From c4cd505863991dd5ecfe14d6d2978e8df01d6670 Mon Sep 17 00:00:00 2001
From: Daniela Genius <genius@debussy.soc.lip6.fr>
Date: Mon, 30 Sep 2019 16:01:46 +0200
Subject: [PATCH] update to models (making them clock and nbits compatible)
---
...s_single_dist_de_b.xml => rover_ertss.xml} | 4434 +++++++++--------
modeling/SystemC-AMS/test_TDF_DE.xml | 119 +
.../SystemC-AMS/tutorial_with_processing.xml | 127 +
.../vibration_sensor_simplified.xml | 1133 +++++
4 files changed, 3648 insertions(+), 2165 deletions(-)
rename modeling/SystemC-AMS/{rover_ams_single_dist_de_b.xml => rover_ertss.xml} (68%)
create mode 100644 modeling/SystemC-AMS/test_TDF_DE.xml
create mode 100644 modeling/SystemC-AMS/tutorial_with_processing.xml
create mode 100644 modeling/SystemC-AMS/vibration_sensor_simplified.xml
diff --git a/modeling/SystemC-AMS/rover_ams_single_dist_de_b.xml b/modeling/SystemC-AMS/rover_ertss.xml
similarity index 68%
rename from modeling/SystemC-AMS/rover_ams_single_dist_de_b.xml
rename to modeling/SystemC-AMS/rover_ertss.xml
index 4a4369fe24..af69442655 100644
--- a/modeling/SystemC-AMS/rover_ams_single_dist_de_b.xml
+++ b/modeling/SystemC-AMS/rover_ertss.xml
@@ -1,47 +1,47 @@
<?xml version="1.0" encoding="UTF-8"?>
-<TURTLEGMODELING version="1.0beta">
+<TURTLEGMODELING version="1.0beta" ANIMATE_INTERACTIVE_SIMULATION="false" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="false" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="0" LAST_SELECTED_SUB_TAB="1">
-<Modeling type="TML Component Design" nameTab="Rover" >
+<Modeling type="TML Component Design" nameTab="Rover" tabs="TML Component Task Diagram$MotorControl$TemperatureSensor$DistanceSensor$MainControl" >
<TMLComponentTaskDiagramPanel name="TML Component Task Diagram" minX="10" maxX="2500" minY="10" maxY="1500" channels="true" events="true" requests="true" zoom="1.0" >
<CONNECTOR type="126" id="1" >
<cdparam x="480" y="262" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="480" y="236" id="66" />
-<P2 x="479" y="296" id="26" />
+<P1 x="480" y="236" id="52" />
+<P2 x="479" y="296" id="22" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="2" >
<cdparam x="601" y="181" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="672" y="166" id="52" />
-<P2 x="817" y="166" id="9" />
+<P1 x="672" y="166" id="66" />
+<P2 x="817" y="166" id="11" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="3" >
<cdparam x="601" y="205" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="672" y="217" id="62" />
-<P2 x="817" y="217" id="11" />
+<P1 x="672" y="217" id="56" />
+<P2 x="817" y="217" id="9" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4" >
<cdparam x="375" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="388" y="151" id="54" />
-<P2 x="257" y="151" id="37" />
+<P1 x="388" y="151" id="64" />
+<P2 x="257" y="151" id="41" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="5" >
<cdparam x="445" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="388" y="180" id="56" />
-<P2 x="257" y="182" id="41" />
+<P1 x="388" y="180" id="62" />
+<P2 x="257" y="182" id="37" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="6" >
@@ -49,7 +49,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="257" y="212" id="39" />
-<P2 x="388" y="212" id="64" />
+<P2 x="388" y="212" id="54" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="7" >
@@ -57,15 +57,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="418" y="296" id="24" />
-<P2 x="418" y="236" id="58" />
+<P2 x="418" y="236" id="60" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="8" >
<cdparam x="547" y="288" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="549" y="236" id="60" />
-<P2 x="548" y="296" id="22" />
+<P1 x="549" y="236" id="58" />
+<P2 x="548" y="296" id="26" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="21" >
@@ -83,21 +83,21 @@
<TGConnectingPoint num="6" id="19" />
<TGConnectingPoint num="7" id="20" />
<extraparam>
-<Data isAttacker="No" />
+<Data isAttacker="No" daemon="false" Operation="" />
<Attribute access="2" id="calculateCommand" value="" type="0" typeOther="" />
<Attribute access="2" id="interval" value="" type="0" typeOther="" />
</extraparam>
</COMPONENT>
<SUBCOMPONENT type="1203" id="10" >
<father id="21" num="0" />
-<cdparam x="804" y="166" />
+<cdparam x="804" y="217" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" />
-<infoparam name="Primitive port" value="Event newCommand" />
+<infoparam name="Primitive port" value="Channel motorCommand" />
<TGConnectingPoint num="0" id="9" />
<extraparam>
-<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -107,14 +107,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="12" >
<father id="21" num="1" />
-<cdparam x="804" y="217" />
+<cdparam x="804" y="166" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" />
-<infoparam name="Primitive port" value="Channel motorCommand" />
+<infoparam name="Primitive port" value="Event newCommand" />
<TGConnectingPoint num="0" id="11" />
<extraparam>
-<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -138,7 +138,7 @@
<TGConnectingPoint num="6" id="34" />
<TGConnectingPoint num="7" id="35" />
<extraparam>
-<Data isAttacker="No" />
+<Data isAttacker="No" daemon="false" Operation="" />
<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="" />
@@ -147,14 +147,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="23" >
<father id="36" num="0" />
-<cdparam x="535" y="296" />
+<cdparam x="466" y="296" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="84" />
-<infoparam name="Primitive port" value="Event startTemp" />
+<infoparam name="Primitive port" value="Event stopTemp" />
<TGConnectingPoint num="0" id="22" />
<extraparam>
-<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -171,7 +171,7 @@
<infoparam name="Primitive port" value="Channel tempData" />
<TGConnectingPoint num="0" id="24" />
<extraparam>
-<Prop commName="tempData" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="tempData" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -181,14 +181,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="27" >
<father id="36" num="2" />
-<cdparam x="466" y="296" />
+<cdparam x="535" y="296" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="84" />
-<infoparam name="Primitive port" value="Event stopTemp" />
+<infoparam name="Primitive port" value="Event startTemp" />
<TGConnectingPoint num="0" id="26" />
<extraparam>
-<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -212,21 +212,21 @@
<TGConnectingPoint num="6" id="49" />
<TGConnectingPoint num="7" id="50" />
<extraparam>
-<Data isAttacker="No" />
+<Data isAttacker="No" daemon="false" Operation="" />
<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" >
<father id="51" num="0" />
-<cdparam x="244" y="151" />
+<cdparam x="244" y="182" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" />
-<infoparam name="Primitive port" value="Event changeRate" />
+<infoparam name="Primitive port" value="Channel samplingRate" />
<TGConnectingPoint num="0" id="37" />
<extraparam>
-<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -243,7 +243,7 @@
<infoparam name="Primitive port" value="Channel ultrasonicData" />
<TGConnectingPoint num="0" id="39" />
<extraparam>
-<Prop commName="ultrasonicData" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ultrasonicData" commType="0" origin="true" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -253,14 +253,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="42" >
<father id="51" num="2" />
-<cdparam x="244" y="182" />
+<cdparam x="244" y="151" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" />
-<infoparam name="Primitive port" value="Channel samplingRate" />
+<infoparam name="Primitive port" value="Event changeRate" />
<TGConnectingPoint num="0" id="41" />
<extraparam>
-<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -284,7 +284,7 @@
<TGConnectingPoint num="6" id="74" />
<TGConnectingPoint num="7" id="75" />
<extraparam>
-<Data isAttacker="No" />
+<Data isAttacker="No" daemon="false" Operation="" />
<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="" />
@@ -292,14 +292,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="53" >
<father id="76" num="0" />
-<cdparam x="659" y="166" />
+<cdparam x="467" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event newCommand" />
+<infoparam name="Primitive port" value="Event stopTemp" />
<TGConnectingPoint num="0" id="52" />
<extraparam>
-<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -309,14 +309,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="55" >
<father id="76" num="1" />
-<cdparam x="375" y="151" />
+<cdparam x="375" y="212" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event changeRate" />
+<infoparam name="Primitive port" value="Channel ultrasonicData" />
<TGConnectingPoint num="0" id="54" />
<extraparam>
-<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -326,14 +326,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="57" >
<father id="76" num="2" />
-<cdparam x="375" y="180" />
+<cdparam x="659" y="217" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel samplingRate" />
+<infoparam name="Primitive port" value="Channel motorCommand" />
<TGConnectingPoint num="0" id="56" />
<extraparam>
-<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -343,14 +343,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="59" >
<father id="76" num="3" />
-<cdparam x="405" y="236" />
+<cdparam x="536" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel tempData" />
+<infoparam name="Primitive port" value="Event startTemp" />
<TGConnectingPoint num="0" id="58" />
<extraparam>
-<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -360,14 +360,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="61" >
<father id="76" num="4" />
-<cdparam x="536" y="236" />
+<cdparam x="405" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event startTemp" />
+<infoparam name="Primitive port" value="Channel tempData" />
<TGConnectingPoint num="0" id="60" />
<extraparam>
-<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -377,14 +377,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="63" >
<father id="76" num="5" />
-<cdparam x="659" y="217" />
+<cdparam x="375" y="180" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel motorCommand" />
+<infoparam name="Primitive port" value="Channel samplingRate" />
<TGConnectingPoint num="0" id="62" />
<extraparam>
-<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -394,14 +394,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="65" >
<father id="76" num="6" />
-<cdparam x="375" y="212" />
+<cdparam x="375" y="151" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel ultrasonicData" />
+<infoparam name="Primitive port" value="Event changeRate" />
<TGConnectingPoint num="0" id="64" />
<extraparam>
-<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -411,14 +411,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="67" >
<father id="76" num="7" />
-<cdparam x="467" y="236" />
+<cdparam x="659" y="166" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event stopTemp" />
+<infoparam name="Primitive port" value="Event newCommand" />
<TGConnectingPoint num="0" id="66" />
<extraparam>
-<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" vc="-1" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -433,7 +433,7 @@
<TMLActivityDiagramPanel name="MotorControl" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="1013" id="80" >
<cdparam x="458" y="198" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -444,7 +444,7 @@
<SUBCOMPONENT type="-1" id="77" >
<father id="80" num="0" />
<cdparam x="473" y="218" />
-<sizeparam width="46" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="42" height="15" minWidth="10" minHeight="1" 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="interval" />
@@ -452,7 +452,7 @@
<COMPONENT type="1001" id="82" >
<cdparam x="453" y="404" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -460,14 +460,15 @@
</COMPONENT>
<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" />
+<cdparam x="402" y="347" />
+<sizeparam width="123" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="motorCommand(1) " />
<TGConnectingPoint num="0" id="83" />
<TGConnectingPoint num="1" id="84" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
@@ -475,7 +476,7 @@
<COMPONENT type="1001" id="87" >
<cdparam x="336" y="149" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -483,8 +484,8 @@
</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="300" y="83" />
+<sizeparam width="93" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -495,8 +496,8 @@
</COMPONENT>
<COMPONENT type="1010" id="94" >
-<cdparam x="408" y="278" />
-<sizeparam width="111" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="411" y="278" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -510,7 +511,7 @@
<COMPONENT type="1000" id="96" >
<cdparam x="339" y="31" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
@@ -529,7 +530,7 @@
<cdparam x="395" y="97" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<P1 x="395" y="97" id="89" />
+<P1 x="393" y="97" id="89" />
<P2 x="463" y="193" id="78" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -570,8 +571,8 @@
<TMLActivityDiagramPanel name="TemperatureSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="1017" id="105" >
-<cdparam x="462" y="460" />
-<sizeparam width="150" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="468" y="460" />
+<sizeparam width="138" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -585,7 +586,7 @@
<COMPONENT type="1001" id="107" >
<cdparam x="401" y="300" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -593,8 +594,8 @@
</COMPONENT>
<COMPONENT type="1014" id="111" >
-<cdparam x="325" y="250" />
-<sizeparam width="168" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="330" y="250" />
+<sizeparam width="159" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -608,8 +609,8 @@
</COMPONENT>
<COMPONENT type="1030" id="114" >
-<cdparam x="279" y="73" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="282" y="73" />
+<sizeparam width="87" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -620,7 +621,7 @@
<COMPONENT type="1001" id="116" >
<cdparam x="451" y="586" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -629,7 +630,7 @@
<COMPONENT type="1001" id="118" >
<cdparam x="619" y="703" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -637,8 +638,8 @@
</COMPONENT>
<COMPONENT type="1010" id="121" >
-<cdparam x="586" y="588" />
-<sizeparam width="86" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="589" y="588" />
+<sizeparam width="81" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -652,7 +653,7 @@
<COMPONENT type="1012" id="129" >
<cdparam x="522" y="519" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -664,7 +665,7 @@
<SUBCOMPONENT type="-1" id="122" >
<father id="129" num="0" />
<cdparam x="447" y="529" />
-<sizeparam width="40" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="35" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
@@ -673,7 +674,7 @@
<SUBCOMPONENT type="-1" id="123" >
<father id="129" num="1" />
<cdparam x="557" y="529" />
-<sizeparam width="61" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="53" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
@@ -682,21 +683,22 @@
<SUBCOMPONENT type="-1" id="124" >
<father id="129" num="2" />
<cdparam x="542" y="564" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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>
<COMPONENT type="1006" id="132" >
-<cdparam x="492" y="413" />
-<sizeparam width="90" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="496" y="413" />
+<sizeparam width="83" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="tempData(1)" />
<TGConnectingPoint num="0" id="130" />
<TGConnectingPoint num="1" id="131" />
+<latencyCheck />
<extraparam>
<Data channelName="tempData" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
@@ -704,7 +706,7 @@
<COMPONENT type="1013" id="136" >
<cdparam x="534" y="350" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -715,15 +717,15 @@
<SUBCOMPONENT type="-1" id="133" >
<father id="136" num="0" />
<cdparam x="549" y="370" />
-<sizeparam width="85" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="78" height="15" minWidth="10" minHeight="1" 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="1010" id="139" >
-<cdparam x="365" y="132" />
-<sizeparam width="88" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="368" y="132" />
+<sizeparam width="82" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -737,7 +739,7 @@
<COMPONENT type="1000" id="141" >
<cdparam x="318" y="25" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
@@ -745,8 +747,8 @@
</COMPONENT>
<COMPONENT type="1011" id="144" >
-<cdparam x="356" y="185" />
-<sizeparam width="106" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="361" y="185" />
+<sizeparam width="97" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -756,8 +758,8 @@
</COMPONENT>
<COMPONENT type="1011" id="147" >
-<cdparam x="574" y="643" />
-<sizeparam width="110" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="579" y="643" />
+<sizeparam width="101" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -786,7 +788,7 @@
<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="109" />
+<P1 x="489" y="264" id="109" />
<P2 x="539" y="345" id="134" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -858,7 +860,7 @@
<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="113" />
+<P1 x="369" y="87" id="113" />
<P2 x="409" y="127" id="137" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -875,8 +877,8 @@
<TMLActivityDiagramPanel name="DistanceSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="1017" id="163" >
-<cdparam x="409" y="301" />
-<sizeparam width="164" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="418" y="301" />
+<sizeparam width="146" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -890,7 +892,7 @@
<COMPONENT type="1001" id="165" >
<cdparam x="555" y="422" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -899,7 +901,7 @@
<COMPONENT type="1012" id="173" >
<cdparam x="476" y="370" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -911,7 +913,7 @@
<SUBCOMPONENT type="-1" id="166" >
<father id="173" num="0" />
<cdparam x="401" y="380" />
-<sizeparam width="61" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="53" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
@@ -920,7 +922,7 @@
<SUBCOMPONENT type="-1" id="167" >
<father id="173" num="1" />
<cdparam x="511" y="380" />
-<sizeparam width="40" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="35" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
@@ -929,15 +931,15 @@
<SUBCOMPONENT type="-1" id="168" >
<father id="173" num="2" />
<cdparam x="496" y="415" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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>
<COMPONENT type="1030" id="176" >
-<cdparam x="282" y="69" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="285" y="69" />
+<sizeparam width="87" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -948,7 +950,7 @@
<COMPONENT type="1001" id="178" >
<cdparam x="393" y="563" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -957,7 +959,7 @@
<COMPONENT type="1013" id="182" >
<cdparam x="486" y="235" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -968,15 +970,15 @@
<SUBCOMPONENT type="-1" id="179" >
<father id="182" num="0" />
<cdparam x="501" y="255" />
-<sizeparam width="85" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="78" height="15" minWidth="10" minHeight="1" 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="185" >
-<cdparam x="431" y="168" />
-<sizeparam width="120" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="437" y="168" />
+<sizeparam width="108" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -990,8 +992,8 @@
</COMPONENT>
<COMPONENT type="1009" id="188" >
-<cdparam x="345" y="502" />
-<sizeparam width="117" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="349" y="502" />
+<sizeparam width="108" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1004,8 +1006,8 @@
</COMPONENT>
<COMPONENT type="1010" id="191" >
-<cdparam x="353" y="438" />
-<sizeparam width="100" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="359" y="438" />
+<sizeparam width="89" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1020,7 +1022,7 @@
<COMPONENT type="1000" id="193" >
<cdparam x="321" y="29" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
@@ -1039,7 +1041,7 @@
<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="175" />
+<P1 x="372" y="83" id="175" />
<P2 x="491" y="163" id="183" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -1104,8 +1106,8 @@
<TMLActivityDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="1500" >
<COMPONENT type="1030" id="205" >
-<cdparam x="459" y="69" />
-<sizeparam width="92" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="462" y="69" />
+<sizeparam width="87" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1116,7 +1118,7 @@
<COMPONENT type="301" id="222" >
<cdparam x="10" y="434" />
-<sizeparam width="256" height="27" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="233" 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
@@ -1146,7 +1148,7 @@ a motor command and new state
<COMPONENT type="1001" id="224" >
<cdparam x="1182" y="802" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1155,7 +1157,7 @@ a motor command and new state
<COMPONENT type="1001" id="226" >
<cdparam x="797" y="825" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1164,7 +1166,7 @@ a motor command and new state
<COMPONENT type="1001" id="228" >
<cdparam x="632" y="682" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1173,7 +1175,7 @@ a motor command and new state
<COMPONENT type="1001" id="230" >
<cdparam x="532" y="705" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1182,7 +1184,7 @@ a motor command and new state
<COMPONENT type="1001" id="232" >
<cdparam x="405" y="813" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1191,7 +1193,7 @@ a motor command and new state
<COMPONENT type="1001" id="234" >
<cdparam x="259" y="763" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1200,7 +1202,7 @@ a motor command and new state
<COMPONENT type="1001" id="236" >
<cdparam x="111" y="716" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1208,8 +1210,8 @@ a motor command and new state
</COMPONENT>
<COMPONENT type="1009" id="239" >
-<cdparam x="1015" y="192" />
-<sizeparam width="94" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1019" y="192" />
+<sizeparam width="87" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1223,7 +1225,7 @@ a motor command and new state
<COMPONENT type="1013" id="243" >
<cdparam x="1057" y="303" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1234,7 +1236,7 @@ a motor command and new state
<SUBCOMPONENT type="-1" id="240" >
<father id="243" 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="99" height="15" minWidth="10" minHeight="1" 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" />
@@ -1242,7 +1244,7 @@ a motor command and new state
<COMPONENT type="1013" id="247" >
<cdparam x="653" y="292" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1253,15 +1255,15 @@ a motor command and new state
<SUBCOMPONENT type="-1" id="244" >
<father id="247" 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="99" height="15" minWidth="10" minHeight="1" 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="250" >
-<cdparam x="1022" y="707" />
-<sizeparam width="82" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1025" y="707" />
+<sizeparam width="77" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1274,8 +1276,8 @@ a motor command and new state
</COMPONENT>
<COMPONENT type="1008" id="253" >
-<cdparam x="869" y="697" />
-<sizeparam width="82" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="872" y="697" />
+<sizeparam width="77" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1289,7 +1291,7 @@ a motor command and new state
<COMPONENT type="1013" id="257" >
<cdparam x="264" y="258" />
-<sizeparam width="10" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1300,7 +1302,7 @@ a motor command and new state
<SUBCOMPONENT type="-1" id="254" >
<father id="257" 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="99" height="15" minWidth="10" minHeight="1" 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" />
@@ -1308,7 +1310,7 @@ a motor command and new state
<COMPONENT type="301" id="274" >
<cdparam x="144" y="29" />
-<sizeparam width="311" height="39" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="284" 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
