diff --git a/modeling/SoCLib/rover.xml b/modeling/SoCLib/rover.xml index d19477791ecfecc429341f4132eb724855fb52c3..4d51755958da4125fc0fd8882f1a555db3e0b101 100644 --- a/modeling/SoCLib/rover.xml +++ b/modeling/SoCLib/rover.xml @@ -8,40 +8,40 @@ <cdparam x="480" y="262" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="480" y="262" id="52" /> -<P2 x="479" y="296" id="22" /> +<P1 x="480" y="262" id="66" /> +<P2 x="479" y="296" id="26" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="2" > <cdparam x="601" y="181" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="685" y="179" id="66" /> -<P2 x="804" y="179" id="11" /> +<P1 x="685" y="179" id="52" /> +<P2 x="804" y="179" id="9" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="3" > <cdparam x="601" y="205" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="685" y="230" id="56" /> -<P2 x="804" y="230" id="9" /> +<P1 x="685" y="230" id="62" /> +<P2 x="804" y="230" id="11" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="4" > <cdparam x="375" y="154" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="375" y="164" id="64" /> -<P2 x="270" y="164" id="41" /> +<P1 x="375" y="164" id="54" /> +<P2 x="270" y="164" id="37" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="5" > <cdparam x="445" y="153" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="375" y="193" id="62" /> -<P2 x="270" y="195" id="37" /> +<P1 x="375" y="193" id="56" /> +<P2 x="270" y="195" id="41" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="6" > @@ -49,7 +49,7 @@ <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> <P1 x="270" y="225" id="39" /> -<P2 x="375" y="225" id="54" /> +<P2 x="375" y="225" id="64" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="7" > @@ -57,15 +57,15 @@ <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> <P1 x="418" y="296" id="24" /> -<P2 x="418" y="262" id="60" /> +<P2 x="418" y="262" id="58" /> <AutomaticDrawing data="true" /> </CONNECTOR> <CONNECTOR type="126" id="8" > <cdparam x="547" y="288" /> <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <infoparam name="connector" value="Connector between ports" /> -<P1 x="549" y="262" id="58" /> -<P2 x="548" y="296" id="26" /> +<P1 x="549" y="262" id="60" /> +<P2 x="548" y="296" id="22" /> <AutomaticDrawing data="true" /> </CONNECTOR> <COMPONENT type="1202" id="21" > @@ -90,14 +90,14 @@ </COMPONENT> <SUBCOMPONENT type="1203" id="10" > <father id="21" num="0" /> -<cdparam x="804" y="217" /> +<cdparam x="804" y="166" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" /> -<infoparam name="Primitive port" value="Channel motorCommand" /> +<infoparam name="Primitive port" value="Event newCommand" /> <TGConnectingPoint num="0" id="9" /> <extraparam> -<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -107,14 +107,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="12" > <father id="21" num="1" /> -<cdparam x="804" y="166" /> +<cdparam x="804" y="217" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" /> -<infoparam name="Primitive port" value="Event newCommand" /> +<infoparam name="Primitive port" value="Channel motorCommand" /> <TGConnectingPoint num="0" id="11" /> <extraparam> -<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -145,14 +145,14 @@ </COMPONENT> <SUBCOMPONENT type="1203" id="23" > <father id="36" num="0" /> -<cdparam x="466" y="296" /> +<cdparam x="535" y="296" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" /> -<infoparam name="Primitive port" value="Event stopTemp" /> +<infoparam name="Primitive port" value="Event startTemp" /> <TGConnectingPoint num="0" id="22" /> <extraparam> -<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -179,14 +179,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="27" > <father id="36" num="2" /> -<cdparam x="535" y="296" /> +<cdparam x="466" y="296" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" /> -<infoparam name="Primitive port" value="Event startTemp" /> +<infoparam name="Primitive port" value="Event stopTemp" /> <TGConnectingPoint num="0" id="26" /> <extraparam> -<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -216,14 +216,14 @@ </COMPONENT> <SUBCOMPONENT type="1203" id="38" > <father id="51" num="0" /> -<cdparam x="244" y="182" /> +<cdparam x="244" y="151" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" /> -<infoparam name="Primitive port" value="Channel samplingRate" /> +<infoparam name="Primitive port" value="Event changeRate" /> <TGConnectingPoint num="0" id="37" /> <extraparam> -<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -250,14 +250,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="42" > <father id="51" num="2" /> -<cdparam