diff --git a/modeling/SoCLib/rover.xml b/modeling/SoCLib/rover.xml
index ed22273f58bc4a2e341387ab0c9267d91d8d3a4e..45aae7a229eea49f27bdf87026823f13e763f569 100644
--- a/modeling/SoCLib/rover.xml
+++ b/modeling/SoCLib/rover.xml
@@ -2322,7 +2322,7 @@ state 2: obstacles in close proximity
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="false" />
-<Validated value="" />
+<Validated value="MotorControl;TemperatureSensor;DistanceSensor;MainControl;" />
<Ignored value="" />
<CONNECTOR type="5002" id="539" >
@@ -2330,15 +2330,13 @@ state 2: obstacles in close proximity
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="538" />
-<P1 x="514" y="618" id="648" />
-<P2 x="461" y="582" id="622" />
+<P1 x="950" y="422" id="647" />
+<P2 x="1013" y="421" id="564" />
<AutomaticDrawing data="true" />
<extraparam>
-<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<isd value="in changeRate(int samplingRate)" />
-<oso value="out changeRate(int samplingRate)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<isd value="in motorCommand(int leftCommand, int rightCommand)" />
+<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="5002" id="541" >
@@ -2346,13 +2344,15 @@ state 2: obstacles in close proximity
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
<TGConnectingPoint num="0" id="540" />
-<P1 x="950" y="422" id="647" />
-<P2 x="1013" y="421" id="564" />
+<P1 x="514" y="618" id="648" />
+<P2 x="461" y="582" id="622" />
<AutomaticDrawing data="true" />
<extraparam>
-<isd value="in motorCommand(int leftCommand, int rightCommand)" />
-<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<isd value="in changeRate(int samplingRate)" />
+<oso value="out changeRate(int samplingRate)" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="5002" id="543" >
@@ -2368,12 +2368,12 @@ state 2: obstacles in close proximity
<osd value="out tempData(int temp)" />
<isd value="in control(bool sensorOn)" />
<oso value="out control(bool sensorOn)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</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="
@@ -2618,7 +2618,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="668" >
<father id="673" num="3" />
<cdparam x="451" y="157" />
-<sizeparam width="80" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="77" 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="" />
@@ -2692,8 +2692,8 @@ state 2: obstacles in close proximity
</SUBCOMPONENT>
<COMPONENT type="5104" id="698" >
-<cdparam x="267" y="176" />
-<sizeparam width="280" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="268" y="176" />
+<sizeparam width="279" 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="Receive signal" value="motorCommand(leftVelocity, rightVelocity)" />
@@ -2879,7 +2879,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="768" >
<father id="770" num="0" />
<cdparam x="419" y="226" />
-<sizeparam width="217" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<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="" />
@@ -2994,8 +2994,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5104" id="805" >
-<cdparam x="234" y="230" />
-<sizeparam width="129" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<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" />
<infoparam name="Receive signal" value="control(sensorOn)" />
@@ -3103,7 +3103,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="864" >
<father id="866" num="0" />
<cdparam x="144" y="204" />
-<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<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="" />
@@ -3131,7 +3131,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="871" >
<father id="873" num="0" />
<cdparam x="302" y="488" />
-<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="64" 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="" />
@@ -3159,7 +3159,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="878" >
<father id="880" num="0" />
<cdparam x="298" y="399" />
-<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="64" 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="" />
@@ -3187,7 +3187,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="885" >
<father id="887" num="0" />
<cdparam x="293" y="330" />
-<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="64" 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="" />
@@ -3377,8 +3377,8 @@ state 2: obstacles in close proximity
