From 0b71259236830cdb3c9c7dc5000908c9903e8a60 Mon Sep 17 00:00:00 2001
From: Ludovic Apvrille <ludovic.apvrille@telecom-paristech.fr>
Date: Tue, 12 Jan 2016 12:08:31 +0000
Subject: [PATCH] assumptiondrones
---
.../assumptions-drone/mad-drone-03bis.xml | 15071 ++++++++++++++++
1 file changed, 15071 insertions(+)
create mode 100644 modeling/assumptions-drone/mad-drone-03bis.xml
diff --git a/modeling/assumptions-drone/mad-drone-03bis.xml b/modeling/assumptions-drone/mad-drone-03bis.xml
new file mode 100644
index 0000000000..62b192498a
--- /dev/null
+++ b/modeling/assumptions-drone/mad-drone-03bis.xml
@@ -0,0 +1,15071 @@
+<?xml version="1.0" encoding="ISO-8859-1"?>
+
+<TURTLEGMODELING version="0.98-beta3">
+
+<Modeling type="Avatar MAD" nameTab="MADs" >
+<AvatarMADPanel name="Modeling Assumptions Diagram" minX="10" maxX="1900" minY="10" maxY="900" zoom="1.0" >
+<CONNECTOR type="5257" id="6444" >
+<cdparam x="444" y="260" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<TGConnectingPoint num="0" id="6445" />
+<P1 x="443" y="247" id="120" />
+<P2 x="443" y="200" id="67" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5257" id="6442" >
+<cdparam x="694" y="483" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<TGConnectingPoint num="0" id="6443" />
+<P1 x="589" y="458" id="9" />
+<P2 x="563" y="351" id="96" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5257" id="6440" >
+<cdparam x="523" y="421" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<TGConnectingPoint num="0" id="6441" />
+<P1 x="439" y="405" id="36" />
+<P2 x="491" y="351" id="95" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="5252" id="28" >
+<cdparam x="477" y="458" />
+<sizeparam width="150" height="30" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="104" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="AvatarElementReference" value="Block_Camera" />
+<TGConnectingPoint num="0" id="1" />
+<TGConnectingPoint num="1" id="2" />
+<TGConnectingPoint num="2" id="3" />
+<TGConnectingPoint num="3" id="4" />
+<TGConnectingPoint num="4" id="5" />
+<TGConnectingPoint num="5" id="6" />
+<TGConnectingPoint num="6" id="7" />
+<TGConnectingPoint num="7" id="8" />
+<TGConnectingPoint num="8" id="9" />
+<TGConnectingPoint num="9" id="10" />
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+<TGConnectingPoint num="12" id="13" />
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+<TGConnectingPoint num="14" id="15" />
+<TGConnectingPoint num="15" id="16" />
+<TGConnectingPoint num="16" id="17" />
+<TGConnectingPoint num="17" id="18" />
+<TGConnectingPoint num="18" id="19" />
+<TGConnectingPoint num="19" id="20" />
+<TGConnectingPoint num="20" id="21" />
+<TGConnectingPoint num="21" id="22" />
+<TGConnectingPoint num="22" id="23" />
+<TGConnectingPoint num="23" id="24" />
+<TGConnectingPoint num="24" id="25" />
+<TGConnectingPoint num="25" id="26" />
+<TGConnectingPoint num="26" id="27" />
+</COMPONENT>
+
+<COMPONENT type="5252" id="56" >
+<cdparam x="309" y="405" />
+<sizeparam width="261" height="30" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="223" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="AvatarElementReference" value="Block_ThreeDRecognitionAlgorithm" />
+<TGConnectingPoint num="0" id="29" />
+<TGConnectingPoint num="1" id="30" />
+<TGConnectingPoint num="2" id="31" />
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+<TGConnectingPoint num="21" id="50" />
+<TGConnectingPoint num="22" id="51" />
+<TGConnectingPoint num="23" id="52" />
+<TGConnectingPoint num="24" id="53" />
+<TGConnectingPoint num="25" id="54" />
+<TGConnectingPoint num="26" id="55" />
+</COMPONENT>
+
+<COMPONENT type="5251" id="84" >
+<cdparam x="321" y="170" />
+<sizeparam width="244" height="30" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="105" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="AvatarDiagramReference" value="DroneDesign1" />
+<TGConnectingPoint num="0" id="57" />
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+</COMPONENT>
+
+<COMPONENT type="5251" id="112" >
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+<sizeparam width="288" height="30" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="105" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="AvatarDiagramReference" value="DroneDesign2" />
+<TGConnectingPoint num="0" id="85" />
+<TGConnectingPoint num="1" id="86" />
+<TGConnectingPoint num="2" id="87" />
+<TGConnectingPoint num="3" id="88" />
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+</COMPONENT>
+
+<COMPONENT type="5252" id="140" >
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+<sizeparam width="222" height="30" minWidth="10" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="203" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="AvatarElementReference" value="Block_LineRecognitionAlgorithm" />
+<TGConnectingPoint num="0" id="113" />
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+</COMPONENT>
+
+<COMPONENT type="5250" id="172" >
+<cdparam x="27" y="356" />
+<sizeparam width="203" height="150" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="132" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="Assumption" value="ThreeDRecognition" />
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+<TGConnectingPoint num="28" id="169" />
+<TGConnectingPoint num="29" id="170" />
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+<extraparam>
+<textline data="the drone can follow " />
+<textline data="corridors without any " />
+<textline data="sign. It recognizes the " />
+<textline data="path to take by understanding " />
+<textline data="its 3D environment." />
+<type data="0" />
+<durability data="1" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="204" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="Assumption" value="CrossingSigns" />
+<TGConnectingPoint num="0" id="173" />
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+<TGConnectingPoint num="23" id="196" />
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+<TGConnectingPoint num="28" id="201" />
+<TGConnectingPoint num="29" id="202" />
+<TGConnectingPoint num="30" id="203" />
+<extraparam>
+<textline data="The drone is informed " />
+<textline data="about the crossing" />
+<textline data="identified with a sign" />
+<type data="0" />
+<durability data="1" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="236" >
+<cdparam x="37" y="158" />
+<sizeparam width="183" height="139" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="69" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="Assumption" value="RedLine" />
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+<TGConnectingPoint num="29" id="234" />
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+<extraparam>
+<textline data="A reline is assumed " />
+<textline data="to be paintd/sticked " />
+<textline data="on the floor in order " />
+<textline data="to guide the drone." />
+<type data="0" />
+<durability data="2" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="268" >
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+<sizeparam width="200" height="111" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="117" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1900" minY="10" maxY="900" />
+<infoparam name="Assumption" value="SignsToNavigate" />
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+<extraparam>
+<textline data="Assumption description:" />
+<textline data="Double-click to edit" />
+<type data="0" />
+<durability data="1" />
+<source data="2" />
+<status data="1" />
+<limitation data="0" />
+</extraparam>
+</COMPONENT>
+
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+<AutomaticDrawing data="true" />
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+<infoparam name="connector" value="<<impact>>" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Assumption to Assumption" value="<<composition>>" />
