diff --git a/modeling/LIP6/miniAsynchronousDeploy.xml b/modeling/LIP6/miniAsynchronousDeploy.xml
index c7078b5a0d14eccaa6568c8daf14ac8025544d92..d526724f4f22301725c1cd7cff5acbe3cd1f5201 100644
--- a/modeling/LIP6/miniAsynchronousDeploy.xml
+++ b/modeling/LIP6/miniAsynchronousDeploy.xml
@@ -7,7 +7,7 @@
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="true" />
-<Validated value="" />
+<Validated value="Block1;Block0;" />
<Ignored value="" />
<CONNECTOR type="5002" id="2" >
diff --git a/modeling/SystemC-AMS/automatic_braking_nondeterminism.xml b/modeling/SystemC-AMS/automatic_braking_nondeterminism.xml
index fcc9b317beafbfe56ccc029db468d3814aba929d..c6d53f589da8b576ed57da1e4eed6e86622a8ddf 100644
--- a/modeling/SystemC-AMS/automatic_braking_nondeterminism.xml
+++ b/modeling/SystemC-AMS/automatic_braking_nondeterminism.xml
@@ -8,8 +8,8 @@
<cdparam x="1138" y="581" />
<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="1140" y="555" id="211" />
-<P2 x="963" y="619" id="60" />
+<P1 x="1140" y="555" id="203" />
+<P2 x="963" y="619" id="62" />
<Point x="1140" y="590" />
<Point x="929" y="590" />
<Point x="929" y="634" />
@@ -43,7 +43,7 @@
<cdparam x="1300" y="302" />
<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="1287" y="289" id="192" />
+<P1 x="1287" y="289" id="190" />
<P2 x="1104" y="158" id="73" />
<Point x="1318" y="302" />
<Point x="1318" y="218" />
@@ -87,8 +87,8 @@
<cdparam x="472" y="108" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="460" y="109" id="30" />
-<P2 x="195" y="81" id="222" />
+<P1 x="460" y="109" id="36" />
+<P2 x="195" y="81" id="226" />
<Point x="460" y="95" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="10" >
@@ -105,15 +105,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="195" y="174" id="224" />
-<P2 x="355" y="174" id="28" />
+<P2 x="355" y="174" id="38" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="14" >
<cdparam x="1018" y="479" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1018" y="479" id="203" />
-<P2 x="525" y="154" id="32" />
+<P1 x="1018" y="479" id="211" />
+<P2 x="525" y="154" id="34" />
<Point x="1018" y="168" />
<AutomaticDrawing data="true" />
</CONNECTOR><SUBCOMPONENT type="-1" id="13" >
@@ -129,15 +129,15 @@
<cdparam x="221" y="113" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="195" y="125" id="226" />
-<P2 x="355" y="125" id="34" />
+<P1 x="195" y="125" id="222" />
+<P2 x="355" y="125" id="32" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="16" >
<cdparam x="1309" y="685" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="1082" y="658" id="62" />
+<P1 x="1082" y="658" id="60" />
<P2 x="1021" y="701" id="49" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -146,23 +146,23 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="1080" y="479" id="207" />
-<P2 x="1094" y="291" id="190" />
+<P2 x="1094" y="291" id="192" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="18" >
<cdparam x="843" y="483" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="828" y="457" id="140" />
-<P2 x="977" y="518" id="205" />
+<P1 x="828" y="457" id="136" />
+<P2 x="977" y="518" id="209" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="19" >
<cdparam x="686" y="624" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="692" y="584" id="168" />
-<P2 x="692" y="487" id="142" />
+<P1 x="692" y="584" id="166" />
+<P2 x="692" y="487" id="134" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="20" >
@@ -170,15 +170,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="695" y="707" id="179" />
-<P2 x="695" y="646" id="166" />
+<P2 x="695" y="646" id="168" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="21" >
<cdparam x="247" y="495" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="375" y="208" id="36" />
-<P2 x="301" y="454" id="99" />
+<P1 x="375" y="208" id="30" />
+<P2 x="301" y="454" id="95" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="22" >
@@ -193,15 +193,15 @@
<cdparam x="247" y="467" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="480" y="208" id="38" />
-<P2 x="521" y="291" id="112" />
+<P1 x="480" y="208" id="28" />
+<P2 x="521" y="291" id="110" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="24" >
<cdparam x="555" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="548" y="495" id="95" />
+<P1 x="548" y="495" id="99" />
<P2 x="605" y="479" id="138" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -209,16 +209,16 @@
<cdparam x="531" y="310" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="569" y="351" id="110" />
-<P2 x="605" y="444" id="136" />
+<P1 x="569" y="351" id="112" />
+<P2 x="605" y="444" id="140" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="26" >
<cdparam x="708" y="372" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
-<P1 x="708" y="359" id="155" />
-<P2 x="708" y="421" id="134" />
+<P1 x="708" y="359" id="153" />
+<P2 x="708" y="421" id="142" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="27" >
@@ -226,7 +226,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Primitive port to Primitive port" value="Connector between ports" />
<P1 x="706" y="116" id="123" />
-<P2 x="706" y="302" id="153" />
+<P2 x="706" y="302" id="155" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="48" >
@@ -251,14 +251,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="29" >
<father id="48" num="0" />
-<cdparam x="342" y="174" />
+<cdparam x="467" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodData" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="28" />
<extraparam>
-<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -268,14 +268,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="31" >
<father id="48" num="1" />
-<cdparam x="447" y="109" />
+<cdparam x="362" y="208" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="30" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -285,14 +285,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="33" >
<father id="48" num="2" />
-<cdparam x="512" y="154" />
+<cdparam x="342" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="32" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -302,14 +302,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="35" >
<father id="48" num="3" />
-<cdparam x="342" y="125" />
+<cdparam x="512" y="154" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="34" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -319,14 +319,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="37" >
<father id="48" num="4" />
-<cdparam x="362" y="208" />
+<cdparam x="447" y="109" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="36" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -336,14 +336,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="39" >
<father id="48" num="5" />
-<cdparam x="467" y="208" />
+<cdparam x="342" y="174" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="157" minY="-13" maxY="86" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Channel neighbourhoodData" />
<TGConnectingPoint num="0" id="38" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="neighbourhoodData" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -408,14 +408,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="61" >
<father id="72" num="0" />
-<cdparam x="950" y="619" />
+<cdparam x="1069" y="658" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event commandDP" />
<TGConnectingPoint num="0" id="60" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -425,14 +425,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="63" >
<father id="72" num="1" />
-<cdparam x="1069" y="658" />
+<cdparam x="950" y="619" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="232" minY="-13" maxY="51" />
-<infoparam name="Primitive port" value="Event commandDP" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="62" />
<extraparam>
-<Prop commName="commandDP" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="drivingPowerReduction" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -533,14 +533,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="96" >
<father id="109" num="0" />
-<cdparam x="535" y="495" />
+<cdparam x="288" y="454" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
+<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
<TGConnectingPoint num="0" id="95" />
<extraparam>
-<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -567,14 +567,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="100" >
<father id="109" num="2" />
-<cdparam x="288" y="454" />
+<cdparam x="535" y="495" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="262" minY="-13" maxY="49" />
-<infoparam name="Primitive port" value="Channel neighbourhoodInfo" />
+<infoparam name="Primitive port" value="Channel neigbourhoodTable" />
<TGConnectingPoint num="0" id="99" />
<extraparam>
-<Prop commName="neighbourhoodInfo" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="neigbourhoodTable" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -603,14 +603,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="111" >
<father id="122" num="0" />
-<cdparam x="556" y="351" />
+<cdparam x="508" y="291" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="110" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -620,14 +620,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="113" >
<father id="122" num="1" />
-<cdparam x="508" y="291" />
+<cdparam x="556" y="351" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="163" minY="-13" maxY="47" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="112" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -692,14 +692,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="135" >
<father id="152" num="0" />
-<cdparam x="695" y="421" />
+<cdparam x="679" y="487" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="134" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -709,14 +709,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="137" >
<father id="152" num="1" />
-<cdparam x="592" y="444" />
+<cdparam x="815" y="457" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="136" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -743,14 +743,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="141" >
<father id="152" num="3" />
-<cdparam x="815" y="457" />
+<cdparam x="592" y="444" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="140" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -760,14 +760,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="143" >
<father id="152" num="4" />
-<cdparam x="679" y="487" />
+<cdparam x="695" y="421" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="210" minY="-13" maxY="53" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="142" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="objList01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -796,14 +796,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="154" >
<father id="165" num="0" />
-<cdparam x="693" y="302" />
+<cdparam x="695" y="359" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel rawData01" />
+<infoparam name="Primitive port" value="Channel objList01" />
<TGConnectingPoint num="0" id="153" />
<extraparam>
-<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -813,14 +813,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="156" >
<father id="165" num="1" />
-<cdparam x="695" y="359" />
+<cdparam x="693" y="302" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="214" minY="-13" maxY="44" />
-<infoparam name="Primitive port" value="Channel objList01" />
+<infoparam name="Primitive port" value="Channel rawData01" />
<TGConnectingPoint num="0" id="155" />
<extraparam>
-<Prop commName="objList01" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="rawData01" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -849,14 +849,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="167" >
<father id="178" num="0" />
-<cdparam x="682" y="646" />
+<cdparam x="679" y="584" />
<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="49" />
-<infoparam name="Primitive port" value="Channel rawData02" />
+<infoparam name="Primitive port" value="Channel vehicleDynamics" />
<TGConnectingPoint num="0" id="166" />
<extraparam>
-<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -866,14 +866,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="169" >
<father id="178" num="1" />
-<cdparam x="679" y="584" />
+<cdparam x="682" y="646" />
<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="49" />
-<infoparam name="Primitive port" value="Channel vehicleDynamics" />
+<infoparam name="Primitive port" value="Channel rawData02" />
<TGConnectingPoint num="0" id="168" />
<extraparam>
-<Prop commName="vehicleDynamics" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="rawData02" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -938,14 +938,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="191" >
<father id="202" num="0" />
-<cdparam x="1081" y="291" />
+<cdparam x="1274" y="289" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brakeCommand" />
+<infoparam name="Primitive port" value="Event brake" />
<TGConnectingPoint num="0" id="190" />
<extraparam>
-<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -955,14 +955,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="193" >
<father id="202" num="1" />
-<cdparam x="1274" y="289" />
+<cdparam x="1081" y="291" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="180" minY="-13" maxY="47" />
-<infoparam name="Primitive port" value="Event brake" />
+<infoparam name="Primitive port" value="Event brakeCommand" />
<TGConnectingPoint num="0" id="192" />
<extraparam>
-<Prop commName="brake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="brakeCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -991,14 +991,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="204" >
<father id="221" num="0" />
-<cdparam x="1005" y="479" />
+<cdparam x="1127" y="555" />
<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="63" />
-<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
+<infoparam name="Primitive port" value="Event drivingPowerReduction" />
<TGConnectingPoint num="0" id="203" />
<extraparam>
-<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1008,14 +1008,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="206" >
<father id="221" num="1" />
-<cdparam x="964" y="518" />
+<cdparam x="1164" y="519" />
<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="63" />
-<infoparam name="Primitive port" value="Event emergencyBrake" />
+<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
<TGConnectingPoint num="0" id="205" />
<extraparam>
-<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1042,14 +1042,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="210" >
<father id="221" num="3" />
-<cdparam x="1164" y="519" />
+<cdparam x="964" y="518" />
<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="63" />
-<infoparam name="Primitive port" value="Event infoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event emergencyBrake" />
<TGConnectingPoint num="0" id="209" />
<extraparam>
-<Prop commName="infoEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="emergencyBrake" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1059,14 +1059,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="212" >
<father id="221" num="4" />
-<cdparam x="1127" y="555" />
+<cdparam x="1005" y="479" />
<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="63" />
-<infoparam name="Primitive port" value="Event drivingPowerReduction" />
+<infoparam name="Primitive port" value="Event sendEmergencyBraking" />
<TGConnectingPoint num="0" id="211" />
<extraparam>
-<Prop commName="drivingPowerReduction" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="sendEmergencyBraking" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1095,14 +1095,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="223" >
<father id="236" num="0" />
-<cdparam x="182" y="81" />
+<cdparam x="182" y="125" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
+<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
<TGConnectingPoint num="0" id="222" />
<extraparam>
-<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1129,14 +1129,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="227" >
<father id="236" num="2" />
-<cdparam x="182" y="125" />
+<cdparam x="182" y="81" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="145" minY="-13" maxY="136" />
-<infoparam name="Primitive port" value="Event DSRCEmergencyBrake" />
+<infoparam name="Primitive port" value="Event broadcastInfoEmergencyBraking" />
<TGConnectingPoint num="0" id="226" />
<extraparam>
-<Prop commName="DSRCEmergencyBrake" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
+<Prop commName="broadcastInfoEmergencyBraking" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="-1" dataFlowType="" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -1497,11 +1497,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="343" >
<father id="377" num="0" />
-<cdparam x="1420" y="1017" />
-<sizeparam width="274" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1459" y="1073" />
+<sizeparam width="229" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-12" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
+<cdrectangleparam minX="0" maxX="33" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
<TGConnectingPoint num="0" id="335" />
<TGConnectingPoint num="1" id="336" />
<TGConnectingPoint num="2" id="337" />
@@ -1511,16 +1511,16 @@
<TGConnectingPoint num="6" id="341" />
<TGConnectingPoint num="7" id="342" />
<extraparam>
-<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="352" >
<father id="377" num="1" />
-<cdparam x="1459" y="1073" />
-<sizeparam width="229" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1420" y="1017" />
+<sizeparam width="274" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="33" minY="0" maxY="122" />
-<infoparam name="TGComponent" value="Braking - FV::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="-12" minY="0" maxY="122" />
+<infoparam name="TGComponent" value="Braking - FV::DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="344" />
<TGConnectingPoint num="1" id="345" />
<TGConnectingPoint num="2" id="346" />
@@ -1530,7 +1530,7 @@
<TGConnectingPoint num="6" id="350" />
<TGConnectingPoint num="7" id="351" />
<extraparam>
-<info value="Braking - FV::BrakeManagement" taskName="BrakeManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::DangerAvoidanceStrategy" taskName="DangerAvoidanceStrategy" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -1789,11 +1789,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="529" >
<father id="572" num="0" />
-<cdparam x="708" y="927" />
-<sizeparam width="255" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="671" y="1047" />
+<sizeparam width="297" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="22" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="-20" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
<TGConnectingPoint num="0" id="521" />
<TGConnectingPoint num="1" id="522" />
<TGConnectingPoint num="2" id="523" />
@@ -1803,7 +1803,7 @@
<TGConnectingPoint num="6" id="527" />
<TGConnectingPoint num="7" id="528" />
<extraparam>
-<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="538" >
@@ -1827,11 +1827,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="547" >
<father id="572" num="2" />
-<cdparam x="671" y="1047" />
-<sizeparam width="297" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="708" y="927" />
+<sizeparam width="255" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-20" minY="0" maxY="171" />
-<infoparam name="TGComponent" value="Braking - FV::VehicleDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="22" minY="0" maxY="171" />
+<infoparam name="TGComponent" value="Braking - FV::ObjectListManagement" />
<TGConnectingPoint num="0" id="539" />
<TGConnectingPoint num="1" id="540" />
<TGConnectingPoint num="2" id="541" />
@@ -1841,7 +1841,7 @@
<TGConnectingPoint num="6" id="545" />
<TGConnectingPoint num="7" id="546" />
<extraparam>
-<info value="Braking - FV::VehicleDynamicsManagement" taskName="VehicleDynamicsManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2606,11 +2606,11 @@
</COMPONENT>
<SUBCOMPONENT type="1101" id="1067" >
<father id="1110" num="0" />
-<cdparam x="204" y="285" />
-<sizeparam width="228" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="182" y="230" />
+<sizeparam width="320" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="78" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
+<cdrectangleparam minX="0" maxX="-14" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="1059" />
<TGConnectingPoint num="1" id="1060" />
<TGConnectingPoint num="2" id="1061" />
@@ -2620,7 +2620,7 @@
<TGConnectingPoint num="6" id="1065" />
<TGConnectingPoint num="7" id="1066" />
<extraparam>
-<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1076" >
@@ -2644,11 +2644,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="1085" >
<father id="1110" num="2" />
-<cdparam x="182" y="230" />
-<sizeparam width="320" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="204" y="285" />
+<sizeparam width="228" height="50" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="-14" minY="0" maxY="165" />
-<infoparam name="TGComponent" value="Braking - FV::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="78" minY="0" maxY="165" />
+<infoparam name="TGComponent" value="Braking - FV::DSRCManagement" />
<TGConnectingPoint num="0" id="1077" />
<TGConnectingPoint num="1" id="1078" />
<TGConnectingPoint num="2" id="1079" />
@@ -2658,7 +2658,7 @@
<TGConnectingPoint num="6" id="1083" />
<TGConnectingPoint num="7" id="1084" />
<extraparam>
-<info value="Braking - FV::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
+<info value="Braking - FV::DSRCManagement" taskName="DSRCManagement" referenceTaskName="Braking - FV" priority="0" operationMEC="" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -5864,7 +5864,7 @@
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="true" />
-<Validated value="Communication;CorrectnessChecking;NeighbourhoodTableManagement;DSRSC_Management;PTC;DrivingPowerReductionStrategy;BCU;BrakeManagement;DangerAvoidanceStrategy;CSCU;VehiculeDynamicsManagement;PlausibilityCheck;ObjectListManagement;" />
+<Validated value="" />
<Ignored value="" />
<CONNECTOR type="5002" id="2683" >
@@ -5874,8 +5874,8 @@
<TGConnectingPoint num="0" id="2680" />
<TGConnectingPoint num="1" id="2681" />
<TGConnectingPoint num="2" id="2682" />
-<P1 x="168" y="553" id="2780" />
-<P2 x="465" y="1085" id="2909" />
+<P1 x="168" y="553" id="2730" />
+<P2 x="465" y="1085" id="2884" />
<Point x="367" y="632" />
<Point x="367" y="915" />
<AutomaticDrawing data="true" />
@@ -5920,7 +5920,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2686" />
-<P1 x="465" y="1210" id="2911" />
+<P1 x="465" y="1210" id="2886" />
<P2 x="362" y="1208" id="2837" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5934,8 +5934,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2688" />
-<P1 x="777" y="1148" id="2903" />
-<P2 x="825" y="1148" id="2877" />
+<P1 x="777" y="1148" id="2878" />
+<P2 x="825" y="1148" id="2902" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in brake(int value)" />
@@ -5948,7 +5948,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2690" />
-<P1 x="621" y="1023" id="2900" />
+<P1 x="621" y="1023" id="2875" />
<P2 x="527" y="884" id="2980" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -5965,7 +5965,7 @@
<TGConnectingPoint num="1" id="2695" />
<TGConnectingPoint num="2" id="2696" />
<P1 x="587" y="884" id="2989" />
-<P2 x="973" y="855" id="2963" />
+<P2 x="973" y="855" id="3013" />
<Point x="587" y="895" />
<Point x="971" y="895" />
<AutomaticDrawing data="true" />
@@ -5997,7 +5997,7 @@
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2698" />
<P1 x="648" y="836" id="2987" />
-<P2 x="671" y="839" id="3011" />
+<P2 x="671" y="839" id="2961" />
<AutomaticDrawing data="true" />
<extraparam>
<iso value="in getInfoOnObstacle(int obstacle)" />
@@ -6010,7 +6010,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2700" />
-<P1 x="759" y="568" id="2739" />
+<P1 x="759" y="568" id="2789" />
<P2 x="527" y="695" id="2975" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -6024,8 +6024,8 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2702" />
-<P1 x="297" y="553" id="2781" />
-<P2 x="606" y="568" id="2729" />
+<P1 x="297" y="553" id="2731" />
+<P2 x="606" y="568" id="2779" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in getEmergencyBrakingMessage(int id, int position)" />
@@ -6038,7 +6038,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="1000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector from Block0 to Block0" value="" />
<TGConnectingPoint num="0" id="2704" />
-<P1 x="297" y="460" id="2778" />
+<P1 x="297" y="460" id="2728" />
<P2 x="329" y="464" id="2752" />
<AutomaticDrawing data="true" />
<extraparam>
@@ -6133,11 +6133,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2748" >
<father id="2823" num="0" />
-<cdparam x="606" y="384" />
-<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="40" y="368" />
+<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
-<infoparam name="Block0" value="CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
+<infoparam name="Block0" value="DSRSC_Management" />
<TGConnectingPoint num="0" id="2724" />
<TGConnectingPoint num="1" id="2725" />
<TGConnectingPoint num="2" id="2726" />
@@ -6167,12 +6167,10 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
-<Method value="checkingMessage()" />
-<Method value="invalidMessage()" />
-<Method value="validMessage()" />
-<Signal value="in getEmergencyBrakingMessage(int id, int position)" attached="true" />
-<Signal value="out toPlausibityCheckMessage(int id, int position)" attached="true" />
+<Method value="sendMessage(int id, int position)" />
+<Signal value="out setCarPosition(int id, int position)" attached="true" />
+<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" attached="true" />
+<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" attached="true" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2773" >
@@ -6220,11 +6218,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2798" >
<father id="2823" num="2" />
-<cdparam x="40" y="368" />
-<sizeparam width="257" height="185" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="606" y="384" />
+<sizeparam width="204" height="184" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="533" minY="0" maxY="83" />
-<infoparam name="Block0" value="DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="586" minY="0" maxY="84" />
+<infoparam name="Block0" value="CorrectnessChecking" />
<TGConnectingPoint num="0" id="2774" />
<TGConnectingPoint num="1" id="2775" />
<TGConnectingPoint num="2" id="2776" />
@@ -6254,10 +6252,12 @@
<CryptoBlock value="false" />
<Attribute access="0" id="id" value="" type="8" typeOther="" />
<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Method value="sendMessage(int id, int position)" />
-<Signal value="out setCarPosition(int id, int position)" attached="true" />
-<Signal value="out forwardEmergencyBrakingMessage(int id, int position)" attached="true" />
-<Signal value="in broadcastEmergencyBrakingMessage(int id, int position)" attached="true" />
+<Attribute access="0" id="canHaveInvalid" value="false" type="4" typeOther="" />
+<Method value="checkingMessage()" />
+<Method value="invalidMessage()" />
+<Method value="validMessage()" />
+<Signal value="in getEmergencyBrakingMessage(int id, int position)" attached="true" />
+<Signal value="out toPlausibityCheckMessage(int id, int position)" attached="true" />
</extraparam>
</SUBCOMPONENT>
@@ -6376,11 +6376,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2898" >
<father id="2948" num="0" />
-<cdparam x="825" y="1023" />
+<cdparam x="465" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="BrakeManagement" />
+<infoparam name="Block0" value="DangerAvoidanceStrategy" />
<TGConnectingPoint num="0" id="2874" />
<TGConnectingPoint num="1" id="2875" />
<TGConnectingPoint num="2" id="2876" />
@@ -6408,21 +6408,24 @@
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Attribute access="0" id="position" value="" type="8" typeOther="" />
+<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
+<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
-<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
-<Method value="applyBraking(int value)" />
-<Method value="brakingDone()" />
-<Signal value="in brake(int value)" attached="true" />
+<Signal value="in brake(int speed, int currentPosition, int position)" attached="true" />
+<Signal value="out reducePower(int value)" attached="true" />
+<Signal value="out brakePower(int value)" attached="true" />
+<Signal value="out forwardEmergency(int myID, int currentPosition)" attached="true" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2923" >
<father id="2948" num="1" />
-<cdparam x="465" y="1023" />
+<cdparam x="825" y="1023" />
<sizeparam width="312" height="250" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="392" minY="0" maxY="60" />
-<infoparam name="Block0" value="DangerAvoidanceStrategy" />
+<infoparam name="Block0" value="BrakeManagement" />
<TGConnectingPoint num="0" id="2899" />
<TGConnectingPoint num="1" id="2900" />
<TGConnectingPoint num="2" id="2901" />
@@ -6450,15 +6453,12 @@
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Attribute access="0" id="position" value="" type="8" typeOther="" />
-<Attribute access="0" id="currentPosition" value="" type="8" typeOther="" />
-<Attribute access="0" id="carinfo" value="" type="5" typeOther="CarInfo" />
<Attribute access="0" id="value" value="" type="8" typeOther="" />
-<Signal value="in brake(int speed, int currentPosition, int position)" attached="true" />
-<Signal value="out reducePower(int value)" attached="true" />
-<Signal value="out brakePower(int value)" attached="true" />
-<Signal value="out forwardEmergency(int myID, int currentPosition)" attached="true" />
+<Attribute access="0" id="deltaBrake" value="0" type="8" typeOther="" />
+<Attribute access="0" id="brakeMaxDuration" value="" type="8" typeOther="" />
+<Method value="applyBraking(int value)" />
+<Method value="brakingDone()" />
+<Signal value="in brake(int value)" attached="true" />
</extraparam>
</SUBCOMPONENT>
@@ -6499,11 +6499,11 @@
</COMPONENT>
<SUBCOMPONENT type="5000" id="2973" >
<father id="3048" num="0" />
-<cdparam x="903" y="707" />
-<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="671" y="722" />
+<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
-<infoparam name="Block0" value="VehiculeDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
+<infoparam name="Block0" value="ObjectListManagement" />
<TGConnectingPoint num="0" id="2949" />
<TGConnectingPoint num="1" id="2950" />
<TGConnectingPoint num="2" id="2951" />
@@ -6531,8 +6531,8 @@
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="speed" value="" type="8" typeOther="" />
-<Signal value="out getInfoOnSpeed(int speed)" attached="true" />
+<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
+<Signal value="out getInfoOnObstacle(int obstacle)" attached="true" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="2998" >
@@ -6587,11 +6587,11 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="5000" id="3023" >
<father id="3048" num="2" />
-<cdparam x="671" y="722" />
-<sizeparam width="220" height="156" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="903" y="707" />
+<sizeparam width="281" height="148" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="578" minY="0" maxY="133" />
-<infoparam name="Block0" value="ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="517" minY="0" maxY="141" />
+<infoparam name="Block0" value="VehiculeDynamicsManagement" />
<TGConnectingPoint num="0" id="2999" />
<TGConnectingPoint num="1" id="3000" />
<TGConnectingPoint num="2" id="3001" />
@@ -6619,8 +6619,8 @@
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
-<Attribute access="0" id="obstacle" value="0" type="8" typeOther="" />
-<Signal value="out getInfoOnObstacle(int obstacle)" attached="true" />
+<Attribute access="0" id="speed" value="" type="8" typeOther="" />
+<Signal value="out getInfoOnSpeed(int speed)" attached="true" />
</extraparam>
</SUBCOMPONENT>
@@ -11066,7 +11066,7 @@ Otherwise, the most far away
<COMPONENT type="301" id="4771" >
<cdparam x="617" y="435" />
-<sizeparam width="83" height="15" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="83" height="20" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Going fast?
@@ -11094,7 +11094,7 @@ Otherwise, the most far away
<COMPONENT type="301" id="4788" >
<cdparam x="582" y="390" />
-<sizeparam width="212" height="15" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="212" height="20" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Radar also detected an obstacle?
@@ -11122,7 +11122,7 @@ Otherwise, the most far away
<COMPONENT type="301" id="4805" >
<cdparam x="775" y="658" />
-<sizeparam width="115" height="15" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="115" height="20" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="Obstacle ahead?
@@ -11192,7 +11192,7 @@ Otherwise, the most far away
<COMPONENT type="301" id="4849" >
<cdparam x="765" y="511" />
-<sizeparam width="75" height="15" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="75" height="20" minWidth="50" minHeight="20" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="1400" />
<infoparam name="UML Note" value="KnownID?
