoft.Coyote.Samples.DrinksServingRobot;9using Microsoft.Coyote.Samples.DrinksServingRobot;10using Microsoft.Coyote.Samples.DrinksServingRobot;11using Microsoft.Coyote.Samples.DrinksServingRobot;12using Microsoft.Coyote.Samples.DrinksServingRobot;13using Microsoft.Coyote.Samples.DrinksServingRobot;14using Microsoft.Coyote.Samples.DrinksServingRobot;

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot;3using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Events;4using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines;5using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks;6using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks;7using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks;8using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks;9using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks;10using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks;11using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks;12using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks;13using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks;14using Microsoft.Coyote.Samples.DrinksServingRobot.DrinksServingRobot.Machines.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks.Drinks;

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using System;3using System.Threading.Tasks;4{5    {6        public async Task NavigateToDestinationAsync()7        {8            Console.WriteLine("Navigating to the destination");9            await Task.Delay(1000);10        }11    }12}13using Microsoft.Coyote.Samples.DrinksServingRobot;14using System;15using System.Threading.Tasks;16{17    {18        public async Task ServeDrinkAsync()19        {20            Console.WriteLine("Serving drink");21            await Task.Delay(1000);22        }23    }24}25using Microsoft.Coyote.Samples.DrinksServingRobot;26using System;27using System.Threading.Tasks;28{29    {30        public async Task ServeDrinkAsync()31        {32            Console.WriteLine("Serving drink");33            await Task.Delay(1000);34        }35    }36}37using Microsoft.Coyote.Samples.DrinksServingRobot;38using System;39using System.Threading.Tasks;40{41    {42        private readonly Navigator navigator;43        private readonly Robot robot;44        public DrinksServingRobot()45        {46            this.navigator = new Navigator();47            this.robot = new Robot();48        }49        public async Task ServeDrinkAsync()50        {51            await this.navigator.NavigateToDestinationAsync();52            await this.robot.ServeDrinkAsync();53        }54    }55}56using Microsoft.Coyote.Samples.DrinksServingRobot;57using System;58using System.Threading.Tasks;

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using System;3{4    {5        static void Main(string[] args)6        {7            var navigator = new Navigator();8            navigator.Start();9            Console.ReadLine();10        }11    }12}

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2using Microsoft.Coyote.Samples.DrinksServingRobot.Machines;3{4    {5        public static void NavigateTo(Barista barista, string location)6        {7            barista.SendEvent(new Barista.Events.NavigateTo(location));8        }9    }10}11using Microsoft.Coyote.Samples.DrinksServingRobot;12using Microsoft.Coyote.Samples.DrinksServingRobot.Machines;13{14    {15        public static void NavigateTo(Barista barista, string location)16        {17            barista.SendEvent(new Barista.Events.NavigateTo(location));18        }19    }20}21using Microsoft.Coyote.Samples.DrinksServingRobot;22using Microsoft.Coyote.Samples.DrinksServingRobot.Machines;23{24    {25        public static void NavigateTo(Barista barista, string location)26        {27            barista.SendEvent(new Barista.Events.NavigateTo(location));28        }29    }30}31using Microsoft.Coyote.Samples.DrinksServingRobot;32using Microsoft.Coyote.Samples.DrinksServingRobot.Machines;33{34    {35        public static void NavigateTo(Barista barista, string location)36        {37            barista.SendEvent(new Barista.Events.NavigateTo(location));38        }39    }40}41using Microsoft.Coyote.Samples.DrinksServingRobot;42using Microsoft.Coyote.Samples.DrinksServingRobot.Machines;

Navigator

Using AI Code Generation

1using Microsoft.Coyote.Samples.DrinksServingRobot;2{3    {4        private static void Main(string[] args)5        {6            var navigator = new Navigator();7            navigator.Start();8        }9    }10}11using Microsoft.Coyote.Samples.DrinksServingRobot;12{13    {14        private static void Main(string[] args)15        {16            var navigator = new Navigator();17            navigator.Start();18        }19    }20}21using Microsoft.Coyote.Samples.DrinksServingRobot;22{23    {24        private static void Main(string[] args)25        {26            var navigator = new Navigator();27            navigator.Start();28        }29    }30}31using Microsoft.Coyote.Samples.DrinksServingRobot;32{33    {34        private static void Main(string[] args)35        {36            var navigator = new Navigator();37            navigator.Start();38        }39    }40}41using Microsoft.Coyote.Samples.DrinksServingRobot;42{43    {44        private static void Main(string[] args)45        {46            var navigator = new Navigator();47            navigator.Start();48        }49    }50}51using Microsoft.Coyote.Samples.DrinksServingRobot;52{53    {

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