@@ -1340,7 +1342,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1012" id="282" >
<cdparam x="1048" y="554" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -1352,7 +1354,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="275" >
<father id="282" num="0" />
<cdparam x="1023" y="564" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1360,7 +1362,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="276" >
<father id="282" num="1" />
<cdparam x="1083" y="564" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1368,7 +1370,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="277" >
<father id="282" num="2" />
<cdparam x="1068" y="599" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1376,7 +1378,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1012" id="290" >
<cdparam x="643" y="484" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -1388,7 +1390,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="283" >
<father id="290" num="0" />
<cdparam x="618" y="494" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1396,7 +1398,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="284" >
<father id="290" num="1" />
<cdparam x="678" y="494" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1404,15 +1406,15 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="285" >
<father id="290" num="2" />
<cdparam x="663" y="529" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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>
<COMPONENT type="1011" id="293" >
-<cdparam x="381" y="553" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="383" y="553" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1422,8 +1424,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="296" >
-<cdparam x="235" y="588" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="237" y="588" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1433,8 +1435,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="299" >
-<cdparam x="112" y="548" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="114" y="548" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1444,8 +1446,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="302" >
-<cdparam x="206" y="379" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="210" y="379" />
+<sizeparam width="119" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1453,14 +1455,15 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="0" id="300" />
<TGConnectingPoint num="1" id="301" />
<accessibility />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
</COMPONENT>
<COMPONENT type="1006" id="305" >
-<cdparam x="213" y="710" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="217" y="710" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1473,8 +1476,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="308" >
-<cdparam x="216" y="327" />
-<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="219" y="327" />
+<sizeparam width="100" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1488,7 +1491,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1012" id="316" >
<cdparam x="254" y="494" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -1500,7 +1503,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="309" >
<father id="316" num="0" />
<cdparam x="229" y="504" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1508,7 +1511,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="310" >
<father id="316" num="1" />
<cdparam x="289" y="504" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1516,7 +1519,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="311" >
<father id="316" num="2" />
<cdparam x="274" y="539" />
-<sizeparam width="14" height="15" minWidth="10" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="12" height="15" minWidth="10" minHeight="1" 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="[ ]" />
@@ -1524,7 +1527,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1012" id="324" >
<cdparam x="643" y="114" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="choice" value="null" />
@@ -1536,7 +1539,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="317" >
<father id="324" 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="76" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="-75" maxX="-20" minY="10" maxY="35" />
@@ -1545,7 +1548,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="318" >
<father id="324" 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="76" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="35" maxX="55" minY="10" maxY="35" />
@@ -1554,7 +1557,7 @@ state 2: obstacles in close proximity
<SUBCOMPONENT type="-1" id="319" >
<father id="324" 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="76" height="15" minWidth="10" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="20" maxX="40" minY="45" maxY="70" />
@@ -1562,14 +1565,15 @@ state 2: obstacles in close proximity
</SUBCOMPONENT>
<COMPONENT type="1009" id="327" >
-<cdparam x="207" y="195" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="213" y="195" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
<TGConnectingPoint num="0" id="325" />
<TGConnectingPoint num="1" id="326" />
+<latencyCheck />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
@@ -1577,7 +1581,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1000" id="329" >
<cdparam x="513" y="10" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
@@ -1585,8 +1589,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="332" >
-<cdparam x="735" y="546" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="737" y="546" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1596,8 +1600,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="335" >
-<cdparam x="624" y="573" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="626" y="573" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1607,8 +1611,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="338" >
-<cdparam x="508" y="539" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="510" y="539" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1618,22 +1622,23 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1009" id="341" >
-<cdparam x="596" y="221" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="602" y="221" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
<TGConnectingPoint num="0" id="339" />
<TGConnectingPoint num="1" id="340" />
+<latencyCheck />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
</COMPONENT>
<COMPONENT type="1011" id="344" >
-<cdparam x="1140" y="616" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1142" y="616" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1643,8 +1648,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="347" >
-<cdparam x="1029" y="647" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1031" y="647" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1654,8 +1659,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1011" id="350" >
-<cdparam x="876" y="624" />
-<sizeparam width="69" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="878" y="624" />
+<sizeparam width="64" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1665,8 +1670,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1009" id="353" >
-<cdparam x="1000" y="500" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1006" y="500" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1679,8 +1684,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="356" >
-<cdparam x="359" y="697" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="363" y="697" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1693,8 +1698,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="359" >
-<cdparam x="367" y="642" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="373" y="642" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1707,8 +1712,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="362" >
-<cdparam x="494" y="594" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="500" y="594" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1721,22 +1726,23 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="365" >
-<cdparam x="595" y="422" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="599" y="422" />
+<sizeparam width="119" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="motorCommand(1)" />
<TGConnectingPoint num="0" id="363" />
<TGConnectingPoint num="1" id="364" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
</COMPONENT>
<COMPONENT type="1008" id="368" >
-<cdparam x="605" y="370" />
-<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="608" y="370" />
+<sizeparam width="100" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1749,22 +1755,23 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="371" >
-<cdparam x="999" y="422" />
-<sizeparam width="127" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1003" y="422" />
+<sizeparam width="119" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="write channel" value="motorCommand(1)" />
<TGConnectingPoint num="0" id="369" />
<TGConnectingPoint num="1" id="370" />
+<latencyCheck />
<extraparam>
<Data channelName="motorCommand" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
</COMPONENT>
<COMPONENT type="1008" id="374" >
-<cdparam x="1009" y="370" />
-<sizeparam width="107" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1012" y="370" />
+<sizeparam width="100" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1777,14 +1784,15 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1009" id="377" >
-<cdparam x="1000" y="238" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1006" y="238" />
+<sizeparam width="112" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="read channel" value="ultrasonicData(1) " />
<TGConnectingPoint num="0" id="375" />
<TGConnectingPoint num="1" id="376" />
+<latencyCheck />
<extraparam>
<Data channelName="ultrasonicData" nbOfSamples="1" secPattern="" isAttacker="No" isEncForm="No" />
</extraparam>
@@ -1792,7 +1800,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1001" id="379" >
<cdparam x="900" y="862" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1800,8 +1808,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="382" >
-<cdparam x="854" y="809" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="858" y="809" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1814,8 +1822,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="385" >
-<cdparam x="862" y="754" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="868" y="754" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1829,7 +1837,7 @@ state 2: obstacles in close proximity
<COMPONENT type="1001" id="387" >
<cdparam x="1053" y="864" />
-<sizeparam width="20" height="20" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="20" height="20" 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="stop state" value="null" />
@@ -1837,8 +1845,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="390" >
-<cdparam x="1007" y="811" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1011" y="811" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1851,8 +1859,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="393" >
-<cdparam x="1015" y="756" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="1021" y="756" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1865,8 +1873,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="396" >
-<cdparam x="221" y="655" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="227" y="655" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1879,8 +1887,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="399" >
-<cdparam x="722" y="599" />
-<sizeparam width="96" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="728" y="599" />
+<sizeparam width="85" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1893,8 +1901,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="402" >
-<cdparam x="373" y="761" />
-<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="376" y="761" />
+<sizeparam width="78" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1907,8 +1915,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1008" id="405" >
-<cdparam x="764" y="749" />
-<sizeparam width="84" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="767" y="749" />
+<sizeparam width="78" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1921,8 +1929,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="408" >
-<cdparam x="749" y="694" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="753" y="694" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -1935,8 +1943,8 @@ state 2: obstacles in close proximity
</COMPONENT>
<COMPONENT type="1006" id="411" >
-<cdparam x="486" y="649" />
-<sizeparam width="113" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="490" y="649" />
+<sizeparam width="104" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
@@ -2368,7 +2376,7 @@ state 2: obstacles in close proximity
<cdparam x="603" y="82" />
<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="204" />
+<P1 x="549" y="83" id="204" />
<P2 x="658" y="104" id="320" />
<AutomaticDrawing data="true" />
</CONNECTOR>
@@ -2382,12 +2390,48 @@ 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="489" >
-<cdparam x="531" y="29" />
-<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1115" id="498" >
+<cdparam x="651" y="52" />
+<sizeparam width="200" height="109" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Bus0" value="name" />
+<infoparam name="Distance_Sensor" value="name" />
+<TGConnectingPoint num="0" id="474" />
+<TGConnectingPoint num="1" id="475" />
+<TGConnectingPoint num="2" id="476" />
+<TGConnectingPoint num="3" id="477" />
+<TGConnectingPoint num="4" id="478" />
+<TGConnectingPoint num="5" id="479" />
+<TGConnectingPoint num="6" id="480" />
+<TGConnectingPoint num="7" id="481" />
+<TGConnectingPoint num="8" id="482" />
+<TGConnectingPoint num="9" id="483" />
+<TGConnectingPoint num="10" id="484" />
+<TGConnectingPoint num="11" id="485" />
+<TGConnectingPoint num="12" id="486" />
+<TGConnectingPoint num="13" id="487" />
+<TGConnectingPoint num="14" id="488" />
+<TGConnectingPoint num="15" id="489" />
+<TGConnectingPoint num="16" id="490" />
+<TGConnectingPoint num="17" id="491" />
+<TGConnectingPoint num="18" id="492" />
+<TGConnectingPoint num="19" id="493" />
+<TGConnectingPoint num="20" id="494" />
+<TGConnectingPoint num="21" id="495" />
+<TGConnectingPoint num="22" id="496" />
+<TGConnectingPoint num="23" id="497" />
+<extraparam>
+<info stereotype="CAMS" nodeName="Distance_Sensor" />
+<attributes byteDataSize="4" execiTime="1" clockRatio="1" operation="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1101" id="473" >
+<father id="498" num="0" />
+<cdparam x="674" y="98" />
+<sizeparam width="163" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Rover::DistanceSensor" />
<TGConnectingPoint num="0" id="465" />
<TGConnectingPoint num="1" id="466" />
<TGConnectingPoint num="2" id="467" />
@@ -2396,198 +2440,258 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="5" id="470" />
<TGConnectingPoint num="6" id="471" />
<TGConnectingPoint num="7" id="472" />
-<TGConnectingPoint num="8" id="473" />
-<TGConnectingPoint num="9" id="474" />
-<TGConnectingPoint num="10" id="475" />
-<TGConnectingPoint num="11" id="476" />
-<TGConnectingPoint num="12" id="477" />
-<TGConnectingPoint num="13" id="478" />
-<TGConnectingPoint num="14" id="479" />
-<TGConnectingPoint num="15" id="480" />
-<TGConnectingPoint num="16" id="481" />
-<TGConnectingPoint num="17" id="482" />
-<TGConnectingPoint num="18" id="483" />
-<TGConnectingPoint num="19" id="484" />
-<TGConnectingPoint num="20" id="485" />
-<TGConnectingPoint num="21" id="486" />
-<TGConnectingPoint num="22" id="487" />
-<TGConnectingPoint num="23" id="488" />
+<extraparam>
+<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operationMEC="TemperatureSensor" fatherComponentMECType="0" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1115" id="532" >
+<cdparam x="432" y="52" />
+<sizeparam width="208" height="110" minWidth="100" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Temperature_Sensor" value="name" />
+<TGConnectingPoint num="0" id="508" />
+<TGConnectingPoint num="1" id="509" />
+<TGConnectingPoint num="2" id="510" />
+<TGConnectingPoint num="3" id="511" />
+<TGConnectingPoint num="4" id="512" />
+<TGConnectingPoint num="5" id="513" />
+<TGConnectingPoint num="6" id="514" />
+<TGConnectingPoint num="7" id="515" />
+<TGConnectingPoint num="8" id="516" />
+<TGConnectingPoint num="9" id="517" />
+<TGConnectingPoint num="10" id="518" />
+<TGConnectingPoint num="11" id="519" />
+<TGConnectingPoint num="12" id="520" />
+<TGConnectingPoint num="13" id="521" />
+<TGConnectingPoint num="14" id="522" />
+<TGConnectingPoint num="15" id="523" />
+<TGConnectingPoint num="16" id="524" />
+<TGConnectingPoint num="17" id="525" />
+<TGConnectingPoint num="18" id="526" />
+<TGConnectingPoint num="19" id="527" />
+<TGConnectingPoint num="20" id="528" />
+<TGConnectingPoint num="21" id="529" />
+<TGConnectingPoint num="22" id="530" />
+<TGConnectingPoint num="23" id="531" />
+<extraparam>
+<info stereotype="CAMS" nodeName="Temperature_Sensor" />
+<attributes byteDataSize="4" execiTime="1" clockRatio="1" operation="" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="1101" id="507" >
+<father id="532" num="0" />
+<cdparam x="446" y="100" />
+<sizeparam width="190" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
+<TGConnectingPoint num="0" id="499" />
+<TGConnectingPoint num="1" id="500" />
+<TGConnectingPoint num="2" id="501" />
+<TGConnectingPoint num="3" id="502" />
+<TGConnectingPoint num="4" id="503" />
+<TGConnectingPoint num="5" id="504" />
+<TGConnectingPoint num="6" id="505" />
+<TGConnectingPoint num="7" id="506" />
+<extraparam>
+<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operationMEC="TemperatureSensor" fatherComponentMECType="0" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="1102" id="557" >
+<cdparam x="302" y="184" />
+<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="533" />
+<TGConnectingPoint num="1" id="534" />
+<TGConnectingPoint num="2" id="535" />
+<TGConnectingPoint num="3" id="536" />
+<TGConnectingPoint num="4" id="537" />
+<TGConnectingPoint num="5" id="538" />
+<TGConnectingPoint num="6" id="539" />
+<TGConnectingPoint num="7" id="540" />
+<TGConnectingPoint num="8" id="541" />
+<TGConnectingPoint num="9" id="542" />
+<TGConnectingPoint num="10" id="543" />
+<TGConnectingPoint num="11" id="544" />
+<TGConnectingPoint num="12" id="545" />
+<TGConnectingPoint num="13" id="546" />
+<TGConnectingPoint num="14" id="547" />
+<TGConnectingPoint num="15" id="548" />
+<TGConnectingPoint num="16" id="549" />
+<TGConnectingPoint num="17" id="550" />
+<TGConnectingPoint num="18" id="551" />
+<TGConnectingPoint num="19" id="552" />
+<TGConnectingPoint num="20" id="553" />
+<TGConnectingPoint num="21" id="554" />
+<TGConnectingPoint num="22" id="555" />
+<TGConnectingPoint num="23" id="556" />
<extraparam>
<info stereotype="BUS" nodeName="Bus0" />
<attributes byteDataSize="4" arbitrationPolicy="0" sliceTime="10000" pipelineSize="1" clockRatio="1" privacy="0" referenceAttack="" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1105" id="514" >
-<cdparam x="668" y="98" />
-<sizeparam width="200" height="214" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1105" id="582" >
+<cdparam x="289" y="53" />
+<sizeparam width="131" height="109" 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="490" />
-<TGConnectingPoint num="1" id="491" />
-<TGConnectingPoint num="2" id="492" />
-<TGConnectingPoint num="3" id="493" />
-<TGConnectingPoint num="4" id="494" />
-<TGConnectingPoint num="5" id="495" />
-<TGConnectingPoint num="6" id="496" />
-<TGConnectingPoint num="7" id="497" />
-<TGConnectingPoint num="8" id="498" />
-<TGConnectingPoint num="9" id="499" />
-<TGConnectingPoint num="10" id="500" />
-<TGConnectingPoint num="11" id="501" />
-<TGConnectingPoint num="12" id="502" />
-<TGConnectingPoint num="13" id="503" />
-<TGConnectingPoint num="14" id="504" />
-<TGConnectingPoint num="15" id="505" />
-<TGConnectingPoint num="16" id="506" />
-<TGConnectingPoint num="17" id="507" />
-<TGConnectingPoint num="18" id="508" />
-<TGConnectingPoint num="19" id="509" />
-<TGConnectingPoint num="20" id="510" />
-<TGConnectingPoint num="21" id="511" />
-<TGConnectingPoint num="22" id="512" />
-<TGConnectingPoint num="23" id="513" />
+<TGConnectingPoint num="0" id="558" />
+<TGConnectingPoint num="1" id="559" />
+<TGConnectingPoint num="2" id="560" />
+<TGConnectingPoint num="3" id="561" />
+<TGConnectingPoint num="4" id="562" />
+<TGConnectingPoint num="5" id="563" />
+<TGConnectingPoint num="6" id="564" />
+<TGConnectingPoint num="7" id="565" />
+<TGConnectingPoint num="8" id="566" />
+<TGConnectingPoint num="9" id="567" />
+<TGConnectingPoint num="10" id="568" />
+<TGConnectingPoint num="11" id="569" />
+<TGConnectingPoint num="12" id="570" />
+<TGConnectingPoint num="13" id="571" />
+<TGConnectingPoint num="14" id="572" />
+<TGConnectingPoint num="15" id="573" />
+<TGConnectingPoint num="16" id="574" />
+<TGConnectingPoint num="17" id="575" />
+<TGConnectingPoint num="18" id="576" />
+<TGConnectingPoint num="19" id="577" />
+<TGConnectingPoint num="20" id="578" />
+<TGConnectingPoint num="21" id="579" />
+<TGConnectingPoint num="22" id="580" />
+<TGConnectingPoint num="23" id="581" />
<extraparam>
<info stereotype="MEMORY" nodeName="Memory0" />
<attributes byteDataSize="4" memorySize="1024" clockRatio="1" bufferType="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="1100" id="575" >
-<cdparam x="428" y="98" />
-<sizeparam width="220" height="215" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1100" id="625" >
+<cdparam x="57" y="54" />
+<sizeparam width="220" height="108" 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="551" />
-<TGConnectingPoint num="1" id="552" />
-<TGConnectingPoint num="2" id="553" />
-<TGConnectingPoint num="3" id="554" />
-<TGConnectingPoint num="4" id="555" />
-<TGConnectingPoint num="5" id="556" />
-<TGConnectingPoint num="6" id="557" />
-<TGConnectingPoint num="7" id="558" />
-<TGConnectingPoint num="8" id="559" />
-<TGConnectingPoint num="9" id="560" />
-<TGConnectingPoint num="10" id="561" />
-<TGConnectingPoint num="11" id="562" />
-<TGConnectingPoint num="12" id="563" />
-<TGConnectingPoint num="13" id="564" />
-<TGConnectingPoint num="14" id="565" />
-<TGConnectingPoint num="15" id="566" />
-<TGConnectingPoint num="16" id="567" />
-<TGConnectingPoint num="17" id="568" />
-<TGConnectingPoint num="18" id="569" />
-<TGConnectingPoint num="19" id="570" />
-<TGConnectingPoint num="20" id="571" />
-<TGConnectingPoint num="21" id="572" />
-<TGConnectingPoint num="22" id="573" />
-<TGConnectingPoint num="23" id="574" />
+<TGConnectingPoint num="0" id="601" />
+<TGConnectingPoint num="1" id="602" />
+<TGConnectingPoint num="2" id="603" />
+<TGConnectingPoint num="3" id="604" />
+<TGConnectingPoint num="4" id="605" />
+<TGConnectingPoint num="5" id="606" />
+<TGConnectingPoint num="6" id="607" />
+<TGConnectingPoint num="7" id="608" />
+<TGConnectingPoint num="8" id="609" />
+<TGConnectingPoint num="9" id="610" />
+<TGConnectingPoint num="10" id="611" />
+<TGConnectingPoint num="11" id="612" />
+<TGConnectingPoint num="12" id="613" />
+<TGConnectingPoint num="13" id="614" />
+<TGConnectingPoint num="14" id="615" />
+<TGConnectingPoint num="15" id="616" />
+<TGConnectingPoint num="16" id="617" />
+<TGConnectingPoint num="17" id="618" />
+<TGConnectingPoint num="18" id="619" />
+<TGConnectingPoint num="19" id="620" />
+<TGConnectingPoint num="20" id="621" />
+<TGConnectingPoint num="21" id="622" />
+<TGConnectingPoint num="22" id="623" />
+<TGConnectingPoint num="23" id="624" />
<extraparam>
<info stereotype="CPU" nodeName="CPU0" />
-<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" MECType="0" encryption="0"/>
+<attributes nbOfCores="1" byteDataSize="4" schedulingPolicy="0" sliceTime="10000" goIdleTime="10" maxConsecutiveIdleCycles="10" pipelineSize="5" taskSwitchingTime="20" branchingPredictionPenalty="2" cacheMiss="5" execiTime="1" execcTime="1" clockRatio="1" operation="" MECType="0" encryption="0"/>
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="1101" id="523" >
-<father id="575" num="0" />
-<cdparam x="435" y="179" />
-<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1101" id="591" >
+<father id="625" num="0" />
+<cdparam x="65" y="91" />
+<sizeparam width="144" height="40" minWidth="100" minHeight="1" 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="515" />
-<TGConnectingPoint num="1" id="516" />
-<TGConnectingPoint num="2" id="517" />