@@ -11975,11 +11975,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5362" id="5295" >
<father id="5419" num="0" />
-<cdparam x="273" y="718" />
-<sizeparam width="333" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="716" y="757" />
+<sizeparam width="255" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="469" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
+<cdrectangleparam minX="0" maxX="547" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
<TGConnectingPoint num="0" id="5287" />
<TGConnectingPoint num="1" id="5288" />
<TGConnectingPoint num="2" id="5289" />
@@ -11989,16 +11989,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5293" />
<TGConnectingPoint num="7" id="5294" />
<extraparam>
-<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="AVATAR Design::CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int obstacle)" fullChannelName="AVATAR Design::PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int obstacle)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5304" >
<father id="5419" num="1" />
-<cdparam x="273" y="673" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="273" y="760" />
+<sizeparam width="241" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="541" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
+<cdrectangleparam minX="0" maxX="561" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
<TGConnectingPoint num="0" id="5296" />
<TGConnectingPoint num="1" id="5297" />
<TGConnectingPoint num="2" id="5298" />
@@ -12008,16 +12008,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5302" />
<TGConnectingPoint num="7" id="5303" />
<extraparam>
-<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="AVATAR Design::DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" referenceDiagram="AVATAR Design" />
+<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="AVATAR Design::PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5313" >
<father id="5419" num="2" />
-<cdparam x="273" y="629" />
-<sizeparam width="381" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="720" y="714" />
+<sizeparam width="236" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="421" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="566" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
<TGConnectingPoint num="0" id="5305" />
<TGConnectingPoint num="1" id="5306" />
<TGConnectingPoint num="2" id="5307" />
@@ -12027,16 +12027,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5311" />
<TGConnectingPoint num="7" id="5312" />
<extraparam>
-<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="AVATAR Design::DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5322" >
<father id="5419" num="3" />
-<cdparam x="716" y="584" />
-<sizeparam width="320" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="717" y="671" />
+<sizeparam width="279" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="482" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
+<cdrectangleparam minX="0" maxX="523" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
<TGConnectingPoint num="0" id="5314" />
<TGConnectingPoint num="1" id="5315" />
<TGConnectingPoint num="2" id="5316" />
@@ -12046,16 +12046,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5320" />
<TGConnectingPoint num="7" id="5321" />
<extraparam>
-<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(int position, NodeList list)" fullChannelName="AVATAR Design::NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(int position, NodeList list)" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5331" >
<father id="5419" num="4" />
-<cdparam x="716" y="539" />
-<sizeparam width="333" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="717" y="627" />
+<sizeparam width="285" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="469" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
+<cdrectangleparam minX="0" maxX="517" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
<TGConnectingPoint num="0" id="5323" />
<TGConnectingPoint num="1" id="5324" />
<TGConnectingPoint num="2" id="5325" />
@@ -12065,16 +12065,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5329" />
<TGConnectingPoint num="7" id="5330" />
<extraparam>
-<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5340" >
<father id="5419" num="5" />
-<cdparam x="272" y="584" />
-<sizeparam width="386" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="272" y="540" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="416" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
+<cdrectangleparam minX="0" maxX="541" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
<TGConnectingPoint num="0" id="5332" />
<TGConnectingPoint num="1" id="5333" />
<TGConnectingPoint num="2" id="5334" />
@@ -12084,16 +12084,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5338" />
<TGConnectingPoint num="7" id="5339" />
<extraparam>
-<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="AVATAR Design::DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5349" >
<father id="5419" num="6" />
-<cdparam x="272" y="540" />
-<sizeparam width="261" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="272" y="584" />
+<sizeparam width="386" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="541" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
+<cdrectangleparam minX="0" maxX="416" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DSRSC_Management/in broadcastEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="5341" />
<TGConnectingPoint num="1" id="5342" />
<TGConnectingPoint num="2" id="5343" />
@@ -12103,16 +12103,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5347" />
<TGConnectingPoint num="7" id="5348" />
<extraparam>
-<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/in broadcastEmergencyBrakingMessage" channelName="DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" fullChannelName="AVATAR Design::DSRSC_Management/in broadcastEmergencyBrakingMessage(int id, int position) #--# DangerAvoidanceStrategy/out forwardEmergency(int myID, int currentPosition)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5358" >
<father id="5419" num="7" />
-<cdparam x="717" y="627" />
-<sizeparam width="285" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="716" y="539" />
+<sizeparam width="333" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="517" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out reducePower" />
+<cdrectangleparam minX="0" maxX="469" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
<TGConnectingPoint num="0" id="5350" />
<TGConnectingPoint num="1" id="5351" />
<TGConnectingPoint num="2" id="5352" />
@@ -12122,16 +12122,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5356" />
<TGConnectingPoint num="7" id="5357" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out reducePower" channelName="DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/out reducePower(int value) #--# DrivingPowerReductionStrategy/in getReducePowerOrder(int value)" referenceDiagram="AVATAR Design" />
+<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5367" >
<father id="5419" num="8" />
-<cdparam x="717" y="671" />
-<sizeparam width="279" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="716" y="584" />
+<sizeparam width="320" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="523" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/out brakePower" />
+<cdrectangleparam minX="0" maxX="482" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="NeighbourhoodTableManagement/out sendTable" />
<TGConnectingPoint num="0" id="5359" />
<TGConnectingPoint num="1" id="5360" />
<TGConnectingPoint num="2" id="5361" />
@@ -12141,16 +12141,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5365" />
<TGConnectingPoint num="7" id="5366" />
<extraparam>
-<info value="DangerAvoidanceStrategy/out brakePower" channelName="DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/out brakePower(int value) #--# BrakeManagement/in brake(int value)" referenceDiagram="AVATAR Design" />
+<info value="NeighbourhoodTableManagement/out sendTable" channelName="NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(int position, NodeList list)" fullChannelName="AVATAR Design::NeighbourhoodTableManagement/out sendTable(int currentPosition, NodeList list) #--# PlausibilityCheck/in getNodeList(int position, NodeList list)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5376" >
<father id="5419" num="9" />
-<cdparam x="720" y="714" />
-<sizeparam width="236" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="273" y="629" />
+<sizeparam width="381" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="566" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="DangerAvoidanceStrategy/in brake" />
+<cdrectangleparam minX="0" maxX="421" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DSRSC_Management/out forwardEmergencyBrakingMessage" />
<TGConnectingPoint num="0" id="5368" />
<TGConnectingPoint num="1" id="5369" />
<TGConnectingPoint num="2" id="5370" />
@@ -12160,16 +12160,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5374" />
<TGConnectingPoint num="7" id="5375" />
<extraparam>
-<info value="DangerAvoidanceStrategy/in brake" channelName="DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" fullChannelName="AVATAR Design::DangerAvoidanceStrategy/in brake(int speed, int currentPosition, int position) #--# PlausibilityCheck/out brake(int speed, int currentPosition, int position)" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out forwardEmergencyBrakingMessage" channelName="DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" fullChannelName="AVATAR Design::DSRSC_Management/out forwardEmergencyBrakingMessage(int id, int position) #--# CorrectnessChecking/in getEmergencyBrakingMessage(int id, int position)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5385" >
<father id="5419" num="10" />
-<cdparam x="273" y="760" />
-<sizeparam width="241" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="273" y="673" />
+<sizeparam width="261" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="561" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnSpeed" />
+<cdrectangleparam minX="0" maxX="541" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="DSRSC_Management/out setCarPosition" />
<TGConnectingPoint num="0" id="5377" />
<TGConnectingPoint num="1" id="5378" />
<TGConnectingPoint num="2" id="5379" />
@@ -12179,16 +12179,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5383" />
<TGConnectingPoint num="7" id="5384" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnSpeed" channelName="PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" fullChannelName="AVATAR Design::PlausibilityCheck/in getInfoOnSpeed(int speed) #--# VehiculeDynamicsManagement/out getInfoOnSpeed(int speed)" referenceDiagram="AVATAR Design" />
+<info value="DSRSC_Management/out setCarPosition" channelName="DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" fullChannelName="AVATAR Design::DSRSC_Management/out setCarPosition(int id, int position) #--# NeighbourhoodTableManagement/in addANode(int id, int position)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5362" id="5394" >
<father id="5419" num="11" />
-<cdparam x="716" y="757" />
-<sizeparam width="255" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="273" y="718" />
+<sizeparam width="333" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="547" minY="0" maxY="250" />
-<infoparam name="TGComponent" value="PlausibilityCheck/in getInfoOnObstacle" />
+<cdrectangleparam minX="0" maxX="469" minY="0" maxY="250" />
+<infoparam name="TGComponent" value="CorrectnessChecking/out toPlausibityCheckMessage" />
<TGConnectingPoint num="0" id="5386" />
<TGConnectingPoint num="1" id="5387" />
<TGConnectingPoint num="2" id="5388" />
@@ -12198,7 +12198,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5392" />
<TGConnectingPoint num="7" id="5393" />
<extraparam>
-<info value="PlausibilityCheck/in getInfoOnObstacle" channelName="PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int obstacle)" fullChannelName="AVATAR Design::PlausibilityCheck/in getInfoOnObstacle(int obstacle) #--# ObjectListManagement/out getInfoOnObstacle(int obstacle)" referenceDiagram="AVATAR Design" />
+<info value="CorrectnessChecking/out toPlausibityCheckMessage" channelName="CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" fullChannelName="AVATAR Design::CorrectnessChecking/out toPlausibityCheckMessage(int id, int position) #--# PlausibilityCheck/in getEmergencyMessageToVerify(int id, int position)" referenceDiagram="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -12275,11 +12275,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="5453" >
<father id="5505" num="0" />
-<cdparam x="1070" y="184" />
-<sizeparam width="164" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1068" y="318" />
+<sizeparam width="311" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="174" minY="0" maxY="191" />
-<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
+<cdrectangleparam minX="0" maxX="27" minY="0" maxY="191" />
+<infoparam name="TGComponent" value="AVATAR Design::VehiculeDynamicsManagement" />
<TGConnectingPoint num="0" id="5445" />
<TGConnectingPoint num="1" id="5446" />
<TGConnectingPoint num="2" id="5447" />
@@ -12289,16 +12289,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5451" />
<TGConnectingPoint num="7" id="5452" />
<extraparam>
-<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::VehiculeDynamicsManagement" taskName="VehiculeDynamicsManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5462" >
<father id="5505" num="1" />
-<cdparam x="1071" y="228" />
-<sizeparam width="265" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1070" y="273" />
+<sizeparam width="229" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="73" minY="0" maxY="191" />
-<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
+<cdrectangleparam minX="0" maxX="109" minY="0" maxY="191" />
+<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
<TGConnectingPoint num="0" id="5454" />
<TGConnectingPoint num="1" id="5455" />
<TGConnectingPoint num="2" id="5456" />
@@ -12308,16 +12308,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5460" />
<TGConnectingPoint num="7" id="5461" />
<extraparam>
-<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5471" >
<father id="5505" num="2" />
-<cdparam x="1070" y="273" />
-<sizeparam width="229" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1071" y="228" />
+<sizeparam width="265" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="109" minY="0" maxY="191" />
-<infoparam name="TGComponent" value="AVATAR Design::PlausibilityCheck" />
+<cdrectangleparam minX="0" maxX="73" minY="0" maxY="191" />
+<infoparam name="TGComponent" value="AVATAR Design::ObjectListManagement" />
<TGConnectingPoint num="0" id="5463" />
<TGConnectingPoint num="1" id="5464" />
<TGConnectingPoint num="2" id="5465" />
@@ -12327,16 +12327,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5469" />
<TGConnectingPoint num="7" id="5470" />
<extraparam>
-<info value="AVATAR Design::PlausibilityCheck" taskName="PlausibilityCheck" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::ObjectListManagement" taskName="ObjectListManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5480" >
<father id="5505" num="3" />
-<cdparam x="1068" y="318" />
-<sizeparam width="311" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1070" y="184" />
+<sizeparam width="164" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="27" minY="0" maxY="191" />
-<infoparam name="TGComponent" value="AVATAR Design::VehiculeDynamicsManagement" />
+<cdrectangleparam minX="0" maxX="174" minY="0" maxY="191" />
+<infoparam name="TGComponent" value="AVATAR Design::CSCU" />
<TGConnectingPoint num="0" id="5472" />
<TGConnectingPoint num="1" id="5473" />
<TGConnectingPoint num="2" id="5474" />
@@ -12346,7 +12346,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5478" />
<TGConnectingPoint num="7" id="5479" />
<extraparam>
-<info value="AVATAR Design::VehiculeDynamicsManagement" taskName="VehiculeDynamicsManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CSCU" taskName="CSCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -12387,11 +12387,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="5514" >
<father id="5566" num="0" />
-<cdparam x="77" y="178" />
-<sizeparam width="222" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="75" y="310" />
+<sizeparam width="254" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="139" minY="0" maxY="181" />
-<infoparam name="TGComponent" value="AVATAR Design::Communication" />
+<cdrectangleparam minX="0" maxX="107" minY="0" maxY="181" />
+<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
<TGConnectingPoint num="0" id="5506" />
<TGConnectingPoint num="1" id="5507" />
<TGConnectingPoint num="2" id="5508" />
@@ -12401,16 +12401,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5512" />
<TGConnectingPoint num="7" id="5513" />
<extraparam>
-<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5523" >
<father id="5566" num="1" />
-<cdparam x="76" y="221" />
-<sizeparam width="251" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="75" y="266" />
+<sizeparam width="330" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="110" minY="0" maxY="181" />
-<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
+<cdrectangleparam minX="0" maxX="31" minY="0" maxY="181" />
+<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
<TGConnectingPoint num="0" id="5515" />
<TGConnectingPoint num="1" id="5516" />
<TGConnectingPoint num="2" id="5517" />
@@ -12420,16 +12420,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5521" />
<TGConnectingPoint num="7" id="5522" />
<extraparam>
-<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5532" >
<father id="5566" num="2" />
-<cdparam x="75" y="266" />
-<sizeparam width="330" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="76" y="221" />
+<sizeparam width="251" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="31" minY="0" maxY="181" />
-<infoparam name="TGComponent" value="AVATAR Design::NeighbourhoodTableManagement" />
+<cdrectangleparam minX="0" maxX="110" minY="0" maxY="181" />
+<infoparam name="TGComponent" value="AVATAR Design::DSRSC_Management" />
<TGConnectingPoint num="0" id="5524" />
<TGConnectingPoint num="1" id="5525" />
<TGConnectingPoint num="2" id="5526" />
@@ -12439,16 +12439,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5530" />
<TGConnectingPoint num="7" id="5531" />
<extraparam>
-<info value="AVATAR Design::NeighbourhoodTableManagement" taskName="NeighbourhoodTableManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DSRSC_Management" taskName="DSRSC_Management" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5541" >
<father id="5566" num="3" />
-<cdparam x="75" y="310" />
-<sizeparam width="254" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="77" y="178" />
+<sizeparam width="222" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="107" minY="0" maxY="181" />
-<infoparam name="TGComponent" value="AVATAR Design::CorrectnessChecking" />
+<cdrectangleparam minX="0" maxX="139" minY="0" maxY="181" />
+<infoparam name="TGComponent" value="AVATAR Design::Communication" />
<TGConnectingPoint num="0" id="5533" />
<TGConnectingPoint num="1" id="5534" />
<TGConnectingPoint num="2" id="5535" />
@@ -12458,7 +12458,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5539" />
<TGConnectingPoint num="7" id="5540" />
<extraparam>
-<info value="AVATAR Design::CorrectnessChecking" taskName="CorrectnessChecking" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::Communication" taskName="Communication" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -12499,11 +12499,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="5575" >
<father id="5609" num="0" />
-<cdparam x="72" y="414" />
-<sizeparam width="157" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="71" y="460" />
+<sizeparam width="312" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="199" minY="0" maxY="93" />
-<infoparam name="TGComponent" value="AVATAR Design::PTC" />
+<cdrectangleparam minX="0" maxX="44" minY="0" maxY="93" />
+<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
<TGConnectingPoint num="0" id="5567" />
<TGConnectingPoint num="1" id="5568" />
<TGConnectingPoint num="2" id="5569" />
@@ -12513,16 +12513,16 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5573" />
<TGConnectingPoint num="7" id="5574" />
<extraparam>
-<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5584" >
<father id="5609" num="1" />
-<cdparam x="71" y="460" />
-<sizeparam width="312" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="72" y="414" />
+<sizeparam width="157" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="44" minY="0" maxY="93" />
-<infoparam name="TGComponent" value="AVATAR Design::DrivingPowerReductionStrategy" />
+<cdrectangleparam minX="0" maxX="199" minY="0" maxY="93" />
+<infoparam name="TGComponent" value="AVATAR Design::PTC" />
<TGConnectingPoint num="0" id="5576" />
<TGConnectingPoint num="1" id="5577" />
<TGConnectingPoint num="2" id="5578" />
@@ -12532,7 +12532,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5582" />
<TGConnectingPoint num="7" id="5583" />
<extraparam>
-<info value="AVATAR Design::DrivingPowerReductionStrategy" taskName="DrivingPowerReductionStrategy" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::PTC" taskName="PTC" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -12573,11 +12573,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="5352" id="5618" >
<father id="5661" num="0" />
-<cdparam x="1099" y="421" />
-<sizeparam width="157" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1100" y="515" />
+<sizeparam width="241" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="162" minY="0" maxY="142" />
-<infoparam name="TGComponent" value="AVATAR Design::BCU" />
+<cdrectangleparam minX="0" maxX="78" minY="0" maxY="142" />
+<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
<TGConnectingPoint num="0" id="5610" />
<TGConnectingPoint num="1" id="5611" />
<TGConnectingPoint num="2" id="5612" />
@@ -12587,7 +12587,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5616" />
<TGConnectingPoint num="7" id="5617" />
<extraparam>
-<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5627" >
@@ -12611,11 +12611,11 @@ Otherwise, the most far away
</SUBCOMPONENT>
<SUBCOMPONENT type="5352" id="5636" >
<father id="5661" num="2" />
-<cdparam x="1100" y="515" />
-<sizeparam width="241" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1099" y="421" />
+<sizeparam width="157" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="78" minY="0" maxY="142" />
-<infoparam name="TGComponent" value="AVATAR Design::BrakeManagement" />
+<cdrectangleparam minX="0" maxX="162" minY="0" maxY="142" />
+<infoparam name="TGComponent" value="AVATAR Design::BCU" />
<TGConnectingPoint num="0" id="5628" />
<TGConnectingPoint num="1" id="5629" />
<TGConnectingPoint num="2" id="5630" />
@@ -12625,7 +12625,7 @@ Otherwise, the most far away
<TGConnectingPoint num="6" id="5634" />
<TGConnectingPoint num="7" id="5635" />
<extraparam>
-<info value="AVATAR Design::BrakeManagement" taskName="BrakeManagement" referenceTaskName="AVATAR Design" />
+<info value="AVATAR Design::BCU" taskName="BCU" referenceTaskName="AVATAR Design" />
</extraparam>
</SUBCOMPONENT>
@@ -12782,16 +12782,16 @@ Otherwise, the most far away
<cdparam x="85" y="292" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="87" y="224" id="5677" />
-<P2 x="87" y="172" id="5706" />
+<P1 x="87" y="224" id="5687" />
+<P2 x="87" y="172" id="5716" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="1601" id="5676" >
<cdparam x="144" y="210" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="186" y="172" id="5716" />
-<P2 x="187" y="224" id="5687" />
+<P1 x="186" y="172" id="5706" />
+<P2 x="187" y="224" id="5677" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1608" id="5705" >
@@ -12811,11 +12811,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="1605" id="5686" >
<father id="5705" num="0" />
-<cdparam x="77" y="224" />
+<cdparam x="177" y="224" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="54" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
<TGConnectingPoint num="0" id="5677" />
<TGConnectingPoint num="1" id="5678" />
<TGConnectingPoint num="2" id="5679" />
@@ -12826,16 +12826,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5684" />
<TGConnectingPoint num="8" id="5685" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1605" id="5696" >
<father id="5705" num="1" />
-<cdparam x="177" y="224" />
+<cdparam x="77" y="224" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="54" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
<TGConnectingPoint num="0" id="5687" />
<TGConnectingPoint num="1" id="5688" />
<TGConnectingPoint num="2" id="5689" />
@@ -12846,7 +12846,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5694" />
<TGConnectingPoint num="8" id="5695" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
@@ -12885,16 +12885,16 @@ Otherwise, the most far away
out.write(1+rand()%5);
out.write(3+rand()%7);
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5715" >
<father id="5734" num="0" />
-<cdparam x="77" y="152" />
+<cdparam x="176" y="152" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="79" />
-<infoparam name="Primitive port - Port Converter" value="in" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="5706" />
<TGConnectingPoint num="1" id="5707" />
<TGConnectingPoint num="2" id="5708" />
@@ -12905,16 +12905,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5713" />
<TGConnectingPoint num="8" id="5714" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5725" >
<father id="5734" num="1" />
-<cdparam x="176" y="152" />
+<cdparam x="77" y="152" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="79" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<infoparam name="Primitive port - Port Converter" value="in" />
<TGConnectingPoint num="0" id="5716" />
<TGConnectingPoint num="1" id="5717" />
<TGConnectingPoint num="2" id="5718" />
@@ -12925,7 +12925,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5723" />
<TGConnectingPoint num="8" id="5724" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
@@ -12937,16 +12937,16 @@ Otherwise, the most far away
<cdparam x="203" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="203" y="358" id="5746" />
-<P2 x="229" y="253" id="5785" />
+<P1 x="203" y="358" id="5756" />
+<P2 x="229" y="233" id="5775" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="1601" id="5745" >
<cdparam x="269" y="253" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="269" y="253" id="5775" />
-<P2 x="274" y="358" id="5756" />
+<P1 x="269" y="233" id="5785" />
+<P2 x="274" y="358" id="5746" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1608" id="5774" >
@@ -12966,11 +12966,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="1605" id="5755" >
<father id="5774" num="0" />
-<cdparam x="193" y="358" />
+<cdparam x="264" y="358" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
<TGConnectingPoint num="0" id="5746" />
<TGConnectingPoint num="1" id="5747" />
<TGConnectingPoint num="2" id="5748" />
@@ -12981,16 +12981,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5753" />
<TGConnectingPoint num="8" id="5754" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1605" id="5765" >
<father id="5774" num="1" />
-<cdparam x="264" y="358" />
+<cdparam x="193" y="358" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
<TGConnectingPoint num="0" id="5756" />
<TGConnectingPoint num="1" id="5757" />
<TGConnectingPoint num="2" id="5758" />
@@ -13001,7 +13001,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5763" />
<TGConnectingPoint num="8" id="5764" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
@@ -13039,16 +13039,16 @@ Otherwise, the most far away
<Attribute period="1.0" time="ms" processCode="void processing() {
out.write(rand()%180);
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5784" >
<father id="5803" num="0" />
-<cdparam x="259" y="233" />
+<cdparam x="219" y="233" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<infoparam name="Primitive port - Port Converter" value="in" />
<TGConnectingPoint num="0" id="5775" />
<TGConnectingPoint num="1" id="5776" />
<TGConnectingPoint num="2" id="5777" />
@@ -13059,16 +13059,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5782" />
<TGConnectingPoint num="8" id="5783" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5794" >
<father id="5803" num="1" />
-<cdparam x="219" y="233" />
+<cdparam x="259" y="233" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="in" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="5785" />
<TGConnectingPoint num="1" id="5786" />
<TGConnectingPoint num="2" id="5787" />
@@ -13079,7 +13079,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5792" />
<TGConnectingPoint num="8" id="5793" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
@@ -13091,16 +13091,16 @@ Otherwise, the most far away
<cdparam x="283" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="port" />