x="244" y="151" /> +<cdparam x="244" y="182" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" /> -<infoparam name="Primitive port" value="Event changeRate" /> +<infoparam name="Primitive port" value="Channel samplingRate" /> <TGConnectingPoint num="0" id="41" /> <extraparam> -<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -282,21 +282,21 @@ <TGConnectingPoint num="7" id="75" /> <extraparam> <Data isAttacker="No" /> -<Attribute access="2" id="state" value="" type="0" typeOther="" /> <Attribute access="2" id="calculateTraj" value="" type="0" typeOther="" /> <Attribute access="2" id="calculateDistance" value="" type="0" typeOther="" /> +<Attribute access="2" id="stateR" value="" type="0" typeOther="" /> </extraparam> </COMPONENT> <SUBCOMPONENT type="1203" id="53" > <father id="76" num="0" /> -<cdparam x="467" y="236" /> +<cdparam x="659" y="166" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Event stopTemp" /> +<infoparam name="Primitive port" value="Event newCommand" /> <TGConnectingPoint num="0" id="52" /> <extraparam> -<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -306,14 +306,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="55" > <father id="76" num="1" /> -<cdparam x="375" y="212" /> +<cdparam x="375" y="151" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Channel ultrasonicData" /> +<infoparam name="Primitive port" value="Event changeRate" /> <TGConnectingPoint num="0" id="54" /> <extraparam> -<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -323,14 +323,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="57" > <father id="76" num="2" /> -<cdparam x="659" y="217" /> +<cdparam x="375" y="180" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Channel motorCommand" /> +<infoparam name="Primitive port" value="Channel samplingRate" /> <TGConnectingPoint num="0" id="56" /> <extraparam> -<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -340,14 +340,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="59" > <father id="76" num="3" /> -<cdparam x="536" y="236" /> +<cdparam x="405" y="236" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Event startTemp" /> +<infoparam name="Primitive port" value="Channel tempData" /> <TGConnectingPoint num="0" id="58" /> <extraparam> -<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -357,14 +357,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="61" > <father id="76" num="4" /> -<cdparam x="405" y="236" /> +<cdparam x="536" y="236" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Channel tempData" /> +<infoparam name="Primitive port" value="Event startTemp" /> <TGConnectingPoint num="0" id="60" /> <extraparam> -<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -374,14 +374,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="63" > <father id="76" num="5" /> -<cdparam x="375" y="180" /> +<cdparam x="659" y="217" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Channel samplingRate" /> +<infoparam name="Primitive port" value="Channel motorCommand" /> <TGConnectingPoint num="0" id="62" /> <extraparam> -<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -391,14 +391,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="65" > <father id="76" num="6" /> -<cdparam x="375" y="151" /> +<cdparam x="375" y="212" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Event changeRate" /> +<infoparam name="Primitive port" value="Channel ultrasonicData" /> <TGConnectingPoint num="0" id="64" /> <extraparam> -<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -408,14 +408,14 @@ </SUBCOMPONENT> <SUBCOMPONENT type="1203" id="67" > <father id="76" num="7" /> -<cdparam x="659" y="166" /> +<cdparam x="467" y="236" /> <sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" /> -<infoparam name="Primitive port" value="Event newCommand" /> +<infoparam name="Primitive port" value="Event stopTemp" /> <TGConnectingPoint num="0" id="66" /> <extraparam> -<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> +<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" referenceReq="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> <Type type="0" typeOther="" /> @@ -1289,31 +1289,31 @@ state 2: obstacles in close proximity </SUBCOMPONENT> <COMPONENT type="1011" id="276" > -<cdparam x="385" y="553" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="381" y="553" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=2" /> +<infoparam name="action state" value="stateR=2" /> <TGConnectingPoint num="0" id="274" /> <TGConnectingPoint num="1" id="275" /> </COMPONENT> <COMPONENT type="1011" id="279" > -<cdparam x="239" y="588" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="235" y="588" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=1" /> +<infoparam