From 6e808b25b1f6a9cfa3a87a4d933497d2dcde75cf Mon Sep 17 00:00:00 2001
From: Daniela Genius <genius@debussy.soc.lip6.fr>
Date: Thu, 26 Jul 2018 12:53:29 +0200
Subject: [PATCH] Implemented identification of cluster via connected crossbar
---
MPSoC/Makefile.forsoclib | 8 +-
modeling/LIP6/rover.xml | 5653 ++++++++---------
.../ddtranslatorSoclib/AvatarChannel.java | 7 +-
.../java/ddtranslatorSoclib/AvatarRAM.java | 12 +-
.../java/ddtranslatorSoclib/AvatarTTY.java | 26 +-
.../AvatarddSpecification.java | 8 +-
.../toTopCell/Declaration.java | 71 +-
.../toTopCell/MappingTable.java | 42 +-
.../ddtranslatorSoclib/toTopCell/NetList.java | 70 +-
.../ddtranslatorSoclib/toTopCell/Signal.java | 34 +-
.../toTopCell/TopCellGenerator.java | 66 +-
.../ui/AvatarDeploymentPanelTranslator.java | 22 +-
src/main/java/ui/avatardd/ADDMemoryNode.java | 12 +-
src/main/java/ui/avatardd/ADDRAMNode.java | 6 +-
src/main/java/ui/avatardd/ADDTTYNode.java | 14 +-
.../java/ui/window/JDialogADDMemoryNode.java | 21 +-
.../java/ui/window/JDialogADDTTYNode.java | 10 +-
17 files changed, 2885 insertions(+), 3197 deletions(-)
diff --git a/MPSoC/Makefile.forsoclib b/MPSoC/Makefile.forsoclib
index c19f4485d6..f2f1601ccb 100755
--- a/MPSoC/Makefile.forsoclib
+++ b/MPSoC/Makefile.forsoclib
@@ -1,8 +1,8 @@
-SOCLIB_CPU=ppc
-MUTEKH_CPU=ppc
+#SOCLIB_CPU=ppc
+#MUTEKH_CPU=ppc
-#SOCLIB_CPU=mips32el
-#MUTEKH_CPU=mips32el
+SOCLIB_CPU=mips32el
+MUTEKH_CPU=mips32el
include generated_topcell/procinfo.mk
diff --git a/modeling/LIP6/rover.xml b/modeling/LIP6/rover.xml
index 2cf44e5dcd..ff6be0fc8d 100644
--- a/modeling/LIP6/rover.xml
+++ b/modeling/LIP6/rover.xml
@@ -8,7 +8,7 @@
<cdparam x="480" y="262" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="480" y="262" id="52" />
+<P1 x="480" y="236" id="52" />
<P2 x="479" y="296" id="22" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -16,40 +16,40 @@
<cdparam x="601" y="181" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="685" y="179" id="66" />
-<P2 x="804" y="179" id="11" />
+<P1 x="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="685" y="230" id="56" />
-<P2 x="804" y="230" id="9" />
+<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="375" y="164" id="64" />
-<P2 x="270" y="164" id="41" />
+<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="375" y="193" id="62" />
-<P2 x="270" y="195" id="37" />
+<P1 x="388" y="180" id="62" />
+<P2 x="257" y="182" id="37" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="6" >
<cdparam x="370" y="238" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="270" y="225" id="39" />
-<P2 x="375" y="225" id="54" />
+<P1 x="257" y="212" id="39" />
+<P2 x="388" y="212" id="54" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="7" >
@@ -57,14 +57,14 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="418" y="296" id="24" />
-<P2 x="418" y="262" id="60" />
+<P2 x="418" y="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="262" id="58" />
+<P1 x="549" y="236" id="58" />
<P2 x="548" y="296" id="26" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -125,7 +125,7 @@
<COMPONENT type="1202" id="36" >
<cdparam x="381" y="309" />
-<sizeparam width="291" height="97" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="291" height="98" 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" value="TemperatureSensor" />
@@ -141,8 +141,6 @@
<Data isAttacker="No" />
<Attribute access="2" id="samplingRate" value="" type="0" typeOther="" />
<Attribute access="2" id="sensorOn" value="" type="4" typeOther="" />
-<Attribute access="2" id="i" value="" type="0" typeOther="" />
-<Attribute access="2" id="change" value="" type="4" typeOther="" />
</extraparam>
</COMPONENT>
<SUBCOMPONENT type="1203" id="23" >
@@ -150,7 +148,7 @@
<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" />
+<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" />
<infoparam name="Primitive port" value="Event stopTemp" />
<TGConnectingPoint num="0" id="22" />
<extraparam>
@@ -167,7 +165,7 @@
<cdparam x="405" 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" />
+<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" />
<infoparam name="Primitive port" value="Channel tempData" />
<TGConnectingPoint num="0" id="24" />
<extraparam>
@@ -184,7 +182,7 @@
<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" />
+<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" />
<infoparam name="Primitive port" value="Event startTemp" />
<TGConnectingPoint num="0" id="26" />
<extraparam>
@@ -214,7 +212,6 @@
<extraparam>
<Data isAttacker="No" />
<Attribute access="2" id="samplingRate" value="" type="0" typeOther="" />
-<Attribute access="2" id="change" value="" type="4" typeOther="" />
</extraparam>
</COMPONENT>
<SUBCOMPONENT type="1203" id="38" >
@@ -285,9 +282,9 @@
<TGConnectingPoint num="7" id="75" />
<extraparam>
<Data isAttacker="No" />
+<Attribute access="2" id="state" value="" type="0" typeOther="" />
<Attribute access="2" id="calculateTraj" value="" type="0" typeOther="" />
<Attribute access="2" id="calculateDistance" value="" type="0" typeOther="" />
-<Attribute access="2" id="stateR" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
<SUBCOMPONENT type="1203" id="53" >
@@ -460,7 +457,7 @@
<COMPONENT type="1009" id="85" >
<cdparam x="398" y="347" />
-<sizeparam width="131" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="130" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="motorCommand(1) " />
@@ -481,8 +478,8 @@
</COMPONENT>
<COMPONENT type="1020" id="91" >
-<cdparam x="297" y="83" />
-<sizeparam width="98" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="298" y="83" />
+<sizeparam width="97" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="for loop" value="10" />
@@ -565,69 +562,9 @@
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="TemperatureSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="115" id="244875" >
-<cdparam x="537" y="485" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="537" y="485" id="244874" />
-<P2 x="537" y="509" id="119" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1017" id="244872" >
-<cdparam x="462" y="460" />
-<sizeparam width="150" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="notified event" value="change=?stopTemp()" />
-<TGConnectingPoint num="0" id="244873" />
-<TGConnectingPoint num="1" id="244874" />
-<extraparam>
-<Data eventName="stopTemp" variable="change" />
-</extraparam>
-</COMPONENT>
-
-<CONNECTOR type="115" id="244871" >
-<cdparam x="386" y="162" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="409" y="210" id="122544" />
-<P2 x="409" y="245" id="122426" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1001" id="122430" >
-<cdparam x="401" y="300" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="122431" />
-</COMPONENT>
-
-<CONNECTOR type="115" id="122429" >
-<cdparam x="493" y="264" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="493" y="264" id="122427" />
-<P2 x="539" y="345" id="128" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1014" id="122425" >
-<cdparam x="325" y="250" />
-<sizeparam width="168" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="for loop" value="for(i=0;sensorOn;i = i+1)" />
-<TGConnectingPoint num="0" id="122426" />
-<TGConnectingPoint num="1" id="122427" />
-<TGConnectingPoint num="2" id="122428" />
-<extraparam>
-<Data init="i=0" condition="sensorOn" increment="i = i+1" />
-</extraparam>
-</COMPONENT>
-
<COMPONENT type="1030" id="105" >
<cdparam x="279" y="73" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="93" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="for ever loop" value="Loop for ever" />
@@ -636,7 +573,7 @@
</COMPONENT>
<COMPONENT type="1001" id="107" >
-<cdparam x="451" y="586" />
+<cdparam x="321" y="400" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -645,7 +582,7 @@
</COMPONENT>
<COMPONENT type="1001" id="109" >
-<cdparam x="619" y="703" />
+<cdparam x="489" y="517" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -653,8 +590,18 @@
<TGConnectingPoint num="0" id="108" />
</COMPONENT>
+<COMPONENT type="1011" id="112" >
+<cdparam x="445" y="457" />
+<sizeparam width="109" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="action state" value="sensorOn=false" />
+<TGConnectingPoint num="0" id="110" />
+<TGConnectingPoint num="1" id="111" />
+</COMPONENT>
+
<COMPONENT type="1010" id="115" >
-<cdparam x="586" y="588" />
+<cdparam x="456" y="402" />
<sizeparam width="86" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -667,7 +614,7 @@
</COMPONENT>
<COMPONENT type="1012" id="123" >
-<cdparam x="522" y="519" />
+<cdparam x="392" y="333" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -679,23 +626,23 @@
</COMPONENT>
<SUBCOMPONENT type="-1" id="116" >
<father id="123" num="0" />
-<cdparam x="447" y="529" />
-<sizeparam width="40" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="367" y="343" />
+<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ else]" />
+<infoparam name="guard 1" value="[ ]" />
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="117" >
<father id="123" num="1" />
-<cdparam x="557" y="529" />
-<sizeparam width="61" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="427" y="343" />
+<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[ change]" />
+<infoparam name="guard 2" value="[ ]" />
</SUBCOMPONENT>
<SUBCOMPONENT type="-1" id="118" >
<father id="123" num="2" />
-<cdparam x="542" y="564" />
+<cdparam x="412" y="378" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
@@ -703,8 +650,8 @@
</SUBCOMPONENT>
<COMPONENT type="1006" id="126" >
-<cdparam x="492" y="413" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="363" y="257" />
+<sizeparam width="89" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="tempData(1)" />
@@ -716,7 +663,7 @@
</COMPONENT>
<COMPONENT type="1013" id="130" >
-<cdparam x="534" y="350" />
+<cdparam x="404" y="194" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -726,7 +673,7 @@
</COMPONENT>
<SUBCOMPONENT type="-1" id="127" >
<father id="130" num="0" />
-<cdparam x="549" y="370" />
+<cdparam x="419" y="214" />
<sizeparam width="85" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
@@ -760,55 +707,55 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
<P1 x="409" y="157" id="132" />
-<P2 x="409" y="180" id="122543" />
+<P2 x="409" y="189" id="128" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="137" >
-<cdparam x="537" y="372" />
+<cdparam x="407" y="216" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="539" y="385" id="129" />
-<P2 x="537" y="408" id="124" />
+<P1 x="409" y="229" id="129" />
+<P2 x="407" y="252" id="124" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="138" >
-<cdparam x="537" y="438" />
+<cdparam x="407" y="282" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="537" y="438" id="125" />
-<P2 x="537" y="455" id="244873" />
+<P1 x="407" y="282" id="125" />
+<P2 x="407" y="323" id="119" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="139" >
-<cdparam x="577" y="534" />
+<cdparam x="447" y="348" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="577" y="534" id="121" />
-<P2 x="629" y="583" id="113" />
+<P1 x="447" y="348" id="121" />
+<P2 x="499" y="397" id="113" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="140" >
-<cdparam x="497" y="534" />
+<cdparam x="367" y="348" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="629" y="613" id="114" />
-<P2 x="629" y="638" id="110" />
+<P1 x="499" y="427" id="114" />
+<P2 x="499" y="452" id="110" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="141" >
-<cdparam x="629" y="668" />
+<cdparam x="499" y="482" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="629" y="668" id="111" />
-<P2 x="629" y="698" id="108" />
+<P1 x="499" y="482" id="111" />
+<P2 x="499" y="512" id="108" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="142" >
-<cdparam x="497" y="534" />
+<cdparam x="367" y="348" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="497" y="534" id="120" />
-<P2 x="461" y="581" id="106" />
+<P1 x="367" y="348" id="120" />
+<P2 x="331" y="395" id="106" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="115" id="143" >
@@ -823,532 +770,383 @@
<cdparam x="369" y="94" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="371" y="87" id="104" />
+<P1 x="372" y="87" id="104" />
<P2 x="409" y="127" id="131" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="122432" >
-<cdparam x="409" y="275" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="409" y="275" id="122428" />
-<P2 x="411" y="295" id="122431" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1011" id="122545" >
-<cdparam x="356" y="185" />
-<sizeparam width="106" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="sensorOn=true" />
-<TGConnectingPoint num="0" id="122543" />
-<TGConnectingPoint num="1" id="122544" />
-</COMPONENT>
-
-<COMPONENT type="1011" id="112" >
-<cdparam x="574" y="643" />
-<sizeparam width="110" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="sensorOn=false" />
-<TGConnectingPoint num="0" id="110" />
-<TGConnectingPoint num="1" id="111" />
-</COMPONENT>
-
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="DistanceSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="115" id="244879" >
-<cdparam x="491" y="326" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="491" y="326" id="244878" />
-<P2 x="491" y="360" id="2122" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1017" id="244876" >
-<cdparam x="409" y="301" />
-<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="notified event" value="change=?changeRate()" />
-<TGConnectingPoint num="0" id="244877" />
-<TGConnectingPoint num="1" id="244878" />
-<extraparam>
-<Data eventName="changeRate" variable="change" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1001" id="2131" >
-<cdparam x="555" y="422" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="2132" />
-</COMPONENT>
-
-<COMPONENT type="1012" id="2121" >
-<cdparam x="476" y="370" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="2122" />
-<TGConnectingPoint num="1" id="2123" />
-<TGConnectingPoint num="2" id="2124" />
-<TGConnectingPoint num="3" id="2125" />
-</COMPONENT>
-<SUBCOMPONENT type="-1" id="2126" >
-<father id="2121" num="0" />
-<cdparam x="401" y="380" />
-<sizeparam width="61" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ change]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2127" >
-<father id="2121" num="1" />
-<cdparam x="511" y="380" />
-<sizeparam width="40" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[ else]" />
-</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2128" >
-<father id="2121" num="2" />
-<cdparam x="496" y="415" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
-<infoparam name="guard 3" value="[ ]" />
-</SUBCOMPONENT>
-
-<CONNECTOR type="115" id="2120" >
-<cdparam x="374" y="83" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="374" y="83" id="156" />
-<P2 x="491" y="163" id="164" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1030" id="157" >
+<COMPONENT type="1030" id="147" >
<cdparam x="282" y="69" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="93" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="for ever loop" value="Loop for ever" />
-<TGConnectingPoint num="0" id="155" />
-<TGConnectingPoint num="1" id="156" />
+<TGConnectingPoint num="0" id="145" />
+<TGConnectingPoint num="1" id="146" />
</COMPONENT>
-<COMPONENT type="1001" id="159" >
-<cdparam x="393" y="563" />
+<COMPONENT type="1001" id="149" >
+<cdparam x="408" y="413" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="158" />
+<TGConnectingPoint num="0" id="148" />
</COMPONENT>
-<COMPONENT type="1013" id="163" >
-<cdparam x="486" y="235" />
+<COMPONENT type="1013" id="153" >
+<cdparam x="413" y="184" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="execI" value="null" />
-<TGConnectingPoint num="0" id="161" />
-<TGConnectingPoint num="1" id="162" />
+<TGConnectingPoint num="0" id="151" />
+<TGConnectingPoint num="1" id="152" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="160" >
-<father id="163" num="0" />
-<cdparam x="501" y="255" />
+<SUBCOMPONENT type="-1" id="150" >
+<father id="153" num="0" />
+<cdparam x="428" y="204" />
<sizeparam width="85" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
<infoparam name="value of the delay" value="samplingRate" />
</SUBCOMPONENT>
-<COMPONENT type="1006" id="166" >
-<cdparam x="431" y="168" />
-<sizeparam width="120" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1006" id="156" >
+<cdparam x="360" y="147" />
+<sizeparam width="117" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="ultrasonicData(1)" />
-<TGConnectingPoint num="0" id="164" />
-<TGConnectingPoint num="1" id="165" />
-<latencyCheck />
+<TGConnectingPoint num="0" id="154" />
+<TGConnectingPoint num="1" id="155" />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1009" id="169" >
-<cdparam x="345" y="502" />
-<sizeparam width="117" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="159" >
+<cdparam x="360" y="352" />
+<sizeparam width="116" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="samplingRate(1) " />
-<TGConnectingPoint num="0" id="167" />
-<TGConnectingPoint num="1" id="168" />
+<TGConnectingPoint num="0" id="157" />
+<TGConnectingPoint num="1" id="158" />
<extraparam>
<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1010" id="172" >
-<cdparam x="353" y="438" />
-<sizeparam width="100" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1010" id="162" >
+<cdparam x="369" y="288" />
+<sizeparam width="99" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="wait event" value="changeRate() " />
-<TGConnectingPoint num="0" id="170" />
-<TGConnectingPoint num="1" id="171" />
-<latencyCheck />
+<TGConnectingPoint num="0" id="160" />
+<TGConnectingPoint num="1" id="161" />
<extraparam>
<Data eventName="changeRate" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="174" >
+<COMPONENT type="1000" id="164" >
<cdparam x="321" y="29" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="173" />
+<TGConnectingPoint num="0" id="163" />
</COMPONENT>
-<CONNECTOR type="115" id="178" >
-<cdparam x="491" y="193" />
+<CONNECTOR type="115" id="165" >
+<cdparam x="418" y="263" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="491" y="193" id="165" />
-<P2 x="491" y="230" id="161" />
+<P1 x="418" y="219" id="152" />
+<P2 x="418" y="283" id="160" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="179" >
-<cdparam x="403" y="463" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="403" y="463" id="171" />
-<P2 x="403" y="497" id="167" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="180" >
-<cdparam x="403" y="527" />
+<CONNECTOR type="115" id="166" >
+<cdparam x="374" y="83" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="403" y="527" id="168" />
-<P2 x="403" y="558" id="158" />
+<P1 x="375" y="83" id="146" />
+<P2 x="418" y="142" id="154" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="181" >
-<cdparam x="340" y="42" />
+<CONNECTOR type="115" id="167" >
+<cdparam x="418" y="172" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="328" y="49" id="173" />
-<P2 x="328" y="64" id="155" />
+<P1 x="418" y="172" id="155" />
+<P2 x="418" y="179" id="151" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="2129" >
-<cdparam x="491" y="270" />
+<CONNECTOR type="115" id="168" >
+<cdparam x="418" y="313" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="491" y="270" id="162" />
-<P2 x="491" y="296" id="244877" />
+<P1 x="418" y="313" id="161" />
+<P2 x="418" y="347" id="157" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="2130" >
-<cdparam x="482" y="376" />
+<CONNECTOR type="115" id="169" >
+<cdparam x="418" y="377" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="451" y="385" id="2123" />
-<P2 x="403" y="433" id="170" />
+<P1 x="418" y="377" id="158" />
+<P2 x="418" y="408" id="148" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="2133" >
-<cdparam x="531" y="385" />
+<CONNECTOR type="115" id="170" >
+<cdparam x="340" y="42" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="531" y="385" id="2124" />
-<P2 x="565" y="417" id="2132" />
+<P1 x="328" y="49" id="163" />
+<P2 x="328" y="64" id="145" />
<AutomaticDrawing data="true" />
</CONNECTOR>
</TMLActivityDiagramPanel>
<TMLActivityDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="115" id="489769" >
-<cdparam x="1174" y="641" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="1174" y="641" id="332" />
-<P2 x="1192" y="797" id="200" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="489768" >
-<cdparam x="658" y="598" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="658" y="598" id="323" />
-<P2 x="642" y="677" id="204" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="489767" >
-<cdparam x="805" y="719" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="805" y="719" id="245231" />
-<P2 x="806" y="744" id="30897" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="244880" >
-<cdparam x="146" y="573" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="146" y="573" id="281" />
-<P2 x="121" y="711" id="212" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="61209" >
-<cdparam x="806" y="774" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="806" y="774" id="30898" />
-<P2 x="807" y="820" id="202" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<CONNECTOR type="115" id="15296" >
-<cdparam x="834" y="668" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<infoparam name="connector" value="null" />
-<P1 x="770" y="624" id="13434" />
-<P2 x="805" y="689" id="245230" />
-<AutomaticDrawing data="true" />
-</CONNECTOR>
-<COMPONENT type="1030" id="2134" >
-<cdparam x="459" y="69" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="for ever loop" value="Loop for ever" />
-<TGConnectingPoint num="0" id="2135" />
-<TGConnectingPoint num="1" id="2136" />
-</COMPONENT>
-
-<COMPONENT type="301" id="199" >
+<COMPONENT type="301" id="187" >
<cdparam x="10" y="434" />
-<sizeparam width="256" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="249" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="UML Note" value="Depending on the distance, calculate
a motor command and new state
" />
-<TGConnectingPoint num="0" id="183" />
-<TGConnectingPoint num="1" id="184" />
-<TGConnectingPoint num="2" id="185" />
-<TGConnectingPoint num="3" id="186" />
-<TGConnectingPoint num="4" id="187" />
-<TGConnectingPoint num="5" id="188" />
-<TGConnectingPoint num="6" id="189" />
-<TGConnectingPoint num="7" id="190" />
-<TGConnectingPoint num="8" id="191" />
-<TGConnectingPoint num="9" id="192" />
-<TGConnectingPoint num="10" id="193" />
-<TGConnectingPoint num="11" id="194" />
-<TGConnectingPoint num="12" id="195" />
-<TGConnectingPoint num="13" id="196" />
-<TGConnectingPoint num="14" id="197" />
-<TGConnectingPoint num="15" id="198" />
+<TGConnectingPoint num="0" id="171" />
+<TGConnectingPoint num="1" id="172" />
+<TGConnectingPoint num="2" id="173" />
+<TGConnectingPoint num="3" id="174" />
+<TGConnectingPoint num="4" id="175" />
+<TGConnectingPoint num="5" id="176" />
+<TGConnectingPoint num="6" id="177" />
+<TGConnectingPoint num="7" id="178" />
+<TGConnectingPoint num="8" id="179" />
+<TGConnectingPoint num="9" id="180" />
+<TGConnectingPoint num="10" id="181" />
+<TGConnectingPoint num="11" id="182" />
+<TGConnectingPoint num="12" id="183" />
+<TGConnectingPoint num="13" id="184" />
+<TGConnectingPoint num="14" id="185" />
+<TGConnectingPoint num="15" id="186" />
<extraparam>
<Line value="Depending on the distance, calculate" />
<Line value="a motor command and new state" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1001" id="201" >
-<cdparam x="1182" y="802" />
+<COMPONENT type="1001" id="189" >
+<cdparam x="1164" y="675" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="200" />
+<TGConnectingPoint num="0" id="188" />
</COMPONENT>
-<COMPONENT type="1001" id="203" >
-<cdparam x="797" y="825" />
+<COMPONENT type="1001" id="191" >
+<cdparam x="759" y="604" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="202" />
+<TGConnectingPoint num="0" id="190" />
</COMPONENT>
-<COMPONENT type="1001" id="205" >
-<cdparam x="632" y="682" />
+<COMPONENT type="1001" id="193" >
+<cdparam x="648" y="633" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="204" />
+<TGConnectingPoint num="0" id="192" />
</COMPONENT>
-<COMPONENT type="1001" id="207" >
+<COMPONENT type="1001" id="195" >
<cdparam x="532" y="705" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="206" />
+<TGConnectingPoint num="0" id="194" />
</COMPONENT>
-<COMPONENT type="1001" id="209" >
+<COMPONENT type="1001" id="197" >
<cdparam x="405" y="813" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="208" />
+<TGConnectingPoint num="0" id="196" />
</COMPONENT>
-<COMPONENT type="1001" id="211" >
+<COMPONENT type="1001" id="199" >
<cdparam x="259" y="763" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="210" />
+<TGConnectingPoint num="0" id="198" />
</COMPONENT>
-<COMPONENT type="1001" id="213" >
-<cdparam x="111" y="716" />
+<COMPONENT type="1001" id="201" >
+<cdparam x="136" y="606" />
<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
-<TGConnectingPoint num="0" id="212" />
+<TGConnectingPoint num="0" id="200" />
</COMPONENT>
-<COMPONENT type="1009" id="218" >
-<cdparam x="1015" y="192" />
-<sizeparam width="94" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1001" id="203" >
+<cdparam x="510" y="109" />
+<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="stop state" value="null" />
+<TGConnectingPoint num="0" id="202" />
+</COMPONENT>
+
+<COMPONENT type="1009" id="206" >
+<cdparam x="1016" y="192" />
+<sizeparam width="93" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="tempData(1) " />
-<TGConnectingPoint num="0" id="216" />
-<TGConnectingPoint num="1" id="217" />
+<TGConnectingPoint num="0" id="204" />
+<TGConnectingPoint num="1" id="205" />
+<latencyCheck />
<extraparam>
<Data channelName="tempData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1013" id="222" >
+<COMPONENT type="1013" id="210" >
<cdparam x="1057" y="303" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="execI" value="null" />
-<TGConnectingPoint num="0" id="220" />
-<TGConnectingPoint num="1" id="221" />
+<TGConnectingPoint num="0" id="208" />
+<TGConnectingPoint num="1" id="209" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="219" >
-<father id="222" num="0" />
+<SUBCOMPONENT type="-1" id="207" >
+<father id="210" num="0" />
<cdparam x="1072" y="323" />
-<sizeparam width="112" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="110" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
<infoparam name="value of the delay" value="calculateDistance" />
</SUBCOMPONENT>
-<COMPONENT type="1013" id="226" >
+<COMPONENT type="1013" id="214" >
<cdparam x="653" y="292" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="execI" value="null" />
-<TGConnectingPoint num="0" id="224" />
-<TGConnectingPoint num="1" id="225" />
+<TGConnectingPoint num="0" id="212" />
+<TGConnectingPoint num="1" id="213" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="223" >
-<father id="226" num="0" />
+<SUBCOMPONENT type="-1" id="211" >
+<father id="214" num="0" />
<cdparam x="668" y="312" />
-<sizeparam width="112" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="110" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
<infoparam name="value of the delay" value="calculateDistance" />
</SUBCOMPONENT>
-<COMPONENT type="1008" id="229" >
+<COMPONENT type="1008" id="217" >
<cdparam x="1022" y="707" />
<sizeparam width="82" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="stopTemp()" />
-<TGConnectingPoint num="0" id="227" />
-<TGConnectingPoint num="1" id="228" />
+<TGConnectingPoint num="0" id="215" />
+<TGConnectingPoint num="1" id="216" />
<extraparam>
<Data eventName="stopTemp" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="232" >
+<COMPONENT type="1008" id="220" >
<cdparam x="869" y="697" />
<sizeparam width="82" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="stopTemp()" />
-<TGConnectingPoint num="0" id="230" />
-<TGConnectingPoint num="1" id="231" />
+<TGConnectingPoint num="0" id="218" />
+<TGConnectingPoint num="1" id="219" />
<extraparam>
<Data eventName="stopTemp" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1013" id="240" >
+<COMPONENT type="1020" id="224" >
+<cdparam x="472" y="67" />
+<sizeparam width="97" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="for loop" value="10" />
+<TGConnectingPoint num="0" id="221" />
+<TGConnectingPoint num="1" id="222" />
+<TGConnectingPoint num="2" id="223" />
+</COMPONENT>
+
+<COMPONENT type="1013" id="228" >
<cdparam x="264" y="258" />
<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="execI" value="null" />
-<TGConnectingPoint num="0" id="238" />
-<TGConnectingPoint num="1" id="239" />
+<TGConnectingPoint num="0" id="226" />
+<TGConnectingPoint num="1" id="227" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="237" >