-<P1 x="283" y="313" id="5815" />
-<P2 x="272" y="247" id="5844" />
+<P1 x="283" y="313" id="5825" />
+<P2 x="272" y="227" id="5854" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="1601" id="5814" >
<cdparam x="330" y="245" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="port" />
-<P1 x="330" y="247" id="5854" />
-<P2 x="331" y="313" id="5825" />
+<P1 x="330" y="227" id="5844" />
+<P2 x="331" y="313" id="5815" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1608" id="5843" >
@@ -13120,11 +13120,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="1605" id="5824" >
<father id="5843" num="0" />
-<cdparam x="273" y="313" />
+<cdparam x="321" y="313" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="61" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
<TGConnectingPoint num="0" id="5815" />
<TGConnectingPoint num="1" id="5816" />
<TGConnectingPoint num="2" id="5817" />
@@ -13135,16 +13135,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5822" />
<TGConnectingPoint num="8" id="5823" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1605" id="5834" >
<father id="5843" num="1" />
-<cdparam x="321" y="313" />
+<cdparam x="273" y="313" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="61" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
<TGConnectingPoint num="0" id="5825" />
<TGConnectingPoint num="1" id="5826" />
<TGConnectingPoint num="2" id="5827" />
@@ -13155,7 +13155,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5832" />
<TGConnectingPoint num="8" id="5833" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
@@ -13193,16 +13193,16 @@ Otherwise, the most far away
<Attribute period="1.0" time="ms" processCode="void processing() {
out.write(rand()%12);
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5853" >
<father id="5872" num="0" />
-<cdparam x="262" y="227" />
+<cdparam x="320" y="227" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="87" />
-<infoparam name="Primitive port - Port Converter" value="in" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="5844" />
<TGConnectingPoint num="1" id="5845" />
<TGConnectingPoint num="2" id="5846" />
@@ -13213,16 +13213,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5851" />
<TGConnectingPoint num="8" id="5852" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5863" >
<father id="5872" num="1" />
-<cdparam x="320" y="227" />
+<cdparam x="262" y="227" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="87" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<infoparam name="Primitive port - Port Converter" value="in" />
<TGConnectingPoint num="0" id="5854" />
<TGConnectingPoint num="1" id="5855" />
<TGConnectingPoint num="2" id="5856" />
@@ -13233,7 +13233,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5861" />
<TGConnectingPoint num="8" id="5862" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
@@ -13245,16 +13245,16 @@ Otherwise, the most far away
<cdparam x="290" y="385" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="290" y="385" id="5894" />
-<P2 x="265" y="265" id="5923" />
+<P1 x="290" y="385" id="5884" />
+<P2 x="265" y="245" id="5913" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="1601" id="5883" >
<cdparam x="317" y="265" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="317" y="265" id="5913" />
-<P2 x="341" y="385" id="5884" />
+<P1 x="317" y="245" id="5923" />
+<P2 x="341" y="385" id="5894" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1608" id="5912" >
@@ -13274,11 +13274,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="1605" id="5893" >
<father id="5912" num="0" />
-<cdparam x="331" y="385" />
+<cdparam x="280" y="385" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
<TGConnectingPoint num="0" id="5884" />
<TGConnectingPoint num="1" id="5885" />
<TGConnectingPoint num="2" id="5886" />
@@ -13289,16 +13289,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5891" />
<TGConnectingPoint num="8" id="5892" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1605" id="5903" >
<father id="5912" num="1" />
-<cdparam x="280" y="385" />
+<cdparam x="331" y="385" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
<TGConnectingPoint num="0" id="5894" />
<TGConnectingPoint num="1" id="5895" />
<TGConnectingPoint num="2" id="5896" />
@@ -13309,7 +13309,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5901" />
<TGConnectingPoint num="8" id="5902" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
@@ -13347,16 +13347,16 @@ Otherwise, the most far away
<Attribute period="1.0" time="ms" processCode="void processing() {
out.write(rand()%12);
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5922" >
<father id="5941" num="0" />
-<cdparam x="307" y="245" />
+<cdparam x="255" y="245" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<infoparam name="Primitive port - Port Converter" value="in" />
<TGConnectingPoint num="0" id="5913" />
<TGConnectingPoint num="1" id="5914" />
<TGConnectingPoint num="2" id="5915" />
@@ -13367,16 +13367,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5920" />
<TGConnectingPoint num="8" id="5921" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5932" >
<father id="5941" num="1" />
-<cdparam x="255" y="245" />
+<cdparam x="307" y="245" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="in" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="5923" />
<TGConnectingPoint num="1" id="5924" />
<TGConnectingPoint num="2" id="5925" />
@@ -13387,7 +13387,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5930" />
<TGConnectingPoint num="8" id="5931" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
@@ -13399,16 +13399,16 @@ Otherwise, the most far away
<cdparam x="240" y="342" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="240" y="342" id="5963" />
-<P2 x="223" y="228" id="5992" />
+<P1 x="240" y="342" id="5953" />
+<P2 x="223" y="208" id="5982" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="1601" id="5952" >
<cdparam x="270" y="228" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="270" y="228" id="5982" />
-<P2 x="281" y="342" id="5953" />
+<P1 x="270" y="208" id="5992" />
+<P2 x="281" y="342" id="5963" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1608" id="5981" >
@@ -13428,11 +13428,11 @@ Otherwise, the most far away
</COMPONENT>
<SUBCOMPONENT type="1605" id="5962" >
<father id="5981" num="0" />
-<cdparam x="271" y="342" />
+<cdparam x="230" y="342" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
<TGConnectingPoint num="0" id="5953" />
<TGConnectingPoint num="1" id="5954" />
<TGConnectingPoint num="2" id="5955" />
@@ -13443,16 +13443,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5960" />
<TGConnectingPoint num="8" id="5961" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1605" id="5972" >
<father id="5981" num="1" />
-<cdparam x="230" y="342" />
+<cdparam x="271" y="342" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
<TGConnectingPoint num="0" id="5963" />
<TGConnectingPoint num="1" id="5964" />
<TGConnectingPoint num="2" id="5965" />
@@ -13463,7 +13463,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5970" />
<TGConnectingPoint num="8" id="5971" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
@@ -13501,16 +13501,16 @@ Otherwise, the most far away
<Attribute period="1.0" time="ms" processCode="void processing() {
out.write(rand()%12);
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="5991" >
<father id="6010" num="0" />
-<cdparam x="260" y="208" />
+<cdparam x="213" y="208" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<infoparam name="Primitive port - Port Converter" value="in" />
<TGConnectingPoint num="0" id="5982" />
<TGConnectingPoint num="1" id="5983" />
<TGConnectingPoint num="2" id="5984" />
@@ -13521,16 +13521,16 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5989" />
<TGConnectingPoint num="8" id="5990" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1606" id="6001" >
<father id="6010" num="1" />
-<cdparam x="213" y="208" />
+<cdparam x="260" y="208" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="in" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="5992" />
<TGConnectingPoint num="1" id="5993" />
<TGConnectingPoint num="2" id="5994" />
@@ -13541,7 +13541,7 @@ Otherwise, the most far away
<TGConnectingPoint num="7" id="5999" />
<TGConnectingPoint num="8" id="6000" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
diff --git a/modeling/SystemC-AMS/rover_ams_single_dist_de_b_diplo.xml b/modeling/SystemC-AMS/rover_ams_single_dist_de_b_diplo.xml
index 87da85b05f70b1ab1704fb5903bc28c1bde2f3eb..4e29133881f4a009769579bcebe4bc30ecadd9f5 100644
--- a/modeling/SystemC-AMS/rover_ams_single_dist_de_b_diplo.xml
+++ b/modeling/SystemC-AMS/rover_ams_single_dist_de_b_diplo.xml
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
-<TURTLEGMODELING version="1.0beta">
+<TURTLEGMODELING version="1.0beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false">
<Modeling type="TML Component Design" nameTab="Rover" tabs="TML Component Task Diagram$MotorControl$TemperatureSensor$DistanceSensor$MainControl" >
<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="2500" minY="10" maxY="1500" channels="true" events="true" requests="true" zoom="1.0" >
@@ -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" >
@@ -90,14 +90,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -107,14 +107,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="12" >
<father id="21" num="1" />
-<cdparam x="804" y="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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -147,14 +147,14 @@
</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="84" />
-<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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -181,14 +181,14 @@
</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="84" />
-<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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -219,14 +219,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -253,14 +253,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -292,14 +292,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -309,14 +309,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -326,14 +326,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -343,14 +343,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -360,14 +360,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -377,14 +377,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -394,14 +394,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -411,14 +411,14 @@
</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" vc="-1" />
+<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" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -2382,194 +2382,230 @@ state 2: obstacles in close proximity
<Modeling type="TML Architecture" nameTab="Architecture" >
<TMLArchiDiagramPanel name="DIPLODOCUS architecture and mapping Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="1115" id="489" >
+<COMPONENT type="1115" id="498" >
<cdparam x="331" y="15" />
<sizeparam width="200" height="100" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Distance_Sensor" value="name" />
-<TGConnectingPoint num="0" id="465" />
-<TGConnectingPoint num="1" id="466" />
-<TGConnectingPoint num="2" id="467" />
-<TGConnectingPoint num="3" id="468" />
-<TGConnectingPoint num="4" id="469" />
-<TGConnectingPoint num="5" id="470" />
-<TGConnectingPoint num="6" id="471" />
-<TGConnectingPoint num="7" id="472" />
-<TGConnectingPoint num="8" id="473" />
-<TGConnectingPoint num="9" id="474" />
-<TGConnectingPoint num="10" id="475" />
-<TGConnectingPoint num="11" id="476" />
-<TGConnectingPoint num="12" id="477" />
-<TGConnectingPoint num="13" id="478" />
-<TGConnectingPoint num="14" id="479" />
-<TGConnectingPoint num="15" id="480" />
-<TGConnectingPoint num="16" id="481" />
-<TGConnectingPoint num="17" id="482" />
-<TGConnectingPoint num="18" id="483" />
-<TGConnectingPoint num="19" id="484" />
-<TGConnectingPoint num="20" id="485" />
-<TGConnectingPoint num="21" id="486" />
-<TGConnectingPoint num="22" id="487" />
-<TGConnectingPoint num="23" id="488" />
+<TGConnectingPoint num="0" id="474" />
+<TGConnectingPoint num="1" id="475" />
+<TGConnectingPoint num="2" id="476" />
+<TGConnectingPoint num="3" id="477" />
+<TGConnectingPoint num="4" id="478" />
+<TGConnectingPoint num="5" id="479" />
+<TGConnectingPoint num="6" id="480" />
+<TGConnectingPoint num="7" id="481" />
+<TGConnectingPoint num="8" id="482" />
+<TGConnectingPoint num="9" id="483" />
+<TGConnectingPoint num="10" id="484" />
+<TGConnectingPoint num="11" id="485" />
+<TGConnectingPoint num="12" id="486" />
+<TGConnectingPoint num="13" id="487" />
+<TGConnectingPoint num="14" id="488" />
+<TGConnectingPoint num="15" id="489" />
+<TGConnectingPoint num="16" id="490" />
+<TGConnectingPoint num="17" id="491" />
+<TGConnectingPoint num="18" id="492" />
+<TGConnectingPoint num="19" id="493" />
+<TGConnectingPoint num="20" id="494" />
+<TGConnectingPoint num="21" id="495" />
+<TGConnectingPoint num="22" id="496" />
+<TGConnectingPoint num="23" id="497" />
<extraparam>
<info stereotype="CAMS" nodeName="Distance_Sensor" />
<attributes byteDataSize="4" execiTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="2023" >
-<father id="489" num="0" />
+<SUBCOMPONENT type="1101" id="473" >
+<father id="498" num="0" />
<cdparam x="354" y="61" />
-<sizeparam width="163" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="163" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Rover::DistanceSensor" />
-<TGConnectingPoint num="0" id="2024" />
-<TGConnectingPoint num="1" id="2025" />
-<TGConnectingPoint num="2" id="2026" />
-<TGConnectingPoint num="3" id="2027" />
-<TGConnectingPoint num="4" id="2028" />
-<TGConnectingPoint num="5" id="2029" />
-<TGConnectingPoint num="6" id="2030" />
-<TGConnectingPoint num="7" id="2031" />
+<TGConnectingPoint num="0" id="465" />
+<TGConnectingPoint num="1" id="466" />
+<TGConnectingPoint num="2" id="467" />
+<TGConnectingPoint num="3" id="468" />
+<TGConnectingPoint num="4" id="469" />
+<TGConnectingPoint num="5" id="470" />
+<TGConnectingPoint num="6" id="471" />
+<TGConnectingPoint num="7" id="472" />
<extraparam>
<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operationMEC="TemperatureSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1115" id="514" >
+<COMPONENT type="1115" id="532" >
<cdparam x="56" y="14" />
<sizeparam width="219" height="101" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Temperature_Sensor" value="name" />
-<TGConnectingPoint num="0" id="490" />
-<TGConnectingPoint num="1" id="491" />
-<TGConnectingPoint num="2" id="492" />
-<TGConnectingPoint num="3" id="493" />
-<TGConnectingPoint num="4" id="494" />
-<TGConnectingPoint num="5" id="495" />
-<TGConnectingPoint num="6" id="496" />
-<TGConnectingPoint num="7" id="497" />
-<TGConnectingPoint num="8" id="498" />
-<TGConnectingPoint num="9" id="499" />
-<TGConnectingPoint num="10" id="500" />
-<TGConnectingPoint num="11" id="501" />
-<TGConnectingPoint num="12" id="502" />
-<TGConnectingPoint num="13" id="503" />
-<TGConnectingPoint num="14" id="504" />
-<TGConnectingPoint num="15" id="505" />
-<TGConnectingPoint num="16" id="506" />
-<TGConnectingPoint num="17" id="507" />
-<TGConnectingPoint num="18" id="508" />
-<TGConnectingPoint num="19" id="509" />
-<TGConnectingPoint num="20" id="510" />
-<TGConnectingPoint num="21" id="511" />
-<TGConnectingPoint num="22" id="512" />
-<TGConnectingPoint num="23" id="513" />
+<TGConnectingPoint num="0" id="508" />
+<TGConnectingPoint num="1" id="509" />
+<TGConnectingPoint num="2" id="510" />
+<TGConnectingPoint num="3" id="511" />
+<TGConnectingPoint num="4" id="512" />
+<TGConnectingPoint num="5" id="513" />
+<TGConnectingPoint num="6" id="514" />
+<TGConnectingPoint num="7" id="515" />
+<TGConnectingPoint num="8" id="516" />
+<TGConnectingPoint num="9" id="517" />
+<TGConnectingPoint num="10" id="518" />
+<TGConnectingPoint num="11" id="519" />
+<TGConnectingPoint num="12" id="520" />
+<TGConnectingPoint num="13" id="521" />
+<TGConnectingPoint num="14" id="522" />
+<TGConnectingPoint num="15" id="523" />
+<TGConnectingPoint num="16" id="524" />
+<TGConnectingPoint num="17" id="525" />
+<TGConnectingPoint num="18" id="526" />
+<TGConnectingPoint num="19" id="527" />
+<TGConnectingPoint num="20" id="528" />
+<TGConnectingPoint num="21" id="529" />
+<TGConnectingPoint num="22" id="530" />
+<TGConnectingPoint num="23" id="531" />
<extraparam>
<info stereotype="CAMS" nodeName="Temperature_Sensor" />
<attributes byteDataSize="4" execiTime="1" clockRatio="1" operation="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="2005" >
-<father id="514" num="0" />
+<SUBCOMPONENT type="1101" id="507" >
+<father id="532" num="0" />
<cdparam x="70" y="62" />
-<sizeparam width="190" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="190" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
-<TGConnectingPoint num="0" id="2006" />
-<TGConnectingPoint num="1" id="2007" />
-<TGConnectingPoint num="2" id="2008" />
-<TGConnectingPoint num="3" id="2009" />
-<TGConnectingPoint num="4" id="2010" />
-<TGConnectingPoint num="5" id="2011" />
-<TGConnectingPoint num="6" id="2012" />
-<TGConnectingPoint num="7" id="2013" />
+<TGConnectingPoint num="0" id="499" />
+<TGConnectingPoint num="1" id="500" />
+<TGConnectingPoint num="2" id="501" />
+<TGConnectingPoint num="3" id="502" />
+<TGConnectingPoint num="4" id="503" />
+<TGConnectingPoint num="5" id="504" />
+<TGConnectingPoint num="6" id="505" />
+<TGConnectingPoint num="7" id="506" />
<extraparam>
<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operationMEC="TemperatureSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1102" id="539" >
+<COMPONENT type="1102" id="557" >
<cdparam x="171" y="183" />
<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="515" />
-<TGConnectingPoint num="1" id="516" />
-<TGConnectingPoint num="2" id="517" />
-<TGConnectingPoint num="3" id="518" />
-<TGConnectingPoint num="4" id="519" />
-<TGConnectingPoint num="5" id="520" />
-<TGConnectingPoint num="6" id="521" />
-<TGConnectingPoint num="7" id="522" />
-<TGConnectingPoint num="8" id="523" />
-<TGConnectingPoint num="9" id="524" />
-<TGConnectingPoint num="10" id="525" />
-<TGConnectingPoint num="11" id="526" />
-<TGConnectingPoint num="12" id="527" />
-<TGConnectingPoint num="13" id="528" />
-<TGConnectingPoint num="14" id="529" />
-<TGConnectingPoint num="15" id="530" />
-<TGConnectingPoint num="16" id="531" />
-<TGConnectingPoint num="17" id="532" />
-<TGConnectingPoint num="18" id="533" />
-<TGConnectingPoint num="19" id="534" />
-<TGConnectingPoint num="20" id="535" />
-<TGConnectingPoint num="21" id="536" />
-<TGConnectingPoint num="22" id="537" />
-<TGConnectingPoint num="23" id="538" />
+<TGConnectingPoint num="0" id="533" />
+<TGConnectingPoint num="1" id="534" />
+<TGConnectingPoint num="2" id="535" />
+<TGConnectingPoint num="3" id="536" />
+<TGConnectingPoint num="4" id="537" />
+<TGConnectingPoint num="5" id="538" />
+<TGConnectingPoint num="6" id="539" />
+<TGConnectingPoint num="7" id="540" />
+<TGConnectingPoint num="8" id="541" />
+<TGConnectingPoint num="9" id="542" />
+<TGConnectingPoint num="10" id="543" />
+<TGConnectingPoint num="11" id="544" />
+<TGConnectingPoint num="12" id="545" />
+<TGConnectingPoint num="13" id="546" />
+<TGConnectingPoint num="14" id="547" />
+<TGConnectingPoint num="15" id="548" />
+<TGConnectingPoint num="16" id="549" />
+<TGConnectingPoint num="17" id="550" />
+<TGConnectingPoint num="18" id="551" />
+<TGConnectingPoint num="19" id="552" />
+<TGConnectingPoint num="20" id="553" />
+<TGConnectingPoint num="21" id="554" />
+<TGConnectingPoint num="22" id="555" />
+<TGConnectingPoint num="23" id="556" />
<extraparam>
<info stereotype="BUS" nodeName="Bus0" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="564" >
+<COMPONENT type="1105" id="582" >
<cdparam x="341" y="278" />
-<sizeparam width="200" height="155" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="200" height="133" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Memory0" value="name" />
-<TGConnectingPoint num="0" id="540" />
-<TGConnectingPoint num="1" id="541" />
-<TGConnectingPoint num="2" id="542" />
-<TGConnectingPoint num="3" id="543" />
-<TGConnectingPoint num="4" id="544" />
-<TGConnectingPoint num="5" id="545" />
-<TGConnectingPoint num="6" id="546" />
-<TGConnectingPoint num="7" id="547" />
-<TGConnectingPoint num="8" id="548" />
-<TGConnectingPoint num="9" id="549" />
-<TGConnectingPoint num="10" id="550" />
-<TGConnectingPoint num="11" id="551" />
-<TGConnectingPoint num="12" id="552" />
-<TGConnectingPoint num="13" id="553" />
-<TGConnectingPoint num="14" id="554" />
-<TGConnectingPoint num="15" id="555" />
-<TGConnectingPoint num="16" id="556" />
-<TGConnectingPoint num="17" id="557" />
-<TGConnectingPoint num="18" id="558" />
-<TGConnectingPoint num="19" id="559" />
-<TGConnectingPoint num="20" id="560" />
-<TGConnectingPoint num="21" id="561" />
-<TGConnectingPoint num="22" id="562" />
-<TGConnectingPoint num="23" id="563" />
+<TGConnectingPoint num="0" id="558" />
+<TGConnectingPoint num="1" id="559" />
+<TGConnectingPoint num="2" id="560" />
+<TGConnectingPoint num="3" id="561" />
+<TGConnectingPoint num="4" id="562" />
+<TGConnectingPoint num="5" id="563" />
+<TGConnectingPoint num="6" id="564" />
+<TGConnectingPoint num="7" id="565" />
+<TGConnectingPoint num="8" id="566" />
+<TGConnectingPoint num="9" id="567" />
+<TGConnectingPoint num="10" id="568" />
+<TGConnectingPoint num="11" id="569" />
+<TGConnectingPoint num="12" id="570" />
+<TGConnectingPoint num="13" id="571" />
+<TGConnectingPoint num="14" id="572" />
+<TGConnectingPoint num="15" id="573" />
+<TGConnectingPoint num="16" id="574" />
+<TGConnectingPoint num="17" id="575" />
+<TGConnectingPoint num="18" id="576" />
+<TGConnectingPoint num="19" id="577" />
+<TGConnectingPoint num="20" id="578" />
+<TGConnectingPoint num="21" id="579" />
+<TGConnectingPoint num="22" id="580" />
+<TGConnectingPoint num="23" id="581" />
<extraparam>
<info stereotype="MEMORY" nodeName="Memory0" />
<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="607" >
+<COMPONENT type="1100" id="625" >
<cdparam x="47" y="278" />
-<sizeparam width="220" height="157" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="220" height="135" 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" />
+<TGConnectingPoint num="0" id="601" />
+<TGConnectingPoint num="1" id="602" />
+<TGConnectingPoint num="2" id="603" />
+<TGConnectingPoint num="3" id="604" />
+<TGConnectingPoint num="4" id="605" />
+<TGConnectingPoint num="5" id="606" />
+<TGConnectingPoint num="6" id="607" />
+<TGConnectingPoint num="7" id="608" />
+<TGConnectingPoint num="8" id="609" />
+<TGConnectingPoint num="9" id="610" />
+<TGConnectingPoint num="10" id="611" />
+<TGConnectingPoint num="11" id="612" />
+<TGConnectingPoint num="12" id="613" />
+<TGConnectingPoint num="13" id="614" />
+<TGConnectingPoint num="14" id="615" />
+<TGConnectingPoint num="15" id="616" />
+<TGConnectingPoint num="16" id="617" />
+<TGConnectingPoint num="17" id="618" />
+<TGConnectingPoint num="18" id="619" />
+<TGConnectingPoint num="19" id="620" />
+<TGConnectingPoint num="20" id="621" />
+<TGConnectingPoint num="21" id="622" />
+<TGConnectingPoint num="22" id="623" />
+<TGConnectingPoint num="23" id="624" />
+<extraparam>
+<info stereotype="CPU" nodeName="CPU0" />
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1101" id="591" >
+<father id="625" num="0" />
+<cdparam x="55" y="315" />
+<sizeparam width="144" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="76" minY="0" maxY="95" />
+<infoparam name="TGComponent" value="Rover::MainControl" />
<TGConnectingPoint num="0" id="583" />
<TGConnectingPoint num="1" id="584" />
<TGConnectingPoint num="2" id="585" />
@@ -2578,108 +2614,72 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="5" id="588" />
<TGConnectingPoint num="6" id="589" />
<TGConnectingPoint num="7" id="590" />
-<TGConnectingPoint num="8" id="591" />
-<TGConnectingPoint num="9" id="592" />
-<TGConnectingPoint num="10" id="593" />
-<TGConnectingPoint num="11" id="594" />
-<TGConnectingPoint num="12" id="595" />
-<TGConnectingPoint num="13" id="596" />
-<TGConnectingPoint num="14" id="597" />
-<TGConnectingPoint num="15" id="598" />
-<TGConnectingPoint num="16" id="599" />
-<TGConnectingPoint num="17" id="600" />
-<TGConnectingPoint num="18" id="601" />
-<TGConnectingPoint num="19" id="602" />
-<TGConnectingPoint num="20" id="603" />
-<TGConnectingPoint num="21" id="604" />
-<TGConnectingPoint num="22" id="605" />
-<TGConnectingPoint num="23" id="606" />
<extraparam>
-<info stereotype="CPU" nodeName="CPU0" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
+<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operationMEC="MainControl" fatherComponentMECType="0" />
</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="1101" id="573" >
-<father id="607" num="0" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1101" id="600" >
+<father id="625" num="1" />
<cdparam x="54" y="359" />
<sizeparam width="150" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="70" minY="0" maxY="117" />
+<cdrectangleparam minX="0" maxX="70" minY="0" maxY="95" />
<infoparam name="TGComponent" value="Rover::MotorControl" />
-<TGConnectingPoint num="0" id="565" />
-<TGConnectingPoint num="1" id="566" />
-<TGConnectingPoint num="2" id="567" />
-<TGConnectingPoint num="3" id="568" />
-<TGConnectingPoint num="4" id="569" />
-<TGConnectingPoint num="5" id="570" />
-<TGConnectingPoint num="6" id="571" />
-<TGConnectingPoint num="7" id="572" />
+<TGConnectingPoint num="0" id="592" />
+<TGConnectingPoint num="1" id="593" />
+<TGConnectingPoint num="2" id="594" />
+<TGConnectingPoint num="3" id="595" />
+<TGConnectingPoint num="4" id="596" />
+<TGConnectingPoint num="5" id="597" />
+<TGConnectingPoint num="6" id="598" />
+<TGConnectingPoint num="7" id="599" />
<extraparam>
<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operationMEC="MotorControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="582" >
-<father id="607" num="1" />
-<cdparam x="55" y="315" />
-<sizeparam width="144" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="76" minY="0" maxY="117" />
-<infoparam name="TGComponent" value="Rover::MainControl" />
-<TGConnectingPoint num="0" id="574" />
-<TGConnectingPoint num="1" id="575" />
-<TGConnectingPoint num="2" id="576" />
-<TGConnectingPoint num="3" id="577" />
-<TGConnectingPoint num="4" id="578" />
-<TGConnectingPoint num="5" id="579" />
-<TGConnectingPoint num="6" id="580" />
-<TGConnectingPoint num="7" id="581" />
-<extraparam>
-<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operationMEC="MainControl" fatherComponentMECType="0" />
-</extraparam>
-</SUBCOMPONENT>
-<CONNECTOR type="125" id="608" >
+<CONNECTOR type="125" id="626" >
<cdparam x="456" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="431" y="115" id="471" />
-<P2 x="358" y="183" id="524" />
+<P1 x="431" y="115" id="480" />
+<P2 x="358" y="183" id="542" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="609" >
+<CONNECTOR type="125" id="627" >
<cdparam x="175" y="214" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="165" y="115" id="496" />
-<P2 x="233" y="183" id="523" />
+<P1 x="165" y="115" id="514" />
+<P2 x="233" y="183" id="541" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="610" >
+<CONNECTOR type="125" id="628" >
<cdparam x="524" y="102" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="212" y="278" id="592" />
-<P2 x="233" y="233" id="529" />
+<P1 x="212" y="278" id="610" />
+<P2 x="233" y="233" id="547" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="611" >
+<CONNECTOR type="125" id="629" >
<cdparam x="729" y="103" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="391" y="278" id="548" />
-<P2 x="358" y="233" id="530" />
+<P1 x="391" y="278" id="566" />
+<P2 x="358" y="233" id="548" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
@@ -2702,13 +2702,13 @@ state 2: obstacles in close proximity
<Validated value="" />
<Ignored value="" />
-<CONNECTOR type="5002" id="613" >
+<CONNECTOR type="5002" id="631" >
<cdparam x="0" y="0" />
<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="612" />
-<P1 x="950" y="422" id="667" />
-<P2 x="1013" y="421" id="634" />
+<TGConnectingPoint num="0" id="630" />
+<P1 x="950" y="422" id="685" />
+<P2 x="1013" y="421" id="652" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in motorCommand(int leftCommand, int rightCommand)" />
@@ -2716,63 +2716,63 @@ state 2: obstacles in close proximity
<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
-<COMPONENT type="302" id="630" >
+<COMPONENT type="302" id="648" >
<cdparam x="573" y="216" />
<sizeparam width="251" 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="
-" />
-<TGConnectingPoint num="0" id="614" />
-<TGConnectingPoint num="1" id="615" />
-<TGConnectingPoint num="2" id="616" />
-<TGConnectingPoint num="3" id="617" />
-<TGConnectingPoint num="4" id="618" />