name="action state" value="stateR=1" /> <TGConnectingPoint num="0" id="277" /> <TGConnectingPoint num="1" id="278" /> </COMPONENT> <COMPONENT type="1011" id="282" > -<cdparam x="116" y="548" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="112" y="548" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=0" /> +<infoparam name="action state" value="stateR=0" /> <TGConnectingPoint num="0" id="280" /> <TGConnectingPoint num="1" id="281" /> </COMPONENT> @@ -1326,6 +1326,7 @@ state 2: obstacles in close proximity <infoparam name="write channel" value="motorCommand(1)" /> <TGConnectingPoint num="0" id="283" /> <TGConnectingPoint num="1" id="284" /> +<accessibility /> <extraparam> <Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" /> </extraparam> @@ -1433,26 +1434,26 @@ state 2: obstacles in close proximity <SUBCOMPONENT type="-1" id="306" > <father id="313" num="0" /> <cdparam x="568" y="124" /> -<sizeparam width="75" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" /> -<infoparam name="guard 1" value="[ state==0]" /> +<infoparam name="guard 1" value="[ stateR==0]" /> </SUBCOMPONENT> <SUBCOMPONENT type="-1" id="307" > <father id="313" num="1" /> <cdparam x="678" y="124" /> -<sizeparam width="75" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" /> -<infoparam name="guard 2" value="[state==2 ]" /> +<infoparam name="guard 2" value="[stateR==2 ]" /> </SUBCOMPONENT> <SUBCOMPONENT type="-1" id="308" > <father id="313" num="2" /> <cdparam x="663" y="159" /> -<sizeparam width="75" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" /> -<infoparam name="guard 3" value="[state==1 ]" /> +<infoparam name="guard 3" value="[stateR==1 ]" /> </SUBCOMPONENT> <COMPONENT type="1009" id="316" > @@ -1478,31 +1479,31 @@ state 2: obstacles in close proximity </COMPONENT> <COMPONENT type="1011" id="321" > -<cdparam x="739" y="546" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="735" y="546" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=2" /> +<infoparam name="action state" value="stateR=2" /> <TGConnectingPoint num="0" id="319" /> <TGConnectingPoint num="1" id="320" /> </COMPONENT> <COMPONENT type="1011" id="324" > -<cdparam x="628" y="573" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="624" y="573" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=1" /> +<infoparam name="action state" value="stateR=1" /> <TGConnectingPoint num="0" id="322" /> <TGConnectingPoint num="1" id="323" /> </COMPONENT> <COMPONENT type="1011" id="327" > -<cdparam x="512" y="539" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="508" y="539" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=0" /> +<infoparam name="action state" value="stateR=0" /> <TGConnectingPoint num="0" id="325" /> <TGConnectingPoint num="1" id="326" /> </COMPONENT> @@ -1521,31 +1522,31 @@ state 2: obstacles in close proximity </COMPONENT> <COMPONENT type="1011" id="333" > -<cdparam x="1144" y="616" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="1140" y="616" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=2" /> +<infoparam name="action state" value="stateR=2" /> <TGConnectingPoint num="0" id="331" /> <TGConnectingPoint num="1" id="332" /> </COMPONENT> <COMPONENT type="1011" id="336" > -<cdparam x="1033" y="647" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="1029" y="647" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=1" /> +<infoparam name="action state" value="stateR=1" /> <TGConnectingPoint num="0" id="334" /> <TGConnectingPoint num="1" id="335" /> </COMPONENT> <COMPONENT type="1011" id="339" > -<cdparam x="880" y="624" /> -<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="876" y="624" /> +<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="action state" value="state=0" /> +<infoparam name="action state" value="stateR=0" /> <TGConnectingPoint num="0" id="337" /> <TGConnectingPoint num="1" id="338" /> </COMPONENT> @@ -2277,11 +2278,11 @@ state 2: obstacles in close proximity </COMPONENT> <SUBCOMPONENT type="1101" id="495" > <father id="547" num="0" /> -<cdparam x="436" y="135" /> -<sizeparam width="152" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="435" y="179" /> +<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="68" minY="0" maxY="175" /> -<infoparam name="TGComponent" value="Rover::MainControl" /> +<cdrectangleparam minX="0" maxX="61" minY="0" maxY="175" /> +<infoparam name="TGComponent" value="Rover::MotorControl" /> <TGConnectingPoint num="0" id="487" /> <TGConnectingPoint num="1" id="488" /> <TGConnectingPoint num="2" id="489" /> @@ -2291,16 +2292,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="493" /> <TGConnectingPoint