diff --git a/modeling/SoCLib/rover.xml b/modeling/SoCLib/rover.xml
index ce609a364e0f3c8114308cc9a4371ca34f4273e9..7aff03ddda72da0135ae32702560eb848170fa3f 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="236" id="66" />
-<P2 x="479" y="296" id="26" />
+<P1 x="480" y="236" id="52" />
+<P2 x="479" y="296" id="22" />
<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="672" y="166" id="52" />
-<P2 x="817" y="166" id="9" />
+<P1 x="672" y="166" id="66" />
+<P2 x="817" y="166" id="11" />
<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="672" y="217" id="62" />
-<P2 x="817" y="217" id="11" />
+<P1 x="672" y="217" id="56" />
+<P2 x="817" y="217" id="9" />
<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="388" y="151" id="54" />
-<P2 x="257" y="151" id="37" />
+<P1 x="388" y="151" id="64" />
+<P2 x="257" y="151" id="41" />
<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="388" y="180" id="56" />
-<P2 x="257" y="182" id="41" />
+<P1 x="388" y="180" id="62" />
+<P2 x="257" y="182" id="37" />
<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="257" y="212" id="39" />
-<P2 x="388" y="212" id="64" />
+<P2 x="388" y="212" id="54" />
<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="236" id="58" />
+<P2 x="418" y="236" id="60" />
<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="236" id="60" />
-<P2 x="548" y="296" id="22" />
+<P1 x="549" y="236" id="58" />
+<P2 x="548" y="296" id="26" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="21" >
@@ -89,14 +89,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="10" >
<father id="21" num="0" />
-<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="9" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -106,14 +106,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="12" >
<father id="21" num="1" />
-<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="11" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -143,14 +143,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="23" >
<father id="36" num="0" />
-<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="22" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -177,14 +177,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="27" >
<father id="36" num="2" />
-<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="26" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -213,14 +213,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="38" >
<father id="51" num="0" />
-<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="37" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -247,14 +247,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="42" >
<father id="51" num="2" />
-<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="41" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -285,14 +285,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="53" >
<father id="76" num="0" />
-<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="52" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -302,14 +302,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="55" >
<father id="76" num="1" />
-<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="54" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -319,14 +319,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="57" >
<father id="76" num="2" />
-<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="56" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -336,14 +336,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="59" >
<father id="76" num="3" />
-<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="58" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -353,14 +353,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="61" >
<father id="76" num="4" />
-<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="60" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -370,14 +370,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="63" >
<father id="76" num="5" />
-<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="62" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -387,14 +387,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="65" >
<father id="76" num="6" />
-<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="64" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -404,14 +404,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="67" >
<father id="76" num="7" />
-<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="66" />
<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" />
+<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" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -2210,11 +2210,11 @@ state 2: obstacles in close proximity
</COMPONENT>
<SUBCOMPONENT type="1101" id="483" >
<father id="535" num="0" />
-<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="151" 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="69" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::MainControl" />
<TGConnectingPoint num="0" id="475" />