-<TGConnectingPoint num="3" id="518" />
-<TGConnectingPoint num="4" id="519" />
-<TGConnectingPoint num="5" id="520" />
-<TGConnectingPoint num="6" id="521" />
-<TGConnectingPoint num="7" id="522" />
+<cdrectangleparam minX="0" maxX="76" minY="0" maxY="68" />
+<infoparam name="TGComponent" value="Rover::MainControl" />
+<TGConnectingPoint num="0" id="583" />
+<TGConnectingPoint num="1" id="584" />
+<TGConnectingPoint num="2" id="585" />
+<TGConnectingPoint num="3" id="586" />
+<TGConnectingPoint num="4" id="587" />
+<TGConnectingPoint num="5" id="588" />
+<TGConnectingPoint num="6" id="589" />
+<TGConnectingPoint num="7" id="590" />
<extraparam>
-<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" />
+<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operationMEC="MainControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="532" >
-<father id="575" num="1" />
-<cdparam x="435" y="267" />
-<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1101" id="600" >
+<father id="625" num="1" />
+<cdparam x="73" y="116" />
+<sizeparam width="150" height="40" minWidth="100" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
-<TGConnectingPoint num="0" id="524" />
-<TGConnectingPoint num="1" id="525" />
-<TGConnectingPoint num="2" id="526" />
-<TGConnectingPoint num="3" id="527" />
-<TGConnectingPoint num="4" id="528" />
-<TGConnectingPoint num="5" id="529" />
-<TGConnectingPoint num="6" id="530" />
-<TGConnectingPoint num="7" id="531" />
+<cdrectangleparam minX="0" maxX="70" minY="0" maxY="68" />
+<infoparam name="TGComponent" value="Rover::MotorControl" />
+<TGConnectingPoint num="0" id="592" />
+<TGConnectingPoint num="1" id="593" />
+<TGConnectingPoint num="2" id="594" />
+<TGConnectingPoint num="3" id="595" />
+<TGConnectingPoint num="4" id="596" />
+<TGConnectingPoint num="5" id="597" />
+<TGConnectingPoint num="6" id="598" />
+<TGConnectingPoint num="7" id="599" />
<extraparam>
-<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" />
+<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operationMEC="MotorControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="541" >
-<father id="575" num="2" />
-<cdparam x="435" y="223" />
-<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::DistanceSensor" />
-<TGConnectingPoint num="0" id="533" />
-<TGConnectingPoint num="1" id="534" />
-<TGConnectingPoint num="2" id="535" />
-<TGConnectingPoint num="3" id="536" />
-<TGConnectingPoint num="4" id="537" />
-<TGConnectingPoint num="5" id="538" />
-<TGConnectingPoint num="6" id="539" />
-<TGConnectingPoint num="7" id="540" />
+
+<CONNECTOR type="125" id="626" >
+<cdparam x="751" y="161" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="751" y="161" id="480" />
+<P2 x="552" y="209" id="537" />
+<AutomaticDrawing data="true" />
<extraparam>
-<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" />
+<info priority="0" />
+<spy value="true" />
</extraparam>
-</SUBCOMPONENT>
-<SUBCOMPONENT type="1101" id="550" >
-<father id="575" num="3" />
-<cdparam x="436" y="135" />
-<sizeparam width="151" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="69" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::MainControl" />
-<TGConnectingPoint num="0" id="542" />
-<TGConnectingPoint num="1" id="543" />
-<TGConnectingPoint num="2" id="544" />
-<TGConnectingPoint num="3" id="545" />
-<TGConnectingPoint num="4" id="546" />
-<TGConnectingPoint num="5" id="547" />
-<TGConnectingPoint num="6" id="548" />
-<TGConnectingPoint num="7" id="549" />
+</CONNECTOR>
+<CONNECTOR type="125" id="627" >
+<cdparam x="536" y="162" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="536" y="162" id="514" />
+<P2 x="489" y="184" id="542" />
+<AutomaticDrawing data="true" />
<extraparam>
-<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" />
+<info priority="0" />
+<spy value="false" />
</extraparam>
-</SUBCOMPONENT>
-
-<CONNECTOR type="125" id="576" >
-<cdparam x="729" y="103" />
+</CONNECTOR>
+<CONNECTOR type="125" id="628" >
+<cdparam x="354" y="162" />
<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="498" />
-<P2 x="718" y="79" id="480" />
+<P1 x="354" y="162" id="564" />
+<P2 x="364" y="184" id="541" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="125" id="577" >
-<cdparam x="524" y="102" />
+<CONNECTOR type="125" id="629" >
+<cdparam x="167" y="162" />
<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="560" />
-<P2 x="593" y="79" id="479" />
+<P1 x="167" y="162" id="607" />
+<P2 x="302" y="209" id="536" />
<AutomaticDrawing data="true" />
<extraparam>
<info priority="0" />
-<spy value="false" />
+<spy value="true" />
</extraparam>
</CONNECTOR>
@@ -2598,21 +2702,21 @@ state 2: obstacles in close proximity
-<Modeling type="AVATAR Design" nameTab="Design" >
+<Modeling type="AVATAR Design" nameTab="Design" tabs="Block Diagram$MotorControl$MainControl" >
<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="false" />
-<Validated value="MotorControl;MainControl;" />
+<Validated value="" />
<Ignored value="" />
-<CONNECTOR type="5002" id="579" >
+<CONNECTOR type="5002" id="631" >
<cdparam x="0" y="0" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<TGConnectingPoint num="0" id="578" />
-<P1 x="950" y="422" id="633" />
-<P2 x="1013" y="421" id="600" />
+<TGConnectingPoint num="0" id="630" />
+<P1 x="950" y="422" id="685" />
+<P2 x="1013" y="421" id="652" />
<AutomaticDrawing data="true" />
<extraparam>
<isd value="in motorCommand(int leftCommand, int rightCommand)" />
@@ -2620,63 +2724,63 @@ state 2: obstacles in close proximity
<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
-<COMPONENT type="302" id="596" >
+<COMPONENT type="302" id="648" >
<cdparam x="573" y="216" />
-<sizeparam width="271" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="251" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Proverif Pragma" value="
-" />
-<TGConnectingPoint num="0" id="580" />
-<TGConnectingPoint num="1" id="581" />
-<TGConnectingPoint num="2" id="582" />
-<TGConnectingPoint num="3" id="583" />
-<TGConnectingPoint num="4" id="584" />
-<TGConnectingPoint num="5" id="585" />
-<TGConnectingPoint num="6" id="586" />
-<TGConnectingPoint num="7" id="587" />
-<TGConnectingPoint num="8" id="588" />
-<TGConnectingPoint num="9" id="589" />
-<TGConnectingPoint num="10" id="590" />
-<TGConnectingPoint num="11" id="591" />
-<TGConnectingPoint num="12" id="592" />
-<TGConnectingPoint num="13" id="593" />
-<TGConnectingPoint num="14" id="594" />
-<TGConnectingPoint num="15" id="595" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5000" id="621" >
+<infoparam name="Proverif Pragma" value="" />
+<TGConnectingPoint num="0" id="632" />
+<TGConnectingPoint num="1" id="633" />
+<TGConnectingPoint num="2" id="634" />
+<TGConnectingPoint num="3" id="635" />
+<TGConnectingPoint num="4" id="636" />
+<TGConnectingPoint num="5" id="637" />
+<TGConnectingPoint num="6" id="638" />
+<TGConnectingPoint num="7" id="639" />
+<TGConnectingPoint num="8" id="640" />
+<TGConnectingPoint num="9" id="641" />
+<TGConnectingPoint num="10" id="642" />
+<TGConnectingPoint num="11" id="643" />
+<TGConnectingPoint num="12" id="644" />
+<TGConnectingPoint num="13" id="645" />
+<TGConnectingPoint num="14" id="646" />
+<TGConnectingPoint num="15" id="647" />
+<extraparam>
+<Line value="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="673" >
<cdparam x="1013" y="318" />
<sizeparam width="370" height="206" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Block0" value="MotorControl" />
-<TGConnectingPoint num="0" id="597" />
-<TGConnectingPoint num="1" id="598" />
-<TGConnectingPoint num="2" id="599" />
-<TGConnectingPoint num="3" id="600" />
-<TGConnectingPoint num="4" id="601" />
-<TGConnectingPoint num="5" id="602" />
-<TGConnectingPoint num="6" id="603" />
-<TGConnectingPoint num="7" id="604" />
-<TGConnectingPoint num="8" id="605" />
-<TGConnectingPoint num="9" id="606" />
-<TGConnectingPoint num="10" id="607" />
-<TGConnectingPoint num="11" id="608" />
-<TGConnectingPoint num="12" id="609" />
-<TGConnectingPoint num="13" id="610" />
-<TGConnectingPoint num="14" id="611" />
-<TGConnectingPoint num="15" id="612" />
-<TGConnectingPoint num="16" id="613" />
-<TGConnectingPoint num="17" id="614" />
-<TGConnectingPoint num="18" id="615" />
-<TGConnectingPoint num="19" id="616" />
-<TGConnectingPoint num="20" id="617" />
-<TGConnectingPoint num="21" id="618" />
-<TGConnectingPoint num="22" id="619" />
-<TGConnectingPoint num="23" id="620" />
+<TGConnectingPoint num="0" id="649" />
+<TGConnectingPoint num="1" id="650" />
+<TGConnectingPoint num="2" id="651" />
+<TGConnectingPoint num="3" id="652" />
+<TGConnectingPoint num="4" id="653" />
+<TGConnectingPoint num="5" id="654" />
+<TGConnectingPoint num="6" id="655" />
+<TGConnectingPoint num="7" id="656" />
+<TGConnectingPoint num="8" id="657" />
+<TGConnectingPoint num="9" id="658" />
+<TGConnectingPoint num="10" id="659" />
+<TGConnectingPoint num="11" id="660" />
+<TGConnectingPoint num="12" id="661" />
+<TGConnectingPoint num="13" id="662" />
+<TGConnectingPoint num="14" id="663" />
+<TGConnectingPoint num="15" id="664" />
+<TGConnectingPoint num="16" id="665" />
+<TGConnectingPoint num="17" id="666" />
+<TGConnectingPoint num="18" id="667" />
+<TGConnectingPoint num="19" id="668" />
+<TGConnectingPoint num="20" id="669" />
+<TGConnectingPoint num="21" id="670" />
+<TGConnectingPoint num="22" id="671" />
+<TGConnectingPoint num="23" id="672" />
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
@@ -2686,36 +2790,36 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5000" id="646" >
+<COMPONENT type="5000" id="698" >
<cdparam x="514" y="324" />
<sizeparam width="436" height="393" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Block0" value="MainControl" />
-<TGConnectingPoint num="0" id="622" />
-<TGConnectingPoint num="1" id="623" />
-<TGConnectingPoint num="2" id="624" />
-<TGConnectingPoint num="3" id="625" />
-<TGConnectingPoint num="4" id="626" />
-<TGConnectingPoint num="5" id="627" />
-<TGConnectingPoint num="6" id="628" />
-<TGConnectingPoint num="7" id="629" />
-<TGConnectingPoint num="8" id="630" />
-<TGConnectingPoint num="9" id="631" />
-<TGConnectingPoint num="10" id="632" />
-<TGConnectingPoint num="11" id="633" />
-<TGConnectingPoint num="12" id="634" />
-<TGConnectingPoint num="13" id="635" />
-<TGConnectingPoint num="14" id="636" />
-<TGConnectingPoint num="15" id="637" />
-<TGConnectingPoint num="16" id="638" />
-<TGConnectingPoint num="17" id="639" />
-<TGConnectingPoint num="18" id="640" />
-<TGConnectingPoint num="19" id="641" />
-<TGConnectingPoint num="20" id="642" />
-<TGConnectingPoint num="21" id="643" />
-<TGConnectingPoint num="22" id="644" />
-<TGConnectingPoint num="23" id="645" />
+<TGConnectingPoint num="0" id="674" />
+<TGConnectingPoint num="1" id="675" />
+<TGConnectingPoint num="2" id="676" />
+<TGConnectingPoint num="3" id="677" />
+<TGConnectingPoint num="4" id="678" />
+<TGConnectingPoint num="5" id="679" />
+<TGConnectingPoint num="6" id="680" />
+<TGConnectingPoint num="7" id="681" />
+<TGConnectingPoint num="8" id="682" />
+<TGConnectingPoint num="9" id="683" />
+<TGConnectingPoint num="10" id="684" />
+<TGConnectingPoint num="11" id="685" />
+<TGConnectingPoint num="12" id="686" />
+<TGConnectingPoint num="13" id="687" />
+<TGConnectingPoint num="14" id="688" />
+<TGConnectingPoint num="15" id="689" />
+<TGConnectingPoint num="16" id="690" />
+<TGConnectingPoint num="17" id="691" />
+<TGConnectingPoint num="18" id="692" />
+<TGConnectingPoint num="19" id="693" />
+<TGConnectingPoint num="20" id="694" />
+<TGConnectingPoint num="21" id="695" />
+<TGConnectingPoint num="22" id="696" />
+<TGConnectingPoint num="23" id="697" />
<extraparam>
<blockType data="block" color="-4072719" />
<CryptoBlock value="false" />
@@ -2742,56 +2846,56 @@ state 2: obstacles in close proximity
</AVATARBlockDiagramPanel>
<AVATARStateMachineDiagramPanel name="MotorControl" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="659" >
+<CONNECTOR type="5102" id="711" >
<cdparam x="407" y="201" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="655" />
-<TGConnectingPoint num="1" id="656" />
-<TGConnectingPoint num="2" id="657" />
-<TGConnectingPoint num="3" id="658" />
-<P1 x="407" y="201" id="675" />
-<P2 x="495" y="113" id="689" />
+<TGConnectingPoint num="0" id="707" />
+<TGConnectingPoint num="1" id="708" />
+<TGConnectingPoint num="2" id="709" />
+<TGConnectingPoint num="3" id="710" />
+<P1 x="407" y="201" id="727" />
+<P2 x="495" y="113" id="741" />
<Point x="407" y="276" />
<Point x="641" y="276" />
<Point x="641" y="113" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="647" >
-<father id="659" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="699" >
+<father id="711" num="0" />
<cdparam x="407" y="276" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="648" >
-<father id="659" num="1" />
+<SUBCOMPONENT type="-1" id="700" >
+<father id="711" num="1" />
<cdparam x="641" y="276" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="649" >
-<father id="659" num="2" />
+<SUBCOMPONENT type="-1" id="701" >
+<father id="711" num="2" />
<cdparam x="641" y="113" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="654" >
-<father id="659" num="3" />
+<SUBCOMPONENT type="-1" id="706" >
+<father id="711" num="3" />
<cdparam x="420" y="244" />
-<sizeparam width="81" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="81" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="650" />
-<TGConnectingPoint num="1" id="651" />
-<TGConnectingPoint num="2" id="652" />
-<TGConnectingPoint num="3" id="653" />
+<TGConnectingPoint num="0" id="702" />
+<TGConnectingPoint num="1" id="703" />
+<TGConnectingPoint num="2" id="704" />
+<TGConnectingPoint num="3" id="705" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="10" enabled="true"/>
@@ -2802,26 +2906,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="666" >
+<CONNECTOR type="5102" id="718" >
<cdparam x="407" y="60" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="665" />
-<P1 x="407" y="60" id="726" />
-<P2 x="407" y="88" id="686" />
+<TGConnectingPoint num="0" id="717" />
+<P1 x="407" y="60" id="778" />
+<P2 x="407" y="88" id="738" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="664" >
-<father id="666" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="716" >
+<father id="718" num="0" />
<cdparam x="447" y="100" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="660" />
-<TGConnectingPoint num="1" id="661" />
-<TGConnectingPoint num="2" id="662" />
-<TGConnectingPoint num="3" id="663" />
+<TGConnectingPoint num="0" id="712" />
+<TGConnectingPoint num="1" id="713" />
+<TGConnectingPoint num="2" id="714" />
+<TGConnectingPoint num="3" id="715" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -2832,26 +2936,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="673" >
+<CONNECTOR type="5102" id="725" >
<cdparam x="536" y="590" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="672" />
-<P1 x="407" y="138" id="691" />
-<P2 x="407" y="171" id="674" />
+<TGConnectingPoint num="0" id="724" />
+<P1 x="407" y="138" id="743" />
+<P2 x="407" y="171" id="726" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="671" >
-<father id="673" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="723" >
+<father id="725" 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="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="667" />
-<TGConnectingPoint num="1" id="668" />
-<TGConnectingPoint num="2" id="669" />
-<TGConnectingPoint num="3" id="670" />
+<TGConnectingPoint num="0" id="719" />
+<TGConnectingPoint num="1" id="720" />
+<TGConnectingPoint num="2" id="721" />
+<TGConnectingPoint num="3" id="722" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -2862,109 +2966,109 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5104" id="684" >
+<COMPONENT type="5104" id="736" >
<cdparam x="268" y="176" />
-<sizeparam width="279" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="279" height="20" minWidth="30" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="motorCommand(leftVelocity, rightVelocity)" />
-<TGConnectingPoint num="0" id="674" />
-<TGConnectingPoint num="1" id="675" />
-<TGConnectingPoint num="2" id="676" />
-<TGConnectingPoint num="3" id="677" />
-<TGConnectingPoint num="4" id="678" />
-<TGConnectingPoint num="5" id="679" />
-<TGConnectingPoint num="6" id="680" />
-<TGConnectingPoint num="7" id="681" />
-<TGConnectingPoint num="8" id="682" />
-<TGConnectingPoint num="9" id="683" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="725" >
+<TGConnectingPoint num="0" id="726" />
+<TGConnectingPoint num="1" id="727" />
+<TGConnectingPoint num="2" id="728" />
+<TGConnectingPoint num="3" id="729" />
+<TGConnectingPoint num="4" id="730" />
+<TGConnectingPoint num="5" id="731" />
+<TGConnectingPoint num="6" id="732" />
+<TGConnectingPoint num="7" id="733" />
+<TGConnectingPoint num="8" id="734" />
+<TGConnectingPoint num="9" id="735" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="777" >
<cdparam x="319" y="88" />
<sizeparam width="176" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="startMotor" />
-<TGConnectingPoint num="0" id="685" />
-<TGConnectingPoint num="1" id="686" />
-<TGConnectingPoint num="2" id="687" />
-<TGConnectingPoint num="3" id="688" />
-<TGConnectingPoint num="4" id="689" />
-<TGConnectingPoint num="5" id="690" />
-<TGConnectingPoint num="6" id="691" />
-<TGConnectingPoint num="7" id="692" />
-<TGConnectingPoint num="8" id="693" />
-<TGConnectingPoint num="9" id="694" />
-<TGConnectingPoint num="10" id="695" />
-<TGConnectingPoint num="11" id="696" />
-<TGConnectingPoint num="12" id="697" />
-<TGConnectingPoint num="13" id="698" />
-<TGConnectingPoint num="14" id="699" />
-<TGConnectingPoint num="15" id="700" />
-<TGConnectingPoint num="16" id="701" />
-<TGConnectingPoint num="17" id="702" />
-<TGConnectingPoint num="18" id="703" />
-<TGConnectingPoint num="19" id="704" />
-<TGConnectingPoint num="20" id="705" />
-<TGConnectingPoint num="21" id="706" />
-<TGConnectingPoint num="22" id="707" />
-<TGConnectingPoint num="23" id="708" />
-<TGConnectingPoint num="24" id="709" />
-<TGConnectingPoint num="25" id="710" />
-<TGConnectingPoint num="26" id="711" />
-<TGConnectingPoint num="27" id="712" />
-<TGConnectingPoint num="28" id="713" />
-<TGConnectingPoint num="29" id="714" />
-<TGConnectingPoint num="30" id="715" />
-<TGConnectingPoint num="31" id="716" />
-<TGConnectingPoint num="32" id="717" />
-<TGConnectingPoint num="33" id="718" />
-<TGConnectingPoint num="34" id="719" />
-<TGConnectingPoint num="35" id="720" />
-<TGConnectingPoint num="36" id="721" />
-<TGConnectingPoint num="37" id="722" />
-<TGConnectingPoint num="38" id="723" />
-<TGConnectingPoint num="39" id="724" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="727" >
+<TGConnectingPoint num="0" id="737" />
+<TGConnectingPoint num="1" id="738" />
+<TGConnectingPoint num="2" id="739" />
+<TGConnectingPoint num="3" id="740" />
+<TGConnectingPoint num="4" id="741" />
+<TGConnectingPoint num="5" id="742" />
+<TGConnectingPoint num="6" id="743" />
+<TGConnectingPoint num="7" id="744" />
+<TGConnectingPoint num="8" id="745" />
+<TGConnectingPoint num="9" id="746" />
+<TGConnectingPoint num="10" id="747" />
+<TGConnectingPoint num="11" id="748" />
+<TGConnectingPoint num="12" id="749" />
+<TGConnectingPoint num="13" id="750" />
+<TGConnectingPoint num="14" id="751" />
+<TGConnectingPoint num="15" id="752" />
+<TGConnectingPoint num="16" id="753" />
+<TGConnectingPoint num="17" id="754" />
+<TGConnectingPoint num="18" id="755" />
+<TGConnectingPoint num="19" id="756" />
+<TGConnectingPoint num="20" id="757" />
+<TGConnectingPoint num="21" id="758" />
+<TGConnectingPoint num="22" id="759" />
+<TGConnectingPoint num="23" id="760" />
+<TGConnectingPoint num="24" id="761" />
+<TGConnectingPoint num="25" id="762" />
+<TGConnectingPoint num="26" id="763" />
+<TGConnectingPoint num="27" id="764" />
+<TGConnectingPoint num="28" id="765" />
+<TGConnectingPoint num="29" id="766" />
+<TGConnectingPoint num="30" id="767" />
+<TGConnectingPoint num="31" id="768" />
+<TGConnectingPoint num="32" id="769" />
+<TGConnectingPoint num="33" id="770" />
+<TGConnectingPoint num="34" id="771" />
+<TGConnectingPoint num="35" id="772" />
+<TGConnectingPoint num="36" id="773" />
+<TGConnectingPoint num="37" id="774" />
+<TGConnectingPoint num="38" id="775" />
+<TGConnectingPoint num="39" id="776" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="779" >
<cdparam x="400" y="40" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="726" />
+<TGConnectingPoint num="0" id="778" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="2500" >
-<CONNECTOR type="5102" id="2008" >
+<CONNECTOR type="5102" id="786" >
<cdparam x="495" y="1048" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2009" />
-<P1 x="495" y="1048" id="1373" />
-<P2 x="495" y="1106" id="1120" />
+<TGConnectingPoint num="0" id="785" />
+<P1 x="495" y="1048" id="1395" />
+<P2 x="495" y="1106" id="1158" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2010" >
-<father id="2008" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="784" >
+<father id="786" num="0" />
<cdparam x="494" y="1080" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2011" />
-<TGConnectingPoint num="1" id="2012" />
-<TGConnectingPoint num="2" id="2013" />
-<TGConnectingPoint num="3" id="2014" />
+<TGConnectingPoint num="0" id="780" />
+<TGConnectingPoint num="1" id="781" />
+<TGConnectingPoint num="2" id="782" />
+<TGConnectingPoint num="3" id="783" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -2975,26 +3079,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="2001" >
+<CONNECTOR type="5102" id="793" >
<cdparam x="396" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2002" />
-<P1 x="396" y="217" id="945" />
-<P2 x="396" y="262" id="1311" />
+<TGConnectingPoint num="0" id="792" />
+<P1 x="396" y="217" id="983" />
+<P2 x="396" y="262" id="1349" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2003" >
-<father id="2001" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="791" >
+<father id="793" num="0" />
<cdparam x="395" y="241" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2004" />
-<TGConnectingPoint num="1" id="2005" />
-<TGConnectingPoint num="2" id="2006" />
-<TGConnectingPoint num="3" id="2007" />
+<TGConnectingPoint num="0" id="787" />
+<TGConnectingPoint num="1" id="788" />
+<TGConnectingPoint num="2" id="789" />
+<TGConnectingPoint num="3" id="790" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3005,56 +3109,56 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="740" >
+<CONNECTOR type="5102" id="806" >
<cdparam x="436" y="1709" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="736" />
-<TGConnectingPoint num="1" id="737" />
-<TGConnectingPoint num="2" id="738" />
-<TGConnectingPoint num="3" id="739" />
-<P1 x="434" y="1533" id="1177" />
-<P2 x="495" y="192" id="943" />
+<TGConnectingPoint num="0" id="802" />
+<TGConnectingPoint num="1" id="803" />
+<TGConnectingPoint num="2" id="804" />
+<TGConnectingPoint num="3" id="805" />
+<P1 x="434" y="1533" id="1215" />
+<P2 x="495" y="192" id="981" />
<Point x="434" y="1561" />
<Point x="710" y="1561" />
<Point x="712" y="192" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="728" >
-<father id="740" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="794" >
+<father id="806" num="0" />
<cdparam x="434" y="1561" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="729" >
-<father id="740" num="1" />
+<SUBCOMPONENT type="-1" id="795" >
+<father id="806" num="1" />
<cdparam x="710" y="1561" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="730" >
-<father id="740" num="2" />
+<SUBCOMPONENT type="-1" id="796" >
+<father id="806" num="2" />
<cdparam x="712" y="192" />
-<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="735" >
-<father id="740" num="3" />
+<SUBCOMPONENT type="-1" id="801" >
+<father id="806" num="3" />
<cdparam x="575" y="225" />
-<sizeparam width="73" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="73" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="731" />
-<TGConnectingPoint num="1" id="732" />
-<TGConnectingPoint num="2" id="733" />
-<TGConnectingPoint num="3" id="734" />
+<TGConnectingPoint num="0" id="797" />
+<TGConnectingPoint num="1" id="798" />
+<TGConnectingPoint num="2" id="799" />
+<TGConnectingPoint num="3" id="800" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="2" enabled="true"/>
@@ -3065,26 +3169,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="747" >
+<CONNECTOR type="5102" id="813" >
<cdparam x="410" y="746" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="746" />