</SUBCOMPONENT>
<COMPONENT type="5103" id="938" >
-<cdparam x="111" y="527" />
-<sizeparam width="352" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="108" y="527" />
+<sizeparam width="359" 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="Send signal" value="sensorData(distanceLeft, distanceFront, distanceRight)" />
@@ -3392,11 +3392,12 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="7" id="935" />
<TGConnectingPoint num="8" id="936" />
<TGConnectingPoint num="9" id="937" />
+<latencyCheck />
</COMPONENT>
<COMPONENT type="5104" id="949" >
-<cdparam x="430" y="201" />
-<sizeparam width="187" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="429" y="201" />
+<sizeparam width="189" 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="Receive signal" value="changeRate(samplingRate)" />
@@ -3473,7 +3474,7 @@ state 2: obstacles in close proximity
<COMPONENT type="5108" id="995" >
<cdparam x="179" y="429" />
-<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" 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="TGComponent" value="null" />
@@ -3485,8 +3486,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5108" id="998" >
-<cdparam x="179" y="355" />
-<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="178" y="355" />
+<sizeparam width="218" 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="TGComponent" value="null" />
@@ -3498,8 +3499,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5108" id="1001" >
-<cdparam x="184" y="292" />
-<sizeparam width="207" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="183" y="292" />
+<sizeparam width="208" 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="TGComponent" value="null" />
@@ -3629,7 +3630,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="1029" >
<father id="1033" num="2" />
<cdparam x="419" y="745" />
-<sizeparam width="70" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="72" 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="" />
@@ -3657,7 +3658,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1038" >
<father id="1040" num="0" />
<cdparam x="436" y="1084" />
-<sizeparam width="99" 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="" />
@@ -3742,7 +3743,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1059" >
<father id="1061" num="0" />
<cdparam x="518" y="652" />
-<sizeparam width="150" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="149" height="60" 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="" />
@@ -3890,7 +3891,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1094" >
<father id="1096" num="0" />
<cdparam x="446" y="275" />
-<sizeparam width="74" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="75" 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="" />
@@ -3974,7 +3975,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1115" >
<father id="1117" num="0" />
<cdparam x="208" y="524" />
-<sizeparam width="117" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="119" 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="" />
@@ -4002,7 +4003,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1122" >
<father id="1124" num="0" />
<cdparam x="327" y="565" />
-<sizeparam width="116" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="119" 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="" />
@@ -4172,7 +4173,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1164" >
<father id="1166" num="0" />
<cdparam x="417" y="888" />
-<sizeparam width="169" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="168" 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="" />
@@ -4228,7 +4229,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1178" >
<father id="1180" num="0" />
<cdparam x="116" y="1091" />
-<sizeparam width="94" 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="" />
@@ -4285,7 +4286,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1192" >
<father id="1194" num="0" />
<cdparam x="266" y="1316" />
-<sizeparam width="69" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="70" 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="" />
@@ -4397,7 +4398,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1220" >
<father id="1222" num="0" />
<cdparam x="312" y="1453" />
-<sizeparam width="185" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="187" 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="" />