<TGConnectingPoint num="1" id="476" />
<TGConnectingPoint num="2" id="477" />
@@ -2224,16 +2224,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="481" />
<TGConnectingPoint num="7" id="482" />
<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>
<SUBCOMPONENT type="1101" id="492" >
<father id="535" num="1" />
-<cdparam x="435" y="267" />
-<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="435" y="223" />
+<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
+<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::DistanceSensor" />
<TGConnectingPoint num="0" id="484" />
<TGConnectingPoint num="1" id="485" />
<TGConnectingPoint num="2" id="486" />
@@ -2243,16 +2243,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="490" />
<TGConnectingPoint num="7" id="491" />
<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="501" >
<father id="535" num="2" />
-<cdparam x="435" y="223" />
-<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="435" y="267" />
+<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::DistanceSensor" />
+<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
<TGConnectingPoint num="0" id="493" />
<TGConnectingPoint num="1" id="494" />
<TGConnectingPoint num="2" id="495" />
@@ -2262,16 +2262,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="499" />
<TGConnectingPoint num="7" id="500" />
<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="510" >
<father id="535" num="3" />
-<cdparam x="436" y="135" />
-<sizeparam width="151" 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="69" 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="502" />
<TGConnectingPoint num="1" id="503" />
<TGConnectingPoint num="2" id="504" />
@@ -2281,7 +2281,7 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="508" />
<TGConnectingPoint num="7" id="509" />
<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>
@@ -2373,11 +2373,10 @@ state 2: obstacles in close proximity
</CONNECTOR>
<COMPONENT type="302" id="560" >
<cdparam x="810" y="140" />
-<sizeparam width="257" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="255" 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="544" />
<TGConnectingPoint num="1" id="545" />
<TGConnectingPoint num="2" id="546" />
@@ -2395,6 +2394,7 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="14" id="558" />
<TGConnectingPoint num="15" id="559" />
<extraparam>
+<Line value="" />
</extraparam>
</COMPONENT>
@@ -2774,101 +2774,45 @@ state 2: obstacles in close proximity
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="TemperatureSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="748" >
-<cdparam x="293" y="238" />
+<CONNECTOR type="5102" id="2262" >
+<cdparam x="332" y="571" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="747" />
-<P1 x="363" y="220" id="873" />
-<P2 x="362" y="240" id="842" />
+<TGConnectingPoint num="0" id="2265" />
+<TGConnectingPoint num="1" id="2266" />
+<TGConnectingPoint num="2" id="2267" />
+<P1 x="405" y="357" id="900" />
+<P2 x="495" y="146" id="936" />
+<Point x="648" y="358" />
+<Point x="652" y="146" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="746" >
-<father id="748" num="0" />
-<cdparam x="252" y="244" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="742" />
-<TGConnectingPoint num="1" id="743" />
-<TGConnectingPoint num="2" id="744" />
-<TGConnectingPoint num="3" id="745" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="759" >
-<cdparam x="314" y="408" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="756" />
-<TGConnectingPoint num="1" id="757" />
-<TGConnectingPoint num="2" id="758" />
-<P1 x="332" y="571" id="900" />
-<P2 x="319" y="121" id="930" />
-<Point x="91" y="572" />
-<Point x="91" y="121" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="749" >
-<father id="759" num="0" />
-<cdparam x="91" y="572" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2263" >
+<father id="2262" num="0" />
+<cdparam x="648" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="750" >
-<father id="759" num="1" />
-<cdparam x="91" y="121" />
+<SUBCOMPONENT type="-1" id="2264" >
+<father id="2262" num="1" />
+<cdparam x="652" y="146" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="755" >
-<father id="759" num="2" />
-<cdparam x="316" y="264" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="751" />
-<TGConnectingPoint num="1" id="752" />
-<TGConnectingPoint num="2" id="753" />
-<TGConnectingPoint num="3" id="754" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="766" >
-<cdparam x="465" y="512" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="765" />
-<P1 x="334" y="520" id="870" />
-<P2 x="332" y="541" id="899" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="764" >
-<father id="766" num="0" />
-<cdparam x="398" y="526" />
+<SUBCOMPONENT type="-1" id="2268" >
+<father id="2262" num="2" />
+<cdparam x="413" y="358" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="760" />
-<TGConnectingPoint num="1" id="761" />