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+<P2 x="228" y="69" id="241" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from AvatarDiagramReference to AvatarElementReference" value="<<impact>>" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Assumption to AvatarElementReference" value="<<impact>>" />
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+<P2 x="477" y="473" id="2" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+</AvatarMADPanel>
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+<AvatarMADPanel name="Modeling Assumptions Diagram" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
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+<COMPONENT type="5250" id="400" >
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<oldVersion data="2" />
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+
+</AvatarMADPanel>
+
+<AvatarMADPanel name="Modeling Assumptions Diagram" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<extraparam>
+<textline data="The drone is informed " />
+<textline data="about the crossing" />
+<textline data="identified with a sign" />
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+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="237" >
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+<textline data="A reline is assumed " />
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+<textline data="on the floor in order " />
+<textline data="to guide the drone." />
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+<status data="1" />
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+</extraparam>
+</COMPONENT>
+
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+<TGConnectingPoint num="2" id="240" />
+<TGConnectingPoint num="3" id="241" />
+<TGConnectingPoint num="4" id="242" />
+<TGConnectingPoint num="5" id="243" />
+<TGConnectingPoint num="6" id="244" />
+<TGConnectingPoint num="7" id="245" />
+<TGConnectingPoint num="8" id="246" />
+<TGConnectingPoint num="9" id="247" />
+<TGConnectingPoint num="10" id="248" />
+<TGConnectingPoint num="11" id="249" />
+<TGConnectingPoint num="12" id="250" />
+<TGConnectingPoint num="13" id="251" />
+<TGConnectingPoint num="14" id="252" />
+<TGConnectingPoint num="15" id="253" />
+<TGConnectingPoint num="16" id="254" />
+<TGConnectingPoint num="17" id="255" />
+<TGConnectingPoint num="18" id="256" />
+<TGConnectingPoint num="19" id="257" />
+<TGConnectingPoint num="20" id="258" />
+<TGConnectingPoint num="21" id="259" />
+<TGConnectingPoint num="22" id="260" />
+<TGConnectingPoint num="23" id="261" />
+<TGConnectingPoint num="24" id="262" />
+<TGConnectingPoint num="25" id="263" />
+<TGConnectingPoint num="26" id="264" />
+<TGConnectingPoint num="27" id="265" />
+<TGConnectingPoint num="28" id="266" />
+<TGConnectingPoint num="29" id="267" />
+<TGConnectingPoint num="30" id="268" />
+<extraparam>
+<textline data="Assumption description:" />
+<textline data="Double-click to edit" />
+<type data="0" />
+<durability data="1" />
+<source data="2" />
+<status data="1" />
+<limitation data="0" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5257" id="6445" >
+<cdparam x="480" y="283" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<TGConnectingPoint num="0" id="6446" />
+<P1 x="479" y="271" id="121" />
+<P2 x="479" y="223" id="68" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5255" id="273" >
+<cdparam x="256" y="263" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<impact>>" />
+<TGConnectingPoint num="0" id="272" />
+<P1 x="256" y="215" id="221" />
+<P2 x="357" y="215" id="60" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5253" id="275" >
+<cdparam x="354" y="101" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Assumption to Assumption" value="<<composition>>" />
+<TGConnectingPoint num="0" id="274" />
+<P1 x="353" y="92" id="175" />
+<P2 x="264" y="92" id="242" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5255" id="277" >
+<cdparam x="480" y="237" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from AvatarDiagramReference to AvatarElementReference" value="<<impact>>" />
+<TGConnectingPoint num="0" id="276" />
+<P1 x="256" y="285" id="223" />
+<P2 x="368" y="286" id="115" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5253" id="285" >
+<cdparam x="330" y="404" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Assumption to Assumption" value="<<composition>>" />
+<TGConnectingPoint num="0" id="284" />
+<P1 x="164" y="181" id="213" />
+<P2 x="164" y="148" id="248" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+
+</AvatarMADPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="DroneDesign1" >
+<AVATARBlockDiagramPanel name="AVATAR Block Diagram" minX="10" maxX="1400" minY="10" maxY="900" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="442" >
+<cdparam x="246" y="214" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="441" />
+<P1 x="244" y="210" id="476" />
+<P2 x="244" y="236" id="555" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeCrossingRecognition(Picture p)" />
+<isd value="in resultCrossingRecognition(bool found)" />
+<oso value="out result(bool found)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="444" >
+<cdparam x="397" y="296" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="443" />
+<P1 x="397" y="296" id="565" />
+<P2 x="535" y="119" id="614" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<isd value="in stopMe()" />
+<isd value="in startMe()" />
+<oso value="out stopCamera()" />
+<oso value="out startCamera()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="446" >
+<cdparam x="397" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="445" />
+<P1 x="397" y="478" id="561" />
+<P2 x="536" y="634" id="498" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in reach(int place)" />
+<osd value="out reach(int place)" />
+<isd value="in placeReached()" />
+<isd value="in missionAborted(int status)" />
+<oso value="out placeReached()" />
+<oso value="out missionAborted(int status)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="448" >
+<cdparam x="248" y="516" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="447" />
+<P1 x="245" y="547" id="530" />
+<P2 x="244" y="478" id="560" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeLineRecognition(Picture p)" />
+<isd value="in resultLineRecognition(bool found, int position)" />
+<oso value="out result(bool found, int position)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="450" >
+<cdparam x="424" y="294" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="449" />
+<P1 x="397" y="417" id="567" />
+<P2 x="530" y="416" id="582" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in getPosition(Command p)" />
+<osd value="out sendPosition(Command c)" />
+<isd value="in getCommand(Command c)" />
+<oso value="out sendCommand(Command c)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="452" >
+<cdparam x="333" y="193" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="451" />
+<P1 x="397" y="357" id="558" />
+<P2 x="535" y="165" id="607" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in readNextPicture(Picture p)" />
+<osd value="out sendPicture(Picture p)" />
+<FIFOType asynchronous="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="301" id="469" >
+<cdparam x="832" y="472" />
+<sizeparam width="276" height="147" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="UML Note" value="Command values:
+---------------------
+0: negative value
+1: nothing
+2: positive value
+
+
+Command mode:
+-------------------
+0: must take into account pitch, roll and yaw
+1: takeOff
+2: land
+" />
+<TGConnectingPoint num="0" id="453" />
+<TGConnectingPoint num="1" id="454" />
+<TGConnectingPoint num="2" id="455" />
+<TGConnectingPoint num="3" id="456" />
+<TGConnectingPoint num="4" id="457" />
+<TGConnectingPoint num="5" id="458" />
+<TGConnectingPoint num="6" id="459" />
+<TGConnectingPoint num="7" id="460" />
+<TGConnectingPoint num="8" id="461" />
+<TGConnectingPoint num="9" id="462" />
+<TGConnectingPoint num="10" id="463" />
+<TGConnectingPoint num="11" id="464" />
+<TGConnectingPoint num="12" id="465" />