@@ -4453,7 +4454,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1234" >
<father id="1236" num="0" />
<cdparam x="376" y="1565" />
-<sizeparam width="150" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="149" 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="" />
@@ -4483,7 +4484,7 @@ state 2: obstacles in close proximity
</CONNECTOR><SUBCOMPONENT type="-1" id="1241" >
<father id="1243" num="0" />
<cdparam x="583" y="1574" />
-<sizeparam width="142" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="140" 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="" />
@@ -4891,7 +4892,7 @@ state 2: obstacles in close proximity
<COMPONENT type="5103" id="1559" >
<cdparam x="374" y="925" />
-<sizeparam width="180" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="181" 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="2500" />
<infoparam name="Send signal" value="changeRate(samplingRate)" />
@@ -5104,8 +5105,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5104" id="1725" >
-<cdparam x="424" y="374" />
-<sizeparam width="121" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="423" y="374" />
+<sizeparam width="122" 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="2500" />
<infoparam name="Receive signal" value="tempData(temp)" />
@@ -5295,8 +5296,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5104" id="1875" >
-<cdparam x="220" y="192" />
-<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="216" y="192" />
+<sizeparam width="358" 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="2500" />
<infoparam name="Receive signal" value="sensorData(distanceLeft, distanceFront, distanceLeft)" />
@@ -5310,6 +5311,7 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="7" id="1872" />
<TGConnectingPoint num="8" id="1873" />
<TGConnectingPoint num="9" id="1874" />
+<latencyCheck />
</COMPONENT>
<COMPONENT type="5106" id="1916" >
@@ -5372,8 +5374,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5103" id="1929" >
-<cdparam x="402" y="1143" />
-<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="401" y="1143" />
+<sizeparam width="124" 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="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
@@ -5390,8 +5392,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="5103" id="1940" >
-<cdparam x="189" y="1147" />
-<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="188" y="1147" />
+<sizeparam width="124" 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="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
@@ -5491,9 +5493,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5362" id="1974" >
<father id="2017" num="0" />
<cdparam x="868" y="250" />
-<sizeparam width="188" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="190" 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" />
+<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/in tempData" />
<TGConnectingPoint num="0" id="1966" />
<TGConnectingPoint num="1" id="1967" />
@@ -5510,9 +5512,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5362" id="1983" >
<father id="2017" 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="1975" />
<TGConnectingPoint num="1" id="1976" />
@@ -5529,9 +5531,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5362" id="1992" >
<father id="2017" num="2" />
<cdparam x="862" y="154" />
-<sizeparam width="198" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="201" 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" />
+<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/in sensorData" />
<TGConnectingPoint num="0" id="1984" />
<TGConnectingPoint num="1" id="1985" />
@@ -5620,9 +5622,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5352" id="2051" >
<father id="2103" num="0" />
<cdparam x="102" y="176" />
-<sizeparam width="156" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="160" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::MainControl" />
<TGConnectingPoint num="0" id="2043" />
<TGConnectingPoint num="1" id="2044" />
@@ -5639,9 +5641,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5352" id="2060" >
<father id="2103" num="1" />
<cdparam x="101" y="133" />
-<sizeparam width="180" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="185" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="70" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::DistanceSensor" />