-<TGConnectingPoint num="2" id="762" />
-<TGConnectingPoint num="3" id="763" />
+<TGConnectingPoint num="0" id="2269" />
+<TGConnectingPoint num="1" id="2270" />
+<TGConnectingPoint num="2" id="2271" />
+<TGConnectingPoint num="3" id="2272" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2878,47 +2822,47 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="777" >
-<cdparam x="432" y="222" />
+<CONNECTOR type="5102" id="2251" >
+<cdparam x="325" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="774" />
-<TGConnectingPoint num="1" id="775" />
-<TGConnectingPoint num="2" id="776" />
-<P1 x="426" y="433" id="885" />
-<P2 x="495" y="140" id="914" />
-<Point x="630" y="433" />
-<Point x="630" y="140" />
+<TGConnectingPoint num="0" id="2254" />
+<TGConnectingPoint num="1" id="2255" />
+<TGConnectingPoint num="2" id="2256" />
+<P1 x="298" y="255" id="873" />
+<P2 x="319" y="152" id="922" />
+<Point x="190" y="255" />
+<Point x="189" y="151" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="767" >
-<father id="777" num="0" />
-<cdparam x="630" y="433" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2252" >
+<father id="2251" num="0" />
+<cdparam x="190" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="768" >
-<father id="777" num="1" />
-<cdparam x="630" y="140" />
+<SUBCOMPONENT type="-1" id="2253" >
+<father id="2251" num="1" />
+<cdparam x="189" y="151" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="773" >
-<father id="777" num="2" />
-<cdparam x="472" y="268" />
-<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="2257" >
+<father id="2251" num="2" />
+<cdparam x="322" y="203" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="769" />
-<TGConnectingPoint num="1" id="770" />
-<TGConnectingPoint num="2" id="771" />
-<TGConnectingPoint num="3" id="772" />
+<TGConnectingPoint num="0" id="2258" />
+<TGConnectingPoint num="1" id="2259" />
+<TGConnectingPoint num="2" id="2260" />
+<TGConnectingPoint num="3" id="2261" />
<extraparam>
-<guard value="[ else]" />
+<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
@@ -2926,75 +2870,57 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="784" >
-<cdparam x="361" y="398" />
+<CONNECTOR type="5102" id="2237" >
+<cdparam x="362" y="290" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="783" />
-<P1 x="376" y="433" id="884" />
-<P2 x="334" y="490" id="869" />
+<TGConnectingPoint num="0" id="2238" />
+<P1 x="407" y="165" id="916" />
+<P2 x="407" y="276" id="869" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="782" >
-<father id="784" num="0" />
-<cdparam x="348" y="485" />
-<sizeparam width="74" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2239" >
+<father id="2237" num="0" />
+<cdparam x="419" y="226" />
+<sizeparam width="218" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="778" />
-<TGConnectingPoint num="1" id="779" />
-<TGConnectingPoint num="2" id="780" />
-<TGConnectingPoint num="3" id="781" />
+<TGConnectingPoint num="0" id="2240" />
+<TGConnectingPoint num="1" id="2241" />
+<TGConnectingPoint num="2" id="2242" />
+<TGConnectingPoint num="3" id="2243" />
<extraparam>
<guard value="[ sensorOn]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="samplingRate" />
+<afterMax value="samplingRate" />
<computeMin value="" />
<computeMax value="" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="795" >
-<cdparam x="293" y="238" />
+<CONNECTOR type="5102" id="766" >
+<cdparam x="538" y="298" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="792" />
-<TGConnectingPoint num="1" id="793" />
-<TGConnectingPoint num="2" id="794" />
-<P1 x="337" y="265" id="843" />
-<P2 x="319" y="140" id="913" />
-<Point x="138" y="265" />
-<Point x="138" y="140" />
+<TGConnectingPoint num="0" id="765" />
+<P1 x="407" y="306" id="870" />
+<P2 x="405" y="327" id="899" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="785" >
-<father id="795" num="0" />
-<cdparam x="138" y="265" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="786" >
-<father id="795" num="1" />
-<cdparam x="138" y="140" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="point " value="null" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="791" >
-<father id="795" num="2" />
-<cdparam x="108" y="262" />
-<sizeparam width="105" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="764" >
+<father id="766" num="0" />
+<cdparam x="471" y="312" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="787" />
-<TGConnectingPoint num="1" id="788" />
-<TGConnectingPoint num="2" id="789" />
-<TGConnectingPoint num="3" id="790" />
+<TGConnectingPoint num="0" id="760" />
+<TGConnectingPoint num="1" id="761" />
+<TGConnectingPoint num="2" id="762" />
+<TGConnectingPoint num="3" id="763" />
<extraparam>
-<guard value="[not(sensorOn) ]" />
+<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
@@ -3008,7 +2934,7 @@ state 2: obstacles in close proximity
<infoparam name="connector" value="null" />
<TGConnectingPoint num="0" id="801" />