-<TGConnectingPoint num="5" id="619" />
-<TGConnectingPoint num="6" id="620" />
-<TGConnectingPoint num="7" id="621" />
-<TGConnectingPoint num="8" id="622" />
-<TGConnectingPoint num="9" id="623" />
-<TGConnectingPoint num="10" id="624" />
-<TGConnectingPoint num="11" id="625" />
-<TGConnectingPoint num="12" id="626" />
-<TGConnectingPoint num="13" id="627" />
-<TGConnectingPoint num="14" id="628" />
-<TGConnectingPoint num="15" id="629" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="655" >
+<infoparam name="Proverif Pragma" value="" />
+<TGConnectingPoint num="0" id="632" />
+<TGConnectingPoint num="1" id="633" />
+<TGConnectingPoint num="2" id="634" />
+<TGConnectingPoint num="3" id="635" />
+<TGConnectingPoint num="4" id="636" />
+<TGConnectingPoint num="5" id="637" />
+<TGConnectingPoint num="6" id="638" />
+<TGConnectingPoint num="7" id="639" />
+<TGConnectingPoint num="8" id="640" />
+<TGConnectingPoint num="9" id="641" />
+<TGConnectingPoint num="10" id="642" />
+<TGConnectingPoint num="11" id="643" />
+<TGConnectingPoint num="12" id="644" />
+<TGConnectingPoint num="13" id="645" />
+<TGConnectingPoint num="14" id="646" />
+<TGConnectingPoint num="15" id="647" />
+<extraparam>
+<Line value="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="673" >
<cdparam x="1013" y="318" />
<sizeparam width="370" height="206" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Block0" value="MotorControl" />
-<TGConnectingPoint num="0" id="631" />
-<TGConnectingPoint num="1" id="632" />
-<TGConnectingPoint num="2" id="633" />
-<TGConnectingPoint num="3" id="634" />
-<TGConnectingPoint num="4" id="635" />
-<TGConnectingPoint num="5" id="636" />
-<TGConnectingPoint num="6" id="637" />
-<TGConnectingPoint num="7" id="638" />
-<TGConnectingPoint num="8" id="639" />
-<TGConnectingPoint num="9" id="640" />
-<TGConnectingPoint num="10" id="641" />
-<TGConnectingPoint num="11" id="642" />
-<TGConnectingPoint num="12" id="643" />
-<TGConnectingPoint num="13" id="644" />
-<TGConnectingPoint num="14" id="645" />
-<TGConnectingPoint num="15" id="646" />
-<TGConnectingPoint num="16" id="647" />
-<TGConnectingPoint num="17" id="648" />
-<TGConnectingPoint num="18" id="649" />
-<TGConnectingPoint num="19" id="650" />
-<TGConnectingPoint num="20" id="651" />
-<TGConnectingPoint num="21" id="652" />
-<TGConnectingPoint num="22" id="653" />
-<TGConnectingPoint num="23" id="654" />
+<TGConnectingPoint num="0" id="649" />
+<TGConnectingPoint num="1" id="650" />
+<TGConnectingPoint num="2" id="651" />
+<TGConnectingPoint num="3" id="652" />
+<TGConnectingPoint num="4" id="653" />
+<TGConnectingPoint num="5" id="654" />
+<TGConnectingPoint num="6" id="655" />
+<TGConnectingPoint num="7" id="656" />
+<TGConnectingPoint num="8" id="657" />
+<TGConnectingPoint num="9" id="658" />
+<TGConnectingPoint num="10" id="659" />
+<TGConnectingPoint num="11" id="660" />
+<TGConnectingPoint num="12" id="661" />
+<TGConnectingPoint num="13" id="662" />
+<TGConnectingPoint num="14" id="663" />
+<TGConnectingPoint num="15" id="664" />
+<TGConnectingPoint num="16" id="665" />
+<TGConnectingPoint num="17" id="666" />
+<TGConnectingPoint num="18" id="667" />
+<TGConnectingPoint num="19" id="668" />
+<TGConnectingPoint num="20" id="669" />
+<TGConnectingPoint num="21" id="670" />
+<TGConnectingPoint num="22" id="671" />
+<TGConnectingPoint num="23" id="672" />
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
@@ -2782,36 +2782,36 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="680" >
+<COMPONENT type="5000" id="698" >
<cdparam x="514" y="324" />
<sizeparam width="436" height="393" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Block0" value="MainControl" />
-<TGConnectingPoint num="0" id="656" />
-<TGConnectingPoint num="1" id="657" />
-<TGConnectingPoint num="2" id="658" />
-<TGConnectingPoint num="3" id="659" />
-<TGConnectingPoint num="4" id="660" />
-<TGConnectingPoint num="5" id="661" />
-<TGConnectingPoint num="6" id="662" />
-<TGConnectingPoint num="7" id="663" />
-<TGConnectingPoint num="8" id="664" />
-<TGConnectingPoint num="9" id="665" />
-<TGConnectingPoint num="10" id="666" />
-<TGConnectingPoint num="11" id="667" />
-<TGConnectingPoint num="12" id="668" />
-<TGConnectingPoint num="13" id="669" />
-<TGConnectingPoint num="14" id="670" />
-<TGConnectingPoint num="15" id="671" />
-<TGConnectingPoint num="16" id="672" />
-<TGConnectingPoint num="17" id="673" />
-<TGConnectingPoint num="18" id="674" />
-<TGConnectingPoint num="19" id="675" />
-<TGConnectingPoint num="20" id="676" />
-<TGConnectingPoint num="21" id="677" />
-<TGConnectingPoint num="22" id="678" />
-<TGConnectingPoint num="23" id="679" />
+<TGConnectingPoint num="0" id="674" />
+<TGConnectingPoint num="1" id="675" />
+<TGConnectingPoint num="2" id="676" />
+<TGConnectingPoint num="3" id="677" />
+<TGConnectingPoint num="4" id="678" />
+<TGConnectingPoint num="5" id="679" />
+<TGConnectingPoint num="6" id="680" />
+<TGConnectingPoint num="7" id="681" />
+<TGConnectingPoint num="8" id="682" />
+<TGConnectingPoint num="9" id="683" />
+<TGConnectingPoint num="10" id="684" />
+<TGConnectingPoint num="11" id="685" />
+<TGConnectingPoint num="12" id="686" />
+<TGConnectingPoint num="13" id="687" />
+<TGConnectingPoint num="14" id="688" />
+<TGConnectingPoint num="15" id="689" />
+<TGConnectingPoint num="16" id="690" />
+<TGConnectingPoint num="17" id="691" />
+<TGConnectingPoint num="18" id="692" />
+<TGConnectingPoint num="19" id="693" />
+<TGConnectingPoint num="20" id="694" />
+<TGConnectingPoint num="21" id="695" />
+<TGConnectingPoint num="22" id="696" />
+<TGConnectingPoint num="23" id="697" />
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
@@ -2838,56 +2838,56 @@ state 2: obstacles in close proximity
</AVATARBlockDiagramPanel>
<AVATARStateMachineDiagramPanel name="MotorControl" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="693" >
+<CONNECTOR type="5102" id="711" >
<cdparam x="407" y="201" />
<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="689" />
-<TGConnectingPoint num="1" id="690" />
-<TGConnectingPoint num="2" id="691" />
-<TGConnectingPoint num="3" id="692" />
-<P1 x="407" y="201" id="709" />
-<P2 x="495" y="113" id="723" />
+<TGConnectingPoint num="0" id="707" />
+<TGConnectingPoint num="1" id="708" />
+<TGConnectingPoint num="2" id="709" />
+<TGConnectingPoint num="3" id="710" />
+<P1 x="407" y="201" id="727" />
+<P2 x="495" y="113" id="741" />
<Point x="407" y="276" />
<Point x="641" y="276" />
<Point x="641" y="113" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="681" >
-<father id="693" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="699" >
+<father id="711" num="0" />
<cdparam x="407" y="276" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" 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="682" >
-<father id="693" num="1" />
+<SUBCOMPONENT type="-1" id="700" >
+<father id="711" num="1" />
<cdparam x="641" y="276" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" 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="683" >
-<father id="693" num="2" />
+<SUBCOMPONENT type="-1" id="701" >
+<father id="711" num="2" />
<cdparam x="641" y="113" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" 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="688" >
-<father id="693" num="3" />
+<SUBCOMPONENT type="-1" id="706" >
+<father id="711" num="3" />
<cdparam x="420" y="244" />
<sizeparam width="81" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<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="684" />
-<TGConnectingPoint num="1" id="685" />
-<TGConnectingPoint num="2" id="686" />
-<TGConnectingPoint num="3" id="687" />
+<TGConnectingPoint num="0" id="702" />
+<TGConnectingPoint num="1" id="703" />
+<TGConnectingPoint num="2" id="704" />
+<TGConnectingPoint num="3" id="705" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="10" enabled="true"/>
@@ -2898,26 +2898,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="700" >
+<CONNECTOR type="5102" id="718" >
<cdparam x="407" y="60" />
<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="699" />
-<P1 x="407" y="60" id="760" />
-<P2 x="407" y="88" id="720" />
+<TGConnectingPoint num="0" id="717" />
+<P1 x="407" y="60" id="778" />
+<P2 x="407" y="88" id="738" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="698" >
-<father id="700" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="716" >
+<father id="718" num="0" />
<cdparam x="447" y="100" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<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="694" />
-<TGConnectingPoint num="1" id="695" />
-<TGConnectingPoint num="2" id="696" />
-<TGConnectingPoint num="3" id="697" />
+<TGConnectingPoint num="0" id="712" />
+<TGConnectingPoint num="1" id="713" />
+<TGConnectingPoint num="2" id="714" />
+<TGConnectingPoint num="3" id="715" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -2928,26 +2928,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="707" >
+<CONNECTOR type="5102" id="725" >
<cdparam x="536" y="590" />
<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="706" />
-<P1 x="407" y="138" id="725" />
-<P2 x="407" y="171" id="708" />
+<TGConnectingPoint num="0" id="724" />
+<P1 x="407" y="138" id="743" />
+<P2 x="407" y="171" id="726" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="705" >
-<father id="707" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="723" >
+<father id="725" num="0" />
<cdparam x="425" y="612" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<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="701" />
-<TGConnectingPoint num="1" id="702" />
-<TGConnectingPoint num="2" id="703" />
-<TGConnectingPoint num="3" id="704" />
+<TGConnectingPoint num="0" id="719" />
+<TGConnectingPoint num="1" id="720" />
+<TGConnectingPoint num="2" id="721" />
+<TGConnectingPoint num="3" id="722" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -2958,109 +2958,109 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5104" id="718" >
+<COMPONENT type="5104" id="736" >
<cdparam x="268" y="176" />
<sizeparam width="279" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="motorCommand(leftVelocity, rightVelocity)" />
-<TGConnectingPoint num="0" id="708" />
-<TGConnectingPoint num="1" id="709" />
-<TGConnectingPoint num="2" id="710" />
-<TGConnectingPoint num="3" id="711" />
-<TGConnectingPoint num="4" id="712" />
-<TGConnectingPoint num="5" id="713" />
-<TGConnectingPoint num="6" id="714" />
-<TGConnectingPoint num="7" id="715" />
-<TGConnectingPoint num="8" id="716" />
-<TGConnectingPoint num="9" id="717" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="759" >
+<TGConnectingPoint num="0" id="726" />
+<TGConnectingPoint num="1" id="727" />
+<TGConnectingPoint num="2" id="728" />
+<TGConnectingPoint num="3" id="729" />
+<TGConnectingPoint num="4" id="730" />
+<TGConnectingPoint num="5" id="731" />
+<TGConnectingPoint num="6" id="732" />
+<TGConnectingPoint num="7" id="733" />
+<TGConnectingPoint num="8" id="734" />
+<TGConnectingPoint num="9" id="735" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="777" >
<cdparam x="319" y="88" />
<sizeparam width="176" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="startMotor" />
-<TGConnectingPoint num="0" id="719" />
-<TGConnectingPoint num="1" id="720" />
-<TGConnectingPoint num="2" id="721" />
-<TGConnectingPoint num="3" id="722" />
-<TGConnectingPoint num="4" id="723" />
-<TGConnectingPoint num="5" id="724" />
-<TGConnectingPoint num="6" id="725" />
-<TGConnectingPoint num="7" id="726" />
-<TGConnectingPoint num="8" id="727" />
-<TGConnectingPoint num="9" id="728" />
-<TGConnectingPoint num="10" id="729" />
-<TGConnectingPoint num="11" id="730" />
-<TGConnectingPoint num="12" id="731" />
-<TGConnectingPoint num="13" id="732" />
-<TGConnectingPoint num="14" id="733" />
-<TGConnectingPoint num="15" id="734" />
-<TGConnectingPoint num="16" id="735" />
-<TGConnectingPoint num="17" id="736" />
-<TGConnectingPoint num="18" id="737" />
-<TGConnectingPoint num="19" id="738" />
-<TGConnectingPoint num="20" id="739" />
-<TGConnectingPoint num="21" id="740" />
-<TGConnectingPoint num="22" id="741" />
-<TGConnectingPoint num="23" id="742" />
-<TGConnectingPoint num="24" id="743" />
-<TGConnectingPoint num="25" id="744" />
-<TGConnectingPoint num="26" id="745" />
-<TGConnectingPoint num="27" id="746" />
-<TGConnectingPoint num="28" id="747" />
-<TGConnectingPoint num="29" id="748" />
-<TGConnectingPoint num="30" id="749" />
-<TGConnectingPoint num="31" id="750" />
-<TGConnectingPoint num="32" id="751" />
-<TGConnectingPoint num="33" id="752" />
-<TGConnectingPoint num="34" id="753" />
-<TGConnectingPoint num="35" id="754" />
-<TGConnectingPoint num="36" id="755" />
-<TGConnectingPoint num="37" id="756" />
-<TGConnectingPoint num="38" id="757" />
-<TGConnectingPoint num="39" id="758" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="761" >
+<TGConnectingPoint num="0" id="737" />
+<TGConnectingPoint num="1" id="738" />
+<TGConnectingPoint num="2" id="739" />
+<TGConnectingPoint num="3" id="740" />
+<TGConnectingPoint num="4" id="741" />
+<TGConnectingPoint num="5" id="742" />
+<TGConnectingPoint num="6" id="743" />
+<TGConnectingPoint num="7" id="744" />
+<TGConnectingPoint num="8" id="745" />
+<TGConnectingPoint num="9" id="746" />
+<TGConnectingPoint num="10" id="747" />
+<TGConnectingPoint num="11" id="748" />
+<TGConnectingPoint num="12" id="749" />
+<TGConnectingPoint num="13" id="750" />
+<TGConnectingPoint num="14" id="751" />
+<TGConnectingPoint num="15" id="752" />
+<TGConnectingPoint num="16" id="753" />
+<TGConnectingPoint num="17" id="754" />
+<TGConnectingPoint num="18" id="755" />
+<TGConnectingPoint num="19" id="756" />
+<TGConnectingPoint num="20" id="757" />
+<TGConnectingPoint num="21" id="758" />
+<TGConnectingPoint num="22" id="759" />
+<TGConnectingPoint num="23" id="760" />
+<TGConnectingPoint num="24" id="761" />
+<TGConnectingPoint num="25" id="762" />
+<TGConnectingPoint num="26" id="763" />
+<TGConnectingPoint num="27" id="764" />
+<TGConnectingPoint num="28" id="765" />
+<TGConnectingPoint num="29" id="766" />
+<TGConnectingPoint num="30" id="767" />
+<TGConnectingPoint num="31" id="768" />
+<TGConnectingPoint num="32" id="769" />
+<TGConnectingPoint num="33" id="770" />
+<TGConnectingPoint num="34" id="771" />
+<TGConnectingPoint num="35" id="772" />
+<TGConnectingPoint num="36" id="773" />
+<TGConnectingPoint num="37" id="774" />
+<TGConnectingPoint num="38" id="775" />
+<TGConnectingPoint num="39" id="776" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="779" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="760" />
+<TGConnectingPoint num="0" id="778" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="2500" >
-<CONNECTOR type="5102" id="768" >
+<CONNECTOR type="5102" id="786" >
<cdparam x="495" y="1048" />
<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="767" />
-<P1 x="495" y="1048" id="1377" />
-<P2 x="495" y="1106" id="1140" />
+<TGConnectingPoint num="0" id="785" />
+<P1 x="495" y="1048" id="1395" />
+<P2 x="495" y="1106" id="1158" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="766" >
-<father id="768" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="784" >
+<father id="786" num="0" />
<cdparam x="494" y="1080" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="762" />
-<TGConnectingPoint num="1" id="763" />
-<TGConnectingPoint num="2" id="764" />
-<TGConnectingPoint num="3" id="765" />
+<TGConnectingPoint num="0" id="780" />
+<TGConnectingPoint num="1" id="781" />
+<TGConnectingPoint num="2" id="782" />
+<TGConnectingPoint num="3" id="783" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3071,26 +3071,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="775" >
+<CONNECTOR type="5102" id="793" >
<cdparam x="396" y="217" />
<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" />
-<P1 x="396" y="217" id="965" />
-<P2 x="396" y="262" id="1331" />
+<TGConnectingPoint num="0" id="792" />
+<P1 x="396" y="217" id="983" />
+<P2 x="396" y="262" id="1349" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="773" >
-<father id="775" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="791" >
+<father id="793" num="0" />
<cdparam x="395" y="241" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<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="787" />
+<TGConnectingPoint num="1" id="788" />
+<TGConnectingPoint num="2" id="789" />
+<TGConnectingPoint num="3" id="790" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3101,56 +3101,56 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="788" >
+<CONNECTOR type="5102" id="806" >
<cdparam x="436" y="1709" />
<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="784" />
-<TGConnectingPoint num="1" id="785" />
-<TGConnectingPoint num="2" id="786" />
-<TGConnectingPoint num="3" id="787" />
-<P1 x="434" y="1533" id="1197" />
-<P2 x="495" y="192" id="963" />
+<TGConnectingPoint num="0" id="802" />
+<TGConnectingPoint num="1" id="803" />
+<TGConnectingPoint num="2" id="804" />
+<TGConnectingPoint num="3" id="805" />
+<P1 x="434" y="1533" id="1215" />
+<P2 x="495" y="192" id="981" />
<Point x="434" y="1561" />
<Point x="710" y="1561" />
<Point x="712" y="192" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="776" >
-<father id="788" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="794" >
+<father id="806" num="0" />
<cdparam x="434" y="1561" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="777" >
-<father id="788" num="1" />
+<SUBCOMPONENT type="-1" id="795" >
+<father id="806" num="1" />
<cdparam x="710" y="1561" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="778" >
-<father id="788" num="2" />
+<SUBCOMPONENT type="-1" id="796" >
+<father id="806" num="2" />
<cdparam x="712" y="192" />
<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="783" >
-<father id="788" num="3" />
+<SUBCOMPONENT type="-1" id="801" >
+<father id="806" num="3" />
<cdparam x="575" y="225" />
<sizeparam width="73" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="779" />
-<TGConnectingPoint num="1" id="780" />
-<TGConnectingPoint num="2" id="781" />
-<TGConnectingPoint num="3" id="782" />
+<TGConnectingPoint num="0" id="797" />
+<TGConnectingPoint num="1" id="798" />
+<TGConnectingPoint num="2" id="799" />
+<TGConnectingPoint num="3" id="800" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="2" enabled="true"/>
@@ -3161,26 +3161,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="795" >
+<CONNECTOR type="5102" id="813" >
<cdparam x="410" y="746" />
<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="794" />
-<P1 x="413" y="687" id="945" />
-<P2 x="459" y="742" id="1267" />
+<TGConnectingPoint num="0" id="812" />
+<P1 x="413" y="687" id="963" />
+<P2 x="459" y="742" id="1285" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="793" >
-<father id="795" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="811" >
+<father id="813" num="0" />
<cdparam x="445" y="698" />
<sizeparam width="77" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="789" />
-<TGConnectingPoint num="1" id="790" />
-<TGConnectingPoint num="2" id="791" />
-<TGConnectingPoint num="3" id="792" />
+<TGConnectingPoint num="0" id="807" />
+<TGConnectingPoint num="1" id="808" />
+<TGConnectingPoint num="2" id="809" />
+<TGConnectingPoint num="3" id="810" />
<extraparam>
<guard value="[else ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3192,26 +3192,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="802" >
+<CONNECTOR type="5102" id="820" >
<cdparam x="360" y="746" />
<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="801" />
-<P1 x="363" y="687" id="944" />
-<P2 x="319" y="742" id="1264" />
+<TGConnectingPoint num="0" id="819" />
+<P1 x="363" y="687" id="962" />
+<P2 x="319" y="742" id="1282" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="800" >
-<father id="802" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="818" >
+<father id="820" num="0" />
<cdparam x="261" y="696" />
<sizeparam width="76" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="796" />
-<TGConnectingPoint num="1" id="797" />
-<TGConnectingPoint num="2" id="798" />
-<TGConnectingPoint num="3" id="799" />
+<TGConnectingPoint num="0" id="814" />
+<TGConnectingPoint num="1" id="815" />
+<TGConnectingPoint num="2" id="816" />
+<TGConnectingPoint num="3" id="817" />
<extraparam>
<guard value="[state==2 ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3223,26 +3223,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="809" >
+<CONNECTOR type="5102" id="827" >
<cdparam x="367" y="1018" />
<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="808" />
-<P1 x="390" y="792" id="1254" />
-<P2 x="390" y="833" id="1208" />
+<TGConnectingPoint num="0" id="826" />
+<P1 x="390" y="792" id="1272" />
+<P2 x="390" y="833" id="1226" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="807" >
-<father id="809" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="825" >
+<father id="827" num="0" />
<cdparam x="367" y="1113" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="803" />
-<TGConnectingPoint num="1" id="804" />
-<TGConnectingPoint num="2" id="805" />
-<TGConnectingPoint num="3" id="806" />
+<TGConnectingPoint num="0" id="821" />
+<TGConnectingPoint num="1" id="822" />
+<TGConnectingPoint num="2" id="823" />
+<TGConnectingPoint num="3" id="824" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3253,26 +3253,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="816" >
+<CONNECTOR type="5102" id="834" >
<cdparam x="436" y="1655" />
<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="434" y="1471" id="1104" />
-<P2 x="434" y="1503" id="1196" />
+<TGConnectingPoint num="0" id="833" />
+<P1 x="434" y="1471" id="1122" />
+<P2 x="434" y="1503" id="1214" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="814" >
-<father id="816" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="832" >
+<father id="834" num="0" />
<cdparam x="429" y="1710" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<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" />
+<TGConnectingPoint num="0" id="828" />
+<TGConnectingPoint num="1" id="829" />
+<TGConnectingPoint num="2" id="830" />
+<TGConnectingPoint num="3" id="831" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3283,26 +3283,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="823" >
+<CONNECTOR type="5102" id="841" >
<cdparam x="548" y="488" />
<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="525" y="478" id="1418" />
-<P2 x="457" y="578" id="1308" />
+<TGConnectingPoint num="0" id="840" />
+<P1 x="525" y="478" id="1436" />
+<P2 x="457" y="578" id="1326" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="821" >
-<father id="823" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="839" >
+<father id="841" num="0" />
<cdparam x="536" y="537" />
<sizeparam width="150" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<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" />
+<TGConnectingPoint num="0" id="835" />
+<TGConnectingPoint num="1" id="836" />
+<TGConnectingPoint num="2" id="837" />
+<TGConnectingPoint num="3" id="838" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3316,26 +3316,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="830" >
+<CONNECTOR type="5102" id="848" >
<cdparam x="251" y="493" />
<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="263" y="482" id="1500" />
-<P2 x="341" y="578" id="1297" />
+<TGConnectingPoint num="0" id="847" />
+<P1 x="263" y="482" id="1518" />
+<P2 x="341" y="578" id="1315" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="828" >
-<father id="830" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="846" >
+<father id="848" num="0" />
<cdparam x="141" y="537" />
<sizeparam width="170" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<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" />
+<TGConnectingPoint num="0" id="842" />
+<TGConnectingPoint num="1" id="843" />
+<TGConnectingPoint num="2" id="844" />
+<TGConnectingPoint num="3" id="845" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3349,26 +3349,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="837" >
+<CONNECTOR type="5102" id="855" >
<cdparam x="397" y="55" />
<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="836" />
-<P1 x="397" y="55" id="1592" />
-<P2 x="397" y="92" id="1552" />
+<TGConnectingPoint num="0" id="854" />
+<P1 x="397" y="55" id="1610" />
+<P2 x="397" y="92" id="1570" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="835" >
-<father id="837" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="853" >
+<father id="855" num="0" />
<cdparam x="398" y="74" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="831" />
-<TGConnectingPoint num="1" id="832" />
-<TGConnectingPoint num="2" id="833" />
-<TGConnectingPoint num="3" id="834" />
+<TGConnectingPoint num="0" id="849" />
+<TGConnectingPoint num="1" id="850" />
+<TGConnectingPoint num="2" id="851" />
+<TGConnectingPoint num="3" id="852" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3379,26 +3379,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="844" >
+<CONNECTOR type="5102" id="862" >
<cdparam x="372" y="530" />
<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="843" />
-<P1 x="371" y="376" id="1536" />
-<P2 x="263" y="432" id="1495" />
+<TGConnectingPoint num="0" id="861" />
+<P1 x="371" y="376" id="1554" />
+<P2 x="263" y="432" id="1513" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="842" >
-<father id="844" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="860" >
+<father id="862" num="0" />
<cdparam x="221" y="384" />
<sizeparam width="119" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="838" />
-<TGConnectingPoint num="1" id="839" />
-<TGConnectingPoint num="2" id="840" />
-<TGConnectingPoint num="3" id="841" />
+<TGConnectingPoint num="0" id="856" />
+<TGConnectingPoint num="1" id="857" />
+<TGConnectingPoint num="2" id="858" />
+<TGConnectingPoint num="3" id="859" />
<extraparam>
<guard value="[ distanceFront>8]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3409,26 +3409,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="851" >
+<CONNECTOR type="5102" id="869" >
<cdparam x="390" y="415" />
<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="850" />
-<P1 x="396" y="401" id="1541" />
-<P2 x="396" y="463" id="1454" />
+<TGConnectingPoint num="0" id="868" />
+<P1 x="396" y="401" id="1559" />
+<P2 x="396" y="463" id="1472" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="849" >
-<father id="851" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="867" >
+<father id="869" num="0" />
<cdparam x="340" y="444" />
<sizeparam width="119" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="845" />
-<TGConnectingPoint num="1" id="846" />
-<TGConnectingPoint num="2" id="847" />
-<TGConnectingPoint num="3" id="848" />
+<TGConnectingPoint num="0" id="863" />
+<TGConnectingPoint num="1" id="864" />
+<TGConnectingPoint num="2" id="865" />
+<TGConnectingPoint num="3" id="866" />
<extraparam>
<guard value="[distanceFront<3 ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3439,26 +3439,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="858" >
+<CONNECTOR type="5102" id="876" >
<cdparam x="422" y="594" />
<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="857" />
-<P1 x="421" y="376" id="1537" />
-<P2 x="525" y="428" id="1413" />
+<TGConnectingPoint num="0" id="875" />
+<P1 x="421" y="376" id="1555" />
+<P2 x="525" y="428" id="1431" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="856" >
-<father id="858" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="874" >
+<father id="876" num="0" />
<cdparam x="464" y="384" />
<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="852" />
-<TGConnectingPoint num="1" id="853" />
-<TGConnectingPoint num="2" id="854" />
-<TGConnectingPoint num="3" id="855" />
+<TGConnectingPoint num="0" id="870" />
+<TGConnectingPoint num="1" id="871" />
+<TGConnectingPoint num="2" id="872" />
+<TGConnectingPoint num="3" id="873" />
<extraparam>
<guard value="[ else]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3469,26 +3469,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="865" >
+<CONNECTOR type="5102" id="883" >
<cdparam x="436" y="522" />
<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="864" />
-<P1 x="396" y="312" id="1336" />
-<P2 x="396" y="351" id="1535" />
+<TGConnectingPoint num="0" id="882" />
+<P1 x="396" y="312" id="1354" />
+<P2 x="396" y="351" id="1553" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="863" >
-<father id="865" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="881" >
+<father id="883" num="0" />
<cdparam x="437" y="543" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="859" />
-<TGConnectingPoint num="1" id="860" />
-<TGConnectingPoint num="2" id="861" />
-<TGConnectingPoint num="3" id="862" />
+<TGConnectingPoint num="0" id="877" />
+<TGConnectingPoint num="1" id="878" />
+<TGConnectingPoint num="2" id="879" />
+<TGConnectingPoint num="3" id="880" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3499,26 +3499,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="872" >