num="7" id="494" /> <extraparam> -<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" /> +<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="1101" id="504" > <father id="547" num="1" /> -<cdparam x="435" y="223" /> -<sizeparam width="177" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="435" y="267" /> +<sizeparam width="203" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="43" minY="0" maxY="175" /> -<infoparam name="TGComponent" value="Rover::DistanceSensor" /> +<cdrectangleparam minX="0" maxX="17" minY="0" maxY="175" /> +<infoparam name="TGComponent" value="Rover::TemperatureSensor" /> <TGConnectingPoint num="0" id="496" /> <TGConnectingPoint num="1" id="497" /> <TGConnectingPoint num="2" id="498" /> @@ -2310,16 +2311,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="502" /> <TGConnectingPoint num="7" id="503" /> <extraparam> -<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" /> +<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="1101" id="513" > <father id="547" num="2" /> -<cdparam x="435" y="267" /> -<sizeparam width="203" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="435" y="223" /> +<sizeparam width="177" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="17" minY="0" maxY="175" /> -<infoparam name="TGComponent" value="Rover::TemperatureSensor" /> +<cdrectangleparam minX="0" maxX="43" minY="0" maxY="175" /> +<infoparam name="TGComponent" value="Rover::DistanceSensor" /> <TGConnectingPoint num="0" id="505" /> <TGConnectingPoint num="1" id="506" /> <TGConnectingPoint num="2" id="507" /> @@ -2329,16 +2330,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="511" /> <TGConnectingPoint num="7" id="512" /> <extraparam> -<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" /> +<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="1101" id="522" > <father id="547" num="3" /> -<cdparam x="435" y="179" /> -<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="436" y="135" /> +<sizeparam width="152" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="61" minY="0" maxY="175" /> -<infoparam name="TGComponent" value="Rover::MotorControl" /> +<cdrectangleparam minX="0" maxX="68" minY="0" maxY="175" /> +<infoparam name="TGComponent" value="Rover::MainControl" /> <TGConnectingPoint num="0" id="514" /> <TGConnectingPoint num="1" id="515" /> <TGConnectingPoint num="2" id="516" /> @@ -2348,7 +2349,7 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="520" /> <TGConnectingPoint num="7" id="521" /> <extraparam> -<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" /> +<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" /> </extraparam> </SUBCOMPONENT> @@ -2443,7 +2444,8 @@ state 2: obstacles in close proximity <sizeparam width="269" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" /> -<infoparam name="Proverif Pragma" value="" /> +<infoparam name="Proverif Pragma" value=" +" /> <TGConnectingPoint num="0" id="556" /> <TGConnectingPoint num="1" id="557" /> <TGConnectingPoint num="2" id="558" /> @@ -2461,7 +2463,6 @@ state 2: obstacles in close proximity <TGConnectingPoint num="14" id="570" /> <TGConnectingPoint num="15" id="571" /> <extraparam> -<Line value="" /> </extraparam> </COMPONENT> @@ -5560,11 +5561,11 @@ state 2: obstacles in close proximity </COMPONENT> <SUBCOMPONENT type="5362" id="1986" > <father id="2029" num="0" /> -<cdparam x="862" y="154" /> -<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="868" y="250" /> +<sizeparam width="190" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" /> -<infoparam name="TGComponent" value="MainControl/in sensorData" /> +<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" /> +<infoparam name="TGComponent" value="MainControl/in tempData" /> <TGConnectingPoint num="0" id="1978" /> <TGConnectingPoint num="1" id="1979" /> <TGConnectingPoint num="2" id="1980" /> @@ -5574,7 +5575,7 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="1984" /> <TGConnectingPoint num="7" id="1985" /> <extraparam> -<info value="MainControl/in sensorData" channelName="MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" fullChannelName="Design::MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" referenceDiagram="Design" /> +<info value="MainControl/in tempData" channelName="MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" fullChannelName="Design::MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" referenceDiagram="Design" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="5362" id="1995" > @@ -5598,11 +5599,11 @@ state 2: obstacles in close proximity </SUBCOMPONENT> <SUBCOMPONENT type="5362" id="2004" > <father