-<father id="240" num="0" />
+<SUBCOMPONENT type="-1" id="225" >
+<father id="228" num="0" />
<cdparam x="279" y="278" />
-<sizeparam width="112" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="110" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="30" minY="10" maxY="30" />
<infoparam name="value of the delay" value="calculateDistance" />
</SUBCOMPONENT>
-<COMPONENT type="301" id="257" >
+<COMPONENT type="301" id="245" >
<cdparam x="144" y="29" />
-<sizeparam width="311" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="309" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="UML Note" value="state 0: obstacles far away
state 1: obstacles intermediate distance away
state 2: obstacles in close proximity
" />
-<TGConnectingPoint num="0" id="241" />
-<TGConnectingPoint num="1" id="242" />
-<TGConnectingPoint num="2" id="243" />
-<TGConnectingPoint num="3" id="244" />
-<TGConnectingPoint num="4" id="245" />
-<TGConnectingPoint num="5" id="246" />
-<TGConnectingPoint num="6" id="247" />
-<TGConnectingPoint num="7" id="248" />
-<TGConnectingPoint num="8" id="249" />
-<TGConnectingPoint num="9" id="250" />
-<TGConnectingPoint num="10" id="251" />
-<TGConnectingPoint num="11" id="252" />
-<TGConnectingPoint num="12" id="253" />
-<TGConnectingPoint num="13" id="254" />
-<TGConnectingPoint num="14" id="255" />
-<TGConnectingPoint num="15" id="256" />
+<TGConnectingPoint num="0" id="229" />
+<TGConnectingPoint num="1" id="230" />
+<TGConnectingPoint num="2" id="231" />
+<TGConnectingPoint num="3" id="232" />
+<TGConnectingPoint num="4" id="233" />
+<TGConnectingPoint num="5" id="234" />
+<TGConnectingPoint num="6" id="235" />
+<TGConnectingPoint num="7" id="236" />
+<TGConnectingPoint num="8" id="237" />
+<TGConnectingPoint num="9" id="238" />
+<TGConnectingPoint num="10" id="239" />
+<TGConnectingPoint num="11" id="240" />
+<TGConnectingPoint num="12" id="241" />
+<TGConnectingPoint num="13" id="242" />
+<TGConnectingPoint num="14" id="243" />
+<TGConnectingPoint num="15" id="244" />
<extraparam>
<Line value="state 0: obstacles far away" />
<Line value="state 1: obstacles intermediate distance away" />
@@ -1356,35 +1154,35 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="1012" id="265" >
+<COMPONENT type="1012" id="253" >
<cdparam x="1048" y="554" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="261" />
-<TGConnectingPoint num="1" id="262" />
-<TGConnectingPoint num="2" id="263" />
-<TGConnectingPoint num="3" id="264" />
+<TGConnectingPoint num="0" id="249" />
+<TGConnectingPoint num="1" id="250" />
+<TGConnectingPoint num="2" id="251" />
+<TGConnectingPoint num="3" id="252" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="258" >
-<father id="265" num="0" />
+<SUBCOMPONENT type="-1" id="246" >
+<father id="253" num="0" />
<cdparam x="1023" y="564" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
<infoparam name="guard 1" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="259" >
-<father id="265" num="1" />
+<SUBCOMPONENT type="-1" id="247" >
+<father id="253" num="1" />
<cdparam x="1083" y="564" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
<infoparam name="guard 2" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="260" >
-<father id="265" num="2" />
+<SUBCOMPONENT type="-1" id="248" >
+<father id="253" num="2" />
<cdparam x="1068" y="599" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -1392,35 +1190,35 @@ state 2: obstacles in close proximity
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1012" id="273" >
+<COMPONENT type="1012" id="261" >
<cdparam x="643" y="484" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="269" />
-<TGConnectingPoint num="1" id="270" />
-<TGConnectingPoint num="2" id="271" />
-<TGConnectingPoint num="3" id="272" />
+<TGConnectingPoint num="0" id="257" />
+<TGConnectingPoint num="1" id="258" />
+<TGConnectingPoint num="2" id="259" />
+<TGConnectingPoint num="3" id="260" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="266" >
-<father id="273" num="0" />
+<SUBCOMPONENT type="-1" id="254" >
+<father id="261" num="0" />
<cdparam x="618" y="494" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
<infoparam name="guard 1" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="267" >
-<father id="273" num="1" />
+<SUBCOMPONENT type="-1" id="255" >
+<father id="261" num="1" />
<cdparam x="678" y="494" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
<infoparam name="guard 2" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="268" >
-<father id="273" num="2" />
+<SUBCOMPONENT type="-1" id="256" >
+<father id="261" num="2" />
<cdparam x="663" y="529" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -1428,105 +1226,131 @@ state 2: obstacles in close proximity
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1011" id="276" >
-<cdparam x="381" y="553" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="264" >
+<cdparam x="385" y="553" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=2" />
-<TGConnectingPoint num="0" id="274" />
-<TGConnectingPoint num="1" id="275" />
+<infoparam name="action state" value="state=2" />
+<TGConnectingPoint num="0" id="262" />
+<TGConnectingPoint num="1" id="263" />
</COMPONENT>
-<COMPONENT type="1011" id="279" >
-<cdparam x="235" y="588" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="267" >
+<cdparam x="239" y="588" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=1" />
-<TGConnectingPoint num="0" id="277" />
-<TGConnectingPoint num="1" id="278" />
+<infoparam name="action state" value="state=1" />
+<TGConnectingPoint num="0" id="265" />
+<TGConnectingPoint num="1" id="266" />
</COMPONENT>
-<COMPONENT type="1011" id="282" >
-<cdparam x="112" y="548" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="270" >
+<cdparam x="116" y="548" />
+<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=0" />
-<TGConnectingPoint num="0" id="280" />
-<TGConnectingPoint num="1" id="281" />
+<infoparam name="action state" value="state=0" />
+<TGConnectingPoint num="0" id="268" />
+<TGConnectingPoint num="1" id="269" />
</COMPONENT>
-<COMPONENT type="1006" id="285" >
+<COMPONENT type="1006" id="273" >
<cdparam x="206" y="379" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="126" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="motorCommand(1)" />
-<TGConnectingPoint num="0" id="283" />
-<TGConnectingPoint num="1" id="284" />
-<accessibility />
+<TGConnectingPoint num="0" id="271" />
+<TGConnectingPoint num="1" id="272" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1006" id="288" >
+<COMPONENT type="1006" id="276" >
<cdparam x="213" y="710" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="samplingRate(1)" />
-<TGConnectingPoint num="0" id="286" />
-<TGConnectingPoint num="1" id="287" />
+<TGConnectingPoint num="0" id="274" />
+<TGConnectingPoint num="1" id="275" />
<extraparam>
<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="291" >
+<COMPONENT type="1008" id="279" >
<cdparam x="216" y="327" />
<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="newCommand()" />
-<TGConnectingPoint num="0" id="289" />
-<TGConnectingPoint num="1" id="290" />
+<TGConnectingPoint num="0" id="277" />
+<TGConnectingPoint num="1" id="278" />
<extraparam>
<Data eventName="newCommand" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1012" id="305" >
+<COMPONENT type="1008" id="282" >
+<cdparam x="222" y="655" />
+<sizeparam width="95" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="changeRate()" />
+<TGConnectingPoint num="0" id="280" />
+<TGConnectingPoint num="1" id="281" />
+<extraparam>
+<Data eventName="changeRate" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="285" >
+<cdparam x="373" y="761" />
+<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="send event" value="startTemp()" />
+<TGConnectingPoint num="0" id="283" />
+<TGConnectingPoint num="1" id="284" />
+<extraparam>
+<Data eventName="startTemp" nbOfParams="5" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1012" id="293" >
<cdparam x="254" y="494" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="301" />
-<TGConnectingPoint num="1" id="302" />
-<TGConnectingPoint num="2" id="303" />
-<TGConnectingPoint num="3" id="304" />
+<TGConnectingPoint num="0" id="289" />
+<TGConnectingPoint num="1" id="290" />
+<TGConnectingPoint num="2" id="291" />
+<TGConnectingPoint num="3" id="292" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="298" >
-<father id="305" num="0" />
+<SUBCOMPONENT type="-1" id="286" >
+<father id="293" num="0" />
<cdparam x="229" y="504" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
<infoparam name="guard 1" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="299" >
-<father id="305" num="1" />
+<SUBCOMPONENT type="-1" id="287" >
+<father id="293" num="1" />
<cdparam x="289" y="504" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
<infoparam name="guard 2" value="[ ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="300" >
-<father id="305" num="2" />
+<SUBCOMPONENT type="-1" id="288" >
+<father id="293" num="2" />
<cdparam x="274" y="539" />
<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
@@ -1534,778 +1358,750 @@ state 2: obstacles in close proximity
<infoparam name="guard 3" value="[ ]" />
</SUBCOMPONENT>
-<COMPONENT type="1012" id="313" >
+<COMPONENT type="1012" id="301" >
<cdparam x="643" y="114" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="309" />
-<TGConnectingPoint num="1" id="310" />
-<TGConnectingPoint num="2" id="311" />
-<TGConnectingPoint num="3" id="312" />
+<TGConnectingPoint num="0" id="297" />
+<TGConnectingPoint num="1" id="298" />
+<TGConnectingPoint num="2" id="299" />
+<TGConnectingPoint num="3" id="300" />
</COMPONENT>
-<SUBCOMPONENT type="-1" id="306" >
-<father id="313" num="0" />
+<SUBCOMPONENT type="-1" id="294" >
+<father id="301" num="0" />
<cdparam x="568" y="124" />
-<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="75" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
-<infoparam name="guard 1" value="[ stateR==0]" />
+<infoparam name="guard 1" value="[ state==0]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="307" >
-<father id="313" num="1" />
+<SUBCOMPONENT type="-1" id="295" >
+<father id="301" num="1" />
<cdparam x="678" y="124" />
-<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="74" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
-<infoparam name="guard 2" value="[stateR==2 ]" />
+<infoparam name="guard 2" value="[state==2 ]" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="308" >
-<father id="313" num="2" />
+<SUBCOMPONENT type="-1" id="296" >
+<father id="301" num="2" />
<cdparam x="663" y="159" />
-<sizeparam width="83" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="74" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
-<infoparam name="guard 3" value="[stateR==1 ]" />
+<infoparam name="guard 3" value="[state==1 ]" />
</SUBCOMPONENT>
-<COMPONENT type="1009" id="316" >
-<cdparam x="207" y="195" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="304" >
+<cdparam x="209" y="195" />
+<sizeparam width="121" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
-<TGConnectingPoint num="0" id="314" />
-<TGConnectingPoint num="1" id="315" />
+<TGConnectingPoint num="0" id="302" />
+<TGConnectingPoint num="1" id="303" />
+<latencyCheck />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1000" id="318" >
+<COMPONENT type="1000" id="306" >
<cdparam x="513" y="10" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="317" />
+<TGConnectingPoint num="0" id="305" />
</COMPONENT>
-<COMPONENT type="1011" id="321" >
-<cdparam x="735" y="546" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="309" >
+<cdparam x="739" y="546" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=2" />
-<TGConnectingPoint num="0" id="319" />
-<TGConnectingPoint num="1" id="320" />
+<infoparam name="action state" value="state=2" />
+<TGConnectingPoint num="0" id="307" />
+<TGConnectingPoint num="1" id="308" />
</COMPONENT>
-<COMPONENT type="1011" id="324" >
-<cdparam x="624" y="573" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="312" >
+<cdparam x="628" y="573" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=1" />
-<TGConnectingPoint num="0" id="322" />
-<TGConnectingPoint num="1" id="323" />
+<infoparam name="action state" value="state=1" />
+<TGConnectingPoint num="0" id="310" />
+<TGConnectingPoint num="1" id="311" />
</COMPONENT>
-<COMPONENT type="1011" id="327" >
-<cdparam x="508" y="539" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="315" >
+<cdparam x="512" y="539" />
+<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=0" />
-<TGConnectingPoint num="0" id="325" />
-<TGConnectingPoint num="1" id="326" />
+<infoparam name="action state" value="state=0" />
+<TGConnectingPoint num="0" id="313" />
+<TGConnectingPoint num="1" id="314" />
</COMPONENT>
-<COMPONENT type="1009" id="330" >
-<cdparam x="596" y="221" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="318" >
+<cdparam x="598" y="221" />
+<sizeparam width="121" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
-<TGConnectingPoint num="0" id="328" />
-<TGConnectingPoint num="1" id="329" />
+<TGConnectingPoint num="0" id="316" />
+<TGConnectingPoint num="1" id="317" />
+<latencyCheck />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1011" id="333" >
-<cdparam x="1140" y="616" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="321" >
+<cdparam x="1144" y="616" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=2" />
-<TGConnectingPoint num="0" id="331" />
-<TGConnectingPoint num="1" id="332" />
+<infoparam name="action state" value="state=2" />
+<TGConnectingPoint num="0" id="319" />
+<TGConnectingPoint num="1" id="320" />
</COMPONENT>
-<COMPONENT type="1011" id="336" >
-<cdparam x="1029" y="647" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="324" >
+<cdparam x="1033" y="647" />
+<sizeparam width="60" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=1" />
-<TGConnectingPoint num="0" id="334" />
-<TGConnectingPoint num="1" id="335" />
+<infoparam name="action state" value="state=1" />
+<TGConnectingPoint num="0" id="322" />
+<TGConnectingPoint num="1" id="323" />
</COMPONENT>
-<COMPONENT type="1011" id="339" >
-<cdparam x="876" y="624" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1011" id="327" >
+<cdparam x="880" y="624" />
+<sizeparam width="61" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="action state" value="stateR=0" />
-<TGConnectingPoint num="0" id="337" />
-<TGConnectingPoint num="1" id="338" />
+<infoparam name="action state" value="state=0" />
+<TGConnectingPoint num="0" id="325" />
+<TGConnectingPoint num="1" id="326" />
</COMPONENT>
-<COMPONENT type="1009" id="342" >
-<cdparam x="1000" y="500" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1009" id="330" >
+<cdparam x="1002" y="500" />
+<sizeparam width="121" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
-<TGConnectingPoint num="0" id="340" />
-<TGConnectingPoint num="1" id="341" />
+<TGConnectingPoint num="0" id="328" />
+<TGConnectingPoint num="1" id="329" />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1006" id="345" >
+<COMPONENT type="1006" id="333" >
<cdparam x="359" y="697" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="samplingRate(1)" />
-<TGConnectingPoint num="0" id="343" />
-<TGConnectingPoint num="1" id="344" />
+<TGConnectingPoint num="0" id="331" />
+<TGConnectingPoint num="1" id="332" />
<extraparam>
<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="348" >
-<cdparam x="367" y="642" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1008" id="336" >
+<cdparam x="368" y="642" />
+<sizeparam width="95" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="changeRate()" />
-<TGConnectingPoint num="0" id="346" />
-<TGConnectingPoint num="1" id="347" />
+<TGConnectingPoint num="0" id="334" />
+<TGConnectingPoint num="1" id="335" />
<extraparam>
<Data eventName="changeRate" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="354" >
-<cdparam x="494" y="594" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1006" id="339" >
+<cdparam x="486" y="649" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="write channel" value="samplingRate(1)" />
+<TGConnectingPoint num="0" id="337" />
+<TGConnectingPoint num="1" id="338" />
+<extraparam>
+<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="1008" id="342" >
+<cdparam x="495" y="594" />
+<sizeparam width="95" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="changeRate()" />
-<TGConnectingPoint num="0" id="352" />
-<TGConnectingPoint num="1" id="353" />
+<TGConnectingPoint num="0" id="340" />
+<TGConnectingPoint num="1" id="341" />
<extraparam>
<Data eventName="changeRate" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1006" id="357" >
+<COMPONENT type="1006" id="345" >
<cdparam x="595" y="422" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="126" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="motorCommand(1)" />
-<TGConnectingPoint num="0" id="355" />
-<TGConnectingPoint num="1" id="356" />
+<TGConnectingPoint num="0" id="343" />
+<TGConnectingPoint num="1" id="344" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="360" >
+<COMPONENT type="1008" id="348" >
<cdparam x="605" y="370" />
<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="newCommand()" />
-<TGConnectingPoint num="0" id="358" />
-<TGConnectingPoint num="1" id="359" />
+<TGConnectingPoint num="0" id="346" />
+<TGConnectingPoint num="1" id="347" />
<extraparam>
<Data eventName="newCommand" nbOfParams="5" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1006" id="363" >
+<COMPONENT type="1006" id="351" >
<cdparam x="999" y="422" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="126" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="motorCommand(1)" />
-<TGConnectingPoint num="0" id="361" />
-<TGConnectingPoint num="1" id="362" />
+<TGConnectingPoint num="0" id="349" />
+<TGConnectingPoint num="1" id="350" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1008" id="366" >
+<COMPONENT type="1008" id="354" >
<cdparam x="1009" y="370" />
<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
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<infoparam name="send event" value="newCommand()" />
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<extraparam>
<Data eventName="newCommand" nbOfParams="5" />
</extraparam>
</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
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<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" />
</extraparam>
</COMPONENT>
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<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
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</COMPONENT>
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<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="samplingRate(1)" />
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<extraparam>
<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
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</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="changeRate()" />
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<extraparam>
<Data eventName="changeRate" nbOfParams="5" />
</extraparam>
</COMPONENT>
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<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="stop state" value="null" />
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</COMPONENT>
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<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="samplingRate(1)" />
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<extraparam>
<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
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</COMPONENT>
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<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="send event" value="changeRate()" />
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<extraparam>
<Data eventName="changeRate" nbOfParams="5" />
</extraparam>
</COMPONENT>
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<infoparam name="connector" value="null" />
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<AutomaticDrawing data="true" />
</CONNECTOR>
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<AutomaticDrawing data="true" />
</CONNECTOR>
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<AutomaticDrawing data="true" />
</CONNECTOR>
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<AutomaticDrawing data="true" />
</CONNECTOR>
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<cdparam x="658" y="447" />
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<AutomaticDrawing data="true" />
</CONNECTOR>
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<AutomaticDrawing data="true" />
</CONNECTOR>
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+<P1 x="1103" y="569" id="251" />
+<P2 x="1174" y="611" id="319" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="416" >
+<CONNECTOR type="115" id="404" >
<cdparam x="415" y="667" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="415" y="667" id="347" />
-<P2 x="415" y="692" id="343" />
+<P1 x="415" y="667" id="335" />
+<P2 x="415" y="692" id="331" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="417" >
+<CONNECTOR type="115" id="405" >
<cdparam x="542" y="619" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="542" y="619" id="353" />
-<P2 x="542" y="644" id="349" />
+<P1 x="542" y="619" id="341" />
+<P2 x="542" y="644" id="337" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="418" >
+<CONNECTOR type="115" id="406" >
<cdparam x="910" y="649" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="910" y="649" id="338" />
-<P2 x="910" y="692" id="230" />
+<P1 x="910" y="649" id="326" />
+<P2 x="910" y="692" id="218" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="419" >
+<CONNECTOR type="115" id="407" >
<cdparam x="1063" y="672" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1063" y="672" id="335" />
-<P2 x="1063" y="702" id="227" />
+<P1 x="1063" y="672" id="323" />
+<P2 x="1063" y="702" id="215" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="420" >
+<CONNECTOR type="115" id="408" >
<cdparam x="658" y="336" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="658" y="327" id="225" />
-<P2 x="658" y="365" id="358" />
+<P1 x="658" y="327" id="213" />
+<P2 x="658" y="365" id="346" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="421" >
+<CONNECTOR type="115" id="409" >
<cdparam x="667" y="388" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="658" y="395" id="359" />
-<P2 x="658" y="417" id="355" />
+<P1 x="658" y="395" id="347" />
+<P2 x="658" y="417" id="343" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="422" >
+<CONNECTOR type="115" id="410" >
<cdparam x="1062" y="336" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1062" y="338" id="221" />
-<P2 x="1062" y="365" id="364" />
+<P1 x="1062" y="338" id="209" />
+<P2 x="1062" y="365" id="352" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="411" >
+<cdparam x="1063" y="254" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1062" y="263" id="356" />
+<P2 x="1062" y="298" id="208" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="115" id="412" >
+<cdparam x="1071" y="388" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<P1 x="1062" y="395" id="353" />
+<P2 x="1062" y="417" id="349" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="423" >
-<cdparam x="1063" y="254" />
+<CONNECTOR type="115" id="413" >
+<cdparam x="520" y="92" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1062" y="263" id="368" />
-<P2 x="1062" y="298" id="220" />
+<P1 x="520" y="92" id="223" />
+<P2 x="520" y="104" id="202" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="424" >
-<cdparam x="1071" y="388" />
+<CONNECTOR type="115" id="414" >
+<cdparam x="146" y="573" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1062" y="395" id="365" />
-<P2 x="1062" y="417" id="361" />
+<P1 x="146" y="573" id="269" />
+<P2 x="146" y="601" id="200" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="427" >
+<CONNECTOR type="115" id="415" >
<cdparam x="269" y="735" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="269" y="735" id="287" />
-<P2 x="269" y="758" id="210" />
+<P1 x="269" y="735" id="275" />
+<P2 x="269" y="758" id="198" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="428" >
+<CONNECTOR type="115" id="416" >
<cdparam x="415" y="786" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="415" y="786" id="296" />
-<P2 x="415" y="808" id="208" />
+<P1 x="415" y="786" id="284" />
+<P2 x="415" y="808" id="196" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="429" >
+<CONNECTOR type="115" id="417" >
<cdparam x="542" y="674" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="542" y="674" id="350" />
-<P2 x="542" y="700" id="206" />
+<P1 x="542" y="674" id="338" />
+<P2 x="542" y="700" id="194" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="431" >
-<cdparam x="769" y="571" />
+<CONNECTOR type="115" id="418" >
+<cdparam x="658" y="598" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="769" y="571" id="320" />
-<P2 x="770" y="594" id="13433" />
+<P1 x="658" y="598" id="311" />
+<P2 x="658" y="628" id="192" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="433" >
-<cdparam x="910" y="779" />
+<CONNECTOR type="115" id="419" >
+<cdparam x="769" y="571" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="910" y="779" id="376" />
-<P2 x="910" y="804" id="372" />
+<P1 x="769" y="571" id="308" />
+<P2 x="769" y="599" id="190" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="434" >
-<cdparam x="910" y="834" />
+<CONNECTOR type="115" id="420" >
+<cdparam x="1174" y="641" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="910" y="834" id="373" />
-<P2 x="910" y="857" id="370" />
+<P1 x="1174" y="641" id="320" />
+<P2 x="1174" y="670" id="188" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="435" >
-<cdparam x="1063" y="781" />
+<CONNECTOR type="115" id="421" >
+<cdparam x="910" y="779" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1063" y="781" id="384" />
-<P2 x="1063" y="806" id="380" />
+<P1 x="910" y="779" id="364" />
+<P2 x="910" y="804" id="360" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="436" >
-<cdparam x="1063" y="836" />
+<CONNECTOR type="115" id="422" >
+<cdparam x="910" y="834" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="1063" y="836" id="381" />
-<P2 x="1063" y="859" id="378" />
+<P1 x="910" y="834" id="361" />
+<P2 x="910" y="857" id="358" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="2137" >
-<cdparam x="520" y="30" />
+<CONNECTOR type="115" id="423" >
+<cdparam x="1063" y="781" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="520" y="30" id="317" />
-<P2 x="505" y="64" id="2135" />
+<P1 x="1063" y="781" id="372" />
+<P2 x="1063" y="806" id="368" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="115" id="2138" >
-<cdparam x="603" y="82" />
+<CONNECTOR type="115" id="424" >
+<cdparam x="1063" y="836" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="551" y="83" id="2136" />
-<P2 x="658" y="104" id="309" />
+<P1 x="1063" y="836" id="369" />
+<P2 x="1063" y="859" id="366" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<COMPONENT type="1008" id="294" >
-<cdparam x="221" y="655" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="changeRate()" />
-<TGConnectingPoint num="0" id="292" />
-<TGConnectingPoint num="1" id="293" />
-<extraparam>
-<Data eventName="changeRate" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1008" id="13435" >
-<cdparam x="722" y="599" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="changeRate()" />
-<TGConnectingPoint num="0" id="13433" />
-<TGConnectingPoint num="1" id="13434" />
-<extraparam>
-<Data eventName="changeRate" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1008" id="297" >
-<cdparam x="373" y="761" />
-<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="startTemp()" />
-<TGConnectingPoint num="0" id="295" />
-<TGConnectingPoint num="1" id="296" />
-<extraparam>
-<Data eventName="startTemp" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1008" id="30899" >
-<cdparam x="764" y="749" />
-<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="send event" value="startTemp()" />
-<TGConnectingPoint num="0" id="30897" />
-<TGConnectingPoint num="1" id="30898" />
-<extraparam>
-<Data eventName="startTemp" nbOfParams="5" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1006" id="245232" >
-<cdparam x="749" y="694" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="samplingRate(1)" />
-<TGConnectingPoint num="0" id="245230" />
-<TGConnectingPoint num="1" id="245231" />
-<extraparam>
-<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="1006" id="351" >
-<cdparam x="486" y="649" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="write channel" value="samplingRate(1)" />