+<TGConnectingPoint num="13" id="466" />
+<TGConnectingPoint num="14" id="467" />
+<TGConnectingPoint num="15" id="468" />
+<extraparam>
+<Line value="Command values:" />
+<Line value="---------------------" />
+<Line value="0: negative value" />
+<Line value="1: nothing" />
+<Line value="2: positive value" />
+<Line value="" />
+<Line value="" />
+<Line value="Command mode:" />
+<Line value="-------------------" />
+<Line value="0: must take into account pitch, roll and yaw" />
+<Line value="1: takeOff" />
+<Line value="2: land" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="494" >
+<cdparam x="92" y="10" />
+<sizeparam width="305" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="CrossingRecognition" />
+<TGConnectingPoint num="0" id="470" />
+<TGConnectingPoint num="1" id="471" />
+<TGConnectingPoint num="2" id="472" />
+<TGConnectingPoint num="3" id="473" />
+<TGConnectingPoint num="4" id="474" />
+<TGConnectingPoint num="5" id="475" />
+<TGConnectingPoint num="6" id="476" />
+<TGConnectingPoint num="7" id="477" />
+<TGConnectingPoint num="8" id="478" />
+<TGConnectingPoint num="9" id="479" />
+<TGConnectingPoint num="10" id="480" />
+<TGConnectingPoint num="11" id="481" />
+<TGConnectingPoint num="12" id="482" />
+<TGConnectingPoint num="13" id="483" />
+<TGConnectingPoint num="14" id="484" />
+<TGConnectingPoint num="15" id="485" />
+<TGConnectingPoint num="16" id="486" />
+<TGConnectingPoint num="17" id="487" />
+<TGConnectingPoint num="18" id="488" />
+<TGConnectingPoint num="19" id="489" />
+<TGConnectingPoint num="20" id="490" />
+<TGConnectingPoint num="21" id="491" />
+<TGConnectingPoint num="22" id="492" />
+<TGConnectingPoint num="23" id="493" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="minComputationTime" value="10" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="10" type="8" typeOther="" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="519" >
+<cdparam x="536" y="533" />
+<sizeparam width="270" height="202" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="RemoteUser" />
+<TGConnectingPoint num="0" id="495" />
+<TGConnectingPoint num="1" id="496" />
+<TGConnectingPoint num="2" id="497" />
+<TGConnectingPoint num="3" id="498" />
+<TGConnectingPoint num="4" id="499" />
+<TGConnectingPoint num="5" id="500" />
+<TGConnectingPoint num="6" id="501" />
+<TGConnectingPoint num="7" id="502" />
+<TGConnectingPoint num="8" id="503" />
+<TGConnectingPoint num="9" id="504" />
+<TGConnectingPoint num="10" id="505" />
+<TGConnectingPoint num="11" id="506" />
+<TGConnectingPoint num="12" id="507" />
+<TGConnectingPoint num="13" id="508" />
+<TGConnectingPoint num="14" id="509" />
+<TGConnectingPoint num="15" id="510" />
+<TGConnectingPoint num="16" id="511" />
+<TGConnectingPoint num="17" id="512" />
+<TGConnectingPoint num="18" id="513" />
+<TGConnectingPoint num="19" id="514" />
+<TGConnectingPoint num="20" id="515" />
+<TGConnectingPoint num="21" id="516" />
+<TGConnectingPoint num="22" id="517" />
+<TGConnectingPoint num="23" id="518" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="place" value="" type="8" typeOther="" />
+<Attribute access="0" id="status" value="" type="8" typeOther="" />
+<Signal value="in placeReached()" />
+<Signal value="in missionAborted(int status)" />
+<Signal value="out reach(int place)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="528" >
+<cdparam x="830" y="230" />
+<sizeparam width="239" height="122" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="DataType0" value="Picture" />
+<TGConnectingPoint num="0" id="520" />
+<TGConnectingPoint num="1" id="521" />
+<TGConnectingPoint num="2" id="522" />
+<TGConnectingPoint num="3" id="523" />
+<TGConnectingPoint num="4" id="524" />
+<TGConnectingPoint num="5" id="525" />
+<TGConnectingPoint num="6" id="526" />
+<TGConnectingPoint num="7" id="527" />
+<extraparam>
+<Attribute access="0" id="sizeH" value="0" type="8" typeOther="" />
+<Attribute access="0" id="sizeV" value="0" type="8" typeOther="" />
+<Attribute access="0" id="data" value="0" type="8" typeOther="" />
+<Attribute access="0" id="bottom" value="" type="4" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="553" >
+<cdparam x="96" y="547" />
+<sizeparam width="299" height="213" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="LineRecognitionAlgorithm" />
+<TGConnectingPoint num="0" id="529" />
+<TGConnectingPoint num="1" id="530" />
+<TGConnectingPoint num="2" id="531" />
+<TGConnectingPoint num="3" id="532" />
+<TGConnectingPoint num="4" id="533" />
+<TGConnectingPoint num="5" id="534" />
+<TGConnectingPoint num="6" id="535" />
+<TGConnectingPoint num="7" id="536" />
+<TGConnectingPoint num="8" id="537" />
+<TGConnectingPoint num="9" id="538" />
+<TGConnectingPoint num="10" id="539" />
+<TGConnectingPoint num="11" id="540" />
+<TGConnectingPoint num="12" id="541" />
+<TGConnectingPoint num="13" id="542" />
+<TGConnectingPoint num="14" id="543" />
+<TGConnectingPoint num="15" id="544" />
+<TGConnectingPoint num="16" id="545" />
+<TGConnectingPoint num="17" id="546" />
+<TGConnectingPoint num="18" id="547" />
+<TGConnectingPoint num="19" id="548" />
+<TGConnectingPoint num="20" id="549" />
+<TGConnectingPoint num="21" id="550" />
+<TGConnectingPoint num="22" id="551" />
+<TGConnectingPoint num="23" id="552" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="minComputationTime" value="30" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="50" type="8" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found, int position)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="578" >
+<cdparam x="91" y="236" />
+<sizeparam width="306" height="242" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="MainController" />
+<TGConnectingPoint num="0" id="554" />
+<TGConnectingPoint num="1" id="555" />
+<TGConnectingPoint num="2" id="556" />
+<TGConnectingPoint num="3" id="557" />
+<TGConnectingPoint num="4" id="558" />
+<TGConnectingPoint num="5" id="559" />
+<TGConnectingPoint num="6" id="560" />
+<TGConnectingPoint num="7" id="561" />
+<TGConnectingPoint num="8" id="562" />
+<TGConnectingPoint num="9" id="563" />
+<TGConnectingPoint num="10" id="564" />
+<TGConnectingPoint num="11" id="565" />
+<TGConnectingPoint num="12" id="566" />
+<TGConnectingPoint num="13" id="567" />
+<TGConnectingPoint num="14" id="568" />
+<TGConnectingPoint num="15" id="569" />
+<TGConnectingPoint num="16" id="570" />
+<TGConnectingPoint num="17" id="571" />
+<TGConnectingPoint num="18" id="572" />
+<TGConnectingPoint num="19" id="573" />
+<TGConnectingPoint num="20" id="574" />
+<TGConnectingPoint num="21" id="575" />
+<TGConnectingPoint num="22" id="576" />
+<TGConnectingPoint num="23" id="577" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="nbOfCrossings" value="" type="8" typeOther="" />
+<Attribute access="0" id="aliveTimer" value="100" type="8" typeOther="" />
+<Attribute access="0" id="mode" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPicture" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="movementTimer" value="" type="9" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="movementDelay" value="100" type="8" typeOther="" />
+<Attribute access="0" id="found" value="" type="4" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="hasCurrentPicture" value="" type="4" typeOther="" />
+<Signal value="out sendCommand(Command c)" />
+<Signal value="in getPosition(Command p)" />
+<Signal value="in readNextPicture(Picture p)" />
+<Signal value="out startCamera()" />
+<Signal value="out stopCamera()" />
+<Signal value="in reach(int place)" />
+<Signal value="out missionAborted(int status)" />
+<Signal value="out placeReached()" />
+<Signal value="out computeLineRecognition(Picture p)" />
+<Signal value="in resultLineRecognition(bool found, int position)" />
+<Signal value="out computeCrossingRecognition(Picture p)" />
+<Signal value="in resultCrossingRecognition(bool found)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="603" >
+<cdparam x="530" y="325" />
