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

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// Feature options: recovery_policy — multiple on branches and recovery actions
//
// on conditions: gps.failed, lidar.failed, battery.critical, connectivity.lost, …
// actions: switch_to, reduce_speed, enter *_mode, pause_mission, restart connectivity, …
//
//   spanda check examples/features/recovery_policy_options.sd
//   spanda heal examples/features/recovery_policy_options.sd
//   spanda recover examples/features/recovery_policy_options.sd --failure gps
//   spanda recover examples/features/recovery_policy_options.sd --failure lidar
//   spanda sim examples/features/recovery_policy_options.sd --inject-failure gps
//   spanda recovery-report examples/features/recovery_policy_options.sd
//
// Docs: docs/self-healing.md · docs/recovery-orchestrator.md

operating_mode NormalMode { normal; }
operating_mode DegradedMode { degraded; }
operating_mode SafeMode { safe; }
operating_mode RecoveryMode { recovery; }

recovery_policy RoverRecovery {
    on gps.failed {
        switch_to visual_odometry;
        reduce_speed 0.5 m/s;
        enter degraded_mode;
    }
    on lidar.failed {
        reduce_speed 0.3 m/s;
        enter safe_mode;
    }
    on battery.critical {
        pause_mission;
        enter safe_mode;
    }
    on connectivity.lost {
        restart connectivity;
        enter degraded_mode;
    }
}

mitigation SensorDegradation {
    if gps.failed {
        switch_to visual_odometry;
        enter degraded_mode;
    }
}

health_check RoverHealth for robot Rover {
    check battery.level >= 20%;
}

robot Rover {
    sensor gps: GPS;
    sensor lidar: Lidar;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 1.2 m/s; }
    behavior patrol() { wheels.drive(0.5 m/s); }
}