-<TGConnectingPoint num="0" id="349" />
-<TGConnectingPoint num="1" id="350" />
-<extraparam>
-<Data channelName="samplingRate" nbOfSamples="1" secPattern="" isAttacker="No" />
-</extraparam>
-</COMPONENT>
-
</TMLActivityDiagramPanel>
@@ -2316,208 +2112,208 @@ 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="1102" id="461" >
+<COMPONENT type="1102" id="449" >
<cdparam x="531" y="29" />
<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="437" />
-<TGConnectingPoint num="1" id="438" />
-<TGConnectingPoint num="2" id="439" />
-<TGConnectingPoint num="3" id="440" />
-<TGConnectingPoint num="4" id="441" />
-<TGConnectingPoint num="5" id="442" />
-<TGConnectingPoint num="6" id="443" />
-<TGConnectingPoint num="7" id="444" />
-<TGConnectingPoint num="8" id="445" />
-<TGConnectingPoint num="9" id="446" />
-<TGConnectingPoint num="10" id="447" />
-<TGConnectingPoint num="11" id="448" />
-<TGConnectingPoint num="12" id="449" />
-<TGConnectingPoint num="13" id="450" />
-<TGConnectingPoint num="14" id="451" />
-<TGConnectingPoint num="15" id="452" />
-<TGConnectingPoint num="16" id="453" />
-<TGConnectingPoint num="17" id="454" />
-<TGConnectingPoint num="18" id="455" />
-<TGConnectingPoint num="19" id="456" />
-<TGConnectingPoint num="20" id="457" />
-<TGConnectingPoint num="21" id="458" />
-<TGConnectingPoint num="22" id="459" />
-<TGConnectingPoint num="23" id="460" />
+<TGConnectingPoint num="0" id="425" />
+<TGConnectingPoint num="1" id="426" />
+<TGConnectingPoint num="2" id="427" />
+<TGConnectingPoint num="3" id="428" />
+<TGConnectingPoint num="4" id="429" />
+<TGConnectingPoint num="5" id="430" />
+<TGConnectingPoint num="6" id="431" />
+<TGConnectingPoint num="7" id="432" />
+<TGConnectingPoint num="8" id="433" />
+<TGConnectingPoint num="9" id="434" />
+<TGConnectingPoint num="10" id="435" />
+<TGConnectingPoint num="11" id="436" />
+<TGConnectingPoint num="12" id="437" />
+<TGConnectingPoint num="13" id="438" />
+<TGConnectingPoint num="14" id="439" />
+<TGConnectingPoint num="15" id="440" />
+<TGConnectingPoint num="16" id="441" />
+<TGConnectingPoint num="17" id="442" />
+<TGConnectingPoint num="18" id="443" />
+<TGConnectingPoint num="19" id="444" />
+<TGConnectingPoint num="20" id="445" />
+<TGConnectingPoint num="21" id="446" />
+<TGConnectingPoint num="22" id="447" />
+<TGConnectingPoint num="23" id="448" />
<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="486" >
+<COMPONENT type="1105" id="474" >
<cdparam x="668" y="98" />
<sizeparam width="200" height="214" 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="462" />
-<TGConnectingPoint num="1" id="463" />
-<TGConnectingPoint num="2" id="464" />
-<TGConnectingPoint num="3" id="465" />
-<TGConnectingPoint num="4" id="466" />
-<TGConnectingPoint num="5" id="467" />
-<TGConnectingPoint num="6" id="468" />
-<TGConnectingPoint num="7" id="469" />
-<TGConnectingPoint num="8" id="470" />
-<TGConnectingPoint num="9" id="471" />
-<TGConnectingPoint num="10" id="472" />
-<TGConnectingPoint num="11" id="473" />
-<TGConnectingPoint num="12" id="474" />
-<TGConnectingPoint num="13" id="475" />
-<TGConnectingPoint num="14" id="476" />
-<TGConnectingPoint num="15" id="477" />
-<TGConnectingPoint num="16" id="478" />
-<TGConnectingPoint num="17" id="479" />
-<TGConnectingPoint num="18" id="480" />
-<TGConnectingPoint num="19" id="481" />
-<TGConnectingPoint num="20" id="482" />
-<TGConnectingPoint num="21" id="483" />
-<TGConnectingPoint num="22" id="484" />
-<TGConnectingPoint num="23" id="485" />
+<TGConnectingPoint num="0" id="450" />
+<TGConnectingPoint num="1" id="451" />
+<TGConnectingPoint num="2" id="452" />
+<TGConnectingPoint num="3" id="453" />
+<TGConnectingPoint num="4" id="454" />
+<TGConnectingPoint num="5" id="455" />
+<TGConnectingPoint num="6" id="456" />
+<TGConnectingPoint num="7" id="457" />
+<TGConnectingPoint num="8" id="458" />
+<TGConnectingPoint num="9" id="459" />
+<TGConnectingPoint num="10" id="460" />
+<TGConnectingPoint num="11" id="461" />
+<TGConnectingPoint num="12" id="462" />
+<TGConnectingPoint num="13" id="463" />
+<TGConnectingPoint num="14" id="464" />
+<TGConnectingPoint num="15" id="465" />
+<TGConnectingPoint num="16" id="466" />
+<TGConnectingPoint num="17" id="467" />
+<TGConnectingPoint num="18" id="468" />
+<TGConnectingPoint num="19" id="469" />
+<TGConnectingPoint num="20" id="470" />
+<TGConnectingPoint num="21" id="471" />
+<TGConnectingPoint num="22" id="472" />
+<TGConnectingPoint num="23" id="473" />
<extraparam>
<info stereotype="MEMORY" nodeName="Memory0" />
<attributes byteDataSize="4" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="547" >
+<COMPONENT type="1100" id="535" >
<cdparam x="428" y="98" />
<sizeparam width="220" height="215" 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="523" />
-<TGConnectingPoint num="1" id="524" />
-<TGConnectingPoint num="2" id="525" />
-<TGConnectingPoint num="3" id="526" />
-<TGConnectingPoint num="4" id="527" />
-<TGConnectingPoint num="5" id="528" />
-<TGConnectingPoint num="6" id="529" />
-<TGConnectingPoint num="7" id="530" />
-<TGConnectingPoint num="8" id="531" />
-<TGConnectingPoint num="9" id="532" />
-<TGConnectingPoint num="10" id="533" />
-<TGConnectingPoint num="11" id="534" />
-<TGConnectingPoint num="12" id="535" />
-<TGConnectingPoint num="13" id="536" />
-<TGConnectingPoint num="14" id="537" />
-<TGConnectingPoint num="15" id="538" />
-<TGConnectingPoint num="16" id="539" />
-<TGConnectingPoint num="17" id="540" />
-<TGConnectingPoint num="18" id="541" />
-<TGConnectingPoint num="19" id="542" />
-<TGConnectingPoint num="20" id="543" />
-<TGConnectingPoint num="21" id="544" />
-<TGConnectingPoint num="22" id="545" />
-<TGConnectingPoint num="23" id="546" />
+<TGConnectingPoint num="0" id="511" />
+<TGConnectingPoint num="1" id="512" />
+<TGConnectingPoint num="2" id="513" />
+<TGConnectingPoint num="3" id="514" />
+<TGConnectingPoint num="4" id="515" />
+<TGConnectingPoint num="5" id="516" />
+<TGConnectingPoint num="6" id="517" />
+<TGConnectingPoint num="7" id="518" />
+<TGConnectingPoint num="8" id="519" />
+<TGConnectingPoint num="9" id="520" />
+<TGConnectingPoint num="10" id="521" />
+<TGConnectingPoint num="11" id="522" />
+<TGConnectingPoint num="12" id="523" />
+<TGConnectingPoint num="13" id="524" />
+<TGConnectingPoint num="14" id="525" />
+<TGConnectingPoint num="15" id="526" />
+<TGConnectingPoint num="16" id="527" />
+<TGConnectingPoint num="17" id="528" />
+<TGConnectingPoint num="18" id="529" />
+<TGConnectingPoint num="19" id="530" />
+<TGConnectingPoint num="20" id="531" />
+<TGConnectingPoint num="21" id="532" />
+<TGConnectingPoint num="22" id="533" />
+<TGConnectingPoint num="23" id="534" />
<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" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="495" >
-<father id="547" num="0" />
+<SUBCOMPONENT type="1101" id="483" >
+<father id="535" num="0" />
<cdparam x="436" y="135" />
-<sizeparam width="152" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="151" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="68" minY="0" maxY="175" />
+<cdrectangleparam minX="0" maxX="69" minY="0" maxY="175" />
<infoparam name="TGComponent" value="Rover::MainControl" />
-<TGConnectingPoint num="0" id="487" />
-<TGConnectingPoint num="1" id="488" />
-<TGConnectingPoint num="2" id="489" />
-<TGConnectingPoint num="3" id="490" />
-<TGConnectingPoint num="4" id="491" />
-<TGConnectingPoint num="5" id="492" />
-<TGConnectingPoint num="6" id="493" />
-<TGConnectingPoint num="7" id="494" />
+<TGConnectingPoint num="0" id="475" />
+<TGConnectingPoint num="1" id="476" />
+<TGConnectingPoint num="2" id="477" />
+<TGConnectingPoint num="3" id="478" />
+<TGConnectingPoint num="4" id="479" />
+<TGConnectingPoint num="5" id="480" />
+<TGConnectingPoint num="6" id="481" />
+<TGConnectingPoint num="7" id="482" />
<extraparam>
<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="504" >
-<father id="547" num="1" />
+<SUBCOMPONENT type="1101" id="492" >
+<father id="535" num="1" />
<cdparam x="435" y="223" />
-<sizeparam width="177" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="43" minY="0" maxY="175" />
+<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
<infoparam name="TGComponent" value="Rover::DistanceSensor" />
-<TGConnectingPoint num="0" id="496" />
-<TGConnectingPoint num="1" id="497" />
-<TGConnectingPoint num="2" id="498" />
-<TGConnectingPoint num="3" id="499" />
-<TGConnectingPoint num="4" id="500" />
-<TGConnectingPoint num="5" id="501" />
-<TGConnectingPoint num="6" id="502" />
-<TGConnectingPoint num="7" id="503" />
+<TGConnectingPoint num="0" id="484" />
+<TGConnectingPoint num="1" id="485" />
+<TGConnectingPoint num="2" id="486" />
+<TGConnectingPoint num="3" id="487" />
+<TGConnectingPoint num="4" id="488" />
+<TGConnectingPoint num="5" id="489" />
+<TGConnectingPoint num="6" id="490" />
+<TGConnectingPoint num="7" id="491" />
<extraparam>
<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="513" >
-<father id="547" num="2" />
+<SUBCOMPONENT type="1101" id="501" >
+<father id="535" num="2" />
<cdparam x="435" y="267" />
-<sizeparam width="203" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="17" minY="0" maxY="175" />
+<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
-<TGConnectingPoint num="0" id="505" />
-<TGConnectingPoint num="1" id="506" />
-<TGConnectingPoint num="2" id="507" />
-<TGConnectingPoint num="3" id="508" />
-<TGConnectingPoint num="4" id="509" />
-<TGConnectingPoint num="5" id="510" />
-<TGConnectingPoint num="6" id="511" />
-<TGConnectingPoint num="7" id="512" />
+<TGConnectingPoint num="0" id="493" />
+<TGConnectingPoint num="1" id="494" />
+<TGConnectingPoint num="2" id="495" />
+<TGConnectingPoint num="3" id="496" />
+<TGConnectingPoint num="4" id="497" />
+<TGConnectingPoint num="5" id="498" />
+<TGConnectingPoint num="6" id="499" />
+<TGConnectingPoint num="7" id="500" />
<extraparam>
<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="522" >
-<father id="547" num="3" />
+<SUBCOMPONENT type="1101" id="510" >
+<father id="535" num="3" />
<cdparam x="435" y="179" />
<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="61" minY="0" maxY="175" />
<infoparam name="TGComponent" value="Rover::MotorControl" />
-<TGConnectingPoint num="0" id="514" />
-<TGConnectingPoint num="1" id="515" />
-<TGConnectingPoint num="2" id="516" />
-<TGConnectingPoint num="3" id="517" />
-<TGConnectingPoint num="4" id="518" />
-<TGConnectingPoint num="5" id="519" />
-<TGConnectingPoint num="6" id="520" />
-<TGConnectingPoint num="7" id="521" />
+<TGConnectingPoint num="0" id="502" />
+<TGConnectingPoint num="1" id="503" />
+<TGConnectingPoint num="2" id="504" />
+<TGConnectingPoint num="3" id="505" />
+<TGConnectingPoint num="4" id="506" />
+<TGConnectingPoint num="5" id="507" />
+<TGConnectingPoint num="6" id="508" />
+<TGConnectingPoint num="7" id="509" />
<extraparam>
<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="125" id="548" >
+<CONNECTOR type="125" id="536" >
<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="718" y="98" id="470" />
-<P2 x="718" y="79" id="452" />
+<P1 x="718" y="98" id="458" />
+<P2 x="718" y="79" id="440" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="549" >
+<CONNECTOR type="125" id="537" >
<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="593" y="98" id="532" />
-<P2 x="593" y="79" id="451" />
+<P1 x="593" y="98" id="520" />
+<P2 x="593" y="79" id="439" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
@@ -2537,112 +2333,112 @@ state 2: obstacles in close proximity
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="false" />
-<Validated value="" />
+<Validated value="MotorControl;TemperatureSensor;DistanceSensor;MainControl;" />
<Ignored value="" />
-<CONNECTOR type="5002" id="551" >
+<CONNECTOR type="5002" id="539" >
<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="550" />
-<P1 x="514" y="618" id="660" />
-<P2 x="461" y="582" id="634" />
+<TGConnectingPoint num="0" id="538" />
+<P1 x="514" y="618" id="648" />
+<P2 x="461" y="582" id="622" />
<AutomaticDrawing data="true" />
<extraparam>
-<isd value="in motorCommand(int leftCommand, int rightCommand)" />
-<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
-<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
+<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<isd value="in changeRate(int samplingRate)" />
+<oso value="out changeRate(int samplingRate)" />
+<FIFOType asynchronous="true" size="1000" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="553" >
+<CONNECTOR type="5002" id="541" >
<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="552" />
-<P1 x="950" y="422" id="659" />
-<P2 x="1013" y="421" id="576" />
+<TGConnectingPoint num="0" id="540" />
+<P1 x="950" y="422" id="647" />
+<P2 x="1013" y="421" id="564" />
<AutomaticDrawing data="true" />
<extraparam>
-<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<isd value="in changeRate(int samplingRate)" />
-<oso value="out changeRate(int samplingRate)" />
-<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
+<isd value="in motorCommand(int leftCommand, int rightCommand)" />
+<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
+<FIFOType asynchronous="true" size="1000" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5002" id="555" >
+<CONNECTOR type="5002" id="543" >
<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="554" />
-<P1 x="514" y="520" id="651" />
-<P2 x="456" y="426" id="602" />
+<TGConnectingPoint num="0" id="542" />
+<P1 x="514" y="520" id="639" />
+<P2 x="456" y="426" id="590" />
<AutomaticDrawing data="true" />
<extraparam>
<iso value="in tempData(int temp)" />
<osd value="out tempData(int temp)" />
<isd value="in control(bool sensorOn)" />
<oso value="out control(bool sensorOn)" />
-<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="1000" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
-<COMPONENT type="302" id="572" >
-<cdparam x="573" y="216" />
-<sizeparam width="269" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="302" id="560" >
+<cdparam x="810" y="140" />
+<sizeparam width="257" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Proverif Pragma" value="" />
-<TGConnectingPoint num="0" id="556" />
-<TGConnectingPoint num="1" id="557" />
-<TGConnectingPoint num="2" id="558" />
-<TGConnectingPoint num="3" id="559" />
-<TGConnectingPoint num="4" id="560" />
-<TGConnectingPoint num="5" id="561" />
-<TGConnectingPoint num="6" id="562" />
-<TGConnectingPoint num="7" id="563" />
-<TGConnectingPoint num="8" id="564" />
-<TGConnectingPoint num="9" id="565" />
-<TGConnectingPoint num="10" id="566" />
-<TGConnectingPoint num="11" id="567" />
-<TGConnectingPoint num="12" id="568" />
-<TGConnectingPoint num="13" id="569" />
-<TGConnectingPoint num="14" id="570" />
-<TGConnectingPoint num="15" id="571" />
+<TGConnectingPoint num="0" id="544" />
+<TGConnectingPoint num="1" id="545" />
+<TGConnectingPoint num="2" id="546" />
+<TGConnectingPoint num="3" id="547" />
+<TGConnectingPoint num="4" id="548" />
+<TGConnectingPoint num="5" id="549" />
+<TGConnectingPoint num="6" id="550" />
+<TGConnectingPoint num="7" id="551" />
+<TGConnectingPoint num="8" id="552" />
+<TGConnectingPoint num="9" id="553" />
+<TGConnectingPoint num="10" id="554" />
+<TGConnectingPoint num="11" id="555" />
+<TGConnectingPoint num="12" id="556" />
+<TGConnectingPoint num="13" id="557" />
+<TGConnectingPoint num="14" id="558" />
+<TGConnectingPoint num="15" id="559" />
<extraparam>
<Line value="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="597" >
+<COMPONENT type="5000" id="585" >
<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="573" />
-<TGConnectingPoint num="1" id="574" />
-<TGConnectingPoint num="2" id="575" />
-<TGConnectingPoint num="3" id="576" />
-<TGConnectingPoint num="4" id="577" />
-<TGConnectingPoint num="5" id="578" />
-<TGConnectingPoint num="6" id="579" />
-<TGConnectingPoint num="7" id="580" />
-<TGConnectingPoint num="8" id="581" />
-<TGConnectingPoint num="9" id="582" />
-<TGConnectingPoint num="10" id="583" />
-<TGConnectingPoint num="11" id="584" />
-<TGConnectingPoint num="12" id="585" />
-<TGConnectingPoint num="13" id="586" />
-<TGConnectingPoint num="14" id="587" />
-<TGConnectingPoint num="15" id="588" />
-<TGConnectingPoint num="16" id="589" />
-<TGConnectingPoint num="17" id="590" />
-<TGConnectingPoint num="18" id="591" />
-<TGConnectingPoint num="19" id="592" />
-<TGConnectingPoint num="20" id="593" />
-<TGConnectingPoint num="21" id="594" />
-<TGConnectingPoint num="22" id="595" />
-<TGConnectingPoint num="23" id="596" />
+<TGConnectingPoint num="0" id="561" />
+<TGConnectingPoint num="1" id="562" />
+<TGConnectingPoint num="2" id="563" />
+<TGConnectingPoint num="3" id="564" />
+<TGConnectingPoint num="4" id="565" />
+<TGConnectingPoint num="5" id="566" />
+<TGConnectingPoint num="6" id="567" />
+<TGConnectingPoint num="7" id="568" />
+<TGConnectingPoint num="8" id="569" />
+<TGConnectingPoint num="9" id="570" />
+<TGConnectingPoint num="10" id="571" />
+<TGConnectingPoint num="11" id="572" />
+<TGConnectingPoint num="12" id="573" />
+<TGConnectingPoint num="13" id="574" />
+<TGConnectingPoint num="14" id="575" />
+<TGConnectingPoint num="15" id="576" />
+<TGConnectingPoint num="16" id="577" />
+<TGConnectingPoint num="17" id="578" />
+<TGConnectingPoint num="18" id="579" />
+<TGConnectingPoint num="19" id="580" />
+<TGConnectingPoint num="20" id="581" />
+<TGConnectingPoint num="21" id="582" />
+<TGConnectingPoint num="22" id="583" />
+<TGConnectingPoint num="23" id="584" />
<extraparam>
<CryptoBlock value="false" />
<Attribute access="0" id="rightVelocity" value="0" type="8" typeOther="" />
@@ -2651,36 +2447,36 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="622" >
+<COMPONENT type="5000" id="610" >
<cdparam x="169" y="325" />
<sizeparam width="287" height="202" 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="TemperatureSensor" />
-<TGConnectingPoint num="0" id="598" />
-<TGConnectingPoint num="1" id="599" />
-<TGConnectingPoint num="2" id="600" />
-<TGConnectingPoint num="3" id="601" />
-<TGConnectingPoint num="4" id="602" />
-<TGConnectingPoint num="5" id="603" />
-<TGConnectingPoint num="6" id="604" />
-<TGConnectingPoint num="7" id="605" />
-<TGConnectingPoint num="8" id="606" />
-<TGConnectingPoint num="9" id="607" />
-<TGConnectingPoint num="10" id="608" />
-<TGConnectingPoint num="11" id="609" />
-<TGConnectingPoint num="12" id="610" />
-<TGConnectingPoint num="13" id="611" />
-<TGConnectingPoint num="14" id="612" />
-<TGConnectingPoint num="15" id="613" />
-<TGConnectingPoint num="16" id="614" />
-<TGConnectingPoint num="17" id="615" />
-<TGConnectingPoint num="18" id="616" />
-<TGConnectingPoint num="19" id="617" />
-<TGConnectingPoint num="20" id="618" />
-<TGConnectingPoint num="21" id="619" />
-<TGConnectingPoint num="22" id="620" />
-<TGConnectingPoint num="23" id="621" />
+<TGConnectingPoint num="0" id="586" />
+<TGConnectingPoint num="1" id="587" />
+<TGConnectingPoint num="2" id="588" />
+<TGConnectingPoint num="3" id="589" />
+<TGConnectingPoint num="4" id="590" />
+<TGConnectingPoint num="5" id="591" />
+<TGConnectingPoint num="6" id="592" />
+<TGConnectingPoint num="7" id="593" />
+<TGConnectingPoint num="8" id="594" />
+<TGConnectingPoint num="9" id="595" />
+<TGConnectingPoint num="10" id="596" />
+<TGConnectingPoint num="11" id="597" />
+<TGConnectingPoint num="12" id="598" />
+<TGConnectingPoint num="13" id="599" />
+<TGConnectingPoint num="14" id="600" />
+<TGConnectingPoint num="15" id="601" />
+<TGConnectingPoint num="16" id="602" />
+<TGConnectingPoint num="17" id="603" />
+<TGConnectingPoint num="18" id="604" />
+<TGConnectingPoint num="19" id="605" />
+<TGConnectingPoint num="20" id="606" />
+<TGConnectingPoint num="21" id="607" />
+<TGConnectingPoint num="22" id="608" />
+<TGConnectingPoint num="23" id="609" />
<extraparam>
<CryptoBlock value="false" />
<Attribute access="0" id="sensorOn" value="false" type="4" typeOther="" />
@@ -2691,36 +2487,36 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="647" >
+<COMPONENT type="5000" id="635" >
<cdparam x="169" y="538" />
<sizeparam width="292" height="178" 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="DistanceSensor" />
-<TGConnectingPoint num="0" id="623" />
-<TGConnectingPoint num="1" id="624" />
-<TGConnectingPoint num="2" id="625" />
-<TGConnectingPoint num="3" id="626" />
-<TGConnectingPoint num="4" id="627" />
-<TGConnectingPoint num="5" id="628" />
-<TGConnectingPoint num="6" id="629" />
-<TGConnectingPoint num="7" id="630" />
-<TGConnectingPoint num="8" id="631" />
-<TGConnectingPoint num="9" id="632" />
-<TGConnectingPoint num="10" id="633" />
-<TGConnectingPoint num="11" id="634" />
-<TGConnectingPoint num="12" id="635" />
-<TGConnectingPoint num="13" id="636" />
-<TGConnectingPoint num="14" id="637" />
-<TGConnectingPoint num="15" id="638" />
-<TGConnectingPoint num="16" id="639" />
-<TGConnectingPoint num="17" id="640" />
-<TGConnectingPoint num="18" id="641" />
-<TGConnectingPoint num="19" id="642" />
-<TGConnectingPoint num="20" id="643" />
-<TGConnectingPoint num="21" id="644" />
-<TGConnectingPoint num="22" id="645" />
-<TGConnectingPoint num="23" id="646" />
+<TGConnectingPoint num="0" id="611" />
+<TGConnectingPoint num="1" id="612" />
+<TGConnectingPoint num="2" id="613" />
+<TGConnectingPoint num="3" id="614" />
+<TGConnectingPoint num="4" id="615" />
+<TGConnectingPoint num="5" id="616" />
+<TGConnectingPoint num="6" id="617" />
+<TGConnectingPoint num="7" id="618" />
+<TGConnectingPoint num="8" id="619" />
+<TGConnectingPoint num="9" id="620" />
+<TGConnectingPoint num="10" id="621" />
+<TGConnectingPoint num="11" id="622" />
+<TGConnectingPoint num="12" id="623" />
+<TGConnectingPoint num="13" id="624" />
+<TGConnectingPoint num="14" id="625" />
+<TGConnectingPoint num="15" id="626" />
+<TGConnectingPoint num="16" id="627" />
+<TGConnectingPoint num="17" id="628" />
+<TGConnectingPoint num="18" id="629" />
+<TGConnectingPoint num="19" id="630" />
+<TGConnectingPoint num="20" id="631" />
+<TGConnectingPoint num="21" id="632" />
+<TGConnectingPoint num="22" id="633" />
+<TGConnectingPoint num="23" id="634" />
<extraparam>
<CryptoBlock value="false" />
<Attribute access="0" id="samplingRate" value="10" type="8" typeOther="" />
@@ -2733,36 +2529,36 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="672" >
+<COMPONENT type="5000" id="660" >
<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="648" />
-<TGConnectingPoint num="1" id="649" />
-<TGConnectingPoint num="2" id="650" />
-<TGConnectingPoint num="3" id="651" />
-<TGConnectingPoint num="4" id="652" />
-<TGConnectingPoint num="5" id="653" />
-<TGConnectingPoint num="6" id="654" />
-<TGConnectingPoint num="7" id="655" />
-<TGConnectingPoint num="8" id="656" />
-<TGConnectingPoint num="9" id="657" />
-<TGConnectingPoint num="10" id="658" />
-<TGConnectingPoint num="11" id="659" />
-<TGConnectingPoint num="12" id="660" />
-<TGConnectingPoint num="13" id="661" />
-<TGConnectingPoint num="14" id="662" />
-<TGConnectingPoint num="15" id="663" />
-<TGConnectingPoint num="16" id="664" />
-<TGConnectingPoint num="17" id="665" />
-<TGConnectingPoint num="18" id="666" />
-<TGConnectingPoint num="19" id="667" />
-<TGConnectingPoint num="20" id="668" />
-<TGConnectingPoint num="21" id="669" />
-<TGConnectingPoint num="22" id="670" />
-<TGConnectingPoint num="23" id="671" />
+<TGConnectingPoint num="0" id="636" />
+<TGConnectingPoint num="1" id="637" />
+<TGConnectingPoint num="2" id="638" />
+<TGConnectingPoint num="3" id="639" />
+<TGConnectingPoint num="4" id="640" />
+<TGConnectingPoint num="5" id="641" />
+<TGConnectingPoint num="6" id="642" />
+<TGConnectingPoint num="7" id="643" />
+<TGConnectingPoint num="8" id="644" />
+<TGConnectingPoint num="9" id="645" />
+<TGConnectingPoint num="10" id="646" />
+<TGConnectingPoint num="11" id="647" />
+<TGConnectingPoint num="12" id="648" />
+<TGConnectingPoint num="13" id="649" />
+<TGConnectingPoint num="14" id="650" />
+<TGConnectingPoint num="15" id="651" />
+<TGConnectingPoint num="16" id="652" />
+<TGConnectingPoint num="17" id="653" />
+<TGConnectingPoint num="18" id="654" />
+<TGConnectingPoint num="19" id="655" />
+<TGConnectingPoint num="20" id="656" />
+<TGConnectingPoint num="21" id="657" />
+<TGConnectingPoint num="22" id="658" />
+<TGConnectingPoint num="23" id="659" />
<extraparam>
<CryptoBlock value="false" />
<Attribute access="0" id="state" value="0" type="8" typeOther="" />
@@ -2792,55 +2588,55 @@ state 2: obstacles in close proximity
</AVATARBlockDiagramPanel>
<AVATARStateMachineDiagramPanel name="MotorControl" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="685" >
+<CONNECTOR type="5102" id="673" >
<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="681" />
-<TGConnectingPoint num="1" id="682" />
-<TGConnectingPoint num="2" id="683" />
-<TGConnectingPoint num="3" id="684" />
-<P1 x="407" y="201" id="701" />
-<P2 x="495" y="113" id="715" />
+<TGConnectingPoint num="0" id="669" />
+<TGConnectingPoint num="1" id="670" />
+<TGConnectingPoint num="2" id="671" />
+<TGConnectingPoint num="3" id="672" />
+<P1 x="407" y="201" id="689" />
+<P2 x="495" y="113" id="703" />
<Point x="407" y="234" />
<Point x="601" y="231" />
<Point x="599" y="112" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="673" >
-<father id="685" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="661" >
+<father id="673" num="0" />
<cdparam x="407" y="234" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="674" >
-<father id="685" num="1" />
+<SUBCOMPONENT type="-1" id="662" >
+<father id="673" num="1" />
<cdparam x="601" y="231" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="675" >
-<father id="685" num="2" />
+<SUBCOMPONENT type="-1" id="663" >
+<father id="673" num="2" />
<cdparam x="599" y="112" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="680" >
-<father id="685" num="3" />
+<SUBCOMPONENT type="-1" id="668" >
+<father id="673" num="3" />
<cdparam x="451" y="157" />
<sizeparam width="77" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="676" />
-<TGConnectingPoint num="1" id="677" />
-<TGConnectingPoint num="2" id="678" />
-<TGConnectingPoint num="3" id="679" />
+<TGConnectingPoint num="0" id="664" />
+<TGConnectingPoint num="1" id="665" />
+<TGConnectingPoint num="2" id="666" />
+<TGConnectingPoint num="3" id="667" />
<extraparam>
<guard value="[ ]" />
<afterMin value="10" />
@@ -2850,25 +2646,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="692" >
+<CONNECTOR type="5102" id="680" >
<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="691" />
-<P1 x="407" y="60" id="752" />
-<P2 x="407" y="88" id="712" />
+<TGConnectingPoint num="0" id="679" />
+<P1 x="407" y="60" id="740" />
+<P2 x="407" y="88" id="700" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="690" >
-<father id="692" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="678" >
+<father id="680" num="0" />
<cdparam x="447" y="100" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="686" />
-<TGConnectingPoint num="1" id="687" />
-<TGConnectingPoint num="2" id="688" />
-<TGConnectingPoint num="3" id="689" />
+<TGConnectingPoint num="0" id="674" />
+<TGConnectingPoint num="1" id="675" />
+<TGConnectingPoint num="2" id="676" />
+<TGConnectingPoint num="3" id="677" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2878,154 +2674,155 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="699" >
+<CONNECTOR type="5102" id="687" >
<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="698" />
-<P1 x="407" y="138" id="717" />
-<P2 x="407" y="171" id="700" />
+<TGConnectingPoint num="0" id="686" />
+<P1 x="407" y="138" id="705" />
+<P2 x="407" y="171" id="688" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="697" >
-<father id="699" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="685" >
+<father id="687" num="0" />
<cdparam x="425" y="612" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="69" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="693" />
-<TGConnectingPoint num="1" id="694" />
-<TGConnectingPoint num="2" id="695" />
-<TGConnectingPoint num="3" id="696" />
+<TGConnectingPoint num="0" id="681" />
+<TGConnectingPoint num="1" id="682" />
+<TGConnectingPoint num="2" id="683" />
+<TGConnectingPoint num="3" id="684" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="5" />
+<afterMax value="10" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5104" id="710" >
-<cdparam x="267" y="176" />
-<sizeparam width="280" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="698" >
+<cdparam x="268" y="176" />
+<sizeparam width="279" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="motorCommand(leftVelocity, rightVelocity)" />
-<TGConnectingPoint num="0" id="700" />
-<TGConnectingPoint num="1" id="701" />
-<TGConnectingPoint num="2" id="702" />
-<TGConnectingPoint num="3" id="703" />