+<sizeparam width="250" height="182" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="EngineController" />
+<TGConnectingPoint num="0" id="579" />
+<TGConnectingPoint num="1" id="580" />
+<TGConnectingPoint num="2" id="581" />
+<TGConnectingPoint num="3" id="582" />
+<TGConnectingPoint num="4" id="583" />
+<TGConnectingPoint num="5" id="584" />
+<TGConnectingPoint num="6" id="585" />
+<TGConnectingPoint num="7" id="586" />
+<TGConnectingPoint num="8" id="587" />
+<TGConnectingPoint num="9" id="588" />
+<TGConnectingPoint num="10" id="589" />
+<TGConnectingPoint num="11" id="590" />
+<TGConnectingPoint num="12" id="591" />
+<TGConnectingPoint num="13" id="592" />
+<TGConnectingPoint num="14" id="593" />
+<TGConnectingPoint num="15" id="594" />
+<TGConnectingPoint num="16" id="595" />
+<TGConnectingPoint num="17" id="596" />
+<TGConnectingPoint num="18" id="597" />
+<TGConnectingPoint num="19" id="598" />
+<TGConnectingPoint num="20" id="599" />
+<TGConnectingPoint num="21" id="600" />
+<TGConnectingPoint num="22" id="601" />
+<TGConnectingPoint num="23" id="602" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="lastCommand" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="currentPosition" value="" type="5" typeOther="Command" />
+<Signal value="in getCommand(Command c)" />
+<Signal value="out sendPosition(Command c)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="628" >
+<cdparam x="535" y="74" />
+<sizeparam width="250" height="182" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="Camera" />
+<TGConnectingPoint num="0" id="604" />
+<TGConnectingPoint num="1" id="605" />
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+<TGConnectingPoint num="21" id="625" />
+<TGConnectingPoint num="22" id="626" />
+<TGConnectingPoint num="23" id="627" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="interframeDelay" value="20" type="8" typeOther="" />
+<Attribute access="0" id="bottom" value="true" type="4" typeOther="" />
+<Signal value="out sendPicture(Picture p)" />
+<Signal value="in stopMe()" />
+<Signal value="in startMe()" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="637" >
+<cdparam x="831" y="362" />
+<sizeparam width="238" height="101" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="DataType0" value="Command" />
+<TGConnectingPoint num="0" id="629" />
+<TGConnectingPoint num="1" id="630" />
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+<TGConnectingPoint num="5" id="634" />
+<TGConnectingPoint num="6" id="635" />
+<TGConnectingPoint num="7" id="636" />
+<extraparam>
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+<Attribute access="0" id="roll" value="" type="8" typeOther="" />
+<Attribute access="0" id="yaw" value="" type="8" typeOther="" />
+<Attribute access="0" id="mode" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="CrossingRecognition" minX="10" maxX="1400" minY="10" maxY="900" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from choice to TGComponent" value="null" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<TGConnectingPoint num="3" id="642" />
+<extraparam>
+<guard value="[ else ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="found = false" />
+</extraparam>
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+<AutomaticDrawing data="true" />
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+<computeMin value="" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to choice" value="null" />
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+<AutomaticDrawing data="true" />
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<computeMin value="" />
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+<extraparam>
+<guard value="[ ]" />
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+<afterMax value="maxComputationTime" />
+<computeMin value="" />
+<computeMax value="" />
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+</SUBCOMPONENT>
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+<extraparam>
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+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="found = true" />
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+</SUBCOMPONENT>
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+<CONNECTOR type="5102" id="703" >
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+<sizeparam width="485" height="494" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="Started" />
+<TGConnectingPoint num="0" id="2362" />
+<TGConnectingPoint num="1" id="2363" />
+<TGConnectingPoint num="2" id="2364" />
+<TGConnectingPoint num="3" id="2365" />
+<TGConnectingPoint num="4" id="2366" />
+<TGConnectingPoint num="5" id="2367" />
+<TGConnectingPoint num="6" id="2368" />
+<TGConnectingPoint num="7" id="2369" />
+<TGConnectingPoint num="8" id="2370" />
+<TGConnectingPoint num="9" id="2371" />
+<TGConnectingPoint num="10" id="2372" />
+<TGConnectingPoint num="11" id="2373" />
+<TGConnectingPoint num="12" id="2374" />
+<TGConnectingPoint num="13" id="2375" />
+<TGConnectingPoint num="14" id="2376" />
+<TGConnectingPoint num="15" id="2377" />
+<TGConnectingPoint num="16" id="2378" />
+<TGConnectingPoint num="17" id="2379" />
+<TGConnectingPoint num="18" id="2380" />
+<TGConnectingPoint num="19" id="2381" />
+<TGConnectingPoint num="20" id="2382" />
+<TGConnectingPoint num="21" id="2383" />
+<TGConnectingPoint num="22" id="2384" />
+<TGConnectingPoint num="23" id="2385" />
+<TGConnectingPoint num="24" id="2386" />
+<TGConnectingPoint num="25" id="2387" />
+<TGConnectingPoint num="26" id="2388" />
+<TGConnectingPoint num="27" id="2389" />
+<TGConnectingPoint num="28" id="2390" />
+<TGConnectingPoint num="29" id="2391" />
+<TGConnectingPoint num="30" id="2392" />
+<TGConnectingPoint num="31" id="2393" />
+<TGConnectingPoint num="32" id="2394" />
+<TGConnectingPoint num="33" id="2395" />
+<TGConnectingPoint num="34" id="2396" />
+<TGConnectingPoint num="35" id="2397" />
+<TGConnectingPoint num="36" id="2398" />
+<TGConnectingPoint num="37" id="2399" />
+<TGConnectingPoint num="38" id="2400" />
+<TGConnectingPoint num="39" id="2401" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="DroneDesign2" >
+<AVATARBlockDiagramPanel name="AVATAR Block Diagram" minX="10" maxX="1400" minY="10" maxY="900" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="2404" >
+<cdparam x="246" y="214" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2403" />
+<P1 x="244" y="210" id="2438" />
+<P2 x="244" y="236" id="2517" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeCrossingRecognition(Picture p)" />
+<isd value="in resultCrossingRecognition(bool found)" />
+<oso value="out result(bool found)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2406" >
+<cdparam x="397" y="296" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2405" />
+<P1 x="397" y="296" id="2527" />
+<P2 x="535" y="119" id="2576" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<isd value="in stopMe()" />
+<isd value="in startMe()" />
+<oso value="out stopCamera()" />
+<oso value="out startCamera()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2408" >
+<cdparam x="397" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2407" />
+<P1 x="397" y="478" id="2523" />
+<P2 x="536" y="634" id="2460" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in reach(int place)" />
+<osd value="out reach(int place)" />
+<isd value="in placeReached()" />
+<isd value="in missionAborted(int status)" />
+<oso value="out placeReached()" />
+<oso value="out missionAborted(int status)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2410" >
+<cdparam x="248" y="516" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2409" />
+<P1 x="245" y="548" id="2492" />
+<P2 x="244" y="478" id="2522" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeLineRecognition(Picture p)" />
+<isd value="in resultRecognition(bool found, int position)" />
+<oso value="out result(bool found, int position)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2412" >
+<cdparam x="424" y="294" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2411" />