-<P1 x="413" y="687" id="925" />
-<P2 x="459" y="742" id="1247" />
+<TGConnectingPoint num="0" id="812" />
+<P1 x="413" y="687" id="963" />
+<P2 x="459" y="742" id="1285" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="745" >
-<father id="747" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="811" >
+<father id="813" num="0" />
<cdparam x="445" y="698" />
-<sizeparam width="77" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="77" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="741" />
-<TGConnectingPoint num="1" id="742" />
-<TGConnectingPoint num="2" id="743" />
-<TGConnectingPoint num="3" id="744" />
+<TGConnectingPoint num="0" id="807" />
+<TGConnectingPoint num="1" id="808" />
+<TGConnectingPoint num="2" id="809" />
+<TGConnectingPoint num="3" id="810" />
<extraparam>
<guard value="[else ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3096,26 +3200,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="754" >
+<CONNECTOR type="5102" id="820" >
<cdparam x="360" y="746" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="753" />
-<P1 x="363" y="687" id="924" />
-<P2 x="319" y="742" id="1244" />
+<TGConnectingPoint num="0" id="819" />
+<P1 x="363" y="687" id="962" />
+<P2 x="319" y="742" id="1282" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="752" >
-<father id="754" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="818" >
+<father id="820" num="0" />
<cdparam x="261" y="696" />
-<sizeparam width="76" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="76" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="748" />
-<TGConnectingPoint num="1" id="749" />
-<TGConnectingPoint num="2" id="750" />
-<TGConnectingPoint num="3" id="751" />
+<TGConnectingPoint num="0" id="814" />
+<TGConnectingPoint num="1" id="815" />
+<TGConnectingPoint num="2" id="816" />
+<TGConnectingPoint num="3" id="817" />
<extraparam>
<guard value="[state==2 ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3127,26 +3231,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="761" >
+<CONNECTOR type="5102" id="827" >
<cdparam x="367" y="1018" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="760" />
-<P1 x="390" y="792" id="1234" />
-<P2 x="390" y="833" id="1188" />
+<TGConnectingPoint num="0" id="826" />
+<P1 x="390" y="792" id="1272" />
+<P2 x="390" y="833" id="1226" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="759" >
-<father id="761" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="825" >
+<father id="827" num="0" />
<cdparam x="367" y="1113" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="755" />
-<TGConnectingPoint num="1" id="756" />
-<TGConnectingPoint num="2" id="757" />
-<TGConnectingPoint num="3" id="758" />
+<TGConnectingPoint num="0" id="821" />
+<TGConnectingPoint num="1" id="822" />
+<TGConnectingPoint num="2" id="823" />
+<TGConnectingPoint num="3" id="824" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3157,26 +3261,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="775" >
+<CONNECTOR type="5102" id="834" >
<cdparam x="436" y="1655" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="774" />
-<P1 x="434" y="1471" id="1084" />
-<P2 x="434" y="1503" id="1176" />
+<TGConnectingPoint num="0" id="833" />
+<P1 x="434" y="1471" id="1122" />
+<P2 x="434" y="1503" id="1214" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="773" >
-<father id="775" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="832" >
+<father id="834" num="0" />
<cdparam x="429" y="1710" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="769" />
-<TGConnectingPoint num="1" id="770" />
-<TGConnectingPoint num="2" id="771" />
-<TGConnectingPoint num="3" id="772" />
+<TGConnectingPoint num="0" id="828" />
+<TGConnectingPoint num="1" id="829" />
+<TGConnectingPoint num="2" id="830" />
+<TGConnectingPoint num="3" id="831" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3187,26 +3291,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="782" >
+<CONNECTOR type="5102" id="841" >
<cdparam x="548" y="488" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="781" />
-<P1 x="525" y="478" id="1414" />
-<P2 x="457" y="578" id="1288" />
+<TGConnectingPoint num="0" id="840" />
+<P1 x="525" y="478" id="1436" />
+<P2 x="457" y="578" id="1326" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="780" >
-<father id="782" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="839" >
+<father id="841" num="0" />
<cdparam x="536" y="537" />
-<sizeparam width="150" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="776" />
-<TGConnectingPoint num="1" id="777" />
-<TGConnectingPoint num="2" id="778" />
-<TGConnectingPoint num="3" id="779" />
+<TGConnectingPoint num="0" id="835" />
+<TGConnectingPoint num="1" id="836" />
+<TGConnectingPoint num="2" id="837" />
+<TGConnectingPoint num="3" id="838" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3220,26 +3324,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="789" >
+<CONNECTOR type="5102" id="848" >
<cdparam x="251" y="493" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="788" />
-<P1 x="263" y="482" id="1496" />
-<P2 x="341" y="578" id="1277" />
+<TGConnectingPoint num="0" id="847" />
+<P1 x="263" y="482" id="1518" />
+<P2 x="341" y="578" id="1315" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="787" >
-<father id="789" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="846" >
+<father id="848" num="0" />
<cdparam x="141" y="537" />
-<sizeparam width="170" height="45" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="170" height="45" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="783" />
-<TGConnectingPoint num="1" id="784" />
-<TGConnectingPoint num="2" id="785" />
-<TGConnectingPoint num="3" id="786" />
+<TGConnectingPoint num="0" id="842" />
+<TGConnectingPoint num="1" id="843" />
+<TGConnectingPoint num="2" id="844" />
+<TGConnectingPoint num="3" id="845" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3253,26 +3357,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="810" >
+<CONNECTOR type="5102" id="855" >
<cdparam x="397" y="55" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="809" />
-<P1 x="397" y="55" id="1588" />
-<P2 x="397" y="92" id="1548" />
+<TGConnectingPoint num="0" id="854" />
+<P1 x="397" y="55" id="1610" />
+<P2 x="397" y="92" id="1570" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="808" >
-<father id="810" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="853" >
+<father id="855" num="0" />
<cdparam x="398" y="74" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="804" />
-<TGConnectingPoint num="1" id="805" />
-<TGConnectingPoint num="2" id="806" />
-<TGConnectingPoint num="3" id="807" />
+<TGConnectingPoint num="0" id="849" />
+<TGConnectingPoint num="1" id="850" />
+<TGConnectingPoint num="2" id="851" />
+<TGConnectingPoint num="3" id="852" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3283,26 +3387,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="817" >
+<CONNECTOR type="5102" id="862" >
<cdparam x="372" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="816" />
-<P1 x="371" y="376" id="1532" />
-<P2 x="263" y="432" id="1491" />
+<TGConnectingPoint num="0" id="861" />
+<P1 x="371" y="376" id="1554" />
+<P2 x="263" y="432" id="1513" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="815" >
-<father id="817" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="860" >
+<father id="862" num="0" />
<cdparam x="221" y="384" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="119" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="811" />
-<TGConnectingPoint num="1" id="812" />
-<TGConnectingPoint num="2" id="813" />
-<TGConnectingPoint num="3" id="814" />
+<TGConnectingPoint num="0" id="856" />
+<TGConnectingPoint num="1" id="857" />
+<TGConnectingPoint num="2" id="858" />
+<TGConnectingPoint num="3" id="859" />
<extraparam>
<guard value="[ distanceFront>8]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3313,26 +3417,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="824" >
+<CONNECTOR type="5102" id="869" >
<cdparam x="390" y="415" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="823" />
-<P1 x="396" y="401" id="1537" />
-<P2 x="396" y="463" id="1450" />
+<TGConnectingPoint num="0" id="868" />
+<P1 x="396" y="401" id="1559" />
+<P2 x="396" y="463" id="1472" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="822" >
-<father id="824" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="867" >
+<father id="869" num="0" />
<cdparam x="340" y="444" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="119" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="818" />
-<TGConnectingPoint num="1" id="819" />
-<TGConnectingPoint num="2" id="820" />
-<TGConnectingPoint num="3" id="821" />
+<TGConnectingPoint num="0" id="863" />
+<TGConnectingPoint num="1" id="864" />
+<TGConnectingPoint num="2" id="865" />
+<TGConnectingPoint num="3" id="866" />
<extraparam>
<guard value="[distanceFront<3 ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3343,26 +3447,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="831" >
+<CONNECTOR type="5102" id="876" >
<cdparam x="422" y="594" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="830" />
-<P1 x="421" y="376" id="1533" />
-<P2 x="525" y="428" id="1409" />
+<TGConnectingPoint num="0" id="875" />
+<P1 x="421" y="376" id="1555" />
+<P2 x="525" y="428" id="1431" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="829" >
-<father id="831" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="874" >
+<father id="876" num="0" />
<cdparam x="464" y="384" />
-<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="825" />
-<TGConnectingPoint num="1" id="826" />
-<TGConnectingPoint num="2" id="827" />
-<TGConnectingPoint num="3" id="828" />
+<TGConnectingPoint num="0" id="870" />
+<TGConnectingPoint num="1" id="871" />
+<TGConnectingPoint num="2" id="872" />
+<TGConnectingPoint num="3" id="873" />
<extraparam>
<guard value="[ else]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3373,26 +3477,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="838" >
+<CONNECTOR type="5102" id="883" >
<cdparam x="436" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="837" />
-<P1 x="396" y="312" id="1316" />
-<P2 x="396" y="351" id="1531" />
+<TGConnectingPoint num="0" id="882" />
+<P1 x="396" y="312" id="1354" />
+<P2 x="396" y="351" id="1553" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="836" >
-<father id="838" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="881" >
+<father id="883" num="0" />
<cdparam x="437" y="543" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="832" />
-<TGConnectingPoint num="1" id="833" />
-<TGConnectingPoint num="2" id="834" />
-<TGConnectingPoint num="3" id="835" />
+<TGConnectingPoint num="0" id="877" />
+<TGConnectingPoint num="1" id="878" />
+<TGConnectingPoint num="2" id="879" />
+<TGConnectingPoint num="3" id="880" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3403,26 +3507,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="845" >
+<CONNECTOR type="5102" id="890" >
<cdparam x="401" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="844" />
-<P1 x="396" y="513" id="1455" />
-<P2 x="388" y="578" id="1270" />
+<TGConnectingPoint num="0" id="889" />
+<P1 x="396" y="513" id="1477" />
+<P2 x="388" y="578" id="1308" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="843" >
-<father id="845" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="888" >
+<father id="890" num="0" />
<cdparam x="396" y="566" />
-<sizeparam width="118" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="118" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="839" />
-<TGConnectingPoint num="1" id="840" />
-<TGConnectingPoint num="2" id="841" />
-<TGConnectingPoint num="3" id="842" />
+<TGConnectingPoint num="0" id="884" />
+<TGConnectingPoint num="1" id="885" />
+<TGConnectingPoint num="2" id="886" />
+<TGConnectingPoint num="3" id="887" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3434,26 +3538,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="852" >
+<CONNECTOR type="5102" id="897" >
<cdparam x="311" y="1280" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="851" />
-<P1 x="365" y="944" id="1161" />
-<P2 x="318" y="1421" id="1094" />
+<TGConnectingPoint num="0" id="896" />
+<P1 x="365" y="944" id="1199" />
+<P2 x="318" y="1421" id="1132" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="850" >
-<father id="852" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="895" >
+<father id="897" num="0" />
<cdparam x="283" y="969" />
-<sizeparam width="70" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="70" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="846" />
-<TGConnectingPoint num="1" id="847" />
-<TGConnectingPoint num="2" id="848" />
-<TGConnectingPoint num="3" id="849" />
+<TGConnectingPoint num="0" id="891" />
+<TGConnectingPoint num="1" id="892" />
+<TGConnectingPoint num="2" id="893" />
+<TGConnectingPoint num="3" id="894" />
<extraparam>
<guard value="[ state!=2]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3464,26 +3568,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="859" >
+<CONNECTOR type="5102" id="904" >
<cdparam x="432" y="1259" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="858" />
-<P1 x="390" y="883" id="1193" />
-<P2 x="390" y="919" id="1160" />
+<TGConnectingPoint num="0" id="903" />
+<P1 x="390" y="883" id="1231" />
+<P2 x="390" y="919" id="1198" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="857" >
-<father id="859" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="902" >
+<father id="904" num="0" />
<cdparam x="375" y="1270" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="853" />
-<TGConnectingPoint num="1" id="854" />
-<TGConnectingPoint num="2" id="855" />
-<TGConnectingPoint num="3" id="856" />
+<TGConnectingPoint num="0" id="898" />
+<TGConnectingPoint num="1" id="899" />
+<TGConnectingPoint num="2" id="900" />
+<TGConnectingPoint num="3" id="901" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3494,26 +3598,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="866" >
+<CONNECTOR type="5102" id="911" >
<cdparam x="399" y="1295" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="865" />
-<P1 x="415" y="944" id="1165" />
-<P2 x="465" y="998" id="1375" />
+<TGConnectingPoint num="0" id="910" />
+<P1 x="415" y="944" id="1203" />
+<P2 x="465" y="998" id="1397" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="864" >
-<father id="866" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="909" >
+<father id="911" num="0" />
<cdparam x="453" y="967" />
-<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="860" />
-<TGConnectingPoint num="1" id="861" />
-<TGConnectingPoint num="2" id="862" />
-<TGConnectingPoint num="3" id="863" />
+<TGConnectingPoint num="0" id="905" />
+<TGConnectingPoint num="1" id="906" />
+<TGConnectingPoint num="2" id="907" />
+<TGConnectingPoint num="3" id="908" />
<extraparam>
<guard value="[else ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3524,26 +3628,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="873" >
+<CONNECTOR type="5102" id="918" >
<cdparam x="488" y="1399" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="872" />
-<P1 x="495" y="1156" id="1125" />
-<P2 x="494" y="1197" id="1062" />
+<TGConnectingPoint num="0" id="917" />
+<P1 x="495" y="1156" id="1163" />
+<P2 x="494" y="1197" id="1100" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="871" >
-<father id="873" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="916" >
+<father id="918" num="0" />
<cdparam x="491" y="1447" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="867" />
-<TGConnectingPoint num="1" id="868" />
-<TGConnectingPoint num="2" id="869" />
-<TGConnectingPoint num="3" id="870" />
+<TGConnectingPoint num="0" id="912" />
+<TGConnectingPoint num="1" id="913" />
+<TGConnectingPoint num="2" id="914" />
+<TGConnectingPoint num="3" id="915" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3554,26 +3658,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="880" >
+<CONNECTOR type="5102" id="925" >
<cdparam x="495" y="1546" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="879" />
-<P1 x="469" y="1222" id="1063" />
-<P2 x="428" y="1287" id="1022" />
+<TGConnectingPoint num="0" id="924" />
+<P1 x="469" y="1222" id="1101" />
+<P2 x="428" y="1287" id="1060" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="878" >
-<father id="880" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="923" >
+<father id="925" num="0" />
<cdparam x="275" y="1227" />
-<sizeparam width="187" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="187" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="874" />
-<TGConnectingPoint num="1" id="875" />
-<TGConnectingPoint num="2" id="876" />
-<TGConnectingPoint num="3" id="877" />
+<TGConnectingPoint num="0" id="919" />
+<TGConnectingPoint num="1" id="920" />
+<TGConnectingPoint num="2" id="921" />
+<TGConnectingPoint num="3" id="922" />
<extraparam>
<guard value="[ distanceLeft>distanceRight]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3584,26 +3688,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="887" >
+<CONNECTOR type="5102" id="932" >
<cdparam x="487" y="1493" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="886" />
-<P1 x="519" y="1222" id="1064" />
-<P2 x="561" y="1285" id="998" />
+<TGConnectingPoint num="0" id="931" />
+<P1 x="519" y="1222" id="1102" />
+<P2 x="561" y="1285" id="1036" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="885" >
-<father id="887" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="930" >
+<father id="932" num="0" />
<cdparam x="535" y="1229" />
-<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="40" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="881" />
-<TGConnectingPoint num="1" id="882" />
-<TGConnectingPoint num="2" id="883" />
-<TGConnectingPoint num="3" id="884" />
+<TGConnectingPoint num="0" id="926" />
+<TGConnectingPoint num="1" id="927" />
+<TGConnectingPoint num="2" id="928" />
+<TGConnectingPoint num="3" id="929" />
<extraparam>
<guard value="[ else]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3614,26 +3718,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="894" >
+<CONNECTOR type="5102" id="939" >
<cdparam x="430" y="1540" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="893" />
-<P1 x="428" y="1337" id="1027" />
-<P2 x="470" y="1421" id="1096" />
+<TGConnectingPoint num="0" id="938" />
+<P1 x="428" y="1337" id="1065" />
+<P2 x="470" y="1421" id="1134" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="892" >
-<father id="894" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="937" >
+<father id="939" num="0" />
<cdparam x="348" y="1389" />
-<sizeparam width="150" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="888" />
-<TGConnectingPoint num="1" id="889" />
-<TGConnectingPoint num="2" id="890" />
-<TGConnectingPoint num="3" id="891" />
+<TGConnectingPoint num="0" id="933" />
+<TGConnectingPoint num="1" id="934" />
+<TGConnectingPoint num="2" id="935" />
+<TGConnectingPoint num="3" id="936" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3646,26 +3750,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="901" >
+<CONNECTOR type="5102" id="946" >
<cdparam x="531" y="1591" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="900" />
-<P1 x="549" y="1335" id="986" />
-<P2 x="510" y="1421" id="1087" />
+<TGConnectingPoint num="0" id="945" />
+<P1 x="549" y="1335" id="1024" />
+<P2 x="510" y="1421" id="1125" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="899" >
-<father id="901" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="944" >
+<father id="946" num="0" />
<cdparam x="549" y="1388" />
-<sizeparam width="142" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="142" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="895" />
-<TGConnectingPoint num="1" id="896" />
-<TGConnectingPoint num="2" id="897" />
-<TGConnectingPoint num="3" id="898" />
+<TGConnectingPoint num="0" id="940" />
+<TGConnectingPoint num="1" id="941" />
+<TGConnectingPoint num="2" id="942" />
+<TGConnectingPoint num="3" id="943" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3678,26 +3782,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="908" >
+<CONNECTOR type="5102" id="953" >
<cdparam x="438" y="142" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="907" />
-<P1 x="397" y="142" id="1553" />
-<P2 x="396" y="167" id="940" />
+<TGConnectingPoint num="0" id="952" />
+<P1 x="397" y="142" id="1575" />
+<P2 x="396" y="167" id="978" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="906" >
-<father id="908" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="951" >
+<father id="953" num="0" />
<cdparam x="439" y="164" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="902" />
-<TGConnectingPoint num="1" id="903" />
-<TGConnectingPoint num="2" id="904" />
-<TGConnectingPoint num="3" id="905" />
+<TGConnectingPoint num="0" id="947" />
+<TGConnectingPoint num="1" id="948" />
+<TGConnectingPoint num="2" id="949" />
+<TGConnectingPoint num="3" id="950" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3708,26 +3812,26 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="922" >
+<CONNECTOR type="5102" id="960" >
<cdparam x="407" y="680" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="921" />
-<P1 x="388" y="628" id="1275" />
-<P2 x="388" y="662" id="923" />
+<TGConnectingPoint num="0" id="959" />
+<P1 x="388" y="628" id="1313" />
+<P2 x="388" y="662" id="961" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="920" >
-<father id="922" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="958" >
+<father id="960" num="0" />
<cdparam x="404" y="694" />
-<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="916" />
-<TGConnectingPoint num="1" id="917" />
-<TGConnectingPoint num="2" id="918" />
-<TGConnectingPoint num="3" id="919" />
+<TGConnectingPoint num="0" id="954" />
+<TGConnectingPoint num="1" id="955" />
+<TGConnectingPoint num="2" id="956" />
+<TGConnectingPoint num="3" id="957" />
<extraparam>
<guard value="[ ]" enabled="true"/>
<afterMin value="" enabled="true"/>
@@ -3738,76 +3842,76 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5107" id="938" >
+<COMPONENT type="5107" id="976" >
<cdparam x="373" y="672" />
-<sizeparam width="30" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="choice" value="null" />
-<TGConnectingPoint num="0" id="923" />
-<TGConnectingPoint num="1" id="924" />
-<TGConnectingPoint num="2" id="925" />
-<TGConnectingPoint num="3" id="926" />
-<TGConnectingPoint num="4" id="927" />
-<TGConnectingPoint num="5" id="928" />
-<TGConnectingPoint num="6" id="929" />
-<TGConnectingPoint num="7" id="930" />
-<TGConnectingPoint num="8" id="931" />
-<TGConnectingPoint num="9" id="932" />
-<TGConnectingPoint num="10" id="933" />
-<TGConnectingPoint num="11" id="934" />
-<TGConnectingPoint num="12" id="935" />
-<TGConnectingPoint num="13" id="936" />
-<TGConnectingPoint num="14" id="937" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="979" >
+<TGConnectingPoint num="0" id="961" />
+<TGConnectingPoint num="1" id="962" />
+<TGConnectingPoint num="2" id="963" />
+<TGConnectingPoint num="3" id="964" />
+<TGConnectingPoint num="4" id="965" />
+<TGConnectingPoint num="5" id="966" />
+<TGConnectingPoint num="6" id="967" />
+<TGConnectingPoint num="7" id="968" />
+<TGConnectingPoint num="8" id="969" />
+<TGConnectingPoint num="9" id="970" />
+<TGConnectingPoint num="10" id="971" />
+<TGConnectingPoint num="11" id="972" />
+<TGConnectingPoint num="12" id="973" />
+<TGConnectingPoint num="13" id="974" />
+<TGConnectingPoint num="14" id="975" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="1017" >
<cdparam x="297" y="167" />
<sizeparam width="198" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<enabled value="true" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="readDistanceSensor" />
-<TGConnectingPoint num="0" id="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" />
-<TGConnectingPoint num="10" id="949" />
-<TGConnectingPoint num="11" id="950" />
-<TGConnectingPoint num="12" id="951" />
-<TGConnectingPoint num="13" id="952" />
-<TGConnectingPoint num="14" id="953" />
-<TGConnectingPoint num="15" id="954" />
-<TGConnectingPoint num="16" id="955" />
-<TGConnectingPoint num="17" id="956" />
-<TGConnectingPoint num="18" id="957" />
-<TGConnectingPoint num="19" id="958" />
-<TGConnectingPoint num="20" id="959" />
-<TGConnectingPoint num="21" id="960" />
-<TGConnectingPoint num="22" id="961" />
-<TGConnectingPoint num="23" id="962" />
-<TGConnectingPoint num="24" id="963" />
-<TGConnectingPoint num="25" id="964" />