-<TGConnectingPoint num="4" id="704" />
-<TGConnectingPoint num="5" id="705" />
-<TGConnectingPoint num="6" id="706" />
-<TGConnectingPoint num="7" id="707" />
-<TGConnectingPoint num="8" id="708" />
-<TGConnectingPoint num="9" id="709" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="751" >
+<TGConnectingPoint num="0" id="688" />
+<TGConnectingPoint num="1" id="689" />
+<TGConnectingPoint num="2" id="690" />
+<TGConnectingPoint num="3" id="691" />
+<TGConnectingPoint num="4" id="692" />
+<TGConnectingPoint num="5" id="693" />
+<TGConnectingPoint num="6" id="694" />
+<TGConnectingPoint num="7" id="695" />
+<TGConnectingPoint num="8" id="696" />
+<TGConnectingPoint num="9" id="697" />
+<latencyCheck />
+</COMPONENT>
+
+<COMPONENT type="5106" id="739" >
<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" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="startMotor" />
-<TGConnectingPoint num="0" id="711" />
-<TGConnectingPoint num="1" id="712" />
-<TGConnectingPoint num="2" id="713" />
-<TGConnectingPoint num="3" id="714" />
-<TGConnectingPoint num="4" id="715" />
-<TGConnectingPoint num="5" id="716" />
-<TGConnectingPoint num="6" id="717" />
-<TGConnectingPoint num="7" id="718" />
-<TGConnectingPoint num="8" id="719" />
-<TGConnectingPoint num="9" id="720" />
-<TGConnectingPoint num="10" id="721" />
-<TGConnectingPoint num="11" id="722" />
-<TGConnectingPoint num="12" id="723" />
-<TGConnectingPoint num="13" id="724" />
-<TGConnectingPoint num="14" id="725" />
-<TGConnectingPoint num="15" id="726" />
-<TGConnectingPoint num="16" id="727" />
-<TGConnectingPoint num="17" id="728" />
-<TGConnectingPoint num="18" id="729" />
-<TGConnectingPoint num="19" id="730" />
-<TGConnectingPoint num="20" id="731" />
-<TGConnectingPoint num="21" id="732" />
-<TGConnectingPoint num="22" id="733" />
-<TGConnectingPoint num="23" id="734" />
-<TGConnectingPoint num="24" id="735" />
-<TGConnectingPoint num="25" id="736" />
-<TGConnectingPoint num="26" id="737" />
-<TGConnectingPoint num="27" id="738" />
-<TGConnectingPoint num="28" id="739" />
-<TGConnectingPoint num="29" id="740" />
-<TGConnectingPoint num="30" id="741" />
-<TGConnectingPoint num="31" id="742" />
-<TGConnectingPoint num="32" id="743" />
-<TGConnectingPoint num="33" id="744" />
-<TGConnectingPoint num="34" id="745" />
-<TGConnectingPoint num="35" id="746" />
-<TGConnectingPoint num="36" id="747" />
-<TGConnectingPoint num="37" id="748" />
-<TGConnectingPoint num="38" id="749" />
-<TGConnectingPoint num="39" id="750" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="753" >
+<TGConnectingPoint num="0" id="699" />
+<TGConnectingPoint num="1" id="700" />
+<TGConnectingPoint num="2" id="701" />
+<TGConnectingPoint num="3" id="702" />
+<TGConnectingPoint num="4" id="703" />
+<TGConnectingPoint num="5" id="704" />
+<TGConnectingPoint num="6" id="705" />
+<TGConnectingPoint num="7" id="706" />
+<TGConnectingPoint num="8" id="707" />
+<TGConnectingPoint num="9" id="708" />
+<TGConnectingPoint num="10" id="709" />
+<TGConnectingPoint num="11" id="710" />
+<TGConnectingPoint num="12" id="711" />
+<TGConnectingPoint num="13" id="712" />
+<TGConnectingPoint num="14" id="713" />
+<TGConnectingPoint num="15" id="714" />
+<TGConnectingPoint num="16" id="715" />
+<TGConnectingPoint num="17" id="716" />
+<TGConnectingPoint num="18" id="717" />
+<TGConnectingPoint num="19" id="718" />
+<TGConnectingPoint num="20" id="719" />
+<TGConnectingPoint num="21" id="720" />
+<TGConnectingPoint num="22" id="721" />
+<TGConnectingPoint num="23" id="722" />
+<TGConnectingPoint num="24" id="723" />
+<TGConnectingPoint num="25" id="724" />
+<TGConnectingPoint num="26" id="725" />
+<TGConnectingPoint num="27" id="726" />
+<TGConnectingPoint num="28" id="727" />
+<TGConnectingPoint num="29" id="728" />
+<TGConnectingPoint num="30" id="729" />
+<TGConnectingPoint num="31" id="730" />
+<TGConnectingPoint num="32" id="731" />
+<TGConnectingPoint num="33" id="732" />
+<TGConnectingPoint num="34" id="733" />
+<TGConnectingPoint num="35" id="734" />
+<TGConnectingPoint num="36" id="735" />
+<TGConnectingPoint num="37" id="736" />
+<TGConnectingPoint num="38" id="737" />
+<TGConnectingPoint num="39" id="738" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="741" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="752" />
+<TGConnectingPoint num="0" id="740" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="TemperatureSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="764" >
+<CONNECTOR type="5102" id="752" >
<cdparam x="332" y="571" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="761" />
-<TGConnectingPoint num="1" id="762" />
-<TGConnectingPoint num="2" id="763" />
-<P1 x="405" y="357" id="819" />
-<P2 x="495" y="146" id="855" />
+<TGConnectingPoint num="0" id="749" />
+<TGConnectingPoint num="1" id="750" />
+<TGConnectingPoint num="2" id="751" />
+<P1 x="405" y="357" id="807" />
+<P2 x="495" y="146" id="843" />
<Point x="648" y="358" />
<Point x="652" y="146" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="754" >
-<father id="764" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="742" >
+<father id="752" num="0" />
<cdparam x="648" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="755" >
-<father id="764" num="1" />
+<SUBCOMPONENT type="-1" id="743" >
+<father id="752" num="1" />
<cdparam x="652" y="146" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="760" >
-<father id="764" num="2" />
+<SUBCOMPONENT type="-1" id="748" >
+<father id="752" num="2" />
<cdparam x="413" y="358" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="756" />
-<TGConnectingPoint num="1" id="757" />
-<TGConnectingPoint num="2" id="758" />
-<TGConnectingPoint num="3" id="759" />
+<TGConnectingPoint num="0" id="744" />
+<TGConnectingPoint num="1" id="745" />
+<TGConnectingPoint num="2" id="746" />
+<TGConnectingPoint num="3" id="747" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3035,45 +2832,45 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="775" >
+<CONNECTOR type="5102" id="763" >
<cdparam x="325" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="772" />
-<TGConnectingPoint num="1" id="773" />
-<TGConnectingPoint num="2" id="774" />
-<P1 x="298" y="255" id="808" />
-<P2 x="319" y="152" id="841" />
+<TGConnectingPoint num="0" id="760" />
+<TGConnectingPoint num="1" id="761" />
+<TGConnectingPoint num="2" id="762" />
+<P1 x="298" y="255" id="796" />
+<P2 x="319" y="152" id="829" />
<Point x="190" y="255" />
<Point x="189" y="151" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="765" >
-<father id="775" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="753" >
+<father id="763" num="0" />
<cdparam x="190" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="766" >
-<father id="775" num="1" />
+<SUBCOMPONENT type="-1" id="754" >
+<father id="763" num="1" />
<cdparam x="189" y="151" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="771" >
-<father id="775" num="2" />
+<SUBCOMPONENT type="-1" id="759" >
+<father id="763" num="2" />
<cdparam x="322" y="203" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="767" />
-<TGConnectingPoint num="1" id="768" />
-<TGConnectingPoint num="2" id="769" />
-<TGConnectingPoint num="3" id="770" />
+<TGConnectingPoint num="0" id="755" />
+<TGConnectingPoint num="1" id="756" />
+<TGConnectingPoint num="2" id="757" />
+<TGConnectingPoint num="3" id="758" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3083,25 +2880,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="782" >
+<CONNECTOR type="5102" id="770" >
<cdparam x="362" y="290" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="781" />
-<P1 x="407" y="165" id="835" />
-<P2 x="407" y="276" id="804" />
+<TGConnectingPoint num="0" id="769" />
+<P1 x="407" y="165" id="823" />
+<P2 x="407" y="276" id="792" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="780" >
-<father id="782" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="768" >
+<father id="770" num="0" />
<cdparam x="419" y="226" />
-<sizeparam width="218" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="776" />
-<TGConnectingPoint num="1" id="777" />
-<TGConnectingPoint num="2" id="778" />
-<TGConnectingPoint num="3" id="779" />
+<TGConnectingPoint num="0" id="764" />
+<TGConnectingPoint num="1" id="765" />
+<TGConnectingPoint num="2" id="766" />
+<TGConnectingPoint num="3" id="767" />
<extraparam>
<guard value="[ sensorOn]" />
<afterMin value="samplingRate" />
@@ -3111,25 +2908,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="789" >
+<CONNECTOR type="5102" id="777" >
<cdparam x="538" y="298" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="788" />
-<P1 x="407" y="306" id="805" />
-<P2 x="405" y="327" id="818" />
+<TGConnectingPoint num="0" id="776" />
+<P1 x="407" y="306" id="793" />
+<P2 x="405" y="327" id="806" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="787" >
-<father id="789" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="775" >
+<father id="777" num="0" />
<cdparam x="471" y="312" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="783" />
-<TGConnectingPoint num="1" id="784" />
-<TGConnectingPoint num="2" id="785" />
-<TGConnectingPoint num="3" id="786" />
+<TGConnectingPoint num="0" id="771" />
+<TGConnectingPoint num="1" id="772" />
+<TGConnectingPoint num="2" id="773" />
+<TGConnectingPoint num="3" id="774" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3139,25 +2936,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="796" >
+<CONNECTOR type="5102" id="784" >
<cdparam x="363" y="165" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="795" />
-<P1 x="363" y="165" id="843" />
-<P2 x="298" y="225" id="807" />
+<TGConnectingPoint num="0" id="783" />
+<P1 x="363" y="165" id="831" />
+<P2 x="298" y="225" id="795" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="794" >
-<father id="796" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="782" >
+<father id="784" num="0" />
<cdparam x="476" y="301" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="790" />
-<TGConnectingPoint num="1" id="791" />
-<TGConnectingPoint num="2" id="792" />
-<TGConnectingPoint num="3" id="793" />
+<TGConnectingPoint num="0" id="778" />
+<TGConnectingPoint num="1" id="779" />
+<TGConnectingPoint num="2" id="780" />
+<TGConnectingPoint num="3" id="781" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3167,25 +2964,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="803" >
+<CONNECTOR type="5102" id="791" >
<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="802" />
-<P1 x="407" y="60" id="870" />
-<P2 x="407" y="115" id="830" />
+<TGConnectingPoint num="0" id="790" />
+<P1 x="407" y="60" id="858" />
+<P2 x="407" y="115" id="818" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="801" >
-<father id="803" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="789" >
+<father id="791" num="0" />
<cdparam x="447" y="100" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="797" />
-<TGConnectingPoint num="1" id="798" />
-<TGConnectingPoint num="2" id="799" />
-<TGConnectingPoint num="3" id="800" />
+<TGConnectingPoint num="0" id="785" />
+<TGConnectingPoint num="1" id="786" />
+<TGConnectingPoint num="2" id="787" />
+<TGConnectingPoint num="3" id="788" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3195,137 +2992,138 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="806" >
+<COMPONENT type="5108" id="794" >
<cdparam x="326" y="281" />
<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="804" />
-<TGConnectingPoint num="1" id="805" />
+<TGConnectingPoint num="0" id="792" />
+<TGConnectingPoint num="1" id="793" />
<extraparam>
<Data variable="temp" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5104" id="817" >
-<cdparam x="232" y="230" />
-<sizeparam width="132" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="805" >
+<cdparam x="234" y="230" />
+<sizeparam width="129" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="807" />
-<TGConnectingPoint num="1" id="808" />
-<TGConnectingPoint num="2" id="809" />
-<TGConnectingPoint num="3" id="810" />
-<TGConnectingPoint num="4" id="811" />
-<TGConnectingPoint num="5" id="812" />
-<TGConnectingPoint num="6" id="813" />
-<TGConnectingPoint num="7" id="814" />
-<TGConnectingPoint num="8" id="815" />
-<TGConnectingPoint num="9" id="816" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="828" >
+<TGConnectingPoint num="0" id="795" />
+<TGConnectingPoint num="1" id="796" />
+<TGConnectingPoint num="2" id="797" />
+<TGConnectingPoint num="3" id="798" />
+<TGConnectingPoint num="4" id="799" />
+<TGConnectingPoint num="5" id="800" />
+<TGConnectingPoint num="6" id="801" />
+<TGConnectingPoint num="7" id="802" />
+<TGConnectingPoint num="8" id="803" />
+<TGConnectingPoint num="9" id="804" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="816" >
<cdparam x="348" y="332" />
<sizeparam width="114" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Send signal" value="tempData(temp)" />
-<TGConnectingPoint num="0" id="818" />
-<TGConnectingPoint num="1" id="819" />
-<TGConnectingPoint num="2" id="820" />
-<TGConnectingPoint num="3" id="821" />
-<TGConnectingPoint num="4" id="822" />
-<TGConnectingPoint num="5" id="823" />
-<TGConnectingPoint num="6" id="824" />
-<TGConnectingPoint num="7" id="825" />
-<TGConnectingPoint num="8" id="826" />
-<TGConnectingPoint num="9" id="827" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="869" >
+<TGConnectingPoint num="0" id="806" />
+<TGConnectingPoint num="1" id="807" />
+<TGConnectingPoint num="2" id="808" />
+<TGConnectingPoint num="3" id="809" />
+<TGConnectingPoint num="4" id="810" />
+<TGConnectingPoint num="5" id="811" />
+<TGConnectingPoint num="6" id="812" />
+<TGConnectingPoint num="7" id="813" />
+<TGConnectingPoint num="8" id="814" />
+<TGConnectingPoint num="9" id="815" />
+<latencyCheck />
+</COMPONENT>
+
+<COMPONENT type="5106" id="857" >
<cdparam x="319" y="115" />
<sizeparam width="176" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="start" />
-<TGConnectingPoint num="0" id="829" />
-<TGConnectingPoint num="1" id="830" />
-<TGConnectingPoint num="2" id="831" />
-<TGConnectingPoint num="3" id="832" />
-<TGConnectingPoint num="4" id="833" />
-<TGConnectingPoint num="5" id="834" />
-<TGConnectingPoint num="6" id="835" />
-<TGConnectingPoint num="7" id="836" />
-<TGConnectingPoint num="8" id="837" />
-<TGConnectingPoint num="9" id="838" />
-<TGConnectingPoint num="10" id="839" />
-<TGConnectingPoint num="11" id="840" />
-<TGConnectingPoint num="12" id="841" />
-<TGConnectingPoint num="13" id="842" />
-<TGConnectingPoint num="14" id="843" />
-<TGConnectingPoint num="15" id="844" />
-<TGConnectingPoint num="16" id="845" />
-<TGConnectingPoint num="17" id="846" />
-<TGConnectingPoint num="18" id="847" />
-<TGConnectingPoint num="19" id="848" />
-<TGConnectingPoint num="20" id="849" />
-<TGConnectingPoint num="21" id="850" />
-<TGConnectingPoint num="22" id="851" />
-<TGConnectingPoint num="23" id="852" />
-<TGConnectingPoint num="24" id="853" />
-<TGConnectingPoint num="25" id="854" />
-<TGConnectingPoint num="26" id="855" />
-<TGConnectingPoint num="27" id="856" />
-<TGConnectingPoint num="28" id="857" />
-<TGConnectingPoint num="29" id="858" />
-<TGConnectingPoint num="30" id="859" />
-<TGConnectingPoint num="31" id="860" />
-<TGConnectingPoint num="32" id="861" />
-<TGConnectingPoint num="33" id="862" />
-<TGConnectingPoint num="34" id="863" />
-<TGConnectingPoint num="35" id="864" />
-<TGConnectingPoint num="36" id="865" />
-<TGConnectingPoint num="37" id="866" />
-<TGConnectingPoint num="38" id="867" />
-<TGConnectingPoint num="39" id="868" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="871" >
+<TGConnectingPoint num="0" id="817" />
+<TGConnectingPoint num="1" id="818" />
+<TGConnectingPoint num="2" id="819" />
+<TGConnectingPoint num="3" id="820" />
+<TGConnectingPoint num="4" id="821" />
+<TGConnectingPoint num="5" id="822" />
+<TGConnectingPoint num="6" id="823" />
+<TGConnectingPoint num="7" id="824" />
+<TGConnectingPoint num="8" id="825" />
+<TGConnectingPoint num="9" id="826" />
+<TGConnectingPoint num="10" id="827" />
+<TGConnectingPoint num="11" id="828" />
+<TGConnectingPoint num="12" id="829" />
+<TGConnectingPoint num="13" id="830" />
+<TGConnectingPoint num="14" id="831" />
+<TGConnectingPoint num="15" id="832" />
+<TGConnectingPoint num="16" id="833" />
+<TGConnectingPoint num="17" id="834" />
+<TGConnectingPoint num="18" id="835" />
+<TGConnectingPoint num="19" id="836" />
+<TGConnectingPoint num="20" id="837" />
+<TGConnectingPoint num="21" id="838" />
+<TGConnectingPoint num="22" id="839" />
+<TGConnectingPoint num="23" id="840" />
+<TGConnectingPoint num="24" id="841" />
+<TGConnectingPoint num="25" id="842" />
+<TGConnectingPoint num="26" id="843" />
+<TGConnectingPoint num="27" id="844" />
+<TGConnectingPoint num="28" id="845" />
+<TGConnectingPoint num="29" id="846" />
+<TGConnectingPoint num="30" id="847" />
+<TGConnectingPoint num="31" id="848" />
+<TGConnectingPoint num="32" id="849" />
+<TGConnectingPoint num="33" id="850" />
+<TGConnectingPoint num="34" id="851" />
+<TGConnectingPoint num="35" id="852" />
+<TGConnectingPoint num="36" id="853" />
+<TGConnectingPoint num="37" id="854" />
+<TGConnectingPoint num="38" id="855" />
+<TGConnectingPoint num="39" id="856" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="859" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="870" />
+<TGConnectingPoint num="0" id="858" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="DistanceSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="878" >
+<CONNECTOR type="5102" id="866" >
<cdparam x="331" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="877" />
-<P1 x="331" y="153" id="990" />
-<P2 x="287" y="287" id="1011" />
+<TGConnectingPoint num="0" id="865" />
+<P1 x="331" y="153" id="978" />
+<P2 x="287" y="287" id="999" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="876" >
-<father id="878" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="864" >
+<father id="866" num="0" />
<cdparam x="144" y="204" />
-<sizeparam width="218" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="872" />
-<TGConnectingPoint num="1" id="873" />
-<TGConnectingPoint num="2" id="874" />
-<TGConnectingPoint num="3" id="875" />
+<TGConnectingPoint num="0" id="860" />
+<TGConnectingPoint num="1" id="861" />
+<TGConnectingPoint num="2" id="862" />
+<TGConnectingPoint num="3" id="863" />
<extraparam>
<guard value="[ ]" />
<afterMin value="samplingRate" />
@@ -3335,25 +3133,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="885" >
+<CONNECTOR type="5102" id="873" >
<cdparam x="287" y="454" />
<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="884" />
-<P1 x="287" y="454" id="1006" />
-<P2 x="287" y="493" id="940" />
+<TGConnectingPoint num="0" id="872" />
+<P1 x="287" y="454" id="994" />
+<P2 x="287" y="522" id="928" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="883" >
-<father id="885" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="871" >
+<father id="873" num="0" />
<cdparam x="302" y="488" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="879" />
-<TGConnectingPoint num="1" id="880" />
-<TGConnectingPoint num="2" id="881" />
-<TGConnectingPoint num="3" id="882" />
+<TGConnectingPoint num="0" id="867" />
+<TGConnectingPoint num="1" id="868" />
+<TGConnectingPoint num="2" id="869" />
+<TGConnectingPoint num="3" id="870" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3363,25 +3161,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="892" >
+<CONNECTOR type="5102" id="880" >
<cdparam x="287" y="380" />
<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="891" />
-<P1 x="287" y="380" id="1009" />
-<P2 x="287" y="424" id="1005" />
+<TGConnectingPoint num="0" id="879" />
+<P1 x="287" y="380" id="997" />
+<P2 x="287" y="424" id="993" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="890" >
-<father id="892" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="878" >
+<father id="880" num="0" />
<cdparam x="298" y="399" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="886" />
-<TGConnectingPoint num="1" id="887" />
-<TGConnectingPoint num="2" id="888" />
-<TGConnectingPoint num="3" id="889" />
+<TGConnectingPoint num="0" id="874" />
+<TGConnectingPoint num="1" id="875" />
+<TGConnectingPoint num="2" id="876" />
+<TGConnectingPoint num="3" id="877" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3391,25 +3189,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="899" >
+<CONNECTOR type="5102" id="887" >
<cdparam x="287" y="317" />
<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="898" />
-<P1 x="287" y="317" id="1012" />
-<P2 x="287" y="350" id="1008" />
+<TGConnectingPoint num="0" id="886" />
+<P1 x="287" y="317" id="1000" />
+<P2 x="287" y="350" id="996" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="897" >
-<father id="899" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="885" >
+<father id="887" num="0" />
<cdparam x="293" y="330" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="893" />
-<TGConnectingPoint num="1" id="894" />
-<TGConnectingPoint num="2" id="895" />
-<TGConnectingPoint num="3" id="896" />
+<TGConnectingPoint num="0" id="881" />
+<TGConnectingPoint num="1" id="882" />
+<TGConnectingPoint num="2" id="883" />
+<TGConnectingPoint num="3" id="884" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3419,55 +3217,55 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="912" >
+<CONNECTOR type="5102" id="900" >
<cdparam x="523" y="226" />
<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="908" />
-<TGConnectingPoint num="1" id="909" />
-<TGConnectingPoint num="2" id="910" />
-<TGConnectingPoint num="3" id="911" />
-<P1 x="523" y="226" id="952" />
-<P2 x="506" y="128" id="966" />
+<TGConnectingPoint num="0" id="896" />
+<TGConnectingPoint num="1" id="897" />
+<TGConnectingPoint num="2" id="898" />
+<TGConnectingPoint num="3" id="899" />
+<P1 x="523" y="226" id="940" />
+<P2 x="506" y="128" id="954" />
<Point x="523" y="255" />
<Point x="674" y="255" />
<Point x="676" y="130" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="900" >
-<father id="912" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="888" >
+<father id="900" num="0" />
<cdparam x="523" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="901" >
-<father id="912" num="1" />
+<SUBCOMPONENT type="-1" id="889" >
+<father id="900" num="1" />
<cdparam x="674" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="902" >
-<father id="912" num="2" />
+<SUBCOMPONENT type="-1" id="890" >
+<father id="900" num="2" />
<cdparam x="676" y="130" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="907" >
-<father id="912" num="3" />
+<SUBCOMPONENT type="-1" id="895" >
+<father id="900" num="3" />
<cdparam x="514" y="177" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="903" />
-<TGConnectingPoint num="1" id="904" />
-<TGConnectingPoint num="2" id="905" />
-<TGConnectingPoint num="3" id="906" />
+<TGConnectingPoint num="0" id="891" />
+<TGConnectingPoint num="1" id="892" />
+<TGConnectingPoint num="2" id="893" />
+<TGConnectingPoint num="3" id="894" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3477,83 +3275,83 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="925" >
+<CONNECTOR type="5102" id="913" >
<cdparam x="262" y="358" />
<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="921" />
-<TGConnectingPoint num="1" id="922" />
-<TGConnectingPoint num="2" id="923" />
-<TGConnectingPoint num="3" id="924" />
-<P1 x="287" y="523" id="941" />
-<P2 x="308" y="134" id="986" />
-<Point x="287" y="538" />
-<Point x="71" y="538" />
+<TGConnectingPoint num="0" id="909" />
+<TGConnectingPoint num="1" id="910" />
+<TGConnectingPoint num="2" id="911" />
+<TGConnectingPoint num="3" id="912" />
+<P1 x="287" y="552" id="929" />
+<P2 x="308" y="134" id="974" />
+<Point x="287" y="568" />
+<Point x="71" y="568" />
<Point x="71" y="133" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="913" >
-<father id="925" num="0" />
-<cdparam x="287" y="538" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="901" >
+<father id="913" num="0" />
+<cdparam x="287" y="568" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="914" >
-<father id="925" num="1" />
-<cdparam x="71" y="538" />
+<SUBCOMPONENT type="-1" id="902" >
+<father id="913" num="1" />
+<cdparam x="71" y="568" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="915" >
-<father id="925" num="2" />
+<SUBCOMPONENT type="-1" id="903" >
+<father id="913" num="2" />
<cdparam x="71" y="133" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="920" >
-<father id="925" num="3" />
+<SUBCOMPONENT type="-1" id="908" >
+<father id="913" num="3" />
<cdparam x="285" y="246" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="113" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="916" />
-<TGConnectingPoint num="1" id="917" />
-<TGConnectingPoint num="2" id="918" />
-<TGConnectingPoint num="3" id="919" />
+<TGConnectingPoint num="0" id="904" />
+<TGConnectingPoint num="1" id="905" />
+<TGConnectingPoint num="2" id="906" />
+<TGConnectingPoint num="3" id="907" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<computeMin value="5" />
+<computeMax value="10" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="932" >
+<CONNECTOR type="5102" id="920" >
<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="931" />
-<P1 x="407" y="60" id="1003" />
-<P2 x="407" y="103" id="963" />
+<TGConnectingPoint num="0" id="919" />
+<P1 x="407" y="60" id="991" />
+<P2 x="407" y="103" id="951" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="930" >
-<father id="932" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="918" >
+<father id="920" num="0" />
<cdparam x="453" y="100" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="926" />
-<TGConnectingPoint num="1" id="927" />
-<TGConnectingPoint num="2" id="928" />
-<TGConnectingPoint num="3" id="929" />
+<TGConnectingPoint num="0" id="914" />
+<TGConnectingPoint num="1" id="915" />
+<TGConnectingPoint num="2" id="916" />
+<TGConnectingPoint num="3" id="917" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3563,25 +3361,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="939" >
+<CONNECTOR type="5102" id="927" >
<cdparam x="480" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="938" />
-<P1 x="480" y="153" id="993" />
-<P2 x="523" y="196" id="951" />
+<TGConnectingPoint num="0" id="926" />
+<P1 x="480" y="153" id="981" />
+<P2 x="523" y="196" id="939" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="937" >
-<father id="939" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="925" >
+<father id="927" num="0" />
<cdparam x="480" y="172" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="933" />
-<TGConnectingPoint num="1" id="934" />
-<TGConnectingPoint num="2" id="935" />
-<TGConnectingPoint num="3" id="936" />
+<TGConnectingPoint num="0" id="921" />
+<TGConnectingPoint num="1" id="922" />
+<TGConnectingPoint num="2" id="923" />
+<TGConnectingPoint num="3" id="924" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3591,138 +3389,136 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="950" >
-<cdparam x="108" y="498" />
-<sizeparam width="359" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="938" >
+<cdparam x="111" y="527" />
+<sizeparam width="352" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Send signal" value="sensorData(distanceLeft, distanceFront, distanceRight)" />
-<TGConnectingPoint num="0" id="940" />
-<TGConnectingPoint num="1" id="941" />
-<TGConnectingPoint num="2" id="942" />
-<TGConnectingPoint num="3" id="943" />
-<TGConnectingPoint num="4" id="944" />
-<TGConnectingPoint num="5" id="945" />
-<TGConnectingPoint num="6" id="946" />
-<TGConnectingPoint num="7" id="947" />
-<TGConnectingPoint num="8" id="948" />
-<TGConnectingPoint num="9" id="949" />
+<TGConnectingPoint num="0" id="928" />
+<TGConnectingPoint num="1" id="929" />
+<TGConnectingPoint num="2" id="930" />
+<TGConnectingPoint num="3" id="931" />
+<TGConnectingPoint num="4" id="932" />
+<TGConnectingPoint num="5" id="933" />
+<TGConnectingPoint num="6" id="934" />
+<TGConnectingPoint num="7" id="935" />
+<TGConnectingPoint num="8" id="936" />
+<TGConnectingPoint num="9" id="937" />
<latencyCheck />
</COMPONENT>
-<COMPONENT type="5104" id="961" >
-<cdparam x="429" y="201" />
-<sizeparam width="189" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="949" >
+<cdparam x="430" y="201" />
+<sizeparam width="187" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="changeRate(samplingRate)" />
-<TGConnectingPoint num="0" id="951" />
-<TGConnectingPoint num="1" id="952" />
-<TGConnectingPoint num="2" id="953" />
-<TGConnectingPoint num="3" id="954" />
-<TGConnectingPoint num="4" id="955" />
-<TGConnectingPoint num="5" id="956" />
-<TGConnectingPoint num="6" id="957" />
-<TGConnectingPoint num="7" id="958" />
-<TGConnectingPoint num="8" id="959" />