<TGConnectingPoint num="0" id="2052" />
<TGConnectingPoint num="1" id="2053" />
@@ -5658,9 +5660,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5352" id="2069" >
<father id="2103" num="2" />
<cdparam x="101" y="89" />
-<sizeparam width="206" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="211" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="44" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::TemperatureSensor" />
<TGConnectingPoint num="0" id="2061" />
<TGConnectingPoint num="1" id="2062" />
@@ -5677,9 +5679,9 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="5352" id="2078" >
<father id="2103" num="3" />
<cdparam x="100" y="44" />
-<sizeparam width="164" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="167" 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" />
+<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::MotorControl" />
<TGConnectingPoint num="0" id="2070" />
<TGConnectingPoint num="1" id="2071" />
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java b/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
index 54df05565e111b6796add1a1d6b67a57dcfb15a6..c0a84ad254fff81cfa763a8d9985bfe32d924e9a 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
@@ -164,7 +164,8 @@ if(nb_clusters==0){
System.out.println("initiators: "+TopCellGenerator.avatardd.getNb_init());
System.out.println("targets: "+TopCellGenerator.avatardd.getNb_target());
- declaration += "soclib::caba::VciVgsb<vci_param> vgsb(\"" + bus.getBusName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+4)+");" + CR2;
+ //declaration += "soclib::caba::VciVgsb<vci_param> vgsb(\"" + bus.getBusName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+4)+");" + CR2;
+ declaration += "soclib::caba::VciVgsb<vci_param> vgsb(\"" + bus.getBusName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+4)+ ");" + CR2;
int i=0;
//if BUS was not last in input file, update here
@@ -174,8 +175,8 @@ if(nb_clusters==0){
}
for (AvatarVgmn vgmn : TopCellGenerator.avatardd.getAllVgmn()) {
- System.out.println("initiators: "+TopCellGenerator.avatardd.getNb_init());
- System.out.println("targets: "+TopCellGenerator.avatardd.getNb_target());
+ //System.out.println("initiators: "+TopCellGenerator.avatardd.getNb_init());
+ //System.out.println("targets: "+TopCellGenerator.avatardd.getNb_target());
/* The user might have forgotten to specify the following, thus set default values */
if(vgmn.getMinLatency()<2)
@@ -184,8 +185,9 @@ if(nb_clusters==0){
vgmn.setFifoDepth(8); //default value; must be > 2
- declaration += "soclib::caba::VciVgmn<vci_param> vgmn(\"" + vgmn.getVgmnName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+4)+
- "," + vgmn.getMinLatency() + "," + vgmn.getFifoDepth() + ");" + CR2;
+ //declaration += "soclib::caba::VciVgmn<vci_param> vgmn(\"" + vgmn.getVgmnName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNb_target()+4)+ "," + vgmn.getMinLatency() + "," + vgmn.getFifoDepth() + ");" + CR2;
+
+ declaration += "soclib::caba::VciVgmn<vci_param> vgmn(\"" + vgmn.getVgmnName() + "\"" + " , maptab, cpus.size()+3," + (TopCellGenerator.avatardd.getNbRAM()+TopCellGenerator.avatardd.getNbTTY()+4)+ "," + vgmn.getMinLatency() + "," + vgmn.getFifoDepth() + ");" + CR2;
// if VGMN was not last in input file, update here
vgmn.setNbOfAttachedInitiators(TopCellGenerator.avatardd.getNb_init());
diff --git a/src/main/java/ui/AvatarDeploymentPanelTranslator.java b/src/main/java/ui/AvatarDeploymentPanelTranslator.java
index 918cb5fcc294c168e57a198ec16323f2f5b89851..1e76d0760a10e0085eb7c7a27e79810b06d142f7 100644
--- a/src/main/java/ui/AvatarDeploymentPanelTranslator.java
+++ b/src/main/java/ui/AvatarDeploymentPanelTranslator.java
@@ -259,6 +259,7 @@ public class AvatarDeploymentPanelTranslator {
//int monitored = addRamNode.getMonitored();
System.out.println("ADD RAM monitored "+ addRamNode.getMonitored());
AvatarRAM avram = new AvatarRAM(name, index, byteDataSize, index, index, addRamNode.getMonitored());//DG 3.7.
+ avram.setNo_ram(index);
int cluster_index = avram.getIndex();
// no_ram++;
@@ -308,12 +309,12 @@ public class AvatarDeploymentPanelTranslator {
// monitored = 2 MWMR stats
boolean spy = connector.hasASpy();
int monitored = 0;
- System.out.println("@@@ avowner "+ avowner_p1);
+ //System.out.println("@@@ avowner "+ avowner_p1);
if (spy == true) {
monitored = 1;