-<TGConnectingPoint num="26" id="965" />
-<TGConnectingPoint num="27" id="966" />
-<TGConnectingPoint num="28" id="967" />
-<TGConnectingPoint num="29" id="968" />
-<TGConnectingPoint num="30" id="969" />
-<TGConnectingPoint num="31" id="970" />
-<TGConnectingPoint num="32" id="971" />
-<TGConnectingPoint num="33" id="972" />
-<TGConnectingPoint num="34" id="973" />
-<TGConnectingPoint num="35" id="974" />
-<TGConnectingPoint num="36" id="975" />
-<TGConnectingPoint num="37" id="976" />
-<TGConnectingPoint num="38" id="977" />
-<TGConnectingPoint num="39" id="978" />
+<TGConnectingPoint num="0" id="977" />
+<TGConnectingPoint num="1" id="978" />
+<TGConnectingPoint num="2" id="979" />
+<TGConnectingPoint num="3" id="980" />
+<TGConnectingPoint num="4" id="981" />
+<TGConnectingPoint num="5" id="982" />
+<TGConnectingPoint num="6" id="983" />
+<TGConnectingPoint num="7" id="984" />
+<TGConnectingPoint num="8" id="985" />
+<TGConnectingPoint num="9" id="986" />
+<TGConnectingPoint num="10" id="987" />
+<TGConnectingPoint num="11" id="988" />
+<TGConnectingPoint num="12" id="989" />
+<TGConnectingPoint num="13" id="990" />
+<TGConnectingPoint num="14" id="991" />
+<TGConnectingPoint num="15" id="992" />
+<TGConnectingPoint num="16" id="993" />
+<TGConnectingPoint num="17" id="994" />
+<TGConnectingPoint num="18" id="995" />
+<TGConnectingPoint num="19" id="996" />
+<TGConnectingPoint num="20" id="997" />
+<TGConnectingPoint num="21" id="998" />
+<TGConnectingPoint num="22" id="999" />
+<TGConnectingPoint num="23" id="1000" />
+<TGConnectingPoint num="24" id="1001" />
+<TGConnectingPoint num="25" id="1002" />
+<TGConnectingPoint num="26" id="1003" />
+<TGConnectingPoint num="27" id="1004" />
+<TGConnectingPoint num="28" id="1005" />
+<TGConnectingPoint num="29" id="1006" />
+<TGConnectingPoint num="30" id="1007" />
+<TGConnectingPoint num="31" id="1008" />
+<TGConnectingPoint num="32" id="1009" />
+<TGConnectingPoint num="33" id="1010" />
+<TGConnectingPoint num="34" id="1011" />
+<TGConnectingPoint num="35" id="1012" />
+<TGConnectingPoint num="36" id="1013" />
+<TGConnectingPoint num="37" id="1014" />
+<TGConnectingPoint num="38" id="1015" />
+<TGConnectingPoint num="39" id="1016" />
<extraparam>
<entryCode value="write_gpio2vci(1, "distance_sensor");" />
<entryCode value="distanceFront = read_gpio2vci("distance_sensor");" />
@@ -3823,768 +3927,768 @@ state 2: obstacles in close proximity
</extraparam>
</COMPONENT>
-<COMPONENT type="5106" id="1020" >
+<COMPONENT type="5106" id="1058" >
<cdparam x="499" y="1285" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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-<TGConnectingPoint num="38" id="1018" />
-<TGConnectingPoint num="39" id="1019" />
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-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1061" >
+<TGConnectingPoint num="0" id="1018" />
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<cdparam x="378" y="1287" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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-<TGConnectingPoint num="39" id="1060" />
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-<COMPONENT type="5107" id="1077" >
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+
+<COMPONENT type="5107" id="1115" >
<cdparam x="479" y="1207" />
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+<sizeparam width="30" height="30" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
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-
-<COMPONENT type="5106" id="1118" >
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+<COMPONENT type="5106" id="1156" >
<cdparam x="282" y="1421" />
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-</extraparam>
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<extraparam>
<entryCode value="temp = read_gpio2vci("temperature_sensor");" />
<entryCode value="printf("Temperature = %d\n", temp);" />
</extraparam>
</COMPONENT>
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<cdparam x="475" y="428" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<TGConnectingPoint num="15" id="1584" />
+<TGConnectingPoint num="16" id="1585" />
+<TGConnectingPoint num="17" id="1586" />
+<TGConnectingPoint num="18" id="1587" />
+<TGConnectingPoint num="19" id="1588" />
+<TGConnectingPoint num="20" id="1589" />
+<TGConnectingPoint num="21" id="1590" />
+<TGConnectingPoint num="22" id="1591" />
+<TGConnectingPoint num="23" id="1592" />
+<TGConnectingPoint num="24" id="1593" />
+<TGConnectingPoint num="25" id="1594" />
+<TGConnectingPoint num="26" id="1595" />
+<TGConnectingPoint num="27" id="1596" />
+<TGConnectingPoint num="28" id="1597" />
+<TGConnectingPoint num="29" id="1598" />
+<TGConnectingPoint num="30" id="1599" />
+<TGConnectingPoint num="31" id="1600" />
+<TGConnectingPoint num="32" id="1601" />
+<TGConnectingPoint num="33" id="1602" />
+<TGConnectingPoint num="34" id="1603" />
+<TGConnectingPoint num="35" id="1604" />
+<TGConnectingPoint num="36" id="1605" />
+<TGConnectingPoint num="37" id="1606" />
+<TGConnectingPoint num="38" id="1607" />
+<TGConnectingPoint num="39" id="1608" />
<extraparam>
<entryCode value="write_gpio2vci(sensorOn, "temperature_sensor");" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5100" id="1589" >
+<COMPONENT type="5100" id="1611" >
<cdparam x="390" y="35" />
-<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="1588" />
+<TGConnectingPoint num="0" id="1610" />
</COMPONENT>
@@ -4597,329 +4701,329 @@ state 2: obstacles in close proximity
<Modeling type="ADD" nameTab="Deployment" >
<ADDDiagramPanel name="Deployment Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="5365" id="1614" >
+<COMPONENT type="5365" id="1636" >
<cdparam x="788" y="27" />
-<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="temperature_sensor" value="temperature_sensor" />
-<TGConnectingPoint num="0" id="1590" />
-<TGConnectingPoint num="1" id="1591" />
-<TGConnectingPoint num="2" id="1592" />
-<TGConnectingPoint num="3" id="1593" />
-<TGConnectingPoint num="4" id="1594" />
-<TGConnectingPoint num="5" id="1595" />
-<TGConnectingPoint num="6" id="1596" />
-<TGConnectingPoint num="7" id="1597" />
-<TGConnectingPoint num="8" id="1598" />
-<TGConnectingPoint num="9" id="1599" />
-<TGConnectingPoint num="10" id="1600" />
-<TGConnectingPoint num="11" id="1601" />
-<TGConnectingPoint num="12" id="1602" />
-<TGConnectingPoint num="13" id="1603" />
-<TGConnectingPoint num="14" id="1604" />
-<TGConnectingPoint num="15" id="1605" />
-<TGConnectingPoint num="16" id="1606" />
-<TGConnectingPoint num="17" id="1607" />
-<TGConnectingPoint num="18" id="1608" />
-<TGConnectingPoint num="19" id="1609" />
-<TGConnectingPoint num="20" id="1610" />
-<TGConnectingPoint num="21" id="1611" />
-<TGConnectingPoint num="22" id="1612" />
-<TGConnectingPoint num="23" id="1613" />
+<TGConnectingPoint num="0" id="1612" />
+<TGConnectingPoint num="1" id="1613" />
+<TGConnectingPoint num="2" id="1614" />
+<TGConnectingPoint num="3" id="1615" />
+<TGConnectingPoint num="4" id="1616" />
+<TGConnectingPoint num="5" id="1617" />
+<TGConnectingPoint num="6" id="1618" />
+<TGConnectingPoint num="7" id="1619" />
+<TGConnectingPoint num="8" id="1620" />
+<TGConnectingPoint num="9" id="1621" />
+<TGConnectingPoint num="10" id="1622" />
+<TGConnectingPoint num="11" id="1623" />
+<TGConnectingPoint num="12" id="1624" />
+<TGConnectingPoint num="13" id="1625" />
+<TGConnectingPoint num="14" id="1626" />
+<TGConnectingPoint num="15" id="1627" />
+<TGConnectingPoint num="16" id="1628" />
+<TGConnectingPoint num="17" id="1629" />
+<TGConnectingPoint num="18" id="1630" />
+<TGConnectingPoint num="19" id="1631" />
+<TGConnectingPoint num="20" id="1632" />
+<TGConnectingPoint num="21" id="1633" />
+<TGConnectingPoint num="22" id="1634" />
+<TGConnectingPoint num="23" id="1635" />
<extraparam>
<info stereotype="SystemC-AMS Cluster" nodeName="temperature_sensor" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5365" id="1639" >
-<cdparam x="795" y="259" />
-<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5365" id="1661" >
+<cdparam x="790" y="197" />
+<sizeparam width="250" height="105" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="distance_sensor" value="distance_sensor" />
-<TGConnectingPoint num="0" id="1615" />
-<TGConnectingPoint num="1" id="1616" />
-<TGConnectingPoint num="2" id="1617" />
-<TGConnectingPoint num="3" id="1618" />
-<TGConnectingPoint num="4" id="1619" />
-<TGConnectingPoint num="5" id="1620" />
-<TGConnectingPoint num="6" id="1621" />
-<TGConnectingPoint num="7" id="1622" />
-<TGConnectingPoint num="8" id="1623" />
-<TGConnectingPoint num="9" id="1624" />
-<TGConnectingPoint num="10" id="1625" />
-<TGConnectingPoint num="11" id="1626" />
-<TGConnectingPoint num="12" id="1627" />
-<TGConnectingPoint num="13" id="1628" />
-<TGConnectingPoint num="14" id="1629" />
-<TGConnectingPoint num="15" id="1630" />
-<TGConnectingPoint num="16" id="1631" />
-<TGConnectingPoint num="17" id="1632" />
-<TGConnectingPoint num="18" id="1633" />
-<TGConnectingPoint num="19" id="1634" />
-<TGConnectingPoint num="20" id="1635" />
-<TGConnectingPoint num="21" id="1636" />
-<TGConnectingPoint num="22" id="1637" />
-<TGConnectingPoint num="23" id="1638" />
+<TGConnectingPoint num="0" id="1637" />
+<TGConnectingPoint num="1" id="1638" />
+<TGConnectingPoint num="2" id="1639" />
+<TGConnectingPoint num="3" id="1640" />
+<TGConnectingPoint num="4" id="1641" />
+<TGConnectingPoint num="5" id="1642" />
+<TGConnectingPoint num="6" id="1643" />
+<TGConnectingPoint num="7" id="1644" />
+<TGConnectingPoint num="8" id="1645" />
+<TGConnectingPoint num="9" id="1646" />
+<TGConnectingPoint num="10" id="1647" />
+<TGConnectingPoint num="11" id="1648" />
+<TGConnectingPoint num="12" id="1649" />
+<TGConnectingPoint num="13" id="1650" />
+<TGConnectingPoint num="14" id="1651" />
+<TGConnectingPoint num="15" id="1652" />
+<TGConnectingPoint num="16" id="1653" />
+<TGConnectingPoint num="17" id="1654" />
+<TGConnectingPoint num="18" id="1655" />
+<TGConnectingPoint num="19" id="1656" />
+<TGConnectingPoint num="20" id="1657" />
+<TGConnectingPoint num="21" id="1658" />
+<TGConnectingPoint num="22" id="1659" />
+<TGConnectingPoint num="23" id="1660" />
<extraparam>
<info stereotype="SystemC-AMS Cluster" nodeName="distance_sensor" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5363" id="1664" >
-<cdparam x="441" y="323" />
+<COMPONENT type="5363" id="1686" >
+<cdparam x="439" y="258" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Bus0" value="name" />
-<TGConnectingPoint num="0" id="1640" />
-<TGConnectingPoint num="1" id="1641" />
-<TGConnectingPoint num="2" id="1642" />
-<TGConnectingPoint num="3" id="1643" />
-<TGConnectingPoint num="4" id="1644" />
-<TGConnectingPoint num="5" id="1645" />
-<TGConnectingPoint num="6" id="1646" />
-<TGConnectingPoint num="7" id="1647" />
-<TGConnectingPoint num="8" id="1648" />
-<TGConnectingPoint num="9" id="1649" />
-<TGConnectingPoint num="10" id="1650" />
-<TGConnectingPoint num="11" id="1651" />
-<TGConnectingPoint num="12" id="1652" />
-<TGConnectingPoint num="13" id="1653" />
-<TGConnectingPoint num="14" id="1654" />
-<TGConnectingPoint num="15" id="1655" />
-<TGConnectingPoint num="16" id="1656" />
-<TGConnectingPoint num="17" id="1657" />
-<TGConnectingPoint num="18" id="1658" />
-<TGConnectingPoint num="19" id="1659" />
-<TGConnectingPoint num="20" id="1660" />
-<TGConnectingPoint num="21" id="1661" />
-<TGConnectingPoint num="22" id="1662" />
-<TGConnectingPoint num="23" id="1663" />
+<TGConnectingPoint num="0" id="1662" />
+<TGConnectingPoint num="1" id="1663" />
+<TGConnectingPoint num="2" id="1664" />
+<TGConnectingPoint num="3" id="1665" />
+<TGConnectingPoint num="4" id="1666" />
+<TGConnectingPoint num="5" id="1667" />
+<TGConnectingPoint num="6" id="1668" />
+<TGConnectingPoint num="7" id="1669" />
+<TGConnectingPoint num="8" id="1670" />
+<TGConnectingPoint num="9" id="1671" />
+<TGConnectingPoint num="10" id="1672" />
+<TGConnectingPoint num="11" id="1673" />
+<TGConnectingPoint num="12" id="1674" />
+<TGConnectingPoint num="13" id="1675" />
+<TGConnectingPoint num="14" id="1676" />
+<TGConnectingPoint num="15" id="1677" />
+<TGConnectingPoint num="16" id="1678" />
+<TGConnectingPoint num="17" id="1679" />
+<TGConnectingPoint num="18" id="1680" />
+<TGConnectingPoint num="19" id="1681" />
+<TGConnectingPoint num="20" id="1682" />
+<TGConnectingPoint num="21" id="1683" />
+<TGConnectingPoint num="22" id="1684" />
+<TGConnectingPoint num="23" id="1685" />
<extraparam>
<info stereotype="VGMN" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5355" id="1698" >
+<COMPONENT type="5355" id="1720" >
<cdparam x="427" y="28" />
<sizeparam width="279" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Memory0" value="name" />
-<TGConnectingPoint num="0" id="1674" />
-<TGConnectingPoint num="1" id="1675" />
-<TGConnectingPoint num="2" id="1676" />
-<TGConnectingPoint num="3" id="1677" />
-<TGConnectingPoint num="4" id="1678" />
-<TGConnectingPoint num="5" id="1679" />
-<TGConnectingPoint num="6" id="1680" />
-<TGConnectingPoint num="7" id="1681" />
-<TGConnectingPoint num="8" id="1682" />
-<TGConnectingPoint num="9" id="1683" />
-<TGConnectingPoint num="10" id="1684" />
-<TGConnectingPoint num="11" id="1685" />
-<TGConnectingPoint num="12" id="1686" />
-<TGConnectingPoint num="13" id="1687" />
-<TGConnectingPoint num="14" id="1688" />
-<TGConnectingPoint num="15" id="1689" />
-<TGConnectingPoint num="16" id="1690" />
-<TGConnectingPoint num="17" id="1691" />
-<TGConnectingPoint num="18" id="1692" />
-<TGConnectingPoint num="19" id="1693" />
-<TGConnectingPoint num="20" id="1694" />
-<TGConnectingPoint num="21" id="1695" />
-<TGConnectingPoint num="22" id="1696" />
-<TGConnectingPoint num="23" id="1697" />
+<TGConnectingPoint num="0" id="1696" />
+<TGConnectingPoint num="1" id="1697" />
+<TGConnectingPoint num="2" id="1698" />
+<TGConnectingPoint num="3" id="1699" />
+<TGConnectingPoint num="4" id="1700" />
+<TGConnectingPoint num="5" id="1701" />
+<TGConnectingPoint num="6" id="1702" />
+<TGConnectingPoint num="7" id="1703" />
+<TGConnectingPoint num="8" id="1704" />
+<TGConnectingPoint num="9" id="1705" />
+<TGConnectingPoint num="10" id="1706" />
+<TGConnectingPoint num="11" id="1707" />
+<TGConnectingPoint num="12" id="1708" />
+<TGConnectingPoint num="13" id="1709" />
+<TGConnectingPoint num="14" id="1710" />
+<TGConnectingPoint num="15" id="1711" />
+<TGConnectingPoint num="16" id="1712" />
+<TGConnectingPoint num="17" id="1713" />
+<TGConnectingPoint num="18" id="1714" />
+<TGConnectingPoint num="19" id="1715" />
+<TGConnectingPoint num="20" id="1716" />
+<TGConnectingPoint num="21" id="1717" />
+<TGConnectingPoint num="22" id="1718" />
+<TGConnectingPoint num="23" id="1719" />
<extraparam>
<info stereotype="RAM" nodeName="Memory0" />
<attributes byteDataSize="1048576" index="0" processCode="" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="1673" >
-<father id="1698" num="0" />
+<SUBCOMPONENT type="5362" id="1695" >
+<father id="1720" num="0" />
<cdparam x="448" y="116" />
-<sizeparam width="235" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="224" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="44" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="55" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/out motorCommand" />
-<TGConnectingPoint num="0" id="1665" />
-<TGConnectingPoint num="1" id="1666" />
-<TGConnectingPoint num="2" id="1667" />
-<TGConnectingPoint num="3" id="1668" />
-<TGConnectingPoint num="4" id="1669" />
-<TGConnectingPoint num="5" id="1670" />
-<TGConnectingPoint num="6" id="1671" />
-<TGConnectingPoint num="7" id="1672" />
+<TGConnectingPoint num="0" id="1687" />
+<TGConnectingPoint num="1" id="1688" />
+<TGConnectingPoint num="2" id="1689" />
+<TGConnectingPoint num="3" id="1690" />
+<TGConnectingPoint num="4" id="1691" />
+<TGConnectingPoint num="5" id="1692" />
+<TGConnectingPoint num="6" id="1693" />
+<TGConnectingPoint num="7" id="1694" />
<extraparam>
<info value="MainControl/out motorCommand" channelName="MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" fullChannelName="Design::MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5354" id="1723" >
-<cdparam x="81" y="342" />
+<COMPONENT type="5354" id="1745" >
+<cdparam x="113" y="203" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TTY0" value="name" />
-<TGConnectingPoint num="0" id="1699" />
-<TGConnectingPoint num="1" id="1700" />
-<TGConnectingPoint num="2" id="1701" />
-<TGConnectingPoint num="3" id="1702" />
-<TGConnectingPoint num="4" id="1703" />
-<TGConnectingPoint num="5" id="1704" />
-<TGConnectingPoint num="6" id="1705" />
-<TGConnectingPoint num="7" id="1706" />
-<TGConnectingPoint num="8" id="1707" />
-<TGConnectingPoint num="9" id="1708" />
-<TGConnectingPoint num="10" id="1709" />
-<TGConnectingPoint num="11" id="1710" />
-<TGConnectingPoint num="12" id="1711" />
-<TGConnectingPoint num="13" id="1712" />
-<TGConnectingPoint num="14" id="1713" />
-<TGConnectingPoint num="15" id="1714" />
-<TGConnectingPoint num="16" id="1715" />
-<TGConnectingPoint num="17" id="1716" />
-<TGConnectingPoint num="18" id="1717" />
-<TGConnectingPoint num="19" id="1718" />
-<TGConnectingPoint num="20" id="1719" />
-<TGConnectingPoint num="21" id="1720" />
-<TGConnectingPoint num="22" id="1721" />
-<TGConnectingPoint num="23" id="1722" />
+<TGConnectingPoint num="0" id="1721" />
+<TGConnectingPoint num="1" id="1722" />
+<TGConnectingPoint num="2" id="1723" />
+<TGConnectingPoint num="3" id="1724" />
+<TGConnectingPoint num="4" id="1725" />
+<TGConnectingPoint num="5" id="1726" />
+<TGConnectingPoint num="6" id="1727" />
+<TGConnectingPoint num="7" id="1728" />
+<TGConnectingPoint num="8" id="1729" />
+<TGConnectingPoint num="9" id="1730" />
+<TGConnectingPoint num="10" id="1731" />
+<TGConnectingPoint num="11" id="1732" />
+<TGConnectingPoint num="12" id="1733" />
+<TGConnectingPoint num="13" id="1734" />
+<TGConnectingPoint num="14" id="1735" />
+<TGConnectingPoint num="15" id="1736" />
+<TGConnectingPoint num="16" id="1737" />
+<TGConnectingPoint num="17" id="1738" />
+<TGConnectingPoint num="18" id="1739" />
+<TGConnectingPoint num="19" id="1740" />
+<TGConnectingPoint num="20" id="1741" />
+<TGConnectingPoint num="21" id="1742" />
+<TGConnectingPoint num="22" id="1743" />
+<TGConnectingPoint num="23" id="1744" />
<extraparam>
<info stereotype="TTY" nodeName="TTY0" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5351" id="1766" >
-<cdparam x="80" y="80" />
-<sizeparam width="250" height="213" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5351" id="1788" >
+<cdparam x="110" y="30" />
+<sizeparam width="250" height="140" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CPU0" value="name" />
-<TGConnectingPoint num="0" id="1742" />
-<TGConnectingPoint num="1" id="1743" />
-<TGConnectingPoint num="2" id="1744" />
-<TGConnectingPoint num="3" id="1745" />
-<TGConnectingPoint num="4" id="1746" />
-<TGConnectingPoint num="5" id="1747" />
-<TGConnectingPoint num="6" id="1748" />
-<TGConnectingPoint num="7" id="1749" />
-<TGConnectingPoint num="8" id="1750" />
-<TGConnectingPoint num="9" id="1751" />
-<TGConnectingPoint num="10" id="1752" />
-<TGConnectingPoint num="11" id="1753" />
-<TGConnectingPoint num="12" id="1754" />
-<TGConnectingPoint num="13" id="1755" />
-<TGConnectingPoint num="14" id="1756" />
-<TGConnectingPoint num="15" id="1757" />
-<TGConnectingPoint num="16" id="1758" />
-<TGConnectingPoint num="17" id="1759" />
-<TGConnectingPoint num="18" id="1760" />
-<TGConnectingPoint num="19" id="1761" />
-<TGConnectingPoint num="20" id="1762" />
-<TGConnectingPoint num="21" id="1763" />
-<TGConnectingPoint num="22" id="1764" />
-<TGConnectingPoint num="23" id="1765" />
+<TGConnectingPoint num="0" id="1764" />
+<TGConnectingPoint num="1" id="1765" />
+<TGConnectingPoint num="2" id="1766" />
+<TGConnectingPoint num="3" id="1767" />
+<TGConnectingPoint num="4" id="1768" />
+<TGConnectingPoint num="5" id="1769" />
+<TGConnectingPoint num="6" id="1770" />
+<TGConnectingPoint num="7" id="1771" />
+<TGConnectingPoint num="8" id="1772" />
+<TGConnectingPoint num="9" id="1773" />
+<TGConnectingPoint num="10" id="1774" />
+<TGConnectingPoint num="11" id="1775" />
+<TGConnectingPoint num="12" id="1776" />
+<TGConnectingPoint num="13" id="1777" />
+<TGConnectingPoint num="14" id="1778" />
+<TGConnectingPoint num="15" id="1779" />
+<TGConnectingPoint num="16" id="1780" />
+<TGConnectingPoint num="17" id="1781" />
+<TGConnectingPoint num="18" id="1782" />
+<TGConnectingPoint num="19" id="1783" />
+<TGConnectingPoint num="20" id="1784" />
+<TGConnectingPoint num="21" id="1785" />
+<TGConnectingPoint num="22" id="1786" />
+<TGConnectingPoint num="23" id="1787" />
<extraparam>
<info stereotype="CPU" nodeName="CPU0" />
<attributes nbOfIrq="6" iCacheWays="8" iCacheSets="4" iCacheWords="4" dCacheWays="8" dCacheSets="4" dCacheWords="4" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5352" id="1732" >
-<father id="1766" num="0" />
-<cdparam x="103" y="188" />
-<sizeparam width="156" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="1754" >
+<father id="1788" num="0" />
+<cdparam x="128" y="73" />
+<sizeparam width="156" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MainControl" />
-<TGConnectingPoint num="0" id="1724" />
-<TGConnectingPoint num="1" id="1725" />
-<TGConnectingPoint num="2" id="1726" />
-<TGConnectingPoint num="3" id="1727" />
-<TGConnectingPoint num="4" id="1728" />
-<TGConnectingPoint num="5" id="1729" />
-<TGConnectingPoint num="6" id="1730" />
-<TGConnectingPoint num="7" id="1731" />
+<cdrectangleparam minX="0" maxX="94" minY="0" maxY="100" />
+<infoparam name="TGComponent" value="Design::MotorControl" />
+<TGConnectingPoint num="0" id="1746" />
+<TGConnectingPoint num="1" id="1747" />
+<TGConnectingPoint num="2" id="1748" />
+<TGConnectingPoint num="3" id="1749" />
+<TGConnectingPoint num="4" id="1750" />
+<TGConnectingPoint num="5" id="1751" />
+<TGConnectingPoint num="6" id="1752" />
+<TGConnectingPoint num="7" id="1753" />
<extraparam>
-<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
+<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="1741" >
-<father id="1766" num="1" />
-<cdparam x="101" y="114" />
-<sizeparam width="164" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="1763" >
+<father id="1788" num="1" />
+<cdparam x="129" y="122" />
+<sizeparam width="150" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="86" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MotorControl" />
-<TGConnectingPoint num="0" id="1733" />
-<TGConnectingPoint num="1" id="1734" />
-<TGConnectingPoint num="2" id="1735" />
-<TGConnectingPoint num="3" id="1736" />
-<TGConnectingPoint num="4" id="1737" />
-<TGConnectingPoint num="5" id="1738" />
-<TGConnectingPoint num="6" id="1739" />
-<TGConnectingPoint num="7" id="1740" />
+<cdrectangleparam minX="0" maxX="100" minY="0" maxY="100" />
+<infoparam name="TGComponent" value="Design::MainControl" />
+<TGConnectingPoint num="0" id="1755" />
+<TGConnectingPoint num="1" id="1756" />
+<TGConnectingPoint num="2" id="1757" />
+<TGConnectingPoint num="3" id="1758" />
+<TGConnectingPoint num="4" id="1759" />
+<TGConnectingPoint num="5" id="1760" />
+<TGConnectingPoint num="6" id="1761" />
+<TGConnectingPoint num="7" id="1762" />
<extraparam>
-<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
+<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="1767" >
-<cdparam x="589" y="223" />
+<CONNECTOR type="5350" id="1789" >
+<cdparam x="790" y="275" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="788" y="227" id="1595" />
-<P2 x="691" y="335" id="1651" />
+<P1 x="790" y="275" id="1649" />
+<P2 x="689" y="295" id="1675" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1768" >
-<cdparam x="413" y="550" />
+<CONNECTOR type="5350" id="1790" >
+<cdparam x="589" y="223" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="795" y="409" id="1627" />
-<P2 x="691" y="373" id="1647" />
+<P1 x="788" y="127" id="1617" />
+<P2 x="689" y="270" id="1673" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1769" >
+<CONNECTOR type="5350" id="1791" >
<cdparam x="798" y="330" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="566" y="228" id="1680" />
-<P2 x="566" y="323" id="1641" />
+<P1 x="566" y="228" id="1702" />
+<P2 x="564" y="258" id="1663" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1770" >
+<CONNECTOR type="5350" id="1792" >
<cdparam x="330" y="413" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="331" y="392" id="1703" />
