class Uncooperative(Tree):
with F('sender failure') as sender:
sender << (software_bug() | hw.Bluetooth.sender())
with F('receiver failure') as receiver:
receiver << (software_bug() | hw.Bluetooth.receiver())
design = P('protocol design failure (T2T)', failure_rate=0)
failure = T('uncooperative behavior\n(explores cells twice, ...)')
failure << (sender | receiver | hw.Bluetooth.medium() | design)
class EscortNoLED(Tree):
led = P('primary indicator LED failure', failure_rate=1e-5)
with F('not aware of escorting') as not_aware:
not_aware << (hw.EPuck.memory_fault() | Escort.unintentional)
failure = T('escorting, but\nno LED indication')
failure << (led | not_aware | software_bug())
class SeeNoLed(Tree):
primary = P('primary failure\nof the display-LED', failure_rate=1e-5)
software = software_bug()
not_turned_on = hw.EPuck.not_turned_on()
failure = T('clear line of sight,\nbut no LED indication')
failure << (VictimSilent.failure | proto.SOS.receiver | primary | software
| not_turned_on)
class SpuriousMovements(Tree):
turn = F('does not\nstop turning\nwhile sensing\nangle to victim')
turn << (VictimSilent.failure.as_leaf() | hw.ExtBoard.failure)
badcolor = S("Tin Bot's physical color\nis not hardcoded color")
failure = T('spurious movements\n(e.g., spin around, drive circles, ...)')
failure << (proto.LPS.failure.as_leaf() | software_bug() | badcolor
| Proximity.failure() | Uncooperative.failure.as_leaf() | turn)
class StandingStill(Tree):
with F('no initial position from LPS') as no_initial_lps:
user = S('user did not\nenable LPS')
no_initial_lps << (proto.LPS.failure | user)
with F('wheels do not turn') as wheel_fault:
blocked = S('wheels blocked')
wheel_fault << (hw.Motor.failure | blocked)
bad_setup = S('bad setup')
software = software_bug()
failure = T('standing still')
failure << (no_initial_lps | bad_setup | software | wheel_fault
| hw.EPuck.failure | RunIntoWall.failure | Escort.hang)
class IgnoreVictim(Tree):
conflict = F('conflicting data\nabout victim')
conflict << (hw.EPuck.memory_fault() | S('user moved\nvictim')
| Uncooperative.failure.as_leaf())
late = P('too high min-distance\nfor sensing again', failure_rate=1e-4)
no_triang = F('triangulation fails')
no_triang << (late | software_bug())
overwrite = F('information gets overwritten\nbefore E-Puck picks it up')
overwrite << Uncooperative.design()
failure = T('not using information\nabout victim')
failure << (hw.ExtBoard.failure.as_leaf() | conflict | no_triang
| overwrite)
class VictimSilent(Tree):
software = software_bug()
failure = T('victim\'s LED does not\nsend valid signal')
failure << (software | hw.Victim.failure)