-<TGConnectingPoint num="9" id="960" />
-<latencyCheck />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1002" >
+<TGConnectingPoint num="0" id="939" />
+<TGConnectingPoint num="1" id="940" />
+<TGConnectingPoint num="2" id="941" />
+<TGConnectingPoint num="3" id="942" />
+<TGConnectingPoint num="4" id="943" />
+<TGConnectingPoint num="5" id="944" />
+<TGConnectingPoint num="6" id="945" />
+<TGConnectingPoint num="7" id="946" />
+<TGConnectingPoint num="8" id="947" />
+<TGConnectingPoint num="9" id="948" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="990" >
<cdparam x="308" y="103" />
<sizeparam width="198" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="startSensor" />
-<TGConnectingPoint num="0" id="962" />
-<TGConnectingPoint num="1" id="963" />
-<TGConnectingPoint num="2" id="964" />
-<TGConnectingPoint num="3" id="965" />
-<TGConnectingPoint num="4" id="966" />
-<TGConnectingPoint num="5" id="967" />
-<TGConnectingPoint num="6" id="968" />
-<TGConnectingPoint num="7" id="969" />
-<TGConnectingPoint num="8" id="970" />
-<TGConnectingPoint num="9" id="971" />
-<TGConnectingPoint num="10" id="972" />
-<TGConnectingPoint num="11" id="973" />
-<TGConnectingPoint num="12" id="974" />
-<TGConnectingPoint num="13" id="975" />
-<TGConnectingPoint num="14" id="976" />
-<TGConnectingPoint num="15" id="977" />
-<TGConnectingPoint num="16" id="978" />
-<TGConnectingPoint num="17" id="979" />
-<TGConnectingPoint num="18" id="980" />
-<TGConnectingPoint num="19" id="981" />
-<TGConnectingPoint num="20" id="982" />
-<TGConnectingPoint num="21" id="983" />
-<TGConnectingPoint num="22" id="984" />
-<TGConnectingPoint num="23" id="985" />
-<TGConnectingPoint num="24" id="986" />
-<TGConnectingPoint num="25" id="987" />
-<TGConnectingPoint num="26" id="988" />
-<TGConnectingPoint num="27" id="989" />
-<TGConnectingPoint num="28" id="990" />
-<TGConnectingPoint num="29" id="991" />
-<TGConnectingPoint num="30" id="992" />
-<TGConnectingPoint num="31" id="993" />
-<TGConnectingPoint num="32" id="994" />
-<TGConnectingPoint num="33" id="995" />
-<TGConnectingPoint num="34" id="996" />
-<TGConnectingPoint num="35" id="997" />
-<TGConnectingPoint num="36" id="998" />
-<TGConnectingPoint num="37" id="999" />
-<TGConnectingPoint num="38" id="1000" />
-<TGConnectingPoint num="39" id="1001" />
-<latencyCheck />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="1004" >
+<TGConnectingPoint num="0" id="950" />
+<TGConnectingPoint num="1" id="951" />
+<TGConnectingPoint num="2" id="952" />
+<TGConnectingPoint num="3" id="953" />
+<TGConnectingPoint num="4" id="954" />
+<TGConnectingPoint num="5" id="955" />
+<TGConnectingPoint num="6" id="956" />
+<TGConnectingPoint num="7" id="957" />
+<TGConnectingPoint num="8" id="958" />
+<TGConnectingPoint num="9" id="959" />
+<TGConnectingPoint num="10" id="960" />
+<TGConnectingPoint num="11" id="961" />
+<TGConnectingPoint num="12" id="962" />
+<TGConnectingPoint num="13" id="963" />
+<TGConnectingPoint num="14" id="964" />
+<TGConnectingPoint num="15" id="965" />
+<TGConnectingPoint num="16" id="966" />
+<TGConnectingPoint num="17" id="967" />
+<TGConnectingPoint num="18" id="968" />
+<TGConnectingPoint num="19" id="969" />
+<TGConnectingPoint num="20" id="970" />
+<TGConnectingPoint num="21" id="971" />
+<TGConnectingPoint num="22" id="972" />
+<TGConnectingPoint num="23" id="973" />
+<TGConnectingPoint num="24" id="974" />
+<TGConnectingPoint num="25" id="975" />
+<TGConnectingPoint num="26" id="976" />
+<TGConnectingPoint num="27" id="977" />
+<TGConnectingPoint num="28" id="978" />
+<TGConnectingPoint num="29" id="979" />
+<TGConnectingPoint num="30" id="980" />
+<TGConnectingPoint num="31" id="981" />
+<TGConnectingPoint num="32" id="982" />
+<TGConnectingPoint num="33" id="983" />
+<TGConnectingPoint num="34" id="984" />
+<TGConnectingPoint num="35" id="985" />
+<TGConnectingPoint num="36" id="986" />
+<TGConnectingPoint num="37" id="987" />
+<TGConnectingPoint num="38" id="988" />
+<TGConnectingPoint num="39" id="989" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="992" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="1003" />
+<TGConnectingPoint num="0" id="991" />
</COMPONENT>
-<COMPONENT type="5108" id="1007" >
+<COMPONENT type="5108" id="995" >
<cdparam x="179" y="429" />
-<sizeparam width="217" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1005" />
-<TGConnectingPoint num="1" id="1006" />
+<TGConnectingPoint num="0" id="993" />
+<TGConnectingPoint num="1" id="994" />
<extraparam>
<Data variable="distanceRight" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5108" id="1010" >
-<cdparam x="178" y="355" />
-<sizeparam width="218" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="998" >
+<cdparam x="179" y="355" />
+<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1008" />
-<TGConnectingPoint num="1" id="1009" />
+<TGConnectingPoint num="0" id="996" />
+<TGConnectingPoint num="1" id="997" />
<extraparam>
<Data variable="distanceFront" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5108" id="1013" >
-<cdparam x="183" y="292" />
-<sizeparam width="208" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="1001" >
+<cdparam x="184" y="292" />
+<sizeparam width="207" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1011" />
-<TGConnectingPoint num="1" id="1012" />
+<TGConnectingPoint num="0" id="999" />
+<TGConnectingPoint num="1" id="1000" />
<extraparam>
<Data variable="distanceLeft" minValue="0" maxValue="10" functionId="0" />
</extraparam>
@@ -3732,53 +3528,53 @@ state 2: obstacles in close proximity
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="2500" >
-<CONNECTOR type="5102" id="1020" >
+<CONNECTOR type="5102" id="1008" >
<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="1019" />
-<P1 x="436" y="1655" id="1360" />
-<P2 x="436" y="1679" id="1452" />
+<TGConnectingPoint num="0" id="1007" />
+<P1 x="436" y="1655" id="1348" />
+<P2 x="436" y="1679" id="1440" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1018" >
-<father id="1020" num="0" />
-<cdparam x="429" y="1710" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1006" >
+<father id="1008" num="0" />
+<cdparam x="460" y="1676" />
+<sizeparam width="105" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1014" />
-<TGConnectingPoint num="1" id="1015" />
-<TGConnectingPoint num="2" id="1016" />
-<TGConnectingPoint num="3" id="1017" />
+<TGConnectingPoint num="0" id="1002" />
+<TGConnectingPoint num="1" id="1003" />
+<TGConnectingPoint num="2" id="1004" />
+<TGConnectingPoint num="3" id="1005" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<computeMin value="1" />
+<computeMax value="5" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1027" >
+<CONNECTOR type="5102" id="1015" >
<cdparam x="463" y="1168" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1026" />
-<P1 x="463" y="1168" id="1932" />
-<P2 x="411" y="1209" id="1472" />
+<TGConnectingPoint num="0" id="1014" />
+<P1 x="463" y="1168" id="1920" />
+<P2 x="411" y="1209" id="1460" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1025" >
-<father id="1027" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1013" >
+<father id="1015" num="0" />
<cdparam x="433" y="1200" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1021" />
-<TGConnectingPoint num="1" id="1022" />
-<TGConnectingPoint num="2" id="1023" />
-<TGConnectingPoint num="3" id="1024" />
+<TGConnectingPoint num="0" id="1009" />
+<TGConnectingPoint num="1" id="1010" />
+<TGConnectingPoint num="2" id="1011" />
+<TGConnectingPoint num="3" id="1012" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3788,25 +3584,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1034" >
+<CONNECTOR type="5102" id="1022" >
<cdparam x="367" y="1100" />
<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="1033" />
-<P1 x="367" y="1100" id="1507" />
-<P2 x="367" y="1209" id="1464" />
+<TGConnectingPoint num="0" id="1021" />
+<P1 x="367" y="1100" id="1495" />
+<P2 x="367" y="1209" id="1452" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1032" >
-<father id="1034" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1020" >
+<father id="1022" num="0" />
<cdparam x="345" y="1144" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1028" />
-<TGConnectingPoint num="1" id="1029" />
-<TGConnectingPoint num="2" id="1030" />
-<TGConnectingPoint num="3" id="1031" />
+<TGConnectingPoint num="0" id="1016" />
+<TGConnectingPoint num="1" id="1017" />
+<TGConnectingPoint num="2" id="1018" />
+<TGConnectingPoint num="3" id="1019" />
<extraparam>
<guard value="[else ]" />
<afterMin value="" />
@@ -3816,73 +3612,73 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1045" >
+<CONNECTOR type="5102" id="1033" >
<cdparam x="360" y="1354" />
<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="1042" />
-<TGConnectingPoint num="1" id="1043" />
-<TGConnectingPoint num="2" id="1044" />
-<P1 x="436" y="1709" id="1453" />
-<P2 x="478" y="137" id="1892" />
+<TGConnectingPoint num="0" id="1030" />
+<TGConnectingPoint num="1" id="1031" />
+<TGConnectingPoint num="2" id="1032" />
+<P1 x="436" y="1709" id="1441" />
+<P2 x="478" y="137" id="1880" />
<Point x="863" y="1719" />
<Point x="875" y="140" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1035" >
-<father id="1045" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1023" >
+<father id="1033" num="0" />
<cdparam x="863" y="1719" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="1036" >
-<father id="1045" num="1" />
+<SUBCOMPONENT type="-1" id="1024" >
+<father id="1033" num="1" />
<cdparam x="875" y="140" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="1041" >
-<father id="1045" num="2" />
-<cdparam x="419" y="745" />
-<sizeparam width="72" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="-1" id="1029" >
+<father id="1033" num="2" />
+<cdparam x="791" y="709" />
+<sizeparam width="69" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1037" />
-<TGConnectingPoint num="1" id="1038" />
-<TGConnectingPoint num="2" id="1039" />
-<TGConnectingPoint num="3" id="1040" />
+<TGConnectingPoint num="0" id="1025" />
+<TGConnectingPoint num="1" id="1026" />
+<TGConnectingPoint num="2" id="1027" />
+<TGConnectingPoint num="3" id="1028" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="0" />
+<afterMin value="2" />
<afterMax value="10" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1052" >
+<CONNECTOR type="5102" id="1040" >
<cdparam x="392" y="1075" />
<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="1051" />
-<P1 x="392" y="1075" id="1506" />
-<P2 x="463" y="1138" id="1931" />
+<TGConnectingPoint num="0" id="1039" />
+<P1 x="392" y="1075" id="1494" />
+<P2 x="463" y="1138" id="1919" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1050" >
-<father id="1052" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1038" >
+<father id="1040" num="0" />
<cdparam x="436" y="1084" />
-<sizeparam width="100" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="99" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1046" />
-<TGConnectingPoint num="1" id="1047" />
-<TGConnectingPoint num="2" id="1048" />
-<TGConnectingPoint num="3" id="1049" />
+<TGConnectingPoint num="0" id="1034" />
+<TGConnectingPoint num="1" id="1035" />
+<TGConnectingPoint num="2" id="1036" />
+<TGConnectingPoint num="3" id="1037" />
<extraparam>
<guard value="[ state<2]" />
<afterMin value="" />
@@ -3893,25 +3689,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1059" >
+<CONNECTOR type="5102" id="1047" >
<cdparam x="464" y="950" />
<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="1058" />
-<P1 x="464" y="950" id="1562" />
-<P2 x="414" y="968" id="1529" />
+<TGConnectingPoint num="0" id="1046" />
+<P1 x="464" y="950" id="1550" />
+<P2 x="414" y="968" id="1517" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1057" >
-<father id="1059" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1045" >
+<father id="1047" num="0" />
<cdparam x="439" y="959" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1053" />
-<TGConnectingPoint num="1" id="1054" />
-<TGConnectingPoint num="2" id="1055" />
-<TGConnectingPoint num="3" id="1056" />
+<TGConnectingPoint num="0" id="1041" />
+<TGConnectingPoint num="1" id="1042" />
+<TGConnectingPoint num="2" id="1043" />
+<TGConnectingPoint num="3" id="1044" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3921,25 +3717,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1066" >
+<CONNECTOR type="5102" id="1054" >
<cdparam x="346" y="856" />
<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="1065" />
-<P1 x="346" y="856" id="1573" />
-<P2 x="320" y="968" id="1528" />
+<TGConnectingPoint num="0" id="1053" />
+<P1 x="346" y="856" id="1561" />
+<P2 x="320" y="968" id="1516" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1064" >
-<father id="1066" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1052" >
+<father id="1054" num="0" />
<cdparam x="345" y="948" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1060" />
-<TGConnectingPoint num="1" id="1061" />
-<TGConnectingPoint num="2" id="1062" />
-<TGConnectingPoint num="3" id="1063" />
+<TGConnectingPoint num="0" id="1048" />
+<TGConnectingPoint num="1" id="1049" />
+<TGConnectingPoint num="2" id="1050" />
+<TGConnectingPoint num="3" id="1051" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3949,25 +3745,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1073" >
+<CONNECTOR type="5102" id="1061" >
<cdparam x="530" y="603" />
<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="1072" />
-<P1 x="530" y="603" id="1744" />
-<P2 x="411" y="747" id="1607" />
+<TGConnectingPoint num="0" id="1060" />
+<P1 x="530" y="603" id="1732" />
+<P2 x="411" y="747" id="1595" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1071" >
-<father id="1073" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1059" >
+<father id="1061" num="0" />
<cdparam x="518" y="652" />
-<sizeparam width="149" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1067" />
-<TGConnectingPoint num="1" id="1068" />
-<TGConnectingPoint num="2" id="1069" />
-<TGConnectingPoint num="3" id="1070" />
+<TGConnectingPoint num="0" id="1055" />
+<TGConnectingPoint num="1" id="1056" />
+<TGConnectingPoint num="2" id="1057" />
+<TGConnectingPoint num="3" id="1058" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3981,25 +3777,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1080" >
+<CONNECTOR type="5102" id="1068" >
<cdparam x="233" y="608" />
<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="1079" />
-<P1 x="233" y="608" id="1826" />
-<P2 x="343" y="747" id="1596" />
+<TGConnectingPoint num="0" id="1067" />
+<P1 x="233" y="608" id="1814" />
+<P2 x="343" y="747" id="1584" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1078" >
-<father id="1080" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1066" >
+<father id="1068" num="0" />
<cdparam x="123" y="652" />
<sizeparam width="170" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1074" />
-<TGConnectingPoint num="1" id="1075" />
-<TGConnectingPoint num="2" id="1076" />
-<TGConnectingPoint num="3" id="1077" />
+<TGConnectingPoint num="0" id="1062" />
+<TGConnectingPoint num="1" id="1063" />
+<TGConnectingPoint num="2" id="1064" />
+<TGConnectingPoint num="3" id="1065" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4013,25 +3809,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1087" >
+<CONNECTOR type="5102" id="1075" >
<cdparam x="407" y="147" />
<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="1086" />
-<P1 x="395" y="162" id="1894" />
-<P2 x="395" y="187" id="1877" />
+<TGConnectingPoint num="0" id="1074" />
+<P1 x="395" y="162" id="1882" />
+<P2 x="395" y="187" id="1865" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1085" >
-<father id="1087" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1073" >
+<father id="1075" num="0" />
<cdparam x="401" y="167" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1081" />
-<TGConnectingPoint num="1" id="1082" />
-<TGConnectingPoint num="2" id="1083" />
-<TGConnectingPoint num="3" id="1084" />
+<TGConnectingPoint num="0" id="1069" />
+<TGConnectingPoint num="1" id="1070" />
+<TGConnectingPoint num="2" id="1071" />
+<TGConnectingPoint num="3" id="1072" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4041,25 +3837,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1094" >
+<CONNECTOR type="5102" id="1082" >
<cdparam x="484" y="399" />
<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="1093" />
-<P1 x="484" y="399" id="1728" />
-<P2 x="412" y="423" id="1638" />
+<TGConnectingPoint num="0" id="1081" />
+<P1 x="484" y="399" id="1716" />
+<P2 x="412" y="423" id="1626" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1092" >
-<father id="1094" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1080" >
+<father id="1082" num="0" />
<cdparam x="413" y="365" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1088" />
-<TGConnectingPoint num="1" id="1089" />
-<TGConnectingPoint num="2" id="1090" />
-<TGConnectingPoint num="3" id="1091" />
+<TGConnectingPoint num="0" id="1076" />
+<TGConnectingPoint num="1" id="1077" />
+<TGConnectingPoint num="2" id="1078" />
+<TGConnectingPoint num="3" id="1079" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4069,25 +3865,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1101" >
+<CONNECTOR type="5102" id="1089" >
<cdparam x="371" y="275" />
<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="1100" />
-<P1 x="371" y="275" id="1671" />
-<P2 x="371" y="423" id="1630" />
+<TGConnectingPoint num="0" id="1088" />
+<P1 x="371" y="275" id="1659" />
+<P2 x="371" y="423" id="1618" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1099" >
-<father id="1101" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1087" >
+<father id="1089" num="0" />
<cdparam x="354" y="356" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1095" />
-<TGConnectingPoint num="1" id="1096" />
-<TGConnectingPoint num="2" id="1097" />
-<TGConnectingPoint num="3" id="1098" />
+<TGConnectingPoint num="0" id="1083" />
+<TGConnectingPoint num="1" id="1084" />
+<TGConnectingPoint num="2" id="1085" />
+<TGConnectingPoint num="3" id="1086" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4097,25 +3893,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1108" >
+<CONNECTOR type="5102" id="1096" >
<cdparam x="421" y="275" />
<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="1107" />
-<P1 x="421" y="275" id="1672" />
-<P2 x="484" y="291" id="1687" />
+<TGConnectingPoint num="0" id="1095" />
+<P1 x="421" y="275" id="1660" />
+<P2 x="484" y="291" id="1675" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1106" >
-<father id="1108" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1094" >
+<father id="1096" num="0" />
<cdparam x="446" y="275" />
-<sizeparam width="75" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="74" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1102" />
-<TGConnectingPoint num="1" id="1103" />
-<TGConnectingPoint num="2" id="1104" />
-<TGConnectingPoint num="3" id="1105" />
+<TGConnectingPoint num="0" id="1090" />
+<TGConnectingPoint num="1" id="1091" />
+<TGConnectingPoint num="2" id="1092" />
+<TGConnectingPoint num="3" id="1093" />
<extraparam>
<guard value="[ state==2]" />
<afterMin value="" />
@@ -4125,81 +3921,81 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1115" >
+<CONNECTOR type="5102" id="1103" >
<cdparam x="395" y="75" />
<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="1114" />
-<P1 x="395" y="75" id="1929" />
-<P2 x="395" y="112" id="1889" />
+<TGConnectingPoint num="0" id="1102" />
+<P1 x="395" y="75" id="1917" />
+<P2 x="395" y="112" id="1877" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1113" >
-<father id="1115" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1101" >
+<father id="1103" num="0" />
<cdparam x="396" y="94" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="121" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1109" />
-<TGConnectingPoint num="1" id="1110" />
-<TGConnectingPoint num="2" id="1111" />
-<TGConnectingPoint num="3" id="1112" />
+<TGConnectingPoint num="0" id="1097" />
+<TGConnectingPoint num="1" id="1098" />
+<TGConnectingPoint num="2" id="1099" />
+<TGConnectingPoint num="3" id="1100" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<afterMin value="20" />
+<afterMax value="30" />
+<computeMin value="20" />
+<computeMax value="30" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1122" >
+<CONNECTOR type="5102" id="1110" >
<cdparam x="349" y="312" />
<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="1121" />
-<P1 x="395" y="217" id="1878" />
-<P2 x="396" y="250" id="1670" />
+<TGConnectingPoint num="0" id="1109" />
+<P1 x="395" y="217" id="1866" />
+<P2 x="396" y="250" id="1658" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1120" >
-<father id="1122" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1108" >
+<father id="1110" num="0" />
<cdparam x="251" y="233" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="113" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1116" />
-<TGConnectingPoint num="1" id="1117" />
-<TGConnectingPoint num="2" id="1118" />
-<TGConnectingPoint num="3" id="1119" />
+<TGConnectingPoint num="0" id="1104" />
+<TGConnectingPoint num="1" id="1105" />
+<TGConnectingPoint num="2" id="1106" />
+<TGConnectingPoint num="3" id="1107" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<computeMin value="1" />
+<computeMax value="10" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1129" >
+<CONNECTOR type="5102" id="1117" >
<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="1128" />
-<P1 x="346" y="524" id="1862" />
-<P2 x="233" y="558" id="1821" />
+<TGConnectingPoint num="0" id="1116" />
+<P1 x="346" y="524" id="1850" />
+<P2 x="233" y="558" id="1809" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1127" >
-<father id="1129" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1115" >
+<father id="1117" num="0" />
<cdparam x="208" y="524" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="117" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1123" />
-<TGConnectingPoint num="1" id="1124" />
-<TGConnectingPoint num="2" id="1125" />
-<TGConnectingPoint num="3" id="1126" />
+<TGConnectingPoint num="0" id="1111" />
+<TGConnectingPoint num="1" id="1112" />
+<TGConnectingPoint num="2" id="1113" />
+<TGConnectingPoint num="3" id="1114" />
<extraparam>
<guard value="[ distanceFront>8]" />
<afterMin value="" />
@@ -4209,25 +4005,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1136" >
+<CONNECTOR type="5102" id="1124" >
<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="1135" />
-<P1 x="371" y="549" id="1867" />
-<P2 x="371" y="587" id="1780" />
+<TGConnectingPoint num="0" id="1123" />
+<P1 x="371" y="549" id="1855" />
+<P2 x="371" y="587" id="1768" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1134" >
-<father id="1136" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1122" >
+<father id="1124" num="0" />
<cdparam x="327" y="565" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="116" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1130" />
-<TGConnectingPoint num="1" id="1131" />
-<TGConnectingPoint num="2" id="1132" />
-<TGConnectingPoint num="3" id="1133" />
+<TGConnectingPoint num="0" id="1118" />
+<TGConnectingPoint num="1" id="1119" />
+<TGConnectingPoint num="2" id="1120" />
+<TGConnectingPoint num="3" id="1121" />
<extraparam>
<guard value="[distanceFront<3 ]" />
<afterMin value="" />
@@ -4237,25 +4033,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1143" >
+<CONNECTOR type="5102" id="1131" >
<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="1142" />
-<P1 x="396" y="524" id="1863" />
-<P2 x="530" y="553" id="1739" />
+<TGConnectingPoint num="0" id="1130" />
+<P1 x="396" y="524" id="1851" />
+<P2 x="530" y="553" id="1727" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1141" >
-<father id="1143" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1129" >
+<father id="1131" num="0" />
<cdparam x="485" y="526" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1137" />
-<TGConnectingPoint num="1" id="1138" />
-<TGConnectingPoint num="2" id="1139" />
-<TGConnectingPoint num="3" id="1140" />
+<TGConnectingPoint num="0" id="1125" />
+<TGConnectingPoint num="1" id="1126" />
+<TGConnectingPoint num="2" id="1127" />
+<TGConnectingPoint num="3" id="1128" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -4265,81 +4061,81 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1150" >
+<CONNECTOR type="5102" id="1138" >
<cdparam x="451" y="428" />
<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="1149" />
-<P1 x="484" y="341" id="1692" />
-<P2 x="484" y="369" id="1727" />
+<TGConnectingPoint num="0" id="1137" />
+<P1 x="484" y="341" id="1680" />
+<P2 x="484" y="369" id="1715" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1148" >
-<father id="1150" num="0" />
-<cdparam x="448" y="469" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1136" >
+<father id="1138" num="0" />
+<cdparam x="506" y="359" />
+<sizeparam width="105" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1144" />
-<TGConnectingPoint num="1" id="1145" />
-<TGConnectingPoint num="2" id="1146" />
-<TGConnectingPoint num="3" id="1147" />
+<TGConnectingPoint num="0" id="1132" />
+<TGConnectingPoint num="1" id="1133" />
+<TGConnectingPoint num="2" id="1134" />
+<TGConnectingPoint num="3" id="1135" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<computeMin value="2" />
+<computeMax value="5" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1157" >
+<CONNECTOR type="5102" id="1145" >
<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="1156" />
-<P1 x="371" y="473" id="1635" />
-<P2 x="371" y="499" id="1861" />
+<TGConnectingPoint num="0" id="1144" />
+<P1 x="371" y="473" id="1623" />
+<P2 x="371" y="499" id="1849" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1155" >
-<father id="1157" num="0" />
-<cdparam x="437" y="543" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1143" >
+<father id="1145" num="0" />
+<cdparam x="385" y="491" />
+<sizeparam width="121" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1151" />
-<TGConnectingPoint num="1" id="1152" />
-<TGConnectingPoint num="2" id="1153" />
-<TGConnectingPoint num="3" id="1154" />
+<TGConnectingPoint num="0" id="1139" />
+<TGConnectingPoint num="1" id="1140" />
+<TGConnectingPoint num="2" id="1141" />
+<TGConnectingPoint num="3" id="1142" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
<afterMax value="" />
-<computeMin value="" />
-<computeMax value="" />
+<computeMin value="10" />
+<computeMax value="20" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1164" >
+<CONNECTOR type="5102" id="1152" >
<cdparam x="383" y="637" />
<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="1163" />
-<P1 x="371" y="637" id="1785" />
-<P2 x="371" y="747" id="1589" />
+<TGConnectingPoint num="0" id="1151" />
+<P1 x="371" y="637" id="1773" />
+<P2 x="371" y="747" id="1577" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1162" >
-<father id="1164" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1150" >
+<father id="1152" num="0" />
<cdparam x="378" y="681" />
<sizeparam width="118" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1158" />
-<TGConnectingPoint num="1" id="1159" />
-<TGConnectingPoint num="2" id="1160" />
-<TGConnectingPoint num="3" id="1161" />
+<TGConnectingPoint num="0" id="1146" />
+<TGConnectingPoint num="1" id="1147" />
+<TGConnectingPoint num="2" id="1148" />
+<TGConnectingPoint num="3" id="1149" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4351,53 +4147,53 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1171" >
+<CONNECTOR type="5102" id="1159" >
<cdparam x="371" y="797" />
<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="1170" />
-<P1 x="371" y="797" id="1594" />
-<P2 x="371" y="831" id="1572" />
+<TGConnectingPoint num="0" id="1158" />
+<P1 x="371" y="797" id="1582" />
+<P2 x="371" y="831" id="1560" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1169" >
-<father id="1171" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1157" >
+<father id="1159" num="0" />
<cdparam x="368" y="815" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="77" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1165" />
-<TGConnectingPoint num="1" id="1166" />
-<TGConnectingPoint num="2" id="1167" />
-<TGConnectingPoint num="3" id="1168" />
+<TGConnectingPoint num="0" id="1153" />
+<TGConnectingPoint num="1" id="1154" />
+<TGConnectingPoint num="2" id="1155" />
+<TGConnectingPoint num="3" id="1156" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="10" />
+<afterMax value="20" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1178" >
+<CONNECTOR type="5102" id="1166" >
<cdparam x="397" y="857" />
<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="1177" />
-<P1 x="396" y="856" id="1577" />
-<P2 x="464" y="920" id="1561" />
+<TGConnectingPoint num="0" id="1165" />