- System.out.println("@@@ owner "+ owner_p1.getName()+" monitored");
- System.out.println("@@@ avowner "+ avowner_p1+" monitored");
+ //System.out.println("@@@ owner "+ owner_p1.getName()+" monitored");
+ //System.out.println("@@@ avowner "+ avowner_p1+" monitored");
}
AvatarConnector avconnector = new AvatarConnector(avConnectingPoint1, avConnectingPoint2, monitored);
@@ -321,7 +322,7 @@ public class AvatarDeploymentPanelTranslator {
if (avowner_p1 instanceof AvatarRAM) {
//if stats mode selected beforehand in menu of component or spy
AvatarRAM ram1=(AvatarRAM) avowner_p1;
- System.out.println("@@@@@@@@@@@@@@ RAM no "+ram1.getNo_ram()+" @@@@@@@@@@@@@@@@@");
+ //System.out.println("@@@@@@@@@@@@@@ RAM no "+ram1.getNo_ram()+" @@@@@@@@@@@@@@@@@");
if ((((AvatarRAM)avowner_p1).getMonitored() == 2)||(spy == true))
//if (((AvatarRAM)avowner_p1).getMonitored() == 2)
{
@@ -330,9 +331,9 @@ public class AvatarDeploymentPanelTranslator {
//}
(((AvatarRAM) avowner_p1)).setMonitored(monitored);
- System.out.println("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@");
- System.out.println("@@@@@@@@@@@@@@ RAM no "+ram1.getNo_ram()+" monitored@@@@@@@@@@@@@@@@@");
- System.out.println("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@");
+
+ //System.out.println("@@@@@@@@@@@@@@ RAM no "+ram1.getNo_ram()+" monitored@@@@@@@@@@@@@@@@@");
+
}
}
diff --git a/src/main/java/ui/AvatarDesignPanelTranslator.java b/src/main/java/ui/AvatarDesignPanelTranslator.java
index 40382324015729ef23858eb93dd67205fab82456..c9fdda235cc95862113e2a6507859fa73a3942c3 100644
--- a/src/main/java/ui/AvatarDesignPanelTranslator.java
+++ b/src/main/java/ui/AvatarDesignPanelTranslator.java
@@ -1010,7 +1010,7 @@ public class AvatarDesignPanelTranslator {
this.listE.addCor (aaos, asmdss);
asmdss.setAVATARID (aaos.getID());
if (asmdss.getCheckLatency()){
- _as.checkedIDs.add(asmdss.getName()+":"+aaos.getID());
+ _as.checkedIDs.add(asmdss.getName()+"-"+ asmdss.getSignalName()+":"+aaos.getID());
}
asm.addElement (aaos);
}
@@ -1289,7 +1289,7 @@ public class AvatarDesignPanelTranslator {
asmdrs.setAVATARID (aaos.getID());
asm.addElement (aaos);
if (asmdrs.getCheckLatency()){
- _as.checkedIDs.add(asmdrs.getName()+":"+aaos.getID());
+ _as.checkedIDs.add(asmdrs.getName()+"-"+asmdrs.getSignalName()+":"+aaos.getID());
}
}
@@ -1312,7 +1312,7 @@ public class AvatarDesignPanelTranslator {
astate.addReferenceObject (tgc);
tgc.setAVATARID (astate.getID());
if (tgc.getCheckLatency()){
- _as.checkedIDs.add(tgc.getName()+":"+astate.getID());
+ _as.checkedIDs.add(tgc.getName()+"-"+tgc.getValue()+":"+astate.getID());
}
}
diff --git a/src/main/java/ui/avatarinteractivesimulation/JFrameAvatarInteractiveSimulation.java b/src/main/java/ui/avatarinteractivesimulation/JFrameAvatarInteractiveSimulation.java
index 24bb1877fa967fe1614ee2e7152d80770fba5edd..d11b1295b4d018c9a60575c12e23dcf046e0bb6b 100755
--- a/src/main/java/ui/avatarinteractivesimulation/JFrameAvatarInteractiveSimulation.java
+++ b/src/main/java/ui/avatarinteractivesimulation/JFrameAvatarInteractiveSimulation.java
@@ -1441,12 +1441,20 @@ public class JFrameAvatarInteractiveSimulation extends JFrame implements Avatar
if (ass.getAllTransactions()!=null){
for (AvatarSimulationTransaction trans: ass.getAllTransactions()){
if ((trans.executedElement != null) && (trans.executedElement.getReferenceObject() != null)) {
- String id = ((TGComponent)trans.executedElement.getReferenceObject()).getName() + ":"+Integer.toString(trans.executedElement.getID());
+// String id = ((TGComponent)trans.executedElement.getReferenceObject()).getName() + ":"+Integer.toString(trans.executedElement.getID());
+ String id = Integer.toString(trans.executedElement.getID());
// System.out.println(id + " " + transTimes.keySet());
// System.out.println("transaction " + trans.executedElement.getID() + " " + trans.initialClockValue);
- if (transTimes.containsKey(id)){
- if (!transTimes.get(id).contains(Long.toString(trans.initialClockValue))){
- transTimes.get(id).add(Long.toString(trans.initialClockValue));
+ String key="";
+ for (String s: transTimes.keySet()){
+ String tmpid = s.split(":")[1];
+ if (id.equals(tmpid)){
+ key=s;
+ }
+ }
+ if (transTimes.containsKey(key)){
+ if (!transTimes.get(key).contains(Long.toString(trans.initialClockValue))){
+ transTimes.get(key).add(Long.toString(trans.initialClockValue));
}
}
}