+<P1 x="397" y="417" id="2529" />
+<P2 x="530" y="416" id="2544" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in getPosition(Command p)" />
+<osd value="out sendPosition(Command c)" />
+<isd value="in getCommand(Command c)" />
+<oso value="out sendCommand(Command c)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2414" >
+<cdparam x="333" y="193" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="2413" />
+<P1 x="397" y="357" id="2520" />
+<P2 x="535" y="165" id="2569" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in readNextPicture(Picture p)" />
+<osd value="out sendPicture(Picture p)" />
+<FIFOType asynchronous="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="301" id="2431" >
+<cdparam x="832" y="472" />
+<sizeparam width="276" height="147" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="UML Note" value="Command values:
+---------------------
+0: negative value
+1: nothing
+2: positive value
+
+
+Command mode:
+-------------------
+0: must take into account pitch, roll and yaw
+1: takeOff
+2: land
+" />
+<TGConnectingPoint num="0" id="2415" />
+<TGConnectingPoint num="1" id="2416" />
+<TGConnectingPoint num="2" id="2417" />
+<TGConnectingPoint num="3" id="2418" />
+<TGConnectingPoint num="4" id="2419" />
+<TGConnectingPoint num="5" id="2420" />
+<TGConnectingPoint num="6" id="2421" />
+<TGConnectingPoint num="7" id="2422" />
+<TGConnectingPoint num="8" id="2423" />
+<TGConnectingPoint num="9" id="2424" />
+<TGConnectingPoint num="10" id="2425" />
+<TGConnectingPoint num="11" id="2426" />
+<TGConnectingPoint num="12" id="2427" />
+<TGConnectingPoint num="13" id="2428" />
+<TGConnectingPoint num="14" id="2429" />
+<TGConnectingPoint num="15" id="2430" />
+<extraparam>
+<Line value="Command values:" />
+<Line value="---------------------" />
+<Line value="0: negative value" />
+<Line value="1: nothing" />
+<Line value="2: positive value" />
+<Line value="" />
+<Line value="" />
+<Line value="Command mode:" />
+<Line value="-------------------" />
+<Line value="0: must take into account pitch, roll and yaw" />
+<Line value="1: takeOff" />
+<Line value="2: land" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2456" >
+<cdparam x="92" y="10" />
+<sizeparam width="305" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="CrossingRecognition" />
+<TGConnectingPoint num="0" id="2432" />
+<TGConnectingPoint num="1" id="2433" />
+<TGConnectingPoint num="2" id="2434" />
+<TGConnectingPoint num="3" id="2435" />
+<TGConnectingPoint num="4" id="2436" />
+<TGConnectingPoint num="5" id="2437" />
+<TGConnectingPoint num="6" id="2438" />
+<TGConnectingPoint num="7" id="2439" />
+<TGConnectingPoint num="8" id="2440" />
+<TGConnectingPoint num="9" id="2441" />
+<TGConnectingPoint num="10" id="2442" />
+<TGConnectingPoint num="11" id="2443" />
+<TGConnectingPoint num="12" id="2444" />
+<TGConnectingPoint num="13" id="2445" />
+<TGConnectingPoint num="14" id="2446" />
+<TGConnectingPoint num="15" id="2447" />
+<TGConnectingPoint num="16" id="2448" />
+<TGConnectingPoint num="17" id="2449" />
+<TGConnectingPoint num="18" id="2450" />
+<TGConnectingPoint num="19" id="2451" />
+<TGConnectingPoint num="20" id="2452" />
+<TGConnectingPoint num="21" id="2453" />
+<TGConnectingPoint num="22" id="2454" />
+<TGConnectingPoint num="23" id="2455" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="minComputationTime" value="10" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="10" type="8" typeOther="" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2481" >
+<cdparam x="536" y="533" />
+<sizeparam width="270" height="202" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="RemoteUser" />
+<TGConnectingPoint num="0" id="2457" />
+<TGConnectingPoint num="1" id="2458" />
+<TGConnectingPoint num="2" id="2459" />
+<TGConnectingPoint num="3" id="2460" />
+<TGConnectingPoint num="4" id="2461" />
+<TGConnectingPoint num="5" id="2462" />
+<TGConnectingPoint num="6" id="2463" />
+<TGConnectingPoint num="7" id="2464" />
+<TGConnectingPoint num="8" id="2465" />
+<TGConnectingPoint num="9" id="2466" />
+<TGConnectingPoint num="10" id="2467" />
+<TGConnectingPoint num="11" id="2468" />
+<TGConnectingPoint num="12" id="2469" />
+<TGConnectingPoint num="13" id="2470" />
+<TGConnectingPoint num="14" id="2471" />
+<TGConnectingPoint num="15" id="2472" />
+<TGConnectingPoint num="16" id="2473" />
+<TGConnectingPoint num="17" id="2474" />
+<TGConnectingPoint num="18" id="2475" />
+<TGConnectingPoint num="19" id="2476" />
+<TGConnectingPoint num="20" id="2477" />
+<TGConnectingPoint num="21" id="2478" />
+<TGConnectingPoint num="22" id="2479" />
+<TGConnectingPoint num="23" id="2480" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="place" value="" type="8" typeOther="" />
+<Attribute access="0" id="status" value="" type="8" typeOther="" />
+<Signal value="in placeReached()" />
+<Signal value="in missionAborted(int status)" />
+<Signal value="out reach(int place)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="2490" >
+<cdparam x="830" y="230" />
+<sizeparam width="239" height="122" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="DataType0" value="Picture" />
+<TGConnectingPoint num="0" id="2482" />
+<TGConnectingPoint num="1" id="2483" />
+<TGConnectingPoint num="2" id="2484" />
+<TGConnectingPoint num="3" id="2485" />
+<TGConnectingPoint num="4" id="2486" />
+<TGConnectingPoint num="5" id="2487" />
+<TGConnectingPoint num="6" id="2488" />
+<TGConnectingPoint num="7" id="2489" />
+<extraparam>
+<Attribute access="0" id="sizeH" value="0" type="8" typeOther="" />
+<Attribute access="0" id="sizeV" value="0" type="8" typeOther="" />
+<Attribute access="0" id="data" value="0" type="8" typeOther="" />
+<Attribute access="0" id="bottom" value="" type="4" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2515" >
+<cdparam x="96" y="548" />
+<sizeparam width="299" height="213" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="ThreeDRecognitionAlgorithm" />
+<TGConnectingPoint num="0" id="2491" />
+<TGConnectingPoint num="1" id="2492" />
+<TGConnectingPoint num="2" id="2493" />
+<TGConnectingPoint num="3" id="2494" />
+<TGConnectingPoint num="4" id="2495" />
+<TGConnectingPoint num="5" id="2496" />
+<TGConnectingPoint num="6" id="2497" />
+<TGConnectingPoint num="7" id="2498" />
+<TGConnectingPoint num="8" id="2499" />
+<TGConnectingPoint num="9" id="2500" />
+<TGConnectingPoint num="10" id="2501" />
+<TGConnectingPoint num="11" id="2502" />
+<TGConnectingPoint num="12" id="2503" />
+<TGConnectingPoint num="13" id="2504" />
+<TGConnectingPoint num="14" id="2505" />
+<TGConnectingPoint num="15" id="2506" />
+<TGConnectingPoint num="16" id="2507" />
+<TGConnectingPoint num="17" id="2508" />
+<TGConnectingPoint num="18" id="2509" />
+<TGConnectingPoint num="19" id="2510" />
+<TGConnectingPoint num="20" id="2511" />
+<TGConnectingPoint num="21" id="2512" />
+<TGConnectingPoint num="22" id="2513" />
+<TGConnectingPoint num="23" id="2514" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="minComputationTime" value="30" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="70" type="8" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found, int position)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2540" >
+<cdparam x="91" y="236" />
+<sizeparam width="306" height="242" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="MainController" />
+<TGConnectingPoint num="0" id="2516" />
+<TGConnectingPoint num="1" id="2517" />
+<TGConnectingPoint num="2" id="2518" />
+<TGConnectingPoint num="3" id="2519" />
+<TGConnectingPoint num="4" id="2520" />
+<TGConnectingPoint num="5" id="2521" />
+<TGConnectingPoint num="6" id="2522" />
+<TGConnectingPoint num="7" id="2523" />
+<TGConnectingPoint num="8" id="2524" />
+<TGConnectingPoint num="9" id="2525" />
+<TGConnectingPoint num="10" id="2526" />
+<TGConnectingPoint num="11" id="2527" />
+<TGConnectingPoint num="12" id="2528" />
+<TGConnectingPoint num="13" id="2529" />
+<TGConnectingPoint num="14" id="2530" />