<P1 x="363" y="165" id="924" />
-<P2 x="363" y="190" id="872" />
+<P2 x="298" y="225" id="872" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="800" >
<father id="802" num="0" />
@@ -3058,151 +2984,8 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="816" >
-<cdparam x="319" y="133" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="815" />
-<P1 x="401" y="390" id="832" />
-<P2 x="401" y="408" id="883" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="814" >
-<father id="816" num="0" />
-<cdparam x="276" y="137" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="810" />
-<TGConnectingPoint num="1" id="811" />
-<TGConnectingPoint num="2" id="812" />
-<TGConnectingPoint num="3" id="813" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="823" >
-<cdparam x="495" y="165" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="822" />
-<P1 x="387" y="265" id="844" />
-<P2 x="402" y="308" id="858" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="821" >
-<father id="823" num="0" />
-<cdparam x="269" y="297" />
-<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="817" />
-<TGConnectingPoint num="1" id="818" />
-<TGConnectingPoint num="2" id="819" />
-<TGConnectingPoint num="3" id="820" />
-<extraparam>
-<guard value="[else ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="830" >
-<cdparam x="472" y="165" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="829" />
-<P1 x="402" y="338" id="859" />
-<P2 x="401" y="360" id="831" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="828" >
-<father id="830" num="0" />
-<cdparam x="470" y="171" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="824" />
-<TGConnectingPoint num="1" id="825" />
-<TGConnectingPoint num="2" id="826" />
-<TGConnectingPoint num="3" id="827" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<COMPONENT type="5111" id="841" >
-<cdparam x="347" y="365" />
-<sizeparam width="108" 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="Reset timer" value="expire(timer1)" />
-<TGConnectingPoint num="0" id="831" />
-<TGConnectingPoint num="1" id="832" />
-<TGConnectingPoint num="2" id="833" />
-<TGConnectingPoint num="3" id="834" />
-<TGConnectingPoint num="4" id="835" />
-<TGConnectingPoint num="5" id="836" />
-<TGConnectingPoint num="6" id="837" />
-<TGConnectingPoint num="7" id="838" />
-<TGConnectingPoint num="8" id="839" />
-<TGConnectingPoint num="9" id="840" />
-</COMPONENT>
-
-<COMPONENT type="5107" id="857" >
-<cdparam x="347" y="250" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="842" />
-<TGConnectingPoint num="1" id="843" />
-<TGConnectingPoint num="2" id="844" />
-<TGConnectingPoint num="3" id="845" />
-<TGConnectingPoint num="4" id="846" />
-<TGConnectingPoint num="5" id="847" />
-<TGConnectingPoint num="6" id="848" />
-<TGConnectingPoint num="7" id="849" />
-<TGConnectingPoint num="8" id="850" />
-<TGConnectingPoint num="9" id="851" />
-<TGConnectingPoint num="10" id="852" />
-<TGConnectingPoint num="11" id="853" />
-<TGConnectingPoint num="12" id="854" />
-<TGConnectingPoint num="13" id="855" />
-<TGConnectingPoint num="14" id="856" />
-</COMPONENT>
-
-<COMPONENT type="5109" id="868" >
-<cdparam x="301" y="313" />
-<sizeparam width="203" 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="Set timer" value="setTimer(timer1,samplingRate)" />
-<TGConnectingPoint num="0" id="858" />
-<TGConnectingPoint num="1" id="859" />
-<TGConnectingPoint num="2" id="860" />
-<TGConnectingPoint num="3" id="861" />
-<TGConnectingPoint num="4" id="862" />
-<TGConnectingPoint num="5" id="863" />
-<TGConnectingPoint num="6" id="864" />
-<TGConnectingPoint num="7" id="865" />
-<TGConnectingPoint num="8" id="866" />
-<TGConnectingPoint num="9" id="867" />
-</COMPONENT>
-
<COMPONENT type="5108" id="871" >
-<cdparam x="253" y="495" />
+<cdparam x="326" y="281" />
<sizeparam width="163" 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" />
@@ -3215,7 +2998,7 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5104" id="882" >
-<cdparam x="297" y="195" />
+<cdparam x="232" y="230" />
<sizeparam width="132" 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" />
@@ -3232,31 +3015,8 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="9" id="881" />
</COMPONENT>
-<COMPONENT type="5107" id="898" >
-<cdparam x="386" y="418" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="883" />
-<TGConnectingPoint num="1" id="884" />
-<TGConnectingPoint num="2" id="885" />
-<TGConnectingPoint num="3" id="886" />
-<TGConnectingPoint num="4" id="887" />
-<TGConnectingPoint num="5" id="888" />
-<TGConnectingPoint num="6" id="889" />
-<TGConnectingPoint num="7" id="890" />
-<TGConnectingPoint num="8" id="891" />
-<TGConnectingPoint num="9" id="892" />
-<TGConnectingPoint num="10" id="893" />
-<TGConnectingPoint num="11" id="894" />
-<TGConnectingPoint num="12" id="895" />
-<TGConnectingPoint num="13" id="896" />
-<TGConnectingPoint num="14" id="897" />
-</COMPONENT>
-
<COMPONENT type="5103" id="909" >