-<P2 x="441" y="360" id="1652" />
+<P1 x="363" y="253" id="1725" />
+<P2 x="439" y="295" id="1674" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="1771" >
+<CONNECTOR type="5350" id="1793" >
<cdparam x="330" y="234" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="330" y="186" id="1746" />
-<P2 x="441" y="335" id="1650" />
+<P1 x="360" y="100" id="1768" />
+<P2 x="439" y="270" id="1672" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
@@ -4935,375 +5039,375 @@ state 2: obstacles in close proximity
<Modeling type="SystemC-AMS" nameTab="SystemC_AMS" >
<SysCAMSComponentTaskDiagramPanel name="distance_sensor" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
-<CONNECTOR type="1601" id="1772" >
+<CONNECTOR type="1601" id="1794" >
<cdparam x="793" y="410" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="793" y="410" id="1903" />
-<P2 x="938" y="409" id="1787" />
+<P1 x="714" y="266" id="1828" />
+<P2 x="829" y="266" id="1799" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1773" >
+<CONNECTOR type="1601" id="1795" >
<cdparam x="938" y="335" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="938" y="351" id="1777" />
-<P2 x="793" y="351" id="1893" />
+<P1 x="829" y="207" id="1809" />
+<P2 x="714" y="207" id="1838" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1774" >
+<CONNECTOR type="1601" id="1796" >
<cdparam x="400" y="577" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="400" y="577" id="1806" />
-<P2 x="573" y="441" id="1883" />
+<P1 x="495" y="336" id="1925" />
+<P2 x="589" y="285" id="1848" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1775" >
+<CONNECTOR type="1601" id="1797" >
<cdparam x="395" y="386" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="395" y="386" id="1844" />
-<P2 x="573" y="386" id="1873" />
+<P1 x="493" y="227" id="1887" />
+<P2 x="589" y="231" id="1858" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1776" >
+<CONNECTOR type="1601" id="1798" >
<cdparam x="390" y="202" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="390" y="202" id="1825" />
-<P2 x="573" y="338" id="1863" />
+<P1 x="485" y="124" id="1906" />
+<P2 x="589" y="176" id="1868" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<COMPONENT type="1608" id="1805" >
-<cdparam x="948" y="297" />
-<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1608" id="1827" >
+<cdparam x="829" y="191" />
+<sizeparam width="126" height="104" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Primitive component - Block GPIO2VCI" value="blockGPIO2VCI" />
-<TGConnectingPoint num="0" id="1797" />
-<TGConnectingPoint num="1" id="1798" />
-<TGConnectingPoint num="2" id="1799" />
-<TGConnectingPoint num="3" id="1800" />
-<TGConnectingPoint num="4" id="1801" />
-<TGConnectingPoint num="5" id="1802" />
-<TGConnectingPoint num="6" id="1803" />
-<TGConnectingPoint num="7" id="1804" />
-</COMPONENT>
-<SUBCOMPONENT type="1605" id="1786" >
-<father id="1805" num="0" />
-<cdparam x="938" y="341" />
+<TGConnectingPoint num="0" id="1819" />
+<TGConnectingPoint num="1" id="1820" />
+<TGConnectingPoint num="2" id="1821" />
+<TGConnectingPoint num="3" id="1822" />
+<TGConnectingPoint num="4" id="1823" />
+<TGConnectingPoint num="5" id="1824" />
+<TGConnectingPoint num="6" id="1825" />
+<TGConnectingPoint num="7" id="1826" />
+</COMPONENT>
+<SUBCOMPONENT type="1605" id="1808" >
+<father id="1827" num="0" />
+<cdparam x="819" y="266" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="outSoclib" />
-<TGConnectingPoint num="0" id="1777" />
-<TGConnectingPoint num="1" id="1778" />
-<TGConnectingPoint num="2" id="1779" />
-<TGConnectingPoint num="3" id="1780" />
-<TGConnectingPoint num="4" id="1781" />
-<TGConnectingPoint num="5" id="1782" />
-<TGConnectingPoint num="6" id="1783" />
-<TGConnectingPoint num="7" id="1784" />
-<TGConnectingPoint num="8" id="1785" />
-<extraparam>
-<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="-10" maxX="116" minY="-10" maxY="94" />
+<infoparam name="Primitive port - Port DE" value="inSoclib" />
+<TGConnectingPoint num="0" id="1799" />
+<TGConnectingPoint num="1" id="1800" />
+<TGConnectingPoint num="2" id="1801" />
+<TGConnectingPoint num="3" id="1802" />
+<TGConnectingPoint num="4" id="1803" />
+<TGConnectingPoint num="5" id="1804" />
+<TGConnectingPoint num="6" id="1805" />
+<TGConnectingPoint num="7" id="1806" />
+<TGConnectingPoint num="8" id="1807" />
+<extraparam>
+<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1796" >
-<father id="1805" num="1" />
-<cdparam x="938" y="399" />
+<SUBCOMPONENT type="1605" id="1818" >
+<father id="1827" num="1" />
+<cdparam x="819" y="207" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="inSoclib" />
-<TGConnectingPoint num="0" id="1787" />
-<TGConnectingPoint num="1" id="1788" />
-<TGConnectingPoint num="2" id="1789" />
-<TGConnectingPoint num="3" id="1790" />
-<TGConnectingPoint num="4" id="1791" />
-<TGConnectingPoint num="5" id="1792" />
-<TGConnectingPoint num="6" id="1793" />
-<TGConnectingPoint num="7" id="1794" />
-<TGConnectingPoint num="8" id="1795" />
-<extraparam>
-<Prop commName="inSoclib" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="-10" maxX="116" minY="-10" maxY="94" />
+<infoparam name="Primitive port - Port DE" value="outSoclib" />
+<TGConnectingPoint num="0" id="1809" />
+<TGConnectingPoint num="1" id="1810" />
+<TGConnectingPoint num="2" id="1811" />
+<TGConnectingPoint num="3" id="1812" />
+<TGConnectingPoint num="4" id="1813" />
+<TGConnectingPoint num="5" id="1814" />
+<TGConnectingPoint num="6" id="1815" />
+<TGConnectingPoint num="7" id="1816" />
+<TGConnectingPoint num="8" id="1817" />
+<extraparam>
+<Prop commName="outSoclib" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1607" id="1930" >
-<cdparam x="90" y="73" />
-<sizeparam width="764" height="578" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="1607" id="1952" >
+<cdparam x="285" y="49" />
+<sizeparam width="467" height="363" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Composite component - Cluster" value="distance_sensor" />
-<TGConnectingPoint num="0" id="1922" />
-<TGConnectingPoint num="1" id="1923" />
-<TGConnectingPoint num="2" id="1924" />
-<TGConnectingPoint num="3" id="1925" />
-<TGConnectingPoint num="4" id="1926" />
-<TGConnectingPoint num="5" id="1927" />
-<TGConnectingPoint num="6" id="1928" />
-<TGConnectingPoint num="7" id="1929" />
-</COMPONENT>
-<SUBCOMPONENT type="1602" id="1824" >
-<father id="1930" num="0" />
-<cdparam x="158" y="477" />
-<sizeparam width="232" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
-<hidden value="false" />
-<cdrectangleparam minX="0" maxX="532" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_right" />
-<TGConnectingPoint num="0" id="1816" />
-<TGConnectingPoint num="1" id="1817" />
-<TGConnectingPoint num="2" id="1818" />
-<TGConnectingPoint num="3" id="1819" />
-<TGConnectingPoint num="4" id="1820" />
-<TGConnectingPoint num="5" id="1821" />
-<TGConnectingPoint num="6" id="1822" />
-<TGConnectingPoint num="7" id="1823" />
-<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- out.write(rand() % 12);
+<TGConnectingPoint num="0" id="1944" />
+<TGConnectingPoint num="1" id="1945" />
+<TGConnectingPoint num="2" id="1946" />
+<TGConnectingPoint num="3" id="1947" />
+<TGConnectingPoint num="4" id="1948" />
+<TGConnectingPoint num="5" id="1949" />
+<TGConnectingPoint num="6" id="1950" />
+<TGConnectingPoint num="7" id="1951" />
+</COMPONENT>
+<SUBCOMPONENT type="1603" id="1886" >
+<father id="1952" num="0" />
+<cdparam x="589" y="170" />
+<sizeparam width="125" height="139" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="342" minY="0" maxY="224" />
+<infoparam name="Primitive component - Block DE" value="controller" />
+<TGConnectingPoint num="0" id="1878" />
+<TGConnectingPoint num="1" id="1879" />
+<TGConnectingPoint num="2" id="1880" />
+<TGConnectingPoint num="3" id="1881" />
+<TGConnectingPoint num="4" id="1882" />
+<TGConnectingPoint num="5" id="1883" />
+<TGConnectingPoint num="6" id="1884" />
+<TGConnectingPoint num="7" id="1885" />
+<extraparam>
+<Attribute name_function="read_sensor" clockName="" code="void read_sensor() {
+ if(in.read() == 0) {
+ out.write(in_left.read());
+ //cout << "Reading sensor left: " << in_left.read() << "@ " << this->get_time() << endl;
+ }
+ else if(in.read() == 1) {
+ out.write(in_front.read());
+ //cout << "Reading sensor front: " << in_front.read() << "@ " << this->get_time() << endl;
+ }
+ else if(in.read() == 2) {
+ out.write(in_right.read());
+ //cout << "Reading sensor right: " << in_right.read() << "@ " << this->get_time() << endl;
+ }
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1815" >
-<father id="1824" num="0" />
-<cdparam x="380" y="567" />
+<SUBCOMPONENT type="1605" id="1837" >
+<father id="1886" num="0" />
+<cdparam x="704" y="266" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="222" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1806" />
-<TGConnectingPoint num="1" id="1807" />
-<TGConnectingPoint num="2" id="1808" />
-<TGConnectingPoint num="3" id="1809" />
-<TGConnectingPoint num="4" id="1810" />
-<TGConnectingPoint num="5" id="1811" />
-<TGConnectingPoint num="6" id="1812" />
-<TGConnectingPoint num="7" id="1813" />
-<TGConnectingPoint num="8" id="1814" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" delay="-1" type="int" />
+<cdrectangleparam minX="-10" maxX="115" minY="-10" maxY="129" />
+<infoparam name="Primitive port - Port DE" value="out" />
+<TGConnectingPoint num="0" id="1828" />
+<TGConnectingPoint num="1" id="1829" />
+<TGConnectingPoint num="2" id="1830" />
+<TGConnectingPoint num="3" id="1831" />
+<TGConnectingPoint num="4" id="1832" />
+<TGConnectingPoint num="5" id="1833" />
+<TGConnectingPoint num="6" id="1834" />
+<TGConnectingPoint num="7" id="1835" />
+<TGConnectingPoint num="8" id="1836" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" type="sc_uint<32>" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1602" id="1843" >
-<father id="1930" num="1" />
-<cdparam x="155" y="117" />
-<sizeparam width="225" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1605" id="1847" >
+<father id="1886" num="1" />
+<cdparam x="704" y="207" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="539" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_left" />
-<TGConnectingPoint num="0" id="1835" />
-<TGConnectingPoint num="1" id="1836" />
-<TGConnectingPoint num="2" id="1837" />
-<TGConnectingPoint num="3" id="1838" />
-<TGConnectingPoint num="4" id="1839" />
-<TGConnectingPoint num="5" id="1840" />
-<TGConnectingPoint num="6" id="1841" />
-<TGConnectingPoint num="7" id="1842" />
-<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- out.write(rand() % 12);
-}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+<cdrectangleparam minX="-10" maxX="115" minY="-10" maxY="129" />
+<infoparam name="Primitive port - Port DE" value="in" />
+<TGConnectingPoint num="0" id="1838" />
+<TGConnectingPoint num="1" id="1839" />
+<TGConnectingPoint num="2" id="1840" />
+<TGConnectingPoint num="3" id="1841" />
+<TGConnectingPoint num="4" id="1842" />
+<TGConnectingPoint num="5" id="1843" />
+<TGConnectingPoint num="6" id="1844" />
+<TGConnectingPoint num="7" id="1845" />
+<TGConnectingPoint num="8" id="1846" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" type="sc_uint<32>" sensitive="true" sensitive_method="" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1834" >
-<father id="1843" num="0" />
-<cdparam x="370" y="192" />
+<SUBCOMPONENT type="1605" id="1857" >
+<father id="1886" num="2" />
+<cdparam x="579" y="285" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="215" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1825" />
-<TGConnectingPoint num="1" id="1826" />
-<TGConnectingPoint num="2" id="1827" />
-<TGConnectingPoint num="3" id="1828" />
-<TGConnectingPoint num="4" id="1829" />
-<TGConnectingPoint num="5" id="1830" />
-<TGConnectingPoint num="6" id="1831" />
-<TGConnectingPoint num="7" id="1832" />
-<TGConnectingPoint num="8" id="1833" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" delay="-1" type="int" />
+<cdrectangleparam minX="-10" maxX="115" minY="-10" maxY="129" />
+<infoparam name="Primitive port - Port DE" value="in_right" />
+<TGConnectingPoint num="0" id="1848" />
+<TGConnectingPoint num="1" id="1849" />
+<TGConnectingPoint num="2" id="1850" />
+<TGConnectingPoint num="3" id="1851" />
+<TGConnectingPoint num="4" id="1852" />
+<TGConnectingPoint num="5" id="1853" />
+<TGConnectingPoint num="6" id="1854" />
+<TGConnectingPoint num="7" id="1855" />
+<TGConnectingPoint num="8" id="1856" />
+<extraparam>
+<Prop commName="in_right" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1602" id="1862" >
-<father id="1930" num="2" />
-<cdparam x="157" y="297" />
-<sizeparam width="228" height="149" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1605" id="1867" >
+<father id="1886" num="3" />
+<cdparam x="579" y="231" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="536" minY="0" maxY="429" />
-<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_front" />
-<TGConnectingPoint num="0" id="1854" />
-<TGConnectingPoint num="1" id="1855" />
-<TGConnectingPoint num="2" id="1856" />
-<TGConnectingPoint num="3" id="1857" />
-<TGConnectingPoint num="4" id="1858" />
-<TGConnectingPoint num="5" id="1859" />
-<TGConnectingPoint num="6" id="1860" />
-<TGConnectingPoint num="7" id="1861" />
-<extraparam>
-<Attribute period="100.0" time="ns" processCode="void processing() {
- //out.write(rand() % 12);
- out.write(2);
-}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+<cdrectangleparam minX="-10" maxX="115" minY="-10" maxY="129" />
+<infoparam name="Primitive port - Port DE" value="in_front" />
+<TGConnectingPoint num="0" id="1858" />
+<TGConnectingPoint num="1" id="1859" />
+<TGConnectingPoint num="2" id="1860" />
+<TGConnectingPoint num="3" id="1861" />
+<TGConnectingPoint num="4" id="1862" />
+<TGConnectingPoint num="5" id="1863" />
+<TGConnectingPoint num="6" id="1864" />
+<TGConnectingPoint num="7" id="1865" />
+<TGConnectingPoint num="8" id="1866" />
+<extraparam>
+<Prop commName="in_front" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1853" >
-<father id="1862" num="0" />
-<cdparam x="375" y="376" />
+<SUBCOMPONENT type="1605" id="1877" >
+<father id="1886" num="4" />
+<cdparam x="579" y="176" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="218" minY="-10" maxY="139" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1844" />
-<TGConnectingPoint num="1" id="1845" />
-<TGConnectingPoint num="2" id="1846" />
-<TGConnectingPoint num="3" id="1847" />
-<TGConnectingPoint num="4" id="1848" />
-<TGConnectingPoint num="5" id="1849" />
-<TGConnectingPoint num="6" id="1850" />
-<TGConnectingPoint num="7" id="1851" />
-<TGConnectingPoint num="8" id="1852" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" delay="-1" type="int" />
+<cdrectangleparam minX="-10" maxX="115" minY="-10" maxY="129" />
+<infoparam name="Primitive port - Port DE" value="in_left" />
+<TGConnectingPoint num="0" id="1868" />
+<TGConnectingPoint num="1" id="1869" />
+<TGConnectingPoint num="2" id="1870" />
+<TGConnectingPoint num="3" id="1871" />
+<TGConnectingPoint num="4" id="1872" />
+<TGConnectingPoint num="5" id="1873" />
+<TGConnectingPoint num="6" id="1874" />
+<TGConnectingPoint num="7" id="1875" />
+<TGConnectingPoint num="8" id="1876" />
+<extraparam>
+<Prop commName="in_left" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1603" id="1921" >
-<father id="1930" num="3" />
-<cdparam x="583" y="304" />
-<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1602" id="1905" >
+<father id="1952" num="1" />
+<cdparam x="305" y="194" />
+<sizeparam width="188" height="97" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="564" minY="0" maxY="428" />
-<infoparam name="Primitive component - Block DE" value="controller" />
-<TGConnectingPoint num="0" id="1913" />
-<TGConnectingPoint num="1" id="1914" />
-<TGConnectingPoint num="2" id="1915" />
-<TGConnectingPoint num="3" id="1916" />
-<TGConnectingPoint num="4" id="1917" />
-<TGConnectingPoint num="5" id="1918" />
-<TGConnectingPoint num="6" id="1919" />
-<TGConnectingPoint num="7" id="1920" />
-<extraparam>
-<Attribute name_function="read_sensor" code="void read_sensor() {
- if(in.read() == 0) {
- out.write(in_left.read());
- //cout << "Reading sensor left: " << in_left.read() << "@ " << this->get_time() << endl;
- }
- else if(in.read() == 1) {
- out.write(in_front.read());
- //cout << "Reading sensor front: " << in_front.read() << "@ " << this->get_time() << endl;
- }
- else if(in.read() == 2) {
- out.write(in_right.read());
- //cout << "Reading sensor right: " << in_right.read() << "@ " << this->get_time() << endl;
- }
+<cdrectangleparam minX="0" maxX="279" minY="0" maxY="266" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_front" />
+<TGConnectingPoint num="0" id="1897" />
+<TGConnectingPoint num="1" id="1898" />
+<TGConnectingPoint num="2" id="1899" />
+<TGConnectingPoint num="3" id="1900" />
+<TGConnectingPoint num="4" id="1901" />
+<TGConnectingPoint num="5" id="1902" />
+<TGConnectingPoint num="6" id="1903" />
+<TGConnectingPoint num="7" id="1904" />
+<extraparam>
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ //out.write(rand() % 12);
+ out.write(2);
}
- " listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1872" >
-<father id="1921" num="0" />
-<cdparam x="573" y="328" />
+<SUBCOMPONENT type="1606" id="1896" >
+<father id="1905" num="0" />
+<cdparam x="483" y="227" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in_left" />
-<TGConnectingPoint num="0" id="1863" />
-<TGConnectingPoint num="1" id="1864" />
-<TGConnectingPoint num="2" id="1865" />
-<TGConnectingPoint num="3" id="1866" />
-<TGConnectingPoint num="4" id="1867" />
-<TGConnectingPoint num="5" id="1868" />
-<TGConnectingPoint num="6" id="1869" />
-<TGConnectingPoint num="7" id="1870" />
-<TGConnectingPoint num="8" id="1871" />
-<extraparam>
-<Prop commName="in_left" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="-10" maxX="178" minY="-10" maxY="87" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1887" />
+<TGConnectingPoint num="1" id="1888" />
+<TGConnectingPoint num="2" id="1889" />
+<TGConnectingPoint num="3" id="1890" />
+<TGConnectingPoint num="4" id="1891" />
+<TGConnectingPoint num="5" id="1892" />
+<TGConnectingPoint num="6" id="1893" />
+<TGConnectingPoint num="7" id="1894" />
+<TGConnectingPoint num="8" id="1895" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1882" >
-<father id="1921" num="1" />
-<cdparam x="573" y="376" />
-<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1602" id="1924" >
+<father id="1952" num="2" />
+<cdparam x="303" y="95" />
+<sizeparam width="182" height="91" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in_front" />
-<TGConnectingPoint num="0" id="1873" />
-<TGConnectingPoint num="1" id="1874" />
-<TGConnectingPoint num="2" id="1875" />
-<TGConnectingPoint num="3" id="1876" />
-<TGConnectingPoint num="4" id="1877" />
-<TGConnectingPoint num="5" id="1878" />
-<TGConnectingPoint num="6" id="1879" />
-<TGConnectingPoint num="7" id="1880" />
-<TGConnectingPoint num="8" id="1881" />
-<extraparam>
-<Prop commName="in_front" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="0" maxX="285" minY="0" maxY="272" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_left" />
+<TGConnectingPoint num="0" id="1916" />
+<TGConnectingPoint num="1" id="1917" />
+<TGConnectingPoint num="2" id="1918" />
+<TGConnectingPoint num="3" id="1919" />
+<TGConnectingPoint num="4" id="1920" />
+<TGConnectingPoint num="5" id="1921" />
+<TGConnectingPoint num="6" id="1922" />
+<TGConnectingPoint num="7" id="1923" />
+<extraparam>
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ out.write(rand() % 12);
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1892" >
-<father id="1921" num="2" />
-<cdparam x="573" y="431" />
+<SUBCOMPONENT type="1606" id="1915" >
+<father id="1924" num="0" />
+<cdparam x="475" y="124" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in_right" />
-<TGConnectingPoint num="0" id="1883" />
-<TGConnectingPoint num="1" id="1884" />
-<TGConnectingPoint num="2" id="1885" />
-<TGConnectingPoint num="3" id="1886" />
-<TGConnectingPoint num="4" id="1887" />
-<TGConnectingPoint num="5" id="1888" />
-<TGConnectingPoint num="6" id="1889" />
-<TGConnectingPoint num="7" id="1890" />
-<TGConnectingPoint num="8" id="1891" />
-<extraparam>
-<Prop commName="in_right" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="-10" maxX="172" minY="-10" maxY="81" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1906" />
+<TGConnectingPoint num="1" id="1907" />
+<TGConnectingPoint num="2" id="1908" />
+<TGConnectingPoint num="3" id="1909" />
+<TGConnectingPoint num="4" id="1910" />
+<TGConnectingPoint num="5" id="1911" />
+<TGConnectingPoint num="6" id="1912" />
+<TGConnectingPoint num="7" id="1913" />
+<TGConnectingPoint num="8" id="1914" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1902" >
-<father id="1921" num="3" />
-<cdparam x="773" y="341" />
-<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="1602" id="1943" >
+<father id="1952" num="3" />
+<cdparam x="306" y="299" />
+<sizeparam width="189" height="100" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in" />
-<TGConnectingPoint num="0" id="1893" />
-<TGConnectingPoint num="1" id="1894" />
-<TGConnectingPoint num="2" id="1895" />
-<TGConnectingPoint num="3" id="1896" />
-<TGConnectingPoint num="4" id="1897" />
-<TGConnectingPoint num="5" id="1898" />
-<TGConnectingPoint num="6" id="1899" />
-<TGConnectingPoint num="7" id="1900" />
-<TGConnectingPoint num="8" id="1901" />
-<extraparam>
-<Prop commName="in" commType="0" origin="0" type="sc_uint<32>" sensitive="true" sensitive_method="" />
+<cdrectangleparam minX="0" maxX="278" minY="0" maxY="263" />
+<infoparam name="Primitive component - Block TDF" value="ultrasonic_sensor_right" />
+<TGConnectingPoint num="0" id="1935" />
+<TGConnectingPoint num="1" id="1936" />
+<TGConnectingPoint num="2" id="1937" />
+<TGConnectingPoint num="3" id="1938" />
+<TGConnectingPoint num="4" id="1939" />
+<TGConnectingPoint num="5" id="1940" />
+<TGConnectingPoint num="6" id="1941" />
+<TGConnectingPoint num="7" id="1942" />
+<extraparam>
+<Attribute period="100.0" time="ns" processCode="void processing() {
+ out.write(rand() % 12);
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1912" >
-<father id="1921" num="4" />
-<cdparam x="773" y="400" />
+<SUBCOMPONENT type="1606" id="1934" >
+<father id="1943" num="0" />
+<cdparam x="485" y="336" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="out" />
-<TGConnectingPoint num="0" id="1903" />
-<TGConnectingPoint num="1" id="1904" />
-<TGConnectingPoint num="2" id="1905" />
-<TGConnectingPoint num="3" id="1906" />
-<TGConnectingPoint num="4" id="1907" />
-<TGConnectingPoint num="5" id="1908" />
-<TGConnectingPoint num="6" id="1909" />
-<TGConnectingPoint num="7" id="1910" />
-<TGConnectingPoint num="8" id="1911" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" type="sc_uint<32>" sensitive="false" sensitive_method="positive" />
+<cdrectangleparam minX="-10" maxX="179" minY="-10" maxY="90" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1925" />
+<TGConnectingPoint num="1" id="1926" />
+<TGConnectingPoint num="2" id="1927" />
+<TGConnectingPoint num="3" id="1928" />
+<TGConnectingPoint num="4" id="1929" />
+<TGConnectingPoint num="5" id="1930" />
+<TGConnectingPoint num="6" id="1931" />
+<TGConnectingPoint num="7" id="1932" />
+<TGConnectingPoint num="8" id="1933" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="100.0" time="ns" rate="-1" nbits="0" delay="-1" type="int" />
</extraparam>
</SUBCOMPONENT>
@@ -5311,108 +5415,108 @@ state 2: obstacles in close proximity
</SysCAMSComponentTaskDiagramPanel>
<SysCAMSComponentTaskDiagramPanel name="temperature_sensor" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
-<CONNECTOR type="1601" id="1931" >
+<CONNECTOR type="1601" id="1953" >
<cdparam x="700" y="426" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="690" y="416" id="1972" />
-<P2 x="878" y="416" id="1943" />
+<P1 x="690" y="416" id="1984" />
+<P2 x="878" y="416" id="1955" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<CONNECTOR type="1601" id="1932" >
+<CONNECTOR type="1601" id="1954" >
<cdparam x="884" y="360" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="" />
-<P1 x="878" y="343" id="1933" />
-<P2 x="690" y="343" id="1962" />
+<P1 x="878" y="343" id="1965" />
+<P2 x="690" y="343" id="1994" />
<AutomaticDrawing data="true" />
</CONNECTOR>
-<COMPONENT type="1608" id="1961" >