+<P1 x="396" y="856" id="1565" />
+<P2 x="464" y="920" id="1549" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1176" >
-<father id="1178" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1164" >
+<father id="1166" num="0" />
<cdparam x="417" y="888" />
-<sizeparam width="168" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="169" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1172" />
-<TGConnectingPoint num="1" id="1173" />
-<TGConnectingPoint num="2" id="1174" />
-<TGConnectingPoint num="3" id="1175" />
+<TGConnectingPoint num="0" id="1160" />
+<TGConnectingPoint num="1" id="1161" />
+<TGConnectingPoint num="2" id="1162" />
+<TGConnectingPoint num="3" id="1163" />
<extraparam>
<guard value="[ samplingRate!=newRate]" />
<afterMin value="" />
@@ -4407,53 +4203,53 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1185" >
+<CONNECTOR type="5102" id="1173" >
<cdparam x="464" y="950" />
<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="1184" />
-<P1 x="367" y="1018" id="1526" />
-<P2 x="367" y="1050" id="1504" />
+<TGConnectingPoint num="0" id="1172" />
+<P1 x="367" y="1018" id="1514" />
+<P2 x="367" y="1050" id="1492" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1183" >
-<father id="1185" num="0" />
-<cdparam x="437" y="988" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1171" >
+<father id="1173" num="0" />
+<cdparam x="390" y="1043" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1179" />
-<TGConnectingPoint num="1" id="1180" />
-<TGConnectingPoint num="2" id="1181" />
-<TGConnectingPoint num="3" id="1182" />
+<TGConnectingPoint num="0" id="1167" />
+<TGConnectingPoint num="1" id="1168" />
+<TGConnectingPoint num="2" id="1169" />
+<TGConnectingPoint num="3" id="1170" />
<extraparam>
<guard value="[ ]" />
-<afterMin value="" />
-<afterMax value="" />
+<afterMin value="1" />
+<afterMax value="5" />
<computeMin value="" />
<computeMax value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1192" >
+<CONNECTOR type="5102" id="1180" >
<cdparam x="342" y="1075" />
<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="1191" />
-<P1 x="342" y="1075" id="1508" />
-<P2 x="250" y="1142" id="1942" />
+<TGConnectingPoint num="0" id="1179" />
+<P1 x="342" y="1075" id="1496" />
+<P2 x="250" y="1142" id="1930" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1190" >
-<father id="1192" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1178" >
+<father id="1180" num="0" />
<cdparam x="116" y="1091" />
-<sizeparam width="96" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="94" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1186" />
-<TGConnectingPoint num="1" id="1187" />
-<TGConnectingPoint num="2" id="1188" />
-<TGConnectingPoint num="3" id="1189" />
+<TGConnectingPoint num="0" id="1174" />
+<TGConnectingPoint num="1" id="1175" />
+<TGConnectingPoint num="2" id="1176" />
+<TGConnectingPoint num="3" id="1177" />
<extraparam>
<guard value="[ state==2]" />
<afterMin value="" />
@@ -4464,25 +4260,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1199" >
+<CONNECTOR type="5102" id="1187" >
<cdparam x="250" y="1172" />
<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="1198" />
-<P1 x="250" y="1172" id="1943" />
-<P2 x="323" y="1209" id="1471" />
+<TGConnectingPoint num="0" id="1186" />
+<P1 x="250" y="1172" id="1931" />
+<P2 x="323" y="1209" id="1459" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1197" >
-<father id="1199" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1185" >
+<father id="1187" num="0" />
<cdparam x="275" y="1202" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1193" />
-<TGConnectingPoint num="1" id="1194" />
-<TGConnectingPoint num="2" id="1195" />
-<TGConnectingPoint num="3" id="1196" />
+<TGConnectingPoint num="0" id="1181" />
+<TGConnectingPoint num="1" id="1182" />
+<TGConnectingPoint num="2" id="1183" />
+<TGConnectingPoint num="3" id="1184" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4492,25 +4288,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1206" >
+<CONNECTOR type="5102" id="1194" >
<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="1205" />
-<P1 x="342" y="1327" id="1437" />
-<P2 x="320" y="1605" id="1370" />
+<TGConnectingPoint num="0" id="1193" />
+<P1 x="342" y="1327" id="1425" />
+<P2 x="320" y="1605" id="1358" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1204" >
-<father id="1206" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1192" >
+<father id="1194" num="0" />
<cdparam x="266" y="1316" />
-<sizeparam width="70" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="69" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1200" />
-<TGConnectingPoint num="1" id="1201" />
-<TGConnectingPoint num="2" id="1202" />
-<TGConnectingPoint num="3" id="1203" />
+<TGConnectingPoint num="0" id="1188" />
+<TGConnectingPoint num="1" id="1189" />
+<TGConnectingPoint num="2" id="1190" />
+<TGConnectingPoint num="3" id="1191" />
<extraparam>
<guard value="[ state!=2]" />
<afterMin value="" />
@@ -4520,25 +4316,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1213" >
+<CONNECTOR type="5102" id="1201" >
<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="1212" />
-<P1 x="367" y="1259" id="1469" />
-<P2 x="367" y="1302" id="1436" />
+<TGConnectingPoint num="0" id="1200" />
+<P1 x="367" y="1259" id="1457" />
+<P2 x="367" y="1302" id="1424" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1211" >
-<father id="1213" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1199" >
+<father id="1201" num="0" />
<cdparam x="375" y="1270" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1207" />
-<TGConnectingPoint num="1" id="1208" />
-<TGConnectingPoint num="2" id="1209" />
-<TGConnectingPoint num="3" id="1210" />
+<TGConnectingPoint num="0" id="1195" />
+<TGConnectingPoint num="1" id="1196" />
+<TGConnectingPoint num="2" id="1197" />
+<TGConnectingPoint num="3" id="1198" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4548,25 +4344,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1220" >
+<CONNECTOR type="5102" id="1208" >
<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="1219" />
-<P1 x="392" y="1327" id="1441" />
-<P2 x="436" y="1349" id="1395" />
+<TGConnectingPoint num="0" id="1207" />
+<P1 x="392" y="1327" id="1429" />
+<P2 x="436" y="1349" id="1383" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1218" >
-<father id="1220" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1206" >
+<father id="1208" num="0" />
<cdparam x="422" y="1300" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1214" />
-<TGConnectingPoint num="1" id="1215" />
-<TGConnectingPoint num="2" id="1216" />
-<TGConnectingPoint num="3" id="1217" />
+<TGConnectingPoint num="0" id="1202" />
+<TGConnectingPoint num="1" id="1203" />
+<TGConnectingPoint num="2" id="1204" />
+<TGConnectingPoint num="3" id="1205" />
<extraparam>
<guard value="[else ]" />
<afterMin value="" />
@@ -4576,25 +4372,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1227" >
+<CONNECTOR type="5102" id="1215" >
<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="1226" />
-<P1 x="507" y="1399" id="1401" />
-<P2 x="507" y="1429" id="1338" />
+<TGConnectingPoint num="0" id="1214" />
+<P1 x="507" y="1399" id="1389" />
+<P2 x="507" y="1429" id="1326" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1225" >
-<father id="1227" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1213" >
+<father id="1215" num="0" />
<cdparam x="491" y="1447" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1221" />
-<TGConnectingPoint num="1" id="1222" />
-<TGConnectingPoint num="2" id="1223" />
-<TGConnectingPoint num="3" id="1224" />
+<TGConnectingPoint num="0" id="1209" />
+<TGConnectingPoint num="1" id="1210" />
+<TGConnectingPoint num="2" id="1211" />
+<TGConnectingPoint num="3" id="1212" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4604,25 +4400,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1234" >
+<CONNECTOR type="5102" id="1222" >
<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="1233" />
-<P1 x="482" y="1454" id="1339" />
-<P2 x="412" y="1489" id="1298" />
+<TGConnectingPoint num="0" id="1221" />
+<P1 x="482" y="1454" id="1327" />
+<P2 x="412" y="1489" id="1286" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1232" >
-<father id="1234" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1220" >
+<father id="1222" num="0" />
<cdparam x="312" y="1453" />
-<sizeparam width="187" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="185" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1228" />
-<TGConnectingPoint num="1" id="1229" />
-<TGConnectingPoint num="2" id="1230" />
-<TGConnectingPoint num="3" id="1231" />
+<TGConnectingPoint num="0" id="1216" />
+<TGConnectingPoint num="1" id="1217" />
+<TGConnectingPoint num="2" id="1218" />
+<TGConnectingPoint num="3" id="1219" />
<extraparam>
<guard value="[ distanceLeft>distanceRight]" />
<afterMin value="" />
@@ -4632,25 +4428,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1241" >
+<CONNECTOR type="5102" id="1229" >
<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="1240" />
-<P1 x="532" y="1454" id="1340" />
-<P2 x="604" y="1496" id="1274" />
+<TGConnectingPoint num="0" id="1228" />
+<P1 x="532" y="1454" id="1328" />
+<P2 x="604" y="1496" id="1262" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1239" >
-<father id="1241" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1227" >
+<father id="1229" num="0" />
<cdparam x="571" y="1461" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1235" />
-<TGConnectingPoint num="1" id="1236" />
-<TGConnectingPoint num="2" id="1237" />
-<TGConnectingPoint num="3" id="1238" />
+<TGConnectingPoint num="0" id="1223" />
+<TGConnectingPoint num="1" id="1224" />
+<TGConnectingPoint num="2" id="1225" />
+<TGConnectingPoint num="3" id="1226" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -4660,25 +4456,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1248" >
+<CONNECTOR type="5102" id="1236" >
<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="1247" />
-<P1 x="412" y="1539" id="1303" />
-<P2 x="472" y="1605" id="1372" />
+<TGConnectingPoint num="0" id="1235" />
+<P1 x="412" y="1539" id="1291" />
+<P2 x="472" y="1605" id="1360" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1246" >
-<father id="1248" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1234" >
+<father id="1236" num="0" />
<cdparam x="376" y="1565" />
-<sizeparam width="149" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1242" />
-<TGConnectingPoint num="1" id="1243" />
-<TGConnectingPoint num="2" id="1244" />
-<TGConnectingPoint num="3" id="1245" />
+<TGConnectingPoint num="0" id="1230" />
+<TGConnectingPoint num="1" id="1231" />
+<TGConnectingPoint num="2" id="1232" />
+<TGConnectingPoint num="3" id="1233" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4690,25 +4486,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1255" >
+<CONNECTOR type="5102" id="1243" >
<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="1254" />
-<P1 x="592" y="1546" id="1262" />
-<P2 x="512" y="1605" id="1363" />
+<TGConnectingPoint num="0" id="1242" />
+<P1 x="592" y="1546" id="1250" />
+<P2 x="512" y="1605" id="1351" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1253" >
-<father id="1255" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1241" >
+<father id="1243" num="0" />
<cdparam x="583" y="1574" />
-<sizeparam width="140" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="142" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1249" />
-<TGConnectingPoint num="1" id="1250" />
-<TGConnectingPoint num="2" id="1251" />
-<TGConnectingPoint num="3" id="1252" />
+<TGConnectingPoint num="0" id="1237" />
+<TGConnectingPoint num="1" id="1238" />
+<TGConnectingPoint num="2" id="1239" />
+<TGConnectingPoint num="3" id="1240" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4720,909 +4516,912 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5106" id="1296" >
+<COMPONENT type="5106" id="1284" >
<cdparam x="542" y="1496" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnRight" />
-<TGConnectingPoint num="0" id="1256" />
-<TGConnectingPoint num="1" id="1257" />
-<TGConnectingPoint num="2" id="1258" />
-<TGConnectingPoint num="3" id="1259" />
-<TGConnectingPoint num="4" id="1260" />
-<TGConnectingPoint num="5" id="1261" />
-<TGConnectingPoint num="6" id="1262" />
-<TGConnectingPoint num="7" id="1263" />
-<TGConnectingPoint num="8" id="1264" />
-<TGConnectingPoint num="9" id="1265" />
-<TGConnectingPoint num="10" id="1266" />
-<TGConnectingPoint num="11" id="1267" />
-<TGConnectingPoint num="12" id="1268" />
-<TGConnectingPoint num="13" id="1269" />
-<TGConnectingPoint num="14" id="1270" />
-<TGConnectingPoint num="15" id="1271" />
-<TGConnectingPoint num="16" id="1272" />
-<TGConnectingPoint num="17" id="1273" />
-<TGConnectingPoint num="18" id="1274" />
-<TGConnectingPoint num="19" id="1275" />
-<TGConnectingPoint num="20" id="1276" />
-<TGConnectingPoint num="21" id="1277" />
-<TGConnectingPoint num="22" id="1278" />
-<TGConnectingPoint num="23" id="1279" />
-<TGConnectingPoint num="24" id="1280" />
-<TGConnectingPoint num="25" id="1281" />
-<TGConnectingPoint num="26" id="1282" />
-<TGConnectingPoint num="27" id="1283" />
-<TGConnectingPoint num="28" id="1284" />
-<TGConnectingPoint num="29" id="1285" />
-<TGConnectingPoint num="30" id="1286" />
-<TGConnectingPoint num="31" id="1287" />
-<TGConnectingPoint num="32" id="1288" />
-<TGConnectingPoint num="33" id="1289" />
-<TGConnectingPoint num="34" id="1290" />
-<TGConnectingPoint num="35" id="1291" />
-<TGConnectingPoint num="36" id="1292" />
-<TGConnectingPoint num="37" id="1293" />
-<TGConnectingPoint num="38" id="1294" />
-<TGConnectingPoint num="39" id="1295" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1337" >
+<TGConnectingPoint num="0" id="1244" />
+<TGConnectingPoint num="1" id="1245" />
+<TGConnectingPoint num="2" id="1246" />
+<TGConnectingPoint num="3" id="1247" />
+<TGConnectingPoint num="4" id="1248" />
+<TGConnectingPoint num="5" id="1249" />
+<TGConnectingPoint num="6" id="1250" />
+<TGConnectingPoint num="7" id="1251" />
+<TGConnectingPoint num="8" id="1252" />
+<TGConnectingPoint num="9" id="1253" />
+<TGConnectingPoint num="10" id="1254" />
+<TGConnectingPoint num="11" id="1255" />
+<TGConnectingPoint num="12" id="1256" />
+<TGConnectingPoint num="13" id="1257" />
+<TGConnectingPoint num="14" id="1258" />
+<TGConnectingPoint num="15" id="1259" />
+<TGConnectingPoint num="16" id="1260" />
+<TGConnectingPoint num="17" id="1261" />
+<TGConnectingPoint num="18" id="1262" />
+<TGConnectingPoint num="19" id="1263" />
+<TGConnectingPoint num="20" id="1264" />
+<TGConnectingPoint num="21" id="1265" />
+<TGConnectingPoint num="22" id="1266" />
+<TGConnectingPoint num="23" id="1267" />
+<TGConnectingPoint num="24" id="1268" />
+<TGConnectingPoint num="25" id="1269" />
+<TGConnectingPoint num="26" id="1270" />
+<TGConnectingPoint num="27" id="1271" />
+<TGConnectingPoint num="28" id="1272" />
+<TGConnectingPoint num="29" id="1273" />
+<TGConnectingPoint num="30" id="1274" />
+<TGConnectingPoint num="31" id="1275" />
+<TGConnectingPoint num="32" id="1276" />
+<TGConnectingPoint num="33" id="1277" />
+<TGConnectingPoint num="34" id="1278" />
+<TGConnectingPoint num="35" id="1279" />
+<TGConnectingPoint num="36" id="1280" />
+<TGConnectingPoint num="37" id="1281" />
+<TGConnectingPoint num="38" id="1282" />
+<TGConnectingPoint num="39" id="1283" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1325" >
<cdparam x="362" y="1489" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnLeft" />
-<TGConnectingPoint num="0" id="1297" />
-<TGConnectingPoint num="1" id="1298" />
-<TGConnectingPoint num="2" id="1299" />
-<TGConnectingPoint num="3" id="1300" />
-<TGConnectingPoint num="4" id="1301" />
-<TGConnectingPoint num="5" id="1302" />
-<TGConnectingPoint num="6" id="1303" />
-<TGConnectingPoint num="7" id="1304" />
-<TGConnectingPoint num="8" id="1305" />
-<TGConnectingPoint num="9" id="1306" />
-<TGConnectingPoint num="10" id="1307" />
-<TGConnectingPoint num="11" id="1308" />
-<TGConnectingPoint num="12" id="1309" />
-<TGConnectingPoint num="13" id="1310" />
-<TGConnectingPoint num="14" id="1311" />
-<TGConnectingPoint num="15" id="1312" />
-<TGConnectingPoint num="16" id="1313" />
-<TGConnectingPoint num="17" id="1314" />
-<TGConnectingPoint num="18" id="1315" />
-<TGConnectingPoint num="19" id="1316" />
-<TGConnectingPoint num="20" id="1317" />
-<TGConnectingPoint num="21" id="1318" />
-<TGConnectingPoint num="22" id="1319" />
-<TGConnectingPoint num="23" id="1320" />
-<TGConnectingPoint num="24" id="1321" />
-<TGConnectingPoint num="25" id="1322" />
-<TGConnectingPoint num="26" id="1323" />
-<TGConnectingPoint num="27" id="1324" />
-<TGConnectingPoint num="28" id="1325" />
-<TGConnectingPoint num="29" id="1326" />
-<TGConnectingPoint num="30" id="1327" />
-<TGConnectingPoint num="31" id="1328" />
-<TGConnectingPoint num="32" id="1329" />
-<TGConnectingPoint num="33" id="1330" />
-<TGConnectingPoint num="34" id="1331" />
-<TGConnectingPoint num="35" id="1332" />
-<TGConnectingPoint num="36" id="1333" />
-<TGConnectingPoint num="37" id="1334" />
-<TGConnectingPoint num="38" id="1335" />
-<TGConnectingPoint num="39" id="1336" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1353" >
+<TGConnectingPoint num="0" id="1285" />
+<TGConnectingPoint num="1" id="1286" />
+<TGConnectingPoint num="2" id="1287" />
+<TGConnectingPoint num="3" id="1288" />
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+<TGConnectingPoint num="5" id="1290" />
+<TGConnectingPoint num="6" id="1291" />
+<TGConnectingPoint num="7" id="1292" />
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+<TGConnectingPoint num="10" id="1295" />
+<TGConnectingPoint num="11" id="1296" />
+<TGConnectingPoint num="12" id="1297" />
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+<TGConnectingPoint num="14" id="1299" />
+<TGConnectingPoint num="15" id="1300" />
+<TGConnectingPoint num="16" id="1301" />
+<TGConnectingPoint num="17" id="1302" />
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+<TGConnectingPoint num="19" id="1304" />
+<TGConnectingPoint num="20" id="1305" />
+<TGConnectingPoint num="21" id="1306" />
+<TGConnectingPoint num="22" id="1307" />
+<TGConnectingPoint num="23" id="1308" />
+<TGConnectingPoint num="24" id="1309" />
+<TGConnectingPoint num="25" id="1310" />
+<TGConnectingPoint num="26" id="1311" />
+<TGConnectingPoint num="27" id="1312" />
+<TGConnectingPoint num="28" id="1313" />
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+<TGConnectingPoint num="31" id="1316" />
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+<TGConnectingPoint num="33" id="1318" />
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+<TGConnectingPoint num="35" id="1320" />
+<TGConnectingPoint num="36" id="1321" />
+<TGConnectingPoint num="37" id="1322" />
+<TGConnectingPoint num="38" id="1323" />
+<TGConnectingPoint num="39" id="1324" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="1341" >
<cdparam x="492" y="1439" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="1338" />
-<TGConnectingPoint num="1" id="1339" />
-<TGConnectingPoint num="2" id="1340" />
-<TGConnectingPoint num="3" id="1341" />
-<TGConnectingPoint num="4" id="1342" />
-<TGConnectingPoint num="5" id="1343" />
-<TGConnectingPoint num="6" id="1344" />
-<TGConnectingPoint num="7" id="1345" />
-<TGConnectingPoint num="8" id="1346" />
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-<TGConnectingPoint num="10" id="1348" />
-<TGConnectingPoint num="11" id="1349" />
-<TGConnectingPoint num="12" id="1350" />
-<TGConnectingPoint num="13" id="1351" />
-<TGConnectingPoint num="14" id="1352" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1394" >
+<TGConnectingPoint num="0" id="1326" />
+<TGConnectingPoint num="1" id="1327" />
+<TGConnectingPoint num="2" id="1328" />
+<TGConnectingPoint num="3" id="1329" />
+<TGConnectingPoint num="4" id="1330" />
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+<TGConnectingPoint num="6" id="1332" />
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+<TGConnectingPoint num="10" id="1336" />
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+<TGConnectingPoint num="12" id="1338" />
+<TGConnectingPoint num="13" id="1339" />
+<TGConnectingPoint num="14" id="1340" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1382" >
<cdparam x="284" y="1605" />
<sizeparam width="304" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="sendMotorCommand" />
-<TGConnectingPoint num="0" id="1354" />
-<TGConnectingPoint num="1" id="1355" />
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-<TGConnectingPoint num="16" id="1370" />
-<TGConnectingPoint num="17" id="1371" />
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-<TGConnectingPoint num="38" id="1392" />
-<TGConnectingPoint num="39" id="1393" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1435" >
+<TGConnectingPoint num="0" id="1342" />
+<TGConnectingPoint num="1" id="1343" />
+<TGConnectingPoint num="2" id="1344" />
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+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1423" >
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<sizeparam width="143" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="dodgeObstacle" />
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+
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-<TGConnectingPoint num="4" id="1824" />
-<TGConnectingPoint num="5" id="1825" />
-<TGConnectingPoint num="6" id="1826" />
-<TGConnectingPoint num="7" id="1827" />
-<TGConnectingPoint num="8" id="1828" />
-<TGConnectingPoint num="9" id="1829" />
-<TGConnectingPoint num="10" id="1830" />
-<TGConnectingPoint num="11" id="1831" />
-<TGConnectingPoint num="12" id="1832" />
-<TGConnectingPoint num="13" id="1833" />
-<TGConnectingPoint num="14" id="1834" />
-<TGConnectingPoint num="15" id="1835" />
-<TGConnectingPoint num="16" id="1836" />
-<TGConnectingPoint num="17" id="1837" />
-<TGConnectingPoint num="18" id="1838" />
-<TGConnectingPoint num="19" id="1839" />
-<TGConnectingPoint num="20" id="1840" />
-<TGConnectingPoint num="21" id="1841" />
-<TGConnectingPoint num="22" id="1842" />
-<TGConnectingPoint num="23" id="1843" />
-<TGConnectingPoint num="24" id="1844" />
-<TGConnectingPoint num="25" id="1845" />
-<TGConnectingPoint num="26" id="1846" />
-<TGConnectingPoint num="27" id="1847" />
-<TGConnectingPoint num="28" id="1848" />
-<TGConnectingPoint num="29" id="1849" />
-<TGConnectingPoint num="30" id="1850" />
-<TGConnectingPoint num="31" id="1851" />
-<TGConnectingPoint num="32" id="1852" />
-<TGConnectingPoint num="33" id="1853" />
-<TGConnectingPoint num="34" id="1854" />
-<TGConnectingPoint num="35" id="1855" />
-<TGConnectingPoint num="36" id="1856" />
-<TGConnectingPoint num="37" id="1857" />
-<TGConnectingPoint num="38" id="1858" />
-<TGConnectingPoint num="39" id="1859" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1876" >
+<TGConnectingPoint num="0" id="1808" />
+<TGConnectingPoint num="1" id="1809" />
+<TGConnectingPoint num="2" id="1810" />
+<TGConnectingPoint num="3" id="1811" />
+<TGConnectingPoint num="4" id="1812" />
+<TGConnectingPoint num="5" id="1813" />
+<TGConnectingPoint num="6" id="1814" />
+<TGConnectingPoint num="7" id="1815" />
+<TGConnectingPoint num="8" id="1816" />
+<TGConnectingPoint num="9" id="1817" />
+<TGConnectingPoint num="10" id="1818" />
+<TGConnectingPoint num="11" id="1819" />
+<TGConnectingPoint num="12" id="1820" />
+<TGConnectingPoint num="13" id="1821" />
+<TGConnectingPoint num="14" id="1822" />
+<TGConnectingPoint num="15" id="1823" />
+<TGConnectingPoint num="16" id="1824" />
+<TGConnectingPoint num="17" id="1825" />
+<TGConnectingPoint num="18" id="1826" />
+<TGConnectingPoint num="19" id="1827" />
+<TGConnectingPoint num="20" id="1828" />
+<TGConnectingPoint num="21" id="1829" />
+<TGConnectingPoint num="22" id="1830" />
+<TGConnectingPoint num="23" id="1831" />
+<TGConnectingPoint num="24" id="1832" />
+<TGConnectingPoint num="25" id="1833" />
+<TGConnectingPoint num="26" id="1834" />
+<TGConnectingPoint num="27" id="1835" />
+<TGConnectingPoint num="28" id="1836" />
+<TGConnectingPoint num="29" id="1837" />
+<TGConnectingPoint num="30" id="1838" />
+<TGConnectingPoint num="31" id="1839" />
+<TGConnectingPoint num="32" id="1840" />
+<TGConnectingPoint num="33" id="1841" />
+<TGConnectingPoint num="34" id="1842" />
+<TGConnectingPoint num="35" id="1843" />
+<TGConnectingPoint num="36" id="1844" />
+<TGConnectingPoint num="37" id="1845" />
+<TGConnectingPoint num="38" id="1846" />
+<TGConnectingPoint num="39" id="1847" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5107" id="1864" >
<cdparam x="356" y="509" />
<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="1861" />
-<TGConnectingPoint num="1" id="1862" />
-<TGConnectingPoint num="2" id="1863" />
-<TGConnectingPoint num="3" id="1864" />
-<TGConnectingPoint num="4" id="1865" />
-<TGConnectingPoint num="5" id="1866" />
-<TGConnectingPoint num="6" id="1867" />
-<TGConnectingPoint num="7" id="1868" />
-<TGConnectingPoint num="8" id="1869" />
-<TGConnectingPoint num="9" id="1870" />
-<TGConnectingPoint num="10" id="1871" />
-<TGConnectingPoint num="11" id="1872" />
-<TGConnectingPoint num="12" id="1873" />
-<TGConnectingPoint num="13" id="1874" />
-<TGConnectingPoint num="14" id="1875" />
-</COMPONENT>
-
-<COMPONENT type="5104" id="1887" >
-<cdparam x="216" y="192" />
-<sizeparam width="358" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TGConnectingPoint num="0" id="1849" />
+<TGConnectingPoint num="1" id="1850" />
+<TGConnectingPoint num="2" id="1851" />
+<TGConnectingPoint num="3" id="1852" />
+<TGConnectingPoint num="4" id="1853" />
+<TGConnectingPoint num="5" id="1854" />
+<TGConnectingPoint num="6" id="1855" />
+<TGConnectingPoint num="7" id="1856" />
+<TGConnectingPoint num="8" id="1857" />
+<TGConnectingPoint num="9" id="1858" />
+<TGConnectingPoint num="10" id="1859" />
+<TGConnectingPoint num="11" id="1860" />
+<TGConnectingPoint num="12" id="1861" />
+<TGConnectingPoint num="13" id="1862" />
+<TGConnectingPoint num="14" id="1863" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="1875" >
+<cdparam x="220" y="192" />
+<sizeparam width="350" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Receive signal" value="sensorData(distanceLeft, distanceFront, distanceLeft)" />
-<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" />
-<TGConnectingPoint num="9" id="1886" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1928" >
+<TGConnectingPoint num="0" id="1865" />
+<TGConnectingPoint num="1" id="1866" />
+<TGConnectingPoint num="2" id="1867" />
+<TGConnectingPoint num="3" id="1868" />
+<TGConnectingPoint num="4" id="1869" />
+<TGConnectingPoint num="5" id="1870" />
+<TGConnectingPoint num="6" id="1871" />
+<TGConnectingPoint num="7" id="1872" />
+<TGConnectingPoint num="8" id="1873" />
+<TGConnectingPoint num="9" id="1874" />
+<latencyCheck />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1916" >
<cdparam x="313" y="112" />
<sizeparam width="165" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="startController" />
-<TGConnectingPoint num="0" id="1888" />
-<TGConnectingPoint num="1" id="1889" />
-<TGConnectingPoint num="2" id="1890" />
-<TGConnectingPoint num="3" id="1891" />
-<TGConnectingPoint num="4" id="1892" />
-<TGConnectingPoint num="5" id="1893" />
-<TGConnectingPoint num="6" id="1894" />
-<TGConnectingPoint num="7" id="1895" />
-<TGConnectingPoint num="8" id="1896" />
-<TGConnectingPoint num="9" id="1897" />
-<TGConnectingPoint num="10" id="1898" />
-<TGConnectingPoint num="11" id="1899" />
-<TGConnectingPoint num="12" id="1900" />
-<TGConnectingPoint num="13" id="1901" />
-<TGConnectingPoint num="14" id="1902" />
-<TGConnectingPoint num="15" id="1903" />
-<TGConnectingPoint num="16" id="1904" />
-<TGConnectingPoint num="17" id="1905" />
-<TGConnectingPoint num="18" id="1906" />
-<TGConnectingPoint num="19" id="1907" />
-<TGConnectingPoint num="20" id="1908" />
-<TGConnectingPoint num="21" id="1909" />
-<TGConnectingPoint num="22" id="1910" />
-<TGConnectingPoint num="23" id="1911" />
-<TGConnectingPoint num="24" id="1912" />
-<TGConnectingPoint num="25" id="1913" />
-<TGConnectingPoint num="26" id="1914" />
-<TGConnectingPoint num="27" id="1915" />
-<TGConnectingPoint num="28" id="1916" />
-<TGConnectingPoint num="29" id="1917" />
-<TGConnectingPoint num="30" id="1918" />
-<TGConnectingPoint num="31" id="1919" />
-<TGConnectingPoint num="32" id="1920" />
-<TGConnectingPoint num="33" id="1921" />
-<TGConnectingPoint num="34" id="1922" />
-<TGConnectingPoint num="35" id="1923" />
-<TGConnectingPoint num="36" id="1924" />
-<TGConnectingPoint num="37" id="1925" />
-<TGConnectingPoint num="38" id="1926" />
-<TGConnectingPoint num="39" id="1927" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="1930" >