-<cdparam x="275" y="546" />
+<cdparam x="348" y="332" />
<sizeparam width="114" 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" />
@@ -3336,6 +3096,36 @@ state 2: obstacles in close proximity
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="DistanceSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
+<CONNECTOR type="5102" id="2244" >
+<cdparam x="331" y="153" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="2245" />
+<P1 x="331" y="153" id="1107" />
+<P2 x="287" y="287" id="1128" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="2246" >
+<father id="2244" num="0" />
+<cdparam x="144" y="204" />
+<sizeparam width="218" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="2247" />
+<TGConnectingPoint num="1" id="2248" />
+<TGConnectingPoint num="2" id="2249" />
+<TGConnectingPoint num="3" id="2250" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="samplingRate" />
+<afterMax value="samplingRate" />
+<computeMin value="" />
+<computeMax value="" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
+</extraparam>
+</SUBCOMPONENT>
+
<CONNECTOR type="5102" id="959" >
<cdparam x="287" y="454" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -3536,34 +3326,6 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1006" >
-<cdparam x="288" y="285" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1005" />
-<P1 x="288" y="268" id="1058" />
-<P2 x="287" y="287" id="1128" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1004" >
-<father id="1006" num="0" />
-<cdparam x="276" y="305" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1000" />
-<TGConnectingPoint num="1" id="1001" />
-<TGConnectingPoint num="2" id="1002" />
-<TGConnectingPoint num="3" id="1003" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
<CONNECTOR type="5102" id="1013" >
<cdparam x="407" y="60" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -3592,62 +3354,6 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1020" >
-<cdparam x="357" y="153" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1019" />
-<P1 x="357" y="153" id="1093" />
-<P2 x="286" y="183" id="1068" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1018" >
-<father id="1020" num="0" />
-<cdparam x="360" y="172" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1014" />
-<TGConnectingPoint num="1" id="1015" />
-<TGConnectingPoint num="2" id="1016" />
-<TGConnectingPoint num="3" id="1017" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="5102" id="1027" >
-<cdparam x="364" y="221" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1026" />
-<P1 x="286" y="213" id="1069" />
-<P2 x="288" y="238" id="1057" />
-<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1025" >
-<father id="1027" num="0" />
-<cdparam x="382" y="230" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1021" />
-<TGConnectingPoint num="1" id="1022" />
-<TGConnectingPoint num="2" id="1023" />
-<TGConnectingPoint num="3" id="1024" />
-<extraparam>
-<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
-</extraparam>
-</SUBCOMPONENT>
-
<CONNECTOR type="5102" id="1034" >
<cdparam x="480" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -3712,42 +3418,6 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="9" id="1055" />
</COMPONENT>
-<COMPONENT type="5111" id="1067" >
-<cdparam x="234" y="243" />
-<sizeparam width="108" 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="Reset timer" value="expire(timer1)" />
-<TGConnectingPoint num="0" id="1057" />
-<TGConnectingPoint num="1" id="1058" />
-<TGConnectingPoint num="2" id="1059" />
-<TGConnectingPoint num="3" id="1060" />
-<TGConnectingPoint num="4" id="1061" />
-<TGConnectingPoint num="5" id="1062" />
-<TGConnectingPoint num="6" id="1063" />
-<TGConnectingPoint num="7" id="1064" />
-<TGConnectingPoint num="8" id="1065" />
-<TGConnectingPoint num="9" id="1066" />
-</COMPONENT>
-
-<COMPONENT type="5109" id="1078" >
-<cdparam x="185" y="188" />
-<sizeparam width="203" 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="Set timer" value="setTimer(timer1,samplingRate)" />
-<TGConnectingPoint num="0" id="1068" />
-<TGConnectingPoint num="1" id="1069" />
-<TGConnectingPoint num="2" id="1070" />
-<TGConnectingPoint num="3" id="1071" />
-<TGConnectingPoint num="4" id="1072" />
-<TGConnectingPoint num="5" id="1073" />
-<TGConnectingPoint num="6" id="1074" />
-<TGConnectingPoint num="7" id="1075" />
-<TGConnectingPoint num="8" id="1076" />
-<TGConnectingPoint num="9" id="1077" />
-</COMPONENT>
-
<COMPONENT type="5106" id="1119" >
<cdparam x="308" y="103" />
<sizeparam width="198" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
@@ -3916,8 +3586,8 @@ state 2: obstacles in close proximity
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="1149" >
<father id="1151" num="0" />
-<cdparam x="363" y="1166" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="345" y="1144" />
+<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -3926,11 +3596,13 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="2" id="1147" />