+<COMPONENT type="1608" id="1983" >
<cdparam x="878" y="314" />
<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Primitive component - Block GPIO2VCI" value="blockGPIO2VCI" />
-<TGConnectingPoint num="0" id="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" />
-</COMPONENT>
-<SUBCOMPONENT type="1605" id="1942" >
-<father id="1961" num="0" />
-<cdparam x="868" y="343" />
+<TGConnectingPoint num="0" id="1975" />
+<TGConnectingPoint num="1" id="1976" />
+<TGConnectingPoint num="2" id="1977" />
+<TGConnectingPoint num="3" id="1978" />
+<TGConnectingPoint num="4" id="1979" />
+<TGConnectingPoint num="5" id="1980" />
+<TGConnectingPoint num="6" id="1981" />
+<TGConnectingPoint num="7" id="1982" />
+</COMPONENT>
+<SUBCOMPONENT type="1605" id="1964" >
+<father id="1983" num="0" />
+<cdparam x="868" y="416" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="out" />
-<TGConnectingPoint num="0" id="1933" />
-<TGConnectingPoint num="1" id="1934" />
-<TGConnectingPoint num="2" id="1935" />
-<TGConnectingPoint num="3" id="1936" />
-<TGConnectingPoint num="4" id="1937" />
-<TGConnectingPoint num="5" id="1938" />
-<TGConnectingPoint num="6" id="1939" />
-<TGConnectingPoint num="7" id="1940" />
-<TGConnectingPoint num="8" id="1941" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" />
+<infoparam name="Primitive port - Port DE" value="in" />
+<TGConnectingPoint num="0" id="1955" />
+<TGConnectingPoint num="1" id="1956" />
+<TGConnectingPoint num="2" id="1957" />
+<TGConnectingPoint num="3" id="1958" />
+<TGConnectingPoint num="4" id="1959" />
+<TGConnectingPoint num="5" id="1960" />
+<TGConnectingPoint num="6" id="1961" />
+<TGConnectingPoint num="7" id="1962" />
+<TGConnectingPoint num="8" id="1963" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1605" id="1952" >
-<father id="1961" num="1" />
-<cdparam x="868" y="416" />
+<SUBCOMPONENT type="1605" id="1974" >
+<father id="1983" num="1" />
+<cdparam x="868" y="343" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port DE" value="in" />
-<TGConnectingPoint num="0" id="1943" />
-<TGConnectingPoint num="1" id="1944" />
-<TGConnectingPoint num="2" id="1945" />
-<TGConnectingPoint num="3" id="1946" />
-<TGConnectingPoint num="4" id="1947" />
-<TGConnectingPoint num="5" id="1948" />
-<TGConnectingPoint num="6" id="1949" />
-<TGConnectingPoint num="7" id="1950" />
-<TGConnectingPoint num="8" id="1951" />
-<extraparam>
-<Prop commName="in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="positive" />
+<infoparam name="Primitive port - Port DE" value="out" />
+<TGConnectingPoint num="0" id="1965" />
+<TGConnectingPoint num="1" id="1966" />
+<TGConnectingPoint num="2" id="1967" />
+<TGConnectingPoint num="3" id="1968" />
+<TGConnectingPoint num="4" id="1969" />
+<TGConnectingPoint num="5" id="1970" />
+<TGConnectingPoint num="6" id="1971" />
+<TGConnectingPoint num="7" id="1972" />
+<TGConnectingPoint num="8" id="1973" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" type="int" sensitive="false" sensitive_method="positive" nbits="0" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="1607" id="1999" >
+<COMPONENT type="1607" id="2021" >
<cdparam x="308" y="233" />
<sizeparam width="493" height="291" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Composite component - Cluster" value="temperature_sensor" />
-<TGConnectingPoint num="0" id="1991" />
-<TGConnectingPoint num="1" id="1992" />
-<TGConnectingPoint num="2" id="1993" />
-<TGConnectingPoint num="3" id="1994" />
-<TGConnectingPoint num="4" id="1995" />
-<TGConnectingPoint num="5" id="1996" />
-<TGConnectingPoint num="6" id="1997" />
-<TGConnectingPoint num="7" id="1998" />
-</COMPONENT>
-<SUBCOMPONENT type="1602" id="1990" >
-<father id="1999" num="0" />
+<TGConnectingPoint num="0" id="2013" />
+<TGConnectingPoint num="1" id="2014" />
+<TGConnectingPoint num="2" id="2015" />
+<TGConnectingPoint num="3" id="2016" />
+<TGConnectingPoint num="4" id="2017" />
+<TGConnectingPoint num="5" id="2018" />
+<TGConnectingPoint num="6" id="2019" />
+<TGConnectingPoint num="7" id="2020" />
+</COMPONENT>
+<SUBCOMPONENT type="1602" id="2012" >
+<father id="2021" num="0" />
<cdparam x="408" y="311" />
<sizeparam width="282" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="0" maxX="211" minY="0" maxY="141" />
<infoparam name="Primitive component - Block TDF" value="temperature_sensor_unit" />
-<TGConnectingPoint num="0" id="1982" />
-<TGConnectingPoint num="1" id="1983" />
-<TGConnectingPoint num="2" id="1984" />
-<TGConnectingPoint num="3" id="1985" />
-<TGConnectingPoint num="4" id="1986" />
-<TGConnectingPoint num="5" id="1987" />
-<TGConnectingPoint num="6" id="1988" />
-<TGConnectingPoint num="7" id="1989" />
+<TGConnectingPoint num="0" id="2004" />
+<TGConnectingPoint num="1" id="2005" />
+<TGConnectingPoint num="2" id="2006" />
+<TGConnectingPoint num="3" id="2007" />
+<TGConnectingPoint num="4" id="2008" />
+<TGConnectingPoint num="5" id="2009" />
+<TGConnectingPoint num="6" id="2010" />
+<TGConnectingPoint num="7" id="2011" />
<extraparam>
<Attribute period="10.0" time="μs" processCode="void processing() {
if(in.read() != 0) {
@@ -5422,47 +5526,47 @@ state 2: obstacles in close proximity
cout << "Temp sensor is off. @ " << this->get_time() << endl;
}
}
- " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1971" >
-<father id="1990" num="0" />
-<cdparam x="680" y="343" />
+<SUBCOMPONENT type="1606" id="1993" >
+<father id="2012" num="0" />
+<cdparam x="680" y="416" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="272" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="in" />
-<TGConnectingPoint num="0" id="1962" />
-<TGConnectingPoint num="1" id="1963" />
-<TGConnectingPoint num="2" id="1964" />
-<TGConnectingPoint num="3" id="1965" />
-<TGConnectingPoint num="4" id="1966" />
-<TGConnectingPoint num="5" id="1967" />
-<TGConnectingPoint num="6" id="1968" />
-<TGConnectingPoint num="7" id="1969" />
-<TGConnectingPoint num="8" id="1970" />
-<extraparam>
-<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="1984" />
+<TGConnectingPoint num="1" id="1985" />
+<TGConnectingPoint num="2" id="1986" />
+<TGConnectingPoint num="3" id="1987" />
+<TGConnectingPoint num="4" id="1988" />
+<TGConnectingPoint num="5" id="1989" />
+<TGConnectingPoint num="6" id="1990" />
+<TGConnectingPoint num="7" id="1991" />
+<TGConnectingPoint num="8" id="1992" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="1606" id="1981" >
-<father id="1990" num="1" />
-<cdparam x="680" y="416" />
+<SUBCOMPONENT type="1606" id="2003" >
+<father id="2012" num="1" />
+<cdparam x="680" y="343" />
<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-10" maxX="272" minY="-10" maxY="140" />
-<infoparam name="Primitive port - Port Converter" value="out" />
-<TGConnectingPoint num="0" id="1972" />
-<TGConnectingPoint num="1" id="1973" />
-<TGConnectingPoint num="2" id="1974" />
-<TGConnectingPoint num="3" id="1975" />
-<TGConnectingPoint num="4" id="1976" />
-<TGConnectingPoint num="5" id="1977" />
-<TGConnectingPoint num="6" id="1978" />
-<TGConnectingPoint num="7" id="1979" />
-<TGConnectingPoint num="8" id="1980" />
-<extraparam>
-<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="sc_uint<32>" />
+<infoparam name="Primitive port - Port Converter" value="in" />
+<TGConnectingPoint num="0" id="1994" />
+<TGConnectingPoint num="1" id="1995" />
+<TGConnectingPoint num="2" id="1996" />
+<TGConnectingPoint num="3" id="1997" />
+<TGConnectingPoint num="4" id="1998" />
+<TGConnectingPoint num="5" id="1999" />
+<TGConnectingPoint num="6" id="2000" />
+<TGConnectingPoint num="7" id="2001" />
+<TGConnectingPoint num="8" id="2002" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="sc_uint<32>" />
</extraparam>
</SUBCOMPONENT>
diff --git a/modeling/SystemC-AMS/test_TDF_DE.xml b/modeling/SystemC-AMS/test_TDF_DE.xml
new file mode 100644
index 0000000000..c6b6896925
--- /dev/null
+++ b/modeling/SystemC-AMS/test_TDF_DE.xml
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="1.0beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="0" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="SystemC-AMS" nameTab="SystemC_AMS" >
+<SysCAMSComponentTaskDiagramPanel name="SystemC-AMS Component Diagram" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
+<CONNECTOR type="1601" id="1" >
+<cdparam x="394" y="215" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="port" />
+<P1 x="394" y="215" id="21" />
+<P2 x="440" y="199" id="2" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="1607" id="48" >
+<cdparam x="113" y="41" />
+<sizeparam width="575" height="325" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Composite component - Cluster" value="cluster" />
+<TGConnectingPoint num="0" id="40" />
+<TGConnectingPoint num="1" id="41" />
+<TGConnectingPoint num="2" id="42" />
+<TGConnectingPoint num="3" id="43" />
+<TGConnectingPoint num="4" id="44" />
+<TGConnectingPoint num="5" id="45" />
+<TGConnectingPoint num="6" id="46" />
+<TGConnectingPoint num="7" id="47" />
+</COMPONENT>
+<SUBCOMPONENT type="1603" id="20" >
+<father id="48" num="0" />
+<cdparam x="450" y="143" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="375" minY="0" maxY="175" />
+<infoparam name="Primitive component - Block DE" value="blockDE0" />
+<TGConnectingPoint num="0" id="12" />
+<TGConnectingPoint num="1" id="13" />
+<TGConnectingPoint num="2" id="14" />
+<TGConnectingPoint num="3" id="15" />
+<TGConnectingPoint num="4" id="16" />
+<TGConnectingPoint num="5" id="17" />
+<TGConnectingPoint num="6" id="18" />
+<TGConnectingPoint num="7" id="19" />
+<extraparam>
+<Attribute name_function="" clockName="toto" code="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1605" id="11" >
+<father id="20" num="0" />
+<cdparam x="440" y="189" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port DE" value="in" />
+<TGConnectingPoint num="0" id="2" />
+<TGConnectingPoint num="1" id="3" />
+<TGConnectingPoint num="2" id="4" />
+<TGConnectingPoint num="3" id="5" />
+<TGConnectingPoint num="4" id="6" />
+<TGConnectingPoint num="5" id="7" />
+<TGConnectingPoint num="6" id="8" />
+<TGConnectingPoint num="7" id="9" />
+<TGConnectingPoint num="8" id="10" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="39" >
+<father id="48" num="1" />
+<cdparam x="184" y="132" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="375" minY="0" maxY="175" />
+<infoparam name="Primitive component - Block TDF" value="blockTDF0" />
+<TGConnectingPoint num="0" id="31" />
+<TGConnectingPoint num="1" id="32" />
+<TGConnectingPoint num="2" id="33" />
+<TGConnectingPoint num="3" id="34" />
+<TGConnectingPoint num="4" id="35" />
+<TGConnectingPoint num="5" id="36" />
+<TGConnectingPoint num="6" id="37" />
+<TGConnectingPoint num="7" id="38" />
+<extraparam>
+<Attribute period="1.0" time="s" processCode="void processing() {
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="30" >
+<father id="39" num="0" />
+<cdparam x="374" y="205" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port Converter" value="out" />
+<TGConnectingPoint num="0" id="21" />
+<TGConnectingPoint num="1" id="22" />
+<TGConnectingPoint num="2" id="23" />
+<TGConnectingPoint num="3" id="24" />
+<TGConnectingPoint num="4" id="25" />
+<TGConnectingPoint num="5" id="26" />
+<TGConnectingPoint num="6" id="27" />
+<TGConnectingPoint num="7" id="28" />
+<TGConnectingPoint num="8" id="29" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</SysCAMSComponentTaskDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/modeling/SystemC-AMS/tutorial_with_processing.xml b/modeling/SystemC-AMS/tutorial_with_processing.xml
new file mode 100644
index 0000000000..99c8a01ed4
--- /dev/null
+++ b/modeling/SystemC-AMS/tutorial_with_processing.xml
@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="1.0beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false">
+
+<Modeling type="SystemC-AMS" nameTab="SystemC_AMS" >
+<SysCAMSComponentTaskDiagramPanel name="SystemC-AMS Component Diagram" minX="10" maxX="2500" minY="10" maxY="1500" TDF="true" DE="true" zoom="1.0" >
+<CONNECTOR type="1601" id="1" >
+<cdparam x="359" y="149" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<P1 x="359" y="149" id="21" />
+<P2 x="424" y="151" id="2" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="1607" id="48" >
+<cdparam x="128" y="19" />
+<sizeparam width="538" height="221" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Composite component - Cluster" value="cluster" />
+<TGConnectingPoint num="0" id="40" />
+<TGConnectingPoint num="1" id="41" />
+<TGConnectingPoint num="2" id="42" />
+<TGConnectingPoint num="3" id="43" />
+<TGConnectingPoint num="4" id="44" />
+<TGConnectingPoint num="5" id="45" />
+<TGConnectingPoint num="6" id="46" />
+<TGConnectingPoint num="7" id="47" />
+</COMPONENT>
+<SUBCOMPONENT type="1602" id="20" >
+<father id="48" num="0" />
+<cdparam x="434" y="70" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="338" minY="0" maxY="71" />
+<infoparam name="Primitive component - Block TDF" value="blockTDF1" />
+<TGConnectingPoint num="0" id="12" />
+<TGConnectingPoint num="1" id="13" />
+<TGConnectingPoint num="2" id="14" />
+<TGConnectingPoint num="3" id="15" />
+<TGConnectingPoint num="4" id="16" />
+<TGConnectingPoint num="5" id="17" />
+<TGConnectingPoint num="6" id="18" />
+<TGConnectingPoint num="7" id="19" />
+<extraparam>
+<Attribute period="2.0" time="ms" processCode="void processing() {
+ std::cout << "value read from in port " << in.read() << std::endl;
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="11" >
+<father id="20" num="0" />
+<cdparam x="424" y="141" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port TDF" value="in" />
+<TGConnectingPoint num="0" id="2" />
+<TGConnectingPoint num="1" id="3" />
+<TGConnectingPoint num="2" id="4" />
+<TGConnectingPoint num="3" id="5" />
+<TGConnectingPoint num="4" id="6" />
+<TGConnectingPoint num="5" id="7" />
+<TGConnectingPoint num="6" id="8" />
+<TGConnectingPoint num="7" id="9" />
+<TGConnectingPoint num="8" id="10" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="39" >
+<father id="48" num="1" />
+<cdparam x="149" y="69" />
+<sizeparam width="200" height="150" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="338" minY="0" maxY="71" />
+<infoparam name="Primitive component - Block TDF" value="blockTDF0" />
+<TGConnectingPoint num="0" id="31" />
+<TGConnectingPoint num="1" id="32" />
+<TGConnectingPoint num="2" id="33" />
+<TGConnectingPoint num="3" id="34" />
+<TGConnectingPoint num="4" id="35" />
+<TGConnectingPoint num="5" id="36" />
+<TGConnectingPoint num="6" id="37" />
+<TGConnectingPoint num="7" id="38" />
+<extraparam>
+<Attribute period="4.0" time="ms" processCode="void processing() {
+ double x= 0.0;
+ for(x=0.0;x<1000;x+=0.1){
+ out.write(std::sin(x*M_PI));
+ std::cout<<"written data to out port"<< std::sin(x*M_PI)<< std::endl;
+ }
+}
+ " constructorCode="" listStruct="" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="30" >
+<father id="39" num="0" />
+<cdparam x="339" y="139" />
+<sizeparam width="20" height="20" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-10" maxX="190" minY="-10" maxY="140" />
+<infoparam name="Primitive port - Port TDF" value="out" />
+<TGConnectingPoint num="0" id="21" />
+<TGConnectingPoint num="1" id="22" />
+<TGConnectingPoint num="2" id="23" />
+<TGConnectingPoint num="3" id="24" />
+<TGConnectingPoint num="4" id="25" />
+<TGConnectingPoint num="5" id="26" />
+<TGConnectingPoint num="6" id="27" />
+<TGConnectingPoint num="7" id="28" />
+<TGConnectingPoint num="8" id="29" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="2.0" time="ms" rate="2" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</SysCAMSComponentTaskDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/modeling/SystemC-AMS/vibration_sensor_simplified.xml b/modeling/SystemC-AMS/vibration_sensor_simplified.xml
new file mode 100644
index 0000000000..3bd77e66d4
--- /dev/null
+++ b/modeling/SystemC-AMS/vibration_sensor_simplified.xml
@@ -0,0 +1,1133 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="1.0beta" ANIMATE_INTERACTIVE_SIMULATION="true" ACTIVATE_PENALTIES="true" UPDATE_INFORMATION_DIPLO_SIM="true" ANIMATE_WITH_INFO_DIPLO_SIM="true" OPEN_DIAG_DIPLO_SIM="false" LAST_SELECTED_MAIN_TAB="2" LAST_SELECTED_SUB_TAB="0">
+
+<Modeling type="AVATAR Design" nameTab="AVATAR Design" tabs="Block Diagram$Block0" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<COMPONENT type="5000" id="25" >
+<cdparam x="117" y="236" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Block0" value="Block0" />
+<TGConnectingPoint num="0" id="1" />
+<TGConnectingPoint num="1" id="2" />
+<TGConnectingPoint num="2" id="3" />
+<TGConnectingPoint num="3" id="4" />
+<TGConnectingPoint num="4" id="5" />
+<TGConnectingPoint num="5" id="6" />
+<TGConnectingPoint num="6" id="7" />
+<TGConnectingPoint num="7" id="8" />
+<TGConnectingPoint num="8" id="9" />
+<TGConnectingPoint num="9" id="10" />
+<TGConnectingPoint num="10" id="11" />
+<TGConnectingPoint num="11" id="12" />
+<TGConnectingPoint num="12" id="13" />
+<TGConnectingPoint num="13" id="14" />
+<TGConnectingPoint num="14" id="15" />
+<TGConnectingPoint num="15" id="16" />
+<TGConnectingPoint num="16" id="17" />
+<TGConnectingPoint num="17" id="18" />
+<TGConnectingPoint num="18" id="19" />
+<TGConnectingPoint num="19" id="20" />
+<TGConnectingPoint num="20" id="21" />
+<TGConnectingPoint num="21" id="22" />
+<TGConnectingPoint num="22" id="23" />
+<TGConnectingPoint num="23" id="24" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+</extraparam>
+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="Block0" minX="10" maxX="1400" minY="10" maxY="900" >
+<CONNECTOR type="5102" id="38" >
+<cdparam x="460" y="115" />
+<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="34" />
+<TGConnectingPoint num="1" id="35" />
+<TGConnectingPoint num="2" id="36" />
+<TGConnectingPoint num="3" id="37" />
+<P1 x="407" y="152" id="52" />
+<P2 x="457" y="133" id="72" />
+<Point x="407" y="223" />
+<Point x="588" y="222" />
+<Point x="588" y="134" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="26" >
+<father id="38" num="0" />
+<cdparam x="407" y="223" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="27" >
+<father id="38" num="1" />
+<cdparam x="588" y="222" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="28" >
+<father id="38" num="2" />
+<cdparam x="588" y="134" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="33" >
+<father id="38" num="3" />
+<cdparam x="455" y="206" />
+<sizeparam width="65" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="29" />
+<TGConnectingPoint num="1" id="30" />
+<TGConnectingPoint num="2" id="31" />
+<TGConnectingPoint num="3" id="32" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="1" enabled="true"/>
+<afterMax value="5" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="45" >
+<cdparam x="407" y="70" />
+<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="44" />
+<P1 x="407" y="70" id="87" />
+<P2 x="407" y="102" id="47" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="43" >
+<father id="45" num="0" />
+<cdparam x="407" y="110" />
+<sizeparam width="10" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="39" />
+<TGConnectingPoint num="1" id="40" />
+<TGConnectingPoint num="2" id="41" />
+<TGConnectingPoint num="3" id="42" />
+<extraparam>
+<guard value="[ ]" enabled="true"/>
+<afterMin value="" enabled="true"/>
+<afterMax value="" enabled="true"/>
+<computeMin value="" enabled="true"/>
+<computeMax value="" enabled="true"/>
+<probability value="" enabled="true"/>
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5106" id="86" >
+<cdparam x="357" y="102" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<enabled value="true" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="state0" value="state0" />
+<TGConnectingPoint num="0" id="46" />
+<TGConnectingPoint num="1" id="47" />
+<TGConnectingPoint num="2" id="48" />
+<TGConnectingPoint num="3" id="49" />
+<TGConnectingPoint num="4" id="50" />
+<TGConnectingPoint num="5" id="51" />
+<TGConnectingPoint num="6" id="52" />
+<TGConnectingPoint num="7" id="53" />
+<TGConnectingPoint num="8" id="54" />
+<TGConnectingPoint num="9" id="55" />
+<TGConnectingPoint num="10" id="56" />
+<TGConnectingPoint num="11" id="57" />
+<TGConnectingPoint num="12" id="58" />
+<TGConnectingPoint num="13" id="59" />
+<TGConnectingPoint num="14" id="60" />
+<TGConnectingPoint num="15" id="61" />
+<TGConnectingPoint num="16" id="62" />
+<TGConnectingPoint num="17" id="63" />
+<TGConnectingPoint num="18" id="64" />
+<TGConnectingPoint num="19" id="65" />
+<TGConnectingPoint num="20" id="66" />
+<TGConnectingPoint num="21" id="67" />
+<TGConnectingPoint num="22" id="68" />
+<TGConnectingPoint num="23" id="69" />
+<TGConnectingPoint num="24" id="70" />
+<TGConnectingPoint num="25" id="71" />
+<TGConnectingPoint num="26" id="72" />
+<TGConnectingPoint num="27" id="73" />
+<TGConnectingPoint num="28" id="74" />
+<TGConnectingPoint num="29" id="75" />
+<TGConnectingPoint num="30" id="76" />
+<TGConnectingPoint num="31" id="77" />
+<TGConnectingPoint num="32" id="78" />
+<TGConnectingPoint num="33" id="79" />
+<TGConnectingPoint num="34" id="80" />
+<TGConnectingPoint num="35" id="81" />
+<TGConnectingPoint num="36" id="82" />
+<TGConnectingPoint num="37" id="83" />
+<TGConnectingPoint num="38" id="84" />
+<TGConnectingPoint num="39" id="85" />
+<extraparam>
+<entryCode value="printf("Reading value of vibration sensor: %d\n", read_gpio2vci("vibration_sensor"));" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="88" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="87" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="ADD" nameTab="Avatar Deployment" >
+<ADDDiagramPanel name="Deployment Diagram" minX="10" maxX="1400" minY="10" maxY="900" attributes="0" masterClockFrequency="200" >
+<COMPONENT type="5365" id="113" >
+<cdparam x="815" y="284" />
+<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="vibration_sensor" value="vibration_sensor" />
+<TGConnectingPoint num="0" id="89" />
+<TGConnectingPoint num="1" id="90" />
+<TGConnectingPoint num="2" id="91" />
+<TGConnectingPoint num="3" id="92" />
+<TGConnectingPoint num="4" id="93" />
+<TGConnectingPoint num="5" id="94" />
+<TGConnectingPoint num="6" id="95" />
+<TGConnectingPoint num="7" id="96" />
+<TGConnectingPoint num="8" id="97" />
+<TGConnectingPoint num="9" id="98" />
+<TGConnectingPoint num="10" id="99" />
+<TGConnectingPoint num="11" id="100" />
+<TGConnectingPoint num="12" id="101" />
+<TGConnectingPoint num="13" id="102" />
+<TGConnectingPoint num="14" id="103" />
+<TGConnectingPoint num="15" id="104" />
+<TGConnectingPoint num="16" id="105" />
+<TGConnectingPoint num="17" id="106" />
+<TGConnectingPoint num="18" id="107" />
+<TGConnectingPoint num="19" id="108" />
+<TGConnectingPoint num="20" id="109" />
+<TGConnectingPoint num="21" id="110" />
+<TGConnectingPoint num="22" id="111" />
+<TGConnectingPoint num="23" id="112" />
+<extraparam>
+<info stereotype="SystemC-AMS Cluster" nodeName="vibration_sensor" />
+<attributes index="0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5354" id="138" >
+<cdparam x="812" y="38" />
+<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="TTY0" value="name" />
+<TGConnectingPoint num="0" id="114" />
+<TGConnectingPoint num="1" id="115" />
+<TGConnectingPoint num="2" id="116" />
+<TGConnectingPoint num="3" id="117" />
+<TGConnectingPoint num="4" id="118" />
+<TGConnectingPoint num="5" id="119" />
+<TGConnectingPoint num="6" id="120" />
+<TGConnectingPoint num="7" id="121" />
+<TGConnectingPoint num="8" id="122" />
+<TGConnectingPoint num="9" id="123" />
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+<TGConnectingPoint num="11" id="125" />
+<TGConnectingPoint num="12" id="126" />
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+<TGConnectingPoint num="15" id="129" />
+<TGConnectingPoint num="16" id="130" />
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+<TGConnectingPoint num="19" id="133" />
+<TGConnectingPoint num="20" id="134" />
+<TGConnectingPoint num="21" id="135" />
+<TGConnectingPoint num="22" id="136" />
+<TGConnectingPoint num="23" id="137" />
+<extraparam>
+<info stereotype="TTY" nodeName="TTY0" />
+<attributes index="0" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5363" id="163" >
+<cdparam x="523" y="309" />
+<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Bus0" value="name" />
+<TGConnectingPoint num="0" id="139" />
+<TGConnectingPoint num="1" id="140" />
+<TGConnectingPoint num="2" id="141" />
+<TGConnectingPoint num="3" id="142" />
+<TGConnectingPoint num="4" id="143" />