+<CONNECTOR type="5102" id="890" >
<cdparam x="401" y="522" />
<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="871" />
-<P1 x="396" y="513" id="1459" />
-<P2 x="388" y="578" id="1290" />
+<TGConnectingPoint num="0" id="889" />
+<P1 x="396" y="513" id="1477" />
+<P2 x="388" y="578" id="1308" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="870" >
-<father id="872" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="888" >
+<father id="890" num="0" />
<cdparam x="396" y="566" />
<sizeparam width="118" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="866" />
-<TGConnectingPoint num="1" id="867" />
-<TGConnectingPoint num="2" id="868" />
-<TGConnectingPoint num="3" id="869" />
+<TGConnectingPoint num="0" id="884" />
+<TGConnectingPoint num="1" id="885" />
+<TGConnectingPoint num="2" id="886" />
+<TGConnectingPoint num="3" id="887" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3530,26 +3530,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="879" >
+<CONNECTOR type="5102" id="897" >
<cdparam x="311" y="1280" />
<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="878" />
-<P1 x="365" y="944" id="1181" />
-<P2 x="318" y="1421" id="1114" />
+<TGConnectingPoint num="0" id="896" />
+<P1 x="365" y="944" id="1199" />
+<P2 x="318" y="1421" id="1132" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="877" >
-<father id="879" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="895" >
+<father id="897" num="0" />
<cdparam x="283" y="969" />
<sizeparam width="70" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="873" />
-<TGConnectingPoint num="1" id="874" />
-<TGConnectingPoint num="2" id="875" />
-<TGConnectingPoint num="3" id="876" />
+<TGConnectingPoint num="0" id="891" />
+<TGConnectingPoint num="1" id="892" />
+<TGConnectingPoint num="2" id="893" />
+<TGConnectingPoint num="3" id="894" />
<extraparam>
<guard value="[ state!=2]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3560,26 +3560,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="886" >
+<CONNECTOR type="5102" id="904" >
<cdparam x="432" y="1259" />
<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="885" />
-<P1 x="390" y="883" id="1213" />
-<P2 x="390" y="919" id="1180" />
+<TGConnectingPoint num="0" id="903" />
+<P1 x="390" y="883" id="1231" />
+<P2 x="390" y="919" id="1198" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="884" >
-<father id="886" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="902" >
+<father id="904" num="0" />
<cdparam x="375" y="1270" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="880" />
-<TGConnectingPoint num="1" id="881" />
-<TGConnectingPoint num="2" id="882" />
-<TGConnectingPoint num="3" id="883" />
+<TGConnectingPoint num="0" id="898" />
+<TGConnectingPoint num="1" id="899" />
+<TGConnectingPoint num="2" id="900" />
+<TGConnectingPoint num="3" id="901" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3590,26 +3590,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="893" >
+<CONNECTOR type="5102" id="911" >
<cdparam x="399" y="1295" />
<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="892" />
-<P1 x="415" y="944" id="1185" />
-<P2 x="465" y="998" id="1379" />
+<TGConnectingPoint num="0" id="910" />
+<P1 x="415" y="944" id="1203" />
+<P2 x="465" y="998" id="1397" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="891" >
-<father id="893" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="909" >
+<father id="911" num="0" />
<cdparam x="453" y="967" />
<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="887" />
-<TGConnectingPoint num="1" id="888" />
-<TGConnectingPoint num="2" id="889" />
-<TGConnectingPoint num="3" id="890" />
+<TGConnectingPoint num="0" id="905" />
+<TGConnectingPoint num="1" id="906" />
+<TGConnectingPoint num="2" id="907" />
+<TGConnectingPoint num="3" id="908" />
<extraparam>
<guard value="[else ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3620,26 +3620,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="900" >
+<CONNECTOR type="5102" id="918" >
<cdparam x="488" y="1399" />
<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="899" />
-<P1 x="495" y="1156" id="1145" />
-<P2 x="494" y="1197" id="1082" />
+<TGConnectingPoint num="0" id="917" />
+<P1 x="495" y="1156" id="1163" />
+<P2 x="494" y="1197" id="1100" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="898" >
-<father id="900" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="916" >
+<father id="918" num="0" />
<cdparam x="491" y="1447" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="894" />
-<TGConnectingPoint num="1" id="895" />
-<TGConnectingPoint num="2" id="896" />
-<TGConnectingPoint num="3" id="897" />
+<TGConnectingPoint num="0" id="912" />
+<TGConnectingPoint num="1" id="913" />
+<TGConnectingPoint num="2" id="914" />
+<TGConnectingPoint num="3" id="915" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3650,26 +3650,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="907" >
+<CONNECTOR type="5102" id="925" >
<cdparam x="495" y="1546" />
<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="906" />
-<P1 x="469" y="1222" id="1083" />
-<P2 x="428" y="1287" id="1042" />
+<TGConnectingPoint num="0" id="924" />
+<P1 x="469" y="1222" id="1101" />
+<P2 x="428" y="1287" id="1060" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="905" >
-<father id="907" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="923" >
+<father id="925" num="0" />
<cdparam x="275" y="1227" />
<sizeparam width="187" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="901" />
-<TGConnectingPoint num="1" id="902" />
-<TGConnectingPoint num="2" id="903" />
-<TGConnectingPoint num="3" id="904" />
+<TGConnectingPoint num="0" id="919" />
+<TGConnectingPoint num="1" id="920" />
+<TGConnectingPoint num="2" id="921" />
+<TGConnectingPoint num="3" id="922" />
<extraparam>
<guard value="[ distanceLeft>distanceRight]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3680,26 +3680,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="914" >
+<CONNECTOR type="5102" id="932" >
<cdparam x="487" y="1493" />
<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="913" />
-<P1 x="519" y="1222" id="1084" />
-<P2 x="561" y="1285" id="1018" />
+<TGConnectingPoint num="0" id="931" />
+<P1 x="519" y="1222" id="1102" />
+<P2 x="561" y="1285" id="1036" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="912" >
-<father id="914" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="930" >
+<father id="932" num="0" />
<cdparam x="535" y="1229" />
<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="908" />
-<TGConnectingPoint num="1" id="909" />
-<TGConnectingPoint num="2" id="910" />
-<TGConnectingPoint num="3" id="911" />
+<TGConnectingPoint num="0" id="926" />
+<TGConnectingPoint num="1" id="927" />
+<TGConnectingPoint num="2" id="928" />
+<TGConnectingPoint num="3" id="929" />
<extraparam>
<guard value="[ else]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3710,26 +3710,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="921" >
+<CONNECTOR type="5102" id="939" >
<cdparam x="430" y="1540" />
<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="920" />
-<P1 x="428" y="1337" id="1047" />
-<P2 x="470" y="1421" id="1116" />
+<TGConnectingPoint num="0" id="938" />
+<P1 x="428" y="1337" id="1065" />
+<P2 x="470" y="1421" id="1134" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="919" >
-<father id="921" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="937" >
+<father id="939" num="0" />
<cdparam x="348" y="1389" />
<sizeparam width="150" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="915" />
-<TGConnectingPoint num="1" id="916" />
-<TGConnectingPoint num="2" id="917" />
-<TGConnectingPoint num="3" id="918" />
+<TGConnectingPoint num="0" id="933" />
+<TGConnectingPoint num="1" id="934" />
+<TGConnectingPoint num="2" id="935" />
+<TGConnectingPoint num="3" id="936" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3742,26 +3742,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="928" >
+<CONNECTOR type="5102" id="946" >
<cdparam x="531" y="1591" />
<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="927" />
-<P1 x="549" y="1335" id="1006" />
-<P2 x="510" y="1421" id="1107" />
+<TGConnectingPoint num="0" id="945" />
+<P1 x="549" y="1335" id="1024" />
+<P2 x="510" y="1421" id="1125" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="926" >
-<father id="928" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="944" >
+<father id="946" num="0" />
<cdparam x="549" y="1388" />
<sizeparam width="142" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="922" />
-<TGConnectingPoint num="1" id="923" />
-<TGConnectingPoint num="2" id="924" />
-<TGConnectingPoint num="3" id="925" />
+<TGConnectingPoint num="0" id="940" />
+<TGConnectingPoint num="1" id="941" />
+<TGConnectingPoint num="2" id="942" />
+<TGConnectingPoint num="3" id="943" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3774,26 +3774,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="935" >
+<CONNECTOR type="5102" id="953" >
<cdparam x="438" y="142" />
<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="934" />
-<P1 x="397" y="142" id="1557" />
-<P2 x="396" y="167" id="960" />
+<TGConnectingPoint num="0" id="952" />
+<P1 x="397" y="142" id="1575" />
+<P2 x="396" y="167" id="978" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="933" >
-<father id="935" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="951" >
+<father id="953" num="0" />
<cdparam x="439" y="164" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="929" />
-<TGConnectingPoint num="1" id="930" />
-<TGConnectingPoint num="2" id="931" />
-<TGConnectingPoint num="3" id="932" />
+<TGConnectingPoint num="0" id="947" />
+<TGConnectingPoint num="1" id="948" />
+<TGConnectingPoint num="2" id="949" />
+<TGConnectingPoint num="3" id="950" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3804,26 +3804,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="942" >
+<CONNECTOR type="5102" id="960" >
<cdparam x="407" y="680" />
<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="941" />
-<P1 x="388" y="628" id="1295" />
-<P2 x="388" y="662" id="943" />
+<TGConnectingPoint num="0" id="959" />
+<P1 x="388" y="628" id="1313" />
+<P2 x="388" y="662" id="961" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="940" >
-<father id="942" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="958" >
+<father id="960" num="0" />
<cdparam x="404" y="694" />
<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="936" />
-<TGConnectingPoint num="1" id="937" />
-<TGConnectingPoint num="2" id="938" />
-<TGConnectingPoint num="3" id="939" />
+<TGConnectingPoint num="0" id="954" />
+<TGConnectingPoint num="1" id="955" />
+<TGConnectingPoint num="2" id="956" />
+<TGConnectingPoint num="3" id="957" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3834,76 +3834,76 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5107" id="958" >
+<COMPONENT type="5107" id="976" >
<cdparam x="373" y="672" />
<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="943" />
-<TGConnectingPoint num="1" id="944" />
-<TGConnectingPoint num="2" id="945" />
-<TGConnectingPoint num="3" id="946" />
-<TGConnectingPoint num="4" id="947" />
-<TGConnectingPoint num="5" id="948" />
-<TGConnectingPoint num="6" id="949" />
-<TGConnectingPoint num="7" id="950" />
-<TGConnectingPoint num="8" id="951" />
-<TGConnectingPoint num="9" id="952" />
-<TGConnectingPoint num="10" id="953" />
-<TGConnectingPoint num="11" id="954" />
-<TGConnectingPoint num="12" id="955" />
-<TGConnectingPoint num="13" id="956" />
-<TGConnectingPoint num="14" id="957" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="999" >
+<TGConnectingPoint num="0" id="961" />
+<TGConnectingPoint num="1" id="962" />
+<TGConnectingPoint num="2" id="963" />
+<TGConnectingPoint num="3" id="964" />
+<TGConnectingPoint num="4" id="965" />
+<TGConnectingPoint num="5" id="966" />
+<TGConnectingPoint num="6" id="967" />
+<TGConnectingPoint num="7" id="968" />
+<TGConnectingPoint num="8" id="969" />
+<TGConnectingPoint num="9" id="970" />
+<TGConnectingPoint num="10" id="971" />
+<TGConnectingPoint num="11" id="972" />
+<TGConnectingPoint num="12" id="973" />
+<TGConnectingPoint num="13" id="974" />
+<TGConnectingPoint num="14" id="975" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1017" >
<cdparam x="297" y="167" />
<sizeparam width="198" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="readDistanceSensor" />
-<TGConnectingPoint num="0" id="959" />
-<TGConnectingPoint num="1" id="960" />
-<TGConnectingPoint num="2" id="961" />
-<TGConnectingPoint num="3" id="962" />
-<TGConnectingPoint num="4" id="963" />
-<TGConnectingPoint num="5" id="964" />
-<TGConnectingPoint num="6" id="965" />
-<TGConnectingPoint num="7" id="966" />
-<TGConnectingPoint num="8" id="967" />
-<TGConnectingPoint num="9" id="968" />
-<TGConnectingPoint num="10" id="969" />
-<TGConnectingPoint num="11" id="970" />
-<TGConnectingPoint num="12" id="971" />
-<TGConnectingPoint num="13" id="972" />
-<TGConnectingPoint num="14" id="973" />
-<TGConnectingPoint num="15" id="974" />
-<TGConnectingPoint num="16" id="975" />
-<TGConnectingPoint num="17" id="976" />
-<TGConnectingPoint num="18" id="977" />
-<TGConnectingPoint num="19" id="978" />
-<TGConnectingPoint num="20" id="979" />
-<TGConnectingPoint num="21" id="980" />
-<TGConnectingPoint num="22" id="981" />
-<TGConnectingPoint num="23" id="982" />
-<TGConnectingPoint num="24" id="983" />
-<TGConnectingPoint num="25" id="984" />
-<TGConnectingPoint num="26" id="985" />
-<TGConnectingPoint num="27" id="986" />
-<TGConnectingPoint num="28" id="987" />
-<TGConnectingPoint num="29" id="988" />
-<TGConnectingPoint num="30" id="989" />
-<TGConnectingPoint num="31" id="990" />
-<TGConnectingPoint num="32" id="991" />
-<TGConnectingPoint num="33" id="992" />
-<TGConnectingPoint num="34" id="993" />
-<TGConnectingPoint num="35" id="994" />
-<TGConnectingPoint num="36" id="995" />
-<TGConnectingPoint num="37" id="996" />
-<TGConnectingPoint num="38" id="997" />
-<TGConnectingPoint num="39" id="998" />
+<TGConnectingPoint num="0" id="977" />
+<TGConnectingPoint num="1" id="978" />
+<TGConnectingPoint num="2" id="979" />
+<TGConnectingPoint num="3" id="980" />
+<TGConnectingPoint num="4" id="981" />
+<TGConnectingPoint num="5" id="982" />
+<TGConnectingPoint num="6" id="983" />
+<TGConnectingPoint num="7" id="984" />
+<TGConnectingPoint num="8" id="985" />
+<TGConnectingPoint num="9" id="986" />
+<TGConnectingPoint num="10" id="987" />
+<TGConnectingPoint num="11" id="988" />
+<TGConnectingPoint num="12" id="989" />
+<TGConnectingPoint num="13" id="990" />
+<TGConnectingPoint num="14" id="991" />
+<TGConnectingPoint num="15" id="992" />
+<TGConnectingPoint num="16" id="993" />
+<TGConnectingPoint num="17" id="994" />
+<TGConnectingPoint num="18" id="995" />
+<TGConnectingPoint num="19" id="996" />
+<TGConnectingPoint num="20" id="997" />
+<TGConnectingPoint num="21" id="998" />
+<TGConnectingPoint num="22" id="999" />
+<TGConnectingPoint num="23" id="1000" />
+<TGConnectingPoint num="24" id="1001" />
+<TGConnectingPoint num="25" id="1002" />
+<TGConnectingPoint num="26" id="1003" />
+<TGConnectingPoint num="27" id="1004" />
+<TGConnectingPoint num="28" id="1005" />
+<TGConnectingPoint num="29" id="1006" />
+<TGConnectingPoint num="30" id="1007" />
+<TGConnectingPoint num="31" id="1008" />
+<TGConnectingPoint num="32" id="1009" />
+<TGConnectingPoint num="33" id="1010" />
+<TGConnectingPoint num="34" id="1011" />
+<TGConnectingPoint num="35" id="1012" />
+<TGConnectingPoint num="36" id="1013" />
+<TGConnectingPoint num="37" id="1014" />
+<TGConnectingPoint num="38" id="1015" />
+<TGConnectingPoint num="39" id="1016" />
<extraparam>
<entryCode value="write_gpio2vci(1, "distance_sensor");" />
<entryCode value="distanceFront = read_gpio2vci("distance_sensor");" />
@@ -3919,768 +3919,768 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="1040" >
+<COMPONENT type="5106" id="1058" >
<cdparam x="499" y="1285" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnRight" />
-<TGConnectingPoint num="0" id="1000" />
-<TGConnectingPoint num="1" id="1001" />
-<TGConnectingPoint num="2" id="1002" />
-<TGConnectingPoint num="3" id="1003" />
-<TGConnectingPoint num="4" id="1004" />
-<TGConnectingPoint num="5" id="1005" />
-<TGConnectingPoint num="6" id="1006" />
-<TGConnectingPoint num="7" id="1007" />
-<TGConnectingPoint num="8" id="1008" />
-<TGConnectingPoint num="9" id="1009" />
-<TGConnectingPoint num="10" id="1010" />
-<TGConnectingPoint num="11" id="1011" />
-<TGConnectingPoint num="12" id="1012" />
-<TGConnectingPoint num="13" id="1013" />
-<TGConnectingPoint num="14" id="1014" />
-<TGConnectingPoint num="15" id="1015" />
-<TGConnectingPoint num="16" id="1016" />
-<TGConnectingPoint num="17" id="1017" />
-<TGConnectingPoint num="18" id="1018" />
-<TGConnectingPoint num="19" id="1019" />
-<TGConnectingPoint num="20" id="1020" />
-<TGConnectingPoint num="21" id="1021" />
-<TGConnectingPoint num="22" id="1022" />
-<TGConnectingPoint num="23" id="1023" />
-<TGConnectingPoint num="24" id="1024" />
-<TGConnectingPoint num="25" id="1025" />
-<TGConnectingPoint num="26" id="1026" />
-<TGConnectingPoint num="27" id="1027" />
-<TGConnectingPoint num="28" id="1028" />
-<TGConnectingPoint num="29" id="1029" />
-<TGConnectingPoint num="30" id="1030" />
-<TGConnectingPoint num="31" id="1031" />
-<TGConnectingPoint num="32" id="1032" />
-<TGConnectingPoint num="33" id="1033" />
-<TGConnectingPoint num="34" id="1034" />
-<TGConnectingPoint num="35" id="1035" />
-<TGConnectingPoint num="36" id="1036" />
-<TGConnectingPoint num="37" id="1037" />
-<TGConnectingPoint num="38" id="1038" />
-<TGConnectingPoint num="39" id="1039" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1081" >
+<TGConnectingPoint num="0" id="1018" />
+<TGConnectingPoint num="1" id="1019" />
+<TGConnectingPoint num="2" id="1020" />
+<TGConnectingPoint num="3" id="1021" />
+<TGConnectingPoint num="4" id="1022" />
+<TGConnectingPoint num="5" id="1023" />
+<TGConnectingPoint num="6" id="1024" />
+<TGConnectingPoint num="7" id="1025" />
+<TGConnectingPoint num="8" id="1026" />
+<TGConnectingPoint num="9" id="1027" />
+<TGConnectingPoint num="10" id="1028" />
+<TGConnectingPoint num="11" id="1029" />
+<TGConnectingPoint num="12" id="1030" />
+<TGConnectingPoint num="13" id="1031" />
+<TGConnectingPoint num="14" id="1032" />
+<TGConnectingPoint num="15" id="1033" />
+<TGConnectingPoint num="16" id="1034" />
+<TGConnectingPoint num="17" id="1035" />
+<TGConnectingPoint num="18" id="1036" />
+<TGConnectingPoint num="19" id="1037" />
+<TGConnectingPoint num="20" id="1038" />
+<TGConnectingPoint num="21" id="1039" />
+<TGConnectingPoint num="22" id="1040" />
+<TGConnectingPoint num="23" id="1041" />
+<TGConnectingPoint num="24" id="1042" />
+<TGConnectingPoint num="25" id="1043" />
+<TGConnectingPoint num="26" id="1044" />
+<TGConnectingPoint num="27" id="1045" />
+<TGConnectingPoint num="28" id="1046" />
+<TGConnectingPoint num="29" id="1047" />
+<TGConnectingPoint num="30" id="1048" />
+<TGConnectingPoint num="31" id="1049" />
+<TGConnectingPoint num="32" id="1050" />
+<TGConnectingPoint num="33" id="1051" />
+<TGConnectingPoint num="34" id="1052" />
+<TGConnectingPoint num="35" id="1053" />
+<TGConnectingPoint num="36" id="1054" />
+<TGConnectingPoint num="37" id="1055" />
+<TGConnectingPoint num="38" id="1056" />
+<TGConnectingPoint num="39" id="1057" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1099" >
<cdparam x="378" y="1287" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnLeft" />
-<TGConnectingPoint num="0" id="1041" />
-<TGConnectingPoint num="1" id="1042" />
-<TGConnectingPoint num="2" id="1043" />
-<TGConnectingPoint num="3" id="1044" />
-<TGConnectingPoint num="4" id="1045" />
-<TGConnectingPoint num="5" id="1046" />
-<TGConnectingPoint num="6" id="1047" />
-<TGConnectingPoint num="7" id="1048" />
-<TGConnectingPoint num="8" id="1049" />
-<TGConnectingPoint num="9" id="1050" />
-<TGConnectingPoint num="10" id="1051" />
-<TGConnectingPoint num="11" id="1052" />
-<TGConnectingPoint num="12" id="1053" />
-<TGConnectingPoint num="13" id="1054" />
-<TGConnectingPoint num="14" id="1055" />
-<TGConnectingPoint num="15" id="1056" />
-<TGConnectingPoint num="16" id="1057" />
-<TGConnectingPoint num="17" id="1058" />
-<TGConnectingPoint num="18" id="1059" />
-<TGConnectingPoint num="19" id="1060" />
-<TGConnectingPoint num="20" id="1061" />
-<TGConnectingPoint num="21" id="1062" />
-<TGConnectingPoint num="22" id="1063" />
-<TGConnectingPoint num="23" id="1064" />
-<TGConnectingPoint num="24" id="1065" />
-<TGConnectingPoint num="25" id="1066" />
-<TGConnectingPoint num="26" id="1067" />
-<TGConnectingPoint num="27" id="1068" />
-<TGConnectingPoint num="28" id="1069" />
-<TGConnectingPoint num="29" id="1070" />
-<TGConnectingPoint num="30" id="1071" />
-<TGConnectingPoint num="31" id="1072" />
-<TGConnectingPoint num="32" id="1073" />
-<TGConnectingPoint num="33" id="1074" />
-<TGConnectingPoint num="34" id="1075" />
-<TGConnectingPoint num="35" id="1076" />
-<TGConnectingPoint num="36" id="1077" />
-<TGConnectingPoint num="37" id="1078" />
-<TGConnectingPoint num="38" id="1079" />
-<TGConnectingPoint num="39" id="1080" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1097" >
+<TGConnectingPoint num="0" id="1059" />
+<TGConnectingPoint num="1" id="1060" />
+<TGConnectingPoint num="2" id="1061" />
+<TGConnectingPoint num="3" id="1062" />
+<TGConnectingPoint num="4" id="1063" />
+<TGConnectingPoint num="5" id="1064" />
+<TGConnectingPoint num="6" id="1065" />
+<TGConnectingPoint num="7" id="1066" />
+<TGConnectingPoint num="8" id="1067" />
+<TGConnectingPoint num="9" id="1068" />
+<TGConnectingPoint num="10" id="1069" />
+<TGConnectingPoint num="11" id="1070" />
+<TGConnectingPoint num="12" id="1071" />
+<TGConnectingPoint num="13" id="1072" />
+<TGConnectingPoint num="14" id="1073" />
+<TGConnectingPoint num="15" id="1074" />
+<TGConnectingPoint num="16" id="1075" />
+<TGConnectingPoint num="17" id="1076" />
+<TGConnectingPoint num="18" id="1077" />
+<TGConnectingPoint num="19" id="1078" />
+<TGConnectingPoint num="20" id="1079" />
+<TGConnectingPoint num="21" id="1080" />
+<TGConnectingPoint num="22" id="1081" />
+<TGConnectingPoint num="23" id="1082" />
+<TGConnectingPoint num="24" id="1083" />
+<TGConnectingPoint num="25" id="1084" />
+<TGConnectingPoint num="26" id="1085" />
+<TGConnectingPoint num="27" id="1086" />
+<TGConnectingPoint num="28" id="1087" />
+<TGConnectingPoint num="29" id="1088" />
+<TGConnectingPoint num="30" id="1089" />
+<TGConnectingPoint num="31" id="1090" />
+<TGConnectingPoint num="32" id="1091" />
+<TGConnectingPoint num="33" id="1092" />
+<TGConnectingPoint num="34" id="1093" />
+<TGConnectingPoint num="35" id="1094" />
+<TGConnectingPoint num="36" id="1095" />
+<TGConnectingPoint num="37" id="1096" />
+<TGConnectingPoint num="38" id="1097" />
+<TGConnectingPoint num="39" id="1098" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="1115" >
<cdparam x="479" y="1207" />
<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="1082" />
-<TGConnectingPoint num="1" id="1083" />
-<TGConnectingPoint num="2" id="1084" />
-<TGConnectingPoint num="3" id="1085" />
-<TGConnectingPoint num="4" id="1086" />
-<TGConnectingPoint num="5" id="1087" />
-<TGConnectingPoint num="6" id="1088" />
-<TGConnectingPoint num="7" id="1089" />
-<TGConnectingPoint num="8" id="1090" />
-<TGConnectingPoint num="9" id="1091" />
-<TGConnectingPoint num="10" id="1092" />
-<TGConnectingPoint num="11" id="1093" />
-<TGConnectingPoint num="12" id="1094" />
-<TGConnectingPoint num="13" id="1095" />
-<TGConnectingPoint num="14" id="1096" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1138" >
+<TGConnectingPoint num="0" id="1100" />
+<TGConnectingPoint num="1" id="1101" />
+<TGConnectingPoint num="2" id="1102" />
+<TGConnectingPoint num="3" id="1103" />
+<TGConnectingPoint num="4" id="1104" />
+<TGConnectingPoint num="5" id="1105" />
+<TGConnectingPoint num="6" id="1106" />
+<TGConnectingPoint num="7" id="1107" />
+<TGConnectingPoint num="8" id="1108" />
+<TGConnectingPoint num="9" id="1109" />
+<TGConnectingPoint num="10" id="1110" />
+<TGConnectingPoint num="11" id="1111" />
+<TGConnectingPoint num="12" id="1112" />
+<TGConnectingPoint num="13" id="1113" />
+<TGConnectingPoint num="14" id="1114" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1156" >
<cdparam x="282" y="1421" />
<sizeparam width="304" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="sendMotorCommand" />
-<TGConnectingPoint num="0" id="1098" />
-<TGConnectingPoint num="1" id="1099" />
-<TGConnectingPoint num="2" id="1100" />
-<TGConnectingPoint num="3" id="1101" />
-<TGConnectingPoint num="4" id="1102" />
-<TGConnectingPoint num="5" id="1103" />
-<TGConnectingPoint num="6" id="1104" />
-<TGConnectingPoint num="7" id="1105" />
-<TGConnectingPoint num="8" id="1106" />
-<TGConnectingPoint num="9" id="1107" />
-<TGConnectingPoint num="10" id="1108" />
-<TGConnectingPoint num="11" id="1109" />
-<TGConnectingPoint num="12" id="1110" />
-<TGConnectingPoint num="13" id="1111" />
-<TGConnectingPoint num="14" id="1112" />
-<TGConnectingPoint num="15" id="1113" />
-<TGConnectingPoint num="16" id="1114" />
-<TGConnectingPoint num="17" id="1115" />
-<TGConnectingPoint num="18" id="1116" />
-<TGConnectingPoint num="19" id="1117" />
-<TGConnectingPoint num="20" id="1118" />
-<TGConnectingPoint num="21" id="1119" />
-<TGConnectingPoint num="22" id="1120" />
-<TGConnectingPoint num="23" id="1121" />
-<TGConnectingPoint num="24" id="1122" />
-<TGConnectingPoint num="25" id="1123" />
-<TGConnectingPoint num="26" id="1124" />
-<TGConnectingPoint num="27" id="1125" />
-<TGConnectingPoint num="28" id="1126" />
-<TGConnectingPoint num="29" id="1127" />
-<TGConnectingPoint num="30" id="1128" />
-<TGConnectingPoint num="31" id="1129" />
-<TGConnectingPoint num="32" id="1130" />
-<TGConnectingPoint num="33" id="1131" />
-<TGConnectingPoint num="34" id="1132" />
-<TGConnectingPoint num="35" id="1133" />
-<TGConnectingPoint num="36" id="1134" />
-<TGConnectingPoint num="37" id="1135" />
-<TGConnectingPoint num="38" id="1136" />
-<TGConnectingPoint num="39" id="1137" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1179" >
+<TGConnectingPoint num="0" id="1116" />
+<TGConnectingPoint num="1" id="1117" />
+<TGConnectingPoint num="2" id="1118" />
+<TGConnectingPoint num="3" id="1119" />
+<TGConnectingPoint num="4" id="1120" />
+<TGConnectingPoint num="5" id="1121" />
+<TGConnectingPoint num="6" id="1122" />
+<TGConnectingPoint num="7" id="1123" />
+<TGConnectingPoint num="8" id="1124" />
+<TGConnectingPoint num="9" id="1125" />
+<TGConnectingPoint num="10" id="1126" />
+<TGConnectingPoint num="11" id="1127" />
+<TGConnectingPoint num="12" id="1128" />
+<TGConnectingPoint num="13" id="1129" />
+<TGConnectingPoint num="14" id="1130" />
+<TGConnectingPoint num="15" id="1131" />
+<TGConnectingPoint num="16" id="1132" />
+<TGConnectingPoint num="17" id="1133" />
+<TGConnectingPoint num="18" id="1134" />
+<TGConnectingPoint num="19" id="1135" />
+<TGConnectingPoint num="20" id="1136" />
+<TGConnectingPoint num="21" id="1137" />
+<TGConnectingPoint num="22" id="1138" />
+<TGConnectingPoint num="23" id="1139" />
+<TGConnectingPoint num="24" id="1140" />
+<TGConnectingPoint num="25" id="1141" />
+<TGConnectingPoint num="26" id="1142" />
+<TGConnectingPoint num="27" id="1143" />
+<TGConnectingPoint num="28" id="1144" />
+<TGConnectingPoint num="29" id="1145" />
+<TGConnectingPoint num="30" id="1146" />
+<TGConnectingPoint num="31" id="1147" />
+<TGConnectingPoint num="32" id="1148" />
+<TGConnectingPoint num="33" id="1149" />
+<TGConnectingPoint num="34" id="1150" />
+<TGConnectingPoint num="35" id="1151" />
+<TGConnectingPoint num="36" id="1152" />
+<TGConnectingPoint num="37" id="1153" />
+<TGConnectingPoint num="38" id="1154" />
+<TGConnectingPoint num="39" id="1155" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1197" >
<cdparam x="424" y="1106" />
<sizeparam width="143" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="dodgeObstacle" />
-<TGConnectingPoint num="0" id="1139" />
-<TGConnectingPoint num="1" id="1140" />
-<TGConnectingPoint num="2" id="1141" />
-<TGConnectingPoint num="3" id="1142" />
-<TGConnectingPoint num="4" id="1143" />
-<TGConnectingPoint num="5" id="1144" />
-<TGConnectingPoint num="6" id="1145" />
-<TGConnectingPoint num="7" id="1146" />
-<TGConnectingPoint num="8" id="1147" />
-<TGConnectingPoint num="9" id="1148" />
-<TGConnectingPoint num="10" id="1149" />
-<TGConnectingPoint num="11" id="1150" />
-<TGConnectingPoint num="12" id="1151" />
-<TGConnectingPoint num="13" id="1152" />
-<TGConnectingPoint num="14" id="1153" />
-<TGConnectingPoint num="15" id="1154" />
-<TGConnectingPoint num="16" id="1155" />
-<TGConnectingPoint num="17" id="1156" />
-<TGConnectingPoint num="18" id="1157" />
-<TGConnectingPoint num="19" id="1158" />
-<TGConnectingPoint num="20" id="1159" />
-<TGConnectingPoint num="21" id="1160" />