<TGConnectingPoint num="3" id="1148" />
<extraparam>
-<guard value="[ ]" />
+<guard value="[else ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
@@ -3993,7 +3665,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1167" >
<father id="1169" num="0" />
<cdparam x="436" y="1084" />
-<sizeparam width="168" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="100" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -4002,7 +3674,7 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="2" id="1165" />
<TGConnectingPoint num="3" id="1166" />
<extraparam>
-<guard value="[ (state!=2) && sensorOn]" />
+<guard value="[ state<2]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
@@ -4564,7 +4236,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1307" >
<father id="1309" num="0" />
<cdparam x="116" y="1091" />
-<sizeparam width="188" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="96" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -4573,12 +4245,14 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="2" id="1305" />
<TGConnectingPoint num="3" id="1306" />
<extraparam>
-<guard value="[ (state==2) && (!sensorOn)]" />
+<guard value="[ state==2]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
<actions value="sensorOn=true" />
+<filesToIncludeLine value="" />
+<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
@@ -5753,76 +5427,43 @@ state 2: obstacles in close proximity
<Modeling type="ADD" nameTab="Deployment" >
<ADDDiagramPanel name="Deployment Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
-<CONNECTOR type="5350" id="2173" >
-<cdparam x="793" y="217" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1 x="797" y="212" id="2125" />
-<P2 x="710" y="212" id="2151" />
-<AutomaticDrawing data="true" />
-<extraparam>
-<spy value="true" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5350" id="2172" >
-<cdparam x="329" y="345" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1 x="329" y="295" id="2101" />
-<P2 x="460" y="237" id="2152" />
-<AutomaticDrawing data="true" />
-<extraparam>
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<CONNECTOR type="5350" id="2171" >
-<cdparam x="329" y="123" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="{info}" />
-<P1 x="329" y="116" id="2076" />
-<P2 x="460" y="187" id="2147" />
-<AutomaticDrawing data="true" />
-<extraparam>
-<spy value="false" />
-</extraparam>
-</CONNECTOR>
-<COMPONENT type="5353" id="2146" >
+<COMPONENT type="5353" id="2094" >
<cdparam x="460" y="187" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Bus0" value="name" />
-<TGConnectingPoint num="0" id="2147" />
-<TGConnectingPoint num="1" id="2148" />
-<TGConnectingPoint num="2" id="2149" />
-<TGConnectingPoint num="3" id="2150" />
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-<TGConnectingPoint num="5" id="2152" />
-<TGConnectingPoint num="6" id="2153" />
-<TGConnectingPoint num="7" id="2154" />
-<TGConnectingPoint num="8" id="2155" />
-<TGConnectingPoint num="9" id="2156" />
-<TGConnectingPoint num="10" id="2157" />
-<TGConnectingPoint num="11" id="2158" />
-<TGConnectingPoint num="12" id="2159" />
-<TGConnectingPoint num="13" id="2160" />
-<TGConnectingPoint num="14" id="2161" />
-<TGConnectingPoint num="15" id="2162" />
-<TGConnectingPoint num="16" id="2163" />
-<TGConnectingPoint num="17" id="2164" />
-<TGConnectingPoint num="18" id="2165" />
-<TGConnectingPoint num="19" id="2166" />
-<TGConnectingPoint num="20" id="2167" />
-<TGConnectingPoint num="21" id="2168" />
-<TGConnectingPoint num="22" id="2169" />
-<TGConnectingPoint num="23" id="2170" />
+<TGConnectingPoint num="0" id="2070" />
+<TGConnectingPoint num="1" id="2071" />
+<TGConnectingPoint num="2" id="2072" />
+<TGConnectingPoint num="3" id="2073" />
+<TGConnectingPoint num="4" id="2074" />
+<TGConnectingPoint num="5" id="2075" />
+<TGConnectingPoint num="6" id="2076" />
+<TGConnectingPoint num="7" id="2077" />
+<TGConnectingPoint num="8" id="2078" />
+<TGConnectingPoint num="9" id="2079" />
+<TGConnectingPoint num="10" id="2080" />
+<TGConnectingPoint num="11" id="2081" />
+<TGConnectingPoint num="12" id="2082" />
+<TGConnectingPoint num="13" id="2083" />
+<TGConnectingPoint num="14" id="2084" />
+<TGConnectingPoint num="15" id="2085" />
+<TGConnectingPoint num="16" id="2086" />
+<TGConnectingPoint num="17" id="2087" />
+<TGConnectingPoint num="18" id="2088" />
+<TGConnectingPoint num="19" id="2089" />
+<TGConnectingPoint num="20" id="2090" />
+<TGConnectingPoint num="21" id="2091" />
+<TGConnectingPoint num="22" id="2092" />
+<TGConnectingPoint num="23" id="2093" />
<extraparam>
<info stereotype="VGSB" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5355" id="2121" >
+<COMPONENT type="5355" id="2146" >
<cdparam x="797" y="112" />
<sizeparam width="323" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -5857,212 +5498,245 @@ state 2: obstacles in close proximity