+<TGConnectingPoint num="0" id="1876" />
+<TGConnectingPoint num="1" id="1877" />
+<TGConnectingPoint num="2" id="1878" />
+<TGConnectingPoint num="3" id="1879" />
+<TGConnectingPoint num="4" id="1880" />
+<TGConnectingPoint num="5" id="1881" />
+<TGConnectingPoint num="6" id="1882" />
+<TGConnectingPoint num="7" id="1883" />
+<TGConnectingPoint num="8" id="1884" />
+<TGConnectingPoint num="9" id="1885" />
+<TGConnectingPoint num="10" id="1886" />
+<TGConnectingPoint num="11" id="1887" />
+<TGConnectingPoint num="12" id="1888" />
+<TGConnectingPoint num="13" id="1889" />
+<TGConnectingPoint num="14" id="1890" />
+<TGConnectingPoint num="15" id="1891" />
+<TGConnectingPoint num="16" id="1892" />
+<TGConnectingPoint num="17" id="1893" />
+<TGConnectingPoint num="18" id="1894" />
+<TGConnectingPoint num="19" id="1895" />
+<TGConnectingPoint num="20" id="1896" />
+<TGConnectingPoint num="21" id="1897" />
+<TGConnectingPoint num="22" id="1898" />
+<TGConnectingPoint num="23" id="1899" />
+<TGConnectingPoint num="24" id="1900" />
+<TGConnectingPoint num="25" id="1901" />
+<TGConnectingPoint num="26" id="1902" />
+<TGConnectingPoint num="27" id="1903" />
+<TGConnectingPoint num="28" id="1904" />
+<TGConnectingPoint num="29" id="1905" />
+<TGConnectingPoint num="30" id="1906" />
+<TGConnectingPoint num="31" id="1907" />
+<TGConnectingPoint num="32" id="1908" />
+<TGConnectingPoint num="33" id="1909" />
+<TGConnectingPoint num="34" id="1910" />
+<TGConnectingPoint num="35" id="1911" />
+<TGConnectingPoint num="36" id="1912" />
+<TGConnectingPoint num="37" id="1913" />
+<TGConnectingPoint num="38" id="1914" />
+<TGConnectingPoint num="39" id="1915" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="1918" >
<cdparam x="388" y="55" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="1929" />
+<TGConnectingPoint num="0" id="1917" />
</COMPONENT>
-<COMPONENT type="5103" id="1941" >
-<cdparam x="401" y="1143" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="1929" >
+<cdparam x="402" y="1143" />
+<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="1931" />
-<TGConnectingPoint num="1" id="1932" />
-<TGConnectingPoint num="2" id="1933" />
-<TGConnectingPoint num="3" id="1934" />
-<TGConnectingPoint num="4" id="1935" />
-<TGConnectingPoint num="5" id="1936" />
-<TGConnectingPoint num="6" id="1937" />
-<TGConnectingPoint num="7" id="1938" />
-<TGConnectingPoint num="8" id="1939" />
-<TGConnectingPoint num="9" id="1940" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="1952" >
-<cdparam x="188" y="1147" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TGConnectingPoint num="0" id="1919" />
+<TGConnectingPoint num="1" id="1920" />
+<TGConnectingPoint num="2" id="1921" />
+<TGConnectingPoint num="3" id="1922" />
+<TGConnectingPoint num="4" id="1923" />
+<TGConnectingPoint num="5" id="1924" />
+<TGConnectingPoint num="6" id="1925" />
+<TGConnectingPoint num="7" id="1926" />
+<TGConnectingPoint num="8" id="1927" />
+<TGConnectingPoint num="9" id="1928" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="1940" >
+<cdparam x="189" y="1147" />
+<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="1942" />
-<TGConnectingPoint num="1" id="1943" />
-<TGConnectingPoint num="2" id="1944" />
-<TGConnectingPoint num="3" id="1945" />
-<TGConnectingPoint num="4" id="1946" />
-<TGConnectingPoint num="5" id="1947" />
-<TGConnectingPoint num="6" id="1948" />
-<TGConnectingPoint num="7" id="1949" />
-<TGConnectingPoint num="8" id="1950" />
-<TGConnectingPoint num="9" id="1951" />
+<TGConnectingPoint num="0" id="1930" />
+<TGConnectingPoint num="1" id="1931" />
+<TGConnectingPoint num="2" id="1932" />
+<TGConnectingPoint num="3" id="1933" />
+<TGConnectingPoint num="4" id="1934" />
+<TGConnectingPoint num="5" id="1935" />
+<TGConnectingPoint num="6" id="1936" />
+<TGConnectingPoint num="7" id="1937" />
+<TGConnectingPoint num="8" id="1938" />
+<TGConnectingPoint num="9" id="1939" />
</COMPONENT>
@@ -5635,311 +5434,311 @@ 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="5353" id="1977" >
+<COMPONENT type="5353" id="1965" >
<cdparam x="460" y="187" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Bus0" value="name" />
-<TGConnectingPoint num="0" id="1953" />
-<TGConnectingPoint num="1" id="1954" />
-<TGConnectingPoint num="2" id="1955" />
-<TGConnectingPoint num="3" id="1956" />
-<TGConnectingPoint num="4" id="1957" />
-<TGConnectingPoint num="5" id="1958" />
-<TGConnectingPoint num="6" id="1959" />
-<TGConnectingPoint num="7" id="1960" />
-<TGConnectingPoint num="8" id="1961" />
-<TGConnectingPoint num="9" id="1962" />
-<TGConnectingPoint num="10" id="1963" />
-<TGConnectingPoint num="11" id="1964" />
-<TGConnectingPoint num="12" id="1965" />
-<TGConnectingPoint num="13" id="1966" />
-<TGConnectingPoint num="14" id="1967" />
-<TGConnectingPoint num="15" id="1968" />
-<TGConnectingPoint num="16" id="1969" />
-<TGConnectingPoint num="17" id="1970" />
-<TGConnectingPoint num="18" id="1971" />
-<TGConnectingPoint num="19" id="1972" />
-<TGConnectingPoint num="20" id="1973" />
-<TGConnectingPoint num="21" id="1974" />
-<TGConnectingPoint num="22" id="1975" />
-<TGConnectingPoint num="23" id="1976" />
+<TGConnectingPoint num="0" id="1941" />
+<TGConnectingPoint num="1" id="1942" />
+<TGConnectingPoint num="2" id="1943" />
+<TGConnectingPoint num="3" id="1944" />
+<TGConnectingPoint num="4" id="1945" />
+<TGConnectingPoint num="5" id="1946" />
+<TGConnectingPoint num="6" id="1947" />
+<TGConnectingPoint num="7" id="1948" />
+<TGConnectingPoint num="8" id="1949" />
+<TGConnectingPoint num="9" id="1950" />
+<TGConnectingPoint num="10" id="1951" />
+<TGConnectingPoint num="11" id="1952" />
+<TGConnectingPoint num="12" id="1953" />
+<TGConnectingPoint num="13" id="1954" />
+<TGConnectingPoint num="14" id="1955" />
+<TGConnectingPoint num="15" id="1956" />
+<TGConnectingPoint num="16" id="1957" />
+<TGConnectingPoint num="17" id="1958" />
+<TGConnectingPoint num="18" id="1959" />
+<TGConnectingPoint num="19" id="1960" />
+<TGConnectingPoint num="20" id="1961" />
+<TGConnectingPoint num="21" id="1962" />
+<TGConnectingPoint num="22" id="1963" />
+<TGConnectingPoint num="23" id="1964" />
<extraparam>
<info stereotype="VGSB" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5355" id="2029" >
+<COMPONENT type="5355" id="2017" >
<cdparam x="797" y="112" />
<sizeparam width="323" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Memory0" value="name" />
-<TGConnectingPoint num="0" id="2005" />
-<TGConnectingPoint num="1" id="2006" />
-<TGConnectingPoint num="2" id="2007" />
-<TGConnectingPoint num="3" id="2008" />
-<TGConnectingPoint num="4" id="2009" />
-<TGConnectingPoint num="5" id="2010" />
-<TGConnectingPoint num="6" id="2011" />
-<TGConnectingPoint num="7" id="2012" />
-<TGConnectingPoint num="8" id="2013" />
-<TGConnectingPoint num="9" id="2014" />
-<TGConnectingPoint num="10" id="2015" />
-<TGConnectingPoint num="11" id="2016" />
-<TGConnectingPoint num="12" id="2017" />
-<TGConnectingPoint num="13" id="2018" />
-<TGConnectingPoint num="14" id="2019" />
-<TGConnectingPoint num="15" id="2020" />
-<TGConnectingPoint num="16" id="2021" />
-<TGConnectingPoint num="17" id="2022" />
-<TGConnectingPoint num="18" id="2023" />
-<TGConnectingPoint num="19" id="2024" />
-<TGConnectingPoint num="20" id="2025" />
-<TGConnectingPoint num="21" id="2026" />
-<TGConnectingPoint num="22" id="2027" />
-<TGConnectingPoint num="23" id="2028" />
+<TGConnectingPoint num="0" id="1993" />
+<TGConnectingPoint num="1" id="1994" />
+<TGConnectingPoint num="2" id="1995" />
+<TGConnectingPoint num="3" id="1996" />
+<TGConnectingPoint num="4" id="1997" />
+<TGConnectingPoint num="5" id="1998" />
+<TGConnectingPoint num="6" id="1999" />
+<TGConnectingPoint num="7" id="2000" />
+<TGConnectingPoint num="8" id="2001" />
+<TGConnectingPoint num="9" id="2002" />
+<TGConnectingPoint num="10" id="2003" />
+<TGConnectingPoint num="11" id="2004" />
+<TGConnectingPoint num="12" id="2005" />
+<TGConnectingPoint num="13" id="2006" />
+<TGConnectingPoint num="14" id="2007" />
+<TGConnectingPoint num="15" id="2008" />
+<TGConnectingPoint num="16" id="2009" />
+<TGConnectingPoint num="17" id="2010" />
+<TGConnectingPoint num="18" id="2011" />
+<TGConnectingPoint num="19" id="2012" />
+<TGConnectingPoint num="20" id="2013" />
+<TGConnectingPoint num="21" id="2014" />
+<TGConnectingPoint num="22" id="2015" />
+<TGConnectingPoint num="23" id="2016" />
<extraparam>
<info stereotype="RAM" nodeName="Memory0" />
<attributes byteDataSize="1048576" index="0" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="1986" >
-<father id="2029" num="0" />
+<SUBCOMPONENT type="5362" id="1974" >
+<father id="2017" num="0" />
<cdparam x="862" y="154" />
-<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="198" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="125" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/in sensorData" />
-<TGConnectingPoint num="0" id="1978" />
-<TGConnectingPoint num="1" id="1979" />
-<TGConnectingPoint num="2" id="1980" />
-<TGConnectingPoint num="3" id="1981" />
-<TGConnectingPoint num="4" id="1982" />
-<TGConnectingPoint num="5" id="1983" />
-<TGConnectingPoint num="6" id="1984" />
-<TGConnectingPoint num="7" id="1985" />
+<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" />
<extraparam>
<info value="MainControl/in sensorData" channelName="MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" fullChannelName="Design::MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="1995" >
-<father id="2029" num="1" />
+<SUBCOMPONENT type="5362" id="1983" >
+<father id="2017" num="1" />
<cdparam x="845" y="201" />
-<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="235" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="86" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="88" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/out motorCommand" />
-<TGConnectingPoint num="0" id="1987" />
-<TGConnectingPoint num="1" id="1988" />
-<TGConnectingPoint num="2" id="1989" />
-<TGConnectingPoint num="3" id="1990" />
-<TGConnectingPoint num="4" id="1991" />
-<TGConnectingPoint num="5" id="1992" />
-<TGConnectingPoint num="6" id="1993" />
-<TGConnectingPoint num="7" id="1994" />
+<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" />
<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>
-<SUBCOMPONENT type="5362" id="2004" >
-<father id="2029" num="2" />
+<SUBCOMPONENT type="5362" id="1992" >
+<father id="2017" num="2" />
<cdparam x="868" y="250" />
-<sizeparam width="190" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="188" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="135" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/in tempData" />
-<TGConnectingPoint num="0" id="1996" />
-<TGConnectingPoint num="1" id="1997" />
-<TGConnectingPoint num="2" id="1998" />
-<TGConnectingPoint num="3" id="1999" />
-<TGConnectingPoint num="4" id="2000" />
-<TGConnectingPoint num="5" id="2001" />
-<TGConnectingPoint num="6" id="2002" />
-<TGConnectingPoint num="7" id="2003" />
+<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" />
<extraparam>
<info value="MainControl/in tempData" channelName="MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" fullChannelName="Design::MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5354" id="2054" >
+<COMPONENT type="5354" id="2042" >
<cdparam x="79" y="245" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TTY0" value="name" />
-<TGConnectingPoint num="0" id="2030" />
-<TGConnectingPoint num="1" id="2031" />
-<TGConnectingPoint num="2" id="2032" />
-<TGConnectingPoint num="3" id="2033" />
-<TGConnectingPoint num="4" id="2034" />
-<TGConnectingPoint num="5" id="2035" />
-<TGConnectingPoint num="6" id="2036" />
-<TGConnectingPoint num="7" id="2037" />
-<TGConnectingPoint num="8" id="2038" />
-<TGConnectingPoint num="9" id="2039" />
-<TGConnectingPoint num="10" id="2040" />
-<TGConnectingPoint num="11" id="2041" />
-<TGConnectingPoint num="12" id="2042" />
-<TGConnectingPoint num="13" id="2043" />
-<TGConnectingPoint num="14" id="2044" />
-<TGConnectingPoint num="15" id="2045" />
-<TGConnectingPoint num="16" id="2046" />
-<TGConnectingPoint num="17" id="2047" />
-<TGConnectingPoint num="18" id="2048" />
-<TGConnectingPoint num="19" id="2049" />
-<TGConnectingPoint num="20" id="2050" />
-<TGConnectingPoint num="21" id="2051" />
-<TGConnectingPoint num="22" id="2052" />
-<TGConnectingPoint num="23" id="2053" />
+<TGConnectingPoint num="0" id="2018" />
+<TGConnectingPoint num="1" id="2019" />
+<TGConnectingPoint num="2" id="2020" />
+<TGConnectingPoint num="3" id="2021" />
+<TGConnectingPoint num="4" id="2022" />
+<TGConnectingPoint num="5" id="2023" />
+<TGConnectingPoint num="6" id="2024" />
+<TGConnectingPoint num="7" id="2025" />
+<TGConnectingPoint num="8" id="2026" />
+<TGConnectingPoint num="9" id="2027" />
+<TGConnectingPoint num="10" id="2028" />
+<TGConnectingPoint num="11" id="2029" />
+<TGConnectingPoint num="12" id="2030" />
+<TGConnectingPoint num="13" id="2031" />
+<TGConnectingPoint num="14" id="2032" />
+<TGConnectingPoint num="15" id="2033" />
+<TGConnectingPoint num="16" id="2034" />
+<TGConnectingPoint num="17" id="2035" />
+<TGConnectingPoint num="18" id="2036" />
+<TGConnectingPoint num="19" id="2037" />
+<TGConnectingPoint num="20" id="2038" />
+<TGConnectingPoint num="21" id="2039" />
+<TGConnectingPoint num="22" id="2040" />
+<TGConnectingPoint num="23" id="2041" />
<extraparam>
<info stereotype="TTY" nodeName="TTY0" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5351" id="2115" >
+<COMPONENT type="5351" id="2103" >
<cdparam x="79" y="10" />
<sizeparam width="250" height="213" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CPU0" value="name" />
-<TGConnectingPoint num="0" id="2091" />
-<TGConnectingPoint num="1" id="2092" />
-<TGConnectingPoint num="2" id="2093" />
-<TGConnectingPoint num="3" id="2094" />
-<TGConnectingPoint num="4" id="2095" />
-<TGConnectingPoint num="5" id="2096" />
-<TGConnectingPoint num="6" id="2097" />
-<TGConnectingPoint num="7" id="2098" />
-<TGConnectingPoint num="8" id="2099" />
-<TGConnectingPoint num="9" id="2100" />
-<TGConnectingPoint num="10" id="2101" />
-<TGConnectingPoint num="11" id="2102" />
-<TGConnectingPoint num="12" id="2103" />
-<TGConnectingPoint num="13" id="2104" />
-<TGConnectingPoint num="14" id="2105" />
-<TGConnectingPoint num="15" id="2106" />
-<TGConnectingPoint num="16" id="2107" />
-<TGConnectingPoint num="17" id="2108" />
-<TGConnectingPoint num="18" id="2109" />
-<TGConnectingPoint num="19" id="2110" />
-<TGConnectingPoint num="20" id="2111" />
-<TGConnectingPoint num="21" id="2112" />
-<TGConnectingPoint num="22" id="2113" />
-<TGConnectingPoint num="23" id="2114" />
+<TGConnectingPoint num="0" id="2079" />
+<TGConnectingPoint num="1" id="2080" />
+<TGConnectingPoint num="2" id="2081" />
+<TGConnectingPoint num="3" id="2082" />
+<TGConnectingPoint num="4" id="2083" />
+<TGConnectingPoint num="5" id="2084" />
+<TGConnectingPoint num="6" id="2085" />
+<TGConnectingPoint num="7" id="2086" />
+<TGConnectingPoint num="8" id="2087" />
+<TGConnectingPoint num="9" id="2088" />
+<TGConnectingPoint num="10" id="2089" />
+<TGConnectingPoint num="11" id="2090" />
+<TGConnectingPoint num="12" id="2091" />
+<TGConnectingPoint num="13" id="2092" />
+<TGConnectingPoint num="14" id="2093" />
+<TGConnectingPoint num="15" id="2094" />
+<TGConnectingPoint num="16" id="2095" />
+<TGConnectingPoint num="17" id="2096" />
+<TGConnectingPoint num="18" id="2097" />
+<TGConnectingPoint num="19" id="2098" />
+<TGConnectingPoint num="20" id="2099" />
+<TGConnectingPoint num="21" id="2100" />
+<TGConnectingPoint num="22" id="2101" />
+<TGConnectingPoint num="23" id="2102" />
<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="2063" >
-<father id="2115" num="0" />
+<SUBCOMPONENT type="5352" id="2051" >
+<father id="2103" num="0" />
<cdparam x="100" y="44" />
-<sizeparam width="167" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="164" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="86" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::MotorControl" />
-<TGConnectingPoint num="0" id="2055" />
-<TGConnectingPoint num="1" id="2056" />
-<TGConnectingPoint num="2" id="2057" />
-<TGConnectingPoint num="3" id="2058" />
-<TGConnectingPoint num="4" id="2059" />
-<TGConnectingPoint num="5" id="2060" />
-<TGConnectingPoint num="6" id="2061" />
-<TGConnectingPoint num="7" id="2062" />
+<TGConnectingPoint num="0" id="2043" />
+<TGConnectingPoint num="1" id="2044" />
+<TGConnectingPoint num="2" id="2045" />
+<TGConnectingPoint num="3" id="2046" />
+<TGConnectingPoint num="4" id="2047" />
+<TGConnectingPoint num="5" id="2048" />
+<TGConnectingPoint num="6" id="2049" />
+<TGConnectingPoint num="7" id="2050" />
<extraparam>
<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2072" >
-<father id="2115" num="1" />
+<SUBCOMPONENT type="5352" id="2060" >
+<father id="2103" num="1" />
<cdparam x="101" y="89" />
-<sizeparam width="211" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="206" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="44" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::TemperatureSensor" />
-<TGConnectingPoint num="0" id="2064" />
-<TGConnectingPoint num="1" id="2065" />
-<TGConnectingPoint num="2" id="2066" />
-<TGConnectingPoint num="3" id="2067" />
-<TGConnectingPoint num="4" id="2068" />
-<TGConnectingPoint num="5" id="2069" />
-<TGConnectingPoint num="6" id="2070" />
-<TGConnectingPoint num="7" id="2071" />
+<TGConnectingPoint num="0" id="2052" />
+<TGConnectingPoint num="1" id="2053" />
+<TGConnectingPoint num="2" id="2054" />
+<TGConnectingPoint num="3" id="2055" />
+<TGConnectingPoint num="4" id="2056" />
+<TGConnectingPoint num="5" id="2057" />
+<TGConnectingPoint num="6" id="2058" />
+<TGConnectingPoint num="7" id="2059" />
<extraparam>
<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2081" >
-<father id="2115" num="2" />
+<SUBCOMPONENT type="5352" id="2069" >
+<father id="2103" num="2" />
<cdparam x="101" y="133" />
-<sizeparam width="185" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="180" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="70" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::DistanceSensor" />
-<TGConnectingPoint num="0" id="2073" />
-<TGConnectingPoint num="1" id="2074" />
-<TGConnectingPoint num="2" id="2075" />
-<TGConnectingPoint num="3" id="2076" />
-<TGConnectingPoint num="4" id="2077" />
-<TGConnectingPoint num="5" id="2078" />
-<TGConnectingPoint num="6" id="2079" />
-<TGConnectingPoint num="7" id="2080" />
+<TGConnectingPoint num="0" id="2061" />
+<TGConnectingPoint num="1" id="2062" />
+<TGConnectingPoint num="2" id="2063" />
+<TGConnectingPoint num="3" id="2064" />
+<TGConnectingPoint num="4" id="2065" />
+<TGConnectingPoint num="5" id="2066" />
+<TGConnectingPoint num="6" id="2067" />
+<TGConnectingPoint num="7" id="2068" />
<extraparam>
<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2090" >
-<father id="2115" num="3" />
+<SUBCOMPONENT type="5352" id="2078" >
+<father id="2103" num="3" />
<cdparam x="102" y="176" />
-<sizeparam width="160" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="156" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" />
+<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
<infoparam name="TGComponent" value="Design::MainControl" />
-<TGConnectingPoint num="0" id="2082" />
-<TGConnectingPoint num="1" id="2083" />
-<TGConnectingPoint num="2" id="2084" />
-<TGConnectingPoint num="3" id="2085" />
-<TGConnectingPoint num="4" id="2086" />
-<TGConnectingPoint num="5" id="2087" />
-<TGConnectingPoint num="6" id="2088" />
-<TGConnectingPoint num="7" id="2089" />
+<TGConnectingPoint num="0" id="2070" />
+<TGConnectingPoint num="1" id="2071" />
+<TGConnectingPoint num="2" id="2072" />
+<TGConnectingPoint num="3" id="2073" />
+<TGConnectingPoint num="4" id="2074" />
+<TGConnectingPoint num="5" id="2075" />
+<TGConnectingPoint num="6" id="2076" />
+<TGConnectingPoint num="7" id="2077" />
<extraparam>
<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="2116" >
+<CONNECTOR type="5350" id="2104" >
<cdparam x="793" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="797" y="212" id="2008" />
-<P2 x="710" y="212" id="1957" />
+<P1 x="797" y="212" id="1996" />
+<P2 x="710" y="212" id="1945" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="true" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="2117" >
+<CONNECTOR type="5350" id="2105" >
<cdparam x="329" y="345" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="329" y="295" id="2034" />
-<P2 x="460" y="237" id="1958" />
+<P1 x="329" y="295" id="2022" />
+<P2 x="460" y="237" id="1946" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="2118" >
+<CONNECTOR type="5350" id="2106" >
<cdparam x="329" y="123" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="329" y="116" id="2095" />
-<P2 x="460" y="187" id="1953" />
+<P1 x="329" y="116" id="2083" />
+<P2 x="460" y="187" id="1941" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
diff --git a/src/main/java/ddtranslatorSoclib/AvatarChannel.java b/src/main/java/ddtranslatorSoclib/AvatarChannel.java
index 9bcbf9f098..d74de6f8e2 100755
--- a/src/main/java/ddtranslatorSoclib/AvatarChannel.java
+++ b/src/main/java/ddtranslatorSoclib/AvatarChannel.java
@@ -54,11 +54,10 @@ public class AvatarChannel extends AvatarMappedObject{
private int cluster_index;
private int monitored;
- public AvatarChannel(String _referenceDiagram, String _channelName, AvatarRAM _avatarRAMReference, int _cluster_index, int _monitored){
+ public AvatarChannel(String _referenceDiagram, String _channelName, AvatarRAM _avatarRAMReference, int _monitored){
referenceDiagram = _referenceDiagram;
channelName = _channelName;
avatarRAMReference = _avatarRAMReference;
- cluster_index = _cluster_index;
monitored = _monitored;
}
@@ -74,10 +73,6 @@ public class AvatarChannel extends AvatarMappedObject{
return channelName;
}
- public int getClusterIndex(){
- return cluster_index;
- }
-
public int getMonitored(){
return monitored;
}
diff --git a/src/main/java/ddtranslatorSoclib/AvatarRAM.java b/src/main/java/ddtranslatorSoclib/AvatarRAM.java
index d378575d39..dfb8a70b8f 100755
--- a/src/main/java/ddtranslatorSoclib/AvatarRAM.java
+++ b/src/main/java/ddtranslatorSoclib/AvatarRAM.java
@@ -64,11 +64,10 @@ public class AvatarRAM extends AvatarComponent{
LinkedList<AvatarChannel> channelMapped ;
- public AvatarRAM(String _memoryName, int _dataSize, int _cluster_index, int _index, int _monitored) {
+ public AvatarRAM(String _memoryName, int _dataSize, int _index, int _monitored) {
memoryName = _memoryName;
dataSize = _dataSize;
- index = _index;
- cluster_index= _cluster_index;
+ index = _index;
monitored=_monitored;
channelMapped = new LinkedList<AvatarChannel>();
}
@@ -84,12 +83,7 @@ public class AvatarRAM extends AvatarComponent{
public int getIndex(){
return index;
}
-
- public int getClusterIndex(){
- return cluster_index;
- }
-
- /* the target number is set by the topcell generator*/
+
public void setNo_target(int _no_target){
no_target = _no_target;
}
diff --git a/src/main/java/ddtranslatorSoclib/AvatarTTY.java b/src/main/java/ddtranslatorSoclib/AvatarTTY.java
index ccfd520b22..830c069344 100755
--- a/src/main/java/ddtranslatorSoclib/AvatarTTY.java
+++ b/src/main/java/ddtranslatorSoclib/AvatarTTY.java
@@ -50,18 +50,14 @@ package ddtranslatorSoclib;
public class AvatarTTY extends AvatarComponent {
- private int index = 0;
+ private int index;
private String ttyName;
- public int no_tty;
public int no_target;
- public int no_cluster;
- public AvatarTTY(String _ttyName, int _index, int _no_tty, int _no_cluster){
+ public AvatarTTY(String _ttyName, int _index){
index = _index;
ttyName = _ttyName;
- no_tty = _no_tty;
- no_cluster= _no_cluster;
}
public String getTTYName(){
@@ -72,28 +68,12 @@ public class AvatarTTY extends AvatarComponent {
return index;
}
- public int getNo_tty(){
- return no_tty;
- }
-
public int getNo_target(){
return no_target;
}
-
- public int getClusterIndex(){
- return no_cluster;
- }
-
- public void setNo_tty(int _no_tty){
- no_tty = _no_tty;
- }
-
+
public void setNo_target(int _no_target){
no_target = _no_target;
}
-
- public void setNo_cluster(int _no_cluster){
- no_cluster = _no_cluster;
- }
}
diff --git a/src/main/java/ddtranslatorSoclib/AvatarddSpecification.java b/src/main/java/ddtranslatorSoclib/AvatarddSpecification.java
index 78ece9de9d..31aab49ef4 100755
--- a/src/main/java/ddtranslatorSoclib/AvatarddSpecification.java
+++ b/src/main/java/ddtranslatorSoclib/AvatarddSpecification.java
@@ -109,8 +109,7 @@ There always is at least one RAM0, TTY and interconnect (Bus or VGMN or crossbar
if (task instanceof AvatarTask) {
tasks.add((AvatarTask)task);
}
- }
-
+ }
return tasks;
}
@@ -125,7 +124,7 @@ There always is at least one RAM0, TTY and interconnect (Bus or VGMN or crossbar
}
public LinkedList<AvatarTTY> getAllTTY(){
- //int i=0;
+
LinkedList<AvatarTTY> ttys = new LinkedList<AvatarTTY>();
for (AvatarComponent tty : components )
{
@@ -133,8 +132,7 @@ There always is at least one RAM0, TTY and interconnect (Bus or VGMN or crossbar
ttys.add((AvatarTTY)tty);
nb_target++;
}
- }
-
+ }
return ttys;
}
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java b/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
index 3037d7ed69..09bd94d17e 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/Declaration.java
@@ -76,46 +76,6 @@ public class Declaration
}
- public static int cpus_in_cluster(AvatarddSpecification dd,int cluster_no){
- avatardd = dd;
- int cpus=0;
- for (AvatarConnector connector : avatardd.getConnectors()){
- AvatarConnectingPoint my_p1= connector.get_p1();
- AvatarConnectingPoint my_p2= connector.get_p2();
-
- AvatarComponent comp1 = my_p1.getComponent();
- AvatarComponent comp2 = my_p2.getComponent();
- if (comp1 instanceof AvatarCPU){
- AvatarCPU comp1cpu = (AvatarCPU)comp1;
- if(comp1cpu.getClusterIndex()==cluster_no)
- cpus++;
- }
-
- }
- return cpus;
- }
-
- public static int rams_in_cluster(AvatarddSpecification dd,int cluster_no){
- avatardd = dd;
- int rams=0;
- for (AvatarConnector connector : avatardd.getConnectors()){
- AvatarConnectingPoint my_p1= connector.get_p1();
- AvatarConnectingPoint my_p2= connector.get_p2();
-
- AvatarComponent comp1 = my_p1.getComponent();
- AvatarComponent comp2 = my_p2.getComponent();
- if (comp1 instanceof AvatarRAM){
- AvatarRAM comp1ram = (AvatarRAM)comp1;
- if(comp1ram.getClusterIndex()==cluster_no)
- rams++;
- }
-
- }
- return rams;
- }
-
-
-
public static String getDeclarations (AvatarddSpecification _dd, AvatarSpecification _avspec)
{
avspec = _avspec;
@@ -271,27 +231,27 @@ public class Declaration
declaration +=
"soclib::caba::VciRam<vci_param>" +
ram.getMemoryName () + "(\"" + ram.getMemoryName () +
- "\"" + ", IntTab(" + ram.getClusterIndex () + "," +
+ "\"" + ", IntTab(" + TopCellGenerator.getCrossbarIndex (ram) + "," +
ram.getNo_target () + "), maptab);" + CR2;
}
nb_tty=0;
for (AvatarTTY tty:TopCellGenerator.avatardd.getAllTTY ())
- { int cluster_no=tty.getClusterIndex();
+ { int cluster_no=TopCellGenerator.getCrossbarIndex(tty);
nb_ram =
- rams_in_cluster(avatardd, cluster_no);
+ TopCellGenerator.rams_in_cluster(avatardd, cluster_no);
nb_tty=0;
if(cluster_no==0){
declaration +=
"caba::VciMultiTty<vci_param> " + tty.getTTYName () +
"(\"" + tty.getTTYName () + "\", IntTab(" +
- tty.getClusterIndex () + "," + (nb_ram+10) +
+ TopCellGenerator.getCrossbarIndex (tty) + "," + (nb_ram+10) +
"), maptab, \"vci_multi_tty" + cluster_no + "\", NULL);" + CR;
}
else{
declaration +=
"caba::VciMultiTty<vci_param> " + tty.getTTYName () +
"(\"" + tty.getTTYName () + "\", IntTab(" +
- tty.getClusterIndex () + "," + (nb_ram+nb_tty) +
+ TopCellGenerator.getCrossbarIndex (tty) + "," + (nb_ram+nb_tty) +
"), maptab, \"vci_multi_tty" + cluster_no + "\", NULL);" + CR;
nb_tty++;
}
@@ -341,8 +301,8 @@ public class Declaration
"caba::VciMwmrController<vci_param> " +
copro.getCoprocName () + "_wrapper(\"" +
copro.getCoprocName () +
- "_wrapper\", IntTab(" + copro.getClusterIndex () + "," +
- (init_no - 1) +" ,IntTab(" + copro.getClusterIndex () + "," +
+ "_wrapper\", IntTab(" + TopCellGenerator.getCrossbarIndex (copro) + "," +
+ (init_no - 1) +" ,IntTab(" + TopCellGenerator.getCrossbarIndex (copro) + "," +
target_no + ")," + copro.getPlaps () +
"," + copro.getFifoToCoprocDepth () + "," +
copro.getFifoFromCoprocDepth () + "," +
@@ -400,10 +360,7 @@ public class Declaration
declaration +=
"caba::VciBlockDevice<vci_param> vcibd(\"vcibd\", maptab, IntTab(0,cpus.size()), IntTab(0,10),\"block0.iso\", 2048);"
+ CR;
-
- //int cluster_no; cluster_no = copro.getClusterIndex ();
- //nb_ram = rams_in_cluster(avatardd, cluster_no);
-
+
nb_tty = 0;
int init_no = TopCellGenerator.avatardd.getNb_init ();
@@ -411,8 +368,8 @@ public class Declaration
for (AvatarCoproMWMR copro:TopCellGenerator.avatardd.