+<TGConnectingPoint num="15" id="2531" />
+<TGConnectingPoint num="16" id="2532" />
+<TGConnectingPoint num="17" id="2533" />
+<TGConnectingPoint num="18" id="2534" />
+<TGConnectingPoint num="19" id="2535" />
+<TGConnectingPoint num="20" id="2536" />
+<TGConnectingPoint num="21" id="2537" />
+<TGConnectingPoint num="22" id="2538" />
+<TGConnectingPoint num="23" id="2539" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="nbOfCrossings" value="" type="8" typeOther="" />
+<Attribute access="0" id="aliveTimer" value="100" type="8" typeOther="" />
+<Attribute access="0" id="mode" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPicture" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="movementTimer" value="" type="9" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="movementDelay" value="100" type="8" typeOther="" />
+<Attribute access="0" id="found" value="" type="4" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="hasCurrentPicture" value="" type="4" typeOther="" />
+<Signal value="out sendCommand(Command c)" />
+<Signal value="in getPosition(Command p)" />
+<Signal value="in readNextPicture(Picture p)" />
+<Signal value="out startCamera()" />
+<Signal value="out stopCamera()" />
+<Signal value="in reach(int place)" />
+<Signal value="out missionAborted(int status)" />
+<Signal value="out placeReached()" />
+<Signal value="out computeLineRecognition(Picture p)" />
+<Signal value="out computeCrossingRecognition(Picture p)" />
+<Signal value="in resultCrossingRecognition(bool found)" />
+<Signal value="in resultRecognition(bool found, int position)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2565" >
+<cdparam x="530" y="325" />
+<sizeparam width="250" height="182" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="EngineController" />
+<TGConnectingPoint num="0" id="2541" />
+<TGConnectingPoint num="1" id="2542" />
+<TGConnectingPoint num="2" id="2543" />
+<TGConnectingPoint num="3" id="2544" />
+<TGConnectingPoint num="4" id="2545" />
+<TGConnectingPoint num="5" id="2546" />
+<TGConnectingPoint num="6" id="2547" />
+<TGConnectingPoint num="7" id="2548" />
+<TGConnectingPoint num="8" id="2549" />
+<TGConnectingPoint num="9" id="2550" />
+<TGConnectingPoint num="10" id="2551" />
+<TGConnectingPoint num="11" id="2552" />
+<TGConnectingPoint num="12" id="2553" />
+<TGConnectingPoint num="13" id="2554" />
+<TGConnectingPoint num="14" id="2555" />
+<TGConnectingPoint num="15" id="2556" />
+<TGConnectingPoint num="16" id="2557" />
+<TGConnectingPoint num="17" id="2558" />
+<TGConnectingPoint num="18" id="2559" />
+<TGConnectingPoint num="19" id="2560" />
+<TGConnectingPoint num="20" id="2561" />
+<TGConnectingPoint num="21" id="2562" />
+<TGConnectingPoint num="22" id="2563" />
+<TGConnectingPoint num="23" id="2564" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="lastCommand" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="currentPosition" value="" type="5" typeOther="Command" />
+<Signal value="in getCommand(Command c)" />
+<Signal value="out sendPosition(Command c)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2590" >
+<cdparam x="535" y="74" />
+<sizeparam width="250" height="182" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="Camera" />
+<TGConnectingPoint num="0" id="2566" />
+<TGConnectingPoint num="1" id="2567" />
+<TGConnectingPoint num="2" id="2568" />
+<TGConnectingPoint num="3" id="2569" />
+<TGConnectingPoint num="4" id="2570" />
+<TGConnectingPoint num="5" id="2571" />
+<TGConnectingPoint num="6" id="2572" />
+<TGConnectingPoint num="7" id="2573" />
+<TGConnectingPoint num="8" id="2574" />
+<TGConnectingPoint num="9" id="2575" />
+<TGConnectingPoint num="10" id="2576" />
+<TGConnectingPoint num="11" id="2577" />
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+<TGConnectingPoint num="21" id="2587" />
+<TGConnectingPoint num="22" id="2588" />
+<TGConnectingPoint num="23" id="2589" />
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+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="interframeDelay" value="20" type="8" typeOther="" />
+<Attribute access="0" id="bottom" value="false" type="4" typeOther="" />
+<Signal value="out sendPicture(Picture p)" />
+<Signal value="in stopMe()" />
+<Signal value="in startMe()" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5003" id="2599" >
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+<sizeparam width="238" height="101" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="DataType0" value="Command" />
+<TGConnectingPoint num="0" id="2591" />
+<TGConnectingPoint num="1" id="2592" />
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+<TGConnectingPoint num="3" id="2594" />
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+<TGConnectingPoint num="6" id="2597" />
+<TGConnectingPoint num="7" id="2598" />
+<extraparam>
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+<Attribute access="0" id="roll" value="" type="8" typeOther="" />
+<Attribute access="0" id="yaw" value="" type="8" typeOther="" />
+<Attribute access="0" id="mode" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="CrossingRecognition" minX="10" maxX="1400" minY="10" maxY="900" >
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+<infoparam name="connector from choice to TGComponent" value="null" />
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+<TGConnectingPoint num="1" id="2607" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<TGConnectingPoint num="3" id="2604" />
+<extraparam>
+<guard value="[ else ]" />
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+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="found = false" />
+</extraparam>
+</SUBCOMPONENT>
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+<infoparam name="connector from state0 to Send signal" value="null" />
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<TGConnectingPoint num="3" id="2612" />
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+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+</extraparam>
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+<CONNECTOR type="5102" id="2622" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from TGComponent to choice" value="null" />
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+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<TGConnectingPoint num="3" id="2619" />
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+<afterMax value="" />
+<computeMin value="" />
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<TGConnectingPoint num="3" id="2626" />
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+<computeMin value="" />
+<computeMax value="" />
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+<TGConnectingPoint num="3" id="2648" />
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+<computeMin value="" />
+<computeMax value="" />
+<actions value="found = true" />
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+<infoparam name="state0" value="Started" />
+<TGConnectingPoint num="0" id="4324" />
+<TGConnectingPoint num="1" id="4325" />
+<TGConnectingPoint num="2" id="4326" />
+<TGConnectingPoint num="3" id="4327" />
+<TGConnectingPoint num="4" id="4328" />
+<TGConnectingPoint num="5" id="4329" />
+<TGConnectingPoint num="6" id="4330" />
+<TGConnectingPoint num="7" id="4331" />
+<TGConnectingPoint num="8" id="4332" />
+<TGConnectingPoint num="9" id="4333" />
+<TGConnectingPoint num="10" id="4334" />
+<TGConnectingPoint num="11" id="4335" />
+<TGConnectingPoint num="12" id="4336" />
+<TGConnectingPoint num="13" id="4337" />
+<TGConnectingPoint num="14" id="4338" />
+<TGConnectingPoint num="15" id="4339" />
+<TGConnectingPoint num="16" id="4340" />
+<TGConnectingPoint num="17" id="4341" />
+<TGConnectingPoint num="18" id="4342" />
+<TGConnectingPoint num="19" id="4343" />
+<TGConnectingPoint num="20" id="4344" />
+<TGConnectingPoint num="21" id="4345" />
+<TGConnectingPoint num="22" id="4346" />
+<TGConnectingPoint num="23" id="4347" />
+<TGConnectingPoint num="24" id="4348" />