<attributes byteDataSize="4096" index="0" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="2228" >
-<father id="2121" num="0" />
-<cdparam x="868" y="250" />
-<sizeparam width="188" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="2103" >
+<father id="2146" num="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="135" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="MainControl/in tempData" />
-<TGConnectingPoint num="0" id="2229" />
-<TGConnectingPoint num="1" id="2230" />
-<TGConnectingPoint num="2" id="2231" />
-<TGConnectingPoint num="3" id="2232" />
-<TGConnectingPoint num="4" id="2233" />
-<TGConnectingPoint num="5" id="2234" />
-<TGConnectingPoint num="6" id="2235" />
-<TGConnectingPoint num="7" id="2236" />
+<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="MainControl/in sensorData" />
+<TGConnectingPoint num="0" id="2095" />
+<TGConnectingPoint num="1" id="2096" />
+<TGConnectingPoint num="2" id="2097" />
+<TGConnectingPoint num="3" id="2098" />
+<TGConnectingPoint num="4" id="2099" />
+<TGConnectingPoint num="5" id="2100" />
+<TGConnectingPoint num="6" id="2101" />
+<TGConnectingPoint num="7" id="2102" />
<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>
-<SUBCOMPONENT type="5362" id="2219" >
-<father id="2121" num="1" />
+<SUBCOMPONENT type="5362" id="2112" >
+<father id="2146" num="1" />
<cdparam x="845" y="201" />
-<sizeparam width="235" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="88" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="86" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/out motorCommand" />
-<TGConnectingPoint num="0" id="2220" />
-<TGConnectingPoint num="1" id="2221" />
-<TGConnectingPoint num="2" id="2222" />
-<TGConnectingPoint num="3" id="2223" />
-<TGConnectingPoint num="4" id="2224" />
-<TGConnectingPoint num="5" id="2225" />
-<TGConnectingPoint num="6" id="2226" />
-<TGConnectingPoint num="7" id="2227" />
+<TGConnectingPoint num="0" id="2104" />
+<TGConnectingPoint num="1" id="2105" />
+<TGConnectingPoint num="2" id="2106" />
+<TGConnectingPoint num="3" id="2107" />
+<TGConnectingPoint num="4" id="2108" />
+<TGConnectingPoint num="5" id="2109" />
+<TGConnectingPoint num="6" id="2110" />
+<TGConnectingPoint num="7" id="2111" />
<extraparam>
<info value="MainControl/out motorCommand" channelName="MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" fullChannelName="Design::MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
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-<sizeparam width="198" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="2121" >
+<father id="2146" num="2" />
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+<sizeparam width="190" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="125" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="MainControl/in sensorData" />
-<TGConnectingPoint num="0" id="2211" />
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-<TGConnectingPoint num="2" id="2213" />
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-<TGConnectingPoint num="5" id="2216" />
-<TGConnectingPoint num="6" id="2217" />
-<TGConnectingPoint num="7" id="2218" />
+<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="MainControl/in tempData" />
+<TGConnectingPoint num="0" id="2113" />
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+<TGConnectingPoint num="5" id="2118" />
+<TGConnectingPoint num="6" id="2119" />
+<TGConnectingPoint num="7" id="2120" />
<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>
-<COMPONENT type="5354" id="2096" >
+<COMPONENT type="5354" id="2171" >
<cdparam x="79" y="245" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TTY0" value="name" />
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-<TGConnectingPoint num="21" id="2118" />
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-<TGConnectingPoint num="23" id="2120" />
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+<TGConnectingPoint num="14" id="2161" />
+<TGConnectingPoint num="15" id="2162" />
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+<TGConnectingPoint num="20" id="2167" />
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+<TGConnectingPoint num="22" id="2169" />
+<TGConnectingPoint num="23" id="2170" />
<extraparam>
<info stereotype="TTY" nodeName="TTY0" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5351" id="2071" >
+<COMPONENT type="5351" id="2232" >
<cdparam x="79" y="10" />
<sizeparam width="250" height="213" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CPU0" value="name" />
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-<TGConnectingPoint num="21" id="2093" />
-<TGConnectingPoint num="22" id="2094" />
-<TGConnectingPoint num="23" id="2095" />
+<TGConnectingPoint num="0" id="2208" />
+<TGConnectingPoint num="1" id="2209" />
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+<TGConnectingPoint num="14" id="2222" />
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+<TGConnectingPoint num="17" id="2225" />