-<TGConnectingPoint num="22" id="1161" />
-<TGConnectingPoint num="23" id="1162" />
-<TGConnectingPoint num="24" id="1163" />
-<TGConnectingPoint num="25" id="1164" />
-<TGConnectingPoint num="26" id="1165" />
-<TGConnectingPoint num="27" id="1166" />
-<TGConnectingPoint num="28" id="1167" />
-<TGConnectingPoint num="29" id="1168" />
-<TGConnectingPoint num="30" id="1169" />
-<TGConnectingPoint num="31" id="1170" />
-<TGConnectingPoint num="32" id="1171" />
-<TGConnectingPoint num="33" id="1172" />
-<TGConnectingPoint num="34" id="1173" />
-<TGConnectingPoint num="35" id="1174" />
-<TGConnectingPoint num="36" id="1175" />
-<TGConnectingPoint num="37" id="1176" />
-<TGConnectingPoint num="38" id="1177" />
-<TGConnectingPoint num="39" id="1178" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1195" >
+<TGConnectingPoint num="0" id="1157" />
+<TGConnectingPoint num="1" id="1158" />
+<TGConnectingPoint num="2" id="1159" />
+<TGConnectingPoint num="3" id="1160" />
+<TGConnectingPoint num="4" id="1161" />
+<TGConnectingPoint num="5" id="1162" />
+<TGConnectingPoint num="6" id="1163" />
+<TGConnectingPoint num="7" id="1164" />
+<TGConnectingPoint num="8" id="1165" />
+<TGConnectingPoint num="9" id="1166" />
+<TGConnectingPoint num="10" id="1167" />
+<TGConnectingPoint num="11" id="1168" />
+<TGConnectingPoint num="12" id="1169" />
+<TGConnectingPoint num="13" id="1170" />
+<TGConnectingPoint num="14" id="1171" />
+<TGConnectingPoint num="15" id="1172" />
+<TGConnectingPoint num="16" id="1173" />
+<TGConnectingPoint num="17" id="1174" />
+<TGConnectingPoint num="18" id="1175" />
+<TGConnectingPoint num="19" id="1176" />
+<TGConnectingPoint num="20" id="1177" />
+<TGConnectingPoint num="21" id="1178" />
+<TGConnectingPoint num="22" id="1179" />
+<TGConnectingPoint num="23" id="1180" />
+<TGConnectingPoint num="24" id="1181" />
+<TGConnectingPoint num="25" id="1182" />
+<TGConnectingPoint num="26" id="1183" />
+<TGConnectingPoint num="27" id="1184" />
+<TGConnectingPoint num="28" id="1185" />
+<TGConnectingPoint num="29" id="1186" />
+<TGConnectingPoint num="30" id="1187" />
+<TGConnectingPoint num="31" id="1188" />
+<TGConnectingPoint num="32" id="1189" />
+<TGConnectingPoint num="33" id="1190" />
+<TGConnectingPoint num="34" id="1191" />
+<TGConnectingPoint num="35" id="1192" />
+<TGConnectingPoint num="36" id="1193" />
+<TGConnectingPoint num="37" id="1194" />
+<TGConnectingPoint num="38" id="1195" />
+<TGConnectingPoint num="39" id="1196" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="1213" >
<cdparam x="375" y="929" />
<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="1180" />
-<TGConnectingPoint num="1" id="1181" />
-<TGConnectingPoint num="2" id="1182" />
-<TGConnectingPoint num="3" id="1183" />
-<TGConnectingPoint num="4" id="1184" />
-<TGConnectingPoint num="5" id="1185" />
-<TGConnectingPoint num="6" id="1186" />
-<TGConnectingPoint num="7" id="1187" />
-<TGConnectingPoint num="8" id="1188" />
-<TGConnectingPoint num="9" id="1189" />
-<TGConnectingPoint num="10" id="1190" />
-<TGConnectingPoint num="11" id="1191" />
-<TGConnectingPoint num="12" id="1192" />
-<TGConnectingPoint num="13" id="1193" />
-<TGConnectingPoint num="14" id="1194" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="1206" >
+<TGConnectingPoint num="0" id="1198" />
+<TGConnectingPoint num="1" id="1199" />
+<TGConnectingPoint num="2" id="1200" />
+<TGConnectingPoint num="3" id="1201" />
+<TGConnectingPoint num="4" id="1202" />
+<TGConnectingPoint num="5" id="1203" />
+<TGConnectingPoint num="6" id="1204" />
+<TGConnectingPoint num="7" id="1205" />
+<TGConnectingPoint num="8" id="1206" />
+<TGConnectingPoint num="9" id="1207" />
+<TGConnectingPoint num="10" id="1208" />
+<TGConnectingPoint num="11" id="1209" />
+<TGConnectingPoint num="12" id="1210" />
+<TGConnectingPoint num="13" id="1211" />
+<TGConnectingPoint num="14" id="1212" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="1224" >
<cdparam x="309" y="1508" />
<sizeparam width="251" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Send signal" value="motorCommand(leftVelocity, rightVelocity)" />
-<TGConnectingPoint num="0" id="1196" />
-<TGConnectingPoint num="1" id="1197" />
-<TGConnectingPoint num="2" id="1198" />
-<TGConnectingPoint num="3" id="1199" />
-<TGConnectingPoint num="4" id="1200" />
-<TGConnectingPoint num="5" id="1201" />
-<TGConnectingPoint num="6" id="1202" />
-<TGConnectingPoint num="7" id="1203" />
-<TGConnectingPoint num="8" id="1204" />
-<TGConnectingPoint num="9" id="1205" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1247" >
+<TGConnectingPoint num="0" id="1214" />
+<TGConnectingPoint num="1" id="1215" />
+<TGConnectingPoint num="2" id="1216" />
+<TGConnectingPoint num="3" id="1217" />
+<TGConnectingPoint num="4" id="1218" />
+<TGConnectingPoint num="5" id="1219" />
+<TGConnectingPoint num="6" id="1220" />
+<TGConnectingPoint num="7" id="1221" />
+<TGConnectingPoint num="8" id="1222" />
+<TGConnectingPoint num="9" id="1223" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1265" >
<cdparam x="302" y="833" />
<sizeparam width="176" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnDecision" />
-<TGConnectingPoint num="0" id="1207" />
-<TGConnectingPoint num="1" id="1208" />
-<TGConnectingPoint num="2" id="1209" />
-<TGConnectingPoint num="3" id="1210" />
-<TGConnectingPoint num="4" id="1211" />
-<TGConnectingPoint num="5" id="1212" />
-<TGConnectingPoint num="6" id="1213" />
-<TGConnectingPoint num="7" id="1214" />
-<TGConnectingPoint num="8" id="1215" />
-<TGConnectingPoint num="9" id="1216" />
-<TGConnectingPoint num="10" id="1217" />
-<TGConnectingPoint num="11" id="1218" />
-<TGConnectingPoint num="12" id="1219" />
-<TGConnectingPoint num="13" id="1220" />
-<TGConnectingPoint num="14" id="1221" />
-<TGConnectingPoint num="15" id="1222" />
-<TGConnectingPoint num="16" id="1223" />
-<TGConnectingPoint num="17" id="1224" />
-<TGConnectingPoint num="18" id="1225" />
-<TGConnectingPoint num="19" id="1226" />
-<TGConnectingPoint num="20" id="1227" />
-<TGConnectingPoint num="21" id="1228" />
-<TGConnectingPoint num="22" id="1229" />
-<TGConnectingPoint num="23" id="1230" />
-<TGConnectingPoint num="24" id="1231" />
-<TGConnectingPoint num="25" id="1232" />
-<TGConnectingPoint num="26" id="1233" />
-<TGConnectingPoint num="27" id="1234" />
-<TGConnectingPoint num="28" id="1235" />
-<TGConnectingPoint num="29" id="1236" />
-<TGConnectingPoint num="30" id="1237" />
-<TGConnectingPoint num="31" id="1238" />
-<TGConnectingPoint num="32" id="1239" />
-<TGConnectingPoint num="33" id="1240" />
-<TGConnectingPoint num="34" id="1241" />
-<TGConnectingPoint num="35" id="1242" />
-<TGConnectingPoint num="36" id="1243" />
-<TGConnectingPoint num="37" id="1244" />
-<TGConnectingPoint num="38" id="1245" />
-<TGConnectingPoint num="39" id="1246" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1288" >
+<TGConnectingPoint num="0" id="1225" />
+<TGConnectingPoint num="1" id="1226" />
+<TGConnectingPoint num="2" id="1227" />
+<TGConnectingPoint num="3" id="1228" />
+<TGConnectingPoint num="4" id="1229" />
+<TGConnectingPoint num="5" id="1230" />
+<TGConnectingPoint num="6" id="1231" />
+<TGConnectingPoint num="7" id="1232" />
+<TGConnectingPoint num="8" id="1233" />
+<TGConnectingPoint num="9" id="1234" />
+<TGConnectingPoint num="10" id="1235" />
+<TGConnectingPoint num="11" id="1236" />
+<TGConnectingPoint num="12" id="1237" />
+<TGConnectingPoint num="13" id="1238" />
+<TGConnectingPoint num="14" id="1239" />
+<TGConnectingPoint num="15" id="1240" />
+<TGConnectingPoint num="16" id="1241" />
+<TGConnectingPoint num="17" id="1242" />
+<TGConnectingPoint num="18" id="1243" />
+<TGConnectingPoint num="19" id="1244" />
+<TGConnectingPoint num="20" id="1245" />
+<TGConnectingPoint num="21" id="1246" />
+<TGConnectingPoint num="22" id="1247" />
+<TGConnectingPoint num="23" id="1248" />
+<TGConnectingPoint num="24" id="1249" />
+<TGConnectingPoint num="25" id="1250" />
+<TGConnectingPoint num="26" id="1251" />
+<TGConnectingPoint num="27" id="1252" />
+<TGConnectingPoint num="28" id="1253" />
+<TGConnectingPoint num="29" id="1254" />
+<TGConnectingPoint num="30" id="1255" />
+<TGConnectingPoint num="31" id="1256" />
+<TGConnectingPoint num="32" id="1257" />
+<TGConnectingPoint num="33" id="1258" />
+<TGConnectingPoint num="34" id="1259" />
+<TGConnectingPoint num="35" id="1260" />
+<TGConnectingPoint num="36" id="1261" />
+<TGConnectingPoint num="37" id="1262" />
+<TGConnectingPoint num="38" id="1263" />
+<TGConnectingPoint num="39" id="1264" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1306" >
<cdparam x="297" y="742" />
<sizeparam width="187" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="setTempSensor" />
-<TGConnectingPoint num="0" id="1248" />
-<TGConnectingPoint num="1" id="1249" />
-<TGConnectingPoint num="2" id="1250" />
-<TGConnectingPoint num="3" id="1251" />
-<TGConnectingPoint num="4" id="1252" />
-<TGConnectingPoint num="5" id="1253" />
-<TGConnectingPoint num="6" id="1254" />
-<TGConnectingPoint num="7" id="1255" />
-<TGConnectingPoint num="8" id="1256" />
-<TGConnectingPoint num="9" id="1257" />
-<TGConnectingPoint num="10" id="1258" />
-<TGConnectingPoint num="11" id="1259" />
-<TGConnectingPoint num="12" id="1260" />
-<TGConnectingPoint num="13" id="1261" />
-<TGConnectingPoint num="14" id="1262" />
-<TGConnectingPoint num="15" id="1263" />
-<TGConnectingPoint num="16" id="1264" />
-<TGConnectingPoint num="17" id="1265" />
-<TGConnectingPoint num="18" id="1266" />
-<TGConnectingPoint num="19" id="1267" />
-<TGConnectingPoint num="20" id="1268" />
-<TGConnectingPoint num="21" id="1269" />
-<TGConnectingPoint num="22" id="1270" />
-<TGConnectingPoint num="23" id="1271" />
-<TGConnectingPoint num="24" id="1272" />
-<TGConnectingPoint num="25" id="1273" />
-<TGConnectingPoint num="26" id="1274" />
-<TGConnectingPoint num="27" id="1275" />
-<TGConnectingPoint num="28" id="1276" />
-<TGConnectingPoint num="29" id="1277" />
-<TGConnectingPoint num="30" id="1278" />
-<TGConnectingPoint num="31" id="1279" />
-<TGConnectingPoint num="32" id="1280" />
-<TGConnectingPoint num="33" id="1281" />
-<TGConnectingPoint num="34" id="1282" />
-<TGConnectingPoint num="35" id="1283" />
-<TGConnectingPoint num="36" id="1284" />
-<TGConnectingPoint num="37" id="1285" />
-<TGConnectingPoint num="38" id="1286" />
-<TGConnectingPoint num="39" id="1287" />
+<TGConnectingPoint num="0" id="1266" />
+<TGConnectingPoint num="1" id="1267" />
+<TGConnectingPoint num="2" id="1268" />
+<TGConnectingPoint num="3" id="1269" />
+<TGConnectingPoint num="4" id="1270" />
+<TGConnectingPoint num="5" id="1271" />
+<TGConnectingPoint num="6" id="1272" />
+<TGConnectingPoint num="7" id="1273" />
+<TGConnectingPoint num="8" id="1274" />
+<TGConnectingPoint num="9" id="1275" />
+<TGConnectingPoint num="10" id="1276" />
+<TGConnectingPoint num="11" id="1277" />
+<TGConnectingPoint num="12" id="1278" />
+<TGConnectingPoint num="13" id="1279" />
+<TGConnectingPoint num="14" id="1280" />
+<TGConnectingPoint num="15" id="1281" />
+<TGConnectingPoint num="16" id="1282" />
+<TGConnectingPoint num="17" id="1283" />
+<TGConnectingPoint num="18" id="1284" />
+<TGConnectingPoint num="19" id="1285" />
+<TGConnectingPoint num="20" id="1286" />
+<TGConnectingPoint num="21" id="1287" />
+<TGConnectingPoint num="22" id="1288" />
+<TGConnectingPoint num="23" id="1289" />
+<TGConnectingPoint num="24" id="1290" />
+<TGConnectingPoint num="25" id="1291" />
+<TGConnectingPoint num="26" id="1292" />
+<TGConnectingPoint num="27" id="1293" />
+<TGConnectingPoint num="28" id="1294" />
+<TGConnectingPoint num="29" id="1295" />
+<TGConnectingPoint num="30" id="1296" />
+<TGConnectingPoint num="31" id="1297" />
+<TGConnectingPoint num="32" id="1298" />
+<TGConnectingPoint num="33" id="1299" />
+<TGConnectingPoint num="34" id="1300" />
+<TGConnectingPoint num="35" id="1301" />
+<TGConnectingPoint num="36" id="1302" />
+<TGConnectingPoint num="37" id="1303" />
+<TGConnectingPoint num="38" id="1304" />
+<TGConnectingPoint num="39" id="1305" />
<extraparam>
<entryCode value="write_gpio2vci(sensorOn, "temperature_sensor");" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="1329" >
+<COMPONENT type="5106" id="1347" >
<cdparam x="295" y="578" />
<sizeparam width="187" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="controlTempSensor" />
-<TGConnectingPoint num="0" id="1289" />
-<TGConnectingPoint num="1" id="1290" />
-<TGConnectingPoint num="2" id="1291" />
-<TGConnectingPoint num="3" id="1292" />
-<TGConnectingPoint num="4" id="1293" />
-<TGConnectingPoint num="5" id="1294" />
-<TGConnectingPoint num="6" id="1295" />
-<TGConnectingPoint num="7" id="1296" />
-<TGConnectingPoint num="8" id="1297" />
-<TGConnectingPoint num="9" id="1298" />
-<TGConnectingPoint num="10" id="1299" />
-<TGConnectingPoint num="11" id="1300" />
-<TGConnectingPoint num="12" id="1301" />
-<TGConnectingPoint num="13" id="1302" />
-<TGConnectingPoint num="14" id="1303" />
-<TGConnectingPoint num="15" id="1304" />
-<TGConnectingPoint num="16" id="1305" />
-<TGConnectingPoint num="17" id="1306" />
-<TGConnectingPoint num="18" id="1307" />
-<TGConnectingPoint num="19" id="1308" />
-<TGConnectingPoint num="20" id="1309" />
-<TGConnectingPoint num="21" id="1310" />
-<TGConnectingPoint num="22" id="1311" />
-<TGConnectingPoint num="23" id="1312" />
-<TGConnectingPoint num="24" id="1313" />
-<TGConnectingPoint num="25" id="1314" />
-<TGConnectingPoint num="26" id="1315" />
-<TGConnectingPoint num="27" id="1316" />
-<TGConnectingPoint num="28" id="1317" />
-<TGConnectingPoint num="29" id="1318" />
-<TGConnectingPoint num="30" id="1319" />
-<TGConnectingPoint num="31" id="1320" />
-<TGConnectingPoint num="32" id="1321" />
-<TGConnectingPoint num="33" id="1322" />
-<TGConnectingPoint num="34" id="1323" />
-<TGConnectingPoint num="35" id="1324" />
-<TGConnectingPoint num="36" id="1325" />
-<TGConnectingPoint num="37" id="1326" />
-<TGConnectingPoint num="38" id="1327" />
-<TGConnectingPoint num="39" id="1328" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1370" >
+<TGConnectingPoint num="0" id="1307" />
+<TGConnectingPoint num="1" id="1308" />
+<TGConnectingPoint num="2" id="1309" />
+<TGConnectingPoint num="3" id="1310" />
+<TGConnectingPoint num="4" id="1311" />
+<TGConnectingPoint num="5" id="1312" />
+<TGConnectingPoint num="6" id="1313" />
+<TGConnectingPoint num="7" id="1314" />
+<TGConnectingPoint num="8" id="1315" />
+<TGConnectingPoint num="9" id="1316" />
+<TGConnectingPoint num="10" id="1317" />
+<TGConnectingPoint num="11" id="1318" />
+<TGConnectingPoint num="12" id="1319" />
+<TGConnectingPoint num="13" id="1320" />
+<TGConnectingPoint num="14" id="1321" />
+<TGConnectingPoint num="15" id="1322" />
+<TGConnectingPoint num="16" id="1323" />
+<TGConnectingPoint num="17" id="1324" />
+<TGConnectingPoint num="18" id="1325" />
+<TGConnectingPoint num="19" id="1326" />
+<TGConnectingPoint num="20" id="1327" />
+<TGConnectingPoint num="21" id="1328" />
+<TGConnectingPoint num="22" id="1329" />
+<TGConnectingPoint num="23" id="1330" />
+<TGConnectingPoint num="24" id="1331" />
+<TGConnectingPoint num="25" id="1332" />
+<TGConnectingPoint num="26" id="1333" />
+<TGConnectingPoint num="27" id="1334" />
+<TGConnectingPoint num="28" id="1335" />
+<TGConnectingPoint num="29" id="1336" />
+<TGConnectingPoint num="30" id="1337" />
+<TGConnectingPoint num="31" id="1338" />
+<TGConnectingPoint num="32" id="1339" />
+<TGConnectingPoint num="33" id="1340" />
+<TGConnectingPoint num="34" id="1341" />
+<TGConnectingPoint num="35" id="1342" />
+<TGConnectingPoint num="36" id="1343" />
+<TGConnectingPoint num="37" id="1344" />
+<TGConnectingPoint num="38" id="1345" />
+<TGConnectingPoint num="39" id="1346" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1388" >
<cdparam x="314" y="262" />
<sizeparam width="164" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="calculateDistance" />
-<TGConnectingPoint num="0" id="1330" />
-<TGConnectingPoint num="1" id="1331" />
-<TGConnectingPoint num="2" id="1332" />
-<TGConnectingPoint num="3" id="1333" />
-<TGConnectingPoint num="4" id="1334" />
-<TGConnectingPoint num="5" id="1335" />
-<TGConnectingPoint num="6" id="1336" />
-<TGConnectingPoint num="7" id="1337" />
-<TGConnectingPoint num="8" id="1338" />
-<TGConnectingPoint num="9" id="1339" />
-<TGConnectingPoint num="10" id="1340" />
-<TGConnectingPoint num="11" id="1341" />
-<TGConnectingPoint num="12" id="1342" />
-<TGConnectingPoint num="13" id="1343" />
-<TGConnectingPoint num="14" id="1344" />
-<TGConnectingPoint num="15" id="1345" />
-<TGConnectingPoint num="16" id="1346" />
-<TGConnectingPoint num="17" id="1347" />
-<TGConnectingPoint num="18" id="1348" />
-<TGConnectingPoint num="19" id="1349" />
-<TGConnectingPoint num="20" id="1350" />
-<TGConnectingPoint num="21" id="1351" />
-<TGConnectingPoint num="22" id="1352" />
-<TGConnectingPoint num="23" id="1353" />
-<TGConnectingPoint num="24" id="1354" />
-<TGConnectingPoint num="25" id="1355" />
-<TGConnectingPoint num="26" id="1356" />
-<TGConnectingPoint num="27" id="1357" />
-<TGConnectingPoint num="28" id="1358" />
-<TGConnectingPoint num="29" id="1359" />
-<TGConnectingPoint num="30" id="1360" />
-<TGConnectingPoint num="31" id="1361" />
-<TGConnectingPoint num="32" id="1362" />
-<TGConnectingPoint num="33" id="1363" />
-<TGConnectingPoint num="34" id="1364" />
-<TGConnectingPoint num="35" id="1365" />
-<TGConnectingPoint num="36" id="1366" />
-<TGConnectingPoint num="37" id="1367" />
-<TGConnectingPoint num="38" id="1368" />
-<TGConnectingPoint num="39" id="1369" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1411" >
+<TGConnectingPoint num="0" id="1348" />
+<TGConnectingPoint num="1" id="1349" />
+<TGConnectingPoint num="2" id="1350" />
+<TGConnectingPoint num="3" id="1351" />
+<TGConnectingPoint num="4" id="1352" />
+<TGConnectingPoint num="5" id="1353" />
+<TGConnectingPoint num="6" id="1354" />
+<TGConnectingPoint num="7" id="1355" />
+<TGConnectingPoint num="8" id="1356" />
+<TGConnectingPoint num="9" id="1357" />
+<TGConnectingPoint num="10" id="1358" />
+<TGConnectingPoint num="11" id="1359" />
+<TGConnectingPoint num="12" id="1360" />
+<TGConnectingPoint num="13" id="1361" />
+<TGConnectingPoint num="14" id="1362" />
+<TGConnectingPoint num="15" id="1363" />
+<TGConnectingPoint num="16" id="1364" />
+<TGConnectingPoint num="17" id="1365" />
+<TGConnectingPoint num="18" id="1366" />
+<TGConnectingPoint num="19" id="1367" />
+<TGConnectingPoint num="20" id="1368" />
+<TGConnectingPoint num="21" id="1369" />
+<TGConnectingPoint num="22" id="1370" />
+<TGConnectingPoint num="23" id="1371" />
+<TGConnectingPoint num="24" id="1372" />
+<TGConnectingPoint num="25" id="1373" />
+<TGConnectingPoint num="26" id="1374" />
+<TGConnectingPoint num="27" id="1375" />
+<TGConnectingPoint num="28" id="1376" />
+<TGConnectingPoint num="29" id="1377" />
+<TGConnectingPoint num="30" id="1378" />
+<TGConnectingPoint num="31" id="1379" />
+<TGConnectingPoint num="32" id="1380" />
+<TGConnectingPoint num="33" id="1381" />
+<TGConnectingPoint num="34" id="1382" />
+<TGConnectingPoint num="35" id="1383" />
+<TGConnectingPoint num="36" id="1384" />
+<TGConnectingPoint num="37" id="1385" />
+<TGConnectingPoint num="38" id="1386" />
+<TGConnectingPoint num="39" id="1387" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1429" >
<cdparam x="435" y="998" />
<sizeparam width="121" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="measureTemp" />
-<TGConnectingPoint num="0" id="1371" />
-<TGConnectingPoint num="1" id="1372" />
-<TGConnectingPoint num="2" id="1373" />
-<TGConnectingPoint num="3" id="1374" />
-<TGConnectingPoint num="4" id="1375" />
-<TGConnectingPoint num="5" id="1376" />
-<TGConnectingPoint num="6" id="1377" />
-<TGConnectingPoint num="7" id="1378" />
-<TGConnectingPoint num="8" id="1379" />
-<TGConnectingPoint num="9" id="1380" />
-<TGConnectingPoint num="10" id="1381" />
-<TGConnectingPoint num="11" id="1382" />
-<TGConnectingPoint num="12" id="1383" />
-<TGConnectingPoint num="13" id="1384" />
-<TGConnectingPoint num="14" id="1385" />
-<TGConnectingPoint num="15" id="1386" />
-<TGConnectingPoint num="16" id="1387" />
-<TGConnectingPoint num="17" id="1388" />
-<TGConnectingPoint num="18" id="1389" />
-<TGConnectingPoint num="19" id="1390" />
-<TGConnectingPoint num="20" id="1391" />
-<TGConnectingPoint num="21" id="1392" />
-<TGConnectingPoint num="22" id="1393" />
-<TGConnectingPoint num="23" id="1394" />
-<TGConnectingPoint num="24" id="1395" />
-<TGConnectingPoint num="25" id="1396" />
-<TGConnectingPoint num="26" id="1397" />
-<TGConnectingPoint num="27" id="1398" />
-<TGConnectingPoint num="28" id="1399" />
-<TGConnectingPoint num="29" id="1400" />
-<TGConnectingPoint num="30" id="1401" />
-<TGConnectingPoint num="31" id="1402" />
-<TGConnectingPoint num="32" id="1403" />
-<TGConnectingPoint num="33" id="1404" />
-<TGConnectingPoint num="34" id="1405" />
-<TGConnectingPoint num="35" id="1406" />
-<TGConnectingPoint num="36" id="1407" />
-<TGConnectingPoint num="37" id="1408" />
-<TGConnectingPoint num="38" id="1409" />
-<TGConnectingPoint num="39" id="1410" />
+<TGConnectingPoint num="0" id="1389" />
+<TGConnectingPoint num="1" id="1390" />
+<TGConnectingPoint num="2" id="1391" />
+<TGConnectingPoint num="3" id="1392" />
+<TGConnectingPoint num="4" id="1393" />
+<TGConnectingPoint num="5" id="1394" />
+<TGConnectingPoint num="6" id="1395" />
+<TGConnectingPoint num="7" id="1396" />
+<TGConnectingPoint num="8" id="1397" />
+<TGConnectingPoint num="9" id="1398" />
+<TGConnectingPoint num="10" id="1399" />
+<TGConnectingPoint num="11" id="1400" />
+<TGConnectingPoint num="12" id="1401" />
+<TGConnectingPoint num="13" id="1402" />
+<TGConnectingPoint num="14" id="1403" />
+<TGConnectingPoint num="15" id="1404" />
+<TGConnectingPoint num="16" id="1405" />
+<TGConnectingPoint num="17" id="1406" />
+<TGConnectingPoint num="18" id="1407" />
+<TGConnectingPoint num="19" id="1408" />
+<TGConnectingPoint num="20" id="1409" />
+<TGConnectingPoint num="21" id="1410" />
+<TGConnectingPoint num="22" id="1411" />
+<TGConnectingPoint num="23" id="1412" />
+<TGConnectingPoint num="24" id="1413" />
+<TGConnectingPoint num="25" id="1414" />
+<TGConnectingPoint num="26" id="1415" />
+<TGConnectingPoint num="27" id="1416" />
+<TGConnectingPoint num="28" id="1417" />
+<TGConnectingPoint num="29" id="1418" />
+<TGConnectingPoint num="30" id="1419" />
+<TGConnectingPoint num="31" id="1420" />
+<TGConnectingPoint num="32" id="1421" />
+<TGConnectingPoint num="33" id="1422" />
+<TGConnectingPoint num="34" id="1423" />
+<TGConnectingPoint num="35" id="1424" />
+<TGConnectingPoint num="36" id="1425" />
+<TGConnectingPoint num="37" id="1426" />
+<TGConnectingPoint num="38" id="1427" />
+<TGConnectingPoint num="39" id="1428" />
<extraparam>
<entryCode value="temp = read_gpio2vci("temperature_sensor");" />
<entryCode value="printf("Temperature = %d\n", temp);" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="1452" >
+<COMPONENT type="5106" id="1470" >
<cdparam x="475" y="428" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="state1" />
-<TGConnectingPoint num="0" id="1412" />
-<TGConnectingPoint num="1" id="1413" />
-<TGConnectingPoint num="2" id="1414" />
-<TGConnectingPoint num="3" id="1415" />
-<TGConnectingPoint num="4" id="1416" />
-<TGConnectingPoint num="5" id="1417" />
-<TGConnectingPoint num="6" id="1418" />
-<TGConnectingPoint num="7" id="1419" />
-<TGConnectingPoint num="8" id="1420" />
-<TGConnectingPoint num="9" id="1421" />
-<TGConnectingPoint num="10" id="1422" />
-<TGConnectingPoint num="11" id="1423" />
-<TGConnectingPoint num="12" id="1424" />
-<TGConnectingPoint num="13" id="1425" />
-<TGConnectingPoint num="14" id="1426" />
-<TGConnectingPoint num="15" id="1427" />
-<TGConnectingPoint num="16" id="1428" />
-<TGConnectingPoint num="17" id="1429" />
-<TGConnectingPoint num="18" id="1430" />
-<TGConnectingPoint num="19" id="1431" />
-<TGConnectingPoint num="20" id="1432" />
-<TGConnectingPoint num="21" id="1433" />
-<TGConnectingPoint num="22" id="1434" />
-<TGConnectingPoint num="23" id="1435" />
-<TGConnectingPoint num="24" id="1436" />
-<TGConnectingPoint num="25" id="1437" />
-<TGConnectingPoint num="26" id="1438" />
-<TGConnectingPoint num="27" id="1439" />
-<TGConnectingPoint num="28" id="1440" />
-<TGConnectingPoint num="29" id="1441" />
-<TGConnectingPoint num="30" id="1442" />
-<TGConnectingPoint num="31" id="1443" />
-<TGConnectingPoint num="32" id="1444" />
-<TGConnectingPoint num="33" id="1445" />
-<TGConnectingPoint num="34" id="1446" />
-<TGConnectingPoint num="35" id="1447" />
-<TGConnectingPoint num="36" id="1448" />
-<TGConnectingPoint num="37" id="1449" />
-<TGConnectingPoint num="38" id="1450" />
-<TGConnectingPoint num="39" id="1451" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1493" >
+<TGConnectingPoint num="0" id="1430" />
+<TGConnectingPoint num="1" id="1431" />
+<TGConnectingPoint num="2" id="1432" />
+<TGConnectingPoint num="3" id="1433" />
+<TGConnectingPoint num="4" id="1434" />
+<TGConnectingPoint num="5" id="1435" />
+<TGConnectingPoint num="6" id="1436" />
+<TGConnectingPoint num="7" id="1437" />
+<TGConnectingPoint num="8" id="1438" />
+<TGConnectingPoint num="9" id="1439" />
+<TGConnectingPoint num="10" id="1440" />
+<TGConnectingPoint num="11" id="1441" />
+<TGConnectingPoint num="12" id="1442" />
+<TGConnectingPoint num="13" id="1443" />
+<TGConnectingPoint num="14" id="1444" />
+<TGConnectingPoint num="15" id="1445" />
+<TGConnectingPoint num="16" id="1446" />
+<TGConnectingPoint num="17" id="1447" />
+<TGConnectingPoint num="18" id="1448" />
+<TGConnectingPoint num="19" id="1449" />
+<TGConnectingPoint num="20" id="1450" />
+<TGConnectingPoint num="21" id="1451" />
+<TGConnectingPoint num="22" id="1452" />
+<TGConnectingPoint num="23" id="1453" />
+<TGConnectingPoint num="24" id="1454" />
+<TGConnectingPoint num="25" id="1455" />
+<TGConnectingPoint num="26" id="1456" />
+<TGConnectingPoint num="27" id="1457" />
+<TGConnectingPoint num="28" id="1458" />
+<TGConnectingPoint num="29" id="1459" />
+<TGConnectingPoint num="30" id="1460" />
+<TGConnectingPoint num="31" id="1461" />
+<TGConnectingPoint num="32" id="1462" />
+<TGConnectingPoint num="33" id="1463" />
+<TGConnectingPoint num="34" id="1464" />
+<TGConnectingPoint num="35" id="1465" />
+<TGConnectingPoint num="36" id="1466" />
+<TGConnectingPoint num="37" id="1467" />
+<TGConnectingPoint num="38" id="1468" />
+<TGConnectingPoint num="39" id="1469" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1511" >
<cdparam x="346" y="463" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="state2" />
-<TGConnectingPoint num="0" id="1453" />
-<TGConnectingPoint num="1" id="1454" />
-<TGConnectingPoint num="2" id="1455" />
-<TGConnectingPoint num="3" id="1456" />
-<TGConnectingPoint num="4" id="1457" />
-<TGConnectingPoint num="5" id="1458" />
-<TGConnectingPoint num="6" id="1459" />
-<TGConnectingPoint num="7" id="1460" />
-<TGConnectingPoint num="8" id="1461" />
-<TGConnectingPoint num="9" id="1462" />
-<TGConnectingPoint num="10" id="1463" />
-<TGConnectingPoint num="11" id="1464" />
-<TGConnectingPoint num="12" id="1465" />
-<TGConnectingPoint num="13" id="1466" />
-<TGConnectingPoint num="14" id="1467" />
-<TGConnectingPoint num="15" id="1468" />
-<TGConnectingPoint num="16" id="1469" />
-<TGConnectingPoint num="17" id="1470" />
-<TGConnectingPoint num="18" id="1471" />
-<TGConnectingPoint num="19" id="1472" />
-<TGConnectingPoint num="20" id="1473" />
-<TGConnectingPoint num="21" id="1474" />
-<TGConnectingPoint num="22" id="1475" />
-<TGConnectingPoint num="23" id="1476" />
-<TGConnectingPoint num="24" id="1477" />
-<TGConnectingPoint num="25" id="1478" />
-<TGConnectingPoint num="26" id="1479" />
-<TGConnectingPoint num="27" id="1480" />
-<TGConnectingPoint num="28" id="1481" />
-<TGConnectingPoint num="29" id="1482" />
-<TGConnectingPoint num="30" id="1483" />
-<TGConnectingPoint num="31" id="1484" />
-<TGConnectingPoint num="32" id="1485" />
-<TGConnectingPoint num="33" id="1486" />
-<TGConnectingPoint num="34" id="1487" />
-<TGConnectingPoint num="35" id="1488" />
-<TGConnectingPoint num="36" id="1489" />
-<TGConnectingPoint num="37" id="1490" />
-<TGConnectingPoint num="38" id="1491" />
-<TGConnectingPoint num="39" id="1492" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1534" >
+<TGConnectingPoint num="0" id="1471" />
+<TGConnectingPoint num="1" id="1472" />
+<TGConnectingPoint num="2" id="1473" />
+<TGConnectingPoint num="3" id="1474" />
+<TGConnectingPoint num="4" id="1475" />
+<TGConnectingPoint num="5" id="1476" />
+<TGConnectingPoint num="6" id="1477" />
+<TGConnectingPoint num="7" id="1478" />
+<TGConnectingPoint num="8" id="1479" />
+<TGConnectingPoint num="9" id="1480" />
+<TGConnectingPoint num="10" id="1481" />
+<TGConnectingPoint num="11" id="1482" />
+<TGConnectingPoint num="12" id="1483" />
+<TGConnectingPoint num="13" id="1484" />
+<TGConnectingPoint num="14" id="1485" />
+<TGConnectingPoint num="15" id="1486" />
+<TGConnectingPoint num="16" id="1487" />