+<TGConnectingPoint num="25" id="4349" />
+<TGConnectingPoint num="26" id="4350" />
+<TGConnectingPoint num="27" id="4351" />
+<TGConnectingPoint num="28" id="4352" />
+<TGConnectingPoint num="29" id="4353" />
+<TGConnectingPoint num="30" id="4354" />
+<TGConnectingPoint num="31" id="4355" />
+<TGConnectingPoint num="32" id="4356" />
+<TGConnectingPoint num="33" id="4357" />
+<TGConnectingPoint num="34" id="4358" />
+<TGConnectingPoint num="35" id="4359" />
+<TGConnectingPoint num="36" id="4360" />
+<TGConnectingPoint num="37" id="4361" />
+<TGConnectingPoint num="38" id="4362" />
+<TGConnectingPoint num="39" id="4363" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="DroneDesign3" >
+<AVATARBlockDiagramPanel name="AVATAR Block Diagram" minX="10" maxX="1400" minY="10" maxY="900" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="118" id="4365" >
+<cdparam x="591" y="248" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from UML Note to DataType0" value="null" />
+<P1 x="591" y="248" id="4379" />
+<P2 x="558" y="226" id="4560" />
+<AutomaticDrawing data="false" />
+</CONNECTOR>
+<CONNECTOR type="5002" id="4367" >
+<cdparam x="246" y="214" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4366" />
+<P1 x="127" y="142" id="4401" />
+<P2 x="128" y="159" id="4480" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeCrossingRecognition(Picture p)" />
+<isd value="in resultCrossingRecognition(bool found)" />
+<oso value="out result(bool found)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4369" >
+<cdparam x="397" y="296" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4368" />
+<P1 x="241" y="230" id="4490" />
+<P2 x="307" y="97" id="4539" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<isd value="in stopMe()" />
+<isd value="in startMe()" />
+<oso value="out stopCamera()" />
+<oso value="out startCamera()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4371" >
+<cdparam x="397" y="478" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4370" />
+<P1 x="241" y="446" id="4486" />
+<P2 x="305" y="470" id="4423" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in reach(int place)" />
+<iso value="in doorHandled()" />
+<osd value="out reach(int place)" />
+<osd value="out doorHandled()" />
+<isd value="in placeReached()" />
+<isd value="in missionAborted(int status)" />
+<isd value="in doorDetected()" />
+<oso value="out placeReached()" />
+<oso value="out missionAborted(int status)" />
+<oso value="out doorDetected()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4373" >
+<cdparam x="248" y="516" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4372" />
+<P1 x="129" y="471" id="4455" />
+<P2 x="128" y="446" id="4485" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in compute(Picture p)" />
+<osd value="out computeLineRecognition(Picture p)" />
+<isd value="in resultRecognition(bool found, int position)" />
+<oso value="out result(bool found, int position)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4375" >
+<cdparam x="424" y="294" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4374" />
+<P1 x="241" y="374" id="4492" />
+<P2 x="309" y="283" id="4507" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in getPosition(Command p)" />
+<osd value="out sendPosition(Command c)" />
+<isd value="in getCommand(Command c)" />
+<oso value="out sendCommand(Command c)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="4377" >
+<cdparam x="333" y="193" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector from Block0 to Block0" value="" />
+<TGConnectingPoint num="0" id="4376" />
+<P1 x="241" y="302" id="4483" />
+<P2 x="307" y="133" id="4532" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in readNextPicture(Picture p)" />
+<osd value="out sendPicture(Picture p)" />
+<FIFOType asynchronous="true" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="301" id="4394" >
+<cdparam x="506" y="248" />
+<sizeparam width="170" height="159" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="UML Note" value="Command values:
+---------------------
+0: negative value
+1: nothing
+2: positive value
+
+
+Command mode:
+--------------------
+0: must take into account
+pitch, roll and yaw
+1: takeOff
+2: land
+" />
+<TGConnectingPoint num="0" id="4378" />
+<TGConnectingPoint num="1" id="4379" />
+<TGConnectingPoint num="2" id="4380" />
+<TGConnectingPoint num="3" id="4381" />
+<TGConnectingPoint num="4" id="4382" />
+<TGConnectingPoint num="5" id="4383" />
+<TGConnectingPoint num="6" id="4384" />
+<TGConnectingPoint num="7" id="4385" />
+<TGConnectingPoint num="8" id="4386" />
+<TGConnectingPoint num="9" id="4387" />
+<TGConnectingPoint num="10" id="4388" />
+<TGConnectingPoint num="11" id="4389" />
+<TGConnectingPoint num="12" id="4390" />
+<TGConnectingPoint num="13" id="4391" />
+<TGConnectingPoint num="14" id="4392" />
+<TGConnectingPoint num="15" id="4393" />
+<extraparam>
+<Line value="Command values:" />
+<Line value="---------------------" />
+<Line value="0: negative value" />
+<Line value="1: nothing" />
+<Line value="2: positive value" />
+<Line value="" />
+<Line value="" />
+<Line value="Command mode:" />
+<Line value="--------------------" />
+<Line value="0: must take into account " />
+<Line value="pitch, roll and yaw" />
+<Line value="1: takeOff" />
+<Line value="2: land" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4419" >
+<cdparam x="16" y="10" />
+<sizeparam width="223" height="132" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="CrossingRecognition" />
+<TGConnectingPoint num="0" id="4395" />
+<TGConnectingPoint num="1" id="4396" />
+<TGConnectingPoint num="2" id="4397" />
+<TGConnectingPoint num="3" id="4398" />
+<TGConnectingPoint num="4" id="4399" />
+<TGConnectingPoint num="5" id="4400" />
+<TGConnectingPoint num="6" id="4401" />
+<TGConnectingPoint num="7" id="4402" />
+<TGConnectingPoint num="8" id="4403" />
+<TGConnectingPoint num="9" id="4404" />
+<TGConnectingPoint num="10" id="4405" />
+<TGConnectingPoint num="11" id="4406" />
+<TGConnectingPoint num="12" id="4407" />
+<TGConnectingPoint num="13" id="4408" />
+<TGConnectingPoint num="14" id="4409" />
+<TGConnectingPoint num="15" id="4410" />
+<TGConnectingPoint num="16" id="4411" />
+<TGConnectingPoint num="17" id="4412" />
+<TGConnectingPoint num="18" id="4413" />
+<TGConnectingPoint num="19" id="4414" />
+<TGConnectingPoint num="20" id="4415" />
+<TGConnectingPoint num="21" id="4416" />
+<TGConnectingPoint num="22" id="4417" />
+<TGConnectingPoint num="23" id="4418" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="minComputationTime" value="10" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="10" type="8" typeOther="" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4444" >
+<cdparam x="305" y="399" />
+<sizeparam width="186" height="143" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="RemoteUser" />
+<TGConnectingPoint num="0" id="4420" />
+<TGConnectingPoint num="1" id="4421" />
+<TGConnectingPoint num="2" id="4422" />
+<TGConnectingPoint num="3" id="4423" />
+<TGConnectingPoint num="4" id="4424" />
+<TGConnectingPoint num="5" id="4425" />
+<TGConnectingPoint num="6" id="4426" />
+<TGConnectingPoint num="7" id="4427" />
+<TGConnectingPoint num="8" id="4428" />
+<TGConnectingPoint num="9" id="4429" />
+<TGConnectingPoint num="10" id="4430" />
+<TGConnectingPoint num="11" id="4431" />
+<TGConnectingPoint num="12" id="4432" />
+<TGConnectingPoint num="13" id="4433" />
+<TGConnectingPoint num="14" id="4434" />
+<TGConnectingPoint num="15" id="4435" />
+<TGConnectingPoint num="16" id="4436" />
+<TGConnectingPoint num="17" id="4437" />
+<TGConnectingPoint num="18" id="4438" />
+<TGConnectingPoint num="19" id="4439" />
+<TGConnectingPoint num="20" id="4440" />
+<TGConnectingPoint num="21" id="4441" />
+<TGConnectingPoint num="22" id="4442" />
+<TGConnectingPoint num="23" id="4443" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="place" value="" type="8" typeOther="" />
+<Attribute access="0" id="status" value="" type="8" typeOther="" />