id="2029" num="2" /> -<cdparam x="868" y="250" /> -<sizeparam width="190" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="862" y="154" /> +<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" /> -<infoparam name="TGComponent" value="MainControl/in tempData" /> +<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" /> +<infoparam name="TGComponent" value="MainControl/in sensorData" /> <TGConnectingPoint num="0" id="1996" /> <TGConnectingPoint num="1" id="1997" /> <TGConnectingPoint num="2" id="1998" /> @@ -5612,7 +5613,7 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="2002" /> <TGConnectingPoint num="7" id="2003" /> <extraparam> -<info value="MainControl/in tempData" channelName="MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" fullChannelName="Design::MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" referenceDiagram="Design" /> +<info value="MainControl/in sensorData" channelName="MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" fullChannelName="Design::MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" referenceDiagram="Design" /> </extraparam> </SUBCOMPONENT> @@ -5689,11 +5690,11 @@ state 2: obstacles in close proximity </COMPONENT> <SUBCOMPONENT type="5352" id="2063" > <father id="2115" num="0" /> -<cdparam x="100" y="44" /> -<sizeparam width="167" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="102" y="176" /> +<sizeparam width="160" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" /> -<infoparam name="TGComponent" value="Design::MotorControl" /> +<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" /> +<infoparam name="TGComponent" value="Design::MainControl" /> <TGConnectingPoint num="0" id="2055" /> <TGConnectingPoint num="1" id="2056" /> <TGConnectingPoint num="2" id="2057" /> @@ -5703,16 +5704,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="2061" /> <TGConnectingPoint num="7" id="2062" /> <extraparam> -<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" /> +<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="5352" id="2072" > <father id="2115" num="1" /> -<cdparam x="101" y="89" /> -<sizeparam width="211" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="101" y="133" /> +<sizeparam width="185" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" /> -<infoparam name="TGComponent" value="Design::TemperatureSensor" /> +<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" /> +<infoparam name="TGComponent" value="Design::DistanceSensor" /> <TGConnectingPoint num="0" id="2064" /> <TGConnectingPoint num="1" id="2065" /> <TGConnectingPoint num="2" id="2066" /> @@ -5722,16 +5723,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="2070" /> <TGConnectingPoint num="7" id="2071" /> <extraparam> -<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" /> +<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="5352" id="2081" > <father id="2115" num="2" /> -<cdparam x="101" y="133" /> -<sizeparam width="185" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="101" y="89" /> +<sizeparam width="211" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" /> -<infoparam name="TGComponent" value="Design::DistanceSensor" /> +<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" /> +<infoparam name="TGComponent" value="Design::TemperatureSensor" /> <TGConnectingPoint num="0" id="2073" /> <TGConnectingPoint num="1" id="2074" /> <TGConnectingPoint num="2" id="2075" /> @@ -5741,16 +5742,16 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="2079" /> <TGConnectingPoint num="7" id="2080" /> <extraparam> -<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" /> +<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" /> </extraparam> </SUBCOMPONENT> <SUBCOMPONENT type="5352" id="2090" > <father id="2115" num="3" /> -<cdparam x="102" y="176" /> -<sizeparam width="160" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> +<cdparam x="100" y="44" /> +<sizeparam width="167" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" /> <hidden value="false" /> -<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" /> -<infoparam name="TGComponent" value="Design::MainControl" /> +<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" /> +<infoparam name="TGComponent" value="Design::MotorControl" /> <TGConnectingPoint num="0" id="2082" /> <TGConnectingPoint num="1" id="2083" /> <TGConnectingPoint num="2" id="2084" /> @@ -5760,7 +5761,7 @@ state 2: obstacles in close proximity <TGConnectingPoint num="6" id="2088" /> <TGConnectingPoint num="7" id="2089" /> <extraparam> -<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" /> +<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" /> </extraparam> </SUBCOMPONENT>