+<TGConnectingPoint num="17" id="1488" />
+<TGConnectingPoint num="18" id="1489" />
+<TGConnectingPoint num="19" id="1490" />
+<TGConnectingPoint num="20" id="1491" />
+<TGConnectingPoint num="21" id="1492" />
+<TGConnectingPoint num="22" id="1493" />
+<TGConnectingPoint num="23" id="1494" />
+<TGConnectingPoint num="24" id="1495" />
+<TGConnectingPoint num="25" id="1496" />
+<TGConnectingPoint num="26" id="1497" />
+<TGConnectingPoint num="27" id="1498" />
+<TGConnectingPoint num="28" id="1499" />
+<TGConnectingPoint num="29" id="1500" />
+<TGConnectingPoint num="30" id="1501" />
+<TGConnectingPoint num="31" id="1502" />
+<TGConnectingPoint num="32" id="1503" />
+<TGConnectingPoint num="33" id="1504" />
+<TGConnectingPoint num="34" id="1505" />
+<TGConnectingPoint num="35" id="1506" />
+<TGConnectingPoint num="36" id="1507" />
+<TGConnectingPoint num="37" id="1508" />
+<TGConnectingPoint num="38" id="1509" />
+<TGConnectingPoint num="39" id="1510" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1552" >
<cdparam x="213" y="432" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="state0" />
-<TGConnectingPoint num="0" id="1494" />
-<TGConnectingPoint num="1" id="1495" />
-<TGConnectingPoint num="2" id="1496" />
-<TGConnectingPoint num="3" id="1497" />
-<TGConnectingPoint num="4" id="1498" />
-<TGConnectingPoint num="5" id="1499" />
-<TGConnectingPoint num="6" id="1500" />
-<TGConnectingPoint num="7" id="1501" />
-<TGConnectingPoint num="8" id="1502" />
-<TGConnectingPoint num="9" id="1503" />
-<TGConnectingPoint num="10" id="1504" />
-<TGConnectingPoint num="11" id="1505" />
-<TGConnectingPoint num="12" id="1506" />
-<TGConnectingPoint num="13" id="1507" />
-<TGConnectingPoint num="14" id="1508" />
-<TGConnectingPoint num="15" id="1509" />
-<TGConnectingPoint num="16" id="1510" />
-<TGConnectingPoint num="17" id="1511" />
-<TGConnectingPoint num="18" id="1512" />
-<TGConnectingPoint num="19" id="1513" />
-<TGConnectingPoint num="20" id="1514" />
-<TGConnectingPoint num="21" id="1515" />
-<TGConnectingPoint num="22" id="1516" />
-<TGConnectingPoint num="23" id="1517" />
-<TGConnectingPoint num="24" id="1518" />
-<TGConnectingPoint num="25" id="1519" />
-<TGConnectingPoint num="26" id="1520" />
-<TGConnectingPoint num="27" id="1521" />
-<TGConnectingPoint num="28" id="1522" />
-<TGConnectingPoint num="29" id="1523" />
-<TGConnectingPoint num="30" id="1524" />
-<TGConnectingPoint num="31" id="1525" />
-<TGConnectingPoint num="32" id="1526" />
-<TGConnectingPoint num="33" id="1527" />
-<TGConnectingPoint num="34" id="1528" />
-<TGConnectingPoint num="35" id="1529" />
-<TGConnectingPoint num="36" id="1530" />
-<TGConnectingPoint num="37" id="1531" />
-<TGConnectingPoint num="38" id="1532" />
-<TGConnectingPoint num="39" id="1533" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1550" >
+<TGConnectingPoint num="0" id="1512" />
+<TGConnectingPoint num="1" id="1513" />
+<TGConnectingPoint num="2" id="1514" />
+<TGConnectingPoint num="3" id="1515" />
+<TGConnectingPoint num="4" id="1516" />
+<TGConnectingPoint num="5" id="1517" />
+<TGConnectingPoint num="6" id="1518" />
+<TGConnectingPoint num="7" id="1519" />
+<TGConnectingPoint num="8" id="1520" />
+<TGConnectingPoint num="9" id="1521" />
+<TGConnectingPoint num="10" id="1522" />
+<TGConnectingPoint num="11" id="1523" />
+<TGConnectingPoint num="12" id="1524" />
+<TGConnectingPoint num="13" id="1525" />
+<TGConnectingPoint num="14" id="1526" />
+<TGConnectingPoint num="15" id="1527" />
+<TGConnectingPoint num="16" id="1528" />
+<TGConnectingPoint num="17" id="1529" />
+<TGConnectingPoint num="18" id="1530" />
+<TGConnectingPoint num="19" id="1531" />
+<TGConnectingPoint num="20" id="1532" />
+<TGConnectingPoint num="21" id="1533" />
+<TGConnectingPoint num="22" id="1534" />
+<TGConnectingPoint num="23" id="1535" />
+<TGConnectingPoint num="24" id="1536" />
+<TGConnectingPoint num="25" id="1537" />
+<TGConnectingPoint num="26" id="1538" />
+<TGConnectingPoint num="27" id="1539" />
+<TGConnectingPoint num="28" id="1540" />
+<TGConnectingPoint num="29" id="1541" />
+<TGConnectingPoint num="30" id="1542" />
+<TGConnectingPoint num="31" id="1543" />
+<TGConnectingPoint num="32" id="1544" />
+<TGConnectingPoint num="33" id="1545" />
+<TGConnectingPoint num="34" id="1546" />
+<TGConnectingPoint num="35" id="1547" />
+<TGConnectingPoint num="36" id="1548" />
+<TGConnectingPoint num="37" id="1549" />
+<TGConnectingPoint num="38" id="1550" />
+<TGConnectingPoint num="39" id="1551" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="1568" >
<cdparam x="381" y="361" />
<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="1535" />
-<TGConnectingPoint num="1" id="1536" />
-<TGConnectingPoint num="2" id="1537" />
-<TGConnectingPoint num="3" id="1538" />
-<TGConnectingPoint num="4" id="1539" />
-<TGConnectingPoint num="5" id="1540" />
-<TGConnectingPoint num="6" id="1541" />
-<TGConnectingPoint num="7" id="1542" />
-<TGConnectingPoint num="8" id="1543" />
-<TGConnectingPoint num="9" id="1544" />
-<TGConnectingPoint num="10" id="1545" />
-<TGConnectingPoint num="11" id="1546" />
-<TGConnectingPoint num="12" id="1547" />
-<TGConnectingPoint num="13" id="1548" />
-<TGConnectingPoint num="14" id="1549" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1591" >
+<TGConnectingPoint num="0" id="1553" />
+<TGConnectingPoint num="1" id="1554" />
+<TGConnectingPoint num="2" id="1555" />
+<TGConnectingPoint num="3" id="1556" />
+<TGConnectingPoint num="4" id="1557" />
+<TGConnectingPoint num="5" id="1558" />
+<TGConnectingPoint num="6" id="1559" />
+<TGConnectingPoint num="7" id="1560" />
+<TGConnectingPoint num="8" id="1561" />
+<TGConnectingPoint num="9" id="1562" />
+<TGConnectingPoint num="10" id="1563" />
+<TGConnectingPoint num="11" id="1564" />
+<TGConnectingPoint num="12" id="1565" />
+<TGConnectingPoint num="13" id="1566" />
+<TGConnectingPoint num="14" id="1567" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1609" >
<cdparam x="315" y="92" />
<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="startController" />
-<TGConnectingPoint num="0" id="1551" />
-<TGConnectingPoint num="1" id="1552" />
-<TGConnectingPoint num="2" id="1553" />
-<TGConnectingPoint num="3" id="1554" />
-<TGConnectingPoint num="4" id="1555" />
-<TGConnectingPoint num="5" id="1556" />
-<TGConnectingPoint num="6" id="1557" />
-<TGConnectingPoint num="7" id="1558" />
-<TGConnectingPoint num="8" id="1559" />
-<TGConnectingPoint num="9" id="1560" />
-<TGConnectingPoint num="10" id="1561" />
-<TGConnectingPoint num="11" id="1562" />
-<TGConnectingPoint num="12" id="1563" />
-<TGConnectingPoint num="13" id="1564" />
-<TGConnectingPoint num="14" id="1565" />
-<TGConnectingPoint num="15" id="1566" />
-<TGConnectingPoint num="16" id="1567" />
-<TGConnectingPoint num="17" id="1568" />
-<TGConnectingPoint num="18" id="1569" />
-<TGConnectingPoint num="19" id="1570" />
-<TGConnectingPoint num="20" id="1571" />
-<TGConnectingPoint num="21" id="1572" />
-<TGConnectingPoint num="22" id="1573" />
-<TGConnectingPoint num="23" id="1574" />
-<TGConnectingPoint num="24" id="1575" />
-<TGConnectingPoint num="25" id="1576" />
-<TGConnectingPoint num="26" id="1577" />
-<TGConnectingPoint num="27" id="1578" />
-<TGConnectingPoint num="28" id="1579" />
-<TGConnectingPoint num="29" id="1580" />
-<TGConnectingPoint num="30" id="1581" />
-<TGConnectingPoint num="31" id="1582" />
-<TGConnectingPoint num="32" id="1583" />
-<TGConnectingPoint num="33" id="1584" />
-<TGConnectingPoint num="34" id="1585" />
-<TGConnectingPoint num="35" id="1586" />
-<TGConnectingPoint num="36" id="1587" />
-<TGConnectingPoint num="37" id="1588" />
-<TGConnectingPoint num="38" id="1589" />
-<TGConnectingPoint num="39" id="1590" />
+<TGConnectingPoint num="0" id="1569" />
+<TGConnectingPoint num="1" id="1570" />
+<TGConnectingPoint num="2" id="1571" />
+<TGConnectingPoint num="3" id="1572" />
+<TGConnectingPoint num="4" id="1573" />
+<TGConnectingPoint num="5" id="1574" />
+<TGConnectingPoint num="6" id="1575" />
+<TGConnectingPoint num="7" id="1576" />
+<TGConnectingPoint num="8" id="1577" />
+<TGConnectingPoint num="9" id="1578" />
+<TGConnectingPoint num="10" id="1579" />
+<TGConnectingPoint num="11" id="1580" />
+<TGConnectingPoint num="12" id="1581" />
+<TGConnectingPoint num="13" id="1582" />
+<TGConnectingPoint num="14" id="1583" />
+<TGConnectingPoint num="15" id="1584" />
+<TGConnectingPoint num="16" id="1585" />
+<TGConnectingPoint num="17" id="1586" />
+<TGConnectingPoint num="18" id="1587" />
+<TGConnectingPoint num="19" id="1588" />
+<TGConnectingPoint num="20" id="1589" />
+<TGConnectingPoint num="21" id="1590" />
+<TGConnectingPoint num="22" id="1591" />
+<TGConnectingPoint num="23" id="1592" />
+<TGConnectingPoint num="24" id="1593" />
+<TGConnectingPoint num="25" id="1594" />
+<TGConnectingPoint num="26" id="1595" />
+<TGConnectingPoint num="27" id="1596" />
+<TGConnectingPoint num="28" id="1597" />
+<TGConnectingPoint num="29" id="1598" />
+<TGConnectingPoint num="30" id="1599" />
+<TGConnectingPoint num="31" id="1600" />
+<TGConnectingPoint num="32" id="1601" />
+<TGConnectingPoint num="33" id="1602" />
+<TGConnectingPoint num="34" id="1603" />
+<TGConnectingPoint num="35" id="1604" />
+<TGConnectingPoint num="36" id="1605" />
+<TGConnectingPoint num="37" id="1606" />
+<TGConnectingPoint num="38" id="1607" />
+<TGConnectingPoint num="39" id="1608" />
<extraparam>
<entryCode value="write_gpio2vci(sensorOn, "temperature_sensor");" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5100" id="1593" >
+<COMPONENT type="5100" id="1611" >
<cdparam x="390" y="35" />
<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="1592" />
+<TGConnectingPoint num="0" id="1610" />
</COMPONENT>
@@ -4693,211 +4693,247 @@ 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" >
-<COMPONENT type="5365" id="1618" >
+<COMPONENT type="5365" id="1636" >
<cdparam x="788" y="27" />
-<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<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="temperature_sensor" value="temperature_sensor" />
-<TGConnectingPoint num="0" id="1594" />
-<TGConnectingPoint num="1" id="1595" />
-<TGConnectingPoint num="2" id="1596" />
-<TGConnectingPoint num="3" id="1597" />
-<TGConnectingPoint num="4" id="1598" />
-<TGConnectingPoint num="5" id="1599" />
-<TGConnectingPoint num="6" id="1600" />
-<TGConnectingPoint num="7" id="1601" />
-<TGConnectingPoint num="8" id="1602" />
-<TGConnectingPoint num="9" id="1603" />
-<TGConnectingPoint num="10" id="1604" />
-<TGConnectingPoint num="11" id="1605" />
-<TGConnectingPoint num="12" id="1606" />
-<TGConnectingPoint num="13" id="1607" />
-<TGConnectingPoint num="14" id="1608" />
-<TGConnectingPoint num="15" id="1609" />
-<TGConnectingPoint num="16" id="1610" />
-<TGConnectingPoint num="17" id="1611" />
-<TGConnectingPoint num="18" id="1612" />
-<TGConnectingPoint num="19" id="1613" />
-<TGConnectingPoint num="20" id="1614" />
-<TGConnectingPoint num="21" id="1615" />
-<TGConnectingPoint num="22" id="1616" />
-<TGConnectingPoint num="23" id="1617" />
+<TGConnectingPoint num="0" id="1612" />
+<TGConnectingPoint num="1" id="1613" />
+<TGConnectingPoint num="2" id="1614" />
+<TGConnectingPoint num="3" id="1615" />
+<TGConnectingPoint num="4" id="1616" />
+<TGConnectingPoint num="5" id="1617" />
+<TGConnectingPoint num="6" id="1618" />
+<TGConnectingPoint num="7" id="1619" />
+<TGConnectingPoint num="8" id="1620" />
+<TGConnectingPoint num="9" id="1621" />
+<TGConnectingPoint num="10" id="1622" />
+<TGConnectingPoint num="11" id="1623" />
+<TGConnectingPoint num="12" id="1624" />
+<TGConnectingPoint num="13" id="1625" />
+<TGConnectingPoint num="14" id="1626" />
+<TGConnectingPoint num="15" id="1627" />
+<TGConnectingPoint num="16" id="1628" />
+<TGConnectingPoint num="17" id="1629" />
+<TGConnectingPoint num="18" id="1630" />
+<TGConnectingPoint num="19" id="1631" />
+<TGConnectingPoint num="20" id="1632" />
+<TGConnectingPoint num="21" id="1633" />
+<TGConnectingPoint num="22" id="1634" />
+<TGConnectingPoint num="23" id="1635" />
<extraparam>
<info stereotype="SystemC-AMS Cluster" nodeName="temperature_sensor" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5365" id="1643" >
-<cdparam x="795" y="259" />
-<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5365" id="1661" >
+<cdparam x="790" y="197" />
+<sizeparam width="250" height="105" 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="distance_sensor" value="distance_sensor" />
-<TGConnectingPoint num="0" id="1619" />
-<TGConnectingPoint num="1" id="1620" />
-<TGConnectingPoint num="2" id="1621" />
-<TGConnectingPoint num="3" id="1622" />
-<TGConnectingPoint num="4" id="1623" />
-<TGConnectingPoint num="5" id="1624" />
-<TGConnectingPoint num="6" id="1625" />
-<TGConnectingPoint num="7" id="1626" />
-<TGConnectingPoint num="8" id="1627" />
-<TGConnectingPoint num="9" id="1628" />
-<TGConnectingPoint num="10" id="1629" />
-<TGConnectingPoint num="11" id="1630" />
-<TGConnectingPoint num="12" id="1631" />
-<TGConnectingPoint num="13" id="1632" />
-<TGConnectingPoint num="14" id="1633" />
-<TGConnectingPoint num="15" id="1634" />
-<TGConnectingPoint num="16" id="1635" />
-<TGConnectingPoint num="17" id="1636" />
-<TGConnectingPoint num="18" id="1637" />
-<TGConnectingPoint num="19" id="1638" />
-<TGConnectingPoint num="20" id="1639" />
-<TGConnectingPoint num="21" id="1640" />
-<TGConnectingPoint num="22" id="1641" />
-<TGConnectingPoint num="23" id="1642" />
+<TGConnectingPoint num="0" id="1637" />
+<TGConnectingPoint num="1" id="1638" />
+<TGConnectingPoint num="2" id="1639" />
+<TGConnectingPoint num="3" id="1640" />
+<TGConnectingPoint num="4" id="1641" />
+<TGConnectingPoint num="5" id="1642" />
+<TGConnectingPoint num="6" id="1643" />
+<TGConnectingPoint num="7" id="1644" />
+<TGConnectingPoint num="8" id="1645" />
+<TGConnectingPoint num="9" id="1646" />
+<TGConnectingPoint num="10" id="1647" />
+<TGConnectingPoint num="11" id="1648" />
+<TGConnectingPoint num="12" id="1649" />
+<TGConnectingPoint num="13" id="1650" />
+<TGConnectingPoint num="14" id="1651" />
+<TGConnectingPoint num="15" id="1652" />
+<TGConnectingPoint num="16" id="1653" />
+<TGConnectingPoint num="17" id="1654" />
+<TGConnectingPoint num="18" id="1655" />
+<TGConnectingPoint num="19" id="1656" />
+<TGConnectingPoint num="20" id="1657" />
+<TGConnectingPoint num="21" id="1658" />
+<TGConnectingPoint num="22" id="1659" />
+<TGConnectingPoint num="23" id="1660" />
<extraparam>
<info stereotype="SystemC-AMS Cluster" nodeName="distance_sensor" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5363" id="1668" >
-<cdparam x="441" y="323" />
+<COMPONENT type="5363" id="1686" >
+<cdparam x="439" y="258" />
<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="1644" />
-<TGConnectingPoint num="1" id="1645" />
-<TGConnectingPoint num="2" id="1646" />
-<TGConnectingPoint num="3" id="1647" />
-<TGConnectingPoint num="4" id="1648" />
-<TGConnectingPoint num="5" id="1649" />
-<TGConnectingPoint num="6" id="1650" />
-<TGConnectingPoint num="7" id="1651" />
-<TGConnectingPoint num="8" id="1652" />
-<TGConnectingPoint num="9" id="1653" />
-<TGConnectingPoint num="10" id="1654" />
-<TGConnectingPoint num="11" id="1655" />
-<TGConnectingPoint num="12" id="1656" />
-<TGConnectingPoint num="13" id="1657" />
-<TGConnectingPoint num="14" id="1658" />
-<TGConnectingPoint num="15" id="1659" />
-<TGConnectingPoint num="16" id="1660" />
-<TGConnectingPoint num="17" id="1661" />
-<TGConnectingPoint num="18" id="1662" />
-<TGConnectingPoint num="19" id="1663" />
-<TGConnectingPoint num="20" id="1664" />
-<TGConnectingPoint num="21" id="1665" />
-<TGConnectingPoint num="22" id="1666" />
-<TGConnectingPoint num="23" id="1667" />
+<TGConnectingPoint num="0" id="1662" />
+<TGConnectingPoint num="1" id="1663" />
+<TGConnectingPoint num="2" id="1664" />
+<TGConnectingPoint num="3" id="1665" />
+<TGConnectingPoint num="4" id="1666" />
+<TGConnectingPoint num="5" id="1667" />
+<TGConnectingPoint num="6" id="1668" />
+<TGConnectingPoint num="7" id="1669" />
+<TGConnectingPoint num="8" id="1670" />
+<TGConnectingPoint num="9" id="1671" />
+<TGConnectingPoint num="10" id="1672" />
+<TGConnectingPoint num="11" id="1673" />
+<TGConnectingPoint num="12" id="1674" />
+<TGConnectingPoint num="13" id="1675" />
+<TGConnectingPoint num="14" id="1676" />
+<TGConnectingPoint num="15" id="1677" />
+<TGConnectingPoint num="16" id="1678" />
+<TGConnectingPoint num="17" id="1679" />
+<TGConnectingPoint num="18" id="1680" />
+<TGConnectingPoint num="19" id="1681" />
+<TGConnectingPoint num="20" id="1682" />
+<TGConnectingPoint num="21" id="1683" />
+<TGConnectingPoint num="22" id="1684" />
+<TGConnectingPoint num="23" id="1685" />
<extraparam>
<info stereotype="VGMN" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5355" id="1702" >
+<COMPONENT type="5355" id="1720" >
<cdparam x="427" y="28" />
<sizeparam width="279" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Memory0" value="name" />
-<TGConnectingPoint num="0" id="1678" />
-<TGConnectingPoint num="1" id="1679" />
-<TGConnectingPoint num="2" id="1680" />
-<TGConnectingPoint num="3" id="1681" />
-<TGConnectingPoint num="4" id="1682" />
-<TGConnectingPoint num="5" id="1683" />
-<TGConnectingPoint num="6" id="1684" />
-<TGConnectingPoint num="7" id="1685" />
-<TGConnectingPoint num="8" id="1686" />
-<TGConnectingPoint num="9" id="1687" />
-<TGConnectingPoint num="10" id="1688" />
-<TGConnectingPoint num="11" id="1689" />
-<TGConnectingPoint num="12" id="1690" />
-<TGConnectingPoint num="13" id="1691" />
-<TGConnectingPoint num="14" id="1692" />
-<TGConnectingPoint num="15" id="1693" />
-<TGConnectingPoint num="16" id="1694" />
-<TGConnectingPoint num="17" id="1695" />
-<TGConnectingPoint num="18" id="1696" />
-<TGConnectingPoint num="19" id="1697" />
-<TGConnectingPoint num="20" id="1698" />
-<TGConnectingPoint num="21" id="1699" />
-<TGConnectingPoint num="22" id="1700" />
-<TGConnectingPoint num="23" id="1701" />
+<TGConnectingPoint num="0" id="1696" />
+<TGConnectingPoint num="1" id="1697" />
+<TGConnectingPoint num="2" id="1698" />
+<TGConnectingPoint num="3" id="1699" />
+<TGConnectingPoint num="4" id="1700" />
+<TGConnectingPoint num="5" id="1701" />
+<TGConnectingPoint num="6" id="1702" />
+<TGConnectingPoint num="7" id="1703" />
+<TGConnectingPoint num="8" id="1704" />
+<TGConnectingPoint num="9" id="1705" />
+<TGConnectingPoint num="10" id="1706" />
+<TGConnectingPoint num="11" id="1707" />
+<TGConnectingPoint num="12" id="1708" />
+<TGConnectingPoint num="13" id="1709" />
+<TGConnectingPoint num="14" id="1710" />
+<TGConnectingPoint num="15" id="1711" />
+<TGConnectingPoint num="16" id="1712" />
+<TGConnectingPoint num="17" id="1713" />
+<TGConnectingPoint num="18" id="1714" />
+<TGConnectingPoint num="19" id="1715" />
+<TGConnectingPoint num="20" id="1716" />
+<TGConnectingPoint num="21" id="1717" />
+<TGConnectingPoint num="22" id="1718" />
+<TGConnectingPoint num="23" id="1719" />
<extraparam>
<info stereotype="RAM" nodeName="Memory0" />
<attributes byteDataSize="1048576" index="0" processCode="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="1677" >
-<father id="1702" num="0" />
+<SUBCOMPONENT type="5362" id="1695" >
+<father id="1720" num="0" />
<cdparam x="448" y="116" />
<sizeparam width="224" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="55" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/out motorCommand" />
-<TGConnectingPoint num="0" id="1669" />
-<TGConnectingPoint num="1" id="1670" />
-<TGConnectingPoint num="2" id="1671" />
-<TGConnectingPoint num="3" id="1672" />
-<TGConnectingPoint num="4" id="1673" />
-<TGConnectingPoint num="5" id="1674" />
-<TGConnectingPoint num="6" id="1675" />
-<TGConnectingPoint num="7" id="1676" />
+<TGConnectingPoint num="0" id="1687" />
+<TGConnectingPoint num="1" id="1688" />
+<TGConnectingPoint num="2" id="1689" />
+<TGConnectingPoint num="3" id="1690" />
+<TGConnectingPoint num="4" id="1691" />
+<TGConnectingPoint num="5" id="1692" />
+<TGConnectingPoint num="6" id="1693" />
+<TGConnectingPoint num="7" id="1694" />
<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>
-<COMPONENT type="5354" id="1727" >
-<cdparam x="81" y="342" />
+<COMPONENT type="5354" id="1745" >
+<cdparam x="113" y="203" />
<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" />
-<TGConnectingPoint num="0" id="1703" />
-<TGConnectingPoint num="1" id="1704" />
-<TGConnectingPoint num="2" id="1705" />
-<TGConnectingPoint num="3" id="1706" />
-<TGConnectingPoint num="4" id="1707" />
-<TGConnectingPoint num="5" id="1708" />
-<TGConnectingPoint num="6" id="1709" />
-<TGConnectingPoint num="7" id="1710" />
-<TGConnectingPoint num="8" id="1711" />
-<TGConnectingPoint num="9" id="1712" />
-<TGConnectingPoint num="10" id="1713" />
-<TGConnectingPoint num="11" id="1714" />
-<TGConnectingPoint num="12" id="1715" />
-<TGConnectingPoint num="13" id="1716" />
-<TGConnectingPoint num="14" id="1717" />
-<TGConnectingPoint num="15" id="1718" />
-<TGConnectingPoint num="16" id="1719" />
-<TGConnectingPoint num="17" id="1720" />
-<TGConnectingPoint num="18" id="1721" />
-<TGConnectingPoint num="19" id="1722" />
-<TGConnectingPoint num="20" id="1723" />
-<TGConnectingPoint num="21" id="1724" />
-<TGConnectingPoint num="22" id="1725" />
-<TGConnectingPoint num="23" id="1726" />
+<TGConnectingPoint num="0" id="1721" />
+<TGConnectingPoint num="1" id="1722" />
+<TGConnectingPoint num="2" id="1723" />
+<TGConnectingPoint num="3" id="1724" />
+<TGConnectingPoint num="4" id="1725" />
+<TGConnectingPoint num="5" id="1726" />
+<TGConnectingPoint num="6" id="1727" />
+<TGConnectingPoint num="7" id="1728" />
+<TGConnectingPoint num="8" id="1729" />
+<TGConnectingPoint num="9" id="1730" />
+<TGConnectingPoint num="10" id="1731" />
+<TGConnectingPoint num="11" id="1732" />
+<TGConnectingPoint num="12" id="1733" />
+<TGConnectingPoint num="13" id="1734" />
+<TGConnectingPoint num="14" id="1735" />
+<TGConnectingPoint num="15" id="1736" />
+<TGConnectingPoint num="16" id="1737" />
+<TGConnectingPoint num="17" id="1738" />
+<TGConnectingPoint num="18" id="1739" />
+<TGConnectingPoint num="19" id="1740" />
+<TGConnectingPoint num="20" id="1741" />
+<TGConnectingPoint num="21" id="1742" />
+<TGConnectingPoint num="22" id="1743" />
+<TGConnectingPoint num="23" id="1744" />
<extraparam>
<info stereotype="TTY" nodeName="TTY0" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5351" id="1770" >
-<cdparam x="80" y="80" />
-<sizeparam width="250" height="213" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5351" id="1788" >
+<cdparam x="110" y="30" />
+<sizeparam width="250" height="140" 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" />
+<TGConnectingPoint num="0" id="1764" />
+<TGConnectingPoint num="1" id="1765" />
+<TGConnectingPoint num="2" id="1766" />
+<TGConnectingPoint num="3" id="1767" />
+<TGConnectingPoint num="4" id="1768" />
+<TGConnectingPoint num="5" id="1769" />
+<TGConnectingPoint num="6" id="1770" />
+<TGConnectingPoint num="7" id="1771" />
+<TGConnectingPoint num="8" id="1772" />
+<TGConnectingPoint num="9" id="1773" />
+<TGConnectingPoint num="10" id="1774" />
+<TGConnectingPoint num="11" id="1775" />
+<TGConnectingPoint num="12" id="1776" />
+<TGConnectingPoint num="13" id="1777" />
+<TGConnectingPoint num="14" id="1778" />
+<TGConnectingPoint num="15" id="1779" />
+<TGConnectingPoint num="16" id="1780" />
+<TGConnectingPoint num="17" id="1781" />
+<TGConnectingPoint num="18" id="1782" />
+<TGConnectingPoint num="19" id="1783" />
+<TGConnectingPoint num="20" id="1784" />
+<TGConnectingPoint num="21" id="1785" />
+<TGConnectingPoint num="22" id="1786" />
+<TGConnectingPoint num="23" id="1787" />
+<extraparam>
+<info stereotype="CPU" nodeName="CPU0" />
+<attributes nbOfIrq="6" iCacheWays="8" iCacheSets="4" iCacheWords="4" dCacheWays="8" dCacheSets="4" dCacheWords="4" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="5352" id="1754" >
+<father id="1788" num="0" />
+<cdparam x="128" y="73" />
+<sizeparam width="156" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="94" minY="0" maxY="100" />
+<infoparam name="TGComponent" value="Design::MotorControl" />
<TGConnectingPoint num="0" id="1746" />
<TGConnectingPoint num="1" id="1747" />
<TGConnectingPoint num="2" id="1748" />
@@ -4906,119 +4942,83 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="5" id="1751" />
<TGConnectingPoint num="6" id="1752" />
<TGConnectingPoint num="7" id="1753" />
-<TGConnectingPoint num="8" id="1754" />
-<TGConnectingPoint num="9" id="1755" />
-<TGConnectingPoint num="10" id="1756" />
-<TGConnectingPoint num="11" id="1757" />
-<TGConnectingPoint num="12" id="1758" />
-<TGConnectingPoint num="13" id="1759" />
-<TGConnectingPoint num="14" id="1760" />
-<TGConnectingPoint num="15" id="1761" />
-<TGConnectingPoint num="16" id="1762" />
-<TGConnectingPoint num="17" id="1763" />
-<TGConnectingPoint num="18" id="1764" />
-<TGConnectingPoint num="19" id="1765" />
-<TGConnectingPoint num="20" id="1766" />
-<TGConnectingPoint num="21" id="1767" />
-<TGConnectingPoint num="22" id="1768" />
-<TGConnectingPoint num="23" id="1769" />
<extraparam>
-<info stereotype="CPU" nodeName="CPU0" />
-<attributes nbOfIrq="6" iCacheWays="8" iCacheSets="4" iCacheWords="4" dCacheWays="8" dCacheSets="4" dCacheWords="4" />
+<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
</extraparam>
-</COMPONENT>
-<SUBCOMPONENT type="5352" id="1736" >
-<father id="1770" num="0" />
-<cdparam x="103" y="188" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="5352" id="1763" >
+<father id="1788" num="1" />
+<cdparam x="129" y="122" />
<sizeparam width="150" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="100" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="100" minY="0" maxY="100" />
<infoparam name="TGComponent" value="Design::MainControl" />
-<TGConnectingPoint num="0" id="1728" />
-<TGConnectingPoint num="1" id="1729" />
-<TGConnectingPoint num="2" id="1730" />
-<TGConnectingPoint num="3" id="1731" />
-<TGConnectingPoint num="4" id="1732" />
-<TGConnectingPoint num="5" id="1733" />
-<TGConnectingPoint num="6" id="1734" />
-<TGConnectingPoint num="7" id="1735" />
+<TGConnectingPoint num="0" id="1755" />
+<TGConnectingPoint num="1" id="1756" />
+<TGConnectingPoint num="2" id="1757" />
+<TGConnectingPoint num="3" id="1758" />
+<TGConnectingPoint num="4" id="1759" />
+<TGConnectingPoint num="5" id="1760" />
+<TGConnectingPoint num="6" id="1761" />
+<TGConnectingPoint num="7" id="1762" />
<extraparam>
<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="1745" >
-<father id="1770" num="1" />
-<cdparam x="101" y="114" />
-<sizeparam width="156" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MotorControl" />
-<TGConnectingPoint num="0" id="1737" />
-<TGConnectingPoint num="1" id="1738" />
-<TGConnectingPoint num="2" id="1739" />
-<TGConnectingPoint num="3" id="1740" />
-<TGConnectingPoint num="4" id="1741" />
-<TGConnectingPoint num="5" id="1742" />
-<TGConnectingPoint num="6" id="1743" />
-<TGConnectingPoint num="7" id="1744" />
-<extraparam>
-<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
-</extraparam>
-</SUBCOMPONENT>
-<CONNECTOR type="5350" id="1771" >
-<cdparam x="589" y="223" />
+<CONNECTOR type="5350" id="1789" >
+<cdparam x="790" y="275" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="788" y="227" id="1599" />
-<P2 x="691" y="335" id="1655" />
+<P1 x="790" y="275" id="1649" />
+<P2 x="689" y="295" id="1675" />
<AutomaticDrawing data="true" />
<extraparam>
-<spy value="false" />
+<spy value="true" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1772" >
-<cdparam x="413" y="550" />
+<CONNECTOR type="5350" id="1790" >
+<cdparam x="589" y="223" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="795" y="409" id="1631" />
-<P2 x="691" y="373" id="1651" />
+<P1 x="788" y="127" id="1617" />
+<P2 x="689" y="270" id="1673" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1773" >
+<CONNECTOR type="5350" id="1791" >
<cdparam x="798" y="330" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="566" y="228" id="1684" />
-<P2 x="566" y="323" id="1645" />
+<P1 x="566" y="228" id="1702" />
+<P2 x="564" y="258" id="1663" />
<AutomaticDrawing data="true" />
<extraparam>
-<spy value="false" />
+<spy value="true" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1774" >
+<CONNECTOR type="5350" id="1792" >
<cdparam x="330" y="413" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="331" y="392" id="1707" />
-<P2 x="441" y="360" id="1656" />
+<P1 x="363" y="253" id="1725" />
+<P2 x="439" y="295" id="1674" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1775" >
+<CONNECTOR type="5350" id="1793" >
<cdparam x="330" y="234" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="330" y="186" id="1750" />
-<P2 x="441" y="335" id="1654" />
+<P1 x="360" y="100" id="1768" />
+<P2 x="439" y="270" id="1672" />
<AutomaticDrawing data="true" />
<extraparam>
-<spy value="false" />
+<spy value="true" />
</extraparam>
</CONNECTOR>
@@ -5031,231 +5031,197 @@ state 2: obstacles in close proximity