+<Attribute access="0" id="doorTime" value="100" type="8" typeOther="" />
+<Signal value="in placeReached()" />
+<Signal value="in missionAborted(int status)" />
+<Signal value="out reach(int place)" />
+<Signal value="in doorDetected()" />
+<Signal value="out doorHandled()" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="4453" >
+<cdparam x="507" y="17" />
+<sizeparam width="102" height="104" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="DataType0" value="Picture" />
+<TGConnectingPoint num="0" id="4445" />
+<TGConnectingPoint num="1" id="4446" />
+<TGConnectingPoint num="2" id="4447" />
+<TGConnectingPoint num="3" id="4448" />
+<TGConnectingPoint num="4" id="4449" />
+<TGConnectingPoint num="5" id="4450" />
+<TGConnectingPoint num="6" id="4451" />
+<TGConnectingPoint num="7" id="4452" />
+<extraparam>
+<Attribute access="0" id="sizeH" value="0" type="8" typeOther="" />
+<Attribute access="0" id="sizeV" value="0" type="8" typeOther="" />
+<Attribute access="0" id="data" value="0" type="8" typeOther="" />
+<Attribute access="0" id="bottom" value="" type="4" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4478" >
+<cdparam x="10" y="471" />
+<sizeparam width="239" height="146" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="ThreeDRecognitionAlgorithm" />
+<TGConnectingPoint num="0" id="4454" />
+<TGConnectingPoint num="1" id="4455" />
+<TGConnectingPoint num="2" id="4456" />
+<TGConnectingPoint num="3" id="4457" />
+<TGConnectingPoint num="4" id="4458" />
+<TGConnectingPoint num="5" id="4459" />
+<TGConnectingPoint num="6" id="4460" />
+<TGConnectingPoint num="7" id="4461" />
+<TGConnectingPoint num="8" id="4462" />
+<TGConnectingPoint num="9" id="4463" />
+<TGConnectingPoint num="10" id="4464" />
+<TGConnectingPoint num="11" id="4465" />
+<TGConnectingPoint num="12" id="4466" />
+<TGConnectingPoint num="13" id="4467" />
+<TGConnectingPoint num="14" id="4468" />
+<TGConnectingPoint num="15" id="4469" />
+<TGConnectingPoint num="16" id="4470" />
+<TGConnectingPoint num="17" id="4471" />
+<TGConnectingPoint num="18" id="4472" />
+<TGConnectingPoint num="19" id="4473" />
+<TGConnectingPoint num="20" id="4474" />
+<TGConnectingPoint num="21" id="4475" />
+<TGConnectingPoint num="22" id="4476" />
+<TGConnectingPoint num="23" id="4477" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="found" value="false" type="4" typeOther="" />
+<Attribute access="0" id="foundI" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="minComputationTime" value="30" type="8" typeOther="" />
+<Attribute access="0" id="maxComputationTime" value="70" type="8" typeOther="" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Picture" />
+<Signal value="in compute(Picture p)" />
+<Signal value="out result(bool found, int position)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4503" >
+<cdparam x="16" y="159" />
+<sizeparam width="225" height="287" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="MainController" />
+<TGConnectingPoint num="0" id="4479" />
+<TGConnectingPoint num="1" id="4480" />
+<TGConnectingPoint num="2" id="4481" />
+<TGConnectingPoint num="3" id="4482" />
+<TGConnectingPoint num="4" id="4483" />
+<TGConnectingPoint num="5" id="4484" />
+<TGConnectingPoint num="6" id="4485" />
+<TGConnectingPoint num="7" id="4486" />
+<TGConnectingPoint num="8" id="4487" />
+<TGConnectingPoint num="9" id="4488" />
+<TGConnectingPoint num="10" id="4489" />
+<TGConnectingPoint num="11" id="4490" />
+<TGConnectingPoint num="12" id="4491" />
+<TGConnectingPoint num="13" id="4492" />
+<TGConnectingPoint num="14" id="4493" />
+<TGConnectingPoint num="15" id="4494" />
+<TGConnectingPoint num="16" id="4495" />
+<TGConnectingPoint num="17" id="4496" />
+<TGConnectingPoint num="18" id="4497" />
+<TGConnectingPoint num="19" id="4498" />
+<TGConnectingPoint num="20" id="4499" />
+<TGConnectingPoint num="21" id="4500" />
+<TGConnectingPoint num="22" id="4501" />
+<TGConnectingPoint num="23" id="4502" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="nbOfCrossings" value="" type="8" typeOther="" />
+<Attribute access="0" id="aliveTimer" value="100" type="8" typeOther="" />
+<Attribute access="0" id="mode" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPicture" value="" type="5" typeOther="Picture" />
+<Attribute access="0" id="movementTimer" value="" type="9" typeOther="" />
+<Attribute access="0" id="command" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="movementDelay" value="100" type="8" typeOther="" />
+<Attribute access="0" id="found" value="" type="4" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="hasCurrentPicture" value="" type="4" typeOther="" />
+<Attribute access="0" id="oldMode" value="" type="8" typeOther="" />
+<Signal value="out sendCommand(Command c)" />
+<Signal value="in getPosition(Command p)" />
+<Signal value="in readNextPicture(Picture p)" />
+<Signal value="out startCamera()" />
+<Signal value="out stopCamera()" />
+<Signal value="in reach(int place)" />
+<Signal value="out missionAborted(int status)" />
+<Signal value="out placeReached()" />
+<Signal value="out computeLineRecognition(Picture p)" />
+<Signal value="out computeCrossingRecognition(Picture p)" />
+<Signal value="in resultCrossingRecognition(bool found)" />
+<Signal value="in resultRecognition(bool found, int position)" />
+<Signal value="out doorDetected()" />
+<Signal value="in doorHandled()" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4528" >
+<cdparam x="309" y="234" />
+<sizeparam width="179" height="99" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="EngineController" />
+<TGConnectingPoint num="0" id="4504" />
+<TGConnectingPoint num="1" id="4505" />
+<TGConnectingPoint num="2" id="4506" />
+<TGConnectingPoint num="3" id="4507" />
+<TGConnectingPoint num="4" id="4508" />
+<TGConnectingPoint num="5" id="4509" />
+<TGConnectingPoint num="6" id="4510" />
+<TGConnectingPoint num="7" id="4511" />
+<TGConnectingPoint num="8" id="4512" />
+<TGConnectingPoint num="9" id="4513" />
+<TGConnectingPoint num="10" id="4514" />
+<TGConnectingPoint num="11" id="4515" />
+<TGConnectingPoint num="12" id="4516" />
+<TGConnectingPoint num="13" id="4517" />
+<TGConnectingPoint num="14" id="4518" />
+<TGConnectingPoint num="15" id="4519" />
+<TGConnectingPoint num="16" id="4520" />
+<TGConnectingPoint num="17" id="4521" />
+<TGConnectingPoint num="18" id="4522" />
+<TGConnectingPoint num="19" id="4523" />
+<TGConnectingPoint num="20" id="4524" />
+<TGConnectingPoint num="21" id="4525" />
+<TGConnectingPoint num="22" id="4526" />
+<TGConnectingPoint num="23" id="4527" />
+<extraparam>
+<CryptoBlock value="false" />
+<Attribute access="0" id="lastCommand" value="" type="5" typeOther="Command" />
+<Attribute access="0" id="currentPosition" value="" type="5" typeOther="Command" />
+<Signal value="in getCommand(Command c)" />
+<Signal value="out sendPosition(Command c)" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="4553" >
+<cdparam x="307" y="62" />
+<sizeparam width="179" height="142" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<guard value="[ bottom ]" />
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+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<actions value="bottom = false" />
+</extraparam>
+</SUBCOMPONENT>
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Receive signal" value="stopMe()" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="WaitForStart" />
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+</extraparam>
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+<Data variable="x" minValue="0" maxValue="10" functionId="0" />
+</extraparam>
+</COMPONENT>
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+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="6396" />
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="Started" />
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+<TGConnectingPoint num="38" id="6436" />
+<TGConnectingPoint num="39" id="6437" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
--
GitLab