.. role:: red 
.. role:: blue 
.. role:: brown 
.. role:: magenta    
.. role:: remark
.. role:: worktodo
.. role:: slide
.. role:: slide1
.. role:: slide2
.. role:: slide3     
.. role:: slidekp

.. _domande.html: ../../../../../it.unibo.issLabStart/userDocs/domande.html
.. _msoIEEE.pdf: ./_static/msoIEEE.pdf

=========================================
TemaFinale25
=========================================

A *Maritime Cargo shipping company* (fron now on, simply :blue:`company`) intends to automate the operations 
of load of freight in the 
ship's cargo hold (or simply :blue:`hold`). To this end, the company plans to employ a *Differential Drive Robot* 
(from now, called :blue:`cargorobot`)
for the loading of goods (named :blue:`products`) in the ship's hold.

The products to be loaded must be placed in a container of predefined dimensions and registered,
by specifying its  :blue:`weight`, within a database,
by using a proper service (:blue:`productservice`).   After the registration, the *productservice* returns a 
**unique product identifier** as a natural number ``PID, PID>0``.



The hold  is a rectangular, flat area with an Input/Output port (:blue:`IOPort`).
The area  provides ``4 slots`` for the product containers.
 


   .. image:: ./_static/img/tf25sceneAnnotated.jpg
      :align: center
      :width: 80%


In the picture above:
  
- The :slide3:`slots` depict the *hold storage areas*, when they are ocuupied by *product containes*
- The :slide3:`slots5` area is :brown:`permanentely occupied`, while the other slots are initially empty
- The :slide3:`sensor` put in front of the :blue:`IOPort` is a sonar used to detect the presence of a product container,
  when it measures a distance ``D``, such that ``D < DFREE/2``, during a reasonable time 
  (e.g. ``3`` secs).

-----------------------------------------
TF2025 Requirements
-----------------------------------------

The company asks us to build a software systems (named :blue:`cargoservice`) that:

#. is able to receive the **request to load** on the cargo a product container already registered in the :blue:`productservice`.
 
   The request is rejected when:

   - the product-weight is evaluated too high, since the ship can carry a maximum load of ``MaxLoad>0  kg``.
   - the  hold is already full, i.e. the ``4 slots`` are alrready occupied.

   If the request is accepted, the :blue:`cargoservice` associates a slot to the product ``PID`` and returns the name 
   of the reserved slot. Afttwerds, it waits that the  product container is delivered to the :blue:`ioport`.
   In the meantime, other requests are not elaborated.
#. is able to detect (by means of the :blue:`sonar` :slide3:`sensor`) the presence of the product container at the :blue:`ioport`  
#. is able  to ensure that the product container is placed by the  :blue:`cargorobot` within its reserved slot.
   At the end of the  work:

   - the  :blue:`cargorobot` should returns to its :brown:`HOME` location.
   - the :blue:`cargoservice`  can process another *load-request*
#. is able to show the current state of the :blue:`hold`, by mesans of a dynamically updated :slide3:`web-gui`.
#. :brown:`interrupts` any activity and turns on a led if the :blue:`sonar sensor` measures a distance ``D > DFREE``   
   for at least ``3`` secs (perhaps a sonar failure). The service continues its activities as soon as the sonar
   measures a distance ``D <= DFREE``.