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+<TGConnectingPoint num="7" id="146" />
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+<TGConnectingPoint num="21" id="160" />
+<TGConnectingPoint num="22" id="161" />
+<TGConnectingPoint num="23" id="162" />
+<extraparam>
+<info stereotype="VGSB" nodeName="Bus0" />
+<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="10" fifoDepth="10" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5355" id="188" >
+<cdparam x="501" y="32" />
+<sizeparam width="200" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Memory0" value="name" />
+<TGConnectingPoint num="0" id="164" />
+<TGConnectingPoint num="1" id="165" />
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+<TGConnectingPoint num="21" id="185" />
+<TGConnectingPoint num="22" id="186" />
+<TGConnectingPoint num="23" id="187" />
+<extraparam>
+<info stereotype="RAM" nodeName="Memory0" />
+<attributes byteDataSize="1048576" index="0" processCode="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5351" id="222" >
+<cdparam x="199" y="34" />
+<sizeparam width="250" height="200" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="CPU0" value="name" />
+<TGConnectingPoint num="0" id="198" />
+<TGConnectingPoint num="1" id="199" />
+<TGConnectingPoint num="2" id="200" />
+<TGConnectingPoint num="3" id="201" />
+<TGConnectingPoint num="4" id="202" />
+<TGConnectingPoint num="5" id="203" />
+<TGConnectingPoint num="6" id="204" />
+<TGConnectingPoint num="7" id="205" />
+<TGConnectingPoint num="8" id="206" />
+<TGConnectingPoint num="9" id="207" />
+<TGConnectingPoint num="10" id="208" />
+<TGConnectingPoint num="11" id="209" />
+<TGConnectingPoint num="12" id="210" />
+<TGConnectingPoint num="13" id="211" />
+<TGConnectingPoint num="14" id="212" />
+<TGConnectingPoint num="15" id="213" />
+<TGConnectingPoint num="16" id="214" />
+<TGConnectingPoint num="17" id="215" />
+<TGConnectingPoint num="18" id="216" />
+<TGConnectingPoint num="19" id="217" />
+<TGConnectingPoint num="20" id="218" />
+<TGConnectingPoint num="21" id="219" />
+<TGConnectingPoint num="22" id="220" />
+<TGConnectingPoint num="23" id="221" />
+<extraparam>
+<info stereotype="CPU" nodeName="CPU0" />
+<attributes nbOfIrq="6" iCacheWays="1" iCacheSets="8" iCacheWords="4" dCacheWays="1" dCacheSets="8" dCacheWords="4" />
+</extraparam>
+</COMPONENT>
+<SUBCOMPONENT type="5352" id="197" >
+<father id="222" num="0" />
+<cdparam x="258" y="124" />
+<sizeparam width="176" height="40" minWidth="75" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="74" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="AVATAR Design::Block0" />
+<TGConnectingPoint num="0" id="189" />
+<TGConnectingPoint num="1" id="190" />
+<TGConnectingPoint num="2" id="191" />
+<TGConnectingPoint num="3" id="192" />
+<TGConnectingPoint num="4" id="193" />
+<TGConnectingPoint num="5" id="194" />
+<TGConnectingPoint num="6" id="195" />
+<TGConnectingPoint num="7" id="196" />
+<extraparam>
+<info value="AVATAR Design::Block0" taskName="Block0" referenceTaskName="AVATAR Design" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5350" id="223" >
+<cdparam x="1154" y="486" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="815" y="334" id="99" />
+<P2 x="773" y="334" id="143" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5350" id="224" >
+<cdparam x="711" y="518" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="874" y="38" id="122" />
+<P2 x="648" y="359" id="145" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5350" id="225" >
+<cdparam x="418" y="436" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="701" y="82" id="175" />
+<P2 x="523" y="359" id="144" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5350" id="226" >
+<cdparam x="300" y="244" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="{info}" />
+<P1 x="386" y="234" id="213" />
+<P2 x="523" y="309" id="139" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<spy value="false" />
+</extraparam>
+</CONNECTOR>
+
+</ADDDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="SystemC-AMS" nameTab="SystemC_AMS" >
+<SysCAMSComponentTaskDiagramPanel name="SystemC-AMS Component Diagram" minX="10" maxX="2000" minY="10" maxY="1200" TDF="true" DE="true" zoom="0.8" >
+<CONNECTOR type="1601" id="227" >
+<cdparam x="868" y="457" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<P1 x="868" y="457" id="276" />
+<P2 x="769" y="457" id="247" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="228" >
+<cdparam x="868" y="399" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<P1 x="868" y="399" id="286" />
+<P2 x="769" y="399" id="257" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="229" >
+<cdparam x="681" y="355" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<P1 x="681" y="355" id="237" />
+<P2 x="681" y="239" id="354" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="232" >
+<cdparam x="1041" y="198" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="adc_sig1" />
+<P1 x="1041" y="198" id="315" />
+<P2 x="1044" y="421" id="296" />
+<Point x="1117" y="198" />
+<Point x="1117" y="422" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="230" >
+<father id="232" num="0" />
+<cdparam x="1117" y="198" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="8" maxX="1600" minY="8" maxY="960" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="231" >
+<father id="232" num="1" />
+<cdparam x="1117" y="422" />
+<sizeparam width="1" height="1" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="8" maxX="1600" minY="8" maxY="960" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="1601" id="233" >
+<cdparam x="1041" y="146" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="adc_sig0" />
+<P1 x="1041" y="146" id="325" />
+<P2 x="1143" y="144" id="441" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="234" >
+<cdparam x="759" y="169" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="vamp_sig" />
+<P1 x="759" y="165" id="364" />
+<P2 x="865" y="165" id="335" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="235" >
+<cdparam x="496" y="165" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="v_sig" />
+<P1 x="496" y="170" id="393" />
+<P2 x="583" y="169" id="374" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="1601" id="236" >
+<cdparam x="231" y="162" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="x_sig" />
+<P1 x="231" y="163" id="422" />
+<P2 x="320" y="163" id="403" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<COMPONENT type="1607" id="468" >
+<cdparam x="20" y="19" />
+<sizeparam width="1323" height="504" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="12" maxX="2500" minY="12" maxY="1500" />
+<infoparam name="Composite component - Cluster" value="vibration_sensor" />
+<TGConnectingPoint num="0" id="460" />
+<TGConnectingPoint num="1" id="461" />
+<TGConnectingPoint num="2" id="462" />
+<TGConnectingPoint num="3" id="463" />
+<TGConnectingPoint num="4" id="464" />
+<TGConnectingPoint num="5" id="465" />
+<TGConnectingPoint num="6" id="466" />
+<TGConnectingPoint num="7" id="467" />
+</COMPONENT>
+<SUBCOMPONENT type="1603" id="275" >
+<father id="468" num="0" />
+<cdparam x="601" y="363" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block DE" value="Controller" />
+<TGConnectingPoint num="0" id="267" />
+<TGConnectingPoint num="1" id="268" />
+<TGConnectingPoint num="2" id="269" />
+<TGConnectingPoint num="3" id="270" />
+<TGConnectingPoint num="4" id="271" />
+<TGConnectingPoint num="5" id="272" />
+<TGConnectingPoint num="6" id="273" />
+<TGConnectingPoint num="7" id="274" />
+<extraparam>
+<Attribute name_function="adapt_gain" clockName="" code="void adapt_gain() {
+ switch (state_) {
+ case 0: if (amp_in.read() < low_threshold_) {
+ state_ = 1;
+ ++k_;
+ }
+ else if (amp_in.read() >= high_threshold_) {
+ state_ = 2;
+ --k_;
+ }
+ break;
+ case 1: if (amp_in.read() < high_threshold_) {
+ ++k_;
+ }
+ else {
+ state_ = 2;
+ --k_;
+ }
+ break;
+ case 2: if (amp_in.read() < high_threshold_) {
+ state_ = 0;
+ }
+ else {
+ --k_;
+ }
+ break;
+ default: SC_REPORT_ERROR("/vibration_sensor/tdf_gain_controller", "Unexpected state.");
+ }
+ if (k_ < k_min_) {
+ k_ = k_min_;
+ }
+ if (k_ > k_max_) {
+ k_ = k_max_;
+ }
+ k_out.write(k_);
+}
+ " listStruct="low_threshold_ = 3 : const int|high_threshold_ = 9 : const int|k_min_ = 0 : const int|k_max_ = 16 : const int|k_ = 8 : int|state_ = 0 : int" nameTemplate="NBitsCTRL" typeTemplate="int" valueTemplate="5" listTypedef="NBitsCTRL_type : sc_dt::sc_int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1605" id="246" >
+<father id="275" num="0" />
+<cdparam x="673" y="355" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port DE" value="k_out" />
+<TGConnectingPoint num="0" id="237" />
+<TGConnectingPoint num="1" id="238" />
+<TGConnectingPoint num="2" id="239" />
+<TGConnectingPoint num="3" id="240" />
+<TGConnectingPoint num="4" id="241" />
+<TGConnectingPoint num="5" id="242" />
+<TGConnectingPoint num="6" id="243" />
+<TGConnectingPoint num="7" id="244" />
+<TGConnectingPoint num="8" id="245" />
+<extraparam>
+<Prop commName="k_out" commType="0" origin="1" type="int" sensitive="false" sensitive_method="" nbits="0" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1605" id="256" >
+<father id="275" num="1" />
+<cdparam x="753" y="449" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port DE" value="clk_in" />
+<TGConnectingPoint num="0" id="247" />
+<TGConnectingPoint num="1" id="248" />
+<TGConnectingPoint num="2" id="249" />
+<TGConnectingPoint num="3" id="250" />
+<TGConnectingPoint num="4" id="251" />
+<TGConnectingPoint num="5" id="252" />
+<TGConnectingPoint num="6" id="253" />
+<TGConnectingPoint num="7" id="254" />
+<TGConnectingPoint num="8" id="255" />
+<extraparam>
+<Prop commName="clk_in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1605" id="266" >
+<father id="275" num="2" />
+<cdparam x="753" y="391" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port DE" value="amp_in" />
+<TGConnectingPoint num="0" id="257" />
+<TGConnectingPoint num="1" id="258" />
+<TGConnectingPoint num="2" id="259" />
+<TGConnectingPoint num="3" id="260" />
+<TGConnectingPoint num="4" id="261" />
+<TGConnectingPoint num="5" id="262" />
+<TGConnectingPoint num="6" id="263" />
+<TGConnectingPoint num="7" id="264" />
+<TGConnectingPoint num="8" id="265" />
+<extraparam>
+<Prop commName="amp_in" commType="0" origin="0" type="int" sensitive="false" sensitive_method="" nbits="0" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="314" >
+<father id="468" num="1" />
+<cdparam x="876" y="362" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="AAVG" />
+<TGConnectingPoint num="0" id="306" />
+<TGConnectingPoint num="1" id="307" />
+<TGConnectingPoint num="2" id="308" />
+<TGConnectingPoint num="3" id="309" />
+<TGConnectingPoint num="4" id="310" />
+<TGConnectingPoint num="5" id="311" />
+<TGConnectingPoint num="6" id="312" />
+<TGConnectingPoint num="7" id="313" />
+<extraparam>
+<Attribute period="-1.0" time="" processCode="void initialize() {
+ clk.initialize(true, 0);
+ clk.initialize(false, 1);
+ amp.initialize(0);
+}
+ void processing() {
+ clk.write(true, 0);
+ clk.write(false, 1);
+ long sum = 0;
+ for (long i = 0; i < 64; ++i) {
+ sum += std::labs(in.read(i));
+ }
+ long avg = sum / 64;
+ amp.write(avg);
+}
+ " constructorCode="" listStruct="" nameTemplate="NBitsAAVG" typeTemplate="int" valueTemplate="5" listTypedef="NBitsAAVG_type : sc_dt::sc_int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="285" >
+<father id="314" num="0" />
+<cdparam x="868" y="449" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port Converter" value="clk" />
+<TGConnectingPoint num="0" id="276" />
+<TGConnectingPoint num="1" id="277" />
+<TGConnectingPoint num="2" id="278" />
+<TGConnectingPoint num="3" id="279" />
+<TGConnectingPoint num="4" id="280" />
+<TGConnectingPoint num="5" id="281" />
+<TGConnectingPoint num="6" id="282" />
+<TGConnectingPoint num="7" id="283" />
+<TGConnectingPoint num="8" id="284" />
+<extraparam>
+<Prop commName="clk" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="295" >
+<father id="314" num="1" />
+<cdparam x="868" y="391" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port Converter" value="amp" />
+<TGConnectingPoint num="0" id="286" />
+<TGConnectingPoint num="1" id="287" />
+<TGConnectingPoint num="2" id="288" />
+<TGConnectingPoint num="3" id="289" />
+<TGConnectingPoint num="4" id="290" />
+<TGConnectingPoint num="5" id="291" />
+<TGConnectingPoint num="6" id="292" />
+<TGConnectingPoint num="7" id="293" />
+<TGConnectingPoint num="8" id="294" />
+<extraparam>
+<Prop commName="amp" commType="0" origin="1" period="-1.0" time="s" rate="-1" nbits="0" delay="1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="305" >
+<father id="314" num="2" />
+<cdparam x="1028" y="413" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="in" />
+<TGConnectingPoint num="0" id="296" />
+<TGConnectingPoint num="1" id="297" />
+<TGConnectingPoint num="2" id="298" />
+<TGConnectingPoint num="3" id="299" />
+<TGConnectingPoint num="4" id="300" />
+<TGConnectingPoint num="5" id="301" />
+<TGConnectingPoint num="6" id="302" />
+<TGConnectingPoint num="7" id="303" />
+<TGConnectingPoint num="8" id="304" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="64" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="353" >
+<father id="468" num="2" />
+<cdparam x="873" y="107" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="ADC" />
+<TGConnectingPoint num="0" id="345" />
+<TGConnectingPoint num="1" id="346" />
+<TGConnectingPoint num="2" id="347" />
+<TGConnectingPoint num="3" id="348" />
+<TGConnectingPoint num="4" id="349" />
+<TGConnectingPoint num="5" id="350" />
+<TGConnectingPoint num="6" id="351" />
+<TGConnectingPoint num="7" id="352" />
+<extraparam>
+<Attribute period="10.0" time="μs" processCode="void processing() {
+ double v_in = in.read();
+ if (v_in < -v_max_) {
+ out0.write(-((1 << (NBitsADC - 1)) - 1));
+ out1.write(-((1 << (NBitsADC - 1)) - 1));
+ }
+ else if (v_in > v_max_) {
+ out0.write((1 << (NBitsADC - 1)) - 1);
+ out1.write((1 << (NBitsADC - 1)) - 1);
+ }
+ else {
+ NBitsADC_type q_v_in = lround((v_in / v_max_) * ((1 << (NBitsADC - 1)) - 1));
+ out0.write(q_v_in);
+ out1.write(q_v_in);
+ }
+}
+ " constructorCode="" listStruct="v_max_ = 5.0 : const double" nameTemplate="NBitsADC" typeTemplate="int" valueTemplate="5" listTypedef="NBitsADC_type : sc_dt::sc_int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="324" >
+<father id="353" num="0" />
+<cdparam x="1025" y="190" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="out1" />
+<TGConnectingPoint num="0" id="315" />
+<TGConnectingPoint num="1" id="316" />
+<TGConnectingPoint num="2" id="317" />
+<TGConnectingPoint num="3" id="318" />
+<TGConnectingPoint num="4" id="319" />
+<TGConnectingPoint num="5" id="320" />
+<TGConnectingPoint num="6" id="321" />
+<TGConnectingPoint num="7" id="322" />
+<TGConnectingPoint num="8" id="323" />
+<extraparam>
+<Prop commName="out1" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="334" >
+<father id="353" num="1" />
+<cdparam x="1025" y="138" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="out0" />
+<TGConnectingPoint num="0" id="325" />
+<TGConnectingPoint num="1" id="326" />
+<TGConnectingPoint num="2" id="327" />
+<TGConnectingPoint num="3" id="328" />
+<TGConnectingPoint num="4" id="329" />
+<TGConnectingPoint num="5" id="330" />
+<TGConnectingPoint num="6" id="331" />
+<TGConnectingPoint num="7" id="332" />
+<TGConnectingPoint num="8" id="333" />
+<extraparam>
+<Prop commName="out0" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="344" >
+<father id="353" num="2" />
+<cdparam x="865" y="157" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="in" />
+<TGConnectingPoint num="0" id="335" />
+<TGConnectingPoint num="1" id="336" />
+<TGConnectingPoint num="2" id="337" />
+<TGConnectingPoint num="3" id="338" />
+<TGConnectingPoint num="4" id="339" />
+<TGConnectingPoint num="5" id="340" />
+<TGConnectingPoint num="6" id="341" />
+<TGConnectingPoint num="7" id="342" />
+<TGConnectingPoint num="8" id="343" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="10" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="392" >
+<father id="468" num="3" />
+<cdparam x="591" y="111" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="PGA" />
+<TGConnectingPoint num="0" id="384" />
+<TGConnectingPoint num="1" id="385" />
+<TGConnectingPoint num="2" id="386" />
+<TGConnectingPoint num="3" id="387" />
+<TGConnectingPoint num="4" id="388" />
+<TGConnectingPoint num="5" id="389" />
+<TGConnectingPoint num="6" id="390" />
+<TGConnectingPoint num="7" id="391" />
+<extraparam>
+<Attribute period="-1.0" time="" processCode="void processing() {
+ double k = k_in.read();
+ double val = std::pow(2.0, k) * in.read();
+ if (val > v_supply_) {
+ out.write(v_supply_);
+ }
+ else if (val < -v_supply_) {
+ out.write(-v_supply_);
+ }
+ else {
+ out.write(val);
+ }
+}
+ " constructorCode="" listStruct="v_supply_ = 5.0 : const double" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1606" id="363" >
+<father id="392" num="0" />
+<cdparam x="673" y="223" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port Converter" value="k_in" />
+<TGConnectingPoint num="0" id="354" />
+<TGConnectingPoint num="1" id="355" />
+<TGConnectingPoint num="2" id="356" />
+<TGConnectingPoint num="3" id="357" />
+<TGConnectingPoint num="4" id="358" />
+<TGConnectingPoint num="5" id="359" />
+<TGConnectingPoint num="6" id="360" />
+<TGConnectingPoint num="7" id="361" />
+<TGConnectingPoint num="8" id="362" />
+<extraparam>
+<Prop commName="k_in" commType="0" origin="0" period="-1.0" time="s" rate="-1" nbits="0" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="373" >
+<father id="392" num="1" />
+<cdparam x="743" y="157" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="out" />
+<TGConnectingPoint num="0" id="364" />
+<TGConnectingPoint num="1" id="365" />
+<TGConnectingPoint num="2" id="366" />
+<TGConnectingPoint num="3" id="367" />
+<TGConnectingPoint num="4" id="368" />
+<TGConnectingPoint num="5" id="369" />
+<TGConnectingPoint num="6" id="370" />
+<TGConnectingPoint num="7" id="371" />
+<TGConnectingPoint num="8" id="372" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="383" >
+<father id="392" num="2" />
+<cdparam x="583" y="161" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="in" />
+<TGConnectingPoint num="0" id="374" />
+<TGConnectingPoint num="1" id="375" />
+<TGConnectingPoint num="2" id="376" />
+<TGConnectingPoint num="3" id="377" />
+<TGConnectingPoint num="4" id="378" />
+<TGConnectingPoint num="5" id="379" />
+<TGConnectingPoint num="6" id="380" />
+<TGConnectingPoint num="7" id="381" />
+<TGConnectingPoint num="8" id="382" />
+<extraparam>
+<Prop commName="in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="421" >
+<father id="468" num="4" />
+<cdparam x="328" y="108" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="SENSOR" />
+<TGConnectingPoint num="0" id="413" />
+<TGConnectingPoint num="1" id="414" />
+<TGConnectingPoint num="2" id="415" />
+<TGConnectingPoint num="3" id="416" />
+<TGConnectingPoint num="4" id="417" />
+<TGConnectingPoint num="5" id="418" />
+<TGConnectingPoint num="6" id="419" />
+<TGConnectingPoint num="7" id="420" />
+<extraparam>
+<Attribute period="-1.0" time="" processCode="void processing() {
+ if (!start_up_) {
+ x_dot_ = (x_in.read() - x_in_last_) / x_in.get_timestep().to_seconds();
+ }
+ else {
+ start_up_ = false;
+ }
+ x_in_last_ = x_in.read();
+ v_out.write(k_ * x_dot_);
+}
+ " constructorCode="" listStruct="k_ = 1.0 : double|start_up_ = true : bool|x_in_last_ = 0.0 : double|x_dot_ = 0.0 : double" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="402" >
+<father id="421" num="0" />
+<cdparam x="480" y="162" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="v_out" />
+<TGConnectingPoint num="0" id="393" />
+<TGConnectingPoint num="1" id="394" />
+<TGConnectingPoint num="2" id="395" />
+<TGConnectingPoint num="3" id="396" />
+<TGConnectingPoint num="4" id="397" />
+<TGConnectingPoint num="5" id="398" />
+<TGConnectingPoint num="6" id="399" />
+<TGConnectingPoint num="7" id="400" />
+<TGConnectingPoint num="8" id="401" />
+<extraparam>
+<Prop commName="v_out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="412" >
+<father id="421" num="1" />
+<cdparam x="320" y="155" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="x_in" />
+<TGConnectingPoint num="0" id="403" />
+<TGConnectingPoint num="1" id="404" />
+<TGConnectingPoint num="2" id="405" />
+<TGConnectingPoint num="3" id="406" />
+<TGConnectingPoint num="4" id="407" />
+<TGConnectingPoint num="5" id="408" />
+<TGConnectingPoint num="6" id="409" />
+<TGConnectingPoint num="7" id="410" />
+<TGConnectingPoint num="8" id="411" />
+<extraparam>
+<Prop commName="x_in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="440" >
+<father id="468" num="5" />
+<cdparam x="63" y="106" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="SRC" />
+<TGConnectingPoint num="0" id="432" />
+<TGConnectingPoint num="1" id="433" />
+<TGConnectingPoint num="2" id="434" />
+<TGConnectingPoint num="3" id="435" />
+<TGConnectingPoint num="4" id="436" />
+<TGConnectingPoint num="5" id="437" />
+<TGConnectingPoint num="6" id="438" />
+<TGConnectingPoint num="7" id="439" />
+<extraparam>
+<Attribute period="-1.0" time="" processCode="void processing() {
+ double T_0_ = 1.0 / f_0_;
+ double T_period_ = n_period_ * T_0_;
+ double t = this->get_time().to_seconds();
+ double t_pos = fmod(t, T_period_);
+ int harmonic = static_cast<int>(floor(t / T_period_)) % (n_harmonic_ + 1);
+ double val = offset_;
+ val += amplitude_ * sin(2.0 * M_PI * pow(2.0, harmonic) * f_0_ * t_pos);
+ out.write(val);
+}
+ " constructorCode="" listStruct="offset_ = -8.0E-6 : const double|amplitude_ = 4.0E-6 : const double|f_0_ = 2000.0 : const double|n_period_ = 8 : const int|n_harmonic_ = 2 : const int" nameTemplate="" typeTemplate="int" valueTemplate="" listTypedef="" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="431" >
+<father id="440" num="0" />
+<cdparam x="215" y="155" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="out" />
+<TGConnectingPoint num="0" id="422" />
+<TGConnectingPoint num="1" id="423" />
+<TGConnectingPoint num="2" id="424" />
+<TGConnectingPoint num="3" id="425" />
+<TGConnectingPoint num="4" id="426" />
+<TGConnectingPoint num="5" id="427" />
+<TGConnectingPoint num="6" id="428" />
+<TGConnectingPoint num="7" id="429" />
+<TGConnectingPoint num="8" id="430" />
+<extraparam>
+<Prop commName="out" commType="0" origin="1" period="-1.0" time="s" rate="-1" delay="-1" type="double" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1602" id="459" >
+<father id="468" num="6" />
+<cdparam x="1151" y="109" />
+<sizeparam width="160" height="120" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="0" maxX="1163" minY="0" maxY="384" />
+<infoparam name="Primitive component - Block TDF" value="TDF2DE" />
+<TGConnectingPoint num="0" id="451" />
+<TGConnectingPoint num="1" id="452" />
+<TGConnectingPoint num="2" id="453" />
+<TGConnectingPoint num="3" id="454" />
+<TGConnectingPoint num="4" id="455" />
+<TGConnectingPoint num="5" id="456" />
+<TGConnectingPoint num="6" id="457" />
+<TGConnectingPoint num="7" id="458" />
+<extraparam>
+<Attribute period="-1.0" time="" processCode="void initialize() {
+ //out.initialize(0);
+}
+ void processing() {
+ NBitsTDF_type tmp_in = adc_in.read();
+ //out.write((int) tmp_in);
+}
+ " constructorCode="" listStruct="" nameTemplate="NBitsTDF" typeTemplate="int" valueTemplate="5" listTypedef="NBitsTDF_type : sc_dt::sc_int" />
+</extraparam>
+</SUBCOMPONENT>
+<SUBCOMPONENT type="1604" id="450" >
+<father id="459" num="0" />
+<cdparam x="1143" y="136" />
+<sizeparam width="16" height="16" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="-8" maxX="152" minY="-8" maxY="112" />
+<infoparam name="Primitive port - Port TDF" value="adc_in" />
+<TGConnectingPoint num="0" id="441" />
+<TGConnectingPoint num="1" id="442" />
+<TGConnectingPoint num="2" id="443" />
+<TGConnectingPoint num="3" id="444" />
+<TGConnectingPoint num="4" id="445" />
+<TGConnectingPoint num="5" id="446" />
+<TGConnectingPoint num="6" id="447" />
+<TGConnectingPoint num="7" id="448" />
+<TGConnectingPoint num="8" id="449" />
+<extraparam>
+<Prop commName="adc_in" commType="0" origin="0" period="-1.0" time="s" rate="-1" delay="-1" type="int" />
+</extraparam>
+</SUBCOMPONENT>
+
+
+</SysCAMSComponentTaskDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
--
GitLab