getAllCoproMWMR ())
{
- int cluster_no = copro.getClusterIndex ();
- nb_ram = rams_in_cluster(avatardd, cluster_no);
+ int cluster_no = TopCellGenerator.getCrossbarIndex (copro);
+ nb_ram = TopCellGenerator.rams_in_cluster(avatardd, cluster_no);
int target_no = nb_ram+nb_tty;
declaration +=
"caba::VciMwmrController<vci_param> " +
@@ -596,9 +553,9 @@ public class Declaration
int cluster_no = crossbar.getClusterIndex ();
TraceManager.addDev ("CROSSBAR" +cluster_no+" cpus: " +
- cpus_in_cluster(avatardd, cluster_no) );
+ TopCellGenerator.cpus_in_cluster(avatardd, cluster_no) );
TraceManager.addDev ("CROSSBAR " +cluster_no+" rams: " +
- rams_in_cluster(avatardd, cluster_no) );
+ TopCellGenerator.rams_in_cluster(avatardd, cluster_no) );
declaration +=
"soclib::caba::VciLocalCrossbar<vci_param> crossbar" +
@@ -606,8 +563,8 @@ public class Declaration
crossbar.getCrossbarName () + "\"" +
" , maptab, " + crossbar.getClusterIndex () +
"," + crossbar.getClusterIndex () + ", " +
- cpus_in_cluster(avatardd, cluster_no) + ", " +
- (rams_in_cluster(avatardd, cluster_no)+1) + ");" + CR2;
+ TopCellGenerator.cpus_in_cluster(avatardd, cluster_no) + ", " +
+ (TopCellGenerator.rams_in_cluster(avatardd, cluster_no)+1) + ");" + CR2;
//if CROSSBAR was not last in input file, update here
}
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/MappingTable.java b/src/main/java/ddtranslatorSoclib/toTopCell/MappingTable.java
index 0d480f80f0..156c8a07e7 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/MappingTable.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/MappingTable.java
@@ -65,28 +65,6 @@ public class MappingTable {
private final static String CR2 = "\n\n";
private static String mapping;
public static AvatarddSpecification avatardd;
-
- public static int rams_in_cluster(AvatarddSpecification dd,int cluster_no){
- avatardd = dd;
- int rams=0;
- for (AvatarConnector connector : avatardd.getConnectors()){
- AvatarConnectingPoint my_p1= connector.get_p1();
- AvatarConnectingPoint my_p2= connector.get_p2();
-
- AvatarComponent comp1 = my_p1.getComponent();
- AvatarComponent comp2 = my_p2.getComponent();
- if (comp1 instanceof AvatarRAM){
- AvatarRAM comp1ram = (AvatarRAM)comp1;
- if(comp1ram.getClusterIndex()==cluster_no)
- rams++;
- }
-
- }
- TraceManager.addDev (cluster_no+" RAMs in this cluster " +rams);
- return rams;
- }
-
-
public static String getMappingTable(AvatarddSpecification dd) {
@@ -196,12 +174,12 @@ public class MappingTable {
/* attention this will not work for more than 16 TTYs */
/* TTY0 = console has a fixed address */
- if (tty.getNo_tty()==0){
- mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getNo_tty()+"\" , 0xd"+(tty.getNo_tty())+"200000, 0x00000010, IntTab(" +(tty.getNo_target()) +"), false));" + CR;
+ if (tty.getIndex()==0){
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0xd"+(tty.getIndex())+"200000, 0x00000010, IntTab(" +(tty.getNo_target()) +"), false));" + CR;
}
else{
- String adr_tty = Integer.toHexString(tty.getNo_tty()-1);
- mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getNo_tty()+"\" , 0xa"+adr_tty+"200000, 0x00000010, IntTab(" +(tty.getNo_target()) +"), false));" + CR;
+ String adr_tty = Integer.toHexString(tty.getIndex()-1);
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0xa"+adr_tty+"200000, 0x00000010, IntTab(" +(tty.getNo_target()) +"), false));" + CR;
}
tty_count++;
}
@@ -287,9 +265,9 @@ public class MappingTable {
this is the memory space covered by the RAMs of a cluster */
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM()) {
- mapping += "maptab.add(Segment(\"cram"+ram.getClusterIndex()+"_" + ram.getIndex() + "\", 0x"+Integer.toHexString(SEG_RAM_BASE+ ram.getClusterIndex()*CLUSTER_SIZE)+", 0x"+Integer.toHexString(ram.getDataSize()/2)+", IntTab("+ram.getClusterIndex()+","+(ram.getNo_target())+"), true));" + CR;
+ mapping += "maptab.add(Segment(\"cram"+TopCellGenerator.getCrossbarIndex(ram)+"_" + ram.getIndex() + "\", 0x"+Integer.toHexString(SEG_RAM_BASE+ TopCellGenerator.getCrossbarIndex(ram)*CLUSTER_SIZE)+", 0x"+Integer.toHexString(ram.getDataSize()/2)+", IntTab("+TopCellGenerator.getCrossbarIndex(ram)+","+(ram.getNo_target())+"), true));" + CR;
- mapping += "maptab.add(Segment(\"uram" + ram.getClusterIndex()+"_" +ram.getIndex() + "\", 0x"+Integer.toHexString(SEG_RAM_BASE + ram.getClusterIndex()*CLUSTER_SIZE+cacheability_bit)+", 0x"+Integer.toHexString(ram.getDataSize()/2)+", IntTab("+ram.getClusterIndex()+","+(ram.getNo_target())+"), false));" + CR;
+ mapping += "maptab.add(Segment(\"uram" + TopCellGenerator.getCrossbarIndex(ram)+"_" +ram.getIndex() + "\", 0x"+Integer.toHexString(SEG_RAM_BASE + TopCellGenerator.getCrossbarIndex(ram)*CLUSTER_SIZE+cacheability_bit)+", 0x"+Integer.toHexString(ram.getDataSize()/2)+", IntTab("+TopCellGenerator.getCrossbarIndex(ram)+","+(ram.getNo_target())+"), false));" + CR;
}
//Identify the TTYS in current cluster (as opposed to TTYs in total)
@@ -298,17 +276,17 @@ public class MappingTable {
/* the number of fixed targets varies depending on if on cluster 0 or other clusters */
int tty_no;
- int cluster_no=tty.getClusterIndex();
- int cluster_rams=rams_in_cluster(avatardd,cluster_no);
+ int cluster_no=TopCellGenerator.getCrossbarIndex(tty);
+ int cluster_rams=TopCellGenerator.rams_in_cluster(avatardd,cluster_no);
- if(tty.getClusterIndex()==0){
+ if(cluster_no==0){
tty_no=10+cluster_rams;
}
else{
tty_no=cluster_rams;
}
- mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0x"+Integer.toHexString(SEG_TTY_BASE + tty.getClusterIndex()* CLUSTER_SIZE+(16*tty_no))+", 0x00000010, IntTab("+tty.getClusterIndex()+","+tty_no+"), false));" + CR; tty_no++;
+ mapping += "maptab.add(Segment(\"vci_multi_tty"+tty.getIndex()+"\" , 0x"+Integer.toHexString(SEG_TTY_BASE + cluster_no* CLUSTER_SIZE+(16*tty_no))+", 0x00000010, IntTab("+cluster_no+","+tty_no+"), false));" + CR; tty_no++;
}
}
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java b/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
index 748f5b7c12..b49e9c86b4 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
@@ -62,27 +62,7 @@ public class NetList
public static final String CR2 = "\n\n";
private static final String NAME_RST = "signal_resetn";
private static boolean tracing;
-
-
- public static int cpus_in_cluster(AvatarddSpecification dd,int cluster_no){
- int cpus=0;
- avatardd = dd;
- for (AvatarConnector connector : avatardd.getConnectors()){
- AvatarConnectingPoint my_p1= connector.get_p1();
- AvatarConnectingPoint my_p2= connector.get_p2();
-
- AvatarComponent comp1 = my_p1.getComponent();
- AvatarComponent comp2 = my_p2.getComponent();
- if (comp1 instanceof AvatarCPU){
- AvatarCPU comp1cpu = (AvatarCPU)comp1;
- if(comp1cpu.getClusterIndex()==cluster_no)
- cpus++;
- }
- }
- return cpus;
- }
-
-
+
public static String getNetlist (AvatarddSpecification dd,String icn, boolean _tracing)
{
int nb_clusters = TopCellGenerator.avatardd.getAllCrossbar().size ();
@@ -192,7 +172,7 @@ public class NetList
else{
for (AvatarCrossbar crossbar:TopCellGenerator.avatardd.getAllCrossbar ()){
- netlist =netlist + "for ( size_t j = 0; j < " +cpus_in_cluster(avatardd,i)+"; ++j ){" + CR;
+ netlist =netlist + "for ( size_t j = 0; j < " +TopCellGenerator.cpus_in_cluster(avatardd,i)+"; ++j ){" + CR;
netlist = netlist +
" vcihetrom.add_srcid(*cpus[i]->text_ldr, IntTab("+crossbar.getClusterIndex() +",j));" + CR;
netlist = netlist + " // add cpu node to device tree" + CR;
@@ -218,7 +198,7 @@ public class NetList
netlist =netlist + "vgsb.p_to_initiator["+0+"](signal_down"+crossbar.getClusterIndex()+");"+ CR;
netlist =netlist + "vgsb.p_to_target["+0+"](signal_up"+crossbar.getClusterIndex()+");"+ CR;
}
- netlist =netlist + "for ( size_t j = 0; j < " + cpus_in_cluster(avatardd,i) +"; ++j ){" + CR;
+ netlist =netlist + "for ( size_t j = 0; j < " + TopCellGenerator.cpus_in_cluster(avatardd,i) +"; ++j ){" + CR;
netlist =
netlist +
" cpus[i]->connect(cpus[i], signal_clk, signal_resetn, signal_vci_m"+crossbar.getClusterIndex()+"[j]);"+ CR;
@@ -245,9 +225,9 @@ public class NetList
int j;
for (AvatarCrossbar crossbar:TopCellGenerator.avatardd.getAllCrossbar ()){
i=0;
- for (j=0;j< cpus_in_cluster(avatardd,i) ;j++){
+ for (j=0;j< TopCellGenerator.cpus_in_cluster(avatardd,i) ;j++){
netlist =
- netlist = netlist + "for ( size_t j = 0; j < " + cpus_in_cluster(avatardd,i) +"; ++j ){" + CR;
+ netlist = netlist + "for ( size_t j = 0; j < " + TopCellGenerator.cpus_in_cluster(avatardd,i) +"; ++j ){" + CR;
netlist = netlist + "crossbar"+crossbar.getClusterIndex()+".p_to_initiator[i](signal_vci_m"+crossbar.getClusterIndex()+"[j]);" + CR;
netlist = netlist + "}"+CR;
i++;
@@ -378,7 +358,7 @@ public class NetList
}
for (AvatarCrossbar crossbar:TopCellGenerator.avatardd.getAllCrossbar ()){
i=0;
- netlist = netlist + "crossbar"+crossbar.getClusterIndex()+".p_to_initiator["+crossbar.getClusterIndex()+"](signal_vci_m"+crossbar.getClusterIndex()+"["+ cpus_in_cluster(avatardd,i) +"]);" + CR;
+ netlist = netlist + "crossbar"+crossbar.getClusterIndex()+".p_to_initiator["+crossbar.getClusterIndex()+"](signal_vci_m"+crossbar.getClusterIndex()+"["+ TopCellGenerator.cpus_in_cluster(avatardd,i) +"]);" + CR;
}
@@ -432,13 +412,13 @@ public class NetList
NAME_RST + ");" + CR;
netlist =
netlist + ram.getMemoryName () +
- ".p_vci(signal_vci_vciram" + ram.getClusterIndex () +"_"+ram.getIndex () + ");" +
+ ".p_vci(signal_vci_vciram" + TopCellGenerator.getCrossbarIndex (ram) +"_"+ram.getIndex () + ");" +
CR2;
//target number for local cluster: this is set at avatardd creation
netlist =
- netlist + "crossbar" + ram.getClusterIndex () +
+ netlist + "crossbar" + TopCellGenerator.getCrossbarIndex (ram) +
".p_to_target[" + ram.getNo_target () +
- "](signal_vci_vciram"+ram.getClusterIndex()+"_"+ ram.getIndex () + ");" + CR2;
+ "](signal_vci_vciram"+TopCellGenerator.getCrossbarIndex(ram)+"_"+ ram.getIndex () + ");" + CR2;
}
@@ -535,7 +515,7 @@ public class NetList
netlist + tty.getTTYName () + ".p_resetn(signal_resetn);" +
CR;
netlist =
- netlist + tty.getTTYName () + ".p_vci(signal_vci_tty"+tty.getNo_tty() +
+ netlist + tty.getTTYName () + ".p_vci(signal_vci_tty"+tty.getIndex() +
");" + CR2;}
else{
netlist =
@@ -544,7 +524,7 @@ public class NetList
netlist + tty.getTTYName () + ".p_resetn(signal_resetn);" +
CR;
netlist =
- netlist + tty.getTTYName () + ".p_vci(signal_vci_tty" + tty.getClusterIndex() +"_"+tty.getNo_tty() +
+ netlist + tty.getTTYName () + ".p_vci(signal_vci_tty" + TopCellGenerator.getCrossbarIndex(tty) +"_"+tty.getIndex() +
");" + CR2;
}
if (nb_clusters == 0)
@@ -555,11 +535,11 @@ public class NetList
netlist =
netlist +
"vcifdtrom.begin_device_node(\"vci_multi_tty" +
- i + "\",\"soclib:vci_multi_tty" + tty.getNo_tty() + "\");" +
+ i + "\",\"soclib:vci_multi_tty" + tty.getIndex() + "\");" +
CR2;
netlist =
netlist + "vgmn.p_to_target[" +
- tty.getNo_target () + "](signal_vci_tty" + tty.getNo_tty() +
+ tty.getNo_target () + "](signal_vci_tty" + tty.getIndex() +
");" + CR2;
netlist =
netlist + tty.getTTYName () +
@@ -571,12 +551,12 @@ public class NetList
netlist =
netlist +
"vcifdtrom.begin_device_node(\"vci_multi_tty" +
- i + "\",\"soclib:vci_multi_tty" +tty.getNo_tty ()+"_"+
- tty.getClusterIndex() + "\");" + CR2;
+ i + "\",\"soclib:vci_multi_tty" +tty.getIndex ()+"_"+
+ TopCellGenerator.getCrossbarIndex(tty) + "\");" + CR2;
netlist =
netlist + "vgsb.p_to_target[" +
- tty.getNo_target () + "](signal_vci_tty" +tty.getNo_tty ()+"_"+
- tty.getClusterIndex() +
+ tty.getNo_target () + "](signal_vci_tty" +tty.getIndex ()+"_"+
+ TopCellGenerator.getCrossbarIndex(tty) +
");" + CR2;
netlist =
netlist + tty.getTTYName () +
@@ -592,15 +572,15 @@ public class NetList
for (j = 0; j < nb_clusters; j++)
{
netlist =
- netlist + "crossbar" + tty.getClusterIndex() + ".p_to_target["+tty.getNo_target ()
- + "](signal_vci_tty" +tty.getClusterIndex() +"_"+tty.getNo_tty()+
+ netlist + "crossbar" + TopCellGenerator.getCrossbarIndex(tty) + ".p_to_target["+tty.getNo_target ()
+ + "](signal_vci_tty" + TopCellGenerator.getCrossbarIndex(tty) +"_"+tty.getIndex()+
");" + CR2;
//recalculate irq addresses, 5 devices generating irq per cluster
//there are still strong assumptions that have to be corrected
netlist =
netlist + tty.getTTYName () +
".p_irq[0](signal_xicu_irq[" +
- (tty.getClusterIndex () * 5) + "]);" + CR2;
+ (TopCellGenerator.getCrossbarIndex (tty) * 5) + "]);" + CR2;
}
}
i++;
@@ -874,7 +854,7 @@ public class NetList
netlist = netlist + CR +
"logger" + i + ".p_clk(signal_clk);" + CR +
"logger" + i + ".p_resetn(signal_resetn);" + CR +
- "logger" + i + ".p_vci(signal_vci_m"+cpu.getClusterIndex()+"[" + number +
+ "logger" + i + ".p_vci(signal_vci_m"+TopCellGenerator.getCrossbarIndex(cpu)+"[" + number +
"]);" + CR2;
i++;
}
@@ -894,7 +874,7 @@ public class NetList
netlist +=
"logger" + i + ".p_resetn(signal_resetn);" + CR;
netlist +=
- "logger" + i + ".p_vci(signal_vci_vciram"+ ram.getClusterIndex() +"_" + number +
+ "logger" + i + ".p_vci(signal_vci_vciram"+ TopCellGenerator.getCrossbarIndex(ram) +"_" + number +
");" + CR2;
i++;
}
@@ -910,7 +890,7 @@ public class NetList
"mwmr_stats" + j + ".p_resetn(signal_resetn);" +
CR;
netlist +=
- "mwmr_stats" + j + ".p_vci(signal_vci_vciram"+ ram.getClusterIndex() +"_" +
+ "mwmr_stats" + j + ".p_vci(signal_vci_vciram"+ TopCellGenerator.getCrossbarIndex(ram) +"_" +
number + ");" + CR2;
j++;
}
@@ -1010,8 +990,8 @@ public class NetList
{
netlist +=
- "sc_trace(tf,signal_vci_tty" + tty.getNo_tty () +
- ",\"TTY" + tty.getNo_tty () + "\");" + CR;
+ "sc_trace(tf,signal_vci_tty" + tty.getIndex () +
+ ",\"TTY" + tty.getIndex () + "\");" + CR;
netlist +=
"sc_trace(tf,signal_xicu_irq[" + i +
"] ,\"signal_xicu_irq[" + i + "]\");" + CR;
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/Signal.java b/src/main/java/ddtranslatorSoclib/toTopCell/Signal.java
index e9cb7213a9..b4da0a2e6e 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/Signal.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/Signal.java
@@ -60,29 +60,7 @@ public class Signal {
private final static String CR2 = "\n\n";
private final static String NAME_CLK = "signal_clk";
private static final String NAME_RST = "signal_resetn";
-
-
- public static int cpus_in_cluster(AvatarddSpecification dd,int cluster_no){
- avatardd = dd;
- int cpus=0;
- for (AvatarConnector connector : avatardd.getConnectors()){
- AvatarConnectingPoint my_p1= connector.get_p1();
- AvatarConnectingPoint my_p2= connector.get_p2();
-
- AvatarComponent comp1 = my_p1.getComponent();
- AvatarComponent comp2 = my_p2.getComponent();
- if (comp1 instanceof AvatarCPU){
- AvatarCPU comp1cpu = (AvatarCPU)comp1;
- if(comp1cpu.getClusterIndex()==cluster_no)
- cpus++;
- }
-
- }
- return cpus;
- }
-
-
-
+
public static String getSignal(AvatarddSpecification dd) {
avatardd = dd;
int nb_clusters=TopCellGenerator.avatardd.getAllCrossbar().size();
@@ -94,7 +72,7 @@ public class Signal {
}
else{
for(i=0;i<nb_clusters;i++){
- signal = signal + "caba::VciSignals<vci_param> signal_vci_m"+i+"["+ (cpus_in_cluster(avatardd,i)+ 1)+"];"+ CR;
+ signal = signal + "caba::VciSignals<vci_param> signal_vci_m"+i+"["+ (TopCellGenerator.cpus_in_cluster(avatardd,i)+ 1)+"];"+ CR;
}
}
@@ -167,7 +145,7 @@ public class Signal {
signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_vciram" + ram.getIndex()
+ "(\"signal_vci_vciram" + ram.getIndex() + "\");" + CR2; i=0;
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
- // signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getNo_tty()+"(\"signal_vci_tty"+tty.getNo_tty()+"\");" + CR2;
+ // signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getIndex()+"(\"signal_vci_tty"+tty.getIndex()+"\");" + CR2;
signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+i+"(\"signal_vci_tty"+i+"\");" + CR2;
i++;
}
@@ -177,14 +155,14 @@ public class Signal {
else{
for (AvatarRAM ram : TopCellGenerator.avatardd.getAllRAM()){
- signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_vciram" +ram.getClusterIndex() +"_"+ram.getIndex()
- + "(\"signal_vci_vciram" + ram.getClusterIndex() +"_"+ ram.getIndex() + "\");" + CR2;
+ signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_vciram" +TopCellGenerator.getCrossbarIndex(ram) +"_"+ram.getIndex()
+ + "(\"signal_vci_vciram" + TopCellGenerator.getCrossbarIndex(ram) +"_"+ ram.getIndex() + "\");" + CR2;
}
for (AvatarTTY tty : TopCellGenerator.avatardd.getAllTTY()){
- signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+tty.getClusterIndex()+"_"+tty.getNo_tty()+"(\"signal_vci_tty"+ tty.getClusterIndex() +"_"+tty.getNo_tty()+"\");" + CR2;
+ signal = signal + "soclib::caba::VciSignals<vci_param> signal_vci_tty"+TopCellGenerator.getCrossbarIndex(tty)+"_"+tty.getIndex()+"(\"signal_vci_tty"+ TopCellGenerator.getCrossbarIndex(tty) +"_"+tty.getIndex()+"\");" + CR2;
}
// signal = signal + " sc_core::sc_signal<bool> signal_xicu_irq[xicu_n_irq];" + CR2;
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/TopCellGenerator.java b/src/main/java/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
index c10743c121..252a412c7e 100755
--- a/src/main/java/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/TopCellGenerator.java
@@ -56,6 +56,8 @@ import java.io.*;
import java.util.ArrayList;
import java.util.List;
+import myutil.TraceManager;
+
public class TopCellGenerator
{
private static final String MAPPING_TXT = "mapping.txt"; //$NON-NLS-1$
@@ -97,6 +99,66 @@ public class TopCellGenerator
avspec =_avspec;
}
+ public static int getCrossbarIndex(AvatarComponent comp){
+ int cluster_index=0;
+ for (AvatarConnector connector : avatardd.getConnectors()){
+
+ AvatarConnectingPoint my_p1= connector.get_p1();
+ AvatarConnectingPoint my_p2= connector.get_p2();
+
+ AvatarComponent comp1 = my_p1.getComponent();
+ AvatarComponent comp2 = my_p2.getComponent();
+ if (comp2==comp){
+ //comp2 is a crossbar
+ AvatarCrossbar comp3= (AvatarCrossbar)comp2;
+ cluster_index=comp3.getClusterIndex();
+ }
+ }
+ return cluster_index;
+ }
+
+ public static int cpus_in_cluster(AvatarddSpecification dd,int cluster_no){
+ avatardd = dd;
+ int cpus=0;
+ for (AvatarConnector connector : avatardd.getConnectors()){
+ AvatarConnectingPoint my_p1= connector.get_p1();
+ AvatarConnectingPoint my_p2= connector.get_p2();
+
+ AvatarComponent comp1 = my_p1.getComponent();
+ AvatarComponent comp2 = my_p2.getComponent();
+ if (comp1 instanceof AvatarCPU){
+ AvatarCPU comp1cpu = (AvatarCPU)comp1;
+ // if(comp1cpu.getCrossbarIndex(comp2)==cluster_no)
+ if(getCrossbarIndex(comp2)==cluster_no)
+ cpus++;
+ }
+ }
+ return cpus;
+ }
+
+
+ public static int rams_in_cluster(AvatarddSpecification dd,int cluster_no){
+ avatardd = dd;
+ int rams=0;
+ for (AvatarConnector connector : avatardd.getConnectors()){
+ AvatarConnectingPoint my_p1= connector.get_p1();
+ AvatarConnectingPoint my_p2= connector.get_p2();
+
+ AvatarComponent comp1 = my_p1.getComponent();
+ AvatarComponent comp2 = my_p2.getComponent();
+ if (comp1 instanceof AvatarRAM){
+ AvatarRAM comp1ram = (AvatarRAM)comp1;
+ //if(comp1ram.getCrossbarIndex(comp2)==cluster_no)
+ if(getCrossbarIndex(comp2)==cluster_no)
+ rams++;
+ }
+
+ }
+ TraceManager.addDev (cluster_no+" RAMs in cluster "+cluster_no+":"+rams);
+ return rams;
+ }
+
+
public String generateTopCell() {
String icn;
@@ -172,9 +234,9 @@ public class TopCellGenerator
/* Central interconnect or local crossbars */
- if(TopCellGenerator.avatardd.getNbCrossbar()>0){
+ /* if(TopCellGenerator.avatardd.getNbCrossbar()>0){
- }
+ }*/
makeVCIparameters();
makeConfig();
String top = Header.getHeader() +
diff --git a/src/main/java/ui/AvatarDeploymentPanelTranslator.java b/src/main/java/ui/AvatarDeploymentPanelTranslator.java
index 8c8fdc6572..eff4eb048e 100644
--- a/src/main/java/ui/AvatarDeploymentPanelTranslator.java
+++ b/src/main/java/ui/AvatarDeploymentPanelTranslator.java
@@ -161,7 +161,7 @@ public class AvatarDeploymentPanelTranslator
int index = tty.getIndex ();
String ttyName = tty.getNodeName ();
- AvatarTTY avtty = new AvatarTTY (ttyName, index, index, index);
+ AvatarTTY avtty = new AvatarTTY (ttyName, index);
nb_target++;
avatarMap.put (dp, avtty);
@@ -298,15 +298,13 @@ public class AvatarDeploymentPanelTranslator
nb_init++;
nb_target += 2;
AvatarCoproMWMR acpMWMR;
-
- //DG 19.09. map tasks to coproc
+
acpMWMR =
new AvatarCoproMWMR (timerName, srcid, srcid, tgtid,
plaps, fifoToCoprocDepth,
fifoFromCoprocDepth, nToCopro,
nFromCopro, nConfig, nStatus,
- useLLSC, coprocType, cluster_address);
- // DG 27.04. : pourquoi deux fois new coproc? Bien: on peut mapper les tasks :)
+ useLLSC, coprocType, cluster_address);
Vector < ADDBlockArtifact > tasks =
addCoproMWMRNode.getArtifactList ();
@@ -349,17 +347,11 @@ public class AvatarDeploymentPanelTranslator
ADDRAMNode addRamNode = (ADDRAMNode) dp;
String name = addRamNode.getNodeName ();
int index = addRamNode.getIndex ();
- int cluster_index = addRamNode.getClusterIndex ();
+
int byteDataSize = addRamNode.getDataSize ();
- //int monitored = addRamNode.getMonitored();
-
AvatarRAM avram =
- new AvatarRAM (name, byteDataSize,
- cluster_index,
- index,
- addRamNode.getMonitored ());
-
+ new AvatarRAM (name, byteDataSize, index,addRamNode.getMonitored ());
nb_target++;
Vector < ADDChannelArtifact > channels =
@@ -375,9 +367,7 @@ public class AvatarDeploymentPanelTranslator
AvatarChannel avcl =
new AvatarChannel (referenceDiagram,
channelName, avram,
- cluster_index,
- addRamNode.
- getMonitored ());
+ addRamNode.getMonitored ());
avram.addChannel (avcl);
avatarMappedObject.add (avcl);
}
diff --git a/src/main/java/ui/avatardd/ADDMemoryNode.java b/src/main/java/ui/avatardd/ADDMemoryNode.java
index 403be2baaf..299d8dc678 100755
--- a/src/main/java/ui/avatardd/ADDMemoryNode.java
+++ b/src/main/java/ui/avatardd/ADDMemoryNode.java
@@ -66,7 +66,7 @@ public abstract class ADDMemoryNode extends ADDCommunicationNode implements With
protected String stereotype = "RAM";
protected int index = 0;
- protected int cluster_index = 0;
+ //protected int cluster_index = 0;
protected int monitored = 0;
protected int byteDataSize = HwMemory.DEFAULT_BYTE_DATA_SIZE;
@@ -138,9 +138,9 @@ public abstract class ADDMemoryNode extends ADDCommunicationNode implements With
return index;
}
- public int getClusterIndex() {
+ /* public int getClusterIndex() {
return cluster_index;
- }
+ }*/
public int getDataSize() {
return byteDataSize;
@@ -191,7 +191,7 @@ public abstract class ADDMemoryNode extends ADDCommunicationNode implements With
}
}
- if (dialog.getClusterIndex().length() != 0) {
+ /* if (dialog.getClusterIndex().length() != 0) {
try {
tmp = cluster_index;
index = Integer.decode(dialog.getClusterIndex()).intValue();
@@ -204,7 +204,7 @@ public abstract class ADDMemoryNode extends ADDCommunicationNode implements With
error = true;
errors += "cluster index ";
}
- }
+ }*/
@@ -255,7 +255,7 @@ public abstract class ADDMemoryNode extends ADDCommunicationNode implements With
sb.append("\" />\n");
sb.append("<attributes byteDataSize=\"" + byteDataSize + "\" ");
sb.append(" index=\"" + index + "\" ");
- sb.append(" cluster_index=\"" + cluster_index + "\" ");
+ // sb.append(" cluster_index=\"" + cluster_index + "\" ");
if (stereotype.equals("RAM")) {
sb.append(" processCode=\"" + getProcessCode() + "\" ");
}
diff --git a/src/main/java/ui/avatardd/ADDRAMNode.java b/src/main/java/ui/avatardd/ADDRAMNode.java
index 6fee322b5a..0e796f09fc 100755
--- a/src/main/java/ui/avatardd/ADDRAMNode.java
+++ b/src/main/java/ui/avatardd/ADDRAMNode.java
@@ -55,7 +55,7 @@ public class ADDRAMNode extends ADDMemoryNode implements SwallowTGComponent, Wit
protected int monitored = 0;
protected int index = 0;
- protected int cluster_index = 0;
+ //protected int cluster_index = 0;
public ADDRAMNode(int _x, int _y, int _minX, int _maxX, int _minY, int _maxY, boolean _pos, TGComponent _father, TDiagramPanel _tdp) {
super(_x, _y, _minX, _maxX, _minY, _maxY, _pos, _father, _tdp);
@@ -153,9 +153,9 @@ public class ADDRAMNode extends ADDMemoryNode implements SwallowTGComponent, Wit
return index;
}
- public int getClusterIndex() {
+ /* public int getClusterIndex() {
return cluster_index;
- }
+ }*/
public int getMonitored() {
return monitored;
diff --git a/src/main/java/ui/avatardd/ADDTTYNode.java b/src/main/java/ui/avatardd/ADDTTYNode.java
index 234c60314e..3557bc0472 100755
--- a/src/main/java/ui/avatardd/ADDTTYNode.java
+++ b/src/main/java/ui/avatardd/ADDTTYNode.java
@@ -67,7 +67,7 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
private String stereotype = "TTY";
private int index = 0;
- protected int cluster_index = 0;
+ //protected int cluster_index = 0;
public ADDTTYNode(int _x, int _y, int _minX, int _maxX, int _minY, int _maxY, boolean _pos, TGComponent _father, TDiagramPanel _tdp) {
super(_x, _y, _minX, _maxX, _minY, _maxY, _pos, _father, _tdp);
@@ -176,9 +176,9 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
return index;
}
- public int getClusterIndex() {
+ /* public int getClusterIndex() {
return cluster_index;
- }
+ }*/
public boolean editOndoubleClick(JFrame frame) {
boolean error = false;
@@ -223,7 +223,7 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
}
}
- if (dialog.getClusterIndex().length() != 0) {
+ /* if (dialog.getClusterIndex().length() != 0) {
try {
tmp = cluster_index;
index = Integer.decode(dialog.getClusterIndex()).intValue();
@@ -236,7 +236,7 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
error = true;
errors += "cluster index ";
}
- }
+ }*/
if (error) {
@@ -260,7 +260,7 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
sb.append("<info stereotype=\"" + stereotype + "\" nodeName=\"" + name);
sb.append("\" />\n");
sb.append("<attributes index=\"" + index + "\" ");
- sb.append("cluster_index=\"" + cluster_index + "\" ");
+ //sb.append("cluster_index=\"" + cluster_index + "\" ");
//sb.append(" clockRatio=\"" + clockRatio + "\"");
sb.append("/>\n");
sb.append("</extraparam>\n");
@@ -302,7 +302,7 @@ public class ADDTTYNode extends ADDNode implements WithAttributes {
if (elt.getTagName().equals("attributes")) {
index = Integer.decode(elt.getAttribute("index")).intValue();
- cluster_index = Integer.decode(elt.getAttribute("cluster_index")).intValue();
+ //cluster_index = Integer.decode(elt.getAttribute("cluster_index")).intValue();
}
}
}
diff --git a/src/main/java/ui/window/JDialogADDMemoryNode.java b/src/main/java/ui/window/JDialogADDMemoryNode.java
index d8c7aaaece..4ba13b38c5 100644
--- a/src/main/java/ui/window/JDialogADDMemoryNode.java
+++ b/src/main/java/ui/window/JDialogADDMemoryNode.java
@@ -76,7 +76,6 @@ public class JDialogADDMemoryNode extends JDialogBase implements ActionListener
// Panel2
protected JTextField index;
- protected JTextField cluster_index;
protected JTextField dataSize;
protected JTextField monitored;
@@ -223,29 +222,15 @@ public class JDialogADDMemoryNode extends JDialogBase implements ActionListener
index = new JTextField(""+node.getIndex(), 15);
panel2.add(index, c2);
- c2.gridwidth = 1;
- panel2.add(new JLabel("Cluster Index:"), c2);
- c2.gridwidth = GridBagConstraints.REMAINDER; //end row
- cluster_index = new JTextField(""+node.getIndex(), 15);
- panel2.add(cluster_index, c2);
-
-
c2.gridwidth = 1;
panel2.add(new JLabel("Data size (in byte):"), c2);
c2.gridwidth = GridBagConstraints.REMAINDER; //end row
dataSize = new JTextField(""+node.getDataSize(), 15);
panel2.add(dataSize, c2);
- /*c2.gridwidth = 1;
- panel2.add(new JLabel("Monitored:"), c2);
- c2.gridwidth = GridBagConstraints.REMAINDER; //end row
- monitored = new JTextField(""+node.getMonitored(), 15);
- panel2.add(monitored, c2);*/
c2.gridwidth = 1;
panel2.add(new JLabel("Monitored:"), c2);
- //c2.gridwidth = GridBagConstraints.REMAINDER; //end row
- //monitored = new JTextField(""+node.getMonitored(), 15);//DG 19.04.
tracemode = new JComboBox<>(tracemodeTab);
tracemode.setSelectedIndex(selectedTracemode);
tracemode.addActionListener(this);
@@ -336,11 +321,7 @@ public class JDialogADDMemoryNode extends JDialogBase implements ActionListener
public String getIndex() {
return index.getText();
}
-
- public String getClusterIndex() {
- return cluster_index.getText();
- }
-
+
public String getDataSize() {
return dataSize.getText();
}
diff --git a/src/main/java/ui/window/JDialogADDTTYNode.java b/src/main/java/ui/window/JDialogADDTTYNode.java
index 60b30f07be..575bca396e 100644
--- a/src/main/java/ui/window/JDialogADDTTYNode.java
+++ b/src/main/java/ui/window/JDialogADDTTYNode.java
@@ -74,7 +74,7 @@ public class JDialogADDTTYNode extends JDialogBase implements ActionListener {
// Panel2
protected JTextField index;
- protected JTextField cluster_index;
+ // protected JTextField cluster_index;
/** Creates new form */
public JDialogADDTTYNode(Frame _frame, String _title, ADDTTYNode _node) {
@@ -136,11 +136,11 @@ public class JDialogADDTTYNode extends JDialogBase implements ActionListener {
index = new JTextField(""+node.getIndex(), 15);
panel2.add(index, c2);
- c2.gridwidth = 1;
+ /* c2.gridwidth = 1;
panel2.add(new JLabel("Cluster Index:"), c2);
c2.gridwidth = GridBagConstraints.REMAINDER; //end row
cluster_index = new JTextField(""+node.getIndex(), 15);
- panel2.add(cluster_index, c2);
+ panel2.add(cluster_index, c2);*/
// main panel;
@@ -195,8 +195,4 @@ public class JDialogADDTTYNode extends JDialogBase implements ActionListener {
public String getIndex() {
return index.getText();
}
-
- public String getClusterIndex() {
- return cluster_index.getText();
- }
}
--
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