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+<TGConnectingPoint num="20" id="2228" />
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+<TGConnectingPoint num="22" id="2230" />
+<TGConnectingPoint num="23" id="2231" />
<extraparam>
<info stereotype="CPU" nodeName="CPU0" />
<attributes nbOfIrq="6" iCacheWays="8" iCacheSets="4" iCacheWords="4" dCacheWays="8" dCacheSets="4" dCacheWords="4" />
</extraparam>
</COMPONENT>
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-<sizeparam width="156" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2180" >
+<father id="2232" num="0" />
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<hidden value="false" />
-<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
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-<TGConnectingPoint num="5" id="2207" />
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-<TGConnectingPoint num="7" id="2209" />
+<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::MotorControl" />
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+<TGConnectingPoint num="1" id="2173" />
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+<TGConnectingPoint num="7" id="2179" />
<extraparam>
-<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
+<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
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-<father id="2071" num="1" />
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-<sizeparam width="180" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2189" >
+<father id="2232" num="1" />
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<hidden value="false" />
-<cdrectangleparam minX="0" maxX="70" minY="0" maxY="173" />
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-<TGConnectingPoint num="5" id="2198" />
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-<TGConnectingPoint num="7" id="2200" />
+<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::TemperatureSensor" />
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+<TGConnectingPoint num="7" id="2188" />
<extraparam>
-<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" />
+<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2183" >
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-<sizeparam width="206" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2198" >
+<father id="2232" num="2" />
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<hidden value="false" />
-<cdrectangleparam minX="0" maxX="44" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::TemperatureSensor" />
-<TGConnectingPoint num="0" id="2184" />
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-<TGConnectingPoint num="5" id="2189" />
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-<TGConnectingPoint num="7" id="2191" />
+<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::DistanceSensor" />
+<TGConnectingPoint num="0" id="2190" />
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+<TGConnectingPoint num="7" id="2197" />
<extraparam>
-<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" />
+<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2174" >
-<father id="2071" num="3" />
-<cdparam x="100" y="44" />
-<sizeparam width="164" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2207" >
+<father id="2232" num="3" />
+<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="86" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MotorControl" />
-<TGConnectingPoint num="0" id="2175" />
-<TGConnectingPoint num="1" id="2176" />
-<TGConnectingPoint num="2" id="2177" />
-<TGConnectingPoint num="3" id="2178" />
-<TGConnectingPoint num="4" id="2179" />
-<TGConnectingPoint num="5" id="2180" />
-<TGConnectingPoint num="6" id="2181" />
-<TGConnectingPoint num="7" id="2182" />
+<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::MainControl" />
+<TGConnectingPoint num="0" id="2199" />
+<TGConnectingPoint num="1" id="2200" />
+<TGConnectingPoint num="2" id="2201" />
+<TGConnectingPoint num="3" id="2202" />
+<TGConnectingPoint num="4" id="2203" />
+<TGConnectingPoint num="5" id="2204" />
+<TGConnectingPoint num="6" id="2205" />
+<TGConnectingPoint num="7" id="2206" />
<extraparam>
-<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
+<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
+<CONNECTOR type="5350" id="2233" >
+<cdparam x="793" y="217" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="797" y="212" id="2125" />
+<P2 x="710" y="212" id="2074" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="true" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5350" id="2234" >
+<cdparam x="329" y="345" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="329" y="295" id="2151" />
+<P2 x="460" y="237" id="2075" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5350" id="2235" >
+<cdparam x="329" y="123" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="329" y="116" id="2212" />
+<P2 x="460" y="187" id="2070" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
</ADDDiagramPanel>