<Modeling type="SystemC-AMS" nameTab="SystemC_AMS" >
<SysCAMSComponentTaskDiagramPanel name="distance_sensor" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
-<CONNECTOR type="1601" id="1776" >
+<CONNECTOR type="1601" id="1794" >
<cdparam x="793" y="410" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="793" y="410" id="1907" />
-<P2 x="938" y="409" id="1791" />
+<P1 x="793" y="410" id="1828" />
+<P2 x="938" y="409" id="1799" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1777" >
+<CONNECTOR type="1601" id="1795" >
<cdparam x="938" y="335" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="938" y="351" id="1781" />
-<P2 x="793" y="351" id="1897" />
+<P1 x="938" y="351" id="1809" />
+<P2 x="793" y="351" id="1838" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1778" >
+<CONNECTOR type="1601" id="1796" >
<cdparam x="400" y="577" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="400" y="577" id="1810" />
-<P2 x="573" y="441" id="1887" />
+<P1 x="400" y="577" id="1925" />
+<P2 x="573" y="441" id="1848" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1779" >
+<CONNECTOR type="1601" id="1797" >
<cdparam x="395" y="386" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="395" y="386" id="1848" />
-<P2 x="573" y="386" id="1877" />
+<P1 x="395" y="386" id="1887" />
+<P2 x="573" y="386" id="1858" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1780" >
+<CONNECTOR type="1601" id="1798" >
<cdparam x="390" y="202" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="390" y="202" id="1829" />
-<P2 x="573" y="338" id="1867" />
+<P1 x="390" y="202" id="1906" />
+<P2 x="573" y="338" id="1868" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<COMPONENT type="1608" id="1809" >
+<COMPONENT type="1608" id="1827" >
<cdparam x="948" y="297" />
<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Primitive component - Block GPIO2VCI" value="blockGPIO2VCI" />
-<TGConnectingPoint num="0" id="1801" />
-<TGConnectingPoint num="1" id="1802" />
-<TGConnectingPoint num="2" id="1803" />
-<TGConnectingPoint num="3" id="1804" />
-<TGConnectingPoint num="4" id="1805" />
-<TGConnectingPoint num="5" id="1806" />
-<TGConnectingPoint num="6" id="1807" />
-<TGConnectingPoint num="7" id="1808" />
-</COMPONENT>
-<SUBCOMPONENT type="1605" id="1790" >
-<father id="1809" num="0" />
-<cdparam x="938" y="341" />
+<TGConnectingPoint num="0" id="1819" />
+<TGConnectingPoint num="1" id="1820" />
+<TGConnectingPoint num="2" id="1821" />
+<TGConnectingPoint num="3" id="1822" />
+<TGConnectingPoint num="4" id="1823" />
+<TGConnectingPoint num="5" id="1824" />
+<TGConnectingPoint num="6" id="1825" />
+<TGConnectingPoint num="7" id="1826" />
+</COMPONENT>
+<SUBCOMPONENT type="1605" id="1808" >
+<father id="1827" num="0" />
+<cdparam x="938" y="399" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
-<TGConnectingPoint num="0" id="1781" />
-<TGConnectingPoint num="1" id="1782" />
-<TGConnectingPoint num="2" id="1783" />
-<TGConnectingPoint num="3" id="1784" />
-<TGConnectingPoint num="4" id="1785" />
-<TGConnectingPoint num="5" id="1786" />
-<TGConnectingPoint num="6" id="1787" />
-<TGConnectingPoint num="7" id="1788" />
-<TGConnectingPoint num="8" id="1789" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<TGConnectingPoint num="0" id="1799" />
+<TGConnectingPoint num="1" id="1800" />
+<TGConnectingPoint num="2" id="1801" />
+<TGConnectingPoint num="3" id="1802" />
+<TGConnectingPoint num="4" id="1803" />
+<TGConnectingPoint num="5" id="1804" />
+<TGConnectingPoint num="6" id="1805" />
+<TGConnectingPoint num="7" id="1806" />
+<TGConnectingPoint num="8" id="1807" />
<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1800" >
-<father id="1809" num="1" />
-<cdparam x="938" y="399" />
+<SUBCOMPONENT type="1605" id="1818" >
+<father id="1827" num="1" />
+<cdparam x="938" y="341" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
-<TGConnectingPoint num="0" id="1791" />
-<TGConnectingPoint num="1" id="1792" />
-<TGConnectingPoint num="2" id="1793" />
-<TGConnectingPoint num="3" id="1794" />
-<TGConnectingPoint num="4" id="1795" />
-<TGConnectingPoint num="5" id="1796" />
-<TGConnectingPoint num="6" id="1797" />
-<TGConnectingPoint num="7" id="1798" />
-<TGConnectingPoint num="8" id="1799" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<TGConnectingPoint num="0" id="1809" />
+<TGConnectingPoint num="1" id="1810" />
+<TGConnectingPoint num="2" id="1811" />
+<TGConnectingPoint num="3" id="1812" />
+<TGConnectingPoint num="4" id="1813" />
+<TGConnectingPoint num="5" id="1814" />
+<TGConnectingPoint num="6" id="1815" />
+<TGConnectingPoint num="7" id="1816" />
+<TGConnectingPoint num="8" id="1817" />
<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1607" id="1934" >
+<COMPONENT type="1607" id="1952" >
<cdparam x="90" y="73" />
<sizeparam width="764" height="578" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Composite component - Cluster" value="distance_sensor" />
-<TGConnectingPoint num="0" id="1926" />
-<TGConnectingPoint num="1" id="1927" />
-<TGConnectingPoint num="2" id="1928" />
-<TGConnectingPoint num="3" id="1929" />
-<TGConnectingPoint num="4" id="1930" />
-<TGConnectingPoint num="5" id="1931" />
-<TGConnectingPoint num="6" id="1932" />
-<TGConnectingPoint num="7" id="1933" />
-</COMPONENT>
-<SUBCOMPONENT type="1602" id="1828" >
-<father id="1934" num="0" />
-<cdparam x="158" y="477" />
-<sizeparam width="232" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TGConnectingPoint num="0" id="1944" />
+<TGConnectingPoint num="1" id="1945" />
+<TGConnectingPoint num="2" id="1946" />
+<TGConnectingPoint num="3" id="1947" />
+<TGConnectingPoint num="4" id="1948" />
+<TGConnectingPoint num="5" id="1949" />
+<TGConnectingPoint num="6" id="1950" />
+<TGConnectingPoint num="7" id="1951" />
+</COMPONENT>
+<SUBCOMPONENT type="1603" id="1886" >
+<father id="1952" num="0" />
+<cdparam x="583" y="304" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="532" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_right" />
-<TGConnectingPoint num="0" id="1820" />
-<TGConnectingPoint num="1" id="1821" />
-<TGConnectingPoint num="2" id="1822" />
-<TGConnectingPoint num="3" id="1823" />
-<TGConnectingPoint num="4" id="1824" />
-<TGConnectingPoint num="5" id="1825" />
-<TGConnectingPoint num="6" id="1826" />
-<TGConnectingPoint num="7" id="1827" />
+<cdrectangleparam minX="0" maxX="564" minY="0" maxY="428" />
+<infoparam name="Primitive component - Block DE" value="controller" />
+<TGConnectingPoint num="0" id="1878" />
+<TGConnectingPoint num="1" id="1879" />
+<TGConnectingPoint num="2" id="1880" />
+<TGConnectingPoint num="3" id="1881" />
+<TGConnectingPoint num="4" id="1882" />
+<TGConnectingPoint num="5" id="1883" />
+<TGConnectingPoint num="6" id="1884" />
+<TGConnectingPoint num="7" id="1885" />
<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- out.write(rand() % 12);
+<Attribute name_function="read_sensor" code="void read_sensor() {
+ if(in.read() == 0) {
+ out.write(in_left.read());
+ //cout << "Reading sensor left: " << in_left.read() << "@ " << this->get_time() << endl;
+ }
+ else if(in.read() == 1) {
+ out.write(in_front.read());
+ //cout << "Reading sensor front: " << in_front.read() << "@ " << this->get_time() << endl;
+ }
+ else if(in.read() == 2) {
+ out.write(in_right.read());
+ //cout << "Reading sensor right: " << in_right.read() << "@ " << this->get_time() << endl;
+ }
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1819" >
-<father id="1828" num="0" />
-<cdparam x="380" y="567" />
+<SUBCOMPONENT type="1605" id="1837" >
+<father id="1886" num="0" />
+<cdparam x="773" y="400" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="222" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1810" />
-<TGConnectingPoint num="1" id="1811" />
-<TGConnectingPoint num="2" id="1812" />
-<TGConnectingPoint num="3" id="1813" />
-<TGConnectingPoint num="4" id="1814" />
-<TGConnectingPoint num="5" id="1815" />
-<TGConnectingPoint num="6" id="1816" />
-<TGConnectingPoint num="7" id="1817" />
-<TGConnectingPoint num="8" id="1818" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1602" id="1847" >
-<father id="1934" num="1" />
-<cdparam x="155" y="117" />
-<sizeparam width="225" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="539" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_left" />
-<TGConnectingPoint num="0" id="1839" />
-<TGConnectingPoint num="1" id="1840" />
-<TGConnectingPoint num="2" id="1841" />
-<TGConnectingPoint num="3" id="1842" />
-<TGConnectingPoint num="4" id="1843" />
-<TGConnectingPoint num="5" id="1844" />
-<TGConnectingPoint num="6" id="1845" />
-<TGConnectingPoint num="7" id="1846" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port DE" value="out" />
+<TGConnectingPoint num="0" id="1828" />
+<TGConnectingPoint num="1" id="1829" />
+<TGConnectingPoint num="2" id="1830" />
+<TGConnectingPoint num="3" id="1831" />
+<TGConnectingPoint num="4" id="1832" />
+<TGConnectingPoint num="5" id="1833" />
+<TGConnectingPoint num="6" id="1834" />
+<TGConnectingPoint num="7" id="1835" />
+<TGConnectingPoint num="8" id="1836" />
<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- out.write(rand() % 12);
-}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+<Prop commName="out" commType="0" origin="1" type="sc_uint<32>" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1838" >
-<father id="1847" num="0" />
-<cdparam x="370" y="192" />
+<SUBCOMPONENT type="1605" id="1847" >
+<father id="1886" num="1" />
+<cdparam x="773" y="341" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="215" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1829" />
-<TGConnectingPoint num="1" id="1830" />
-<TGConnectingPoint num="2" id="1831" />
-<TGConnectingPoint num="3" id="1832" />
-<TGConnectingPoint num="4" id="1833" />
-<TGConnectingPoint num="5" id="1834" />
-<TGConnectingPoint num="6" id="1835" />
-<TGConnectingPoint num="7" id="1836" />
-<TGConnectingPoint num="8" id="1837" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
-</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1602" id="1866" >
-<father id="1934" num="2" />
-<cdparam x="157" y="297" />
-<sizeparam width="228" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="536" minY="0" maxY="429" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_front" />
-<TGConnectingPoint num="0" id="1858" />
-<TGConnectingPoint num="1" id="1859" />
-<TGConnectingPoint num="2" id="1860" />
-<TGConnectingPoint num="3" id="1861" />
-<TGConnectingPoint num="4" id="1862" />
-<TGConnectingPoint num="5" id="1863" />
-<TGConnectingPoint num="6" id="1864" />
-<TGConnectingPoint num="7" id="1865" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port DE" value="in" />
+<TGConnectingPoint num="0" id="1838" />
+<TGConnectingPoint num="1" id="1839" />
+<TGConnectingPoint num="2" id="1840" />
+<TGConnectingPoint num="3" id="1841" />
+<TGConnectingPoint num="4" id="1842" />
+<TGConnectingPoint num="5" id="1843" />
+<TGConnectingPoint num="6" id="1844" />
+<TGConnectingPoint num="7" id="1845" />
+<TGConnectingPoint num="8" id="1846" />
<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- //out.write(rand() % 12);
- out.write(2);
-}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+<Prop commName="in" commType="0" origin="0" type="sc_uint<32>" sensitive="true" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1857" >
-<father id="1866" num="0" />
-<cdparam x="375" y="376" />
+<SUBCOMPONENT type="1605" id="1857" >
+<father id="1886" num="2" />
+<cdparam x="573" y="431" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="218" minY="-10" maxY="139" />
-<infoparam name="Primitive port - Port Converter" value="out" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port DE" value="in_right" />
<TGConnectingPoint num="0" id="1848" />
<TGConnectingPoint num="1" id="1849" />
<TGConnectingPoint num="2" id="1850" />
@@ -5266,89 +5232,79 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="7" id="1855" />
<TGConnectingPoint num="8" id="1856" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
+<Prop commName="in_right" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1603" id="1925" >
-<father id="1934" num="3" />
-<cdparam x="583" y="304" />
-<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1605" id="1867" >
+<father id="1886" num="3" />
+<cdparam x="573" y="376" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="564" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block DE" value="controller" />
-<TGConnectingPoint num="0" id="1917" />
-<TGConnectingPoint num="1" id="1918" />
-<TGConnectingPoint num="2" id="1919" />
-<TGConnectingPoint num="3" id="1920" />
-<TGConnectingPoint num="4" id="1921" />
-<TGConnectingPoint num="5" id="1922" />
-<TGConnectingPoint num="6" id="1923" />
-<TGConnectingPoint num="7" id="1924" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port DE" value="in_front" />
+<TGConnectingPoint num="0" id="1858" />
+<TGConnectingPoint num="1" id="1859" />
+<TGConnectingPoint num="2" id="1860" />
+<TGConnectingPoint num="3" id="1861" />
+<TGConnectingPoint num="4" id="1862" />
+<TGConnectingPoint num="5" id="1863" />
+<TGConnectingPoint num="6" id="1864" />
+<TGConnectingPoint num="7" id="1865" />
+<TGConnectingPoint num="8" id="1866" />
<extraparam>
-<Attribute name_function="read_sensor" code="void read_sensor() {
- if(in.read() == 0) {
- out.write(in_left.read());
- //cout << "Reading sensor left: " << in_left.read() << "@ " << this->get_time() << endl;
- }
- else if(in.read() == 1) {
- out.write(in_front.read());
- //cout << "Reading sensor front: " << in_front.read() << "@ " << this->get_time() << endl;
- }
- else if(in.read() == 2) {
- out.write(in_right.read());
- //cout << "Reading sensor right: " << in_right.read() << "@ " << this->get_time() << endl;
- }
-}
- " listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+<Prop commName="in_front" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1876" >
-<father id="1925" num="0" />
+<SUBCOMPONENT type="1605" id="1877" >
+<father id="1886" num="4" />
<cdparam x="573" y="328" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
<infoparam name="Primitive port - Port DE" value="in_left" />
-<TGConnectingPoint num="0" id="1867" />
-<TGConnectingPoint num="1" id="1868" />
-<TGConnectingPoint num="2" id="1869" />
-<TGConnectingPoint num="3" id="1870" />
-<TGConnectingPoint num="4" id="1871" />
-<TGConnectingPoint num="5" id="1872" />
-<TGConnectingPoint num="6" id="1873" />
-<TGConnectingPoint num="7" id="1874" />
-<TGConnectingPoint num="8" id="1875" />
+<TGConnectingPoint num="0" id="1868" />
+<TGConnectingPoint num="1" id="1869" />
+<TGConnectingPoint num="2" id="1870" />
+<TGConnectingPoint num="3" id="1871" />
+<TGConnectingPoint num="4" id="1872" />
+<TGConnectingPoint num="5" id="1873" />
+<TGConnectingPoint num="6" id="1874" />
+<TGConnectingPoint num="7" id="1875" />
+<TGConnectingPoint num="8" id="1876" />
<extraparam>
<Prop commName="in_left" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1886" >
-<father id="1925" num="1" />
-<cdparam x="573" y="376" />
-<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1602" id="1905" >
+<father id="1952" num="1" />
+<cdparam x="157" y="297" />
+<sizeparam width="228" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in_front" />
-<TGConnectingPoint num="0" id="1877" />
-<TGConnectingPoint num="1" id="1878" />
-<TGConnectingPoint num="2" id="1879" />
-<TGConnectingPoint num="3" id="1880" />
-<TGConnectingPoint num="4" id="1881" />
-<TGConnectingPoint num="5" id="1882" />
-<TGConnectingPoint num="6" id="1883" />
-<TGConnectingPoint num="7" id="1884" />
-<TGConnectingPoint num="8" id="1885" />
+<cdrectangleparam minX="0" maxX="536" minY="0" maxY="429" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_front" />
+<TGConnectingPoint num="0" id="1897" />
+<TGConnectingPoint num="1" id="1898" />
+<TGConnectingPoint num="2" id="1899" />
+<TGConnectingPoint num="3" id="1900" />
+<TGConnectingPoint num="4" id="1901" />
+<TGConnectingPoint num="5" id="1902" />
+<TGConnectingPoint num="6" id="1903" />
+<TGConnectingPoint num="7" id="1904" />
<extraparam>
-<Prop commName="in_front" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ //out.write(rand() % 12);
+ out.write(2);
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1896" >
-<father id="1925" num="2" />
-<cdparam x="573" y="431" />
+<SUBCOMPONENT type="1606" id="1896" >
+<father id="1905" num="0" />
+<cdparam x="375" y="376" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in_right" />
+<cdrectangleparam minX="-10" maxX="218" minY="-10" maxY="139" />
+<infoparam name="Primitive port - Port Converter" value="out" />
<TGConnectingPoint num="0" id="1887" />
<TGConnectingPoint num="1" id="1888" />
<TGConnectingPoint num="2" id="1889" />
@@ -5359,47 +5315,91 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="7" id="1894" />
<TGConnectingPoint num="8" id="1895" />
<extraparam>
-<Prop commName="in_right" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1906" >
-<father id="1925" num="3" />
-<cdparam x="773" y="341" />
+<SUBCOMPONENT type="1602" id="1924" >
+<father id="1952" num="2" />
+<cdparam x="155" y="117" />
+<sizeparam width="225" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="539" minY="0" maxY="428" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_left" />
+<TGConnectingPoint num="0" id="1916" />
+<TGConnectingPoint num="1" id="1917" />
+<TGConnectingPoint num="2" id="1918" />
+<TGConnectingPoint num="3" id="1919" />
+<TGConnectingPoint num="4" id="1920" />
+<TGConnectingPoint num="5" id="1921" />
+<TGConnectingPoint num="6" id="1922" />
+<TGConnectingPoint num="7" id="1923" />
+<extraparam>
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ out.write(rand() % 12);
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="1915" >
+<father id="1924" num="0" />
+<cdparam x="370" y="192" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in" />
-<TGConnectingPoint num="0" id="1897" />
-<TGConnectingPoint num="1" id="1898" />
-<TGConnectingPoint num="2" id="1899" />
-<TGConnectingPoint num="3" id="1900" />
-<TGConnectingPoint num="4" id="1901" />
-<TGConnectingPoint num="5" id="1902" />
-<TGConnectingPoint num="6" id="1903" />
-<TGConnectingPoint num="7" id="1904" />
-<TGConnectingPoint num="8" id="1905" />
+<cdrectangleparam minX="-10" maxX="215" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1906" />
+<TGConnectingPoint num="1" id="1907" />
+<TGConnectingPoint num="2" id="1908" />
+<TGConnectingPoint num="3" id="1909" />
+<TGConnectingPoint num="4" id="1910" />
+<TGConnectingPoint num="5" id="1911" />
+<TGConnectingPoint num="6" id="1912" />
+<TGConnectingPoint num="7" id="1913" />
+<TGConnectingPoint num="8" id="1914" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" type="sc_uint<32>" sensitive="true" sensitive_method="" nbits="0" />
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1916" >
-<father id="1925" num="4" />
-<cdparam x="773" y="400" />
+<SUBCOMPONENT type="1602" id="1943" >
+<father id="1952" num="3" />
+<cdparam x="158" y="477" />
+<sizeparam width="232" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="532" minY="0" maxY="428" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_right" />
+<TGConnectingPoint num="0" id="1935" />
+<TGConnectingPoint num="1" id="1936" />
+<TGConnectingPoint num="2" id="1937" />
+<TGConnectingPoint num="3" id="1938" />
+<TGConnectingPoint num="4" id="1939" />
+<TGConnectingPoint num="5" id="1940" />
+<TGConnectingPoint num="6" id="1941" />
+<TGConnectingPoint num="7" id="1942" />
+<extraparam>
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ out.write(rand() % 12);
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="1934" >
+<father id="1943" num="0" />
+<cdparam x="380" y="567" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="out" />
-<TGConnectingPoint num="0" id="1907" />
-<TGConnectingPoint num="1" id="1908" />
-<TGConnectingPoint num="2" id="1909" />
-<TGConnectingPoint num="3" id="1910" />
-<TGConnectingPoint num="4" id="1911" />
-<TGConnectingPoint num="5" id="1912" />
-<TGConnectingPoint num="6" id="1913" />
-<TGConnectingPoint num="7" id="1914" />
-<TGConnectingPoint num="8" id="1915" />
+<cdrectangleparam minX="-10" maxX="222" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1925" />
+<TGConnectingPoint num="1" id="1926" />
+<TGConnectingPoint num="2" id="1927" />
+<TGConnectingPoint num="3" id="1928" />
+<TGConnectingPoint num="4" id="1929" />
+<TGConnectingPoint num="5" id="1930" />
+<TGConnectingPoint num="6" id="1931" />
+<TGConnectingPoint num="7" id="1932" />
+<TGConnectingPoint num="8" id="1933" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" type="sc_uint<32>" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
@@ -5407,108 +5407,108 @@ state 2: obstacles in close proximity
</SysCAMSComponentTaskDiagramPanel>
<SysCAMSComponentTaskDiagramPanel name="temperature_sensor" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
-<CONNECTOR type="1601" id="1935" >
+<CONNECTOR type="1601" id="1953" >
<cdparam x="700" y="426" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="690" y="416" id="1976" />
-<P2 x="878" y="416" id="1947" />
+<P1 x="690" y="416" id="1984" />
+<P2 x="878" y="416" id="1955" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1936" >
+<CONNECTOR type="1601" id="1954" >
<cdparam x="884" y="360" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="878" y="343" id="1937" />
-<P2 x="690" y="343" id="1966" />
+<P1 x="878" y="343" id="1965" />
+<P2 x="690" y="343" id="1994" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<COMPONENT type="1608" id="1965" >
+<COMPONENT type="1608" id="1983" >
<cdparam x="878" y="314" />
<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Primitive component - Block GPIO2VCI" value="blockGPIO2VCI" />
-<TGConnectingPoint num="0" id="1957" />
-<TGConnectingPoint num="1" id="1958" />
-<TGConnectingPoint num="2" id="1959" />
-<TGConnectingPoint num="3" id="1960" />
-<TGConnectingPoint num="4" id="1961" />
-<TGConnectingPoint num="5" id="1962" />
-<TGConnectingPoint num="6" id="1963" />
-<TGConnectingPoint num="7" id="1964" />
-</COMPONENT>
-<SUBCOMPONENT type="1605" id="1946" >
-<father id="1965" num="0" />
-<cdparam x="868" y="343" />
+<TGConnectingPoint num="0" id="1975" />
+<TGConnectingPoint num="1" id="1976" />
+<TGConnectingPoint num="2" id="1977" />
+<TGConnectingPoint num="3" id="1978" />
+<TGConnectingPoint num="4" id="1979" />
+<TGConnectingPoint num="5" id="1980" />
+<TGConnectingPoint num="6" id="1981" />
+<TGConnectingPoint num="7" id="1982" />
+</COMPONENT>
+<SUBCOMPONENT type="1605" id="1964" >
+<father id="1983" num="0" />
+<cdparam x="868" y="416" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="out" />
-<TGConnectingPoint num="0" id="1937" />
-<TGConnectingPoint num="1" id="1938" />
-<TGConnectingPoint num="2" id="1939" />
-<TGConnectingPoint num="3" id="1940" />
-<TGConnectingPoint num="4" id="1941" />
-<TGConnectingPoint num="5" id="1942" />
-<TGConnectingPoint num="6" id="1943" />
-<TGConnectingPoint num="7" id="1944" />
-<TGConnectingPoint num="8" id="1945" />
+<infoparam name="Primitive port - Port DE" value="in" />
+<TGConnectingPoint num="0" id="1955" />
+<TGConnectingPoint num="1" id="1956" />
+<TGConnectingPoint num="2" id="1957" />
+<TGConnectingPoint num="3" id="1958" />
+<TGConnectingPoint num="4" id="1959" />
+<TGConnectingPoint num="5" id="1960" />
+<TGConnectingPoint num="6" id="1961" />
+<TGConnectingPoint num="7" id="1962" />
+<TGConnectingPoint num="8" id="1963" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1956" >
-<father id="1965" num="1" />
-<cdparam x="868" y="416" />
+<SUBCOMPONENT type="1605" id="1974" >
+<father id="1983" num="1" />
+<cdparam x="868" y="343" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in" />
-<TGConnectingPoint num="0" id="1947" />
-<TGConnectingPoint num="1" id="1948" />
-<TGConnectingPoint num="2" id="1949" />
-<TGConnectingPoint num="3" id="1950" />
-<TGConnectingPoint num="4" id="1951" />
-<TGConnectingPoint num="5" id="1952" />
-<TGConnectingPoint num="6" id="1953" />
-<TGConnectingPoint num="7" id="1954" />
-<TGConnectingPoint num="8" id="1955" />
+<infoparam name="Primitive port - Port DE" value="out" />
+<TGConnectingPoint num="0" id="1965" />
+<TGConnectingPoint num="1" id="1966" />
+<TGConnectingPoint num="2" id="1967" />
+<TGConnectingPoint num="3" id="1968" />
+<TGConnectingPoint num="4" id="1969" />
+<TGConnectingPoint num="5" id="1970" />
+<TGConnectingPoint num="6" id="1971" />
+<TGConnectingPoint num="7" id="1972" />
+<TGConnectingPoint num="8" id="1973" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
+<Prop commName="out" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1607" id="2003" >
+<COMPONENT type="1607" id="2021" >
<cdparam x="308" y="233" />
<sizeparam width="493" height="291" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Composite component - Cluster" value="temperature_sensor" />
-<TGConnectingPoint num="0" id="1995" />
-<TGConnectingPoint num="1" id="1996" />
-<TGConnectingPoint num="2" id="1997" />
-<TGConnectingPoint num="3" id="1998" />
-<TGConnectingPoint num="4" id="1999" />
-<TGConnectingPoint num="5" id="2000" />
-<TGConnectingPoint num="6" id="2001" />
-<TGConnectingPoint num="7" id="2002" />
-</COMPONENT>
-<SUBCOMPONENT type="1602" id="1994" >
-<father id="2003" num="0" />
+<TGConnectingPoint num="0" id="2013" />
+<TGConnectingPoint num="1" id="2014" />
+<TGConnectingPoint num="2" id="2015" />
+<TGConnectingPoint num="3" id="2016" />
+<TGConnectingPoint num="4" id="2017" />
+<TGConnectingPoint num="5" id="2018" />
+<TGConnectingPoint num="6" id="2019" />
+<TGConnectingPoint num="7" id="2020" />
+</COMPONENT>
+<SUBCOMPONENT type="1602" id="2012" >
+<father id="2021" num="0" />
<cdparam x="408" y="311" />
<sizeparam width="282" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="211" minY="0" maxY="141" />
<infoparam name="Primitive component - Block TDF" value="temperature_sensor_unit" />
-<TGConnectingPoint num="0" id="1986" />
-<TGConnectingPoint num="1" id="1987" />
-<TGConnectingPoint num="2" id="1988" />
-<TGConnectingPoint num="3" id="1989" />
-<TGConnectingPoint num="4" id="1990" />
-<TGConnectingPoint num="5" id="1991" />
-<TGConnectingPoint num="6" id="1992" />
-<TGConnectingPoint num="7" id="1993" />
+<TGConnectingPoint num="0" id="2004" />
+<TGConnectingPoint num="1" id="2005" />
+<TGConnectingPoint num="2" id="2006" />
+<TGConnectingPoint num="3" id="2007" />
+<TGConnectingPoint num="4" id="2008" />
+<TGConnectingPoint num="5" id="2009" />
+<TGConnectingPoint num="6" id="2010" />
+<TGConnectingPoint num="7" id="2011" />
<extraparam>
<Attribute period="10.0" time="μs" processCode="void processing() {
if(in.read() != 0) {
@@ -5518,47 +5518,47 @@ state 2: obstacles in close proximity
cout << "Temp sensor is off. @ " << this->get_time() << endl;
}
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1975" >
-<father id="1994" num="0" />
-<cdparam x="680" y="343" />
+<SUBCOMPONENT type="1606" id="1993" >
+<father id="2012" num="0" />
+<cdparam x="680" y="416" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="272" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="in" />
-<TGConnectingPoint num="0" id="1966" />
-<TGConnectingPoint num="1" id="1967" />
-<TGConnectingPoint num="2" id="1968" />
-<TGConnectingPoint num="3" id="1969" />
-<TGConnectingPoint num="4" id="1970" />
-<TGConnectingPoint num="5" id="1971" />
-<TGConnectingPoint num="6" id="1972" />
-<TGConnectingPoint num="7" id="1973" />
-<TGConnectingPoint num="8" id="1974" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1984" />
+<TGConnectingPoint num="1" id="1985" />
+<TGConnectingPoint num="2" id="1986" />
+<TGConnectingPoint num="3" id="1987" />
+<TGConnectingPoint num="4" id="1988" />
+<TGConnectingPoint num="5" id="1989" />
+<TGConnectingPoint num="6" id="1990" />
+<TGConnectingPoint num="7" id="1991" />
+<TGConnectingPoint num="8" id="1992" />
<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1985" >
-<father id="1994" num="1" />
-<cdparam x="680" y="416" />
+<SUBCOMPONENT type="1606" id="2003" >
+<father id="2012" num="1" />
+<cdparam x="680" y="343" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="272" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1976" />
-<TGConnectingPoint num="1" id="1977" />
-<TGConnectingPoint num="2" id="1978" />
-<TGConnectingPoint num="3" id="1979" />
-<TGConnectingPoint num="4" id="1980" />
-<TGConnectingPoint num="5" id="1981" />
-<TGConnectingPoint num="6" id="1982" />
-<TGConnectingPoint num="7" id="1983" />
-<TGConnectingPoint num="8" id="1984" />
+<infoparam name="Primitive port - Port Converter" value="in" />
+<TGConnectingPoint num="0" id="1994" />
+<TGConnectingPoint num="1" id="1995" />
+<TGConnectingPoint num="2" id="1996" />
+<TGConnectingPoint num="3" id="1997" />
+<TGConnectingPoint num="4" id="1998" />
+<TGConnectingPoint num="5" id="1999" />
+<TGConnectingPoint num="6" id="2000" />
+<TGConnectingPoint num="7" id="2001" />
+<TGConnectingPoint num="8" id="2002" />
<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>