6 lines
5.1 KiB
Plaintext
6 lines
5.1 KiB
Plaintext
Document: {id: '', name: 'orientation', format: 'yEd Ostranna', meta: {standard version: '1.0', name: 'orientation', transition order: transition first, event propagation: block events}, elements: {State Machine: {id: 'G', name: 'orientation', elements: {Composite State: {id: 'n0', name: 'orientation', actions: {a {entry}}, geometry: (409.905; 50.5953; 1149.48; 725.384), elements: {Composite State: {id: 'n0::n0', name: 'turn', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (35.5575; 47.1182; 297.495; 506.213), elements: {Simple State: {id: 'n0::n0::n0', name: 'slow_down', actions: {a {entry, behavior: 'reduce_speed()'}}, geometry: (15; 188.739; 267.495; 69.2119)}, Simple State: {id: 'n0::n0::n1', name: 'start_turn', actions: {a {entry, behavior: 'calculate_turn()'}}, geometry: (15; 298.671; 267.495; 69.2119)}, Initial: {id: 'n0::n0::n2', name: '', geometry: (148.747; 150.239)}, Simple State: {id: 'n0::n0::n3', name: 'finish_turn', actions: {a {entry, behavior: 'complete_turn()'}}, geometry: (15; 408.602; 267.495; 69.2119)}}}, Simple State: {id: 'n0::n1', name: 'idle', actions: {a {entry}}, geometry: (356.263; 53.3672; 313.217; 117.952)}, Composite State: {id: 'n0::n2', name: 'wait', actions: {a {entry}}, geometry: (692.692; 56.3415; 432.213; 640.663), elements: {Composite State: {id: 'n0::n2::n0', name: 'maintain', actions: {a {entry, behavior: 'orientation.start_motor(AXIS_Z)'}, a {exit, behavior: 'orientation.stop_motor(AXIS_Z)'}}, geometry: (19; 213.807; 393.6; 400.074), elements: {Simple State: {id: 'n0::n2::n0::n0', name: 'correct_cw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, -M)'}}, geometry: (18.7537; 158.493; 358.315; 75.3372)}, Simple State: {id: 'n0::n2::n0::n1', name: 'correct_ccw', actions: {a {entry, behavior: 'orientation.set_motor_moment(AXIS_Z, M)'}}, geometry: (18.7537; 303.419; 358.315; 75.3372)}, Initial: {id: 'n0::n2::n0::n2', name: '', geometry: (197.911; 115.609)}}}, Simple State: {id: 'n0::n2::n1', name: 'static', actions: {a {entry}}, geometry: (20.1112; 94.5019; 393.6; 75.3372)}, Initial: {id: 'n0::n2::n2', name: '', geometry: (216.911; 51.617)}}}}}, Initial: {id: 'n1', name: '', geometry: (945.784; -25.4024)}, Comment: {id: 'n2', body: 'Init scripts:
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test3sm_constants.py
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test3sm_orient.py', geometry: (445.462; 652.554; 160.084; 95.0456)}, Transition: {id: 'e0', source: 'n1', target: 'n0::n1', sp: (0; 10), tp: (156.608; 0)}, Transition: {id: 'e1', source: 'n0', target: 'n0::n1', action: {trigger: 'STOP'}, sp: (574.738; 0), tp: (156.608; 0), label: (-50.9045; -43.7766), polyline: [ (826.77; -4.95139), (918.657; -4.95139) ]}, Transition: {id: 'n0::e0', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'TANGENT(target_a)', behavior: 'update_turn_parameters(target_a, 0.0)'}, sp: (156.608; 117.952), tp: (297.495; 276.668), label: (-248.977; 112.881), polyline: [ (1018.01; 374.382) ]}, Transition: {id: 'n0::e1', source: 'n0::n1', target: 'n0::n0', action: {trigger: 'BACK(target_a)', behavior: 'update_turn_parameters(target_a, 180.0)'}, sp: (156.608; 117.952), tp: (297.495; 371.074), label: (-263.427; 205.217), polyline: [ (1036.42; 468.787) ]}, Transition: {id: 'n0::n0::e0', source: 'n0::n0::n2', target: 'n0::n0::n0', sp: (0; 10), tp: (133.747; 0)}, Transition: {id: 'n0::n0::e1', source: 'n0::n0::n0', target: 'n0::n0::n1', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (133.747; 0), label: (1.57495; 11.3862)}, Transition: {id: 'n0::n0::e2', source: 'n0::n0::n1', target: 'n0::n0::n3', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (133.747; 0), label: (5.91246; 11.3862)}, Transition: {id: 'n0::e2', source: 'n0::n2', target: 'n0::n1', action: {trigger: 'TIME_TICK', guard: 'orientation_completed()', behavior: 'DISPATCH(cpu, 'ORIENTED')
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DISPATCH(navigation, 'ORIENTED')'}, sp: (0; 419.174), tp: (156.608; 117.952), label: (-237.116; 17.6562), polyline: [ (1051; 526.111) ]}, Transition: {id: 'n0::n2::n0::e0', source: 'n0::n2::n0::n0', target: 'n0::n2::n0::n1', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) < DW'}, sp: (179.158; 75.3372), tp: (179.158; 0), label: (11.4035; 9.5621)}, Transition: {id: 'n0::n2::n0::e1', source: 'n0::n2::n0::n1', target: 'n0::n2::n0::n0', action: {guard: 'orientation.get_angular_velocity(AXIS_Z) > DW'}, sp: (179.158; 0), tp: (179.158; 75.3372), label: (-299.03; -26.1772)}, Transition: {id: 'n0::n2::n0::e2', source: 'n0::n2::n0::n2', target: 'n0::n2::n0::n0', sp: (0; 10), tp: (179.158; 0)}, Transition: {id: 'n0::n2::e0', source: 'n0::n2::n2', target: 'n0::n2::n1', sp: (0; 10), tp: (196.8; 0)}, Transition: {id: 'n0::e3', source: 'n0::n0::n3', target: 'n0::n2', action: {guard: 'completed()'}, sp: (133.747; 69.2119), tp: (0; 604.347), label: (17.5826; 96.7526), polyline: [ (665.627; 711.284) ]}, Transition: {id: 'n0::n2::e1', source: 'n0::n2::n0', target: 'n0::n2::n1', action: {guard: 'is_target_dw()'}, sp: (196.8; 0), tp: (196.8; 75.3372), label: (-100.932; -30.9909)}, Transition: {id: 'n0::n2::e2', source: 'n0::n2::n1', target: 'n0::n2::n0', action: {guard: 'not is_target_dw()'}, sp: (196.8; 75.3372), tp: (196.8; 0), label: (9.66948; 13.8096)}}}}
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